TMDSICE3359: EtherCAT Master cycle time

Dawid Balcerzak

Part Number: TMDSICE3359
Other Parts Discussed in Thread: LAUNCHXL-F28379D, AM4379, TIDM-DELFINO-ETHERCAT

Hello,

I successfully launched EtherCAT master project with Acontis master stack on tmdsice3359. I used that document from TI:

My simple network is TMDSICE3359 <-> LaunchXL-F28379D. And it's working. Here is log from putty:

TI Industrial SDK Version - IASDK 1.1.0.8
Device name     : AM3359
Chip Revision   : AM335x ES1.2 [PG2.1]

SYS/BIOS EcMaster Sample application running on ICE V2
Full command line: -auxclk 2000 -v 2 -t 100000 -perf -cpsw 1 1 1 m custom am33XX 1 1 0

001151 : Run demo now with cycle time 2000 usec
001151 : Using AuxClock
001151 : ==========================
001151 : Initialize EtherCAT Master
001151 : ==========================
001151 : EC-Master V2.9.0.06 (Protected) for SYSBIOS Copyright acontis technologies GmbH @ 2016
001152 : CPSW INF: Port 1, Prio 1, Flags [Polling] [Master], Phy 1, PhyInterface 32,  MAC 38:d2:69:5f:69:49

001153 : CPSW INF: CPSW3G found. CPSW INF: HW-Id: 0x0019, RTL: 0, Major: 1, Minor: 0xc
001154 : CPSW INF: PHY found. Id=0x2000a211
001154 : CPSW INF: Restart PHY auto negotiation
002814 : CPSW INF: PHY auto negotiation completed
002832 : Unlicensed version, stop sending ethernet frames after 60 minutes!
002908 : Bus scan successful - 1 slaves found
002947 : 1 identical messages skipped
002947 : ******************************************************************************
002947 : Slave ID............: 0x00000000
002947 : Bus Index...........: 0
002947 : Bus AutoInc Address.: 0x0000
002947 : Bus Station Address.: 0x03e9 (1001)
002947 : Bus Alias Address...: 0x0000 (   0)
002947 : Vendor ID...........: 0x000A4D7A = ----
002947 : Product Code........: 0x10001101 = Unknown
002947 : Revision............: 0x00000001   Serial Number: 0
002947 : ESC Type............: Beckhoff ET1100 (0x11)  Revision: 0  Build: 3
002947 : Connection at Port A: yes (to 0x00010000)
002947 : Connection at Port D: no  (to 0xFFFFFFFF)
002947 : Connection at Port B: no  (to 0xFFFFFFFF)
002947 : Connection at Port C: no  (to 0xFFFFFFFF)
002947 : Line Crossed........: no
002947 : Cfg Station Address.: 0x03e9 (1001)
002947 : PD IN    Byte.Bit offset: 0.0   Size: 88 bits
002947 : PD OUT   Byte.Bit offset: 0.0   Size: 88 bits
003066 : EtherCAT network adapter MAC: 38-D2-69-5F-69-49

