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AM3359: EtherCAT Slave ESC user RAM

Lamberto Pedroni
Prodigy 70 points

Part Number: AM3359
Other Parts Discussed in Thread: SYSBIOS,

Please let me know about the implementation of "User RAM" (addresses 0x0F80 - 0x0FFF of the registers space in Sitara Ethercat Slave Controller. I have not found anything in the documents.

Thank you

  • 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

    There are a couple of ways to see how memory is used. The project will create a map file. For a default installation of the full featured EtherCAT build it will be :C:\ti\PRU-ICSS-EtherCAT_Slave_01.00.04.02\protocols\ethercat_slave\projects\ethercat_slave_full_AM335x_arm\AM335x_release\ethercat_slave_full_AM335x_arm.map

    I find this sometimes hard to use.

    My preferred method is to copy the out file that is in the same directory: C:\ti\PRU-ICSS-EtherCAT_Slave_01.00.04.02\protocols\ethercat_slave\projects\ethercat_slave_full_AM335x_arm\AM335x_release\ethercat_slave_full_AM335x_arm.out into a temporary directory.

    The I create a DOS window and CD to that directory. In the dos window I apply

    C:\ti\gcc-arm-none-eabi-4_9-2015q3\bin\arm-none-eabi-objdump.exe -x -w ethercat_slave_full_AM335x_arm.out > ethercat_slave_full_AM335x_arm.txt

     

    This creates a text file which contains a summary of the memory regions and a symbol table.

    If I import the text file into excel as a space delimited file where all of the contents are imported as text items (to preserve the HEX values). I then usually copy the symbol table to a separate sheet so that I can reformat it and sort it.

    The summary table looks like:

    Sections:
    Idx Name Size in Decmal Size VMA LMA File off Algn Flags
    0 .c_int00 180 000000b4 80000000 80000000 00008000 2**2 CONTENTS, ALLOC, LOAD, READONLY, CODE
    1 ti.sysbios.family.arm.a8.mmuTableSection 16384 00004000 80004000 80004000 000080b4 2**14 ALLOC
    2 xdc.meta 311 00000137 80008000 80008000 00034058 2**2 CONTENTS, READONLY
    3 .text 146132 00023ad4 80008140 80008140 00008140 2**4 CONTENTS, ALLOC, LOAD, READONLY, CODE
    4 .rodata 26004 00006594 8002bc18 8002bc18 0002bc18 2**3 CONTENTS, ALLOC, LOAD, READONLY, DATA
    5 .vectors 64 00000040 80032400 80032400 00032400 2**10 CONTENTS, ALLOC, LOAD, READONLY, DATA
    6 .ARM.exidx 8 00000008 80032440 80032440 00032440 2**2 CONTENTS, ALLOC, LOAD, READONLY, DATA
    7 .data 7184 00001c10 80032448 80032448 00032448 2**3 CONTENTS, ALLOC, LOAD, DATA
    8 .bss 60408 0000ebf8 80034058 80034058 00034058 2**3 ALLOC
    9 .stack 16384 00004000 80042c50 80042c50 00034058 2**3 ALLOC
    10 .comment 00000150 00000000 00000000 0003418f 2**0 CONTENTS, READONLY
    11 .ARM.attributes 0000003d 00000000 00000000 000342df 2**0 CONTENTS, READONLY
    12 .debug_aranges 00003990 00000000 00000000 00034320 2**3 CONTENTS, READONLY, DEBUGGING
    13 .debug_info 0007a9c8 00000000 00000000 00037cb0 2**0 CONTENTS, READONLY, DEBUGGING
    14 .debug_abbrev 0000fa1b 00000000 00000000 000b2678 2**0 CONTENTS, READONLY, DEBUGGING
    15 .debug_line 00024a8d 00000000 00000000 000c2093 2**0 CONTENTS, READONLY, DEBUGGING
    16 .debug_frame 00008b48 00000000 00000000 000e6b20 2**2 CONTENTS, READONLY, DEBUGGING
    17 .debug_str 00035498 00000000 00000000 000ef668 2**0 CONTENTS, READONLY, DEBUGGING
    18 .debug_loc 00027e01 00000000 00000000 00124b00 2**0 CONTENTS, READONLY, DEBUGGING
    19 .debug_ranges 00004230 00000000 00000000 0014c908 2**3 CONTENTS, READONLY, DEBUGGING

     

    The Symbol table for the memory regions you are interested in is:

    SYMBOL TABLE:
    Hex Add Decimal Size Hex Size Symbol
    00000001 l *ABS* 0 00000000 xdc_runtime_Startup__EXECFXN__C
    00000001 l *ABS* 0 00000000 xdc_runtime_Startup__RESETFXN__C
    00000004 l *ABS* 0 00000000 ARG1
    00000040 l *ABS* 0 00000000 Cache_sizeL1dCacheLine
    00000040 l *ABS* 0 00000000 Cache_sizeL1pCacheLine
    00000040 l *ABS* 0 00000000 Cache_sizeL2CacheLine
    00000400 l *ABS* 0 00000000 HEAPSIZE
    00004000 g *ABS* 0 00000000 __STACK_SIZE
    00004000 g *ABS* 0 00000000 __TI_STACK_SIZE
    0001c000 l *ABS* 0 00000000 STACKSIZE
    48200000 g *ABS* 0 00000000 ti_sysbios_family_arm_a8_intcps_Hwi_intc
    80000000 l d .c_int00 0 00000000 .c_int00
    80000000 g .c_int00 0 00000000 _c_int00
    8000009c l .c_int00 0 00000000 _reset_fxns_done_
    80004000 l d ti.sysbios.family.arm.a8.mmuTableSection 0 00000000 ti.sysbios.family.arm.a8.mmuTableSection
    80004000 g O ti.sysbios.family.arm.a8.mmuTableSection 16384 00004000 ti_sysbios_family_arm_a8_Mmu_Module_State_0_tableBuf__A

     

    David

     

  • 0 in reply to David Zaucha
    Prodigy 70 points

    Sorry, I'll try to explain better, my question is referred to to the implementation of TI ESC that runs into the PRU-ICSS of AM3359 and emulates Beckhoff ET1100 with some exceptions. Inside the document "EtherCAT_firmware_API_Guide.pdf" there is a chapter "AM335x EtherCAT Register List" where the ESC registers, visible both to ESC and Ethercat Master, are listed with a column dedicated to "Register offset", but no information about the interval between 0x0F80  and 0x 0FFF, that is named "User ram" in Bechoff ET1100 datasheet. Neither reports anything about. I need to know if the registers in the 0x0F80  - 0x 0FFF interval or a portion of this are implemented.

    Thank in advance

    Lamberto

  • 0 in reply to Lamberto Pedroni
    TI__Expert 7570 points
    Thank you for the update. Let me check with the development team.

    David
  • 0 in reply to David Zaucha
    TI__Expert 7570 points
    Hi Lamberto

    The region 0x0F80 - 0x 0FFF is not used. You may be able to use this area but will need to edit register permissions accordingly in tiescbsp.c .
    By default all of the undocumented addresses in register space (< 0x1000) are set to no read & no write access.

    David