Tool/software:
Hello TI-TEAM,
Based on the AM2432 we are implementing an EtherCAT slave device. FreeRTOS runs on the same core as the EtherCAT slave stack. In the tiescbsp.h ENABLE_PDI_TASK and ENABLE_SYNC_TASK are disabled respectively commented out.
Now we see on the SYNC0 interrupt (sync0_isr) a high latency of up to 5-6 us. I have seen that in the used motor control sdk (V09.02.00.09) the function PRUICSS_registerIrqHandler a 'normal 'IRQ with constant priority 1 will be registered for Sync0/1 and PDI-ISR. I tried to make 2 changes and compiled the sdk again:
First I set the isFIQ=1 flag. In the following the EtherCAT slave code didn’t start again probably.
Then I set the isFIQ flag only for Syn0 interrupt (HOST_SYNC0_EVENT) and it seems that everything is working fine. Also the high latency time disappears.
Is there any aspect that speaks against doing something like this? If no, can you extend the function interface of the PRUICSS_registerIrqHandler to set a IRQ irq priority and the IRQ-type (IRQ/FIQ)?
Best regards,
Klaus Peter
