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RTOS/AM3359: Version compatibility problem for EtherCAT PRU firmware

Andy Zhou(Zhou Hong Kun)
Intellectual 840 points

Part Number: AM3359
Other Parts Discussed in Thread: SYSBIOS

Tool/software: TI-RTOS

Can the EtherCAT Demo in am335x_sysbios_ind_sdk_01.01.01.01 use the latest PRU firmware in PRU-ICSS-EtherCAT_Slave_01.00.07.02 ? I worry most about different type compilers. one used Ti compilers and the other use GNU.

I know the am335x_sysbios_ind_sdk_01.01.01.01 used the different type compiler than processor_sdk_rtos_am335x_5_01_00_11.

Are these two PRU firmware in am335x_sysbios_ind_sdk_01.01.01.01 and PRU-ICSS-EtherCAT_Slave_01.00.07.02 built by the same type compiler ?

  • 0 in reply to Andy Zhou(Zhou Hong Kun)
    TI__Mastermind 40580 points
    Hi Andy, we used different tools for creating PRU firmware between ISDK and PRU-ICSS EtherCAT slave. However, let me double check if it is possible to use one firmware version from one to the other...

    thank you,
    Paula
  • 0 in reply to Paula Carrillo
    TI__Mastermind 40580 points
    Hi Andy, actually it could be possible. PRU firmware compilers haven't been changed. Let me ask you what is your intention here?

    As a caution, we haven't tried it, so no sure if there is any side effect from switching EtherCAT PRU FW from ISDK1.x to latest PRU-ICSS EtherCAT slave..

    thank you,
    Paula
  • 0 in reply to Paula Carrillo
    Intellectual 840 points

    Dear Paula,

    Thanks for your reply !
    My current product is based on iSDK.Because our product is mature and it is too risky to use latest PRU-ICSS EtherCAT based on pSDK instead of iSDK.The PRU-ICSS EtherCAT need to use pSDK.
    But I want to use the latest PRU firmware and the latest version of the EtherCAT stack.Because I don't know any bugs in the old PRU firmware and new function in the latest PRU firmware.
    Is there any version matching relationship between PRU firmware and EtherCAT ? Can the EtherCAT Demo in iSDK use the latest EtherCAT stack without changing the PRU firmware ? The old EtherCAT stack is V5.10 in iSDK ,the latest EtherCAT stack is V5.12.
    Now you should know my situation. Could you please give me some guidance and do I need to pay attention to ?

    Best Regards,
    Andy Zhou

  • 0 in reply to Andy Zhou(Zhou Hong Kun)
    TI__Mastermind 40580 points
    Hi Andy, we know some customers have successfully integrated PRU FW from earlier PRU-ICSS EtherCAT slave into ISDK2.1.x. But, not sure about ISDK1.x.. I with latest PRU-ICSS EtherCAT slave PRU firmware. I guess you would need to give a try, and let us know how it goes and we can take it from there..

    thank you,
    Paula
  • 0 in reply to Paula Carrillo
    Intellectual 840 points

    Hi Paula,
    Thank you for your reply！I feel more confident.
    Now I've modified this function "void bsp_pdi_write_indication(Uint16 address,Uint16 value)"in tiescbsp.c


    Now I can write and read IO data from ICEv2 by TwinCAT 3.
    I guess this files need to be modified. tiescbsp.c,tieschw.c,tiescbsp.h,tieschw.h,tiesc_pruss_intc_mapping.h

    I'm currently comparing this files between PRU-ICSS EtherCAT and iSDK v1.x .
    Although it seems that the communication is normal now, I am afraid that there is something missing.
    These files contain a lot of code, it need lots of work and patience.

    Best Regards,

    Andy Zhou