AM335x SYSBIOS Industrial SDK 01.01.00.06 Release Notes

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AM335x SYSBIOS Industrial SDK 01.01.00.06 Release Notes

Jan 13, 2015

Introduction

The SYSBIOS-based software development kit (SDK) for industrial communications is designed for the Sitara AM335x ARM Cortex-A8 microprocessor family to enable customers add real-time industrial communications easily and quickly to their system. By making all the basic system software components immediately available, the Kit allows developers to focus on their application code, where they can add the most differentiation. Optimized to support real-time industrial communications protocols such as EtherCAT, Profibus, Profinet, Ethernet/IP and many others, the SDK includes a real-time, low-footprint SYSBIOS kernel with boot loader and sample industrial applications to get started quickly.

Device Support

The following devices are supported with the current release.

• SOC's supported
  • AM335x
• Hardware Platform Supported
  • AM335x IDK (also known as IA EVM)
  • AM335x ICE  V1/V2
    

Obtaining the Release Package

• AM335x SYSBIOS Industrial SDK v1.1.0.6 Download Page

Documentation

The following documents are provided with this release.

• AM335x Industrial SDK Getting Started Guide
• AM335x Industrial SDK User Guide
  

What Is Supported

• Hardware Platform
  • AM335x IDK (also known as IA EVM)
  • AM335x ICE V1/V2
• SYSBIOS 6.41.00.26 Real Time Operating System
  • VFP, MMU, L1/L2 cache, INTC support
  • XDC 3.30.05.60
  • NDK 2.24.01.18
• Starterware boot loader
  • Boot from MMC/SD for IDK
  • Boot from SPI flash and NOR flash for ICE
• Starterware based drivers integrated with SYSBIOS
  • PRUSS
  • Timer
  • UART
  • GPIO
  • I2C
  • Ethernet
    
  • McSPI
• EtherCAT Slave Controller
  • Beckhoff Slave Stack Version 5.10
  • PRU Firmware load from SPI flash
    
  • EtherCAT Commands
  • 8 FMMU support in Firmware
  • 8 SM support in Firmware (stack support only 4)
  • 8KB process data RAM
  • Distributed clocks
    • 64-bit DC
    • SYNC0 out generation single shot and cyclic mode support
    • SYNC1 out generation - SYNC1 cycle time multiple of SYNC0 cycle time
    • Latch0 and Latch1 inputs
  • DL Loop Control
    • Using PRU-ICSS MDIO state m/c (slow)
    • Using MII_RX_LINK (fast - depending on PHY link loss detection latency)
    • Enhanced link detection support using TLK105/TLK106/TLK110 PHY RX_ERR threshold counting feature
    • Enhanced link detection in EtherCAT firmware
  • EEPROM Emulation
    • SPI flash non-volatile storage support
    • Provisions to use volatile storage for debug and development
  • Interrupts – AL/ECAT events
  • Watchdog – PDI and SM
  • Error Counters – all key counters
  • LED – Run, Error and Port0/1 activity based on firmware feedback
  • CoE, EoE, FoE and CiA402
  • Management Interface for PHY over EtherCAT
  • PHY address configuration and host side PRU-ICSS MDIO API for PHY programming
  • Redundancy support validated using PG2.x silicon
  • Application upgrade over FoE complying to SEMI TWG guidelines (not resetting PRU-ICSS)
• PROFIBUS DP Slave Controller
  • Evaluation PROFIBUS DP slave stack library file from TMG
  • Baud rates 12M, 6M, 3M, 1.5M, 500k, 187.5k, 93.75k, 45.45k 19.2k, 9.6k
  • Telegram size Up to 244 bytes
  • DPv0 support Cyclic exchange of data and diagnosis
  • DPv1 support Acyclic/cyclic data exchange and alarm handling
  • Response time 11-bit minimum TSDR response time
  • Watchdog 10ms time base
  • Get diagnostics and extended diagnostics
• EtherNet/IP
  • EtherNet/IP adapter implementation on low latency ICSS cut-thru switch as well as on Gigabit hardware switch (CPSW)
  • Beacon based DLR ring node capability with ICSS based implementation
  • Integrated with Molex Ethernet/IP adapter stack Version 3.2.0.0 supporting the following features
    • Ethernet/IP Capabilities
      • Explicit Messaging and Implicit Messaging
      • UCMM
      • Class 1 and Class 3 Connection
    • Supported CIP Objects
      • Identity
      • Message Router
      • Assembly
      • Connection Manager
      • Ethernet Link
      • TCP/IP Interface
      • DLR (on ICSS implementation)
      • QoS
  • Supports Exclusive Owner,Input Only and listen Only Connections
  • Supports Address Conflict Detection
  • Compliant with ODVA EtherNet/IP Protocol Conformance Test Tool (Rev CT-11)
• PROFINET
  • PROFINET I/O Device(slave) conforms to PROFINET Conformance classes A and B functionality.
  • Integrated with Molex PROFINET stack
  • PROFINET I/O Device Features:
    • Supports minimum cycle time of 250 us
    • Integrated two-port cut-through switch, 100 Mb/s Full Duplex
    • Profinet Quality of Service(QoS)
    • Upto 8 Application Relations (ARs)
    • Data Hold Timer
    • DCP Identify Filter
    • 1 ms buffering per port
    • 8 IOCR with 40..1440 Bytes
    • 802.1d learning bridge for received source MAC addresses
    • PNIO static routing and custom FDB for multicast addresses
  • Compliant with PROFINET IO Tester Version 2.2.4.16.21

