Introduction
These examples are EtherCAT SubDevice applications based on evaluation stacks provided in the SDK.
- Note
- SDK examples use evaluation version of stack. They will run for 1 hour only. If you want an unlimited version, you need to rebuild the Beckhoff SSC Library used by the examples. Please check "${SDK_INSTALL_PATH}/source/industrial_comms/ethercat_slave/stack/patch/SlaveFiles/src/readme.md" for more details on how to rebuild the library.
Links to important sections in the detailed documentation are provided below:
- Note
In the E1/E2 revision of am243x-lp board, there are following issues which impact enhanced link detection and RX_ER monitor by ICSSG. Therefore EtherCAT cable redundancy can not be supported in E1/E2 revision.
- "PRG1_PRU0_GPO8" is not connected to "PRG1_CPSW_ETH1_LED_LINK" from Ethernet PHY
- "PRG1_PRU1_GPO8" is not connected to "PRG1_CPSW_ETH2_LED_LINK" from Ethernet PHY
- "PRG1_PRU0_GPO5" is not connected to "PRG1_CPSW_ETH1_LED_1000/RX_ER" from Ethernet PHY
- "PRG1_PRU1_GPO5" is not connected to "PRG1_CPSW_ETH2_LED_1000/RX_ER" from Ethernet PHY
In E3 revision, following connections are available. SDK example does not enable cable redundancy yet, but will work on E3 revision only. For running it on E1/E2 revision, few changes are required. For more details, see Supported Combinations.
- Note
- The work-around for issue "i2329 - MDIO: MDIO interface corruption (CPSW and PRU-ICSS)" (described in AM64x/AM243x Processor Silicon Revision 1.0, 2.0 (Rev. E)) is not available for this example in this release. It will be available in next release.
- Attention
- If you need to reload and run the example again, EVM power-cycle is MUST.
Supported Combinations
Parameter | Value |
CPU + OS | r5fss0-0 freertos |
ICSSG | ICSSG1 |
Toolchain | ti-arm-clang |
Boards | am243x-evm, am243x-lp (E3 Revision) |
Example folder | examples/industrial_comms/ethercat_slave_demo |
As mentioned above, SDK example does not enable cable redundancy yet, but will work on E3 revision of am243x-lp only. For running it on E1/E2 revision, following changes are needed.
- Disable the pinmux configuration for pins not available in E1/E2 revision
- In "EtherCAT" module in SysConfig, uncheck following pins from PRU_ICSSG1_MII_G_RT.
- MII0_RXER(PR1_MII0_RXER)
- MII0_RXLINK(PR1_MII0_RXLINK)
- MII1_RXER(PR1_MII1_RXER)
- MII1_RXLINK(PR1_MII1_RXLINK)
- Handle the pin assgnment change for PHY reset
- In "GPIO" module in SysConfig, change the pin assignment of "CONFIG_GPIO0_PHYRESET0" from "W20" to "W11".