003066 : =====================
003066 : Start EtherCAT Master
003066 : =====================
003073 : Master state changed from <UNKNOWN> to <INIT>
003218 : Master state changed from <INIT> to <PREOP>
003242 : Master state changed from <PREOP> to <SAFEOP>
003258 : Master state changed from <SAFEOP> to <OP>
003263 :
003263 : Job times during startup <INIT> to <OP>:
003263 : ================================================================
003263 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.0/ 39.9
003263 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    6.0/ 14.8
003263 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    7.1/ 72.0
003263 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    3.6/ 27.7
003263 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1657.2/2009.1
003263 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  4.3
003263 :
005267 : ================================================================
005267 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 19.2
005267 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.2
005267 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.9/ 11.1
005267 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  6.4
005267 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.2
005267 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  1.3
007269 : ================================================================
007269 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
007269 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.2
007269 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 11.1
007269 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.0
007269 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.2
007269 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  1.3
009271 : ================================================================
009271 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
009271 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.5
009271 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 11.1
009271 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.0
009271 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.8
009271 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  1.3
011273 : ================================================================
011273 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
011273 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.5
011273 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 11.3
011273 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.0
011273 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.8
011273 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
013275 : ================================================================
013275 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
013275 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.5
013275 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.9/ 11.8
013275 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.0
013275 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.8
013275 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
015277 : ================================================================
015277 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
015277 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.7
015277 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 11.8
015277 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.0
015277 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
015277 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
017279 : ================================================================
017279 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
017279 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.7
017279 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 11.8
017279 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.0
017279 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
017279 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
019281 : ================================================================
019281 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
019281 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.7
019281 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
019281 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.0
019281 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
019281 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
021283 : ================================================================
021283 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.6/ 21.4
021283 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.7
021283 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
021283 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.0
021283 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
021283 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
023285 : ================================================================
023285 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.6/ 21.4
023285 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.7
023285 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
023285 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
023285 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
023285 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
025287 : ================================================================
025287 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
025287 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.7
025287 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
025287 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
025287 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
025287 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
027289 : ================================================================
027289 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
027289 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.7
027289 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
027289 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
027289 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
027289 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
029291 : ================================================================
029291 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
029291 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.7
029291 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
029291 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
029291 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
029291 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
031293 : ================================================================
031293 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
031293 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.7
031293 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
031293 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
031293 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
031293 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
033295 : ================================================================
033295 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
033295 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.7
033295 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
033295 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
033295 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
033295 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
035297 : ================================================================
035297 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
035297 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.7
035297 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
035297 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
035297 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
035297 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
037299 : ================================================================
037299 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.6/ 21.4
037299 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.7
037299 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
037299 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
037299 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
037299 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
039301 : ================================================================
039301 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
039301 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.7
039301 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
039301 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
039301 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
039301 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
041303 : ================================================================
041303 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
041303 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.7
041303 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
041303 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
041303 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
041303 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
043305 : ================================================================
043305 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
043305 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.7
043305 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
043305 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
043305 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
043305 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
045307 : ================================================================
045307 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
045307 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.7
045307 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.9/ 12.2
045307 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
045307 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2003.9
045307 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
047309 : ================================================================
047309 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
047309 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.7
047309 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
047309 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
047309 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
047309 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
049311 : ================================================================
049311 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
049311 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.7
049311 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
049311 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
049311 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
049311 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
051313 : ================================================================
051313 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
051313 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.7
051313 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
051313 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
051313 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
051313 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
053315 : ================================================================
053315 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
053315 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 14.7
053315 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
053315 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
053315 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
053315 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
055317 : ================================================================
055317 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
055317 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 14.7
055317 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.9/ 12.2
055317 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
055317 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
055317 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
057319 : ================================================================
057319 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
057319 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 15.1
057319 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.9/ 12.2
057319 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
057319 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
057319 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
059321 : ================================================================
059321 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
059321 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
059321 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
059321 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
059321 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
059321 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
061323 : ================================================================
061323 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
061323 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 15.1
061323 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
061323 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
061323 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
061323 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
063325 : ================================================================
063325 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
063325 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
063325 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
063325 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/  7.3
063325 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
063325 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
065327 : ================================================================
065327 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
065327 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
065327 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
065327 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/  7.3
065327 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
065327 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
067329 : ================================================================
067329 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.6/ 21.4
067329 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
067329 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
067329 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
067329 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
067329 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
069331 : ================================================================
069331 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
069331 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
069331 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
069331 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
069331 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
069331 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
071333 : ================================================================
071333 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
071333 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 15.1
071333 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
071333 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
071333 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
071333 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
073335 : ================================================================
073335 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
073335 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 15.1
073335 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
073335 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
073335 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
073335 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
075337 : ================================================================
075337 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.6/ 21.4
075337 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 15.1
075337 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
075337 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
075337 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
075337 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
077339 : ================================================================
077339 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
077339 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
077339 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
077339 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
077339 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
077339 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
079341 : ================================================================
079341 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
079341 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 15.1
079341 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
079341 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
079341 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
079341 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
081343 : ================================================================
081343 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.6/ 21.4
081343 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 15.1
081343 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
081343 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
081343 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
081343 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
083345 : ================================================================
083345 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.6/ 21.4
083345 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
083345 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
083345 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/  7.3
083345 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
083345 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
085347 : ================================================================
085347 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.6/ 21.4
085347 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 15.1
085347 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
085347 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/  7.3
085347 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
085347 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
087349 : ================================================================
087349 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
087349 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 15.1
087349 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
087349 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
087349 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
087349 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
089351 : ================================================================
089351 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
089351 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
089351 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
089351 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
089351 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
089351 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
091353 : ================================================================
091353 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
091353 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
091353 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
091353 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
091353 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
091353 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
093355 : ================================================================
093355 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
093355 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
093355 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
093355 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
093355 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
093355 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
095357 : ================================================================
095357 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
095357 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
095357 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
095357 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
095357 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
095357 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
097359 : ================================================================
097359 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
097359 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
097359 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
097359 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
097359 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
097359 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
099361 : ================================================================
099361 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
099361 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.1/ 15.1
099361 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
099361 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.3/  7.3
099361 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
099361 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
101363 : ================================================================
101363 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
101363 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    9.0/ 15.1
101363 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
101363 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/  7.3
101363 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:  1999.4/2004.0
101363 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  5.7
103265 :
103265 : Job times before shutdown
103265 : ========================
103265 : Shutdown EtherCAT Master
103265 : ========================
103286 : Master state changed from <OP> to <INIT>
103553 : CPSW INF: Disable running RX-DMA
103553 : CPSW INF: RX+TX DMA disabled. Delay 500
103554 : EcMasterDemo stop.

