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SYSBIOSSDK-IND-SITARA: EtherCAT Slave buffers

Kirthivasan Janakiraman
Prodigy 60 points
Part Number: SYSBIOSSDK-IND-SITARA
Other Parts Discussed in Thread: SYSBIOS, AM4379, PRU-ICSS-INDUSTRIAL-SW

Hi,

I have been working on EtherCAT of Sysbios SDK2.1.0.1 in AM4379 IDK board. 

The ESC is running with Sync manager 2(RxPDO) and Sync manager 3(TxPDO) in 3 buffer mode and Sync Manager 0 and Sync Manager 1 in 1 buffer mode mailbox. The ESC is configured to run in SM-Synchron Mode(Interrupt Mode).

 

On analysis of the 3 buffers of Sync Manager 3(TxPDO Sync Manager), I could observe that after every interrupt when RxPDO is received and the TxPDO is written, the TxPDO buffer is incremented to point to the next buffer of the 3 buffer bank where data is written.

I would like to know when is the Buffer address incremented to point to the next buffer and is there any condition on which is is incremented?

Since the ESC is implemented as a firmware, is there any control at the EtherCAT slave stack level on the incrementing of the 3 buffers. Any ESC registers based which can control the incrementing of the buffers?

Thanks and Regards

Kirthi

  • 0
    TI__Guru**** 393215 points
    Hi,

    Please read the notice at the to of this forum regarding ISDK: e2e.ti.com/.../580869

    AM335x and AM437x industrial protocol support has begun migrating from SYSBIOSSDK-IND-SITARA (Ind SDK 2.x) to PRU-ICSS-INDUSTRIAL-SW.
    All current protocols for AM335x and AM437x will be supported on PRU-ICSS-INDUSTRIAL-SW by the end of June 2017.

    TI stopped providing free support for SYSBIOSSDK-IND-AM335x on 31 March 2017, and will no longer provide free support for SYSBIOSSDK-IND-SITARA after 30 June 2017.

    If you are interested in receiving maintenance releases and technical support for either of these SDKs after these dates please contact IndSDKSupport@list.ti.com or your TI representative.