AM3359ICE SOEM

Yohan Lassagne

Other Parts Discussed in Thread: SYSBIOS

Hi I have a problem with a code that i'm writting for the TI AM3359ICE and i can't figure why it's not working so I'm asking for your help. I gave the code in attachement. My problem is that i have 3 slaves and when i want to read the inputs of the third (last) slave it's always written 0 but it's ok when I read/write outputs. At first i thought it was a problem with the 'printf' function so i tried something like that :

from this

rt_printf(" %2.2x", *(ec_slave[1].inputs /*+ j*/));

rt_printf(" %2.2x", *(ec_slave[2].inputs /*+ j*/));

rt_printf(" %2.2x", *(ec_slave[3].inputs /*+ j*/));

rt_printf(" %2.2x", *(ec_slave[1].inputs /*+ j*/));

rt_printf(" %2.2x", *(ec_slave[3].inputs /*+ j*/));

rt_printf(" %2.2x", *(ec_slave[2].inputs /*+ j*/));

it didn't work after i think it was a problem of the board itself so i inverted the second with the third and vice-versa it didn't work to. So now i don't know what to do can you help me please

Fullscreen 8666.first.c Download

#include <stdio.h>
#include <stdlib.h>
#include <sys/time.h>
#include <unistd.h>
#include <sched.h>
#include <string.h>
#include <sys/time.h>
#include <time.h>
#include <pthread.h>
#include <math.h>
#include <sys/mman.h>
#include <native/task.h>

#include "ethercattype.h"
#include "nicdrv.h"
#include "ethercatbase.h"
#include "ethercatmain.h"
#include "ethercatcoe.h"
#include "ethercatconfig.h"
#include "ethercatdc.h"
#include "ethercatprint.h"

#define TI_AM3359ICE 1
#define EC_TIMEOUTMON 50

int expectedWKC;
boolean inOP,needlf;
boolean  blink=0;
ec_ODlistt ODlist;
ec_OElistt OElist;
char IOmap[128];
char hstr[1024];

char* dtype2string(uint16 dtype)
{
    switch(dtype)
    {
        case ECT_BOOLEAN:
            rt_printf(hstr, "BOOLEAN");
            break;
        case ECT_INTEGER8:
            rt_printf(hstr, "INTEGER8");
            break;
        case ECT_INTEGER16:
            rt_printf(hstr, "INTEGER16");
            break;
        case ECT_INTEGER32:
            rt_printf(hstr, "INTEGER32");
            break;
        case ECT_INTEGER24:
            rt_printf(hstr, "INTEGER24");
            break;
        case ECT_INTEGER64:
            rt_printf(hstr, "INTEGER64");
            break;
        case ECT_UNSIGNED8:
            rt_printf(hstr, "UNSIGNED8");
            break;
        case ECT_UNSIGNED16:
            rt_printf(hstr, "UNSIGNED16");
            break;
        case ECT_UNSIGNED32:
            rt_printf(hstr, "UNSIGNED32");
            break;
        case ECT_UNSIGNED24:
            rt_printf(hstr, "UNSIGNED24");
            break;
        case ECT_UNSIGNED64:
            rt_printf(hstr, "UNSIGNED64");
            break;
        case ECT_REAL32:
            rt_printf(hstr, "REAL32");
            break;
        case ECT_REAL64:
            rt_printf(hstr, "REAL64");
            break;
        case ECT_BIT1:
            rt_printf(hstr, "BIT1");
            break;
        case ECT_BIT2:
            rt_printf(hstr, "BIT2");
            break;
        case ECT_BIT3:
            rt_printf(hstr, "BIT3");
            break;
        case ECT_BIT4:
            rt_printf(hstr, "BIT4");
            break;
        case ECT_BIT5:
            rt_printf(hstr, "BIT5");
            break;
        case ECT_BIT6:
            rt_printf(hstr, "BIT6");
            break;
        case ECT_BIT7:
            rt_printf(hstr, "BIT7");
            break;
        case ECT_BIT8:
            rt_printf(hstr, "BIT8");
            break;
        case ECT_VISIBLE_STRING:
            rt_printf(hstr, "VISIBLE_STRING");
            break;
        case ECT_OCTET_STRING:
            rt_printf(hstr, "OCTET_STRING");
            break;
        default:
            rt_printf(hstr, "Type 0x%4.4X", dtype);
    }
    return hstr;
}    

int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
{
    uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
    uint8 subcnt;
    int wkc, bsize = 0, rdl;
    int32 rdat2;
    uint8 bitlen, obj_subidx;
    uint16 obj_idx;
    int abs_offset, abs_bit;

