CCS/AM3359: Device connection failure with debug running.

Hi Garrett

Ans3: port 0 is input whereas port 1 is output
  >> In the default on image, both port 0 and port 1 were able to scan and connect from the master device.
       Does port 0 and port 1 behave differently because ethercat_slave_full_AM335x_arm?

Ans4: insure to use the TI_ESC.xml from PRU-ICSS-EtherCAT_Slave_01.00.07.02\protocols\ethercat_slave\ecat_appl\esi
  >> I used TI_ESC.xml and TiEtherCATLib from PRU-ICSS-EtherCAT_Slave_01.00.07.02\protocols\ethercat_slave\ecat_appl\esi in the master device
       The PRU-ICSS EtherCAT version is 01.00.07.02.
       The slave stack code version is 5.12.
       The project used is ethercat_slave_full_AM335x_arm.

       1. The scan is successful.
       2. Trying to connect will fail. At this time, the red LED is blinking.

Are there other checkpoints?

Regards,
Simon

Hi Garrett

1. I connect port 0 of EtherCAT slave to the master.
2. I removed TiEtherCATLib.xml from master and only use TI_ESC.xml.
3. I can not used a twincat. I use a master program called WMX3.
    And it operates normally on the on-board image (IASDK 1.1.0.5).
4. When debugging, the following error code is generated at this time.
    " AlStatusCode=0x16 "
    ALSTATUSCODE_INVALIDMBXCFGINPREOP : Invalid mailbox configuration (PreOP state)
    Which part of the mailbox configuration should I check?

    Where can I get ESC parameters in EtherCat Slave Stack to set bsp_set_sm_properties() function.
    Is read eeprom(const unsigned char tiesc_eeprom[] in Tiesc_eeprom.h), xml(TI_ESC.xml) or other memory for ESC configuration in EtherCat Slave Stack? 
    In void bsp_set_sm_properties(PRUICSS_Handle pruIcssHandle, uint8_t sm, uint16_t address, uint16_t length),
    address and length are set each zero by performing
    bsp_set_sm_properties(pruIcssHandle, channel, bsp_read_word(pruIcssHandle, sm_address), bsp_read_word(pruIcssHandle, (sm_address + 2)))
    because bsp_read_word() return each zero. And please refer source code below.

Tiescbsp.c
------------------------------------------------------------------------------
void bsp_pdi_write_indication(PRUICSS_Handle pruIcssHandle, uint16_t address,
uint16_t length, uint16_t value)
{

...

else if(((address <= ESC_ADDR_SM0_PDI_CONTROL)
    && ((address + length) > ESC_ADDR_SM0_PDI_CONTROL)) ||
    ((address <= ESC_ADDR_SM1_PDI_CONTROL)
    && ((address + length) > ESC_ADDR_SM1_PDI_CONTROL)) ||
    ((address <= ESC_ADDR_SM2_PDI_CONTROL)
    && ((address + length) > ESC_ADDR_SM2_PDI_CONTROL)) ||
    ((address <= ESC_ADDR_SM3_PDI_CONTROL)
    && ((address + length) > ESC_ADDR_SM3_PDI_CONTROL)) ||
    ((address <= ESC_ADDR_SM4_PDI_CONTROL)
    && ((address + length) > ESC_ADDR_SM4_PDI_CONTROL)) ||
    ((address <= ESC_ADDR_SM5_PDI_CONTROL)
    && ((address + length) > ESC_ADDR_SM5_PDI_CONTROL)) ||
    ((address <= ESC_ADDR_SM6_PDI_CONTROL)
    && ((address + length) > ESC_ADDR_SM6_PDI_CONTROL)) ||
    ((address <= ESC_ADDR_SM7_PDI_CONTROL)
    && ((address + length) > ESC_ADDR_SM7_PDI_CONTROL)))
    {
        uint8_t channel = (address - ESC_ADDR_SYNCMAN) >> 3;
        uint16_t sm_address = ESC_ADDR_SYNCMAN + (channel * SIZEOF_SM_REGISTER);
        bsp_send_command_to_firmware(pruIcssHandle, CMD_DL_USER_WRITE_SM_PDI_CTRL,
                                        (channel << 8) | value, 0);

        while(bsp_pdi_sm_config_ongoing(pruIcssHandle));

        bsp_set_sm_properties(pruIcssHandle, channel, bsp_read_word(pruIcssHandle,
                            sm_address), <<<----------------------------------------- address: return 0
                            bsp_read_word(pruIcssHandle, (sm_address + 2))); <<<----- length: return 0
    }
...
}
-------------------------------------------------------------------------
I think that it is some problem to set esc configuration.
I don't know exactly why address and length are returned as each zero yet.

Therefore, next problem was already remarked in before case.
Ecatslv.c
-------------------------------------------------------------------------
UINT8 CheckSmSettings(UINT8 maxChannel)
{
...

    pSyncMan = GetSyncMan(MAILBOX_WRITE);

    SMLength = pSyncMan->Length;                          <------------------- // pSyncMan->Length is 0
    SMAddress = pSyncMan->PhysicalStartAddress; <------------------- // pSyncMan->PhysicalStartAddress is 0

    if (!(pSyncMan->Settings[SM_SETTING_ACTIVATE_OFFSET] & SM_SETTING_ENABLE_VALUE))
    {
        result = ALSTATUSCODE_INVALIDMBXCFGINPREOP;
    }

...
}
-------------------------------------------------------------------------
I think that it is fail of esc PREOP(pre operation).

Regards,
Simon