AM6442: Inquiries about development environment and Safety communication

Takayuki Miyazaki said:

For debugging environment, does TI recommend customer to use Code Composer studio? If TI recommends customer to use other environment, would you share this information.

CCS is our primary path but also for example https://www.lauterbach.com/chip/AM6442 is a great debugger.

Takayuki Miyazaki said:

Is it possible to synchronize Timer-interrupts with EtherCAT's distributed clock function?

Yes

Takayuki Miyazaki said:

Is there any software kits/SDK that support the implementation of Safety communication (such as FSoE in EtherCAT) ?

We are working on examples for this. But overall FSoE is a software layer on top of the EtherCAT slave (subordinate) stack we support. https://software-dl.ti.com/mcu-plus-sdk/esd/AM64X/latest/exports/docs/api_guide_am64x/INDUSTRIAL_COMMS_TI_STACK.html#autotoc_md2164 https://software-dl.ti.com/mcu-plus-sdk/esd/AM64X/latest/exports/docs/api_guide_am64x/ETHERCAT_SUBDEVICE_FWHAL.html 

Takayuki Miyazaki said:

Customer is considering above software is running on Cortex-M4F. When anther MPU/MCU is attached externally for functional safety, would TI think  it is possible to run same software on other external MPU/MCU?

The EtherCAT stack is expected to run on an R5. I suggest the customer gets access to the safety collateral, such as the safety manual which is available via mysecuresw page to get an understanding of the possibilities with the M4 FFI island. But yes it is possible to use an external MCU together with AM64x EtherCAT in a safety system.

Takayuki Miyazaki said:

When customer would like to use incremental encoders, would TI recommend customer to use PRU?

The currently support motor contorl position encoders are listed at https://software-dl.ti.com/mcu-plus-sdk/esd/AM64X/latest/exports/docs/api_guide_am64x/ENCODERS_DOC.html . We have seen further serial port based encoders implemented as well and have a roadmap of encoders coming.

Takayuki Miyazaki said:

Customer would like to know how data is exchanged (Transfer/Receive) between ARM cores and PRU. By using shared-SRAM ? by writing R5F’s TCM?

Each industrial control protocol has a specific way of implementing the required API. It will range from the ICSS PRU writing to and reading from the memory address (this could be TCM) the SW stack configured it to do to R5 accessing the memory inside the ICSS. 

  Pekka

Hello Pekka,

Thank you for your advice and your comments on those inquires.

I shared your comments with our customer. I'd like to clarify one thing.

Pekka Varis said:

The EtherCAT stack is expected to run on an R5. I suggest the customer gets access to the safety collateral, such as the safety manual which is available via mysecuresw page to get an understanding of the possibilities with the M4 FFI island. But yes it is possible to use an external MCU together with AM64x EtherCAT in a safety system.

I’d like to know how customer request AM64x’s safety collateral / safety manuals. Can we have your further advice, please?

and, if customer will have further questions, I'll share them with you.

Best regards,

Miyazaki

Hello Pekka,

Thank you for your clarification.

Best regards,

Miyazaki