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AM2434: EtherCAT slave station does not support LWR command

HE zunyi
Prodigy 40 points
Part Number: AM2434

While running a PRU-ICSS EtherCAT Slave on AM2434,We found a problem that the slave station does not support LWR command, but supports LRW command. Now we can only write to the slave station through LRW. Is there any way to solve this problem?

SDK version: mcu_plus_sdk_am243x_08_06_00_45

Stack version: SSC 5.12

  • 0
    TI__Mastermind 27060 points

    Hello，

    One possible solution to this problem is to modify the EtherCAT slave firmware to support the LWR command. This would require making changes to the firmware code to handle the LWR command and perform the necessary write operations.

    Regards，

    Gary

  • 0 回复 Gary Lu
    Prodigy 40 points

    Thank you for your answer，My firmware from mcu_plus_sdk_am243x_08_06_00_45\examples\industrial_comms\ethercat_slave_beckhoff_ssc_demo,  can you describe in detail how to modify it ?

  • 0 回复 HE zunyi
    TI__Mastermind 27060 points

    Hello，

    Modifying the firmware from the mcu_plus_sdk_am243x_08_06_00_45\examples\industrial_comms\ethercat_slave_beckhoff_ssc_demo involves several steps. Here is a detailed guide on how to modify the firmware:

    1. Open the project in a suitable IDE such as IAR Embedded Workbench or Keil uVision.

    2. Locate the main source files for the EtherCAT slave Beckhoff SSC demo. These files are typically named main.c, ethercat_slave.c, and ethercat_slave.h.

    3. Identify the specific functionality or behavior that you want to modify in the firmware. This could include adding new features, changing existing functionality, or fixing bugs.

    4. Make the necessary changes to the source code to implement the desired modifications. This may involve writing new code, modifying existing code, or removing obsolete code.

    5. Compile the modified firmware to ensure that the changes do not introduce any compilation errors or warnings.

    6. If the firmware includes any configuration files or settings, such as a configuration file for the EtherCAT network, make sure to update these settings to reflect the modifications made to the firmware.

    7. Test the modified firmware on the target hardware to verify that the changes function as intended and do not introduce any new issues.

    8. If necessary, iterate on the modifications based on the test results and feedback from testing.

    9. Once the modifications have been thoroughly tested and validated, the modified firmware can be deployed to the target devices in the industrial communication system.

    It's important to note that modifying firmware requires a good understanding of the existing codebase, as well as the specific requirements and constraints of the target hardware and communication protocol. Additionally, it's crucial to follow best practices for firmware development and testing to ensure the reliability and stability of the modified firmware.

    Regards，

    Gary

  • 0 回复 Gary Lu
    Prodigy 40 points

    Thank you very much，
    Now all other functions are normal except that LWR is not supported. My understanding is that I only need to modify a certain piece of code to support LWR function, but I don't know where to modify it (which file and which code).

  • 0 回复 HE zunyi
    TI__Mastermind 27060 points

    Hello，

    To modify the code to support the LWR function, you will need to locate the specific file and code related to the LWR function in your system. 

    Regards，

    Gary

  • 0 回复 Gary Lu
    Prodigy 40 points

    Hello,

    TI provides firmware including tiescutils.c,tiescsoc.c,tieschw.c,tiescbsp.c,tiescappl.c,tiesceoefoe.c etc. But I didn't find any code related to LWR and other commands,  so there is no way to change it.