We can see times in log:

101363 : ================================================================
101363 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.5/ 21.4
101363 : PerfMsmt 'JOB_SendAllCycFrames ' (avg/max) [usec]:    9.0/ 15.1
101363 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    6.0/ 12.2
101363 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 7.3
101363 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]: 1999.4/2004.0
101363 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/ 5.7

And here is my question - Cycle Time is quite long, it's about 2 msec. I would like to decrease it to e.g. 100us. What changes should I make to change cycle time?

I appreciate any help.

BR,
Dawid.

over 8 years ago

0 Biser Gatchev-XID over 8 years ago

TI__Guru**** 393215 points

The RTOS team have been notified. They will respond here.

0 Dawid Balcerzak over 8 years ago in reply to Biser Gatchev-XID

Expert 1365 points

I solved my problem in the meantime. I forgot about ATEMDemoConfig.h file. There are DEMO_PARAMETERS, and default setting is: "-auxclk 2000 -v 2 -t 100000 -perf ". I just change 2000 to 100 and it works. I was decreasing cycle time till I reached 40 us. And here is my log for 40 us:

TI Industrial SDK Version - IASDK 1.1.0.8
Device name     : AM3359
Chip Revision   : AM335x ES1.2 [PG2.1]

SYS/BIOS EcMaster Sample application running on ICE V2
Full command line: -auxclk 40 -v 2 -t 100000 -perf -cpsw 1 1 1 m custom am33XX 1 1 0

001151 : Run demo now with cycle time 40 usec
001151 : Using AuxClock
001151 : ==========================
001151 : Initialize EtherCAT Master
001151 : ==========================
001151 : EC-Master V2.9.0.06 (Protected) for SYSBIOS Copyright acontis technologies GmbH @ 2016
001152 : CPSW INF: Port 1, Prio 1, Flags [Polling] [Master], Phy 1, PhyInterface 32,  MAC 38:d2:69:5f:69:49

001153 : CPSW INF: CPSW3G found. CPSW INF: HW-Id: 0x0019, RTL: 0, Major: 1, Minor: 0xc
001154 : CPSW INF: PHY found. Id=0x2000a211
001154 : CPSW INF: Restart PHY auto negotiation
002764 : CPSW INF: PHY auto negotiation completed
002788 : Unlicensed version, stop sending ethernet frames after 60 minutes!
002791 : unexpected response on acyclic Ethernet frame
002791 : EtherCAT command IDX act value=0xf7
002793 : unexpected response on acyclic Ethernet frame
002793 : EtherCAT command IDX act value=0xef
002794 : Bus scan successful - 1 slaves found
002822 : 1 identical messages skipped
002822 : ******************************************************************************
002822 : Slave ID............: 0x00000000
002822 : Bus Index...........: 0
002822 : Bus AutoInc Address.: 0x0000
002822 : Bus Station Address.: 0x03e9 (1001)
002822 : Bus Alias Address...: 0x0000 (   0)
002822 : Vendor ID...........: 0x000A4D7A = ----
002822 : Product Code........: 0x10001101 = Unknown
002822 : Revision............: 0x00000001   Serial Number: 0
002822 : ESC Type............: Beckhoff ET1100 (0x11)  Revision: 0  Build: 3
002822 : Connection at Port A: yes (to 0x00010000)
002822 : Connection at Port D: no  (to 0xFFFFFFFF)
002822 : Connection at Port B: no  (to 0xFFFFFFFF)
002822 : Connection at Port C: no  (to 0xFFFFFFFF)
002822 : Line Crossed........: no
002822 : Cfg Station Address.: 0x03e9 (1001)
002822 : PD IN    Byte.Bit offset: 0.0   Size: 88 bits
002822 : PD OUT   Byte.Bit offset: 0.0   Size: 88 bits
003041 : EtherCAT network adapter MAC: 38-D2-69-5F-69-49

