AM2434: EtherCAT slave station does not support LWR command

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

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).

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

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.

Hello，

All documents in：https://www.ti.com.cn/product/cn/AM2434?_ticdt=MTcwMTM3MDU2NHwwMTg4ZDk1Zjk4MzcwMDAzMjdhODNlZDZiZGMyMDUwNzUwMDI2MDZkMDA5NDJ8R0ExLjEuMTY1NjQxNDgyOS4xNjg3Mjc0MTAy

It's in the technical documentation