SPRACH6D January   2019  – September 2021 66AK2G12 , AM2431 , AM2432 , AM2434 , AM3356 , AM3357 , AM3358 , AM3359 , AM4376 , AM4377 , AM4378 , AM4379 , AM5706 , AM5708 , AM5716 , AM5718 , AM5726 , AM5728 , AM5729 , AM5746 , AM5748 , AM5749 , AM6411 , AM6412 , AM6421 , AM6441 , AM6442 , AMIC110 , AMIC120

 

  1.   Trademarks
  2. 1Introduction
  3. 2Communication Protocols
    1. 2.1 PROFINET
    2. 2.2 EtherCAT
    3. 2.3 EtherNet/IP
    4. 2.4 IO-Link
    5. 2.5 Simple Open Real-Time Ethernet (SORTE)
    6. 2.6 Parallel Redundancy Protocol (PRP)
    7. 2.7 High-Availability Seamless Redundancy (HSR)
    8. 2.8 OPC UA
    9. 2.9 Modbus TCP/IP
  4. 3Position Encoders
    1. 3.1 EnDat 2.2
    2. 3.2 HIPERFACE DSL
    3. 3.3 Tamagawa
    4. 3.4 BiSS- C
  5. 4Sitara Support for 3rd Party Protocol Stacks
  6.   Revision History

1 Introduction

Industrial communication is typically handled by the Programmable Real-Time Unit Industrial Communication Subsystem (PRU-ICSS) in Sitara processors and microcontrollers (MCUs). The PRU-ICSS is a co-processor subsystem containing Programmable Real-Time (PRU) cores and Ethernet media access controllers (EMACs), which implement the low level industrial Ethernet and fieldbus protocols through firmware. The upper layers of the protocols stacks are implemented in software running on Arm cores. Three models for this protocol software are supported, full stacks from TI, 3rd party protocol stacks or a customer can use their own stack.

PRU cores are primarily used for industrial communication, and can also be used for other applications such as motor control and custom interfaces. The PRU-ICSS frees up the main Arm cores in the device for other functions, such as control and data processing.

This document describes certified industrial protocols supported directly by TI powered by Kunbus technology. The protocols are provided by TI and have been validated and certified on the evaluation boards. For production the only requirement is to use a part number which enables the stacks. The MCU+ SDK Industrial Toolkit contains the binary version of the industrial communication protocol which will run on AM64x and AM243x devices that enable full stack support designated with F (underlined and in bold) in the part number such as AM2432ASFGHAALXR. This is also shown in field f of the device-specific data sheet as shown in Figure 1-1. All evaluation modules, starter kits and launchpads use a part number enabling the stacks.

GUID-20200731-CA0I-NBMJ-TTT7-FGXWGV15XSLN-low.gif Figure 1-1 Package Marking (letter at location f determines support for full stacks)

The PRU-ICSS is flexible and powerful enough to support most industrial communications protocols. Currently the Sitara devices support 100-Mb versions of the protocols. The AM6x and AM243x families feature an upgraded PRU-ICSS that supports capability for gigabit speeds and Time Sensitive Networking (TSN) features. TI is continuously working both at TI and with their third party partners to expand their offerings, so if a specific protocol is not explicitly shown in this document, reach out to TI through E2E or contact your local TI sales representative.

GUID-20210107-CA0I-TWRQ-XJCG-7M7KVQWTQ12W-low.gif Figure 1-2 Implementation Using the Integrated Industrial Communication Stack

Sitara further supports protocols supported by TI firmware with a third party stack, as well as several other protocols supported by third party partners. AM335x, AM437x, and AM57x families support this 3rd party model. For AM64x and AM243x the third party model is supported as well for all part numbers except for the letter C (at location f). For a comprehensive list of all third parties supporting PRU-ICSS industrial communication, see Processors Third Party Search Tool.