2. EtherCAT Slave

• 2.1. PRU ICSS EtherCAT Slave User Guide
  • 2.1.1. Introduction
  • 2.1.2. System Requirements
    • 2.1.2.1. Supported Devices
    • 2.1.2.2. Component Version
  • 2.1.3. Reference Documents
  • 2.1.4. Directory Structure
  • 2.1.5. Example Project Overview
  • 2.1.6. Generating Project files
    • 2.1.6.1. Steps to generate Project files
    • 2.1.6.2. More info
  • 2.1.7. Running EtherCAT Slave Application
    • 2.1.7.1. TI_ESC slave setup with TwinCAT3
    • 2.1.7.2. Starting EtherCAT application
    • 2.1.7.3. TI ESC SPI Interface to Support ASIC mode for EtherCAT
      • 2.1.7.3.1. TI ESC SPI Slave (ASIC Mode) on AMIC11x with AM572x
      • 2.1.7.3.2. TI ESC SPI Slave (ASIC Mode) on AMIC11x with C2000
    • 2.1.7.4. Single-Chip Motor-Control application
  • 2.1.8. On-chip Memory (DDRless) Execution of EtherCAT Slave Application
    • 2.1.8.1. On-chip Memory (DDRless) Execution on AMIC12x ICE
      • 2.1.8.1.1. Modifying SBL for AMIC12x on-chip Memory Execution
      • 2.1.8.1.2. Modifying Gel files for AMIC12x on-chip Memory Execution
    • 2.1.8.2. On-chip Memory (DDRless) Execution on AMIC11x ICE
      • 2.1.8.2.1. Patching Processor SDK for Thumb Mode binaries
      • 2.1.8.2.2. Flash Partitioning
      • 2.1.8.2.3. Flashing application binaries
      • 2.1.8.2.4. Configuring location of binaries in device memory
      • 2.1.8.2.5. Configuring offset of binaries in SPI flash
      • 2.1.8.2.6. SBL for DDRless Execution
      • 2.1.8.2.7. TI ESC SPI Slave (ASIC mode) on AMIC11x with On-chip memory execution
  • 2.1.9. Building full feature EtherCAT Slave Application
    • 2.1.9.1. Generating EtherCAT sources using the Patch file (Option #1)
    • 2.1.9.2. Generating EtherCAT sources using Beckhoff SSC Tool (Option #2)
    • 2.1.9.3. Generating ESI Header file From ESI xml
  • 2.1.10. Online Application upgrade from TwinCAT
  • 2.1.11. Enhanced Process Data Interface with EDMA support (only supported on AM4377/9)
    • 2.1.11.1. Memory location of Buffer in application
    • 2.1.11.2. Improvement Results
  • 2.1.12. Running EtherCAT Application in DC Mode
  • 2.1.13. Archives
• 2.2. PRU ICSS EtherCAT Release Notes
  • 2.2.1. Overview
  • 2.2.2. Licensing
  • 2.2.3. Standard Compliance
  • 2.2.4. Documentation
  • 2.2.5. Release 01.00.10
    • 2.2.5.1. System Requirements
    • 2.2.5.2. What’s New
    • 2.2.5.3. Features Supported
    • 2.2.5.4. What is not supported
    • 2.2.5.5. PRU-ICSS Firmware Revision
    • 2.2.5.6. Fixed Issues
    • 2.2.5.7. Known Issues
  • 2.2.6. Archives
• 2.3. PRU ICSS EtherCAT firmware API guide
  • 2.3.1. Introduction
    • 2.3.1.1. Purpose and Scope
    • 2.3.1.2. Intended Audience
    • 2.3.1.3. Terms and Abbreviations
    • 2.3.1.4. References
  • 2.3.2. EtherCAT application - Software Architecture
    • 2.3.2.1. Procedure to kickoff ESC firmware
  • 2.3.3. Firmware APIs
    • 2.3.3.1. Initialization of stack-firmware interface
      • 2.3.3.1.1. bsp_init
      • 2.3.3.1.2. bsp_esc_reg_perm_init
      • 2.3.3.1.3. bsp_start_esc_isr
      • 2.3.3.1.4. bsp_exit
      • 2.3.3.1.5. bsp_set_pdi_wd_trigger_mode
    • 2.3.3.2. ESC Firmware Command API
      • 2.3.3.2.1. bsp_send_command_to_firmware
    • 2.3.3.3. ESI EEPROM emulation support
      • 2.3.3.3.1. bsp_eeprom_emulation_init
      • 2.3.3.3.2. bsp_eeprom_load_esc_registers
      • 2.3.3.3.3. bsp_eeprom_emulation_reload
      • 2.3.3.3.4. HW_EepromReload
