Hardware Data Sheet Section III
ET1810 / ET1811 / ET1812
Slave Controller
IP Core for Altera® FPGAs
Release 3.0.10
Section I – Technology
(Online at http://www.beckhoff.com)
Section II – Register Description
(Online at http://www.beckhoff.com)
Section III – Hardware Description
Installation, Configuration, Resource
consumption, Interface specification
Version 1.0
Date: 2015-01-20
DOCUMENT ORGANIZATION
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE® and XFC® are registered trademarks of and licensed by
Beckhoff Automation GmbH & Co. KG. Other designations used in this publication may be trademarks whose use by third
parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following German patent applications and patents:
DE10304637, DE102004044764, DE102005009224, DE102007017835 with corresponding applications or registrations in
various other countries.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under development. For that
reason the documentation is not in every case checked for consistency with performance data, standards or other
characteristics. In the event that it contains technical or editorial errors, we retain the right to make alterations at any time and
without warning. No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
The Beckhoff EtherCAT Slave Controller (ESC) documentation covers the following Beckhoff ESCs:
ET1200
ET1100
EtherCAT IP Core for Altera® FPGAs
EtherCAT IP Core for Xilinx® FPGAs
ESC20
The documentation is organized in three sections. Section I and section II are common for all Beckhoff
ESCs, Section III is specific for each ESC variant.
The latest documentation is available at the Beckhoff homepage (http://www.beckhoff.com).
Section I – Technology (All ESCs)
Section I deals with the basic EtherCAT technology. Starting with the EtherCAT protocol itself, the
frame processing inside EtherCAT slaves is described. The features and interfaces of the physical
layer with its two alternatives Ethernet and EBUS are explained afterwards. Finally, the details of the
functional units of an ESC like FMMU, SyncManager, Distributed Clocks, Slave Information Interface,
Interrupts, Watchdogs, and so on, are described.
Since Section I is common for all Beckhoff ESCs, it might describe features which are not available in
a specific ESC. Refer to the feature details overview in Section III of a specific ESC to find out which
features are available.
Section II – Register Description (All ESCs)
Section II contains detailed information about all ESC registers. This section is also common for all
Beckhoff ESCs, thus registers, register bits, or features are described which might not be available in
a specific ESC. Refer to the register overview and to the feature details overview in Section III of a
specific ESC to find out which registers and features are available.
Section III – Hardware Description (Specific ESC)
Section III is ESC specific and contains detailed information about the ESC features, implemented
registers, configuration, interfaces, pinout, usage, electrical and mechanical specification, and so on.
Especially the Process Data Interfaces (PDI) supported by the ESC are part of this section.
Additional Documentation
Application notes and utilities can also be found at the Beckhoff homepage. Pinout configuration tools
for ET1100/ET1200 are available. Additional information on EtherCAT IP Cores with latest updates
regarding design flow compatibility, FPGA device support and known issues are also available.
