In this model, the adaptation of stack to PRU-ICSS on TI SoCs needs to be done by third party vendors or customers themselves. SDK provides the PRU-ICSS firmware for protocols and the hardware abstraction layer APIs to communicate with thr firmware.
FWHAL(Firmware and Hardware Abstraction Layer) implements the key interface between protocol specific PRU-ICSS firmware and protocol stack. The PRU-ICSS firmware runs on the PRU cores, offloading the time-critical link layer processing from the main ARM processor, running FreeRTOS. The FW HAL provides simple access to the PRU-ICSS resources and integrates easily with the protocol stack and application software running on the ARM core.
FWHAL for following industrial communication protocols are present:
${SDK_INSTALL_PATH}/source/industrial_comms/ethercat_slave/beckhoff_stack/stack_hal
folder.