Beckhoff EtherCAT IP Core for Altera FPGAs v3.0.10 Instrukcja Użytkownika Pobierz pdf (Strona 29)

Features and Registers

Slave Controller – IP Core for Altera FPGAs III-17

Feature

IP Core

Altera

®

V3.0.10

IP Core

Altera

®

V3.0.0-

3.0.9

Wait State byte(s)

x

x

Number of address extension

byte(s)

any

any

2/4 Byte SPI master support

x

x

Extended error detection (read

busy violation)

x

x

SPI_IRQ delay

x

x

Status indication

x

x

EEPROM_

Loaded signal

x

x

Asynchronous µController PDI

8/16 bit

8/16 bit

Extended µC configuration bits

0x0150[7:4], 0x0152:0x0153

x

x

ADR[15:13] available (000

b

if not

available)

x

x

EEPROM_Loaded signal

x

x

RD polarity configurable

(0x0150.7)

-

-

Read BUSY delay (0x0152.0)

x

x

Write after first edge (0x0152.2)

x

x

Synchronous µController PDI

-

-

On-Chip Bus PDI

x

x

Avalon

®

x

x

OPB

®

-

-

PLB v4.6

®

-

-

AXI3

TM

x

x

AXI4

TM

-

-

AXI4 LITE

TM

-

-

Bus clock [MHz] (N=1,2,3,…)

any

any

Data bus width [bits]

8/16/32/64

8/16/32/64

Prefetch cycles

1

1

DC SyncSignals available directly

and as IRQ

x

x

Bus clock multiplier in register

0x0150[6:0]

x

x

EEPROM_

Loaded signal

x

x

EtherCAT Bridge (port 3, EBUS/MII)

-

-

General Purpose I/O

x

x

GPO bits

0/8/16/

32/64

0/8/16/

32/64

GPI bits

0/8/16/

32/64

0/8/16/

32/64

GPIO available independent of

PDI or port configuration

x

x

GPIO available without PDI

x

x

Concurrent access to GPO by

ECAT and PDI

x

x

ESC Information

Basic Information

(0x0000:0x0006)

x

x

Port Descriptor (0x0007)

x

x

ESC Features supported

(0x0008:0x0009)

x

x

Extended ESC Feature

Availability in User RAM (0x0F80

ff.)

x

x

Write Protection (0x0020:0x0031)

c

c

Data Link Layer Features

ECAT Reset (0x0040)

c

c

PDI Reset (0x0041)

c

c

ESC DL Control (0x0100:0x0103)

bytes

4

4

EtherCAT only mode (0x0100.0)

x

x

Temporary loop control

(0x0100.1)

x

x

FIFO Size configurable

(0x0100[18:16])

x

x

Configured Station Address

(0x0010:0x0011)

x

x

Configured Station Alias

(0x0100.24, 0x0012:0x0013)

x

x

Feature

IP Core

Altera

®

V3.0.10

IP Core

Altera

®

V3.0.0-

3.0.9

Physical Read/Write Offset

(0x0108:0x0109)

c

c

Application Layer Features

Extended AL Control/Status bits

(0x0120[15:5], 0x0130[15:5])

x

x

AL Status Emulation (0x0140.8)

x

x

AL Status Code (0x0134:0x0135)

c

c

Interrupts

ECAT Event Mask

(0x0200:0x0201)

x

x

AL Event Mask (0x0204:0x0207)

c

c

ECAT Event Request

(0x0210:0x0211)

x

x

AL Event Request

(0x0220:0x0223)

x

x

SyncManager activation changed

(0x0220.4)

x

x

SyncManager watchdog

expiration (0x0220.6)

x

x

Error Counters

RX Error Counter

(0x0300:0x0307)

x

x

Forwarded RX Error Counter

(0x0308:0x030B)

x

x

ECAT Processing Unit Error

Counter (0x030C)

c

c

PDI Error Counter (0x030D)

c

c

Lost Link Counter

(0x0310:0x0313)

c

c

Watchdog

Watchdog Divider configurable

(0x0400:0x0401)

c

c

Watchdog Process Data

x

x

Watchdog PDI

x

x

Watchdog Counter Process Data

(0x0442)

x

x

Watchdog Counter PDI (0x0443)

x

x

SII EEPROM Interface (0x0500:0x050F)

EEPROM sizes supported

1 Kbyte-

4 Mbyte

1 Kbyte-

4 Mbyte

EEPROM size reflected in

0x0502.7

x

x

EEPROM controllable by PDI

x

x

EEPROM Emulation by PDI

c

c

EEPROM Emulation CRC error

0x0502[11] PDI writable

x

-

Read data bytes (0x0502.6)

4

4

Internal Pull-Ups for

EEPROM_CLK and

EEPROM_DATA

User logic

User logic

FMMUs

0-8

0-8

Bit-oriented operation

x

x

SyncManagers

0-8

0-8

Watchdog trigger generation for 1

Byte Mailbox configuration

independent of reading access

x

x

SyncManager Event Times

(+0x8[7:6])

c

c

Buffer state (+0x5[7:6])

x

x

Distributed Clocks

c

c

Width

32/64

32/64

Sync/Latch signals

4

(0-2 Sync-

Signals,

0- 2

Latch-

Signals)

4

(0-2 Sync-

Signals,

0- 2

Latch-

Signals)

SyncManager Event Times

(0x09F0:0x09FF)

c

c

DC Receive Times

c

c

DC Time Loop Control

controllable by PDI

c

c

DC activation by EEPROM

(0x0140[11:10])

-

-

1 2 ... 24 25 26 27 28 29 30 31 32 33 34 ... 140 141

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