III-II Slave Controller – IP Core for Altera FPGAs
DOCUMENT HISTORY
Version
Comment
1.0
Initial release EtherCAT IP Core for Altera FPGAs 3.0.10
DOCUMENT HISTORY
Slave Controller – IP Core for Altera FPGAs III-III
CONTENTS
CONTENTS
1 Overview 1
1.1 Frame processing order 2
1.2 Scope of this document 3
1.3 Scope of Delivery 3
1.4 Target FPGAs 4
1.5 Designflow requirements 4
1.6 Tested FPGA/Designflow combinations 5
1.7 Release Notes 6
1.7.1 Major differences between V2.4.x and V3.0.x 12
1.7.2 Reading IP Core version from device 12
1.8 Design flow 13
1.9 OpenCore Plus Evaluation 14
1.10 Simulation 15
2 Features and Registers 16
2.1 Features 16
2.2 Registers 19
2.3 Extended ESC Features in User RAM 22
3 IP Core Installation 26
3.1 Installation on Windows PCs 26
3.1.1 System Requirements 26
3.1.2 Installation 26
3.2 Installation on Linux PCs 27
3.2.1 System Requirements 27
3.2.2 Installation 27
3.3 Files located in the lib folder 27
3.4 License File 28
3.5 IP Core Vendor ID package 29
3.6 Integrating the EtherCAT IP Core into the Altera Designflow 30
3.6.1 Software Templates for example designs with NIOS processor 30
3.7 EtherCAT Slave Information (ESI) / XML device description for example designs 30
4 IP Core Usage 31
4.1 IP Catalog 31
4.2 Qsys 31
5 IP Core Configuration 32
5.1 Documentation 33
5.2 Parameters 34
5.2.1 Product ID tab 34
5.2.2 Physical Layer tab 35
5.2.3 Internal Functions tab 37
III-IV Slave Controller – IP Core for Altera FPGAs
CONTENTS
5.2.4 Feature Details tab 39
5.2.5 Process Data Interface tab 41
6 Example Designs 49
6.1 EBV Cyclone III DBC3C40 with Digital I/O 50
6.1.1 Configuration and resource consumption 50
6.1.2 Functionality 50
6.1.3 Implementation 50
6.1.4 SII EEPROM 50
6.1.5 Downloadable configuration file 51
6.2 EBV Cyclone IV DBC4CE55 with NIOS 52
6.2.1 Configuration and resource consumption 52
6.2.2 Functionality 52
6.2.3 Implementation 52
6.2.4 SII EEPROM 53
6.2.5 Downloadable configuration file 53
6.3 Altera Cyclone IV DE2-115 with NIOS and MII 54
6.3.1 Configuration and resource consumption 54
6.3.2 Functionality 54
6.3.3 Implementation 55
6.3.4 SII EEPROM 55
6.3.5 Downloadable configuration file 55
6.4 Altera Cyclone IV DE2-115 with NIOS and RGMII 56
Slave Controller – IP Core for Altera FPGAs III-XI
ABBREVIATIONS
µC
Microcontroller
ADR
Address
AL
Application Layer
AMBA®
Advanced Microcontroller Bus Architecture from ARM®
AXITM
Advanced eXtensible Interface Bus, an AMBA interconnect. Used as On-Chip-bus
BHE
Bus High Enable
CMD
Command
CS
Chip Select
DC
Distributed Clock
DL
Data Link Layer
ECAT
EtherCAT
ESI
EtherCAT Slave Information
EOF
End of Frame
ESC
EtherCAT Slave Controller
FMMU
Fieldbus Memory Management Unit
FPGA
Field Programmable Gate Array
GPI
General Purpose Input
GPO
General Purpose Output
HDL
Hardware Description Language
IP
Intellectual Property
IRQ
Interrupt Request
LC
Logic Cell
LE
Logic Element
MAC
Media Access Controller
MDIO
Management Data Input / Output
MI
(PHY) Management Interface
MII
Media Independent Interface
MISO
Master In – Slave Out
MOSI
Master Out – Slave In
PDI
Process Data Interface
PLD
Programmable Logic Device
PLL
Phase Locked Loop
RBF
Raw Binary File
RD
Read
RMII
Reduced Media Independent Interface
SM
SyncManager
SoC
System on a Chip
SOF
Start of Frame
SOPC
System on a programmable Chip
SPI
Serial Peripheral Interface
VHDL
Very High Speed Integrated Circuit Hardware Description Language
WR
Write
ABBREVIATIONS
III-XII Slave Controller – IP Core for Altera FPGAs
Overview
Feature
IP Core configurable features
Ports
1-3 MII ports or 1-3 RGMII ports 1-2 RMII ports
FMMUs
0-8
SyncManagers
0-8
RAM
0-60 KB
Distributed Clocks
Yes, 32 bit or 64 bit
Process Data Interfaces
32 Bit Digital I/O (unidirectional)
SPI Slave
8/16 bit asynchronous µController Interface
Avalon® on-chip bus
AMBA® AXI3TM on-chip bus
Other features
Example designs for easy start up included
Slave applications can run on-chip if the appropriate FPGAs with
sufficient resources are used
ECAT
Processing
Unit
AutoForwarder +
Loopback
SyncManager
FMMU
ESC address space
User RAMRegistersProcess RAM
EEPROM
Distributed
Clocks
MonitoringStatus
PHY
Management
SYNCLEDsI²C EEPROM
PHY MI
SPI / µC / Digital I/O /
Avalon / AXI3
02
MII ports
LATCH
PDI
ECAT InterfacePDI Interface
1
ResetReset
1 Overview
The EtherCAT IP Core is a configurable EtherCAT Slave Controller (ESC). It takes care of the
EtherCAT communication as an interface between the EtherCAT fieldbus and the slave application.
