TMS320F28388D: ESC_HW_INIT_FAIL when jumping from APP to bootloader

Hang Yang

Hi Experts,

My customer is using EtherCAT in both app and bootloader.

When they debug the APP and bootloader alone, the EtherCAT function works normally.

However, when they jump from app to bootloader, the EtherCAT in boot loader does not work. The below function would be blocked until timeout.

Since both APP and bootloader would initialize the ESC, when jumping from APP to boorlader, they would be initializing the ESC for the second time,.

How to make sure the ESC inialization works in bootloader? Should they reset the ESC by some methods?

Regards,

Hang

3 months ago

0 Ira Thete 2 months ago

TI__Expert 4075 points

Hi Hang,

Sorry for the late response. Let me check and get back to you.

Thanks,

Ira

0 Ira Thete 2 months ago in reply to Ira Thete

TI__Expert 4075 points

Hi Hang,

Yes — resetting the ESC is mandatory. The ESC must be explicitly reset via the system control register as part of the bootloader initialization sequence. Skipping or misordering this reset is the most common cause of ESC initialization failures.

The Required Reset Sequence

The documented initialization flow differs slightly depending on which core owns the ESC, but the core pattern is consistent:

For CPU1-owned ESC:

Step	Action
1	Bring ESC out of reset using system control register
2	Perform EtherCAT memory initialization
3	Wait for memory initialization to complete
4	(Recommended) Verify EEPROM loaded successfully

For CPU2/CPU3-owned ESC (CPU1 must perform this on their behalf):

Step	Action
1	Reset ESC using system control register
2	Bring ESC out of reset
3	Configure EtherCAT EEPROM size
4	Reset ESC again
5	Allocate ESC to CPU2/CPU3

Note the double reset: once to clear state, and again after EEPROM size configuration before handing off to the target core.

You can use the following TI SDK provided three dedicated functions for fine-grained reset control

ESC_holdESCInReset(); // Hold ESC in reset state
ESC_releaseESCReset(); // Bring ESC out of reset
ESC_resetESC(); // Full ESC peripheral reset

After the reset sequence, call ESC_initHW() to initialize the host controller, interrupts, SYNC signals, and PDI. It returns ESC_HW_INIT_SUCCESS or ESC_HW_INIT_FAIL.

Can you try this and let me know if it resolves the issue?

Thanks,

Ira

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TMS320F28388D: ESC_HW_INIT_FAIL when jumping from APP to bootloader