LRW datagram on IGH and 335x ICE development kit 10.0.0.8

Hi,

This issue is due to a known limitation of 1.0.0.8 release (http://processors.wiki.ti.com/index.php/AM335x_SYSBIOS_Industrial_SDK_01.00.00.08_Release_Notes#Known_Issues_And_Limitation - SDOCM00092510), please refer to http://processors.wiki.ti.com/images/5/55/EtherCAT_ISDK_01_00_00_08_Errata.pdf  for more info

This is addressed in 1.0.0.9 release for LRW command which can be accessed here, http://downloads.ti.com/sitara_indus/esd/AM335x_SYSBIOS_Industrial_SDK/latest/index_FDS.html

Hi, thank you very much.

I've tested and this solve the issue; I'm now able to use the ICE with distribuited clock (before I was able to use it just in free run mode also with Twincat).

Only a little think I've spent an hour, the ethercat slave to patch is not the 5.01 as reported in the document in patch folder, but the new 5.10.

Thanks again

Gianluca Medini

Using the board with the 10.0.0.9 sysbios , I've found some problem I've not noticed immediately.

The first is that tha mailbox are no more working when the PDO transfer is running.

The second is that I get a lot of  datagram without answer from TDICE, the link https://dl.dropboxusercontent.com/u/91173447/wireshark_igh_ti_ice-10.0.0.9.pcapng

shows the activity; all datagram, when answered have the correct wc number; when no answer the master wait for come mSec to restart communication.

Regards

Gianluca Medini

Hi,

Can you please try setting ENABLE_MULTIPLE_SM_ACCESS_IN_SINGLE_DATAGRAM to 1 in tiescbsp.h?

#define ENABLE_MULTIPLE_SM_ACCESS_IN_SINGLE_DATAGRAM     0

Hi,  with this define I have no more unmatched datagram, the working counter goes to expected value and the communication is stable.

Remains the problem on mailbox and an issue on DC.

From the master code I see that an unmatched datagram on a request to upload the CoE dictionary (this datagram is an FPWR datagram with protocol type 3);

However any attempts to upload an sdo  (0x1c32 1 as an example) fails; this works fine when the pdo transfer is not active.

Finally when I activate the DC with the 0x300 value I get an error 4 on AL (where is defined this value in the source code ? I see it in  xml only).

Regards

Hi,

For CoE upload - can you please share a wireshark log? Also is there an equivalent method you can try from TwinCAT ? ( For eg:- Select slave > CoE-online tab > Advanced (select - online dictionary via SDO information) > Update List - works ok...) 

For DC - What is the error code in 0x134 ? you can see the AL status error codes defined in ecatslv.h in Beckhoff SSC code. 

Hi,

here the wireshark log when I use the 0x300 DC activation https://dl.dropboxusercontent.com/u/91173447/wireshark_igh_ti_ice-10.0.0.9-dc-300.pcapng

The 0x134 register code is zero, but the status of ESC is SAFEOP+ERROR.

For the mailbox problem, here the log : https://dl.dropboxusercontent.com/u/91173447/wireshark_igh_ti_ice-10.0.0.9-sdo-0x1c32-1-upload-error.pcapng

I made some attempts, the first start from packet number 31024 and the working counter to this datagram is zero.

When the pdo communication is not active, the same datagram succeded  as in the log https://dl.dropboxusercontent.com/u/91173447/wireshark_igh_ti_ice-10.0.0.9-sdo-0x1c32-1-nopdo-success.pcapng at packet number 1690.

Regards

Hi,

> The 0x134 register code is zero, but the status of ESC is SAFEOP+ERROR.

Ok, how good is Linux PC real time - are you running IgH master in RTAI or equivalent environment?

> I made some attempts, the first start from packet number 31024 and the working counter to this datagram is zero.

We are able to reproduce this behavior when mailbox and process data is accessed in a single ethernet frame - mailbox accesses fail and I have got a firmware fix for the same. If you are willing to test this - please send me an E-mail (pratheesh at ti dot com). Thanks

Hi, 

with the 01.01.00.01, everything is fixed both mailbox and DC behaviour, so I'm now able to use Ti ICE with IGH master without problems.

Hi, with 01.01.00.01 version of SDK the two wrong behaviour are fixed.

Now I'm able to use DC and mailbox with IGH.

Thanks 

Hi, using the latest 01.01.00.01 version, all is fixed.

Now DC and mailbox are correctly working on IGH.

Regards

Hi, using the latest 01.01.00.01 version, all is fixed.

Now DC and mailbox are correctly working on IGH.

Regards

This issue is fixed in the latest ISDK 01.01.00.01