The EtherCAT IP Core is delivered as a configurable system so that the feature set fits the
requirements perfectly and brings costs down to an optimum.
Table 1: IP Core Main Features
The general functionality of the EtherCAT IP Core is shown in Figure 1:
The frame processing order of the EtherCAT IP Core is as follows (logical port numbers are used):
Table 2: Frame Processing Order
Figure 2 shows the frame processing in general:
Figure 2: Frame Processing
Frame Processing Example with Ports 0 and 1
A frame received at port 0 goes via the Auto-Forwarder and the Loopback function to the EtherCAT
Processing Unit which processes it. Then, the frame is sent to port 1. If port 1 is open, the frame is
sent out at port 1. If it is closed, the frame is forwarded by the Loopback function to port 2. Since port 2
is not configured, the Loopback function of port 2 forwards the frame to the Loopback function of port
0, and then it is sent out at port 0 – back to the master.
III-2 Slave Controller – IP Core for Altera FPGAs
Overview
1.2 Scope of this document
Purpose of this document is to describe the installation and configuration of the EtherCAT IP Core for
Altera FPGAs. Furthermore, the signals and registers of the IP Core depending on the chosen
configuration are described.
This documentation was made with the assumption that the user is familiar with the handling of the
Altera Quartus® Development Environment.
1.3 Scope of Delivery
The EtherCAT IP Core installation file includes:
EtherCAT IP Core (encrypted VHDL library)
Example designs
The following files which contain customer specific information are required to synthesize the IP Core.
They are delivered independently of the installation file.
License File to decrypt EtherCAT IP Core: license_<company>_<Dongle/MAC ID>_<date>.dat
Encrypted Vendor ID package: pk_ECAT_VENDORID_<company>_Altera.vhd
Slave Controller – IP Core for Altera FPGAs III-3
Overview
1.4 Target FPGAs
The EtherCAT IP Core for Altera® FPGAs is targeted at these FPGA families:
Altera Cyclone® II, Cyclone III, Cyclone III LS, Cyclone IV E+GX, Cyclone V
Altera Cyclone V SoC
Altera Stratix®, Stratix II, Stratix III, Stratix IV, Stratix V
Altera Arria® GX, Arria II GX, Arria II GZ, Arria V
Altera Stratix® GX, Stratix II GX
Intel® AtomTM Processor E6x5C (formerly Stellarton)
Altera MAX10
The EtherCAT IP Core is designed to support a wide range of FPGAs without modifications, because
it does not instantiate dedicated FPGA resources, or rely on device specific features. Thus, the IP
Core is easily portable to new FPGA families.
The complexity of the IP Core is highly configurable, so its demands for logic resources, memory
blocks, and FPGA speed cover a wide range. Thus, it is not possible to run any IP Core configuration
on any target FPGA with any speed grade. I.e., there are IP Core configurations requiring a faster
speed grade, or a larger FPGA, or even a more powerful FPGA family.
It is necessary to run through the whole synthesis process – including timing checks –, to evaluate if
the selected FPGA is suitable for a certain IP Core configuration before making the decision for the
FPGA. Please consider a security margin for the logic resources to allow for minor enhancements and
bug fixes of the IP Core and the user logic.
1.5 Designflow requirements
For synthesis of the EtherCAT IP Core for Altera FPGAs, at least one of the following Altera Quartus II
versions is needed (with latest service pack):
Altera Quartus II version 13.0
Altera Quartus II version 13.1
Altera Quartus II version 14.0
Altera Quartus II version 14.1
Higher Quartus II versions are probably supported. Installation of the latest service pack is
recommended. A free version (“Web Edition”) is available from Altera (http://www.altera.com).
