[etherlab-users] TI AM3359ICE with Ethercat master

Sam Chien sam.ethercat at gmail.com
Wed Jun 13 05:16:29 CEST 2012


I am new to ethercat. and got a "TI AM3359 Industrial Communications
Engine" board.

I tested in Windows with twincat, refer to http://www.ti.com/am335x_twincat.
and it cat turn on the led by I wrote value to RxPDO.

I want to use the TI board as slave with the Etherlab master in linux

First step I want to turn on the led of board.

I wrote a C Code as attachment to do so, but it don't work.

And Ethercat master shows message below

Jun 13 09:08:26 debian kernel: [ 3115.056686] EtherCAT: Requesting master
Jun 13 09:08:26 debian kernel: [ 3115.056691] EtherCAT: Successfully
requested master 0.
Jun 13 09:08:26 debian kernel: [ 3115.056745] EtherCAT 0: Domain0: Logical
address 0x00000000, 4 byte, expected working counter 1.
Jun 13 09:08:26 debian kernel: [ 3115.056749] EtherCAT 0:   Datagram
domain0-0: Logical offset 0x00000000, 4 byte, type LWR.
Jun 13 09:08:26 debian kernel: [ 3115.056818] EtherCAT 0: Master thread
Jun 13 09:08:26 debian kernel: [ 3115.056824] EtherCAT 0: Starting
EtherCAT-OP thread.
Jun 13 09:08:26 debian kernel: [ 3115.056941] EtherCAT WARNING 0: 1
datagram UNMATCHED!
Jun 13 09:08:26 debian kernel: [ 3115.061796] EtherCAT WARNING 0: No
app_time received up to now, but master already active.
Jun 13 09:08:27 debian kernel: [ 3115.289453] EtherCAT 0: Slave states: OP.

I don't knwo what the problem is. Is anybody help me?

slaves information as below.

root at debian:/opt/etherlab/bin# sudo ./ethercat slaves -v
=== Master 0, Slave 0 ===
State: PREOP
Flag: +
  Vendor Id:       0xe000059d
  Product code:    0x54490001
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: no
Port  Type  Link  Loop    Signal  NextSlave
   0  MII   up    open    yes             -
   1  MII   down  closed  no              -
   2  N/A   down  closed  no              -
   3  N/A   down  closed  no              -
  Bootstrap RX: 0x0000/0, TX: 0x0000/0
  Standard  RX: 0x1000/128, TX: 0x1400/128
  Supported protocols: CoE
  Group: Ti Slave
  Image name:
  Order number: TIESC-001
  Device name: TIESC-001
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: no
    Enable PDO Configuration: no
    Enable Upload at startup: no
    Enable SDO complete access: yes
    Enable SafeOp: no
    Enable notLRW: yes
  Current consumption: 0 mA
root at debian:/opt/etherlab/bin#

root at debian:/opt/etherlab/bin# sudo ./ethercat pdos
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize    4, ControlRegister 0x64, Enable 1
  RxPDO 0x1601 "RxPDO-Map"
    PDO entry 0x7010:00, 32 bit, "SubIndex 000"
SM3: PhysAddr 0x1c00, DefaultSize    4, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 "TxPDO-Map"
    PDO entry 0x6000:00, 32 bit, "SubIndex 000"
root at debian:/opt/etherlab/bin#
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