    rdl = sizeof(rdat); rdat = 0;
    /* read PDO assign subindex 0 ( = number of PDO's) */
    wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
    rdat = etohs(rdat);
    /* positive result from slave ? */
    if ((wkc > 0) && (rdat > 0))
    {
        /* number of available sub indexes */
        nidx = rdat;
        bsize = 0;
        /* read all PDO's */
        for (idxloop = 1; idxloop <= nidx; idxloop++)
        {
            rdl = sizeof(rdat); rdat = 0;
            /* read PDO assign */
            wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
            /* result is index of PDO */
            idx = etohl(rdat);
            if (idx > 0)
            {
                rdl = sizeof(subcnt); subcnt = 0;
                /* read number of subindexes of PDO */
                wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
                subidx = subcnt;
                /* for each subindex */
                for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
                {
                    rdl = sizeof(rdat2); rdat2 = 0;
                    /* read SDO that is mapped in PDO */
                    wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
                    rdat2 = etohl(rdat2);
                    /* extract bitlength of SDO */
                    bitlen = LO_BYTE(rdat2);
                    bsize += bitlen;
                    obj_idx = (uint16)(rdat2 >> 16);
                    obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
                    abs_offset = mapoffset + (bitoffset / 8);
                    abs_bit = bitoffset % 8;
                    ODlist.Slave = slave;
                    ODlist.Index[0] = obj_idx;
                    OElist.Entries = 0;
                    wkc = 0;
                    /* read object entry from dictionary if not a filler (0x0000:0x00) */
                    if(obj_idx || obj_subidx)
                        wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
                    rt_printf("  [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
                    if((wkc > 0) && OElist.Entries)
                    {
                        rt_printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]);
                    }
                    else
                        rt_printf("\n");
                    bitoffset += bitlen;
                };
            };
        };
    };
    /* return total found bitlength (PDO) */
    return bsize;
}

int si_map_sdo(int slave)
{
    int wkc, rdl;
    int retVal = 0;
    uint8 nSM, iSM, tSM;
    int Tsize, outputs_bo, inputs_bo;
    uint8 SMt_bug_add;

    rt_printf("PDO mapping according to CoE :\n");
    SMt_bug_add = 0;
    outputs_bo = 0;
    inputs_bo = 0;
    rdl = sizeof(nSM); nSM = 0;
    /* read SyncManager Communication Type object count */
    wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);
    /* positive result from slave ? */
    if ((wkc > 0) && (nSM > 2))
    {
        /* make nSM equal to number of defined SM */
        nSM--;
        /* limit to maximum number of SM defined, if true the slave can't be configured */
        if (nSM > EC_MAXSM)
            nSM = EC_MAXSM;
        /* iterate for every SM type defined */
        for (iSM = 2 ; iSM <= nSM ; iSM++)
        {
            rdl = sizeof(tSM); tSM = 0;
            /* read SyncManager Communication Type */
            wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
            if (wkc > 0)
            {
                if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!
                {
                    SMt_bug_add = 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4
                    rt_printf("Activated SM type workaround, possible incorrect mapping.\n");
                }
                if(tSM)
                    tSM += SMt_bug_add; // only add if SMt > 0
                
                if (tSM == 3) // outputs
                {
                    /* read the assign RXPDO */
                    rt_printf("  SM%1d outputs\n     addr b   index: sub bitl data_type    name\n", iSM);
                    Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo );
                    outputs_bo += Tsize;
                }   
                if (tSM == 4) // inputs
                {
                    /* read the assign TXPDO */
                    rt_printf("  SM%1d inputs\n     addr b   index: sub bitl data_type    name\n", iSM);
                    Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo );
                    inputs_bo += Tsize;
                }   
            }   
        }
    }

    /* found some I/O bits ? */
    if ((outputs_bo > 0) || (inputs_bo > 0))
        retVal = 1;
    return retVal;
}

static void task(void *arg)
{
	int led_display = 0;
	int oloop, iloop,wkc_count,cnt,IOmap_size ;
	int chk = 40;
	int i,j,k=0;
	int wkc;
	
	
	//initialize ethernet interface
	if (ec_init("eth0"))
	//Searching slaves
	if ( ec_config_init(FALSE) > 0 )
	{
		rt_printf("%d Slaves found and configured.\n",ec_slavecount);
		//Map all PDOs from slaves to IOmap
		IOmap_size=ec_config_map(&IOmap);
		//Locate DC slaves, measure propagation delays.
		ec_configdc();
		ec_statecheck(0, EC_STATE_SAFE_OP,  EC_TIMEOUTSTATE * 4);
		