Optionally for using the EtherCAT IP Core with a NIOS® based Qsys design, you will need
Altera Nios II Embedded Design Suite
III-4 Slave Controller – IP Core for Altera FPGAs
Overview
IP
Core
Family
Device
Designflow
Test
Used Example
Designs
3.0.10
Cyclone III
EP3C40
Quartus II 13.1.4
Hardware
DBC3C40 Digital
I/O
Cyclone III LS
EP3CLS200
Quartus II 13.1.4
Synthesis
Cyclone IV E
EP4CE55
Quartus II 14.1
Hardware
DBC4CE55 Nios
Cyclone IV E
EP4CE115
Quartus II 14.1
Hardware
DE2-115 Nios
Cyclone V
5CEBA2
Quartus II 14.1
Synthesis
Cyclone V SoC
5CSEMA5
Quartus II 14.1
Synthesis
Stratix III
EP3SE50
Quartus II 13.1.4
Synthesis
Stratix IV E
EP4SE230
Quartus II 14.1
Synthesis
Stratix IV GT
EP4S40G
Quartus II 14.1
Synthesis
Stratix IV GX
EP4SGX70
Quartus II 14.1
Synthesis
Stratix V
5SGSMD4
Quartus II 14.1
Synthesis
Arria II GX
EP2AGX45
Quartus II 14.1
Synthesis
Arria V
5AGXMB3
Quartus II 14.1
Synthesis
Arria V GZ
5AGZME5
Quartus II 14.1
Synthesis
Intel Atom
E6x5C
EP2AGXE
6XXFPGA
Quartus II 13.1.4
Synthesis
MAX10
10M40DA
Quartus II 14.1
Synthesis
1.6 Tested FPGA/Designflow combinations
The EtherCAT IP Core has been synthesized successfully with different Quartus II versions and FPGA
families. Table 3 lists combinations of FPGA devices and design tools versions which have been
synthesized or even tested in real hardware. This list does not claim to be complete, it just illustrates
that the EtherCAT IP Core is designed to comply with a broad spectrum of FPGAs.
Table 3: Tested FPGA/Designflow combinations
NOTE: Synthesis test means analysis, synthesis, fitter, and assembler. Hardware test means the design was
operational using real hardware.
NOTE: Turn on Analysis & Synthesis option: Auto RAM Replacement, otherwise the RAM inside the IP Core will
be implemented with individual registers.
Refer to the Hardware Data Sheet Section III Addendum available at the Beckhoff homepage
(http://www.beckhoff.com) for latest updates regarding device support, design flow compatibility, and
known issues.
Slave Controller – IP Core for Altera FPGAs III-5
Overview
Version
Release notes
3.0.0
(3/2013)
Update to Quartus II 11.0 with Qsys support
Removed small/medium/large register sets, added updated preset configurations
Enhancements:
Increased PDI performance
Support for 8/16/32/64 bit Avalon and AXI3TM interface
Support for RGMII ports (added DE2-115 RGMII example design)
Native support for FX PHYs
Support for individual PHY address configuration and reading out this
configuration
Support for static or dynamic PHY address configuration
Support for 0 KB Process RAM, DC Sync/Latch signals individually configurable,
LED test added
Support for PDI SyncManager/IRQ acknowledge by Write command
Device emulation is now configured in the GUI statically.
Restrictions of this version, which are removed in V3.0.1:
Distributed Clocks are not available
AXI PDI is not available
RMII is not available
A time limit of 1 hour for evaluation purposes is enabled even without OpenCore
Plus
The DBC3C40 and DBC4CE55 example designs are occasionally causing the
PHY port 0 to fall into Isolate mode
Restrictions of this version, which are removed in V3.0.2:
EEPROM Emulation is not available
General purpose output byte 7 is not available
Restrictions of this version, which are removed in V3.0.5:
The AXI PDI may occasionally write incorrect data if simultaneous read and write
accesses occur repeatedly.
