Overview

The Software Development Kit (SDK) for EtherCAT allows you to quickly integrate EtherCAT slave functionality into your device. The SDK is supported for Sitara processors by Texas Instruments Incorporated and currently available for AM65x and AM64x series of Cortex^®-R5 based devices.

This document collection contains a Quickstart Guide, the User Manual, and the API Reference Manual for the EtherCAT Slave SDK. The API consists of the following modules: an API to access the basic EtherCAT Slave functionality, the API for the CiA 402 (Drives and Motion Control), the cyclic buffer handling API, and a board support package API.

Licensing

Copyright ©2021, KUNBUS GmbH

All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Release Version 1.04.01

New Features:

[DTKEC-303] Create Project for AM243X EVM
Created new Code Composer Studio project for AM243X EVM and created documentation for the new platform.

Bug Fixes:

[DTKEC-317] Fix startup stability issue
Allocation of the stack size has been changed to the expected value. The larger size led to instabilities while booting up.

Known Issues:

[DTKEC-311] TI AM64x MDIO stall
Follow up the AM64x MDIO stall exception.

[DTKEC-243] Run and Error LEDs support
Support to display run and error LEDs on the board is missing.

[DTKEC-318] Repeated "Data Transfer failed with transfer status -2" message
A "Data Transfer failed with transfer status -2" message is repeatedly displayed in the console output.

Release Version 1.04.00

New Features:

[DTKEC-256] MCU+SDK 08.00.00.08 Support
EtherCAT DTK has been updated to support MCU+SDK 08.00.00.08.

[DTKEC-283] Create Project for AM24X
Created new Code Composer Studio project for AM243 and created documentation for the new platform.

Bug Fixes:

[DTKEC-250] Fix ESI file content for Simple, CTT and CIA402
Corrected inconsistencies between all ESI files.

[DTKEC-247] AM64x ESI file fix
Corrected access to PDO Mapping.

Known Issues:

[DTKEC-301] Test on AM243x
AM243x example has been succesfully tested on AM64x EVM hardware

Release Version 1.03.01

New Features:

[DTKEC-237] AM64 Demo refactoring
Split of OS and MCU support files in DemoApps
Add conformance test tool Demo sources
Add CiA402 Demo sources

Release Version 1.03.00

New Features:

[DTKEC-162] CiA402 3 axes application example
Configuration of the CiA402 Object Dictionary and Process Data mapping described on ETG6010 Chapter 11 & 16.
ESI File (EtherCAT Device Description file) for the CiA402 example.
CiA402 state machine test. CiA402 is based on a state machine described in ETG6010 Chapter 5.

[DTKEC-147] Set GroupType Parameter from ESI Parser
GroupType parameter describes which set of devices the slave is associated with. This parameter is set on the ESI file as well as on the EEPROM.
[DTKEC-200] Images in Quickstart are not up to date
The Quickstart guide images are not representative (release V1.3.0) and have been updated.

Bug Fixes:

[DTKEC-228] AM64 Startup problems corrected
Updated to support MCUplus 7.3.1.07.

Known Issues:

[DTKEC-195] Enable Bootstrap only if FoE is used
FoE Protocol is used as firmware update mechanism (File Access Over EtherCAT). If the application does not use FoE, then the DTK must not show bootstrap information.
[DTKEC-161] ESI Parser: Process files with multiple device descriptions
ESI Parser works with single device ESI files. However, ESI file can contain multiple device descriptions.
[DTKEC-235] ESI Parser: FSoE splitting information in PDO Mapping
Since the FSoE Frame consists of data sections (SafeData, each max. 16 Bit) and checksum sections (CRC16) a SafeData variable with a length greater than 16 Bit must be split in two or more data sections (ETG5120 5.3.3).

Release Version 1.02.03

New Features:

[P2102-1] EtherCAT AM64 Porting to FreeRTOS
Support for FreeRTOS R5 on AM64 controller has been added. Tickets included: P2101-2->9; P2101-11->16; P2101-19->29

[DTKEC-197] AM64x FreeRTOS update to MCUplus 7.3.0.18
Updated to support MCUplus 7.3.0.18.
[DTKEC-196] Adopt AM65xx to PDK 7.1.0.55
Updated to support PDK 7.1.0.55

Known Issues:

[DTKEC-200] Images in Quickstart are not up to date

Release Version 1.02.00

New Features:

[DTKEC-180] EtherCAT AM64 Porting to TI-RTOS
Support for AM64x (BETA) based on TI-RTOS SDK 7.2.1.11
[DTKEC-163] SDK Migration to TI SDK 7.0.1.6
Updated to support TI SDK 7.0.1.6

Known Issues:

The EtherCAT AM65x SDK and AM64x SDK are based on different TI-RTOS shipments. Screenshots as part the EtherCAT Documentation for AM64x have not yet been updated.

Release Version 1.01.01

New Features:

Abstraction Layer baseline adopted in order to migrate to SDK7 in next Release

Release Version 1.01.00

New Features:

Initial Release

New Features:

Initial Release