Introduction to the Sitara™AM57x Processor Industrial ... Software for the AM57x •New model of...
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Introduction to the Sitara™AM57x Processor Industrial Software Development Kit (ISDK)
Transcript of Introduction to the Sitara™AM57x Processor Industrial ... Software for the AM57x •New model of...
Introduction to the Sitara™AM57x Processor Industrial Software Development Kit (ISDK)
Agenda • Provide an overview of the Industrial SDK Architecture
• Description of the ISDK capabilities and supported protocols
• Show AM57x and the ISDK supports an Industry 4.0 application
Industrial Software for the AM57x • New model of industrial protocol delivery for AM57x
• PRU-ICSS-Industrial-SW is delivered as additions to the PROCESSOR-SDK-RTOS-AM57X: RTOS Processor SDK for AM57x
• The PRU-ICSS-Industrial-SW tool folder contains individual packages for each industrial protocol:
– Available at www.ti.com/tool/PRU-ICSS-INDUSTRIAL-SW
• The current Industrial SDK for AM335x and AM437x will continued to be delivered with support for all of the industrial protocols until they migrated to PRU-ICSS-Industrial-SW and the PROCESSOR-SDK-RTOS architecture
Presenter
Presentation Notes
Unlike the previous SysBios Industrial SDKs Each Protocol and function in the PRU-ICSS-Industrial-SW is delivered as a separate addition to the PROCESSOR-SDK-RTOS-AM57X: RTOS Processor SDK for AM57xx
PRU-ICSS-SW Industrial Software Delivery • Each Industrial protocol package sits on top of Processor
SDK instead of as a stand-alone Industrial SDK.
• Industrial protocol packages are baseline to the Processor SDK:
– Better support – Ease of migration to other platforms – Improved maintenance of existing protocols – Simplify addition of new protocols
• This model will extend to “all” platforms: – AM335x and AM437x will move from Industrial SDK
to the new model in 2017
• This change is transparent for the stack architecture and engagements with third parties. No change is required from third parties.
New Model
Processor SDK
TI-RTOS
Bootloader
Tools Peripheral Drivers
Protocol Stack
Protocol Firmware
API
Protocol Driver
API
Protocol Stack
API
Protocol Driver
API
Protocol 1 Protocol N
Protocol Firmware
Presenter
Presentation Notes
AM57x Industrial SW is constructed as a set of separate releases on top of Processor SDK instead of as a separate Industrial SDK
Industrial SDK vs PRU-ICSS-INDUSTRIAL-SW
Third Party or Customer
TI
AM335x Industrial Application
Protocol Stack API
Peripheral Drivers
API
Protocol Driver
API
Protocol Firmware API
TI-RTOS
Boot Loader Tools
ARM
PRU-ICSS
Current Model: Industrial SDK (AM335x, AM437x)
ARM PRU
-ICSS ARM
Processor SDK
TI-RTOS
Bootloader
Tools Peripheral Drivers
Protocol Stack
Protocol Firmware
API
Protocol Driver
API
Protocol Stack
API
Protocol Driver
API
Protocol 1 Protocol N
New: Industrial Library Model (AM57x first)
Protocol Firmware
Presenter
Presentation Notes
AM57x Industrial SW is constructed as a set of separate releases on top of Processor SDK instead of as a separate Industrial SDK
PROFIBUS Slave
EtherCAT Slave
PROFINET RT/IRT slave
PROFIBUS Master HSR/ PRP …
Hardware
TI RTOS/Bare Metal Drivers EDMA3 ICSS-EMAC PCIe PRUSS
McSPI/QSPI GPIO UART ….. USB
I2C
MMCSD
Chip Support Library
EMAC
OS-
Inde
pend
ent
Soft
war
e
Platform/EVM Software Secondary Bootloader
Board Library
Diagnostics
FATFS
Algorithm Libraries DSPLIB IMGLIB MATHLIB
TI RTOS Kernel
Network
NDK or 3rd Party Stack
Software Framework Components Inter-Processor Communication
Framework Components
OS Abstraction Layer (OSAL) NIMU
Application OOB Demos
Industrial Libraries EtherCAT
Slave Stack
PROFINET RT/IRT
Slave Stack
Ethernet/ IP Slave
Stack
PROFIBUS Slave Stack
HSR/ PRP driver
PROFIBUS Master Stack
…
Future Offerings AM57x Industrial Software Stack
Presenter
Presentation Notes