		//Save the number of Output bytes in oloop
		oloop = ec_slave[0].Obytes;
		if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
		if (oloop > 8) oloop = 8;
		//Save the number of Input bytes in iloop
		iloop = ec_slave[0].Ibytes;
		if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
		if (iloop > 8) iloop = 8;
		
		//Check what protocol is running on the slave
		
		  for(cnt=1;cnt<=ec_slavecount;cnt++)
		  {
		  	if (ec_slave[cnt].mbx_proto & 0x04)
            si_map_sdo(cnt);
          }
            
		//expected wkc 
		expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC; //how to configure range addrass of eatch board
		//Request operational state for slaves
		ec_slave[0].state = EC_STATE_OPERATIONAL;
		ec_send_processdata();
		ec_receive_processdata(EC_TIMEOUTRET);
		ec_writestate(0);
		chk = 40;
		/* wait for all slaves to reach OPERATIONAL state */
		do
         	{
			ec_send_processdata();
			ec_receive_processdata(EC_TIMEOUTRET);
			ec_statecheck(0, EC_STATE_OPERATIONAL, 50000);
		}while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL));
		
		//If slaves reached operational state
		if (ec_slave[0].state == EC_STATE_OPERATIONAL ) 
		{
			rt_printf("Operational state reached for all slaves.\n");
			wkc_count = 0;
			inOP = TRUE;
			/* cyclic loop */
			/*The I/O size are both 32 bit = array of 4 bytes but just the byte array is used by the board  */
			for(i = 1; i <= 10000; i++) //
			{
            
				ec_send_processdata(); //sent all only one package
				
				if (led_display == 256)
				led_display=0;
				wkc = ec_receive_processdata(EC_TIMEOUTRET); //how u know this command read only three board? how u set?
				if(1/*wkc >= expectedWKC*/)
				{
					rt_printf("Processdata cycle %4d, WKC %d , O:", i, wkc);
					//Write the value of I/O 
					//for(k=1;k<4;k++)
					/*for(j = 0 ; j < oloop; j++)
					{*/
						rt_printf(" %2.2x", *(ec_slave[1].outputs /*+ j*/)); //if i have board 
						rt_printf(" %2.2x", *(ec_slave[2].outputs /*+ j*/)); 
						rt_printf(" %2.2x", *(ec_slave[3].outputs /*+ j*/));
						//Why + j ?
						*(ec_slave[1].outputs ) =led_display*1;
						*(ec_slave[2].outputs ) =led_display*2;
						*(ec_slave[3].outputs ) =led_display*4;
						led_display++;
					/*}*/
					//Print the value of inputs
					rt_printf(" I:");                  
					/*for(j = 0 ; j < iloop; j++)
					{*/
						rt_printf(" %2.2x", *(ec_slave[1].inputs /*+ j*/));
						rt_printf(" %2.2x", *(ec_slave[3].inputs /*+ j*/));
						rt_printf(" %2.2x", *(ec_slave[2].inputs /*+ j*/));
						
					/*}*/   
					rt_printf(" T:%lld\r",ec_DCtime);
					needlf = TRUE;
					}	
						usleep(10);
                    
				}
				inOP = FALSE;
			}
		//else if slaves havn't reached operational states
		else
		{
			rt_printf("Not all slaves reached operational state.\n");
			ec_readstate();
			for(i = 1; i<=ec_slavecount ; i++)
			{
				if(ec_slave[i].state != EC_STATE_OPERATIONAL)
				{
					rt_printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
				}
			}
		}           
		rt_printf("\nRequest init state for all slaves\n");
		ec_slave[0].state = EC_STATE_INIT;
		/* request INIT state for all slaves */
		ec_writestate(0);
	}
	else
	{
		rt_printf("No slaves found!\n");
	}
	
	return 0;
}

int main (void)
{
  RT_TASK task_desc;
  rt_print_auto_init(1);
  
  /* disable memory swap */
  mlockall( MCL_CURRENT | MCL_FUTURE );
  
  if (rt_task_spawn( &task_desc,  /* task descriptor */
                     "my task",   /* name */
                      0           /* 0 = default stack size */,
              99          /* priority */,
              T_JOINABLE, /* needed to call rt_task_join after */
              &task,      /* entry point (function pointer) */
              NULL        /* function argument */ )!=0)
  {
    rt_printf("rt_task_spawn error\n");
    return 1;
  }

