CCS/AM4379: Merging IO-Link Master and EtherCAT Slave

Thomas Kuhnt

Intellectual 510 points

Part Number: AM4379
Other Parts Discussed in Thread: PROFIBUS

Tool/software: Code Composer Studio

Hi all,

what will be - from your point of view - the best approach to combine these two technologies regarding the demos?

With EtherCAT, there is a complete project where IO-Link could be "added" as a kind of library.

Another possibility could be to create an IO-Link project first and then to "merge" both.

(But with respect to the existing demo setup of IO-Link, this seems to be much more effort...).

Or is it possible to think about adding IO-Link only in a file based manner?

But therefore its necessary to have detailed knowledge about the build setup.

Any help welcome,

Thomas

over 4 years ago

0 Paula Carrillo over 4 years ago

TI__Mastermind 32565 points

Hi Thomas, the idea is to create a gateway? or could you explain us better your use case?

thank you,

Paula

0 Thomas Kuhnt over 4 years ago in reply to Paula Carrillo

Intellectual 510 points

Hi Paula,

Yes, the device should act as a gateway between EtherCAT and IO Link slave devices. For complexity reasons

and because we only want to use it in closed systems, the number of IO Link ports as well as IO Link device compatibility

will be limited. In the end, we only support custom specific bus configurations, provided e.g. by file.

Meanwhile I have already started using the EtherCAT full slave reference design adding the self-generated IO link library

(which isn't accessed at the moment). Even if EtherCAT and IO Link are using different PRU's, I don't see the

PRU0 handle assigned in the IO Link example code. Seems to be some kind of memory mapped adressing,

part of the script based toolchain required for the IO Link reference design?

Best Regards,

Thomas

0 Thomas Kuhnt over 4 years ago in reply to Thomas Kuhnt

Intellectual 510 points

Hi again,

another point: you mentioned the TI Design that shows a Profinet-Profibus gateway.

It seems to be a Linux project - is there anything comparable for Windows (I'm not a Linux expert....)?

Kind Regards,

Thomas

0 Garrett Ding over 4 years ago in reply to Thomas Kuhnt

TI__Mastermind 43296 points

Thomas,

Probably the 'CCS Linux version 6.1.2' noted in that TI design confused you, the profinet-profibus gateway was actually a TI-RTOS project, and the CCS could be either Windows or Linux version.

Regards,
Garrett

0 Garrett Ding over 4 years ago in reply to Garrett Ding

TI__Mastermind 43296 points

Thomas,

>>Even if EtherCAT and IO Link are using different PRU's, I don't see the PRU0 handle assigned in the IO Link example code. Seems to be some kind of memory mapped adressing, part of the script based toolchain required for the IO Link reference design?

This is configured in the structure iolinkInitCfg[] in IOLINK_soc.c:

/* IOLINK Soft IP configuration structure */
IOLINK_v0_SwAttrs iolinkInitCfg[IOLINK_SWIP_MAX_CNT] =
{
    {
        /* version */
        0,
        /* pruIcssConfig */
        {
            1,                         /* icssNum, 1: ICSS0, 2: ICSS1 */
            0,                         /* pruNum */
            PRU_ICSS_DATARAM(0),       /* dataMem0 */
            PRU_ICSS_DATARAM(1),       /* dataMem1 */
            PRU_ICSS_IRAM(0),          /* instMem */
            SOC_PRU_ICSS0_U_DATA_RAM0, /* dataMemBaseAddr */
            SOC_PRU_ICSS0_U_INTC_REG   /* intcBaseAddr */
        },

Regards,

Garrett

0 Thomas Kuhnt over 4 years ago in reply to Garrett Ding

Intellectual 510 points

Thanks for this hint; necessary to know for me (as newbee) where different assignments are located (*_soc.c).

Another important point is the configuration setup (*.cfg file) used for IOLINK. I found 2 ones:

iolink_arm_idkam437x.cfg at ..\drv\iolink\test\stack_test\am437x\armv7\bios

iolink_arm_idkam437x_pa9fg.cfg in the folder ..\binary\IOLINK_Stack_TestApp\obj\idkAM437x\a9host\release\configuro\package\cfg

The 2nd one seems to be generated and one part of its content is data/code location definition.

-> When setting up a CCS project, the contents of both files need to be "merged" or the 2nd one executed in "post build" process?

Regards, Thomas

0 Garrett Ding over 4 years ago in reply to Thomas Kuhnt

TI__Mastermind 43296 points

Thomas,

You don't need to merge the 'post build' .cfg. The 1st one will be sufficient.

Regards,

Garrett

0 Thomas Kuhnt over 4 years ago in reply to Garrett Ding

Intellectual 510 points

Garrett,

now I got it...Thanks!

Meanwhile I was able to create separated Profibus master and ProfiNet slave projects for AM572x platform.

But GIT project ProfibusMaster_ProfinetSlave_01.00.00.00 mentioned in http://www.ti.com/lit/ug/tiducu0/tiducu0.pdf

seems to be no more accessible, so it's not possible to create the gateway reference design in the way described.

Is there any other option to create it?

Regards,

Thomas

0 Garrett Ding over 4 years ago in reply to Thomas Kuhnt

TI__Mastermind 43296 points

Thomas,

The reference design was developed based on old PRSDK release and unfortunately not been updated.

Essentially, you can look into the .cfg files and CCS build configuration (compile options, defined symbols, libraries...) of each project and merge them into one.

Regards,

Garrett

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CCS/AM4379: Merging IO-Link Master and EtherCAT Slave