Overview of the Processor SDK RTOS software stack. Processor SDK RTOS provides foundational software that is required to create bare-metal or TI RTOS based applications across wide variety of TI Processors. This architecture provides a unified look and feel to software on ARM only, DSP only and heterogeneous multi-core devices. Some of the key components in the SDK software are described in the slide. The basic low level components of the software consists of the chip support library and the low level drivers which are OS agnostic. The chip support library contains low level register level definitions and basic functionality to configure cores and registers on the device. The low level driver or LLD builds on top of the chip support library layer and provides an interface to operate and control the device peripherals. The SDK also provides bare metal code for configuring platforms and interacting with board specific components on the evaluation platforms. The platform software consists of the board library and diagnostics for validating board functionality in a manner that simplifies platform migration. It also contains tools and utilities to boot the SoC. For DSP developers, the SDK provide application specific DSP libraries that are optimized for the C66x DSP core. These libraries speed up development on the DSP and help developers take complete advantage of the DSP architecture. The platform software, the low –level drivers and the register and functional CSL layer are the bare-bone software elements that are OS agnostic. These can be used across various OSes or in an OS less systems. The SDK then adds TI RTOS based components that builds on top of the bare-metal drivers and platform libraries. TI RTOS provides the high level Real Time OS features to support real time application requirements. The TI RTOS components include a SYSBIOS kernel that provides all the OS services; Framework components which can be used to manage resources such as EDMA, memory between algorithms or application task, an OS abstraction layer, that acts as a bridge between the OS and the bare-metal code underneath, Network stack that consists of Network development kit (NDK) which provides network services Network Interface management Unit which acts as a transport layer between the network services and the ethernet driver. The Processor SDK RTOS is the baseline software that utilized for creating application specific SDKs. The PRU-ICSS-SW Industrial Software adds the industrial libraries and example applications. The example applications provide validated implementation and a convenient starting point for embedded developers to create their own industrial applications.
Hardware
TI RTOS/Bare Metal Drivers EDMA3 ICSS-EMAC PCIe PRUSS
McSPI/QSPI GPIO UART ….. USB
I2C
MMCSD
Chip Support Library
EMAC
OS-
Inde
pend
ent
Soft
war
e
Platform/EVM Software Secondary Bootloader
Board Library
Diagnostics
FATFS
Algorithm Libraries DSPLIB IMGLIB MATHLIB
TI RTOS Kernel
Network
NDK or 3rd Party Stack
Software Framework Components Inter-Processor Communication
Framework Components
OS Abstraction Layer (OSAL) NIMU
• Add in some cool DSP enablement Application OOB Demos
PROFIBUS Slave
EtherCAT Slave
PROFINET RT/IRT slave
PROFIBUS Master
Industrial Libraries EtherCAT
Slave Stack
PROFINET RT/IRT
Slave Stack
Ethernet/ IP Slave
Stack
PROFIBUS Slave Stack
HSR/ PRP driver
HSR/ PRP
PROFIBUS Master Stack
…
…
Future Offerings AM57x Industrial Software Stack
Presenter
Presentation Notes
The PRU-ICSS-SW Industrial Software adds the industrial libraries and example applications, to demonstrate the industrial applications and to provide a easy starting point for embedded developers for creating their own industrial applications on the TI Processor.
Industrial Protocol Library Example: EtherCAT Slave • Board: Board components included in Processor
SDK
• Documentation: – User Guide, Release Notes, Porting Guide, etc. – Future: Protocol data sheets
• Examples: Sample application for evaluation
• Projects: Scripts to generate CCS projects
• Protocols: SDK code, firmware and driver sources
• Third_party: Third party driver sources and evaluation libraries
Current Model: Industrial SDK New Model: Industrial Packages
Presenter
Presentation Notes
PRU-ICSS-SW Industrial Software has an improved directory structure that complements the individual protocol delivery.
