PROCESSOR-SDK-AM64X: RGMII support for EtherCat

Daviel Almonte said:

EtherCAT support in PRU-ICSS using RGMII instead of MI? 

EtherCAT considers on the fly latency as KPI. RGMII introduces large MAC level latencies in 100M mode due to additional FIFOs required by the interface. Such a solution won't be competitive, EtherCAT also discourages use RMII due to latency concerns.

Application Note (beckhoff.com)

This requires a different PRU firmware than MII variant, as you can see since overhead in maintaining such a firmware is high and we anticipate limited potential use due to performance overheads - this is not planned to be pursued.