AM437x SYSBIOS Industrial SDK 02.00.00.01 Release Notes

SYSBIOS Industrial SDK 02.00.00.01 Release Notes

Oct 16, 2014

Introduction

The SYSBIOS-based software development kit (SDK) for industrial communications is designed for the Sitara AM437x ARM Cortex-A9 microprocessor family to enable customers add real-time industrial communications, motor control and feedback capabilities 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 motor feedback capabilies like EnDAT, BISS, Sigma Delta Decimation Filter, 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
  • AM437x
• Hardware Platform Supported
  • AM437x IDK

Obtaining the Release Package

• SYSBIOS Industrial SDK Download Page

Documentation

The following documents are provided with this release.

• Industrial SDK Getting Started Guide
• SYSBIOS Industrial SDK User Guide
  

What Is Supported

• Hardware Platform
  • AM437x IDK
• SYSBIOS 6.40.03.39 Real Time Operating System
  • VFP, MMU, L1/L2 cache, INTC support
  • XDC Tools 3.30.04.52
• Starterware boot loader
  • Boot from MMC/SD and QSPI
• Starterware based drivers integrated with SYSBIOS
  • PRUSS
  • Timer
  • UART
  • GPIO
  • I2C
  • McSPI
  • QSPI
• EtherCAT Slave Controller
  • Beckhoff Slave Stack Version 5.10
  • 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
    • QSPI 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)
• EnDat Master
  • EnDat 2.2 command set
  • EnDat 2.1 command set
  • Continuous mode
  • Clock configuration up to 12MHz
  • Cable length up to 100m
  • Propagation delay compensation
  • CRC for position, parameters, additional information
  • Up to 3 channel support
• Motor Control
  • Field Oriented Control of PMSM
  • EnDat position feedback
  • Closed Current control
  • Closed Speed control
  • Closed Position control
  • Current loop (PWM period) at 10KHz, 33.3KHz
  • Speed/Position loop at 1KHz, 3.33KHz

• Sample Applications
  • UART Echo
  • LED Control
  • EtherCAT slave
  • EnDat Master
  • Motor Control
  • Full feature EtherCAT slave with integrated motor control (patch mode application)
• Host Development Platform And Toolchain
  • CCS V6.0 on Windows PC 
  • GCC Tool V? for Cortex-A9 (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
  • Online Firmware Upgrade
• Endat Master
  • Concurrent multichannel support
• Motor Control
  • Usage of EnDat2.2 position commands (application uses EnDat 2.1 position command instead)
  • Out of box support for encoders other than ROQ437
  • Automatic recovery from over current faults generated by DRV8313

New In This Release

This is the first release of AM437x Industrial SDK.

• Support for CCS v6 and SYSBIOS 6.40.03.39
• EtherCAT slave ported for AM437x platform
• Endat Master
• Motor Control
• Integrated EtherCAT and motor control application demonstrating single chip connected drive capability of AM437x platform
• Starterware 02.01.00.03 with support for AM437x

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
	FOC: Motor does not run properly at PWM period of 25KHz

EtherCAT errata for AM437x is the same as AM335x. Please find the details here

Dependencies

Refer to System Requirements section in AM437x 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.