003041 : =====================
003041 : Start EtherCAT Master
003041 : =====================
003041 : Master state changed from <UNKNOWN> to <INIT>
003041 : eUsrJob_ProcessAllRxFrames - not all previously sent frames are received/processed (frame loss)!
003179 : 2 identical messages skipped
003179 : Master state changed from <INIT> to <PREOP>
003223 : Master state changed from <PREOP> to <SAFEOP>
003223 : eUsrJob_ProcessAllRxFrames - not all previously sent frames are received/processed (frame loss)!
003248 : Master state changed from <SAFEOP> to <OP>
003248 : eUsrJob_ProcessAllRxFrames - not all previously sent frames are received/processed (frame loss)!
003273 :
003273 : Job times during startup <INIT> to <OP>:
003273 : ================================================================
003274 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 80.1
003274 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.2/ 16.4
003274 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.3/ 75.9
003275 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 31.6
003275 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/125.2
003275 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  5.0
003276 :
005274 : ================================================================
005274 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 20.6
005275 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.2
005275 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 14.9
005276 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.2
005276 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 45.9
005276 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.4
007275 : ================================================================
007275 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 20.9
007276 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.5
007276 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.3/ 14.9
007276 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.2
007277 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 45.9
007277 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.4
009275 : ================================================================
009275 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 20.9
009275 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.5
009276 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 14.9
009276 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.5
009277 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 45.9
009277 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.4
011276 : ================================================================
011276 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 20.9
011277 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.5
011277 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 14.9
011277 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.5
011278 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 45.9
011278 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
013276 : ================================================================
013276 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 20.9
013277 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.6
013277 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 14.9
013277 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.5
013278 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 45.9
013278 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
015277 : ================================================================
015277 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 20.9
015278 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.6
015278 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 14.9
015278 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
015279 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 45.9
015279 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
017278 : ================================================================
017278 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 20.9
017278 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.6
017279 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.0
017279 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
017280 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 45.9
017280 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
019279 : ================================================================
019279 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 20.9
019280 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.6
019280 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.0
019280 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
019281 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
019281 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
021280 : ================================================================
021280 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   14.0/ 20.9
021281 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.6
021281 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
021281 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
021282 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
021282 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
023280 : ================================================================
023280 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 20.9
023281 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.6
023281 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
023281 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
023282 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
023282 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
025281 : ================================================================
025281 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 20.9
025282 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.6
025282 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
025282 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
025283 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
025283 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
027281 : ================================================================
027281 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 20.9
027282 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.6
027282 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
027282 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
027283 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
027283 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
029282 : ================================================================
029282 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 20.9
029283 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.6
029283 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
029283 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
029284 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
029284 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
031283 : ================================================================
031283 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 20.9
031284 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.6
031284 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
031284 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
031285 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
031285 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
033283 : ================================================================
033283 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 20.9
033284 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.7
033284 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
033284 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
033285 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
033285 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
035284 : ================================================================
035284 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
035285 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.2/ 15.7
035285 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
035285 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
035286 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
035286 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
037285 : ================================================================
037285 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
037286 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.7
037286 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
037286 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
037287 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
037287 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
039287 : ================================================================
039287 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
039288 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.2/ 15.7
039288 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
039288 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
039289 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
039289 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
041287 : ================================================================
041287 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
041288 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.2/ 15.9
041288 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
041288 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
041289 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
041289 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
043287 : ================================================================
043287 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 21.0
043287 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
043288 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
043288 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
043289 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
043289 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
045291 : ================================================================
045291 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
045292 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
045292 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
045292 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
045293 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
045293 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
047291 : ================================================================
047291 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
047292 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
047292 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.3
047292 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
047293 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
047293 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
049291 : ================================================================
049291 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
049292 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
049292 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
049292 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
049293 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
049293 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
051291 : ================================================================
051291 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 21.0
051292 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
051292 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
051292 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
051293 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
051293 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
053291 : ================================================================
053291 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 21.0
