TMS320F28388D: EtherCAT single port implementation with KSZ8081MLX

Giacomo Cursi

Dear all,

I developed my own custom board with F28388D (176 pin package) in order to realize an EtherCAT slave using the PHY: KSZ8081MLX.

First of all, I used the control card and i successfully completed the example: "CM Echoback Solution Example" from the paragraph 3.7 of EtherCAT_Slave_Controller_User_Guide.pdf.

Then I manage the firmware porting of that example for my own custom board, as I mentioned in the title, this is an EtherCAT single port slave implementation. So I modified the GPIO pin configuration in order to meet the hardware desing. Here below the screenshot of the implemented code:

I also share the hardware desing about my own custom board.

After the the new firmware deploy, I have executed the ECAT network scan from TwinCAT (with CX9020). The custom board is recognised correctly from the master, but there is ADS ERROR (0x71F), see the screen below:

The custom board is added at the TwinCAT project, and we try to go to RUN Mode, but the custom board doesn't go to OP STATE and error 0x71F is triggered again.

Please, could you help me on this issue?

Thank you in advance,

Giacomo

over 3 years ago

0 Sahil Deshpande over 3 years ago

TI__Expert 6035 points

Giacomo,

The subject matter expert is out of office. Please expect a response by next Thursday.

Thanks.

0 Giacomo Cursi over 3 years ago in reply to Sahil Deshpande

Prodigy 10 points

Hi Sahil,

Thank you for your response. I'm waiting the response from your expert. In the meawhile, do you have another technical contact from your side?

Thanks

0 Kevin Allen18 over 3 years ago in reply to Giacomo Cursi

TI__Mastermind 45606 points

Hi Giacomo,

Can you verify that the guidance in the Beckhoff PHY selection app note below is followed for your KSZ8081x PHY device

https://download.beckhoff.com/download/document/io/ethercat-development-products/an_phy_selection_guidev2.7.pdf

Also, can you check status of ESC DL Status register (0x110) before and after connecting to TwinCAT? Checking some other ESC registers may give some hint as well (see Beckhoff datasheet section II for register details).

Best,

Kevin

0 Giacomo Cursi over 3 years ago in reply to Kevin Allen18

Prodigy 10 points

Hi Kevin, thank you for your response. At this moment, we are able to comunicate and we made the state transition from INIT to OP. We made hardware fix and firmware fix in order to reach this goal. We insert a wire from LED0 to the link_status_port_0 pin configured for MCU (GPIO86), and on this line we entered a pull up resistor. Regarding the firmware fix, we configure the link_status_port_1 pin (GPIO68) and we put a pull up resistor in order to configure the one port.

How can I set port one to disable (closed) via firmware?

Best regards,

Giacomo

0 Kevin Allen18 over 3 years ago in reply to Giacomo Cursi

TI__Mastermind 45606 points

Hi Giacomo,

Good to hear you found the fix. The F2838x device expects the PHYx_LINKSTATUS signal to be an active low signal and the PHY output logic needs to be considered along with this.

Giacomo Cursi said:
How can I set port one to disable (closed) via firmware?

You're meaning PHY1 is showing to be enabled (open) incorrectly still? If it's still related to the PHYx_LINKSTATUS signal / state, maybe you need to invert the logic for this signal. You can handle this in software using the below function:

GPIO_setPadConfig(myECAT0_ESCPHY1_LINKSTATUS_GPIO,GPIO_PIN_TYPE_INVERT);

Best,

Kevin

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TMS320F28388D: EtherCAT single port implementation with KSZ8081MLX