FAQ Sitara Industrial

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Frequently Asked Questions for Sitara Industrial

Last updated: 11/12/2018

General Development Questions

Building Industrial Examples

Each Industrial Software Development Kit has specific version requirements for Code Composer Studio, SYS/BIO/ XDC Tools and the Network Development Kit. These are listed in the Software Developers Guide and the Getting Started Guide.

SYS/BIOS and Tool versions can be downloaded from http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/bios/sysbios/index.html

NDK versions can be downloaded from http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/ndk/

Porting Applications from SYSBIOS Industrial to Processor SDK and PRU-ICSS-Industrial

A porting guide is provided to assist in migrating SYSBIOS Industrial SDP projects to the Processor-SDK and PRU-ICSS Industrial. This is available at Porting Guide Industrial SDK to PRU-ICSS-Industrial & Processor SDK.

Processor SDK Training Series

The Processor SDK training series is available at: https://training.ti.com/processor-sdk-training-series In particular Sections 1.1 through 1.4 provide a good high level overview of the RTOS sections.

PRU-ICSS Industrial Overview

An overview of the PRU-ICSS Industrial package and Processor SDK is available at http://processors.wiki.ti.com/images/9/92/PRU_ICSS_IndustrialSW_Overview.pdf

Where to find information on porting industrial applications from a TI Sitara EVM to a custom board

There is a Industrial SDK EMAC Porting Guide that is available at http://processors.wiki.ti.com/index.php/Industrial_SDK_EMAC_Porting_Guide

Information on the AMIC110

Information on the AMIC110 is available at: AMIC110 Product Page: http://www.ti.com/product/AMIC110
AMIC110 Processor SDK support and examples are included in the AM335x Processor SDK v3.03 at http://www.ti.com/tool/PROCESSOR-SDK-AM335X
AMIC110 Multiprotocol Industrial Interface for Closed-loop Delfino Control Systems Training Series: https://training.ti.com/amic110-delfino-architecture-product-solutions?cu=1128441

Migrating Applications from the AM335x to AM437x

Information on migrating AM335x applications to the AM437x are available at: http://processors.wiki.ti.com/index.php/PRU-ICSS_Migration_Guide:_AM335x_to_AM437x

Migrating Applications from the AM437x to AM57x

Information on migrating AM437x applications to the AM57x are available at: http://processors.wiki.ti.com/index.php/PRU-ICSS_Migration_Guide:_AM437x_to_AM57x

Migrating Applications from the AM335x to AM57x

Information on migrating AM335x applications to the AM57x are available at: http://processors.wiki.ti.com/index.php/PRU-ICSS_Migration_Guide:_AM335x_to_AM57x

The starterware migration guide (used for porting from SYSBIOSSDK-IND-AM335x to SYSBIOSSDK-IND-SITARA [ ISDK 1.x to ISDK 2.x ]) is available at Migration_Guide.pdf.

Industrial Communications Protocol

What EVMS Support Industrial Protocols

EtherCAT slave, Profinet RT/IRT Slave, ProfiBus DP Mono Master, ProfiBus DP Slave, Ethernet/IP adapter, HRS, PRP, Sercos, Powerlink, for the AMIC110, AM335x ICEv2, AM437x IDK, and AM57x IDK. Please refer to the release notes at PRU-ICSS Industrial software for Sitara™ Processors at http://www.ti.com/tool/PRU-ICSS-INDUSTRIAL-SW.

Where to find additional information on TI’s Profinet solutions on Sitara processors

There is a design guide for PROFINET® IRT which is available at http://www.ti.com/tool/TIDEP0029 that discusses the architecture and implementation of the Sitara PROFINET® solutions. Additionally there is a white paper for PROFINET® on TI’s Sitara ™ processors that is available on http://www.ti.com/tool/TIDEP0008. The Industrial SDK Profinet example has a limited configurability that provides only a limited implementation of the third party stack. To use the full feature set, it is necessary to purchase the stack and SNMP stack from our third party stack partners. Note that the Interniche SNMP stack library in the Industrial SDK is limited to 1000 SNMP accesses – this might be OK for evaluation (and even certification), but the customer has to purchase the SNMP stack for production. PROFINET stack – Molex. The contact for Molex is: Thierry Bieber, Thierry.Bieber@molex.com and at http://www.molex.com/molex/products/family?channel=products&chanName=family&key=profinet_solutions
SNMP stack – Interniche: The contact at Interniche is sales@iniche.com.

