Building and Testing the IgH EtherCAT Stack

1. Requirements

1.1. Hardware Requirements

Note: the IgH stack has only been verified on kernel version 6.6 on the BeaglePlay. The general build instructions should carry over to other AM6x platforms.

1.2. Software Requirements

The following software requirements were what were used to test the stack:

2. Setup

All steps are run on the BeaglePlay.

Setup build environment:

sudo apt update
sudo apt upgrade
sudo apt install build-essential
sudo apt install autotools-dev autoconf libtool

Configure a kernel with the ethernet driver as a module:

mkdir ~/work
cd ~/work
git clone https://git.beagleboard.org/beagleboard/linux
cd linux
git checkout origin/v6.6.32-ti-rt-arm64-r9
make bb.org_defconfig
./scripts/config --module CONFIG_TI_K3_AM65_CPSW_NUSS
patch -p1 < ../../path/to/ti-am65-cpsw-nuss_fixes.patch

Build the kernel:

cd ~/work
# Next command takes about 6 hours to complete on a BeaglePlay.
# Might consider doing this overnight.
make -C ./linux -j4 KDEB_PKGVERSION=1ethercat bindeb-pkg

Install new kernel:

cd ~/work
sudo dpkg -i linux-*.deb
sudo reboot

Build EtherCAT modules and tools (once new kernel is booted):

cd ~/work
git clone https://gitlab.com/npitre/ethercat.git
cd ethercat
./bootstrap
./configure --with-linux-dir=$HOME/work/linux --enable-am65cpsw
make -j4 all modules

Install EtherCAT modules and tools:

cd ~/work/ethercat
sudo make modules_install install
sudo depmod

Adjust EtherCAT configuration:

sudo sed -e '/^DEVICE_MODULES=/s/""/"ti-am65-cpsw-nuss"/' \
-e '/^MASTER0_DEVICE=/s/""/"ff:ff:ff:ff:ff:ff"/' \
-i /usr/local/etc/ethercat.conf

Connect EtherCAT clients and activate EtherCAT:

sudo systemctl start ethercat

Example dmesg output:

ec_master: loading out-of-tree module taints kernel.
EtherCAT: Master driver 1.6.1 1.6.1-4-gf25dff08
EtherCAT: 1 master waiting for devices.
am65-cpsw-nuss 8000000.ethernet eth0: Link is Down
am65-cpsw-nuss 8000000.ethernet: initializing am65 cpsw nuss version 0x6BA01103, cpsw version 0x6BA81103 Ports: 3 quirks:00000002
am65-cpsw-nuss 8000000.ethernet: Use random MAC address
am65-cpsw-nuss 8000000.ethernet: initialized cpsw ale version 1.5
am65-cpsw-nuss 8000000.ethernet: ALE Table size 512
am65-cpsw-nuss 8000000.ethernet: CPTS ver 0x4e8a010c, freq:500000000, add_val:1 pps:0
am65-cpsw-nuss 8000000.ethernet: set new flow-id-base 19
EtherCAT: Accepting 34:08:E1:84:EE:88 as main device for master 0.
am65-cpsw-nuss 8000000.ethernet ecm0 (uninitialized): PHY [gpio-0:00] driver [RTL8211F-VD Gigabit Ethernet] (irq=POLL)
am65-cpsw-nuss 8000000.ethernet ecm0 (uninitialized): configuring for phy/rgmii-rxid link mode
EtherCAT 0: Starting EtherCAT-IDLE thread.
am65-cpsw-nuss 8000000.ethernet eth0: PHY [gpio-0:01] driver [TI DP83TD510E] (irq=POLL)
am65-cpsw-nuss 8000000.ethernet eth0: configuring for phy/rmii link mode
EtherCAT 0: Link state of ecm0 changed to UP.
am65-cpsw-nuss 8000000.ethernet ecm0 (uninitialized): Link is Up - 100Mbps/Full - flow control off
EtherCAT 0: 2 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: PREOP.
EtherCAT 0: Scanning bus.
EtherCAT 0: Bus scanning completed in 24 ms.
EtherCAT 0: Using slave 0 as DC reference clock.
EtherCAT 0: Starting EoE thread.

View ethercat slave information:

sudo ethercat slaves --verbose
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0xe000059d
  Product code:    0x54490025
  Revision number: 0x00010000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             -   2414441201           0           0
   1  MII   up    open    yes             1   2414442631        1430         715
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/256, TX: 0x1200/256
  Standard  RX: 0x1000/256, TX: 0x1100/256
  Supported protocols: AoE, EoE, CoE, FoE
General:
  Group: EtherCAT Toolkit
  Image name: 
  Order number: TI EtherCAT Toolkit for AM243X.R5F
  Device name: TI EtherCAT Toolkit for AM243X.R5F
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: no
    Enable PDO Configuration: yes
    Enable Upload at startup: yes
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 0 mA
=== Master 0, Slave 1 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0xe000059d
  Product code:    0x54490025
  Revision number: 0x00010000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 715 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             0    165220880           0         715
   1  MII   down  closed  no              -            -           -           -
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/256, TX: 0x1200/256
  Standard  RX: 0x1000/256, TX: 0x1100/256
  Supported protocols: EoE, CoE, FoE
General:
  Group: EtherCAT Toolkit
  Image name: 
  Order number: TI EtherCAT Toolkit for AM243X.R5F
  Device name: TI EtherCAT Toolkit for AM243X.R5F
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: no
    Enable PDO Configuration: yes
    Enable Upload at startup: yes
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 0 mA