      • 2.3.3.3.5. bsp_eeprom_emulation_command_ack
      • 2.3.3.3.6. bsp_eeprom_emulation_flush
      • 2.3.3.3.7. bsp_get_eeprom_cache_base
      • 2.3.3.3.8. bsp_set_eeprom_update_status
      • 2.3.3.3.9. bsp_get_eeprom_update_status
      • 2.3.3.3.10. bsp_eeprom_emulation_exit
    • 2.3.3.4. SyncManager properties management for TI ESC HAL
      • 2.3.3.4.1. bsp_set_sm_properties
      • 2.3.3.4.2. bsp_get_sm_properties
    • 2.3.3.5. SyncManager access and control APIs
      • 2.3.3.5.1. HW_EnableSyncManChannel
      • 2.3.3.5.2. HW_DisableSyncManChannel
      • 2.3.3.5.3. HW_GetSyncMan
      • 2.3.3.5.4. bsp_pdi_sm_config_ongoing
    • 2.3.3.6. SyncManager Mailbox mode handling
      • 2.3.3.6.1. bsp_pdi_mbx_read_start
      • 2.3.3.6.2. bsp_pdi_mbx_read_complete
      • 2.3.3.6.3. bsp_pdi_mbx_write_start
      • 2.3.3.6.4. bsp_pdi_mbx_write_complete
      • 2.3.3.6.5. HW_EscReadMbxMem
      • 2.3.3.6.6. HW_EscWriteMbxMem
    • 2.3.3.7. SyncManager Buffer mode handling
      • 2.3.3.7.1. bsp_get_process_data_address
      • 2.3.3.7.2. bsp_process_data_access_complete
    • 2.3.3.8. ESC Register/Memory access - Special handling APIs
      • 2.3.3.8.1. bsp_read_byte
      • 2.3.3.8.2. bsp_read_word
      • 2.3.3.8.3. bsp_read_dword
      • 2.3.3.8.4. bsp_read
      • 2.3.3.8.5. bsp_read_byte_isr
      • 2.3.3.8.6. bsp_read_word_isr
      • 2.3.3.8.7. bsp_read_dword_isr
      • 2.3.3.8.8. bsp_pdi_post_read_indication
      • 2.3.3.8.9. bsp_pdi_write_indication
      • 2.3.3.8.10. HW_EscReadByteIsr
      • 2.3.3.8.11. HW_EscReadWordIsr
      • 2.3.3.8.12. HW_EscReadDWordIsr
      • 2.3.3.8.13. HW_EscReadIsr
      • 2.3.3.8.14. HW_EscWriteByte
      • 2.3.3.8.15. HW_EscWriteByteIsr
      • 2.3.3.8.16. HW_EscWriteWord
      • 2.3.3.8.17. HW_EscWriteWordIsr
      • 2.3.3.8.18. HW_EscWriteDWord
      • 2.3.3.8.19. HW_EscWriteDWordIsr
      • 2.3.3.8.20. HW_EscWrite
      • 2.3.3.8.21. HW_EscWriteIsr
      • 2.3.3.8.22. bsp_write_byte
      • 2.3.3.8.23. bsp_write_word
      • 2.3.3.8.24. bsp_write_dword
      • 2.3.3.8.25. bsp_write
      • 2.3.3.8.26. bsp_pruss_mdioreg_read
      • 2.3.3.8.27. bsp_pruss_mdioreg_write
      • 2.3.3.8.28. bsp_pruss_iepreg_read
      • 2.3.3.8.29. bsp_pruss_iepreg_write
      • 2.3.3.8.30. bsp_pruss_cmd_intfc_read_word
      • 2.3.3.8.31. bsp_pruss_cmd_intfc_write_word
      • 2.3.3.8.32. bsp_get_pdi_access_perm
      • 2.3.3.8.33. bsp_pdi_access_perm_word
      • 2.3.3.8.34. bsp_pdi_access_perm_dword
      • 2.3.3.8.35. bsp_pdi_access_perm_array
      • 2.3.3.8.36. bsp_get_pdi_read_access_fail_cnt
      • 2.3.3.8.37. bsp_get_pdi_write_access_fail_cnt
    • 2.3.3.9. PRU-ICSS MDIO host side APIs
      • 2.3.3.9.1. bsp_pruss_mdio_init
      • 2.3.3.9.2. bsp_pruss_mdio_phy_read
      • 2.3.3.9.3. bsp_pruss_mdio_phy_write
      • 2.3.3.9.4. bsp_pruss_mdio_phy_link_state
    • 2.3.3.10. PRU-ICSS DIGIO host side APIs
      • 2.3.3.10.1. void bsp_set_digio_sw_dataout_enable (void)
      • 2.3.3.10.2. void bsp_set_digio_out (Uint8 num)
      • 2.3.3.10.3. void bsp_clear_digio_out (Uint8 num)
    • 2.3.3.11. Spinlock APIs for concurrent Host/Firmware shared memory access
      • 2.3.3.11.1. bsp_hwspinlock_init
      • 2.3.3.11.2. bsp_hwspinlock_lock
      • 2.3.3.11.3. bsp_hwspinlock_unlock
    • 2.3.3.12. System Time PDI controlled APIs
      • 2.3.3.12.1. bsp_pdi_write_system_time
      • 2.3.3.12.2. bsp_pdi_write_system_timeoffset
