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| # AM64 SoM EtherCAT Master Support by acontis | ||
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| SolidRun have partnered with [acontis](https://www.acontis.com/en/) to port their EtherCAT Master stack to AM64 SoC, and to the SolidRun AM64 HummingBoard-T in particular. | ||
| For access to evaluation versions, licensing and support please [contact acontis directly](https://www.acontis.com/en/contactform.html). | ||
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| Below is documentation for a specific demo configuration that has been tested at SolidRun. | ||
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| ## Simple Demo with AM64 Master + AM243 LED & Motor Control Subordinates | ||
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| ### System Overview | ||
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| The demo consists of 3 physical devices: | ||
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| 1. SolidRun AM64 HummingBoard-T (Master): | ||
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| Running Linux + Buildroot + acontis EtherCAT Master stack. | ||
| First RJ45 (eth0) next to barrell connector is used for the local TCP/IP network, to facilitate SSH and acontis EC-Engineer remote access. | ||
| Third RJ45 (eth2) next to USB-A connector is used for the EtherCAT network. | ||
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| 2. TI LaunchPad AM243 (LP-AM243) (Subordinate 1): | ||
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| Running TI example firmware for LED control. | ||
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| 3. TI LaunchPad AM243 (LP-AM243) (Subordinate 2) | ||
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| Running TI example firmware for CiA402 Motor control. | ||
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| ] | ||
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| Topology: Master <-> S1 <-> S2 | ||
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| ### Subordinate Software Preparation | ||
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| 1. Install [TI AM243 SDK 08.05.00.24](https://software-dl.ti.com/mcu-plus-sdk/esd/AM243X/08_05_00_24/exports/docs/api_guide_am243x/index.html) (e.g. mcu_plus_sdk_am243x_08_05_00_24-linux-x64-installer.run) | ||
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| 2. Compile both `EtherCAT_slave_simple_demo` and `EtherCAT_slave_cia402_demo` projects for LP-AM243, to generate: | ||
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| - `EtherCAT_slave_simple_demo_am243x-lp_r5fss0-0_freertos_ti-arm-clang.appimage` | ||
| - `EtherCAT_slave_simple_demo_am243x-lp_r5fss0-0_freertos_ti-arm-clang.appimage_xip` | ||
| - `EtherCAT_slave_cia402_demo_am243x-lp_r5fss0-0_freertos_ti-arm-clang.appimage` | ||
| - `EtherCAT_slave_cia402_demo_am243x-lp_r5fss0-0_freertos_ti-arm-clang.appimage_xip` | ||
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| In case `industrial_comms_libs` are not found, apply [this workaround](https://e2e.ti.com/support/microcontrollers/arm-based-microcontrollers-group/arm-based-microcontrollers/f/arm-based-microcontrollers-forum/1184678/lp-am243-import-and-build-EtherCAT_slave_simple_demo-in-mcu_plus_sdk_am243x_08_05_00_24). | ||
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| ### Subordinate Software Installation | ||
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| Firmware is programmed to the SPI flash permanently to survive power cycles using TI `uart_uniflash.py` tool: | ||
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| 1. Create a configuration file with absolute paths to all involved binaries: uart flash programmer; boot loader; application; xip header: | ||
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| ``` | ||
| cd mcu_plus_sdk_am243x_08_05_00_24/tools/boot | ||