Where to find additional information on TI’s ICSS PTP 1588 Solutions on Sitara processors

There is a TI ICSS PTP 1588 Developer Guide that is available at http://processors.wiki.ti.com/index.php/ICSS_PTP_1588_Developer_Guide

Where to find information on TI’s High-availability Seamless Redundancy (HSR) Ethernet solutions on TI Sitara Processors

There is a High-availability Seamless Redundancy (HSR) Ethernet for Substation Automation Reference Design that is available at http://www.ti.com/tool/TIDEP0053
The ICSS HSR PRP Developer Guide is available at http://processors.wiki.ti.com/index.php/ICSS_HSR_PRP_Developer_Guide
The TI Training presentation IEC 62439-3 HSR/PRP Implementation on Sitara is available at https://training.ti.com/iec-62439-3-hsrprp-implementation-sitara%E2%84%A2-processors-using-pru-icss

Where to find information on TI’s Parallel Redundancy Protocol (PRP) Ethernet solutions on TI Sitara Processors

There is a Parallel Redundancy Protocol (PRP) Ethernet Reference Design for Substation Automation that is available at http://www.ti.com/tool/tidep0054
The ICSS HSR PRP Developer Guide is available at http://processors.wiki.ti.com/index.php/ICSS_HSR_PRP_Developer_Guide
The TI Training presentation IEC 62439-3 HSR/PRP Implementation on Sitara is available at https://training.ti.com/iec-62439-3-hsrprp-implementation-sitara%E2%84%A2-processors-using-pru-icss

Where to find information on TI’s Packet Processing Engine for IEC61850 GOOSE Forwarding on TI Sitara Processors

There is a Packet Processing Engine Reference Design for IEC61850 GOOSE Forwarding that is available at http://www.ti.com/tool/tidep0074

Where to find information on TI’s Multi-Protocol Industrial Ethernet Detection w/PRU-ICSS solutions on TI Sitara Processors

There is a Multi-Protocol Industrial Ethernet Detection w/PRU-ICSS for Industrial Automation Reference Design that is available at http://www.ti.com/tool/TIDEP0032

Where to find information on Fast Startup for Industrial Ethernet Applications on TI Sitara Processors

There is a Fast Startup Reference Design For Industrial Ethernet Applications With AM335x Processors that is available at http://www.ti.com/tool/TIDEP0049

Where to find additional information on TI’s EtherCAT Master / Slave Solutions on Sitara processors

The EtherCAT Technology Group (ETG) recommends membership for parties implementing EtherCAT in a machine or machine line. For additional information about EtherCAT and ETG membership, see the following links:
• EtherCAT FAQs: https://www.ethercat.org/en/faq.html
• EtherCAT Technology Group site: https://www.ethercat.org

EtherCAT Slave:
There is a TI EtherCAT design guide for AM335x EtherCAT Communications Development Platform at http://www.ti.com/tool/TIDEP0001, a design guide for AM437x Single Chip Drive for Industrial Communications and Motor Control at http://www.ti.com/tool/TIDEP0025. These contain an overview of TI’s Sitara EtherCAT solutions. Additional information and example project is included in the industrial Software Development Kit (see folder \sdk\protocols\ethercat_slave\docs). The Industrial SDK EtherCAT example has a limited configurability and exposes only limited implementation of the third party stack. To use the full feature set, it is necessary to purchase the Beckoff IP stack from our third party stack partner. The Industrial SDK EtherCAT slave implementation is integrated with EtherCAT Slave Stack Code (SSC) ET9300. A limited feature version is included as an EtherCAT example. A full featured EtherCAT Industrial example uses Patches for the Beckhoff Slave Stack Code (SSC 5.11) that enable the SDK to build a full featured EtherCAT application which can be customized as described in the processors.wiki.ti.com/.../SYSBIOS_Industrial_SDK_02.01.01_User_Guide. The full stack code is available for ETG members from the ETG website Slave Stack Code (SSC) ET9300.

Documentation on ET9300 is available at https://download.beckhoff.com/download/document/io/ethercat-development-products/an_et9300_v1i7.pdf. This description is applicable for the TI EtherCAT Slave Controller since any differences in hardware platforms are abstracted by the stack HAL layer. For additional questions and support on SSC5.11 and ET9300 customers should use the EtherCAT ETG forums.