EtherCAT Slave Controller
• Beckhoff Slave Stack Version 5.11 • All EtherCAT commands (NOP, APRD, APWR, APRW, FPRD, FPWR, FPRW, BRD, BWR, BRW, LRD, LWR, LRW,
ARMW and FRMW) • 8 Fieldbus Memory Management Units (FMMU) supported in firmware • 8 SYNC Manager (SM) supported in firmware (stack supports only 4) • 8KB process data RAM
SDK Industrial Communications SW: EtherCAT
Sitara AMxx Processor ARM
CorePac
Shared Memory
PRU-ICSS w/ EtherCAT
MII (xN)
PRU (xN)
Presenter
Presentation Notes
Overview of the EtherCAT PRU-ICSS Industrial Software for Sitara(TM) Processors
EtherCAT Slave Controller
• 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 – System Time Process Data Interface (PDI) control
• DL Loop Control: – Using MII_RX_LINK (fast - depending on PHY link loss detection latency) – Using PRU-ICSS MDIO state machine
NOTE: Not recommended for cable redundancy support, enhanced link detection in EtherCAT firmware
SDK Industrial Communications SW: EtherCAT
Sitara AMxx Processor ARM
CorePac
Shared Memory
PRU-ICSS w/ EtherCAT
MII (xN)
PRU (xN)
Presenter
Presentation Notes
Overview of the EtherCAT PRU-ICSS Industrial Software for Sitara(TM) Processors
EtherCAT Slave Controller
• Interrupts: – AL/ECAT events – SYNC0, SYNC1 and PDI interrupt events on external SoC pins
• Watchdog support for both PDI and Synchronization Mode (SM) parameters • Error Counters:
– RX Invalid Frame Counter Port 0/1 – RX ERR Counter Port 0/1 – Forwarded Error Counter Port 0/1 – ECAT Processing Unit Error Counter
SDK Industrial Communications SW: EtherCAT
Sitara AMxx Processor ARM
CorePac
Shared Memory
PRU-ICSS w/ EtherCAT
MII (xN)
PRU (xN)
Presenter
Presentation Notes
Overview of the EtherCAT PRU-ICSS Industrial Software for Sitara(TM) Processors
SDK Industrial Communications SW: EtherCAT
Sitara AMxx Processor ARM
CorePac
Shared Memory
PRU-ICSS w/ EtherCAT
MII (xN)
PRU (xN)
EtherCAT Slave Controller
• LED – Run, Error and Port0/1 activity based on firmware feedback – Controlled via GPIO from Host CPU or directly from PHY
• EEPROM emulation for QSPI flash non-volatile storage support • Management interface for PHY over EtherCAT • PHY address configuration and host side PRU-ICSS MDIO API for PHY programming • Cable redundancy support
Presenter
Presentation Notes
Overview of the EtherCAT PRU-ICSS Industrial Software for Sitara(TM) Processors
PROFINET RT/IRT Device • PROFINET I/O RT/IRT Device(slave) conforms to PROFINET
Conformance Classes A, B, and C functionality. • Integrated with Molex PROFINET stack • PROFINET I/O RT/IRT Device Features:
– Supports minimum cycle time of 250 µs – Integrated two-port cut-through switch, 100 Mb/s full duplex – PROFINET Quality of Service (QoS) – Up to 8 Application Relations (ARs) – Data Hold Timer – Discovery and Basic Configuration Protocol (DCP) Identify Filter – PROFINET Precision Time Control Protocol (PTCP)
SDK Industrial Communications SW: PROFINET
Presenter
Presentation Notes
Overview of the Profinet PRU-ICSS Industrial Software for Sitara(TM) Processors
PROFINET RT/IRT Device • Device features:
– 1 ms buffering per port – 8 IOCR with 40 to 1440 Bytes – 802.1d Learning Bridge for received source MAC addresses – PNIO static routing and custom Filter Data Base (FDB)
for multicast addresses – Interrupt Pacing – Watchdog: When host crashes/stops, then PRUs stop generating PPM frames.
• Compliant with PROFINET IO Tester Version 2.3.5.25.4437 • Compliant with PROFINET IRT SPIRTA Module Version 2.32.2.0002
SDK Industrial Communications SW: PROFINET
Presenter
Presentation Notes
Overview of the Profinet PRU-ICSS Industrial Software for Sitara(TM) Processors
SDK Software Components • SDK Software
– Code Composer Studio Integrated Development Environment – Processor SDK RTOS for AM57xx – Compiler GNU v4.8.4 (Linaro)
• Required Additions – Serial console terminal application (i.e., Tera Term, Minicom, HyperTerminal)
Presenter
Presentation Notes
The Primary components of the Processor SDK
PRU-ICSS-Industrial-SW Reference Documents Industrial Protocol Packages Common Documentation
Common Software Developer
Guide http://processors.wiki.ti.com/index.php/Industrial_Protocol_Package_Software_Developer_Guide
Getting Started Guide http://processors.wiki.ti.com/index.php/Industrial_Protocol_Package_Getting_Started_Guide
Protocol-specific Documentation
EtherCAT
Release notes http://processors.wiki.ti.com/index.php/PRU_ICSS_EtherCAT_Release_Notes
User Guide http://processors.wiki.ti.com/index.php/PRU_ICSS_EtherCAT
Protocol data sheet https://sps05.itg.ti.com/sites/tiisw/bu/armmpu/Documents/Industrial%20FieldBus/Datasheets/EtherCAT_Slave_Datasheet.doc
API documentation Part of installer package. Install respective protocol package and access documentation.
