AM335x EtherCAT demo with IgH EtherCAT Master for Linux or SOEM

Philippe Hamelin

Other Parts Discussed in Thread: SYSBIOS, AM3359

Hello everyone,

I have downloaded the pre-built EtherCAT demo application on the TI ICE board (SDK 1.00.00.03) . I'm using the open source IgH EtherCAT Master for Linux [1]. The master detects the slave and all its PDO entries. I'm also able to configure the PDO mapping (I think so because the library doesn't give me any error on that). However, the ICE board doesn't seems to read/write the process data (working counter is always 0).

I also briefly tried the Simple Open EtherCAT Master (SOEM [2]) using the bundled 'simple_test'. This test application should find and configure slaves (which seems to be successfuly completed) and print all process data. However, as with the IgH Master, the working counter is never updated.

Before doing any further investigation, does anyone has already tested the demo application with the IgH or SOEM Master stack?

It seems that I'm not the only person who had this problem (http://lists.etherlab.org/pipermail/etherlab-users/2012/001728.html) but so far we didn't find the problem.

Thank you,

Philippe Hamelin

[1] http://www.etherlab.org/en/ethercat/index.php

[2] http://soem.berlios.de/

over 13 years ago

0 PratheeshGangadhar over 13 years ago

TI__Mastermind 47531 points

Hi,

TI ESC does not support LRW to process data at the moment - we are working on adding this feature to firmware.

ICE is able to interop with number of EtherCAT masters - if LWR/LRD is used instead for process data - many masters has configuration option to force this and TwinCAT automatically detects this from ESI XML.

Please see below link for what is not supported in the current release

http://processors.wiki.ti.com/index.php/AM335x_SYSBIOS_Industrial_SDK_01.00.00.04_Release_Notes#What_Is_Not_Supported

0 Frank Walzer over 13 years ago

TI__Mastermind 44306 points

Philippe,

if you can send a short wireshark log showing how the master configures the slave and sends PDO we should be able to fairly quickly figure out what is wrong.

Are you sure the master is not using LRW for PDO access (not yet supported on TI ESC)?

Also we just released 1.0.0.4 with a major update on EtherCAT. So you might try the new pre-build binaries for a quick check that this is not an issue already solved. So far you can only get 1.0.0.4 via a direct link.

Regards.

0 Philippe Hamelin over 13 years ago in reply to PratheeshGangadhar

Prodigy 210 points

Hello,

thank you for this fast anwser! I looked at the source code of the IgH master and it seems that:

- If a domain contains both inputs/ouputs, LRW is used;

- If a domain contains only inputs, LRD is used;

- If a domain contaisn only outputs, LWR is used.

So, I would have to configure separate domains for inputs and outputs. I will try that and then give you some feedback.

Thank you,

Philippe Hamelin

0 Philippe Hamelin over 13 years ago in reply to Frank Walzer

Prodigy 210 points

Hello Frank,

I tried the provided link but I get a 404 error.

Thank you,

Philippe Hamelin

0 Frank Walzer over 13 years ago in reply to Philippe Hamelin

TI__Mastermind 44306 points

Sorry, there was a typo. Should work now.

regards.

0 Philippe Hamelin over 13 years ago in reply to Frank Walzer

Prodigy 210 points

Hi,

I downloaded the new EtherCAT demo application v 1.00.00.04 on the ICE board and configured the IgH master with a single output domain in order to avoid LRW commands. I attached the wireshark log and the IgH master syslog in a ZIP file. I'm using a 'generic' driver, so you will see some broadcast packet not related with Ethercat in the wireshark log.

Thank you,

Philippe Hamelin

igh-ecat-demo-1.00.00.04-logs.zip

0 PratheeshGangadhar over 13 years ago in reply to Philippe Hamelin

TI__Mastermind 47531 points

Hi,

Thanks for the logs - I could reproduce this issue. There was a bug in firmware due to which FMMU was not initialized correctly. Attached binary should fix the problem

Work around in the existing release is to initialize 4 FMMUs at time from master - or to make sure burst write to ESC register space < 64 bytes - this is why we did not see this issue with other masters.

4212.ethercat.zip

0 Sam chien over 13 years ago in reply to PratheeshGangadhar

Prodigy 10 points

hi,

I can't unzip 4212.ethercat.zip.

0 PratheeshGangadhar over 13 years ago in reply to Sam chien

TI__Mastermind 47531 points

Hi,

Not sure what went wrong - please try this - 6170.ethercat.zip

0 Philippe Hamelin over 13 years ago in reply to PratheeshGangadhar

Prodigy 210 points

Hi,

thank you very much for your quick fix. The bug was in the ESC firmware, but do you consider that the IgH master have a non-standard behavior that should be modified/fixed?

Also, will this fix be included in the next 1.00.00.04 release? Is it possible to just have a patch file against 1.00.00.03 or 1.00.00.04 to allow me to continue working on the source files of the demo application?

Thank you very much,

Philippe Hamelin

0 PratheeshGangadhar over 13 years ago in reply to Philippe Hamelin

TI__Mastermind 47531 points

Hi,

Thank you for confirming the fix.

No - I do not think IgH master is non-standard - but it just does things slightly differently from other masters we have tested against - like programming unused FMMUs.

Yes - this fix will be part of next SDK update 1.00.00.05. You can use the firmware headers in the zip above and overwrite the ones in sdk\protocols\ethercat_slave\firmware for now to use with source files of demo application.

Please mark this Forum post as answered via the Verify Answer button below if it helps answer your question. Thanks!