| cat > flash-slave-demo.cfg << EOF | ||
| --flash-writer=/home/user/mcu_plus_sdk_am243x_08_05_00_24/tools/boot/sbl_prebuilt/am243x-lp/sbl_uart_uniflash.release.tiimage | ||
| --operation=flash-phy-tuning-data | ||
| --file=/home/user/mcu_plus_sdk_am243x_08_05_00_24/tools/boot/sbl_prebuilt/am243x-lp/sbl_ospi.release.tiimage --operation=flash --flash-offset=0x0000 | ||
| --file=/home/user/workspace/EtherCAT_slave_simple_demo_am243x-lp_r5fss0-0_freertos_ti-arm-clang/Debug/EtherCAT_slave_simple_demo_am243x-lp_r5fss0-0_freertos_ti-arm-clang.appimage --operation=flash --flash-offset=0x80000 | ||
| --file=/home/user/workspace/EtherCAT_slave_simple_demo_am243x-lp_r5fss0-0_freertos_ti-arm-clang/Debug/EtherCAT_slave_simple_demo_am243x-lp_r5fss0-0_freertos_ti-arm-clang.appimage_xip --operation=flash-xip | ||
| EOF | ||
| ``` | ||
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| 2. Set Launchpad boot mode to UART: DIP Switches 11100000 (1 = on; 0 = off) | ||
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| 2. Program device at `ttyACM0` according to configuration file: | ||
| ``` | ||
| python3 ./uart_uniflash.py \ | ||
| --serial-port /dev/ttyACM0 \ | ||
| --cfg=flash-slave-demo.cfg | ||
| ``` | ||
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| 2. Set Launchpad boot mode to SPI: DIP Switches 01000100 (1 = on; 0 = off) | ||
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| ### Master Software Installation | ||
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| 1. Create bootable microSD: | ||
| - Download https://images.solid-run.com/AM64X/ti_am64x_build/20230521-222ee62/microsd-222ee62-buildroot.img.xz | ||
| - write microsd-222ee62-buildroot.img.xz *block-by-block* to a microsd card, e.g. using [etcher.io](https://etcher.io/) | ||
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| 2. Power-on the unit: | ||
| - Ensure DIP switches are set for microSD (000101 : 0 = off, 1 = on). | ||
| - Insert microSD card | ||
| - Connect uart console to a PC (microUSB connector next to microSD) | ||
| - Connect 12V Power | ||
| - login as "root" user, no password required | ||
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| 3. expand rootfs to fill microSD: | ||
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| ``` | ||
| # fdisk /dev/mmcblk1 | ||
| The number of cylinders for this disk is set to 243096. | ||
| There is nothing wrong with that, but this is larger than 1024, | ||
| and could in certain setups cause problems with: | ||
| 1) software that runs at boot time (e.g., old versions of LILO) | ||
| 2) booting and partitioning software from other OSs | ||
| (e.g., DOS FDISK, OS/2 FDISK) | ||
| Command (m for help): p | ||
| Disk /dev/mmcblk1: 15 GB, 15931539456 bytes, 31116288 sectors | ||
| 243096 cylinders, 4 heads, 32 sectors/track | ||
| Units: sectors of 1 * 512 = 512 bytes | ||
| Device Boot StartCHS EndCHS StartLBA EndLBA Sectors Size Id Type | ||
| /dev/mmcblk1p1 64,0,1 1023,3,32 8192 131071 122880 60.0M c Win95 FAT32 (LBA) | ||
| /dev/mmcblk1p2 1023,3,32 1023,3,32 131072 344064 212993 104M 83 Linux | ||
| Command (m for help): d | ||
| Partition number (1-4): 2 | ||
| Command (m for help): n | ||
| Partition type | ||
| p primary partition (1-4) | ||
| e extended | ||
| p | ||
| Partition number (1-4): 2 | ||
| First sector (32-31116287, default 32): 131072 | ||
| Last sector or +size{,K,M,G,T} (131072-31116287, default 31116287): | ||
| Using default value 31116287 | ||
| Command (m for help): p | ||
| Disk /dev/mmcblk1: 15 GB, 15931539456 bytes, 31116288 sectors | ||
| 243096 cylinders, 4 heads, 32 sectors/track | ||
| Units: sectors of 1 * 512 = 512 bytes | ||
| Device Boot StartCHS EndCHS StartLBA EndLBA Sectors Size Id Type | ||
| /dev/mmcblk1p1 64,0,1 1023,3,32 8192 131071 122880 60.0M c Win95 FAT32 (LBA) | ||
| /dev/mmcblk1p2 1023,3,32 1023,3,32 131072 31116287 30985216 14.7G 83 Linux | ||