In addition to Beckoff the EtherCAT stack is also available from Stack also available from
Port - Please contact Christian Bornschein cb@port.de
ESD - Please contact Dirk Flege sales@esd.eu

EtherCAT Master:
There is a TI EtherCAT master design guide for AM335x using SYSBIOS at http://www.ti.com/tool/TIDEP0043. This TI design uses Acontis EC-Master CPSW drivers and stack.
Acontis - Please contact Stefan Zintgraf s.zintgraf@acontis.com

Where to find additional information on TI’s Sitara processor EtherCAT Slave Implementation

This information is most relevant for customers porting custom stack implementation to TI EtherCAT slave Processor and for stack providers. The details on the Sitara EtherCAT implementation and APIs are available at, processors.wiki.ti.com/index.php . The EtherCAT Industrial application uses Patches for Slave Stack Code (presently using SSC 5.11) that enable the SDK to build a full featured EtherCAT application which can be customized as described in the processors.wiki.ti.com/.../SYSBIOS_Industrial_SDK_02.01.01_User_Guide.

Are there other EtherCAT stack partners for Sitara devices

There are other stack partners who has ported their stack to TI EtherCAT Slave Controller whom customers can contact for support and customization. The following are 2 suppliers for customers looking for dedicated support:

ESD electronics : www.esd-electronics-usa.com/.../EtherCAT_SlaveStack_Datasheet_En_1.pdf

KPA (Konig PA) : donar.messe.de/.../kpa-ethercat-slave-stack-flyer-eng-376481.pdf

EtherCAT slave DDR-less on AMIC110

For a video on how to build an run EtherCAT slave DDR-less demo on AMIC110 please check this video: https://training.ti.com/amic110-ddrless-ethercat

Where to find additional information on TI’s Sercos-III solutions on Sitara processors?

There is a TI Sercos-III design guide for AM335x Sercos III Communications Development Platform at http://www.ti.com/tool/TIDEP0010 and a AM437x Sercos III Slave For AM437x Communication Development Platform Reference Design at http://www.ti.com/tool/tidep0039 which contain an overview of TI’s Sitara Sercos-III solutions. Sercos-III is one of the technologies that is supported directly by the stack partner, Cannon Automata. The solution is based on the industrial SDK. The link at the stack partner is: http://www.cannon-automata.com/index.php?ti_sitara_1_en. A Sercos III limited evaluation binary for TMDSICE3359 ICEv2 EVM is available via Cannon-Automata. The Cannon-Automata contact is Christoph Melzer chmelzer@automata.de

Where to find additional information on TI’s Powerlink solutions on Sitara processors

There is a TI Powerlink design Ethernet Powerlink Development Platform Reference Design and a white paper POWERLINK on TI Sitara Processors at http://www.ti.com/tool/tidep0028 that contain an overview of TI’s Sitara Powerlink solutions. Powerlink is one of the technologies that is supported by the IP owner and is based on the industrial SDK.
For information on Powerlink please contact Christian Bornschein at Port, cb@port.de .

Where to find additional information on TI’s EthernetIP solutions on Sitara processors

There is a TI ICSS EIP Adapter Developer that is available at Guide at http://processors.wiki.ti.com/index.php/ICSS_EIP_Adapter_Developer_Guide.
In addition there is a TI Ethernet IP design Ethernet/IP Communications Development Platform and a white paper EthernetIP on TI Sitara Processors is available at http://www.ti.com/tool/TIDEP0003 that provides an overview of TI’s Sitara Ethernet IP solutions.

When trying to use Industrial SDK ethernetip_adapter example, the code can only be used for one hour only. Why? What is required to get the full version?

The Industrial SDK Ethernet/IP example has a limited configurability and exposes only limited implementation of the third party stack. To use the full feature set, it is necessary to purchase the Ethernet IP stack from one of our third party stack partner Molex. The contact for Molex is: Thierry Bieber, Thierry.Bieber@molex.com.

Where to find additional information on TI’s PROFIBUS solutions on Sitara processors?

There is a white paper on TI’s PROFIBUS solutions that is available at: PROFIBUS on Sitara Processors. The TI Design can be found at TIDEP0002 http://www.ti.com/tool/TIDEP0002. An example Profibus slave project is contained in the Industrial SDK. This example project uses a example TMG stack library has limited functionality. The Slave customer IDENT number is fixed The master supports only up to 3 slaves. To obtain the full featured Profibus implementation please contact Mr. Willems willems@tmgte.de at TMG. Website: http://www.tmgte.de/.

