Introduction
This document describes the integration of the delivered EtherCAT example projects for TI TMS320F28388D target with the development environment TI Code Composer studioStudio.
Target System
The port EtherCAT stack is implemented and tested with TI TMDSCNCD28388D (F28388D controlCARD evaluation module) put on HSEC180 controlCARD Baseboard Docking Station.
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Compiler/IDE: Code Composer Studio v9.3 (or newer)
Flash tool/Debugger: Onboard TI XDS100v2 USB Debug Probe
General
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information
The TMS320F28388D is a multicore CPU. The EtherCAT Stack runs on Cortex-M4 core CM (Connectivity Manager). The chip chip’s internal EtherCAT controller is connected with to the CPU via the memory bus from the CPU (via 16bit memory access).
The EtherCAT driver and examples used use TI Software SDK TI C2000ware + Motor Control SDK. This package is available from TI web: https://www.ti.com/tool/C2000WARE-MOTORCONTROL-SDK
You can find port’s EtherCAT example projects you can find in the folder from of the delivery package:
../examples/ti_tms320f2838x/
Before you can run the EtherCAT Stack you must load a suitable SW project on Master CPU1 (C28x DSP core).
For a quick start you can use the TI example "f2838x_cpu1_allocate_ecat_to_cm" from the TI Software SDK / C2000ware.
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The search path shows the default path in the installed TI C2000ware/Motor Control SDK.
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Import the delivered EtherCAT example project from port for CPU core “Conectivity manager” (CM):
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alternatively: “Project --> Build Configurations --> Manage”
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Next step Now you can build both projects.
If build is successfully then both builds were successful you can load and run the binaries in the CPU cores:
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Available sample applications
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s01_tms320f28388x:
SDO read and write
2 RX-PDOs and 2 TX-PDOs
object dictionary containing objects of various data types
s01_tms320f28388x_cia401
EtherCAT slave with CiA 401 profile example application
s03_tms320f28388x:
SDO read and write
SDO Info service
SDO Info object names
2 RX-PDOs and 2 TX-PDOs
Split SDO-Access
Split NMT-Control
object dictionary containing objects of various data types
s04_tms320f28388x:
SDO read and write
SDO Info service
SDO Info object names
2 RX-PDOs and 2 TX-PDOs
Split SDO-Access
Split NMT-Control
object dictionary containing objects of various data types
EoE service with rudimentary ARP and IGMP support (ping)
FoE service
s05_tms320f28388x:
SDO read and write
SDO Info service
SDO Info object names
2 RX-PDOs and 2 TX-PDOs
object dictionary containing objects of various data types
virtual objects
s07_tms320f28388x:
SDO read and write
SDO Info service
SDO Info object names
2 RX-PDOs and 2 TX-PDOs
object dictionary containing objects of various data types
FoE mailbox service
BOOTSTRAP
NMT mode
s09_tms320f28388x:
SDO read and write
2 RX-PDOs and 2 TX-PDOs
object dictionary containing objects of various data types
dynamic PDO mapping with extension module usr_dynPdoMapping
s10_tms320f28388x_xxx:
Interrupt handling
xxx = isr: PDI Events are handled in an ISR
xxx = isr_dc: PDI Events and DC Events are handled in separate ISRs
s11_tms320f28388x_cia402
EtherCAT slave with CiA 402 profile example application