CCS: EtherCAT Slave application questions

Sun yangyang

Other Parts Discussed in Thread: AM4379

Tool/software: Code Composer Studio

Hi,

I try building full feature EtherCAT Slave Application at AM4379 idk.the example as follows,

Building full feature EtherCAT Slave Application
The EtherCAT example application provided in [INSTALL-DIR]/examples/ethercat_slave folder is a limited development application. To have a full development capability on Sitara processor, it
is necessary to get the EtherCAT Slave Stack Code (SSC) from Beckhoff and build this for Sitara processors. Ethercat full mode example application provides all board specific
implementation sources for EtherCAT and a patch file to modify Beckhoff source files for Sitara processors. This application can be found in [INSTALL-DIR]/protocols/ethercat_slave/ecat_appl.
This folder also includes the configuration xml file to be used for testing and it can be found in[INSTALL-DIR]/protocols/ethercat_slave/ecat_appl/esi folder.
The steps for building full feature EtherCAT application using Beckhoff stack source code are given below.
1. Download EtherCAT stack version 5.11 from ETG website (http://www.ethercat.org/) and extract it to a local folder.
2. Apply ( See Apply instructions below) TI_ECAT.patch file found at [INSTALL-DIR]/third_party/protocols/ethercat_slave/patch on extracted Beckhoff stack code.
3. Copy the patched Beckhoff source files (.c and .h) to [INSTALL-DIR]/protocols/ethercat_slave/ecat_appl/EcatStack
4. Generate CCS project following [Steps_to_generate_Project_files (http://processors.wiki.ti.com/index.php/PRU_ICSS_EtherCAT#Steps_to_generate_Project_files)]
5. Launch CCS and import ethercat_slave_full application project found at the Project create directory (say, [INSTALL-DIR]/protocols/ethercat_slave/projects) to CCS
6. Define macros in ecat_appl\EcatStack\ecat_def.h as required for your application.
1. Ensure that TIESC_HW is set to 1
2. For running default application, set TIESC_APPLICATION to 1 and CiA402_DEVICE to 0
3. For running CiA402 application, set TIESC_APPLICATION to 0 and CiA402_DEVICE to 1.
7. Build the project. This will generate the application binary which can be used to run on Sitara processors.

When i creat ethercat_slave_full_AM437x_arm folder ,and import ccs(7.2) project it,debug it,the error about .c&.h....

Best wishes!

over 6 years ago

0 Sun yangyang over 6 years ago

Intellectual 340 points

What should i do from step 4? import the folde ethercat_slave_full_AM437x_arm CCS(7.2)? and debug it???

0 Sun yangyang over 6 years ago in reply to Sun yangyang

Intellectual 340 points

I solve it sucess!

0 Ki over 6 years ago in reply to Sun yangyang

TI__Guru**** 421230 points

Glad to hear you resolve the issue. Thank you for the update. Do you mind sharing what you did to resolve it so others can learn?

Thanks
ki

0 Sun yangyang over 6 years ago in reply to Ki

Intellectual 340 points

Hi,
I resolve the issue because of missing TI.ECAT.patch 执行 [Dos2Unix/Unix2Dos-DIR]/bin/unix2dos.exe TI_ECAT.patch and revise the shell .bat about projiect path！

Thans for your reply!
Best wishes!

0 Sun yangyang over 6 years ago in reply to Ki

Intellectual 340 points

Hi,
I had Building full feature EtherCAT Slave Application AM4379 idk.
If i want to test the full demo, I should follow that step？
How can i get the MLO Corresponding app？

Best regards！

0 Ki over 6 years ago in reply to Sun yangyang

TI__Guru**** 421230 points

Hello,
I will move this thread to the Sitara forum. The experts there can help you best

Thanks
ki

0 Paula Carrillo over 6 years ago in reply to Sun yangyang

TI__Mastermind 32690 points

Hi Sun Yangyang, could you please let me know which EtherCAT slave version are you using?

is it from ISDK? or from PRU-ICSS EtherCAT slave package?

1) If it is from ISDK, then you can download ysbios_ind_sdk_prebuilt_02_0x_0x_0x, inside you can find bootloaders\AM437X_IDK\mmcsd_release\MLO

2) On the other hand, if you are using PRU-ICSS EtherCAT slave package, then you can find MLO from PSDK package that you used for building EtherCAT slave demo ( ex path: processor_sdk_rtos_am437x_x_0x_0x_0x\prebuilt-sdcards\evmAM437x\sd_card_files\MLO)

Thank you,

Paula

0 Sun yangyang over 6 years ago in reply to Paula Carrillo

Intellectual 340 points

Hi,
Thans for your reply!
I use EtherCAT slave version from PRU-ICSS EtherCAT slave package.I already had test it sucessful.
1) I use the generate app and the MLO from PSDK. It can control LED.
2)I load the demo.out in CortexA9,It also can control LED.
Now,I would like to use this example to test receiving my data and translating my data , how should i do?
version :PRU-ICSS EtherCAT slave package, CCS7.2,Twincat3.1,the demo is ethercat_slave_full_AM437x_arm.

0 Paula Carrillo over 6 years ago in reply to Sun yangyang

TI__Mastermind 32690 points

Hi Sun, for receiving data you can check PDO data.. I would suggest to refer to Beckhoff documentation for especific EtherCAT slave stack information

0 Sun yangyang over 6 years ago in reply to Paula Carrillo

Intellectual 340 points

Hi,
Thans for your reply!
I read the EtherCAT slave stack information!
Now,i would like to know how communication between ESC and applicaation ?What is specific API?

version :PRU-ICSS EtherCAT slave package, CCS7.2,Twincat3.1,the demo is ethercat_slave_full_AM437x_arm.
I use EtherCAT slave version from PRU-ICSS EtherCAT slave package.I already had test it sucessful.

0 Paula Carrillo over 6 years ago in reply to Sun yangyang

TI__Mastermind 32690 points

Hi Sun Yangyang, sorry for my delayed response, we have experienced some extreme weather in Houston. About your question I think this wiki has what you are looking for.

PRU-ICSS EtherCAT firmware API guide

thank you,

Paula

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CCS: EtherCAT Slave application questions