Looking for an industrial Ethernet slave design which supports several industrial ethernet protocols. Where to find additional information on multi- protocol industrial ethernet solutions for Sitara processors?

There is a multiprotocol TI design guide Multi-Protocol Industrial Ethernet Detection w/PRU-ICSS for Industrial Automation Reference Design at http://www.ti.com/tool/TIDEP0032. The TIDEP0032 shows how to use PRU-ICSS to detect the type of industrial Ethernet by analyzing the frame header.

Can an ICSS support more than one Industrial Ethernet slave at the same time?

This is dependent upon the protocol architecture and physical configuration. The TI Examples for EtherCAT, Profinet IRT, and the Ethernet/IP Adapter are used in a linear or loop configuration. In this configuration two ports (one on each PRU) are used. One port is used to provide upstream interface to the network master and one port is used to connect to the downstream slaves.

In developing a multi-protocol industrial Ethernet slave, which slave industrial Ethernet interfaces can run without using an ICSS?

We recommend when implementing a multi-protocol slave device to use one of the existing designs that are based on the Programmable Real-time Unit - Industrial Communications Engine ( PRU-ICSS). These implementations are provided in the IA-SDK and/or are available from our third party partners. The PRU-ICSS offloads the ARM from cyclic tasks. This reduces the load and real-time requirements on the ARM side while permitting the Sitara to demonstrate best in class industrial communications performance. Running industrial Ethernet over a standard Ethernet MAC depends on the customer requirements as well. Any standard Ethernet MAC support “store-and-forward” Ethernet frame handling only – this means that first the complete Ethernet frame has to be received before any forwarding and/or processing decision can be done by the industrial Ethernet stack. There are classes of PROFINET and EtherNet/IP that allow using standard Ethernet MAC with the store-and-forward mechanism. EtherCAT slave, Sercos III and PROFINET IRT require PRU-ICSS support.

Where to find information on using the ICSS EMAC LLD

The ICSS EMAC LLD developers guide is available at: ICSS EMAC Developers Guide

The ICSS EMAC LLD Debug guide is available at: ICSS EMAC LLD Debug Guide

How many PRU cores are required for running EtherCAT slave in AM335x/AM437x devices?

TI provides firmware for some Industrial communication protocols, such as EtherCAT slave, EtherNet/IP, Profibus and Profinet RT/IRT, as part of AM335x/AM437x IA-SDK package. If users want to use TI’s EtherCAT slave firmware, then, one ICSS (2-PRU cores) is required.

Can we use the MII2 (from the CPSW) as the MAC for industrial Ethernet?

The CPSW interface can be used to support a few Industrial Ethernet cases. The CPSW can be used to support an EtherCAT master. This implementation is available from our third party partners, Acontis Technologies http://www.acontis.com/eng/index.php and 3S-Smart Software Solutions https://www.codesys.com/products.html.

All of the Industrial protocols slave that are provided in PRU-ICSS Industrial Software for Sitara(TM) Processors and SYS/BIOS Industrial Software Development Kit (SDK) for Sitara™ Processors use the PRU based Ethernet configuration. The PRU-ICSS Ethernet with the real time PRU processing capabilities are required for Profinet RT/IRT (conformance class B/C), Sercos III, EtherNet/IP, PowerLink, EtherCAT slave. Although not supported in the Industrial software libraries it is possible to use the CPSW interface to support Profinet RT (conformance class A) and EtherNet /IP (with some constraints)

Can we use any AM335x to support EtherCAT slave or POWERLINK

Both of these protocols specifically require an AM3357 or AM3359 device.

Is there an example that demonstrates a two MAC interface?

IA-SDK 2.1 has an example for two MACs based on PRU-ICSS. This allows for two additional 10/100 ports. The basic example can be improved up with NDK code to show the capabilities of Ethernet communications.

Is there an example that demonstrates a standard Ethernet switch?

In the SYSBIOS Industrial SDK - the Ethernet IP application can be modified to implement a standard switch. The instructions for this modification are available at http://processors.wiki.ti.com/index.php/SYSBIOS_ISDK_Steps_for_creating_stand_alone_switch_example
Additionally, Networking examples are present in the Processor SDK that supports the PRU-ICSS Industrial software

How to test a Profinet system?