053292 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
053292 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
053292 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
053293 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
053293 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
055291 : ================================================================
055291 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
055291 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.2/ 15.9
055292 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.3/ 15.4
055292 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
055292 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
055293 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
057291 : ================================================================
057291 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 21.0
057291 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
057292 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.3/ 15.4
057292 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
057292 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
057293 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
059292 : ================================================================
059292 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 21.0
059293 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
059293 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
059293 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
059294 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
059294 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
061292 : ================================================================
061292 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
061293 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
061293 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
061293 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
061294 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
061294 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
063292 : ================================================================
063292 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 21.0
063292 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
063293 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
063293 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
063294 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
063294 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
065292 : ================================================================
065292 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
065292 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
065293 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
065293 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
065294 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
065294 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
067292 : ================================================================
067292 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
067293 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
067293 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
067294 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
067294 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
067294 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
069292 : ================================================================
069292 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
069293 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
069293 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
069293 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
069294 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
069294 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
071293 : ================================================================
071293 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
071294 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.2/ 15.9
071294 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
071295 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
071295 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
071295 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
073295 : ================================================================
073295 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.0
073296 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
073296 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
073296 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.7
073297 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
073297 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
075295 : ================================================================
075295 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 21.0
075296 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
075296 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
075296 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
075297 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
075297 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
077297 : ================================================================
077297 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.1
077298 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
077298 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
077299 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
077299 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
077299 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
079299 : ================================================================
079299 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 21.1
079300 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
079300 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
079300 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
079301 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
079301 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
081301 : ================================================================
081301 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.1
081302 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
081302 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
081302 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
081303 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
081303 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
083303 : ================================================================
083303 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.8/ 21.1
083303 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
083304 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
083304 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
083305 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
083305 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
085305 : ================================================================
085305 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.1
085306 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
085306 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
085307 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
085307 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
085307 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
087306 : ================================================================
087306 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.1
087307 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
087307 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
087307 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
087308 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
087308 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
089308 : ================================================================
089308 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.1
089309 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
089309 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
089309 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
089310 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
089310 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.7/  7.5
091310 : ================================================================
091310 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.1
091311 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
091311 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
091312 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
091312 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
091312 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
093312 : ================================================================
093312 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.1
093313 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
093313 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
093313 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
093314 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
093314 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
095315 : ================================================================
095315 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.1
095316 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
095316 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
095316 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
095317 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
095317 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
097317 : ================================================================
097317 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.1
097318 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
097318 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
097318 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
097319 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
097319 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
099318 : ================================================================
099318 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.3
099319 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
099319 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
099319 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
099320 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
099320 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
101321 : ================================================================
101321 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   13.9/ 21.3
101322 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    8.3/ 15.9
101322 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    5.4/ 15.4
101322 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 10.8
101323 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 46.2
101323 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.5
103279 :
103279 : Job times before shutdown
103279 : ========================
103280 : Shutdown EtherCAT Master
103280 : ========================
103281 : Master state changed from <OP> to <INIT>
103281 : eUsrJob_ProcessAllRxFrames - not all previously sent frames are received/processed (frame loss)!
103281 : no response on cyclic Ethernet frame
103281 : eUsrJob_ProcessAllRxFrames - not all previously sent frames are received/processed (frame loss)!
103340 : ================================================================
103340 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]:   12.6/ 40.5
103340 : PerfMsmt 'JOB_SendAllCycFrames  ' (avg/max) [usec]:    7.9/ 29.3
103340 : PerfMsmt 'JOB_MasterTimer       ' (avg/max) [usec]:    4.5/ 35.3
103340 : PerfMsmt 'JOB_SendAcycFrames    ' (avg/max) [usec]:    1.2/ 13.3
103340 : PerfMsmt 'Cycle Time            ' (avg/max) [usec]:   39.5/ 82.2
103340 : PerfMsmt 'myAppWorkPd           ' (avg/max) [usec]:    0.8/  7.6
103637 : CPSW INF: Disable running RX-DMA
103637 : CPSW INF: RX+TX DMA disabled. Delay 500
103638 : EcMasterDemo stop.

