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AM2434: EtherCAT sync0, sync1, and pdi_isr timestamp

Jianyu Wang
Intellectual 900 points
Part Number: AM2434
Other Parts Discussed in Thread: SYSCONFIG

Hi TI Experts,

 

Currently we are using sync0isr and pdi_isr interrupts for EtherCAT function. We would like to merge the functionalities with other modules and remove these interrupts.

The issue is that we want accurate timestamp when sync0/pdi happened and yet we don't want the interrupt to delay other module.

Here is the question, I wonder if there are interfaces that we can read sync0/sync1/pdi_isr timestamps?

If not, then we need to direct these signals to ECAP module, correct? I checked the sysconfig, EDC_SYNC_OUT0 should be sync0, EDC_SYNC_OUT1 should be sync1. Which signal is pdi_isr?

 

Thanks

  • 0
    TI__Genius 11015 points

    Hi Jianyu,

    Jianyu Wang said:
    Here is the question, I wonder if there are interfaces that we can read sync0/sync1/pdi_isr timestamps?

    There is a vendor specific register which has the PDI ISR Timestamp: 

    You can map PDI ISR output to external SOC pin (via one of the 4 PRU-ICSS digio outputs):

    1. Program 0x0E0A Vendor Specific Register to choose between one of the 4 pins. For example, if you want to map the PDI ISR output to PRG1_IEP0_EDIO_DATA_IN_OUT31, then write 0x80 in the register. 0x40, 0x20 or 0x10 if you want to map to PRG1_IEP0_EDIO_DATA_IN_OUT30, PRG1_IEP0_EDIO_DATA_IN_OUT29 and PRG1_IEP0_EDIO_DATA_IN_OUT28 respectively.
    2. Map the corresponding EDIO pin to an available external GPIO pin in Syscfg:

    Regards,
    Aaron

  • 0 in reply to Aaron Thomas
    Intellectual 900 points

    Thanks, can you share a download link for the complete register map? I also need time stamp for sync0

    Aaron Thomas said:
    There is a vendor specific register which has the PDI ISR Timestamp: 
  • 0 in reply to Aaron Thomas
    Intellectual 900 points

    Another question, is the time stamp based on IEP0? Is this clock be modified by ARMW command used to synchronize all clocks?

  • +1 in reply to Jianyu Wang
    TI__Genius 11015 points

    Hi Jianyu,

    Jianyu Wang said:
    Thanks, can you share a download link for the complete register map?

    You can find the TI ESC Register Map here: TI EtherCAT SubDevice Controller Register List. TI Vendor specific registers can be found under "TI ESC Vendor Specific Registers" section.

    Jianyu Wang said:
    I also need time stamp for sync0

    The Sync0 timestamp is not brought out to the ESC Register. One option is that you can monitor IEP_CMP1_REG0 Register (offset 0x80-0x87) which will have time when the next Sync0 signal will be triggered: 

    The Sync signal is triggered when the IEP counter hits the value programmed in the above register. Once the signal is triggered, the above register is re-programmed with the the next time (based on the cycle time) when the signal is to be triggered.

    Jianyu Wang said:
    Another question, is the time stamp based on IEP0? Is this clock be modified by ARMW command used to synchronize all clocks?

    Yes, correct.

    Regards,
    Aaron