Overview

am261-main-app is a CCS-based ICS host application for the AM261x-LP platform. In the installed TICS100MOD SDK, the project is located under:

<TICS_SDK_INSTALL_DIR>\examples\ics-host\freertos-r5\am261-main-app

Import this folder into Code Composer Studio (CCS). The imported project is named ics-host-app-am261-freertos.

Item	Details
Host	AM261x-LP
Target	TICS100MOD
Host-target interface	SPI0 plus GPIO handshake and reset lines
Operating system	FreeRTOS (R5F)
Protocols	EtherCAT, EtherNet/IP, PROFINET
Project name	`ics-host-app-am261-freertos`

Prerequisites

Item	Details
Hardware	AM261x-LP, TICS100MOD (Carrier Board and ICS Development Board), 8 jumper wires, industrial network controller
Software	CCS, MCU+ SDK AM261X 26.0.0.06, SysConfig 1.27.0, TI Arm Clang 4.0.4.LTS
Target firmware	Firmware for the chosen protocol, flashed as described in the Quick Start Guide
Controller software	TwinCAT (EtherCAT), a PROFINET controller or tool (PROFINET), or an EtherNet/IP scanner (EtherNet/IP)

Install the listed products and make the MCU+ SDK available in CCS before importing and building the project.

Hardware Setup

Connect the AM261x-LP to the TICS100MOD target with jumper wires according to the table below.

Signal	AM261x-LP pin (host)	TICS100MOD pin (target)	Wiring Color Code
CLOCK	J1.7	SPI0_CLK	Blue
MOSI	J2.15	SPI0_D0	Red
MISO	J2.14	SPI0_D1	Green
TARGET REQUEST FEED	J2.19	SPI0_CS	Yellow
TARGET BUSY	J6.53	GPIO8	Orange
TARGET REQUEST	J8.78	GPIO14	Purple
TARGET RESET	J8.77	PORZ_HOST	Grey
GND	-	-	Black

AM261x-LP to TICS100MOD host interface connections

Warning: Power off both boards before changing any wiring.

Build

The project provides one build configuration for each supported protocol:

Configuration	Protocol
`Debug-ethernetip`	EtherNet/IP
`Debug-profinet`	PROFINET
`Debug-ethercat`	EtherCAT

Import am261-main-app into CCS.
In Project Explorer, right-click ics-host-app-am261-freertos.
Select Build Configurations -> Set Active and choose the configuration for your protocol.
Select Project -> Build Project.
Verify that the build completes without errors.

Run

Power on the host and target boards.
Make sure the target is running the firmware that matches the selected build configuration.
Connect the Ethernet port of the TICS100MOD target to the industrial network controller (for example, a PLC or TwinCAT PC), directly or through a switch.
Launch a CCS debug session for the AM261x-LP.
Load and run the application.

The controller-side operation for each protocol is described under "Bring the Bus State On" in the next section.

For the AM261x-LP SoC initialization and CCS loading procedure, see the MCU+ SDK CCS Launch, Load and Run guide. To run the host application from flash without CCS, follow the MCU+ SDK Flash a Hello World example guide and select the images generated by your build configuration.

Test the Application

The following tests are common to EtherNet/IP, PROFINET, and EtherCAT:

Auto increment variable test
Emergency variable test
LED test (network to target)
T2N test (target to network)

After Ics_start() succeeds, the application registers the read and write callbacks and creates the bus-state monitor, T2N, and LED test threads. The monitor periodically refreshes the BusState reported by the target. The T2N and LED threads perform their cyclic work while the bus state is On (true) and pause while it is Off (false).

The industrial network controller initiates the read and write requests used by the auto increment and emergency tests. The T2N and LED tasks run automatically once the bus state allows cyclic work.

