TI E2E Community
Sitara Processors Forum
TI Example with Beckhoff Slave Sample Code (type incompatibility)
I use the AM335x SYSBIOS Industrial SDK V1.00.00.03.To read and write to the ESC (PRU-ICCS) there are some functions defined like the "HW_EscReadIsr()". This function is called from the Beckhoff Slave Sample Code e.g. for PDO_OutputMapping. Now there is some discrepancy for the used pointer type of data source. In the file "tieschw.c" the function is implemented with UINT8* but the Slave Sample Code calls it with MEM_ADDR* type as defined in the Slave Sample Code Application guide from Beckhoff. MEM_ADDR is defined as UINT16.Any idea why this is done that way?Code does compile but shows up some incompatible type warnings.Thanks.Patrick
In ecat_def.h - we do not select CONTROLLER_32BIT or CONTROLLER_16BIT - this implies MEM_ADDR is defined as UINT8. Did you use ecat_def.h from SDK v1.00.00.03?
Sorry - the above comment applies to SDK v1.00.00.04 which will be live in couple of days time. So this was an issue which got fixed in upcoming SDK release.
I have used the ecat_def.h file from the Beckhoff Slave Stack Sample Code patched with the patch from TI (TI_ECAT.patch, SDK V1.00.00.03). "CONTROLLER_16BIT" is set to "1". And therefore "MEM_ADDR" is set to UINT16.Should "CONTROLLER_16BIT" be set to "0"? (But Controller is 16Bit isn't it? Is ESC access 8Bit?)"HW_EscRead()" should handle the pointer as it has to be (i.e. type cast) but function prototype should be "HW_EscRead(MEM_ADDR *pData, ....)"?
I'm a bit confused...
For SDK v1.00.00.03 - please use the ecat_def.h obtained after patching. This leads to type cast warning, however won't affect any functionality. This warning is fixed in newer SDK.
Here controller is 32-bit (Cortex-A8) and access to ESC is possible in 32/16/8 bit data. TI ESC HAL code (tiescbsp/hw.c) currently does not support 32-bit/16-bit accesses for ESC register access for simpler handling. So in the latest version it is decided to use 8-bit mode to remove typecast warnings and confusion.
When we support CONTROLLER_32BIT/16BIT and ESC_32BIT_ACCESS/ESC_16BIT_ACCESS - I agree that function prototype needs to be updated to use MEM_ADDR* for pData.
Thanks for the feedback.
All content and materials on this site are provided "as is". TI and its respective suppliers and providers of content make no representations about the suitability of these materials for any purpose and disclaim all warranties and conditions with regard to these materials, including but not limited to all implied warranties and conditions of merchantability, fitness for a particular purpose, title and non-infringement of any third party intellectual property right. TI and its respective suppliers and providers of content make no representations about the suitability of these materials for any purpose and disclaim all warranties and conditions with respect to these materials. No license, either express or implied, by estoppel or otherwise, is granted by TI. Use of the information on this site may require a license from a third party, or a license from TI.
TI is a global semiconductor design and manufacturing company. Innovate with 100,000+ analog ICs andembedded processors, along with software, tools and the industry’s largest sales/support staff.