| Command (m for help): w | ||
| The partition table has been altered. | ||
| Calling ioctl() to re-read partition table | ||
| fdisk: WARNING: rereading partition table failed, kernel still uses old table: Device or resource busy | ||
| # reboot | ||
| ... | ||
| Welcome to Buildroot | ||
| buildroot login: root | ||
| # resize2fs /dev/mmcblk1p2 | ||
| resize2fs 1.45.5 (07-Jan-2020) | ||
| Filesystem at /dev/mmcblk1p2 is mounted on /; on-line resizing r[ 74.100891] EXT4-fs (mmcblk1p2): resizing filesystem from 106496 to 15492608 blocks | ||
| equired | ||
| old_desc_blocks = 1, new_desc_blocks = 60 | ||
| The filesystem on /dev/mmcblk1p2 is now 15492608 (1k) blocks long. | ||
| # df -h / | ||
| Filesystem Size Used Available Use% Mounted on | ||
| /dev/root 14.3G 55.2M 13.7G 0% / | ||
| ``` | ||
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| 4. Connect to local network / internet: | ||
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| ``` | ||
| # On common networks using automatic configuration with DHCP protocol: | ||
| udhcpc -i eth0 | ||
| ``` | ||
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| 5. Enable SSH password login (optional): | ||
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| An ssh server is preinstalled. To enable root login however, a password must be defined for teh root user: | ||
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| # passwd root | ||
| Changing password for root | ||
| New password: | ||
| Retype password: | ||
| passwd: password for root changed by root | ||
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| Now log-in remote access is possible by `ssh root@<ip>`. | ||
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| **Note: SSH password login is a security risk. Passwords are commonly bruteforced, especially when connected to the public internet!** | ||
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| 4. Download acontis software to device: | ||
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| Please contact acontis for download links, then use `wget` for downloading the following packages to the home directory (`/root`): | ||
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| - EC-Master-V3.1.4.11-Linux-ARM_64Bit-Eval.tar.gz | ||
| - EC-Master-ClassA-AddOn-V3.1.4.11-Linux-ARM_64Bit-Eval.tar.gz | ||
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| Note that the minimalistic `wget` does not support ssl. | ||
| At the time of writing replacing "http" with "http" in the provided URLs was sufficient. | ||
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| 5. Install acontis software: | ||
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| ``` | ||
| mkdir -p /opt/acontis | ||
| gzip -dc EC-Master-V3.1.4.11-Linux-ARM_64Bit-Eval.tar.gz | tar -C /opt/acontis -xf - | ||
| gzip -dc EC-Master-ClassA-AddOn-V3.1.4.11-Linux-ARM_64Bit-Eval.tar.gz | tar -C /opt/acontis -xf - | ||
| ``` | ||
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| 6. Start EtherCAT master on third RJ45 with remote access enabled: | ||
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| ``` | ||
| cd /opt/acontis/Bin/Linux/aarch64 | ||
| # workaround: always enable eth1 first to avoid "icssg1-eth: settime timeout" | ||
| ifconfig eth1 up | ||
| # limit auto-negotiation to 100Mbps | ||
| ethtool -s eth2 advertise 0xb | ||
| # start interface | ||
| ifconfig eth2 up | ||
| # start master stack | ||
| ./EcMasterDemo -sockraw eth2 -b 1000 -sp 0.0.0.0 -t 0 | ||
| ``` | ||
| **Note:** The EtherCAT network **must have link before starting the `EcMasterDemo`**, i. e. subordinates connected and powered. | ||
| Otherwise error `Cannot configure EtherCAT-Master: ERROR: Ethernet link cable disconnected (0x9811002d))` is reported. | ||
| Now Master is ready for initial configuration using EC-Engineer. | ||
| ### Master Configuration | ||