Next, I changed cycle time to 30 us and here is the log:

TI Industrial SDK Version - IASDK 1.1.0.8
Device name     : AM3359
Chip Revision   : AM335x ES1.2 [PG2.1]

SYS/BIOS EcMaster Sample application running on ICE V2
Full command line: -auxclk 30 -v 2 -t 100000 -perf -cpsw 1 1 1 m custom am33XX 1 1 0

001151 : Run demo now with cycle time 30 usec
001151 : Using AuxClock
001151 : ==========================
001151 : Initialize EtherCAT Master
001151 : ==========================
001151 : EC-Master V2.9.0.06 (Protected) for SYSBIOS Copyright acontis technologies GmbH @ 2016
001152 : CPSW INF: Port 1, Prio 1, Flags [Polling] [Master], Phy 1, PhyInterface 32,  MAC 38:d2:69:5f:69:49

001153 : CPSW INF: CPSW3G found. CPSW INF: HW-Id: 0x0019, RTL: 0, Major: 1, Minor: 0xc
001154 : CPSW INF: PHY found. Id=0x2000a211
001154 : CPSW INF: Restart PHY auto negotiation
002764 : CPSW INF: PHY auto negotiation completed
002790 : Unlicensed version, stop sending ethernet frames after 60 minutes!
002795 : unexpected response on acyclic Ethernet frame
002795 : EtherCAT command IDX act value=0xe8
002796 : Bus scan successful - 1 slaves found
002817 : 1

And nothing else happens. Now my new question - is it possible to reach cycle time about 10us?

PS: I am not sure if I should ask about it here or create another thread. If you think I should do so please, notify me.

0 Paula Carrillo over 8 years ago in reply to Dawid Balcerzak

TI__Mastermind 40580 points

Hi Dawid, the minimum EtherCAT cycle to use would depend on your use case and system. However, 10 us sounds too low as Jitter starts to weighting more.

From your logs we have that jitter is ~5us, then with a 10us cycle, 50% would be jitter

With a cycle time of 2ms: 101363 : PerfMsmt 'Cycle Time ' (avg/max) [usec]: 1999.4/2004.0 --> avg jitter ~4.6us
With a cycle time of 40us: 103340 : PerfMsmt 'Cycle Time ' (avg/max) [usec]: 39.5/ 82.2 -> avg jitter actually increases to ~42.7us

I would suggest to ask acontis what is the minimum cycle time they would recommend you accordingly with your application (only I/Os?, motor control?, drives?, etc).

acontis support email: ecsupport@acontis.com

thank you,
Paula

0 Dawid Balcerzak over 8 years ago in reply to Paula Carrillo

Expert 1365 points

Hi Paula,

thank you for paying my attention to jitter and for email to Acontis.

I would like to ask you about one more thing. Let's forget about jitter and cycle time for a while. First of all I would like to check how many bytes of data are being processing in transactions. How should check it? This example is quite specific. And second issue - in my launchpad example ethercat application I have got some leds and 32bit register. What should I do to ask about those registers using my acontis sample application and, for example, change them value?

BR,
Dawid.

0 Paula Carrillo over 8 years ago in reply to Dawid Balcerzak

TI__Mastermind 40580 points

Hi Dawid, If I understand correctly your question, you can check/define the size of the process data input image in the ENI file under “EtherCATConfig/Config/ProcessImage/Inputs/ByteSize” and “EtherCATConfig/Config/ProcessImage/Outputs/ByteSize”.

For accessing PD you can check *pbyPDOut and *pbyPDIn pointers.

From the application side, you can change DO inside myAppWorkpd(). Example toggle DO
pbyVal= (EC_T_BYTE*)&pbyPDOut[5];
*pbyVal^= (1<<4);

You can also check EC-Master_ClassB.pdf inside "Doc" folder for additional information.

thank you,
Paula

0 Dawid Balcerzak over 8 years ago in reply to Paula Carrillo

Expert 1365 points

Hi Paula, thank you for the reply.
I am not sure what do you mean by EtherCATConfig. I can't see that folder in my project. Do you mean Beckhoff application EtherCAT Configurator?

BR,
Dawid.

0 Paula Carrillo over 8 years ago in reply to Dawid Balcerzak

TI__Mastermind 40580 points

Hi Dawid, sorry for not being clear. I actually meant to find Output/Input size inside ENI .xml file. For opening this file you can use XML notepad or similar.

thank you,
Paula

0 Dawid Balcerzak over 8 years ago in reply to Paula Carrillo

Expert 1365 points

Hi Paula,
in my case: <ByteSize>10</ByteSize>

Just to be sure - watching *pbyPDOut and *pbyPDIn pointers in Watch Expressions I would be able to see what data are processing between master and slave in my application, right?

