Welcome to Industrial Communications SDK for AM263X. This SDK contains examples, libraries and tools to develop RTOS based Industrial Communication applications on PRU-ICSS

The Industrial Communications SDK enables real-time industrial communications for TI processors. Industrial communication is typically handled by the Programmable Real-Time Unit Industrial Communication Subsystem (PRU-ICSS). The PRU-ICSS is a co-processor subsystem containing Programmable Real-Time (PRU) cores and Ethernet media access controllers (EMACs), which implement the low level industrial Ethernet and fieldbus protocols through firmware. The upper layers of the protocols stacks are implemented in software running on ARM cores.

PRU cores are primarily used for industrial communication, and can also be used for other applications such as motor control and custom interfaces. The PRU-ICSS frees up the main ARM cores in the device for other functions, such as control and data processing.

This SDK also includes AM263X MCU+ SDK.

Getting Started

To get started, see GETTING STARTED page.

Block Diagram

Given below is a block diagram of the SW modules in this SDK

Software Block Diagram

The main software components in the block diagram are described below

Software Components Documentation Page Description
Device Drivers and HAL (Hardware Abstraction Layer)
Industrial Protocol Firmware (FW) HAL Industrial Communications FWHAL Hardware abstraction layer APIs to higher level industrial protocol stacks. Example, EtherCAT FW HAL
Protocol Stacks and Middleware
Industrial Protocol Stacks Industrial Communications Toolkit Industrial protocol stacks for protocols like EtherCAT
Examples and Demos
Examples and Demos Examples and Demos Examples and demos showing usage of different SW libraries and APIs

For details on software components of MCU+ SDK, please refer to AM263X MCU+ SDK.

Directory Structure

Given below is a overview of the directory structure to help you navigate the SDK and related tools.

Folder/Files Description
README_FIRST_AM263X.html Open this file in a web browser to reach this user guide
makefile Top level makefile to build the whole SDK using "make"
imports.mak Top level makefile to list paths to dependent tools
docs/ Offline browseable HTML documentation
examples/ Example applications for AM263X, across multiple boards
mcu_plus_sdk/ MCU + SDK
source/ Device drivers, middleware libraries and APIs

Given below are the paths where the different tools needed outside the SDK, like CCS, SysConfig are installed by default in Windows. In Linux, the tools are installed by default in ${HOME}/ti.

Folder/Files Description
C:/ti/ccs1250 Code Composer Studio
C:/ti/sysconfig_1.18.0 SysConfig. NOTE, SysConfig is also installed as part of CCS at ${CCS_INSTALL_PATH}/ccs/utils/sysconfig_x.x.x
C:/ti/ti-cgt-armllvm_3.2.0.LTS TI ARM CLANG compiler tool chain


The licensing information of this SDK, as well as any third-party components included which are made available under a number of other open-source licenses are enumerated as part of the manifest. A complete manifest along with export control information is detailed here [LINK] and the SDK Software License Agreement (SLA) is here [LINK]

Help and Support

For additional help and support, see

Documentation Credits

This user guide is generated using doxygen, v1.8.20. See