| #### Generate EtherCAT network description | ||
| Generate a network configuration file (*eni.xml*) for the EtherCAT network. | ||
| This file can be generated using acontis EC-Engineer application, using remote access over IP. | ||
| Please refer to [acontis Documentation](https://developer.acontis.com/EtherCAT-manuals.html) for details. | ||
| Configuration also requires importing the TI subordinate descriptions which are part of TI Processor SDK: | ||
| - [TI AM243X.R5F CiA402.xml](ethercat-demo/TI AM243X.R5F CiA402.xml) | ||
| - [TI AM243X.R5F Simple.xml](ethercat-demo/TI AM243X.R5F Simple.xml) | ||
| As long as the EtherCAT network topology is identical to this demo, [this eni.xml](ethercat-demo/eni.xml) (or [ec-engineer project file](ethercat-demo/project.ecc)) can be used as is. | ||
| The pictures below give a slideshow overview of this configuration in EC-Engineer: | ||
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| #### Create Motion Control Configuration | ||
| acontis Motion Control Demo requires a special configuration file to describe which drives are available on which subordinate addresses. | ||
| An example has been installed at `/opt/acontis/Examples/EcMasterDemoMotion/Config/DemoConfig.xml`. | ||
| Required Changes ([XMLNotepad](https://microsoft.github.io/XmlNotepad/) recommended): | ||
| - `Config.MotionDemo.NoDCMBusShift=1` (unless network has a time source) | ||
| - `Config.MotionDemo.CmdMode=1` | ||
| - `Config.MotionDemo.Drive1.Address=1001` (depending on `eni.xml`) | ||
| - `Config.MotionDemo.Drive2.Address=0` (disable) | ||
| Download [here](ethercat-demo/DemoConfig.xml) the modified version. | ||
| Depending on the actual Drive connected to LP-AM243 additional parameters are required. | ||
| This specific example had originally been created for a Yaskawa drive. | ||
|  | ||
| #### Install EtherCAT network description to target device | ||
| The previously created configuration files must be installed on the Master: | ||
| - `eni.xml`: `/opt/acontis/Bin/Linux/aarch64/eni.xml` | ||
| - `DemoConfig.xml`: `/opt/acontis/Bin/Linux/aarch64/DemoConfig.xml` | ||
| Using ssh copy, with `scp` command or FileZilla is recommended: | ||
| scp eni.xml DemoConfig.xml root@<ip>:/opt/acontis/Bin/Linux/aarch64/ | ||
| ### Start EtherCAT Master with Motion Support | ||
| ``` | ||
| cd /opt/acontis/Bin/Linux/aarch64 | ||
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| # workaround: always enable eth1 first to avoid "icssg1-eth: settime timeout" | ||
| ifconfig eth1 up | ||
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| # limit auto-negotiation to 100Mbps | ||
| ethtool -s eth2 advertise 0xb | ||
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| # start interface | ||
| ifconfig eth2 up | ||
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| # start master stack with specific network configuration | ||
| ./EcMasterDemoMotion -sockraw eth2 -b 1000 -sp 0.0.0.0 -t 0 -f eni.xml -cfg DemoConfig.xml | ||
| ``` | ||
| #### Notes: | ||
| - The EtherCAT network **must have link before starting the `EcMasterDemo`**, i. e. subordinates connected and powered. | ||
| Otherwise error `Cannot configure EtherCAT-Master: ERROR: Ethernet link cable disconnected (0x9811002d))` is reported. | ||
| - If MotionDemo had **previously been interrupted, it may not start again** due to `0000013075: Cannot scan bus: ERROR: Time-out (0x98110010)`. | ||
| In this situation Power-Cycle of the subordinates is required. | ||
| ### Control LEDs & Motor | ||
| acontis EC-Engineer facilitates GUI Control of subordinates on the EtherCAT network, via remote access over IP: | ||
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| ### Automatic Startup (unattended) | ||
| TODO: System service / log files for automatic startup & remote configuration / debugging. |
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