Integrated in MAIN domain: Two instances of the Programmable Real-Time Unit and Industrial Communication Subsystem - Gigabit (PRU_ICSSG) allows implementation of various high-performance industrial control algorithms and industrial interface standards such as PROFINET™ and EtherCAT®.
MAIN domain encompasses two identical PRU_ICSSG subsystems, each supporting the following main features, among others:
- Two Programmable Real-time Unit Subsystems (PRUSS), each with 3 PRU's:
- PRU:
- Asynchronous capture (Serial Capture Unit (SCU)] with EnDat 2.2 protocol and Sigma-Delta demodulation support
- 20 Enhanced General Purpose Inputs (EGPI) and 20 Enhanced General Purpose Outputs (EGPO)
- 12 KB program memory with ECC
- 2 KB Broadside RAM
- MAC (multiplier with optional accumulation)
- CRC16/CRC32 HW accelerator
- Byte Swap for Little/Big Endian Conversion
- SUM32 HW accelerator for UDP checksum
- Task Manager (Preemption Support)
- 128-Bit Wide PSI-L TX port
- Broadside (32 Byte) connection to MII_G_RT, Filter Database (FDB), IPC SPAD, ScratchPad, Memory (SPAD), Spinlock, XFR2VBUS, AUX_PRU (RTU) and TX_PRU
- AUX_PRU (RTU):
- 8 KB program memory with ECC
- 2 KB Broadside RAM
- MAC (multiplier with optional accumulation)
- CRC16/CRC32 HW accelerator
- Byte Swap for Little/Big Endian Conversion
- SUM32 HW accelerator for UDP checksum
- Task Manager (Preemption Support)
- 128-Bit Wide PSI-L 4RX / 1-TX
- XFR2TR, for accelerating the internal memory copy of worklist from TRs (Transfer Requests)
- Broadside (32 Byte) connection to MII_G_RT, Filter Database (FDB), IPC SPAD, ScratchPad, Memory (SPAD), Spinlock, PRU and TX_PRU
- TX_PRU:
- 6 KB program memory with ECC
- 2 KB Broadside RAM
- MAC (multiplier with optional accumulation)
- CRC16/CRC32 HW accelerator
- Byte Swap for Little/Big Endian Conversion
- SUM32 HW accelerator for UDP checksum
- Task Manager (Preemption Support)
- Broadside (32 Byte) connection to MII_G_RT (L2), ScratchPad Memory (SPAD), Spinlock, PRU and AUX_PRU (RTU)
- 64KB shared general purpose RAM with ECC
- Two 8KB data memories with ECC (one per slice)
- Two 256-bit VBUSM Controller
Ports
- Two Real-Time Ethernet MII_G_RT ports configurable to connect to each PRU to support multiple industrial communication protocols
- Two 10/100/1000 Ethernet Ports
- Two Industrial Ethernet Peripherals (IEP) to manage/generate Industrial Ethernet functions
- One Management Data Input/Output (MDIO) port to control external Ethernet PHY
- One UART 16550-compatible, with a dedicated 192 MHz to support 12 Mbps PROFIBUS
- Two industrial Ethernet 64-bit timers, each with 10 capture and 16 compare events, along with slow and fast compensation.
- One Enhanced Capture (ECAP) module
- One Pulse Width Modulation (PWM) module with flexible real time safety options and output behavior
- Supports up to 4 sets of 3-phased motor control, with 12 primary and 12 complimentary programmable PWM outputs.
- Up to 9 safety events with optional external trip I/O per PWM set with hardware glitch filter.
- One interrupt controller (INTC) with160 input events supported – 96 external, 64 internal
- ECC support for all internal memories
- Flexible power management support
Among the interfaces supported by the
PRU_ICSSG are real-time industrial protocols used in controller and target mode,
such as:
- EtherCAT®
- PROFINET™
- EtherNet/IP™
- PROFIBUS®
- Ethernet
Powerlink™
- SERCOS®