0 Philippe Hamelin over 13 years ago in reply to PratheeshGangadhar

Prodigy 210 points

Hi,

I'm currently in the process of confirming the fix. However, the provided binary file is for SD card and I don't have a microSD card at hand. If you could send me a binary file for SPI flash I could test it immediatly.

Philippe

0 PratheeshGangadhar over 13 years ago in reply to Philippe Hamelin

TI__Mastermind 47531 points

Hi,

Here is the updated zip, 8780.ethercat.zip

0 edwards chien over 13 years ago in reply to PratheeshGangadhar

Prodigy 30 points

hi,

Use this version, Working Counter is correct.

I have read TxPDO data from AM3359ICE correctly.

But still can't write PxPDO data to it, though working counter is corrent, but the red led twinkled.

and ethercat maser displays the message as follows

[ 2315.923633] EtherCAT DEBUG 0: Requesting OP...
[ 2321.915113] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 2321.915117] EtherCAT DEBUG 0-0: Configuring...
[ 2327.906020] EtherCAT DEBUG 0-0: Now in INIT.
[ 2327.906021] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 2330.901763] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 2333.897504] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 2336.893249] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 2336.893252] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 2336.893254] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1
[ 2342.884729] EtherCAT DEBUG 0-0: Now in PREOP.
[ 2342.884738] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size 4, Ctrl 0x64, En 1
[ 2342.884740] EtherCAT DEBUG 0-0: SM3: Addr 0x1C00, Size 4, Ctrl 0x20, En 1
[ 2345.880473] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 4, PhysAddr 0x1800, SM2, Dir out
[ 2348.876214] EtherCAT 0: Domain 0: Working counter changed to 1/1.
[ 2350.374084] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 2353.369829] EtherCAT ERROR 0-0: Failed to set OP state, slave refused state change (SAFEOP + ERROR).
[ 2354.867703] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager watchdog".
[ 2362.357060] EtherCAT ERROR 0-0: Timeout while acknowledging state PREOP + ERROR.

0 PratheeshGangadhar over 13 years ago in reply to edwards chien

TI__Mastermind 47531 points

Hi,

SM watchdog is enabled for SM2 (Ctrl 0x64). This means master needs to write at least every 100ms (default watchdog timeout interval) to SM2 of slave. Otherwise watchdog timeout will occur.

0 edwards chien over 13 years ago in reply to PratheeshGangadhar

Prodigy 30 points

it works. thanks

0 Jupiter over 12 years ago in reply to Frank Walzer

Prodigy 155 points

Hi,Frank,

The released 1.0.0.7 still didn't support the LRW datagram type?

Because, Output of 'ethercat slave -v' shows " Flags: Enable notLRW: no".

" Enable notLRW: no" is meaning to support , not support?

not &no == ok ? Double negative form? ha-ha, I'am sorry...

Looking forward to your answer. thanks!

regards,

Jupiter.

0 Frank Walzer over 12 years ago in reply to Jupiter

TI__Mastermind 44306 points

We do support LRW now. I do not know the output you get.

Did you update the device description on the master side?

Regards.

0 Jupiter over 12 years ago in reply to Frank Walzer

Prodigy 155 points

Hi,Frank,

I'am sorry, see you letter just now.

I flashed boot_NOR.bin&ethercat_NOR.bin(in am335x_sysbios_ind_sdk_prebuilt_01_00_00_07) on ICE using CCS5.2 and refered to http://processors.wiki.ti.com/index.php/Configuring_TwinCAT_For_AM335x?DCMP=am335x&HQS=am335x_twincat#Generating_EEPROM_binary_file generating Box 1 (TIESC-001).bin,then, I wrote the Box 1 (TIESC-001).bin to the slave(ICE) using the EtherCAT master's tool, and got the SII contents again,but no-change compared to previous.

Is there leaving out something? where I make a mistake? thanks!

moreover,I can't found the firmware "ECATFW " anywhere. http://processors.wiki.ti.com/index.php/Configuring_TwinCAT_For_AM335x?DCMP=am335x&HQS=am335x_twincat#Online_Application_upgrade_from_TwinCAT ,as following:

What is the role of firmware "ECATFW__" ?

Regards,

Jupiter.

0 Frank Walzer over 12 years ago in reply to Jupiter

TI__Mastermind 44306 points

Jupiter,

sorry, as I have no IgH master it is difficult to help. I suggest you first check your slave device against the free TwinCat 2.11 from Beckhoff. That is what we use mainly for tests. This should work with LRW commands then. If you are sure your slave side is ok you need to contact the people developing IgH for more help. Maybe there is a special option to enable LRW?

Concerning the online firmware upgrade feature recently introduced there is no special firmware ECATFW__. However you have to do a copy of your binary application file (e.g. ecat_appl_reload.bin) and rename accordingly. Somehow this name is needed by the upgrade process. I have to admit I never tried this feature but it was tested by our development team. It seems the instructions are not 100% understandable so far. We will change that.

Regards,

0 Jupiter over 12 years ago in reply to Frank Walzer

Prodigy 155 points

Hello,

AM3359' s SDK ethercat Demo support "Distributed Clock"?

Regards,

Julian.

0 Frank Walzer over 12 years ago in reply to Jupiter

TI__Mastermind 44306 points

yes, please read the release notes..

Also please post new questions in new forum entries. Otherwise it might never get answered.

Regards,

0 Muhammad Nabeel over 11 years ago

Prodigy 15 points

Dear Hamelin,

I am new to Linux and EtherCAT and I am trying to install IgH EtherCAT master but I am facing some problems, please guide me how can I install IgH Ethercat master correctly.

Thank you

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AM335x EtherCAT demo with IgH EtherCAT Master for Linux or SOEM