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RTOS/AMIC110: EtherCAT Slave application

Steven Liu1
Expert 4505 points

Part Number: AMIC110

Tool/software: TI-RTOS

Hi Team,

My customer is using the AMIC110 for EtherCAT slave application. But they have lots of questions regarding to the functions that used. 

Below are a typical question needs your help.  

What’s the difference of the HW_EscWriteIsr and HW_EscWrite (located in C:\ti\PRU-ICSS-EtherCAT_Slave_01.00.04.02\protocols\ethercat_slave\ecat_appl\EcatStack\tieschw.c)?

Although there are some general description on below WIKI page, customer wants to know what scenarios can be used for each function. What kinds of data (mailbox data/process data) can be used for each? Additionally, if an ESC register data want to be accessed, which function can be used for this target? Or both can do that?

 http://processors.wiki.ti.com/index.php/PRU_ICSS_EtherCAT_firmware_API_guide

  • 0
    TI__Guru**** 393215 points
    The software team have been notified. They will respond here.
  • 0 in reply to Biser Gatchev-XID
    TI__Expert 7570 points

    Hi Steven

    HW_EscWrite and HW_EscWriteISR are TI specific APIs implementations of the APIs defined in the Beckhoff Slave Stack Code ET9300 (SSC 5.11) APIs . In the AMIC110 Full EtherCAT Slave Example, these APIs are used primarily in the Beckhoff Slave Stack Code ET9300 (SSC 5.11) .  We are able to discuss the TI code however we must refer questions and support for SSC5.11 and ET9300 to the EtherCAT ETG forums.  For reference there are additional links to Beckhoff and EtherCAT Technology Group (ETG) information available on the Sitara FAQ, http://processors.wiki.ti.com/index.php/FAQ_Sitara_Industrial .

     

    HW_EscWrite and HW_EscWriteISR are defined in tieschw.c

     

    CCS has a good tool to find all of the references to an API within the project.

    To use this tool, First highlight the API. (HW_EscWrite)

     

     

     


    Then right click with the mouse and select Reference and then Project



    The CCS reference project tool will permit the analysis of how these APIs are used in the Full featured EtherCAT example  and Beckhoff slave stack code:

    HW_EscWrite is used by a Beckhoff API (not shown here) that is runs in the main control loop .

    Similarly HW_EscWriteISR is used by a Beckhoff API (not shown here) that is used by a number of APIs.

     

    David