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AM437x EtherCAT on VxWorks

Rohit Rampa
Intellectual 460 points
Other Parts Discussed in Thread: SYSBIOS

Hi

I would like to run EtherCAT application on Vx Works for AM437X IDK..

To migrate to Vx Works from SysBIOS, what are the modules that needs to be ported?

As PRUICSS on 437X implements EtherCAT Slave Controller functionality, PRUICSS also needs to be ported to Vx Works?

I see from the architectural diagram, PRUICSS firmware and PRUICSS driver implementing the ESC and EtherCAT memory management. So, both firmware and drivers should be migrated to Vx Works?

  • 0
    TI__Guru**** 393215 points
    Hi,

    I have asked the EtherCAT experts to cooment. Please note that VxWorks is not supported by TI, so comments will be limited only to what ISDK modules need to be ported.
  • 0 in reply to Biser Gatchev-XID
    TI__Expert 7570 points
    Hi

    Unfortunately we don't have a document that explains porting to another OS, however we do have some materials will assist you.

    A quick high level overview of the EtherCAT implementation is given in www.ti.com/.../spry187e.pdf

    The SYS/BIOS Industrial Software Development Kit (SDK) for Sitara Processors at downloads.ti.com/.../index_FDS.html has links for :
    SYSBIOS Industrial SDK Getting Started Guide Getting Started Guide
    SYSBIOS Industrial SDK User Guide User Guide
    SYSBIOS Industrial SDK Release Notes Release Notes
    SYSBIOS Industrial SDK FAQ - Contains some good EtherCAT information
    SYSBIOS Industrial SDK Training - Provides a overview of the SDK architecture

    The EtherCAT API document is available at processors.wiki.ti.com/.../PRU_ICSS_EtherCAT_firmware_API_guide

    There is an Industrial SDK EMAC Porting Guide is available at processors.wiki.ti.com/.../Industrial_SDK_EMAC_Porting_Guide.

    Assuming the starting point is from the full featured EherCAT example described in the Industrial SDK User Guide EtherCAT application where the motor control elements are removed to yield a pure EtherCAT implementation - then the APIs that contain system BIOS dependencies will be in the {installation_directory}\sdk\protocols\ethercat_slave, {installation_directory}\sdk\board, {installation_directory}\sdk\control, and {installation_directory}\sdk\os-drives directories .

    When the desire is to port to Vx works and migrate to a different hardware platform - breaking this into two separate sequential steps has worked well in the past.

    David
  • 0 in reply to David Zaucha
    Intellectual 460 points
    Hi David,

    Apologies for the delayed response.
    Thanks for the valuable pointers.