In the Industrial SDK there is a document that describes how to test a Profinet slave. The document is located at “SDK installation Directory”\sdk\protocols\profinet_slave\Docs\Molex-TI-AM335x-devkit-How to get connected using STEP7-CPU300.pdf

How to use a UDP socket connection to connect 2 AM437x IDKs

There are two ways to do this using either ICSS Switch functionality or a MAC implementation. In the case of MAC implementation please refer to the Industrial SDK example ethernet_mac. In the case of ICSS switch please use Ethernet/IP application. The steps to create Switch application from Ethernet/IP example are explained at http://processors.wiki.ti.com/index.php/SYSBIOS_ISDK_Steps_for_creating_stand_alone_switch_example.

How are the MAC address set for the PRU-ICSS (Since there is no EMAC present in PRU-ICSS)

Currently it reads the MAC addresses available in the SOC E-fuse. In the case of the AM437x the two entries represent the first and last MAC addresses.

Can we access PRU firmware sources for Industrial Ethernet protocols?

No, IA-SDK package doesn’t provide source code for PRU Industrial protocols firmware due to protocols certification However the TI Design http://www.ti.com/tool/TIDEP0061 provides a Simple Open Real-Time Ethernet (SORTE) protocol that is implemented in PRU firmware that will be available in source code as part of the Processor SDK shortly.

Do some of the industrial protocols require special PHYs?

The TI example industrial Ethernet designs are using the TLK1xx PHYs on the AM3359 ICE v2, AM4379 IDK, and AM57x IDK. The DP83822 is used on the K2G ICE. These are supported in the SYSBIOS Industrial SDK and the Processor SDK and PRU-ICSS Industrial combination. However other PHYs have been used successfully. When migrating to different PHYs some code change will be required. General information on supporting other phys is contained http://processors.wiki.ti.com/index.php/Industrial_SDK_EMAC_Porting_Guide

Can we use PHY for EtherCAT which does not provide high speed output indication?

Yes, Beckhoff provides an excellent Phy selection guide to assist in Phy selection and configuration. https://download.beckhoff.com/download/Document/io/ethercat-development-products/an_phy_selection_guidev2.3.pdf . This document also specifies the LED display requirements for Ethernet phy signals. When the PHY does not have LED_LINK/LED_SPEED signal, the "pr1_mii0_rxlink" and "pr1_mii1_rxlink" signals can be left floating. However, in this case, a program modification is required. In the file {IA_SDK_HOME}\protocols\ethercat_slave\ecat_appl\EcatStack\tiescbsp.c in the function bsp_init, before calling bsp_pruss_mdio_init

Set mdioParamsInit.enhancedlink_enable = TIESC_MDIO_RX_LINK_DISABLE; //This forces MDIO h/w state to a m/c based link detection

Can we use the CPSW to support Ethernet communications and the PRU to support industrial Ethernet communications on the AM335x or AM437x?

The AM335 and AM437x can support up to three Ethernet interfaces. This can be two EtherCAT PRU based interfaces and one CPSW or it can be 2 CPSW and one PRU. CPSW support is available for the AM335x in the SYS/BIOS Industrial Software Development Kit - SYSBIOSSDK-IND-AM335X: (ISDK 1.1.0.x). CPSW support is not presently available in SYSBIOSSDK-IND-SITARA (ISDK 2.1.x). CPSW support is available in the Processor SDK and can be used along with an industrial protocol provided by the PRU-ICSS Industrial.

CCS6.1.3 throws an error when running ProjectCreate.bat for PRU-ICSS-INDUSTRIAL-SW components.

For building/running PRU-ICSS-INDUSTRIAL-SW (http://www.ti.com/tool/PRU-ICSS-INDUSTRIAL-SW) currently it is recommended to use CCS6.1.2. If users want to use CCS6.1.3, then CCS_WORKSPACE_LOC, inside setupEnv.bat, should point to a location that already exist. For example, if C:\Users\alice folder exists then CCS_WORKSPACE_LOC=C:\Users\alice\ccs_workspace_1 can be used.

How to upgrade EtherCAT slave application using FoE?

Users can use TwinCAT for online EtherCAT slave application upgrade. Additional details at: http://processors.wiki.ti.com/index.php/Configuring_TwinCAT_For_AM335x#Online_Application_upgrade_from_TwinCAT. Users need to keep in mind "app" need to be renamed to "ECATFW__". FoE upgrades the "app" in Flash memory.

