RTOS/TMDSIDK437X: EtherCAT implementation on idk Am437x

Giulio de Vito

Prodigy 120 points

Part Number: TMDSIDK437X

Tool/software: TI-RTOS

Hi,

We have an idk Am437x with some data stored in DDR ram coming from an implemented sensor.

We want to implement EtherCAT industrial protocol to forward the Sesor's data to PC/master using PRU-ICSS.

Can you give an hint on how implement the EtherCAT protocol and automatically forward new generated data?

thank you

over 7 years ago

0 Garrett Ding over 7 years ago

TI__Mastermind 43296 points

Giulio,

You may follow the PRU-ICSS EtherCAT user guide - software-dl.ti.com/.../PRU_ICSS_EtherCAT.html to get the EtherCAT demo up running on AM437x IDK.

The example application contains the digital IO (LED) data which you can manipulate for your Sesor's data. You can also add new process data object by referring to the EtherCAT application note - download.beckhoff.com/.../an_et9300_v1i8.pdf

Regards,
Garrett

0 Giulio de Vito over 7 years ago in reply to Garrett Ding

Prodigy 120 points

Hi Garrett,

thank you for your response, I have some questions.
My sensor's data are stored in a structure type somewhere in the DDR ram.

I have to use the stack code (SSC) of Beckhoff in order to implement an automatic forwarding of this data to the master using TxPDO.

Can I get the data using the command: HW_EscRead with pData as the pointer to the structure type?

Do I have first define all the entries o the structure into sampleappl.h?
Moreover can I leave the automatic mapping of Data or should I use the excell table to define all the structure entries?

thanks and regards,
Giulio

0 Garrett Ding over 7 years ago in reply to Giulio de Vito

TI__Mastermind 43296 points

Giulio,

Yes you can use the HW_EscRead with pData as the address pointer. The section C.1Adding/ChangingPDO on the document www.ti.com/.../spracj7.pdf should help you define entries without excel table.

Regards,
Garrett

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RTOS/TMDSIDK437X: EtherCAT implementation on idk Am437x