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SYSBIOSSDK-IND-SITARA: EtherCAT issue

Kirthivasan Janakiraman
Prodigy 60 points

Part Number: SYSBIOSSDK-IND-SITARA

 

I have been working on ethercat_slave project of SysBios SDK 2.1.0.1 on TI AM437x IDK board and was performing some experimentations.

I have flashed the binary through MMC SD and booted the TI IDK AM437x board.

 

On connecting the board(IDK AM437x) to a PC through the EtherCAT cable and trying to scan the the board for the slaves, the scan is not successful.

 

I connected wireshark and was able to see the packets going from PC to the IDK board, though I could do not see any packets coming from the board back to the PC. My guess is  the packets are lost during processing.

I also see that on connecting the EtherCAT cable, there is link change that is detected which we have confirmed from the green LED glowing on the EtherCAT phy port.

 

Could you please suggest as to how to debug this issue.

Are there any registers from which I can debug this issue. 

Do I have to suspect any issue with the MDIO or TLK105 initialization or is it more concerned with the ESC firmware running on PRU-ICSS?

 

Awaiting your response.

Thank you 

  • 0
    TI__Guru**** 393215 points
    The EtherCAT experts have been notified. They will respond here.
  • 0
    TI__Mastermind 39320 points

    Hi, do you have connected UART via USB? if not, please do it and let us know what is printed in console.

    Also, it could be helpful if you can build the application in debug so you can add some breakpoints and check if any packet is received. You can rebuild the example application, which uses a precompiled stack or you can build the full-feature EtherCAT as shown here

    Which is your EtherCAT master? are you using TwinCAT (my guess)?, if so, maybe there is something (antivirus, firewall, etc) in your PC that could filter the "ecat" packets?

    Please let us know which EtherCAT master are you using, and how is your network configuration, for example for using wireshark are you connecting a PC with a Beckhoff multichannel probe (e.g ET2000) ? or, how are you connecting your master, slave and PC?

    On the other hand, If my guess that you are using TwinCAT and Wireshark in the same PC is correct, then, please see few instructions below on how to run them together:

    Wireshark:
    •Check your Eth interface is in promiscuous mode: Capture -> options -> Enable promiscuous mode in all interfaces (latest wireshark)
    •Start capturing
    •For filtering you can use “ecat

    TwinCAT:
    •TwinCAT project, “scan device” click in the new discovered “Device” -> Adapter -> and check “Promiscuous mode”


     PC security software:
    • Please disable any firewall, antivirus or symantec Endpoint protection.

    hope this helps, thank you,

    Paula