AM2434: How to place EtherCAT firmware const array in XIP

Chen Zhen-Wei

Part Number: AM2434

In our PRU EtherCAT development, we are following the approach of the SDK example program "ethercat_slave_beckhoff_ssc_demo."

We load the EtherCAT firmware code from R5FSS to PRU-ICSSG.

(EtherCAT firmware path: ${MCU_PLUS_SDK_PATH}/source/industrial_comms/ethercat_slave/icss_fwhal/firmware/g_v1.3/)

However, with this method, it seems that ecat_frame_handler_bin.h and ecat_host_interface_bin.h occupy MSRAM.

Due to memory space considerations, we hope to place the const array in XIP.

For example:

Since the EtherCAT firmware code has already been packaged as .ilb, attempting to do this proved unsuccessful.

Is there a method to place the const array in XIP?

Best Regards

over 1 year ago

0 Aaron Thomas over 1 year ago

TI__Expert 6425 points

Hi,

So the firmware is not loaded from library for ethercat_slave_beckhoff_ssc_demo but from C:\ti\ind_comms_sdk_am243x_09_00_00_03\source\industrial_comms\ethercat_slave\icss_fwhal\tiescbsp.c

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volatile uint32_t *pru_frame_proc = (uint32_t *)FrameProc;
volatile uint32_t *pru_host_proc = (uint32_t *)HostProc;
volatile uint32_t pru_frame_proc_len = sizeof(FrameProc);
volatile uint32_t pru_host_proc_len = sizeof(HostProc);
XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

volatile uint32_t *pru_frame_proc = (uint32_t *)FrameProc;
volatile uint32_t *pru_host_proc = (uint32_t *)HostProc;
volatile uint32_t pru_frame_proc_len = sizeof(FrameProc);
volatile uint32_t pru_host_proc_len = sizeof(HostProc);

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bsp_init()
{
/* PRU firmwares are loaded as header files in application */
PRUICSS_writeMemory(pruIcssHandle, PRUICSS_IRAM_PRU(0) , 0,
(uint32_t *) pru_frame_proc,
pru_frame_proc_len);
PRUICSS_writeMemory(pruIcssHandle, PRUICSS_IRAM_PRU(1) , 0,
(uint32_t *) pru_host_proc,
pru_host_proc_len);
}
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bsp_init()
{
/* PRU firmwares are loaded as header files in application */
PRUICSS_writeMemory(pruIcssHandle, PRUICSS_IRAM_PRU(0) , 0,
(uint32_t *) pru_frame_proc,
pru_frame_proc_len);

PRUICSS_writeMemory(pruIcssHandle, PRUICSS_IRAM_PRU(1) , 0,
(uint32_t *) pru_host_proc,
pru_host_proc_len);
}

Instead, you can also read from flash and write to corresponding PRUICSS_IRAM_PRU(x)

Regards,

Aaron

0 Chen Zhen-Wei over 1 year ago in reply to Aaron Thomas

Prodigy 55 points

Hi Aaron,

Aaron Thomas said:
Instead, you can also read from flash and write to corresponding PRUICSS_IRAM_PRU(x)

How can I read from flash and write to corresponding PRUICSS_IRAM_PRU(x) ?
Best Regards

0 Aaron Thomas over 1 year ago in reply to Chen Zhen-Wei

TI__Expert 6425 points

Hi Chen,

Sorry for the delay in response. We will look into this and get back to you by mid next week.

Regards,

Aaron

0 Chen Zhen-Wei over 1 year ago in reply to Aaron Thomas

Prodigy 55 points

Hi Aaron,

Is there any information for this?

Regards

0 Aaron Thomas over 1 year ago in reply to Chen Zhen-Wei

TI__Expert 6425 points

I will get back to you by Monday

Regards,

Aaron

0 Aaron Thomas over 1 year ago in reply to Chen Zhen-Wei

TI__Expert 6425 points

Hi Chen,

Please refer to this particular page for the APIs: https://software-dl.ti.com/mcu-plus-sdk/esd/AM243X/09_01_00_41/exports/docs/api_guide_am243x/group__BOARD__FLASH__MODULE.html#ga688fd20ef668ce16b8fd86fbb85a69c1

Once the firmware is read from the provided offset using the above API, you should do a PRU memory write to the PRUICSS_IRAM_PRU for the corresponding firmwares.

Regards,

Aaron

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AM2434: How to place EtherCAT firmware const array in XIP