  /* wait for task function termination */
  rt_task_join(&task_desc);
  
  return 0;
}

over 12 years ago

0 Biser Gatchev-XID over 12 years ago

TI__Guru**** 393215 points

What software are you using? Starterware is supported here: http://e2e.ti.com/support/embedded/starterware/f/790.aspx and SYS/BIOS here: http://e2e.ti.com/support/embedded/tirtos/f/355.aspx

0 Yohan Lassagne over 12 years ago in reply to Biser Gatchev-XID

Prodigy 60 points

I use SOEM (Simple Open Ethercat Master) library. I want to write code for linux i don't use TI Code Composer Studio or SYS/BIOS library i just plug the board and want to use as slave.

0 SRIKANT IYER over 12 years ago in reply to Yohan Lassagne

TI__Prodigy 520 points

Yohan,

This is a known issue SDOCM00105048. See http://processors.wiki.ti.com/index.php/AM335x_SYSBIOS_Industrial_SDK_01.01.00.04_Release_Notes for a work-around.

Srikant

0 Yohan Lassagne over 12 years ago in reply to SRIKANT IYER

Prodigy 60 points

Thank you for your reply, so if i understand well i have to use LRD/LWR instead of LRW to acces the outputs and the inputs but in SOEM when i take a look at the library in ethercatmain.c the function ec_send_processdata() check if the slave support LRW with

if (ec_slave[0].blockLRW)

and i check the value of this variable with gdb it's 1 so it should use LRD/LWR

Regards

0 PratheeshGangadhar over 12 years ago in reply to Yohan Lassagne

TI__Guru 51501 points

Hi,

Is this possible to validate your slave setup with TwinCAT master?

Can you also share wireshark and SOEM logs for failure?

0 Yohan Lassagne over 12 years ago in reply to PratheeshGangadhar

Prodigy 60 points

Hi,

so i tried with Twincat it's weird because when I try to turn the led on by changing the valure of output it's working. But when i try to monitor the input and change the value using the pin on the jumper nothing happen but with soem i can monitor two input on the three available

3857.Capture Wireshark.txt

Here is the wireshark capture but i don't know if i can have some logs with SOEM

0 PratheeshGangadhar over 12 years ago in reply to Yohan Lassagne

TI__Guru 51501 points

Hi,

These logs are not very useful as they don't show pay load info - please use .cap format. But clearly one of the slaves do not increment WKC for LRD operation but LWR appears to work correctly, so assume one of them is not responding correctly for some reason which I do not know. What does RUN LED of the slaves tell you - are they in OP state without any errors?

Anyway I recommend you to update the slaves to the latest firmware : www.ti.com/tool/sysbiossdk-ind-sitara >AM335x_SYSBIOS_Industrial_SDK Product Downloads>Pre-built Binaries

Refer to following wiki for running prebuilt binary - http://processors.wiki.ti.com/index.php/AM335x_SYSBIOS_Industrial_SDK_Getting_Started_Guide#Running_Pre-Built_Applications_on_AM335x_ICE_V1.2FV2

0 Yohan Lassagne over 12 years ago in reply to PratheeshGangadhar

Prodigy 60 points

I send you pcap log, i updated the firmware of the board and tried again it is still the same problem. The led of the board indicates it's in op state. And SOEM confirm that too. I see that the Working counter is not incremented by the board but i don't know why even when i looked at the payload. And when i invert the board it's still the last board that doesn't work.

Regards

5126.Capture Wireshark PCAP.zip

0 Yohan Lassagne over 12 years ago in reply to Yohan Lassagne

Prodigy 60 points

Hi,

Nobody can help me on this ? It's several days that i'm trying to find the solution i don't understand what's happening.

Regards

0 SRIKANT IYER over 12 years ago in reply to Yohan Lassagne

TI__Prodigy 520 points

Yohan,

We had to modify SOEM library to force LRD/LWR instead of LRWs by commenting out the lines highlighted in green below in the file soem\ethercatconfig.c:

context->slavelist[slave].FoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x08);
context->slavelist[slave].EoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x09);
context->slavelist[slave].SoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x0a);
/* if((ecx_siigetbyte(context, slave, ssigen + 0x0d) & 0x02) > 0)
{*/
context->slavelist[slave].blockLRW = 1;
context->slavelist[0].blockLRW++;
// }

After rebuild the library and the example tests, we ran the simple_test. We see inputs modified in LRD responses by third slave as well. See attached captures6646.SOEM_LRDLWRTests.zip

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