AM4379: EtherCAT PRU testing

Rohit Rampa

Part Number: AM4379
Other Parts Discussed in Thread: SYSBIOS

Hello ,

We have been trying to port the ESC from SYSBIOS to another RTOS. I could see that firmare is loaded and control status register at 0x4 has a non zero program counter value. so, im assuming that firmware is loaded and pruss1 is running. However, the ESC initialization value for PDI in the shared memory is not coming to be 0x80 to confirm that PRUSS is initialized for data exchange.

Currently ESS is yet to be ported on to our RTOS. SO, as of now we only have ESC available. Are there any other ways to ensure that PRUICSS is initialized to a known state. What are the tests we could perform to say that PRUICSS is working without the need of the ESS?

Ideas here would help us to a great extent.

over 8 years ago

0 Biser Gatchev-XID over 8 years ago

TI__Guru**** 393215 points

Hi,

This forum supports only software provided by TI. Support for development for third-party OS is out of the scope of this forum.

0 Rohit Rampa over 8 years ago in reply to Biser Gatchev-XID

Intellectual 460 points

Hi Biser,

Even in sysBIOS, without the ESS being integrated( i have removed the hook which initializes the ESS), how can I test the ESC with just ESC being available?

When I try to scan the slave device without ESS using Twincat, I could not read/write to the PRU.

0 Biser Gatchev-XID over 8 years ago in reply to Rohit Rampa

TI__Guru**** 393215 points

I have asked the EtherCAT experts to comment. They will respond here.

0 Paula Carrillo over 8 years ago in reply to Rohit Rampa

TI__Mastermind 40580 points

Hi Rohit, there is a wiki with information that might help you to verify PRU

PRU ICSS EtherCAT firmware API Guide

I will also search around to see if there is any PRU test that you can use.

thank you,

Paula

0 Paula Carrillo over 8 years ago in reply to Paula Carrillo

TI__Mastermind 40580 points

Rohit, I also get the information that the EN bit in the PRU_ICSS_CTRL register shows whether the PRU core is running.

hope this help,
Paula

0 Rohit Rampa over 8 years ago in reply to Paula Carrillo

Intellectual 460 points

Hi Paula,

Yes, I m able to read the Control register status of PRUICSS. Also Im able to read the controller type, PRU HW revision ID, minor number and major number for the FW build version of the PRU. I could also see the program counter pointing to a valid location.

However, for the minor and major number part, I could only read the reset value(0x3b3) at offsets 0x0002 and 0x0003. It doesnt give the minor number as "2" and major number as "3". Why is only the reset value and not the actual minor and major number versions while PRU is running?

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AM4379: EtherCAT PRU testing