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LAUNCHXL-F28P65X: ETHERCAT feature

Cherry Zhou
Mastermind 22235 points
Part Number: LAUNCHXL-F28P65X
Other Parts Discussed in Thread: C2000WARE, TMDSCNCD28388D

Hi Team,

H/W: LAUNCHXL-F28P65X

S/W: C2000Ware_5_01_00_00

Refer to the document EtherCAT_SubordinateDevice_ under C2000Ware_5_01_00_00\libraries\communications\EtherCAT\f28p65x\docs section 4.3 Scanning for EtherCAT Devices via TwinCAT in Controller_Software_User_Guide.pdf, the following issues were encountered when implementing EtherCAT functionality:

1) When using the f28p65x_cpu1_pdi_hal_test_app routine to compile the option LAUNCHXL_flash, the project reports the following error: "#1008-D cannot find file "c2000ware_libraries.cmd.genlibs".

The file cannot be found in the project directory. However, by removing c2000ware_libraries.cmd.genlibs in the project CCS build/C2000 Linker/File Search Path, the build succeeds and the download to the development board runs with the correct results. 

2) In EtherCAT_SubordinateDevice_Controller_Software_User_Guide.pdf, in section 4.3 Scanning for EtherCAT Devices via TwinCAT,

“6. after clicking OK, another popup will ask to Scan for boxes. click Yes.”

The device is not recognized correctly and the customer has checked the computer network adapter, the network port recognizes the network cable plugged in, and the link speed is 100 MHz.

In TWINCAT, it can be seen that a packet has started to be sent, but the packet is all lost. 

For the development board gateway indicator, the yellow and green lights on the network port are solid when the network cable is not plugged in, and the yellow and green lights are off when the network cable is plugged in.

There is no problem with the computer operating environment and the network cable as the customer has successfully connected to another EtherCAT device.

Could you help check this case? Thanks.

Best Regards,

Cherry

  • 0
    TI__Expert 6035 points

    Cherry, 

    Cherry Zhou said:
    "#1008-D cannot find file "c2000ware_libraries.cmd.genlibs".

    Will check on this and get back to you. 

    Cherry Zhou said:
    The device is not recognized correctly

    I have a couple of questions for this setup.

    What example is currently being run here?

    Has the EEPROM been programmed during this test?

    While scanning for this device, does TwinCAT recognize it as Device 1? Or is it something else?

    Thanks. 

  • 0 in reply to Sahil Deshpande
    TI__Mastermind 22235 points

    Hi Sahil,

    Thank you for the support.

    Sahil Deshpande said:
    What example is currently being run here?

    It's C2000Ware_5_01_00_00\libraries\communications\Ethercat\f28p65x\examples\f28p65x_cpu1_pdi_hal_test_app example and it's working properly.

    Sahil Deshpande said:
    Has the EEPROM been programmed during this test?

    EEPROM programming is not possible since Scan in TWINCAT cannot scan to the device. However, the customer was programd correctly by using the I2C example of CPU1 and then fixed the issue of loading EEPROM error in the f28p65x_CPU1_PDI_hal_test_app example.

    Sahil Deshpande said:
    While scanning for this device, does TwinCAT recognize it as Device 1? Or is it something else?

    Scanning in Device 1 in TWINCAT does not scan any devices. Based on TWINCAT experience, a successful packet in Frames / sec is required to scan to the device.

    The same problem occurs when the customer has tried to replace the computer for testing. They've purchased 2 boards and the problem is the same on both boards.

    Customers are able to use the ETHERCAT functionality correctly on this board because they are more proficient with TWINCAT, have implemented the F28379D+LAN9252 solution, and have also purchased a development board for TMDSCNCD28388D.

    Since the example project is working properly, it is not possible to get more useful information due to program errors, could you help provide a video of the implementation process if you can successfully scan to the device? Especially the process of changing the status indicator on the development board.

    Thanks and regards,

    Cherry

  • 0 in reply to Cherry Zhou
    TI__Expert 6035 points

    Cherry,

    Cherry Zhou said:
    Scanning in Device 1 in TWINCAT does not scan any devices. Based on TWINCAT experience, a successful packet in Frames / sec is required to scan to the device.

    That is correct. This means that there is something wrong with the device configuration. 

    Please make sure to include the macro  "_LAUNCHXL_F28P65X" has been defined for the compiler (Go to Project -> Properties -> Build -> C2000 Compiler -> Predefined Symbols) to ensure correct GPIO Configuration. 

    Thanks. 

  • 0 in reply to Sahil Deshpande
    Prodigy 60 points

    I have selected the correct compilation configuration, otherwise it is impossible for me to run the f28p65x_cpu1_pdi_hal_test_app routine and get the correct results, and I detected the waveform of ESC loading EEPROM through I2C through the logic analyzer, So can you provide a video of the change of the indicator light after the development board is connected to the network cable?