Motor Control

Where to find additional information on TI’s single chip motor control solutions for Sitara processors

There is a TI single chip motor control design guide for AM437x at Single Chip Drive for Industrial Communications and Motor Control and a AM437x design benchmark AM437x Single Chip Motor Control Benchmark at http://www.ti.com/tool/TIDEP0025 which contain good overview of TI’s Sitara single chip motor control solutions.

Is there a mechanism for synchronization between the EtherCAT network and the motor control system ?

The Industrial SDK contains a full motor control application example in SDK_installation_directory\sdk\protocols\ethercat_slave\ecat_appl. The various parts of the motor drive control system which include the PWM, A/D conversion, EnDat position detection & FOC interrupt are synchronized. When using Sigma Delta for A/D conversion, motor drive control system can be synchronized with EtherCAT network, by enabling SYNC_ECAT_PWM macro.

Position Feedback

Where to find additional information on TI’s EnDat 2.2 master interface solutions on Sitara processors?

There is a reference design guide, Reference Design for an Interface to a Position Encoder with EnDat 2.2 at http://www.ti.com/tool/tida-00172 and single chip motor control design guide, Single Chip Drive for Industrial Communications and Motor Control at http://www.ti.com/tool/TIDEP0025 that provide an overview of TI’s Sitara EnDat 2.2 solutions.

Where to find additional information on TI’s BiSS C master interface solutions on Sitara processors?

There is a reference design guide, ARM MPU with Integrated BiSS C Master Interface Reference Design at http://www.ti.com/tool/tidep0022 that provides an overview of TI’s Sitara BiSS C solutions.

Where to find additional information on TI’s HIPERFACE DSL master interface solutions on Sitara processors?

There is a ARM MPU with Integrated HIPERFACE DSL Master Interface Reference Design at http://www.ti.com/tool/tidep0035

Where to find additional information on TI’s Sin/Cos Encoder interface solutions on Sitara processors?

There is a Interface to a Sin/Cos Encoder with Sitara AM437x Reference Design at http://www.ti.com/tool/TIDA-00178

Other Interfaces

Where can I find information SPI Master with Signal Path Delay Compensation for TI Sitara processors

A SPI Master with Signal Path Delay Compensation Reference Design is available at http://www.ti.com/tool/TIDEP0033

Where can I find information High Performance Pulse Train Output (PTO)for TI Sitara processors

A High Performance Pulse Train Output (PTO) with PRU-ICSS for Industrial Applications Reference Design is available at http://www.ti.com/tool/TIDEP0027

General Topics

How to get notified when there is a software update

The Industrial SDK website http://www.ti.com/tool/SYSBIOSSDK-IND-SITARA Alert Me buttons enable a request that an notification is sent to you when there is an update.

Where to find the PRU-ICSS Frequently Asked Questions

The PRU-ICSS FAQ site is located at: PRU-ICSS FAQs

How to generate a Program memory map and Symbol Table

Copy the program executable *.out file into a temporary directory. Then create a DOS window and CD to that directory. In the dos window execute the following: C:\ti\gcc-arm-none-eabi-4_9-2015q3\bin\arm-none-eabi-objdump.exe -x -w "your_executable_name".out > "your_executable_name".text. This creates a text file which contains a summary of the memory regions and a symbol table. Then import the text file into excel as a space delimited file where all of the contents are imported as text items (to preserve the HEX values). It is often a good idea to copy the symbol table section to a separate sheet so that this can be can reformatted and sorted separately.

Where to find bootloader files for AM335x and/or AM437x?

Users can find pre-compiled bootloader binaries (boot, MLO and .bin) from IA-SDK pre-build package. Users can download pre-build package from: http://downloads.ti.com/sitara_indus/esd/SYSBIOSSDK-IND-SITARA/latest/index_FDS.html Source code is located in the SDK here:

• Source: ..\sdk\starterware\bootloader
• Binary: ..\sdk\starterware\binary\armv7a\cgt_ccs\am335x\evmAM335x\bootloader

Where to find information on porting industrial applications from a TI Sitara EVM to a custom board

There is a Industrial SDK EMAC Porting Guide that is available at http://processors.wiki.ti.com/index.php/Industrial_SDK_EMAC_Porting_Guide

How to update SPI Flash over Ethernet

There is a process to program Flash memory (NAND, NOR, SPI, QSPI and eMMC) attached to a TI AM335x or AM437x processor on a production target board. This is described in http://processors.wiki.ti.com/index.php/Sitara_Uniflash_Quick_Start_Guide .

