Ethernet PRU_ICSSG instance-0 (PRU_ICSSG0) Usage Guide

Introduction

AM64X extends Sitara’s industrial-grade portfolio into high-performance microcontrollers. The AM64X device is designed for industrial applications, such as motor drives and remote I/O modules, which require a combination of real-time communications and processing capabilities.

The AM64X family offers scalable performance with up to two instances of Sitara’s gigabit TSN-enabled PRU_ICSSG. For more information, refer to the "Programmable Real-Time Unit Subsystem and Industrial Communication Subsystem - Gigabit (PRU_ICSSG)" section in the Processors and Accelerators chapter of the device TRM.

This document serves as a guide for using the PRU_ICSSG0 instance in the PRU_ICSSG peripheral. On EVMs supported by TI (AM64X-EVM, AM243X-EVM), it is not possible to use the PRU_ICSSG0 instance, as the PRG0_RGMII1 and PRG0_RGMII0 pins are not connected to Ethernet PHYs on those EVMs. A dedicated custom board is required to utilize the PRU_ICSSG0 instance of the ICSSG peripheral. The PRU_ICSSG1 instance of the ICSSG peripheral does not have these limitations.

This document provides a setup guide for bringing up the PRU_ICSSG0 instance on a custom board or an ICSSG0-enabled device.

On AM64X, out-of-the-box support for ICSSG0 is not available.

• The PRU_ICSSG0 is supported on the AM64X SoC, but the standard TI EVMs and LaunchPads do not include board support.
• PRU_ICSSG0 support can be achieved with a custom board. Contact TI for more details and possibilities.

SoC Architecture and details

Configuring PRU_ICSSG0

Configuring PRU_ICSSG0 instance in Sysconfig

In the "TI Drivers" section, select the "PRU (ICSS)" module and change the following:

• Rename "CONFIG_PRU_ICSS1" to CONFIG_PRU_ICSS0.

SysConfig changes for TI drivers

In the "TI Industrial Comms Toolkit" section, select the "EtherCAT" module and change the following:

• "ICCS Instance" to ICSSG0.
• "MDIO Manual Mode Link Status Update" to PHY Polling Based.
• "PRU Configuration" to CONFIG_PRU_ICSS0.

SysConfig changes for toolkit 1

SysConfig changes for toolkit 2

In the "TI Board Drivers" section, select the "ETHPHY" module and change the following:

• In "CONFIG_ETHPHY0", change the "ETHPHY Device" to CUSTOM.
• In the same config, change the "MDIO Phy Address" to the one of the custom PHY.
• In the same config, change the "Custom Device Name" to CUST_PHY.
• In "CONFIG_ETHPHY1", change the "ETHPHY Device" to CUSTOM.
• In the same config, change the "MDIO Phy Address" to the one of the custom PHY.
• In the same config, change the "Custom Device Name" to CUST_PHY.

SysConfig changes for board drivers 1

SysConfig changes for board drivers 2

Simple Demo Example with DP83826E (Sysconfig)

For this example, a custom board with two DP83826E PHYs is used.

In addition to the modifications in the previous chapter, the following changes must be made:

In the "TI Board Drivers" section, select the "ETHPHY" module and change the following:

• In "CONFIG_ETHPHY0", change the "MDIO Phy Address" to 1.
• In "CONFIG_ETHPHY0", change the "MDIO Phy Address" to 7.

In the "TI Drivers" section, select the GPIO section and add the following GPIO's:

1. GPIO
   • Name: GPIO_RESET_ICSS0_PHY1
   • PIN Direction: OUTPUT
   • GPIO Pin: GPMC0_CLK/R17
   • Pull Up
2. GPIO
   • Name: GPIO_RESET_ICSS0_PHY2
   • PIN Direction: OUTPUT
   • GPIO Pin: GPMC0_ADVn_ALE/P16
   • Pull Up

SysConfig changes for TI drivers DP83826E 1

SysConfig changes for TI drivers DP83826E 2

Simple Demo Example with DP83826E (Code Composer Studio Project)

In Code Composer Studio, right click on the project and choose "Properties". Under "Build" → "Arm Compiler" → "Predefined Symbols", add the following symbol:

• CUST_PHY_DP83826=1

CCS Project changes for DP83826E 1

In the Industrial Communications SDK directory, navigate to "/examples/industrial_comms/custom_phy/src/". Select both files "CUST_PHY_dp83826e.c" and "CUST_PHY_dp83826b.c" and drag and drop them into the project in the Project Explorer. Following window appears, asking how to import the files to the project. Adopt these changes:

CCS Project changes for DP83826E 2

Simple Demo Example with DP83826E (Code)

In the file "ESL_BOARD_config.h", adapt the defines as follows:

#define ECAT_PHYADDR_IN                     (1u)
#define ECAT_PHYADDR_OUT                    (7u)
#define ECAT_PHYPOLINVERT_IN                (false)
#define ECAT_PHYPOLINVERT_OUT               (false)
#define ECAT_PHYUSERXLINK_IN                (true)
#define ECAT_PHYUSERXLINK_OUT               (true)

In the file "ESL_BOARD_OS_config.h, adapt the defines as follows:

#define ESL_DEFAULT_PRUICSS                 CONFIG_PRU_ICSS0
 
[...]
 
#define APP_PHYIN_RESET_PIN                 ESL_GPIO_enPIN_31
#define APP_PHYIN_RESET_MODULE              ESL_GPIO_enMODULE_0
#define APP_PHYOUT_RESET_PIN                ESL_GPIO_enPIN_32
#define APP_PHYOUT_RESET_MODULE             ESL_GPIO_enMODULE_0