# TI-RTOS

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TI-RTOS
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## Setting up and running EcMasterDemo

### Prerequisites, basic settings:

#### TI SDK RTOS v4.02 for AM335x/AM437x/AM57x

Make sure your Code Composer Studio uses the correct versions of SYS/BIOS, XDCtools and  PDK.
For TI SDK 4.02 corresponding versions are:

- XDCtools: 3.50.3_33_core
- PDK 1.0.9
- SYS/BIOS 6.52.0.12

Ensure environment variable PDK_INSTALL_PATH is pointing to the installed root directory of SDK.
E.g.: For AM572x demo project, PDK_INSTALL_PATH=C:/ti/pdk_am57xx_1_0_9/packages

#### TI SDK RTOS for AM654x

At least Version 9 of the Code Composer Studio is needed and together with the TI Processor SDK-rtos for am65xxevm Version 07.01.00.14 this lead to the packages:

- XDCtools: 3.61.3_29_core
- PDK 7.1.0.55
- SYS/BIOS 6.83.0.18

Ensure the environment variable PDK_INSTALL_PATH is pointing to the installed root directory of SDK.
For AM654x demo project, PDK_INSTALL_PATH=C:/ti/pdk_am65xx_07_01_00_55/packages

### How to create the demo applications

1. Create ENI file for EtherCAT® configuration.
   : xxd.exe is capable of converting ENI files to a C file as array, e.g. “xxd.exe -i eni.xml ENI.c”. Replace MasterENI.c file with the generated one.
2. On TI RTOS the EcMasterDemo can run with either a Real-time Ethernet Driver CPSW or ICSS.
   : Eg: AM572x with Real-time Ethernet Driver ICSS
     <br/>
     Workspace/TI-RTOS_AM57x in Code Composer Studio and import all projects from this directory:
     - EcMaster
     - emllICSS
     - EcMasterDemoICSS or
     - EcMasterDemoDcICSS
     <br/>
     Hardcoded parameters for the demo can be changed using DEMO_PARAMETERS definition.

### How to run the EC-Master demo applications

- The compiled `.out` application files of the demo can be uploaded to the device via JTAG debugger from Code Composer Studio Debugger.
- The SD Card bootable demo binary is generated as an APP file from post build script calling `pdkAppImageCreate.bat` from the PSDK package.

### How to run the EC-Master motion demo application

1. Create an appropriate ENI file as en EcMasterDemo with the xxd.exe tool
   : The DC configuration has to be done appropriately, please see the EtherCAT® general documentation and EC-Master manuals for details
2. Create an appropriate motion demo configuration file and copy it into the config directory of the project
   : See example in `Examples/EcMasterDemoMotion/Config/DemoConfig.xml`.
     See additional info in: `Examples/EcMasterDemoMotion/readme.txt`.
3. Convert `DemoConfig.xml` to C file `DemoConfig.c` as array.
4. Build the project and download it to the target processor.
5. The demo logging is done over UART.

#### SEE ALSO
[Running EcMasterDemo](gettingstarted_running-demo.html.md#running-ecmasterdemo)

## OS Compiler settings

Besides the general settings from [Compiling the EcMasterDemo](gettingstarted_compiling.html.md#compiling-the-ecmasterdemo) the following settings are necessary to build the example application for TI-RTOS.

Extra include paths
: ```default
  <InstallPath>/SDK/INC/TI-RTOS
  <InstallPath>/Examples/Common/TI-RTOS
  ```

Extra source paths
: ```default
  <InstallPath>/Examples/Common/TI-RTOS
  <InstallPath>/Sources/OsLayer/TI-RTOS
  ```

Extra library paths to the main EtherCAT® components
: ```default
  <InstallPath>/SDK/LIB/TI-RTOS
  ```