Does System Analyzer (UIA) works for AM335x IDK board?

Yes, Please keep in mind UAI is heavy in terms of memory and it is not enabled by default. Below you can find some tutorial wiki links on how to enable and use UIA

• http://processors.wiki.ti.com/index.php/Multicore_System_Analyzer_Tutorials
• http://processors.wiki.ti.com/index.php/SystemAnalyzerTutorial1
• http://processors.wiki.ti.com/index.php/SystemAnalyzerTutorial3
• http://processors.wiki.ti.com/index.php/System_Analyzer_Tutorial_3A

Below a snippet of *.cfg code with main commands for enabling log with Sysbios

var SysStd = xdc.useModule('xdc.runtime.SysStd');

var LoggingSetup = xdc.useModule('ti.uia.sysbios.LoggingSetup');

var Load = xdc.useModule('ti.sysbios.utils.Load');

BIOS.libType = BIOS.LibType_Instrumented;

BIOS.logsEnabled = true;

System.SupportProxy = SysStd;

Load.swiEnabled = true;

Load.hwiEnabled = true;

LoggingSetup.sysbiosHwiLogging = true;

LoggingSetup.sysbiosSwiLogging = true;

LoggingSetup.sysbiosLoggerSize = 32565;

Main.common$.diags_ENTRY = Diags.ALWAYS_ON;

Main.common$.diags_EXIT = Diags.ALWAYS_ON;

LoggingSetup.eventUploadMode = LoggingSetup.UploadMode_JTAGSTOPMODE;

LoggingSetup.disableMulticoreEventCorrelation = true;

Load.windowInMs = 500;

Note : If the .cfg file has a Program.sectionsExclude = ".*" - then comment this so that it is not included.

UART messages were working with my IDK board but suddenly I am not getting any message, how to fix it?

Please first check if your USB is correctly connected and your serial console terminal application (for example, TeraTerm, minicom, and HyperTerminal) is correctly configured. If these are OK, and you still don’t see any output on your console please disconnect your port (console application) switch on your board and reconnect the port.

Does the Industrial SDK contain USB drivers

The Industrial SDK does not presently contain USB drivers.

Is it possible to use FIQs Interrupts with AM335x?

No, FIQs are not available in AM335x. Users can use Hwis to create their ISRs. Also users can create High priority Task or Swi.

Where can I find training material on the 2.1 Industrial SDK?

Sitara 2.1 Industrial SDK Training Guide.

Where can I find the GEL files for the AM335x and AM437x devices?

AM335x and AM437x GEL files

Issues running prebuild applications using SD card on AM335x when SPI is pre-flashed

Some boards have a bootloader and/or an application pre-flashed on SPI/NOR memory, this could prevent an application to run correctly from SD card. Solution is to erase SPI flash. Guidance on how to erase flash memory at: http://processors.wiki.ti.com/index.php/AM335x_SYSBIOS_Industrial_SDK_Getting_Started_Guide#Running_Application_from_SPI_Flash

Issues running CCS .out applications via JTAG on AM335x when SPI is pre-flashed

Some boards have a bootloader and/or an application pre-flashed on SPI/NOR memory, this could prevent an application to run correctly using CCS and JTAG. One option is to change boot selector to NOR boot (pin 1&2 shorted on J5). Another option is to erase SPI flash. Guidance on how to erase flash memory at: http://processors.wiki.ti.com/index.php/AM335x_SYSBIOS_Industrial_SDK_Getting_Started_Guide#Running_Application_from_SPI_Flash

The PRU-ICSS Industrial AM3359 examples fails on ICE_AM3359 EVM with no output in UART terminal

When building projects with ICE_AM3359[CortexA] device, link command file AM335x.lds added by CCS. This needs to be removed. It can be removed from Properties->CCS General->Linker command file under the Main tab.

DDR-less example how-to run and application only in L3 or QSPI?

In order to guide user on how to create DDR-less application we published an "how-to" application note. This application note showcase EtherCAT slave + Motor running L3 and/or QSPI and compare performance to a DDR build. http://www.ti.com/lit/an/sprac45a/sprac45a.pdf

PRU-ICSS Programming Notes

PRU-ICSS Programing notes