      • 2.3.3.12.3. bsp_pdi_write_systime_delay
      • 2.3.3.12.4. bsp_pdi_write_filterconfig
      • 2.3.3.12.5. bsp_pdi_latch0_control
      • 2.3.3.12.6. bsp_pdi_latch1_control
    • 2.3.3.13. Timer APIs for EtherCAT stack
      • 2.3.3.13.1. bsp_get_timer_register
      • 2.3.3.13.2. bsp_clear_timer_register
      • 2.3.3.13.3. HW_GetTimer
      • 2.3.3.13.4. HW_ClearTimer
      • 2.3.3.13.5. bsp_get_local_sys_time
      • 2.3.3.13.6. bsp_get_latch0_posedge_time
      • 2.3.3.13.7. bsp_get_latch1_posedge_time
      • 2.3.3.13.8. bsp_get_latch0_negedge_time
      • 2.3.3.13.9. bsp_get_latch1_negedge_time
    • 2.3.3.14. Mutex APIs for EtherCAT stack
      • 2.3.3.14.1. bsp_global_mutex_lock
      • 2.3.3.14.2. bsp_global_mutex_unlock
    • 2.3.3.15. Interrupt management APIs for EtherCAT stack
      • 2.3.3.15.1. HW_ResetALEventMask
      • 2.3.3.15.2. HW_SetALEventMask
      • 2.3.3.15.3. HW_GetALEventMask
      • 2.3.3.15.4. HW_EcatIsr or PDI_Isr
      • 2.3.3.15.5. Sync0_Isr
      • 2.3.3.15.6. Sync1_Isr
    • 2.3.3.16. Misc APIs for SSC
      • 2.3.3.16.1. HW_Init
      • 2.3.3.16.2. HW_Release
      • 2.3.3.16.3. HW_RestartTarget
      • 2.3.3.16.4. HW_SetLed
    • 2.3.3.17. PRU firmware header mapping API
      • 2.3.3.17.1. bsp_set_pru_firmware
    • 2.3.3.18. Firmware Upgrade APIs for EtherCAT stack
      • 2.3.3.18.1. bsp_start_fw_download
      • 2.3.3.18.2. bsp_store_fw_data
      • 2.3.3.18.3. bsp_boot_2_init_handler
    • 2.3.3.19. 110 PHY configuration APIs
      • 2.3.3.19.1. bsp_tlk110_init
      • 2.3.3.19.2. bsp_tlk110_configure_automdix
  • 2.3.4. PRU-ICSS interrupt controller setup for EtherCAT firmware
  • 2.3.5. Firmware Update
  • 2.3.6. PRU-ICSS EtherCAT Register List
  • 2.3.7. Application Examples
    • 2.3.7.1. Ecat_Open
    • 2.3.7.2. Ecat_OnTimer
    • 2.3.7.3. Ecat_Close
    • 2.3.7.4. *pApplication
    • 2.3.7.5. Device configuration
      • 2.3.7.5.1. Lib mode
      • 2.3.7.5.2. Patch mode
    • 2.3.7.6. SDK EtherCAT example using Sample Application Interface of Beckhoff SSC
• 2.4. PRU ICSS EtherCAT Slave Controller Register List
• 2.5. Sitara TI ESC Exceptions
  • 2.5.1. ESC register exceptions
  • 2.5.2. Known issues with no plans to fix
  • 2.5.3. Known functional differences
  • 2.5.4. Errata
  • 2.5.5. References
• 2.6. PRU ICSS EtherCAT Slave Errata
  • 2.6.1. Errata for PRU-ICSS-EtherCAT 01.00.10
  • 2.6.2. Errata for Industrial SDK 1.1.3/2.1.3 and PRU-ICSS-EtherCAT 01.00.08
  • 2.6.3. Errata for Industrial SDK 1.1.3/2.1.3 and PRU-ICSS-EtherCAT 01.00.07
  • 2.6.4. Errata for Industrial SDK 1.1.3/2.1.3 and PRU-ICSS-EtherCAT 01.00.06
  • 2.6.5. Errata for Industrial SDK 1.1.3/2.1.3 and PRU-ICSS-EtherCAT 01.00.05
  • 2.6.6. Errata for Industrial SDK 1.1.3/2.1.3 and PRU-ICSS-EtherCAT 01.00.02
  • 2.6.7. Errata for Industrial SDK 1.1.3/2.1.3 and PRU-ICSS-EtherCAT 01.00.01
  • 2.6.8. Errata for Industrial SDK 1.1.1/2.1.1 and PRU-ICSS-EtherCAT 01.00.00
  • 2.6.9. Errata for Industrial SDK 1.1.1
  • 2.6.10. Errata for Industrial SDK 2.1.1 and 1.1.0.10
  • 2.6.11. Errata for Industrial SDK 2.1.0.1
  • 2.6.12. Errata for Industrial SDK 1.1.0.8
  • 2.6.13. Errata for Industrial SDK 1.1.0.6
  • 2.6.14. Errata for Industrial SDK 1.1.0.5
  • 2.6.15. Errata for Industrial SDK 1.1.0.4
  • 2.6.16. Errata for Industrial SDK 1.1.0.3
  • 2.6.17. Errata for Industrial SDK 1.1.0.1
  • 2.6.18. Errata for Industrial SDK 1.0.0.9