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ethercat有办法跑在M4核下面吗？需要怎样修改？
不支持在M4核上跑。请看下面的industrial communication protocol文档。Table 9-1. AM243x Industrial Communications Support Summaryhttps://www.ti.com/lit/po/sprt769/sprt769.pdf
我的意思是ESC Firmware还是跑在R5核下的PRU-ICSS中，但是协议栈跑在M4核中，但是协议栈需要读写ESC寄存器的，所以M4核有办法通过下图中的INFRA_CBASS0 Interconnect跨核读写R5核的PRU-ICSS中的ESC寄存器吗？
看到您已经咨询e2e产品线工程师，请等待工程师的确认。https://e2e.ti.com/support/microcontrollers/arm-based-microcontrollers-group/arm-based-microcontrollers/f/arm-based-microcontrollers-forum/1329259/am2434-can-ethercat-run-on-the-m4-core