  • 0 in reply to Sahil Deshpande
    TI__Mastermind 22235 points

    Hi Sahil,

    Yu li is the customer I mentioned, you could keep discuss the case here and please let me know if any questions.

    Thanks and regards,

    Cherry

  • 0 in reply to yu li
    TI__Expert 6035 points

    Understood. Will get back to you by the end of the week with the requested video. 

    Thanks. 

  • 0 in reply to Sahil Deshpande
    Prodigy 60 points

    Has there been any progress on the issue?

  • 0 in reply to yu li
    TI__Expert 6035 points

    Apologies for the late response. 

    I tried running the echoback example on the F28P65X Launchpad and I am able to get it to work successfully out of the box from C2000ware. 

    Did you make any changes to the code or the hardware?

    Thanks. 

  • 0 in reply to Sahil Deshpande
    Prodigy 60 points

    I have not modified the code or hardware. Is the development board you use for verification new? You can verify it on a brand new development board. My friend also bought the board and had the same problem as me.

  • 0 in reply to yu li
    TI__Expert 6035 points

    Okay, will check with the hardware team and get back to you. 

    Thanks. 

  • 0 in reply to Sahil Deshpande
    TI__Expert 6035 points

    There have been no changes to the P65x Launchpad design / components since it's release. It is very unlikely that it is a hardware issue, but I suppose it is always possible. 

    Couple of things you can check from your side:

    1. Try running some other example in C2000ware. See if it is possible to program the EEPROM following the method mentioned in the user guide. It is possible that you are running into some issues while manually programming the EEPROM. 

    2. Is it possible for you to use the P65x Control Card for your testing? Maybe can help you with that. 

    3. Could you also share the ESC register values, that can help us figure out what state the ESC is in. 

    Thanks. 

  • 0 in reply to Sahil Deshpande
    Prodigy 60 points

    1. The same phenomenon occurs when running any example.
    2. I don’t have a P65x Control Card.
    3. Run the f28p65x_cpu1_echoback_solution example, compile the option LAUNCHXL_FLASH, and it will prompt that the c2000ware_libraries.cmd.genlibs file cannot be found. Delete c2000ware_libraries.cmd.genlibs in CCS Build->C2000 Linker->File Search Path->include library file or command file as input. Then solve the error. The following file is the register file exported after running this sample project and plugging in the Internet cable.

    Registers.txt

  • 0 in reply to yu li
    TI__Expert 6035 points
    yu li said:
    Run the f28p65x_cpu1_echoback_solution example, compile the option LAUNCHXL_FLASH, and it will prompt that the c2000ware_libraries.cmd.genlibs file cannot be found

    This is for C2000ware 5.01? That is strange, I am not getting the same error. I will check up on this. 

    The register values you shared were only for the registers available in the CCS view and ESC registers are not visible like that. You need to check the range of memory starting from ESC_BASE which is 0x50000. 

    Thanks.

  • 0 in reply to Sahil Deshpande
    TI__Expert 6035 points

    There seems to be an issue with the FLASH version of the example. We will look into it and come up with a resolution. 

    Can you try running the RAM (not LAUNCHXL_RAM) build configuration and report back if there are any issues faced in that case?

    Thanks. 

  • 0 in reply to Sahil Deshpande
    TI__Expert 6035 points

    Correction: The FLASH (not LAUNCHXL_FLASH) configuration works as expected as well. 

    Please try running the same and report back in case of any errors. 

    Thanks. 

  • 0 in reply to Sahil Deshpande
    Prodigy 60 points

    You can refer to the answer to this question. He and I have the same problem.

    https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1302651/launchxl-f28p65x-unable-to-scan-for-the-device-by-twincat?tisearch=e2e-sitesearch&keymatch=F28P65X#

    Huanli,

    We have two different revisions of these Launchpads, and it seems that there is an issue with using EtherCAT on one of the revisions. We are not sure what the root cause of this is, but we are currently debugging this. Since there is an upcoming holiday, it may take a few weeks to determine the root cause, as many of our engineers will be out of office. 

    I apologize for this inconvenience.

    Best Regards,

    Ben Collier

  • 0 in reply to Sahil Deshpande
    Prodigy 60 points

    This is my LAUNCHXL-F28P65X

  • 0 in reply to yu li
    TI__Expert 6035 points

    We have two different revisions of these Launchpads, and it seems that there is an issue with using EtherCAT on one of the revisions. We are not sure what the root cause of this is, but we are currently debugging this. Since there is an upcoming holiday, it may take a few weeks to determine the root cause, as many of our engineers will be out of office. 

    I apologize for this inconvenience.

    Thanks.