RTOS/AM3359: EtherCAT issue

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Hi Lawrence,

Both •PRU-ICSS-EtherCAT_Slave_01.00.04.02 and the latest code (PRU-ICSS-ETHERCAT-SLAVE 01_00_05_00 released December 2017 - recommended) use the Beckhoff EtherCAT Slave Stack Code (SSC) Version 5.11 and not 5.12.

Do you see the error with SSC_5.11?
If so, does the error occur only with the 8 slave configuration?
The latest release has a number of firmware improvements which recommend it for consideration.

I don't know if this is applicable to your case, but it is important to users who work with multiple software versions and / or multiple devices. Because each PRU-ICSS protocol version requires a specific Processor SDK, SYS/BIOS, XDCtools, and CCS version, when working with multiple devices (AM335x, AM437x, ...) multiple versions of Processor SDK or/and multiple version of the PRU-ICSS Industrial protocols - we separate the versions in separate directories.

What works consistently for me is to perform an fresh installation into an empty ti directory. If I wish to maintain several different configurations, I uninstall CCS (so that I only have one version installed) and then rename the ti directory with the Processor SDK, and PRU-ICSS-Industrial I wish to save.

David

Hi David,

In fact, before updating Beckhoff EtherCAT Slave Stack Code (SSC) version 5.12 I was using version 5.11 and I already had the problem. So, It is not a regression from Beckoff version.

The problem appears if I chain only 2 slaves: after an hard reset (turn off the power for example), my configuration with 2 slaves doesn't work; no slave are seen on the network while scanning. I have to unplug the 2nd slave, scan the bus (now I see the first slave) then replug the 2nd slave, scan the bus (now I see the 2nd slave).

As I mentioned, I think it is a problem with port B of the first slave. And If I use PRU initialization with odl version of HostProc[] and FrameProc[], everything work well.

I only use AM335x.

I'm going to install PRU-ICSS-ETHERCAT-SLAVE 01_00_05_00 but I think it won't solve my problem....

I will keep you informed.

Thanks a lot.

Laurence

Hello David,

I've a little big problem while updating the try PRU-ICSS-ETHERCAT-SLAVE  01_00_05_00 !!!

Before doing that I had also updated to pdk pdk_am335x_1_0_9 and I have rebuilded of the libraries for all components.

Then I've generated both project from PRU: ethercat_slave_full_AM335x_arm (patched with Beckoff stack 5.12) and ethercat_slave_demo_AM335x_arm.

I thied to compile these 2 projects and: IMPOSSIBLE !!!

I have the same error while compiling:

I tried to investigate and find the error.

In the file am335x_app_pa8fg.c found in the folder AM335x_release\ConfigPkg\cfg I can find the indirection :

/* Module__startupDoneFxn__C */
__FAR__ const CT__ti_osal_Settings_Module__startupDoneFxn ti_osal_Settings_Module__startupDoneFxn__C = ((CT__ti_osal_Settings_Module__startupDoneFxn)0);
But, if I search for the type CT__ti_osal_Settings_Module__startupDoneFxn There's no definition for this type.

For example, in the previous command:

/* Module__loggerFxn8__C */
__FAR__ const CT__ti_osal_Settings_Module__loggerFxn8 ti_osal_Settings_Module__loggerFxn8__C = ((CT__ti_osal_Settings_Module__loggerFxn8)0);
If I seacrh for the type CT__ti_osal_Settings_Module__loggerFxn8 I can find its definition il the file C:\ti\pdk_am335x_1_0_9\packages\ti\osal\Settings.h:

/* Module__loggerFxn8 */
typedef xdc_runtime_Types_LoggerFxn8 CT__ti_osal_Settings_Module__loggerFxn8;
__extern __FAR__ const CT__ti_osal_Settings_Module__loggerFxn8 ti_osal_Settings_Module__loggerFxn8__C;
#ifdef ti_osal_Settings_Module__loggerFxn8__CR
#define ti_osal_Settings_Module__loggerFxn8__C (*((CT__ti_osal_Settings_Module__loggerFxn8*)(xdcRomConstPtr + ti_osal_Settings_Module__loggerFxn8__C_offset)))
#else
#define ti_osal_Settings_Module__loggerFxn8 (ti_osal_Settings_Module__loggerFxn8__C)
#end

And tis is the same for all types defined !!!!

There's only a mistake on Module__startupDoneFxn__C.

Of course, I tried to put a same definition in the file Settings.h:

/* Module__startupDoneFxn__C */
typedef xdc_runtime_Types_startupDoneFxn CT__ti_osal_Settings_Module__startupDoneFxn;
__extern __FAR__ const CT__ti_osal_Settings_Module__startupDoneFxn ti_osal_Settings_Module__startupDoneFxn__C;
#ifdef ti_osal_Settings_Module__startupDoneFxn__CR
#define ti_osal_Settings_Module__startupDoneFxn__C (*((CT__ti_osal_Settings_Module__startupDoneFxn*)(xdcRomConstPtr + ti_osal_Settings_Module__startupDoneFxn__C_offset)))
#else
#define ti_osal_Settings_Module__startupDoneFxn (ti_osal_Settings_Module__startupDoneFxn_C)
#endif

But of course it doesn't work and I have an error while compiling the osal library:

In file included from /ti/PDK_AM~2/packages/ti/binary/pruss_app_sorte_slave/obj/icev2AM335x/a8host/release/pruss_app_sorte_slave_configuro/package/cfg/sorte_icev2am335x_app_pa8fg.c:43:0:
/ti/PDK_AM~2/packages/ti/osal/Settings.h:191:9: error: unknown type name 'xdc_runtime_Types_startupDoneFxn'
 typedef xdc_runtime_Types_startupDoneFxn CT__ti_osal_Settings_Module__startupDoneFxn;

Did you ever make the compilation for these projects ?

Did it succeeded ?

Can you tell me why it doen't work and help me to fix the problem ?

Thanks a lot for your help.

 

Laurence