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EtherCAT Watchdog Behavior with ICE board

PeterN
Intellectual 365 points

Hi, am using EtherCAT 5.01 SSC app with ICE board and SDK 1.0.0.0.0.7, using TwinCAT as the master and enabling the watchdog in the Advanced tab of the TwinCAT EtherCAT properties page for the ICE device, I then halt the ICE ARM CPU while in OP mode expecting a notification of some kind on the TwinCAT message log, but TwinCAT gives no indication and Wireshark shows the WC counters are the same as during normal operation, so apparently the PRU ESC is still running and handling the packets even when the ARM CPU is halted.  Question - is this expected behavior?  And which watchdog do I need to enable to allow the EtherCAT master to detect that the EtherCAT AL app has crashed?  I had thought that either the SM or PDI watchdog would catch this case, so either they are not truly enabled when the TwinCAT properties page is changed and reloaded, or something else is going on?  Thanks

  • 0
    TI__Guru 51211 points

    Hi,

    > so apparently the PRU ESC is still running and handling the packets even when the ARM CPU is halted.  Question - is this expected behavior? 

    Yes - ESC still uses the old process data buffer for communication 

    > which watchdog do I need to enable to allow the EtherCAT master to detect that the EtherCAT AL app has crashed?

    You need to use PDI WD. However note that we have fixed an issue with PDI WD in 1.0.0.8 and a new API is added to configure h/w event to trigger PDI WD (unfortunately we can't disable the h/w trigger in PRU-ICSS for PDI WD). So PDI WD is triggered when firmware receives a command from A8 application or programmed h/w event occurs  

    http://processors.wiki.ti.com/index.php/AM335x_EtherCAT_firmware_API_guide#bsp_set_pdi_wd_trigger_mode has more details