BR,
Dawid.

0 Dawid Balcerzak over 8 years ago in reply to Dawid Balcerzak

Expert 1365 points

Paula,

I added that piece of code from your previous post. It compiles fine, but error happens while application is running. I am providing more information:

1. How I added code:

2. Log from console:

3. Putty moment of error occurance:

Actually, I would like to ask some another questions regarding to EtherCAT master application on Sitara. Should I create another thread?

BR,
Dawid.

0 Paula Carrillo over 8 years ago in reply to Dawid Balcerzak

TI__Mastermind 40580 points

Hi Dawid, what I shared was just an piece of example.. it wasn't meant to work as is. For more details on how to add your app on top of acontis EC-Master I would suggest you contact them.

For example, if the slave you are using is not listed in the application you will need to add it. Below I am sharing some code I added for working with TI's AM4379 IDK as a slave:

Changes in "Examples\EcMasterDemo\SlaveInfo.h"

1)Add TI slave info in “_T_eEtherCAT_ProductCode”

ecprodcode_tx_esc01 = 0x54490001, //PC-- ICE
ecprodcode_tx_esc02 = 0x54490002, //PC- AM437x

2) Add TI ecvendor number in “_T_eEtherCAT_Vendor”

ecvendor_texas_instruments = 0xe000059d,

Changes in "Examples\EcMasterDemo\ATEMDemo.cpp"

1) Add slave. Example:
static EC_T_DWORD S_dwSlaveIdxAM437x = SLAVE_NOT_FOUND;

2) Add slave in myAppInit()

S_dwSlaveIdxAM437x = SLAVE_NOT_FOUND;

3) Add FindSlaveGetFixedAddr with TI's "ecvendor" in myAppPrepare() function
FindSlaveGetFixedAddr(INSTANCE_MASTER_DEFAULT, poLog, 0, ecvendor_texas_instruments, ecprodcode_tx_esc02, &wFixedAddress)

Again, this was from a quick search. I could have missed other pieces. My suggestion is to reach acontis for stack questions.

On the other hand, let me share with you some links on how to debug CCS exceptions:

What I typically do is to copy the PC, SP, and LR register contents from the exception dump into the CCS register view. When you copy it over, you should notice the call stack backtrace in the debug window. This might provide some insights.

Hope this helps,

Paula

0 Dawid Balcerzak over 8 years ago in reply to Paula Carrillo

Expert 1365 points

Paula,

thank you very much for code snippets. I made changes in my code. I haven't an idea that I have to add my device to enum lists, I thought it is unecessary.

I wrote to Acontis too. They sent me to user manual of Acontis Master Stack to chapter 3.4 Accessing process data in the application. There are some useful information and code snippets so I have same background to move forward.

I would like to ask about code you provided. I thought that when I put that code you provided I will see in log my device name, I mean these two lines:

002822 : Vendor ID...........: 0x000A4D7A = ----
002822 : Product Code........: 0x10001101 = Unknown

But after changes these two lines are still the same. Is this source code you provided available on TI sites? If so it would be very helpful source for me.

Thank you,
Dawid.

0 Paula Carrillo over 8 years ago in reply to Dawid Balcerzak

TI__Mastermind 40580 points

Dawid, which slave are you using? From your logs I think it is a Beckhoff ET1100, so I guess the vedor ID is correct. Just check if this slave is already listed in the code. If not, try to add it as I mentioned above. In my case I added a TI AM4379 IDK to the list.

Unfortunately, the code I shared came from an old demo and it is not part of our ti.com releases. On the other hand, I would assume acontis should have documentation on how to add your own application on top of the stack. If you consider manual chapter 3.4 is not sufficient please ask them for some additional tips/docs, they are pretty nice.

thank you,
Paula

0 Dawid Balcerzak over 8 years ago in reply to Paula Carrillo

Expert 1365 points

Paula,

I am using slave application based on TMDSECATCND379D_V1.0 slave project ported to LaunchXL-F28379D. And yes, my ESC is ET1100 placed on TIDM-DELFINO-ETHERCAT, but slave stack I am using is genereted especially for me, because my facoulty on university is member of ETG so I have an access to Beckhoff SSC Tool. This is the reason why vendor ID is different to the TI vendor ID.

As I wrote in previous post I added to the enum list my slave device. It compiles but in log information is not printed.

BR,
Dawid.

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TMDSICE3359: EtherCAT Master cycle time