• Sample Applications
  • HTTP Server
    
  • UART Echo
  • LED Control
  • EtherCAT slave
  • EtherNet/IP Adapter
  • Profibus DP Slave
  • Profinet Slave
• Host Development Platform And Toolchain
  • CCS V6.0 on Windows PC 
  • TI TMS470 Codegen Tool 5.1.5 for Cortex-A8 (part of CCS6.0) 

What Is Not Supported

• In general, peripherals or features not mentioned as part of "What is Supported" section are not supported in this release.
• For EtherCAT Slave Controller, the following features are not supported in this release. These are planned to be supported in upcoming releases
  • Distributed Clocks (DC)
    • System Time difference filter depth (0x934) other than 0, 2, 4, 8 and 16 - any value not listed will be rounded to next power of 2
    • Speed Counter filter depth (0x935) other than 0, 2, 4, 8 and 16 - any value not listed will be rounded to next power of 2
  • ECAT side register protection when using LRD command
  • APRW/FPRW/BRW for SM mapped area
• For PROFIBUS DP Slave, the following features are not supported in this release
  • DP-V2 support for asynchronous mode and data exchange
  • PA support
  • Set_Slave_Add (SAP 55) support
• For EtherNet/IP Adapter application
  • IEEE 1588/PTP feature
• For PROFINET slave application
  • Media redundancy protocol
  • Fast start up
  • Firmware and Driver support upto 8 ARs but currently Stack integration is limited to one AR.

New In This Release

• Bugfixes - see below

Fixed In This Release

Issue Identifier	Issue Description	Status
SDOCM00113900	EtherCAT: In low cycle times with high-jitter masters, ECAT API bsp_get_process_data_address in file tiescbsp.c fails sporadically	Fixed
SDOCM00114309	Profinet RT: RTC1 (CPM) frames with bad CRC raise interrupt at ARM	Fixed
SDOCM00114327	SNMP: Documentation for rebuilding SNMP lib is missing	Fixed
SDOCM00114356	TLK110 specific documentation for EtherNet/IP switch	Fixed
SDOCM00114401	PROFIBUS slave: Baud rate search hangs randomly when master PLC turned OFF/ON and baud rate detection is slow	Fixed
SDOCM00114402	PROFIBUS slave : On receiving DPV2 DXB broadcast telegram, device disconnects from network	Fixed
SDOCM00114419	EtherCAT: When PDI-side register permissions are enabled, Link/Activity LED indications are reversed	Fixed

Known Issues And Limitations

Issue Identifier	Issue Description	Workaround
SDOCM00098105	EtherCAT: PDI/PD watchdog counter incremented by 1 whenever PDI/PD watchdog is disabled	None
SDOCM00098950	EtherCAT:LRD access on unused registers increment WKC - no register protection while using LRD	None
SDOCM00097012	EtherCAT: SYNC0 jitter varies with distance of slave from reference	None
SDOCM00092510	EtherCAT: Multiple FMMU access in a single datagram to a slave for process data using LRD/LWR commands	Use LRW instead of LRD/LWR
SDOCM00105048	EtherCAT: LRW access to non-interleaved input and output process data of multiple slaves does not work. SOEM accesses slaves in LRW mode this way	Use LRD/LWR for process data access or use more optimal interleaved access for process data access from Master (TwinCAT way)
SDOCM00108541	EtherCAT: Rx Time Port1 (0x904) time stamping not done correctly when write to 0x900 is done cyclically
SDOCM00113028	EtherCAT: Link/Act LED behavior on ICE v2.1 is not compliant to ETG1300(Indication & Labeling spec)	Enable SW strapping (h/w mod)for TLK110 to override Link LED behavior to blink on activity
SDOCM00103424	CPSW driver does not work in 10Mbps mode on ICEV2	None
SDOCM00112755	ICSS Switch Driver: ICSS Switch statistics report incorrect values	None
SDOCM00113019	OS Driver: I2C: Data corruption while simultaneous access of LCD scrolling display and output LEDs	None
SDOCM00105257	On ICEV2, Ethernet/IP application in CPSW mode doesn't connect with EIP Tool. (This is found to be problem with i2c communication to clock synthesizer which proivde clock to RMII ports)	Increase delay in between i2c operations by setting Task_sleep as the delay function. This fix is already available SDK.
SDOCM00106849	Ethernet/IP: NDK Performance numbers degraded in Ethernet/IP Application	Increase the size of ICSS Driver Tx Queues from 3Kb to 6 Kb For More info Please refer NOTE6 here
SDOCM00113092	Ethernet/IP: Successful auto-negotiation reported in Interface flag attribute (attr 2) of Ethernet Link Object when testing PC is in forced mode	None
SDOCM00113093	Ethernet/IP: DLR: Ethernet/IP application does not support DLR Flush table frame	None
SDOCM00106751	Profinet: Exceeds the range of MAC address allotted to each AM335x silicon(MACID1(host) and ports use incremented addresses)	Use MAC1D0 and MAC1D1 as range. Address0: MAC1D0 Address1: MAC1D0+1 Address2: MAC1D2

More details on EtherCAT known issues can be found here

More details on PROFIBUS known issues can be found here

Dependencies

Refer to System Requirements section in AM335x Industrial SDK Getting Started Guide.

Technical Support and Product Updates

For further information or to report any problems, contact http://community.ti.com or http://support.ti.com.