RX FIFO size is not initialized by SII EEPROM
Restrictions of this version, which are removed in V3.0.6:
The ERR LED does not allow overriding using the ERR LED Override register
0x0139 while AL Status register Error Indication bit 0x0130[4] is set.
Restrictions of this version, which are removed in V3.0.9:
The AXI PDI may not complete an access occasionally if overlapping read and
write accesses occur, causing the processor to wait endlessly.
The AXI PDI does not execute read accesses correctly if ARSIZE is smaller than
the AXI bus width.
Restrictions of this version, which are removed in V3.0.10:
The last 4 Kbyte Process Data RAM (0xF000:0xFFFF) cannot be used in the 60
Kbyte RAM configuration.
The AXI PDI may write to wrong bytes if the write data is valid before the address,
1.7 Release Notes
EtherCAT IP Core updates deliver feature enhancements and removed restrictions. Feature
enhancements are not mandatory regarding conformance to the EtherCAT standard. Restrictions
have to be judged whether they are relevant in the user’s configuration or not, or if workarounds are
possible.
Table 4: Release notes
III-6 Slave Controller – IP Core for Altera FPGAs
Overview
Version
Release notes
which is typically true for AXI4LITE.
The AXI PDI may read additional bytes after the intended bytes.
The AXI PDI may write additional bytes to byte lanes without byte enable, if User
RAM (0x0F80:0x0FFF) or Process Data RAM (0x01000 ff.) is written, if the actual
write address on the bus is 32 bit aligned (AWADDR[1:0]=00), and if one or more
of the lower byte enables/byte strobes (WSTRB) is not set.
3.0.1
(3/2013)
Enhancements:
Integration into Quartus II 13.0 added
Removed PDI_AXI_IRQ_DC_SYNC0/1 signals to support Quartus II 12.1/13.0
(use Qsys IRQ bridge to use DC SyncSignals as interrupts)
Restrictions of previous versions which are removed in this version:
Distributed Clocks are available
AXI PDI is available
RMII is available
A time limit of 1 hour for evaluation purposes is only enabled with OpenCore Plus
The DBC3C40 and DBC4CE55 example designs are preventing the PHY port 0
from falling into Isolate mode
Restrictions of this version, which are removed in V3.0.2:
EEPROM Emulation is not available
General purpose output byte 7 is not available
Restrictions of this version, which are removed in V3.0.5:
The AXI PDI may occasionally write incorrect data if simultaneous read and write
accesses occur repeatedly.
RX FIFO size is not initialized by SII EEPROM
Restrictions of this version, which are removed in V3.0.6:
The ERR LED does not allow overriding using the ERR LED Override register
0x0139 while AL Status register Error Indication bit 0x0130[4] is set.
Restrictions of this version, which are removed in V3.0.9:
The AXI PDI may not complete an access occasionally if overlapping read and
write accesses occur, causing the processor to wait endlessly.
The AXI PDI does not execute read accesses correctly if ARSIZE is smaller than
the AXI bus width.
Restrictions of this version, which are removed in V3.0.10:
The last 4 Kbyte Process Data RAM (0xF000:0xFFFF) cannot be used in the 60
Kbyte RAM configuration.
The AXI PDI may write to wrong bytes if the write data is valid before the address,
which is typically true for AXI4LITE.
The AXI PDI may read additional bytes after the intended bytes.
The AXI PDI may write additional bytes to byte lanes without byte enable, if User
RAM (0x0F80:0x0FFF) or Process Data RAM (0x01000 ff.) is written, if the actual
write address on the bus is 32 bit aligned (AWADDR[1:0]=00), and if one or more
of the lower byte enables/byte strobes (WSTRB) is not set.
Slave Controller – IP Core for Altera FPGAs III-7
Overview
Version
Release notes
3.0.2
(5/2013)
Enhancements:
MI link detection: relaxed checking of PHY register 9 (1000Base-T Master-Slave
Control register)
Restrictions of previous versions which are removed in this version:
EEPROM Emulation is available
General purpose output byte 7 is available
Restrictions of this version, which are removed in V3.0.5:
The AXI PDI may occasionally write incorrect data if simultaneous read and write
accesses occur repeatedly.