Profinet
Release notes http://processors.wiki.ti.com/index.php/PRU_ICSS_Profinet_Release_Notes
User Guide http://processors.wiki.ti.com/index.php/PRU_ICSS_Profinet
Protocol data sheet https://sps05.itg.ti.com/sites/tiisw/bu/armmpu/Documents/Industrial%20FieldBus/Datasheets/PROFINET_IRT_Slave_Datasheet.doc
API documentation Part of installer package. Install respective protocol package and access documentation.
Industry 4.0 Gateway
Industrial Communication and Control Platform for Industry 4.0
Presenter
Presentation Notes
Industry 4.0, often signified as the fourth industrial revolution, is in essence a living network of machines, people and products enabling real-time optimization of the entire manufacturing flow. Intelligent manufacturing promises higher production efficiency from factory floors all the way through the value chain of manufacturing, supplier and distribution.
TI = Innovation • Integrated Automation platform AM572x
– Computing performance with options to leverage • dual Cortex A15 • dual Cortex M4 • dual TMS320C66x floating point DSP
– Simultaneous access to 6-port Ethernet, including 4-port Industrial Ethernet – Industrial and high speed peripherals
• Multi-Protocol industrial communication
• Real-time synchronization – External event generation and synchronization – Internal time synchronization between multiple Ethernet ports
Presenter
Presentation Notes
AM572x Integrated Automation platform + Muti Protocol Industrial Communication + Real-Time Synchronization = Industry 4.0
Industry 4.0: Industrial Gateway
• Siemens S7-1500 PLC master
• Sitara AM572x IDK with SimpleLink:
o PROFINET IRT to EtherCAT Gateway:
PROFINET IRT device stack by Molex
EtherCAT master by Acontis
o Hardware Time Synchronization
o OPC UA uplink over Wireless LAN
o Matrikon OPC UA Server on AM572x
Presenter
Presentation Notes
In the factory, Industry 4.0 is a term for incorporating information technology into factories with greater connectivity from all devices and analytics such that processes are fed to cloud applications and analysis is done to make production quicker, safer and more efficient. Today equipment is able to connect via industrial Ethernet protocols, however there is no one standard protocol that is used. With multiple standards championed by different companies or groups of companies, there is a need for interoperability, or intelligent equipment that can bridge the different network protocols. The Industry 4.0 gateway connects many proprietary interfaces on the field level with higher-layer functions of the manufacturing process. Figure 1 shows an Industry 4.0 gateway based on a Sitara™ AM57x processor that has all of the elements needed to connect manufacturing floor with higher-layer functions of the production process bridging across multiple protocols.
Industry 4.0 Gateway Demonstration
ARM Cortex-A15 1.5GHz
1MB L2 Cache
Sitara AM572x
1M SRAM
PRU-ICSS1 PROFINET Device
PRU-ICSS2 EtherCAT Master
(Acontis Technologies)
1 Gb Ethernet Switch or WiFi
Internal Time Sync
Service Port: OPC UA
IEEE Ethernet
External Time Sync
External Time Sync
Master PLC Siemens S7-1500
PROFINET Controller
AM335x ICE
PRU-ICSS EtherCAT Slave
ARM Cortex-A8
1GHz AM335x ICE
PRU-ICSS PROFINET Slave
ARM Cortex-A8
1GHz
Data
For More Information • AM57x Sitara™ Processors
• Industrial Communications Overview
• TI Designs: – TIDEP0001: EtherCAT Communications Development Platform – TIDEP0029: Certified PROFINET IRT V2.3 Device with 1 GHz ARM Application Processor
• For questions regarding topics covered in this training, visit the support forums at the TI E2E Community website: http://e2e.ti.com
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