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Original question:

Linux/AM5728: EtherCAT Master on AM572x with RT-Linux

Linux/AM5728: acontis EtherCAT Master running on am572x idk with ICSS EMAC

hungwei yang
Expert 1090 points
Part Number: AM5728

Tool/software: Linux

Hello,

I have finished the following two jobs:

  1. Dual emac on am572x idk
  2. acontis EtherCAT master on am572x evm with CPSW

Now I am trying to run acontis EtherCAT master on am572x idk with ICSS EMAC. When I start the acontis' example applications, however, it reports "Ethernet cable not connected". I think I don't start PRU correctly. Could you give some comment?

Regards,

Hungwei

The steps:

insmod remoteproc.ko
insmod pruss_intc.ko
insmod pruss.ko
insmod pruss_soc_bus.ko
insmod pru_rproc.ko
insmod atemsys.ko
echo am57xx-pru0-prueth-fw.elf > /sys/class/remoteproc/remoteproc0/firmware
echo "start" >  /sys/class/remoteproc/remoteproc0/state
./a.out -auxclk 2000 -t 10000 -v 5 -f eni_disableLRW.xml -icss 1 1 m am572x-idk

The error log:

000006 : Run demo now with cycle time 2000 usec
000006 : Using AuxClock
000006 : ==========================
000006 : Initialize EtherCAT Master
000006 : ==========================
000006 : EC-Master V2.9.2.13 (Protected) for Linux_armv6-vfp-eabihf Copyright acontis technologies GmbH @ 2018
000008 : OsGetLinkLayerRegFunc: try to load '//libemllICSS.so'
002889 : Unlicensed version, stop sending ethernet frames after 60 minutes!
002890 : Ethernet cable not connected
002897 : Cannot scan bus: ERROR: Ethernet link cable disconnected (0x9811002d)
002897 : EtherCAT network adapter MAC: 00-00-00-00-00-00

The ICSS EMAC port I used:

  • 0
    TI__Mastermind 39020 points
    Hi Hungwei, being honest I don't have too much experience with EC-Master Linux Processor SDK.. but let me give ask few questions, in order to understand better your test setup

    - I see you are using EC-Master Linux v2.9. Maybe it would be good to get in contact with acontis and request latest v3.0 (latest and greatest).
    - Which Linux PSDK are you using?
    - From EC-Master v3.0 documentation. I see Device tree needs to be changed. have you done it?
    >>>>>>>>>>>>>>>>>>>>>>>>>From EC-Master_ClassB.pdf>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
    2.3.5.8.3 Step 3. Replace device tree on board
    On the development machine in the dts folder, mentioned earlier, you will find your compiled device tree in the file am335x-icev2-pru-excl-uio.dtb/am572x-idk-pru-excl-uio.dtb.
    Connect your SD Card with Linux RT to a card reader (on linux, not windows) and copy the dtb file to the /boot directory.
    Next step is to use linux ln command to make link on our compiled device tree. am335x: am335x-icev2.dtb->am335x-icev2-pru-excl-uio.dtb
    am57xx: am572x-idk.dtb->am572x-idk-pru-excl-uio.dtb
    Next, try to boot up your board. If everything has been done correctly, you will not see pruss/prueth drivers.
    >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>

    thank you,
    Paula
  • 0 in reply to Paula Carrillo
    Expert 1090 points

    Hello Paula,

    >Maybe it would be good to get in contact with acontis and request latest v3.0 (latest and greatest).
    Sure. I can ask them for v3.0 of EC-master.

    >Which Linux PSDK are you using?
    LINUX-RT-AM57X 04_03_00_05
    software-dl.ti.com/.../index_FDS.html

    >From EC-Master v3.0 documentation. I see Device tree needs to be changed. have you done it?
    No. I don't see this instruction in v2.9 documentation. I will give it a try.

    Thanks for the reply!

    Regards,
    Hungwei

  • 0 in reply to hungwei yang
    TI__Mastermind 39020 points
    Hi Hungwei, from TI's Linux PSDK EC-Master v3.0 documentation I see LPSDK version used is 4.2 (am57xx-evm-linux-rt-04.02.00.09.img.zip), so I don't think v2.9 should work with LPSDK 4.3.

    thank you,
    Paula
  • 0 in reply to Paula Carrillo
    Expert 1090 points

    Hello Paula,

    Thanks for the information. I am asking the acontis' guys about the version combination of PSDK and acontis EC-Master. 

    Regards,
    Hungwei