RX FIFO size is not initialized by SII EEPROM
Restrictions of this version, which are removed in V3.0.6:
The ERR LED does not allow overriding using the ERR LED Override register
0x0139 while AL Status register Error Indication bit 0x0130[4] is set.
Restrictions of this version, which are removed in V3.0.9:
The AXI PDI may not complete an access occasionally if overlapping read and
write accesses occur, causing the processor to wait endlessly.
The AXI PDI does not execute read accesses correctly if ARSIZE is smaller than
the AXI bus width.
Restrictions of this version, which are removed in V3.0.10:
The last 4 Kbyte Process Data RAM (0xF000:0xFFFF) cannot be used in the 60
Kbyte RAM configuration.
The AXI PDI may write to wrong bytes if the write data is valid before the address,
which is typically true for AXI4LITE.
The AXI PDI may read additional bytes after the intended bytes.
The AXI PDI may write additional bytes to byte lanes without byte enable, if User
RAM (0x0F80:0x0FFF) or Process Data RAM (0x01000 ff.) is written, if the actual
write address on the bus is 32 bit aligned (AWADDR[1:0]=00), and if one or more
of the lower byte enables/byte strobes (WSTRB) is not set.
III-8 Slave Controller – IP Core for Altera FPGAs
Overview
Version
Release notes
3.0.5
(2/2014)
Enhancements:
Improved MegaWizard GUI: shows on-chip bus speed and configuration details
Example designs using Qsys include .qip file instead of .qsys file (Qsys
constraints are used now)
Restrictions of previous versions which are removed in this version:
The AXI PDI writes correct data if simultaneous read and write accesses occur
repeatedly.
RX FIFO size is properly initialized by SII EEPROM
Restrictions of this version, which are removed in V3.0.6:
The ERR LED does not allow overriding using the ERR LED Override register
0x0139 while AL Status register Error Indication bit 0x0130[4] is set.
Restrictions of this version, which are removed in V3.0.9:
The AXI PDI may not complete an access occasionally if overlapping read and
write accesses occur, causing the processor to wait endlessly.
The AXI PDI does not execute read accesses correctly if ARSIZE is smaller than
the AXI bus width.
Restrictions of this version, which are removed in V3.0.10:
The last 4 Kbyte Process Data RAM (0xF000:0xFFFF) cannot be used in the 60
Kbyte RAM configuration.
The AXI PDI may write to wrong bytes if the write data is valid before the address,
which is typically true for AXI4LITE.
The AXI PDI may read additional bytes after the intended bytes.
The AXI PDI may write additional bytes to byte lanes without byte enable, if User
RAM (0x0F80:0x0FFF) or Process Data RAM (0x01000 ff.) is written, if the actual
write address on the bus is 32 bit aligned (AWADDR[1:0]=00), and if one or more
of the lower byte enables/byte strobes (WSTRB) is not set.
Slave Controller – IP Core for Altera FPGAs III-9
Overview
Version
Release notes
3.0.6
(4/2014)
Enhancements:
The Sync/Latch PDI Configuration register 0x0151 shows the same value as
previous IP Core versions. The actual configuration is not affected, since it is fixed
by the IP Core configuration.
Avalon/AXI timing: Quartus might infer an additional clock control buffer into the
on-chip-bus clock signal, causing higher jitter/delay. This clock buffer is now
avoided, leading to better timing results.
Added support for unaligned AXI burst transfers.
Restrictions of previous versions which are removed in this version:
The ERR LED allows overriding using the ERR LED Override register 0x0139
while AL Status register Error Indication bit 0x0130[4] is set. The override flag is
now cleared upon a rising edge of 0x0130[4], and it can be set again afterwards.
Restrictions of this version, which are removed in V3.0.9:
The AXI PDI may not complete an access occasionally if overlapping read and
write accesses occur, causing the processor to wait endlessly.
