ecat is an ethercat library for Go. It consists of the following parts:

ecfr provides framing of ethercat frames and datagrams. ecmd provides execution of ethercat commands on top of link layer drivers, sports a goroutine-safe command multiplexer and features a number of convenience feature for command retries in case of frame loss or mismatching working counters. ecee provides (read only) access to ESC EEPROMs. ecad contains a number of ESC register addresses. ll contains link layer drivers of which there currently only one, using UDP multicast. raweni provides very raw access to ESI files. it's a misnomer. sim contains rudimentary slave and bus simulation.