License

This SDK is distributed under the MIT license in principle. However, some components follow a different license due to the requirements of their dependencies.

MIT License

Most crates in the workspace (the autd3-rs core, the pattern / modulation computation, the echocat/EtherCrab/TwinCAT/Remote Links, etc.) and the CPU / FPGA firmware are under the MIT license.

GPL-3.0-only (SOEM family)

autd3-rs-link-soem statically links the SOEM (Simple Open EtherCAT Master) C library. SOEM is dual-licensed under GPLv3 / commercial, and this SDK uses it under GPLv3. For this reason, distribution of the autd3-rs-link-soem crate and of binaries that link it (e.g. perftest) follows GPL-3.0-only.

Caution

If you distribute a configuration that uses SOEM, the entire deliverable becomes subject to GPLv3. If you want to avoid GPL, use a MIT-licensed Link such as EtherCrab or TwinCAT.

For the full license text and the copyright notices of third-party components, refer to the LICENSE / COPYING files in each repository and the bundled notice files.