Bring the Bus State On

The target updates the bus state automatically. Use the operation for the selected protocol:

Protocol	Controller operation and bus-state behavior
EtherCAT	Configure or scan the target in TwinCAT using the supplied ESI file, then bring it to OP (Operational). The target reports On when it enters OP and Off when it leaves OP.
PROFINET	Configure the controller using the supplied GSDML and the application's modules and submodules, then start controller communication to establish an Application Relationship (AR) with the target. The AR connection callback sets the bus state On; the disconnection callback sets it Off.
EtherNet/IP	Run the host application so that the target's EtherNet/IP adapter initializes. The target sets the bus state On after adapter initialization. For the cyclic tests, also establish an I/O connection from the controller with ForwardOpen, using Output Assembly `0x65` and Input Assembly `0x64`. The On flag alone does not establish this cyclic connection.

Keep the host application running with the matching protocol firmware on the target.
Connect the industrial network controller to the target's Ethernet interface and perform the operation listed above.
Run the tests below and verify the controller-visible values and the host LEDs.

Auto Increment Variable Test

Use the read request for the selected protocol:

Protocol	Read request
EtherCAT	In TwinCAT CoE - Online, read `Incr. by read`, index `0x2017`, subindex `0`.
EtherNet/IP	Send `Get_Attribute_Single` to Class `0x70`, Instance `0x01`, Attribute `0x380`.
PROFINET	Read record index `4096` for submodule `IDS_IOM_MAP` in module `IDM_IOM_V1`. The test variable is the first byte of the record.

From the controller, repeatedly read the variable listed above.
Check that successive reads return an incrementing value. Each read callback increments the value by 1 before returning it to the controller.

Emergency Variable Test

Use the write request for the selected protocol:

Protocol	Write request
EtherCAT	In TwinCAT CoE - Online, write `Emergency message`, index `0x200C`, subindex `0`.
EtherNet/IP	Send `Set_Attribute_Single` to Class `0x70`, Instance `0x01`, Attribute `0x381`.
PROFINET	Write record index `4096` for submodule `IDS_IM_MAP` in module `IDM_IM_V1`. Put the test value in the first byte of the record.

In CCS, open freertos-app/ics_app.c, set a breakpoint at the start of OnWrite_EmergencyMsg, and resume the host application.
From the controller, write a value such as 101 to the variable listed above.
When the breakpoint is reached, step over IcsObject_get(object, ICS_UINT32(value)) and inspect the local variable value in CCS. It should equal 101. Resume the application.
Repeat with another value and verify that the callback receives the new value.

Note: Emergency output-pin control is disabled in the current AM261x-LP example, so this test validates the write callback and the received value only.

LED Test (Network to Target)

Use the LED output variable for the selected protocol:

Protocol	Output variable
EtherCAT	TwinCAT RxPDO variable `i2c-leds`, index `0x2000`, subindex `2`.
EtherNet/IP	First byte of Output Assembly `0x65`, mapped to Class `0x70`, Instance `0x01`, Attribute `0x310`.
PROFINET	First byte of the four-byte output submodule `IDS_TIO4` in module `IDM_IOM_V1`.

Establish cyclic communication with the controller.
Write 255 (0xFF) to the LED output variable, then write 0.
Check the AM261x-LP industrial LEDs. All eight LEDs should be ON for 255 and OFF for 0.

T2N Test (Target to Network)

Use the input variable for the selected protocol:

Protocol	Input variable
EtherCAT	TwinCAT TxPDO variable `Test Record`, `SubIndex 4`, index `0x2002`, subindex `4`.
EtherNet/IP	First two bytes of Input Assembly `0x64`, mapped to Class `0x70`, Instance `0x01`, Attribute `0x300`.
PROFINET	Two-byte input submodule `IDS_TI2` in module `IDM_IOM_V1`.

Establish cyclic communication with the controller.
Monitor the input variable listed above.
Verify that the controller receives a changing 16-bit value. While the bus state is On, the host increments and applies this value with a 10 ms delay between iterations.

For controller setup and protocol-specific network operations, see the Linux Host AM64x-EVM example. Its Linux console commands apply only to the Linux host application; use the procedures on this page for the FreeRTOS example.

Limitations

The EtherCAT FoE demo is not supported by the am261-main-app host application.

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