This software is designed for the TI SoCs with PRU-ICSS IP to enable customers add EtherCAT Slave protocol support to their system. It implements EtherCAT Slave Controller(ESC) Layer 2 functionality and provides EtherCAT ASIC like functionality integrated into TI SoCs.
SysConfig can be used to configure things mentioned below:
Record ID | Details | Workaround |
---|---|---|
MCUSDK-354 | EtherCAT State Machine from EtherCAT Conformance Test fails intermittently | This issue is seen with FreeRTOS library in release mode. Use debug mode library for FreeRTOS |
PINDSW-47 | Multiple FMMU access in a single datagram to a slave for process data using LRD/LWR commands | Use LRW instead of LRD/LWR |
PINDSW-72 | PDI/PD watchdog counter incremented by 1 whenever PDI/PD watchdog is disabled | None |
PINDSW-74 | LRD access on unused registers increment WKC - no register protection while using LRD | None |
PINDSW-141 | LRW access to non-interleaved input and output process data of multiple slaves does not work. SOEM accesses slaves in LRW mode this way | Use LRD/LWR for process data access or use more optimal interleaved access for process data access from Master (TwinCAT way) |
PINDSW-2204 | Frames with no SFD not counted as errors if received on reverse path | None |
PINDSW-2360 | System time of next Sync0 pulse register (0x990:0x993) is not instantaneous, resulting in read of incorrect value if read immediately after sync pulse | None |
PINDSW-3120 | Lost Link Counter register (0x310) increments with "2" on every link down instead of "1" | Revert back the MDIO Link interrupt to Edge in tiesc_pruss_intc_mapping.h file. Customers need to make sure that above mentioned link stability issue is not seen in their setup before making this change. |
PINDSW-4310 | EtherCAT Slave in DC slave mode takes longer to recover from reference clock shifts | None |
For more details, please see the EtherCAT Slave Errata document.
Folder/Files | Description |
---|---|
${SDK_INSTALL_PATH}/source/networking/ethercat_slave | |
icss_fwhal/firmware | Firmware for the PRU cores in PRUICSS. Firmware Version : 5.4.242 |
icss_fwhal/lib/ | Firmware (FW) HAL library for EtherCAT Slave |
icss_fwhal/tiescbsp.h | FWHAL interface file |
icss_fwhal/etg_stack/esi | ESI XML file for Beckhoff Slave Stack Code(SSC) based example |
icss_fwhal/etg_stack/patch | Patch file for Beckhoff Slave Stack Code(SSC) sources |
icss_fwhal/etg_stack/stack_hal | Stack adaptation APIs for Beckhoff Slave Stack Code(SSC) |
icss_fwhal/etg_stack/stack_sources | Folder where Beckhoff Slave Stack Code(SSC) sources should be copied. Stack sources are not packaged in the SDK |
APIs implement the key interface between EtherCAT Slave Controller Emulation firmware and EtherCAT stack. Please see APIs for Ethercat Slave FWHAL for API documentation.
It is recommended to use these FWHAL APIs in the stack adaptation files. For example, see ${SDK_INSTALL_PATH}/source/networking/ethercat_slave/icss_fwhal/etg_stack/stack_hal
, which contains the stack adaptation APIs for Slave Stack Code(SSC).
TI EtherCAT Slave Controller Register List contains descriptions of the registers in TI's EtherCAT Slave Controller implementation.
TI EtherCAT Slave Controller Exceptions lists the exceptions TI's EtherCAT Slave Controller implementation when compared with ET1100 ASIC. Please note that TI ESC is a 2 port EtherCAT slave and it does not support E-bus interface and all the corresponding register fields are not implemented.
EtherCAT Slave Example application was used for benchmarking. TwinCAT Master was used as the EtherCAT master for these tests.
Lowest cycle time tested is 50 us(microseconds) with Distributed Clock(DC) Synchronization mode
Following is the interrupt processing time for PDI and Sync ISRs with 50 us cycle time. The RxPDO size is 5 bytes and TxPDO size is 7 bytes in this example.
Scenario | PDI ISR Processing Time (microseconds) | SYNC0 ISR Processing Time (microseconds) | SYNC1 ISR Processing Time (microseconds) |
---|---|---|---|
DC mode with SYNC0 enabled | 2.7 | 3.2 | 0 |
DC mode with SYNC0 and SYNC1 enabled | 2.7 | 0.8 | 2.6 |
Please refer to below documents to understand more about EtherCAT slave on TI platforms and EtherCAT slave protocol specifications.
Document | Description |
---|---|
EtherCAT on Sitara Processors | Application note by TI on the EtherCAT slave implementation on TI's Sitara Processors. |
PRU-ICSS EtherCAT Slave Troubleshooting Guide | This troubleshooting guide is intend to provide guidance on how to set up and debug the EtherCAT slave implemented on TI's Sitara processors. |
EtherCAT ESC Datasheet Section 1 - Technology | Section 1 of Beckhoff's EtherCAT Slave Controller (ESC) documentation which decribes basic EtherCAT technology. |
EtherCAT ESC Datasheet Section 2 - Register Description | Section 2 of Beckhoff's EtherCAT Slave Controller (ESC) documentation which contains ESC register descriptions. |
Application Note ET9300 (EtherCAT Slave Stack Code) | This contains details on how to start EtherCAT Slave development with Slave Stack Code. |
EtherCAT Slave Implementation Guide from EtherCAT Technology Group | This contains information on how to develop a EtherCAT slave implementation. |