AM263P4: Functional safety and EtherCAT related questions

Hi Ted,

Ted Huh said:

To run the EtherCAT slave on AM263P4 with PRU-ICSSM, is the FreeRTOS mandatory or they can run that without RTOS? if FreeRTOS is mandatory, then Can they place the FreeRTOS+EtherCAT stack on the non-safety core and not using RTOS is on Safety core?

Yes this is possible, they can use no-RTOS as well, customer would need to do the adaptation

They can run FreeRTOS+EThercat on non safety core as well.

Ted Huh said:

1. for ISO13849-1 certification, is there a recommended structure? What they planning is like this.

         -Non-safety core : FreeRTOS + EtherCAT/FSoE stack

         -Safety core : Bare-metal(SRMA-resident code), diagnostic and motor control Safety loop

         -Communication between cores : shared memory, mailbox, RPMsg

Yes this is a good approach, they can isolate safety and non-safety core functionality.

Ted Huh said:

      3. Where can customer get the safety document like Safety manual / Reference Structure / Application note to meet the ISO13849-1? they got the one pager about this but there's no reference design for the architecture. is it includes these kind of topics?

        -Task management

        -Ensure a high level of diagnostic coverage 

        -Data Isolation between Safety and Non-safety (related) Data 

        - Transition to Safe State 

This document is currently no availaible, there is a pln to publish it in future, please reach out to seperately over email for more details.