AM2434: EtherCAT Subdevice buffer handling api not functional with 09.01 version

Hi Dominic, thanks for bringing documentation link issue to our attention, I will file a JIRA to fix it.

In the meantime, you can access EtherCAT Slave API documentation from MCU-SDK docs. Ex: C:/ti/ind_comms_sdk_am243x_09_00_00_03/docs/am243x/ethercat_slave/modules.html 

From documentation, I don't see any changes done to above APIs from 9.0 to 9.1.

To replicate the issue where you added callback functions? if you can send me a patch to use on top of 9.1 it would be great.

On the other hand, just confirming, in 9.1 w/o above modifications, ethercat_slave_simple_demo_am243x-evm_r5fss0-0_freertos_ti-arm-clang works OK, right?

thank you,

Paula

Hi Paula,

sorry for the late response, I was not at work for some time.

Without these changes example is working just fine, that is correct.

Here is a patch with the changes made to the example.

diff --git a/ecSlvSimple.c b/ecSlvSimple.c
index 7670305..7339d74 100644
--- a/ecSlvSimple.c
+++ b/ecSlvSimple.c
@@ -2930,6 +2930,17 @@ static bool EC_SLV_APP_EoE_SS_receiveHandler(void* pContext_p, uint16_t* pData_p
     return true;
 }

+static uint8_t data[1024]={0};
+
+static void*acquireBuffer(void* pContext_p, uint32_t length_p)
+{
+    return &data[0];
+}
+
+static void releaseBuffer(void* pContext_p, void* pData_p, uint32_t length_p)
+{
+}
+
 /*!
  *  <!-- Description: -->
  *
@@ -3088,16 +3099,22 @@ void EC_SLV_APP_SS_applicationInit(EC_SLV_APP_SS_Application_t *pAppInstance_p)
     EC_API_SLV_DIAG_enable(pAppInstance_p->ptEcSlvApi);

 #if !(defined DPRAM_REMOTE) && !(defined FBTL_REMOTE) && !(defined OSAL_FREERTOS_JACINTO) /* first omit flash */
-    EC_API_SLV_cbRegisterFlashInit              (pAppInstance_p->ptEcSlvApi, EC_SLV_APP_EEP_initFlash, pAppInstance_p->ptEcSlvApi);
+    // currently not supported for our custom board
+
+    // EC_API_SLV_cbRegisterFlashInit              (pAppInstance_p->ptEcSlvApi, EC_SLV_APP_EEP_initFlash, pAppInstance_p->ptEcSlvApi);
     /* @cppcheck_justify{misra-c2012-11.6} void cast required for signature */
     /* cppcheck-suppress misra-c2012-11.6 */
-    EC_API_SLV_EEPROM_cbRegisterWrite           (pAppInstance_p->ptEcSlvApi,   EC_SLV_APP_EEP_writeEeprom, OSPIFLASH_APP_STARTMAGIC);
+    // EC_API_SLV_EEPROM_cbRegisterWrite           (pAppInstance_p->ptEcSlvApi,   EC_SLV_APP_EEP_writeEeprom, OSPIFLASH_APP_STARTMAGIC);
     /* @cppcheck_justify{misra-c2012-11.6} void cast required for signature */
     /* cppcheck-suppress misra-c2012-11.6 */
-    EC_API_SLV_EEPROM_cbRegisterLoad            (pAppInstance_p->ptEcSlvApi,   EC_SLV_APP_EEP_loadEeprom, OSPIFLASH_APP_STARTMAGIC);
+    // EC_API_SLV_EEPROM_cbRegisterLoad            (pAppInstance_p->ptEcSlvApi,   EC_SLV_APP_EEP_loadEeprom, OSPIFLASH_APP_STARTMAGIC);
 #endif
     EC_API_SLV_cbRegisterUserApplicationRun     (pAppInstance_p->ptEcSlvApi, EC_SLV_APP_SS_applicationRun, pAppInstance_p);

+    /* buffer callbacks */
+    EC_API_SLV_cbRegisterPreSeqInputPDBuffer(pAppInstance_p->ptEcSlvApi, pAppInstance_p->ptEcSlvApi, acquireBuffer);
+    EC_API_SLV_cbRegisterPostSeqInputPDBuffer(pAppInstance_p->ptEcSlvApi, pAppInstance_p->ptEcSlvApi, releaseBuffer);
+
     error = (EC_API_EError_t)EC_API_SLV_init(pAppInstance_p->ptEcSlvApi);
     if (error != EC_API_eERR_NONE)
     {
@@ -3350,6 +3367,9 @@ static void EC_SLV_APP_SS_applicationRun(void* pAppCtxt_p)
             }

 #if !(defined FBTL_REMOTE) || (0 == FBTL_REMOTE)
+#if 0
+            // I don't use this code, as processdata is updated via callbacks only
+
             err = (EC_API_EError_t)EC_API_SLV_PDO_setEntryData(pApplicationInstace->ptEcSlvApi
                     ,pApplicationInstace->ptTxPdo1A00
                     ,1
@@ -3359,6 +3379,7 @@ static void EC_SLV_APP_SS_applicationRun(void* pAppCtxt_p)
             {
                 OSAL_printf("Fill Description Object Error code: 0x%08x\r\n", err);
             }
+#endif
 #endif
         }
         else
@@ -3394,6 +3415,9 @@ static void EC_SLV_APP_SS_applicationRun(void* pAppCtxt_p)
                     lastLed = (lastLed << 1u);
                 }

+#if 0
+                // I don't use this code, as processdata is updated via callbacks only
+
                 //Write Led data to the process data. It can be seen in OBD in Object 0x2002:2 as well.
                 error = EC_API_SLV_PDO_setEntryData(
                         pApplicationInstace->ptEcSlvApi,
@@ -3406,6 +3430,7 @@ static void EC_SLV_APP_SS_applicationRun(void* pAppCtxt_p)
                 {
                     OSAL_printf("%s:%d:E=0x%x\r\n", __func__, __LINE__, error);
                 }
+#endif
             }
         }

Hi Dominic, thanks, please allow me some time (a couple of days) to get a setup ready and reproduce.

thank you,

Paula

Hi Paula,

thanks for your help! Now I see the problem. I wasn't aware of the API change, but position of callback function and context have been swapped. That's a dangerous change

I wonder why compiler didn't notice. Nevertheless, I did a quick test by swapping both parameters. Now I do not get any hard fault anymore, so I think the problem is fixed. If there is another problem I will reopen/or open another issue.

Thanks,

Dominik