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Original question:

ethercat slave and master

RTOS/AM4379: Ethercat master on am437x

user4759028
Prodigy 190 points
Part Number: AM4379

Tool/software: TI-RTOS

Hi, 
Seems like acontis products now have missing libraries in their ethercat master products(maybe on purpose). Do you keep the old working ethercat master (for am437x).
And a related question, can one develop more code in cpp, and integrate to the current ethercat_slave_demo or is it the only way to go on with the current firmware written in C, what would you recommend?

  • 0
    TI__Mastermind 34950 points

    Hi, we don't keep old acontis EC-Master version. You would need to request them directly to them (ecsupport@acontis.com).

    I am not sure if I understand your second question. But let me try. For EtherCAT slave PRU-ICSS Firmware, we don't deliver source code. It is a binary. So no sure if your question refers to modify PRU-ICSS firmware. If so, that won't be possible.

    If you are referring to modify EtherCAT slave from the stack or application level, then you can. Stack is open source from Beckhoff.

    For your reference, below, PRU-ICSS EtherCAT software architecture diagram from EtherCAT_Slave_Datasheet.pdf

    thank you,

    Paula

  • 0 in reply to Paula Carrillo
    Prodigy 190 points
    Hi Paula, to put it altogether , I am so new and working on EtherCAT with IDKAM437x.

    I want to add a simple UART_read task, and of course later more tasks, to run concurrently with current ethercat_slave_demo(PRU ICSS EtherCAT Slave) code, I tried several ways:

    1- Because I can add tasks and edit pinmux easily on rtos_template_app(located in the latest pdk).
    I tried to add an etherCAT task to it. I get the ethercat slave controller files (ties*.c files) out from the ethercat_slave_demo project, copied .c files to the rtos_template_app , added the ethercat task of the ethercat_slave_demo near other given tasks , it ended up with many problems.

    2 - I later decided to move on with working ethercat_slave_demo code and add more tasks into it, found this issue : "e2e.ti.com/.../729390" where I tried to add an UART task uses UART1, needed to alter the pinmux correctly. I tried to change the .pinmux file under ${PDK_INSTALL_DIR}\packages\ti\starterware\tools\pinmux_config\am43xx\idkevmam437x.pinmux as stated in the link.

    I found the file "idkevm.pinmux" under that directory, loaded it to the ti cloud pinmux tool, added UART1, and save the edited version, replaced it to the very directory, make pdk, rebuilt the project, and it gives an runtime error(angel_swi).

    My questions are simple, as a newbie:
    - Do you encourage the 1.way or if I am developing a project including etherCAT, I should develop it in given ethercat_slave_demo project( Namely, can one easily reuse the etherCAT files and the tasks in ethercat_slave_demo, easily integrate it as a task to another project)?

    - In ethercat_slave_demo project," Which pinmux files" located under "which directories" in ethercat_slave_demo project (PRU ICSS EtherCAT Slave) should be edited to configure?

    Thanks in advance!
  • 0 in reply to user4759028
    TI__Mastermind 34950 points
    Hi, I will ask one of my colleagues help here with your EtherCAT slave questions. But, if you don't mind could we close this thread and open a new one for EtherCAT slave?

    And actually, maybe better if you divide it into 2 new threads. One for how-to add new task in EtherCAT, and another one on how-to modify pinmux. This way we can pull easier the right experts.

    thank you,
    Paula
  • 0 in reply to Paula Carrillo
    Prodigy 190 points
    Okay, i created a new thread, could you please direct one of your colleagues there:
    e2e.ti.com/.../774158
    I am running out of time :)
    Thanks!
  • 0 in reply to user4759028
    TI__Mastermind 34950 points

    Sure, thanks!

    Paula