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Target System
The port EtherCAT stack is was implemented and tested with on the Microchip Board “EVB_LAN9255”.
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Toolchain
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Compiler/IDE: XC32 v1.42 / MPLABX IDE v6.05 (or newer)
Flash tool/Debugger: Microchip Pickit4
General information
The LAN9255 is a System on Chip solution. The EtherCAT Stack runs on the AT-SAM53x as host and is internal connected with CPU which is internally connected to a Microchip LAN9253 EtherCAT® slave controller via the SPI interface.
Only this interface to the LAN9253 is implemented.
The interrupt lines IRQ and SYNC0 from the LAN9253 chip are internal internally connected with the
external interrupt lines (pins PB23, PB16) from of the AT-SAM53x CPU.
The driver used uses some modules from of the LAN9255 Peripheral Library provided by Microchip.
The sources are taken from Microchip examples and are adapted as needed. These They are already included in the following delivered package folder:../
bsp/microchip/lan9255
You can find port’s EtherCAT example projects in the following folder of the delivery package: ../
examples/microchip_lan9255/
Additonal the The package support optionally supports a FreeRTOS implementation.
For acivation In order to activate this feature in the ethercat EtherCAT stack, the following project preprocessor defines are necessaryrequired:
EC_CONFIG_THREAD_SAFEEC_CONFIG_USE_FREERTOS
For a Please see the following folders for a working FreeRTOS implementation please see in the example folders:..\
examples
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/microchip_lan9255
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/s1_lan9255_freertos
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examples
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/microchip_lan9255
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/s10_lan9255_isr_pdi_dc_freertos
These two examples were created with FreeRTOS support. All other examples are bare metal projects.
The FreeRTOS sources are not part of the delivery.
Please download the sources from FreeRTOS (https://www.freertos.org/index.html).
Open IDE projects
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open
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the project from the examples folder
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from within the MPLABX IDE:
Now you can build both projects.
Next step: 2. Open the “Project Properties” and select the appropriate compiler toolchain and the connected debug Hardware Tool:
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The sample projects are designed with port’s ICC tool. The HW configuration uses the LAN9255 CPU entry. Shown here for example s1s01:
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Please install the ICC plugin for LAN9255 and use this setting also for your own customer projects.
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s01_lan9255:
SDO read and write
2 RX-PDOs and 2 TX-PDOs
object dictionary containing objects of various data types
bare metal or freertos FreeRTOS project version available
s03_lan9255:
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_lan9255:
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_lan9255:
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_lan9255:
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_lan9255:
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_lan9255_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
bare metal or freertos FreeRTOS project version available
s11_lan9255_cia402
EtherCAT slave with CiA 402 profile example application
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