The AXI PDI does not execute read accesses correctly if ARSIZE is smaller than
the AXI bus width.
Restrictions of this version, which are removed in V3.0.10:
The last 4 Kbyte Process Data RAM (0xF000:0xFFFF) cannot be used in the 60
Kbyte RAM configuration.
The AXI PDI may write to wrong bytes if the write data is valid before the address,
which is typically true for AXI4LITE.
The AXI PDI may read additional bytes after the intended bytes.
The AXI PDI may write additional bytes to byte lanes without byte enable, if User
RAM (0x0F80:0x0FFF) or Process Data RAM (0x01000 ff.) is written, if the actual
write address on the bus is 32 bit aligned (AWADDR[1:0]=00), and if one or more
of the lower byte enables/byte strobes (WSTRB) is not set.
3.0.9
(9/2014)
Enhancements:
The Altera DE2-115 example designs have been updated to support Quartus 14.0
(connected PLL areset signal)
The PDI watchdog status 0x0110[1] now shows value ‘1’ (watchdog reloaded) if
the PDI watchdog is configured to be not available.
The ESI XML device description does not use special data types anymore.
Restrictions of previous versions which are removed in this version:
The AXI PDI completes accesses if overlapping read and write accesses occur.
The AXI PDI executes read accesses correctly if ARSIZE is smaller than the AXI
bus width.
Restrictions of this version, which are removed in V3.0.10:
The last 4 Kbyte Process Data RAM (0xF000:0xFFFF) cannot be used in the 60
Kbyte RAM configuration.
The AXI PDI may write to wrong bytes if the write data is valid before the address,
which is typically true for AXI4LITE.
The AXI PDI may read additional bytes after the intended bytes.
The AXI PDI may write additional bytes to byte lanes without byte enable, if User
RAM (0x0F80:0x0FFF) or Process Data RAM (0x01000 ff.) is written, if the actual
write address on the bus is 32 bit aligned (AWADDR[1:0]=00), and if one or more
of the lower byte enables/byte strobes (WSTRB) is not set.
III-10 Slave Controller – IP Core for Altera FPGAs
Overview
Version
Release notes
3.0.10
(1/2015)
The EL9800/FB1122 example designs have been removed because these evaluation
boards are no longer available.
Enhancements:
For EEPROM Emulation, the CRC error bit 0x0502[11] can be written via PDI to
indicate CRC errors during a reload command.
Restrictions of previous versions which are removed in this version: The last 4 Kbyte Process Data RAM (0xF000:0xFFFF) can be used in the 60
Kbyte RAM configuration.
The AXI PDI does not write to wrong bytes if the write data is valid before the
address.
The AXI PDI does not read additional bytes after the intended bytes.
The AXI PDI does not write to byte lanes without byte enable.
Slave Controller – IP Core for Altera FPGAs III-11
Overview
Bit
Description
ECAT
PDI
Reset Value
7:0
IP Core major version X
r/-
r/-
IP Core dep.
Bit
Description
ECAT
PDI
Reset Value
3:0
IP Core maintenance version Z
r/-
r/-
IP Core dep.
7:4
IP Core minor version Y
r/-
r/-
IP Core dep.
15:8
Patch level:
0x00: original release
0x01-0x0F: patch level of original release
r/-
r/-
IP Core dep.
1.7.1 Major differences between V2.4.x and V3.0.x
The EtherCAT IP Core V3.0.x versions have these advantages compared with the V2.4.x versions:
Increased PDI performance (average latency internally at least by a factor of 2 faster; worst case
latency even better)
Support for 8/16/32/64 bit Avalon and AXI3TM interface
Support for RGMII ports
Native support for FX PHYs
Flexible PHY address configuration
Support for PDI SyncManager/IRQ acknowledge by Write command (required for wide on-chip-
busses)
More detailed configuration
The higher PDI performance increases the resource requirements of the V3.0.x versions compared
with the V2.4.x versions. New development is focused on the V3.0.x versions.
1.7.2 Reading IP Core version from device
The IP Core version, denoted as X.Y.Z (e.g., 2.4.0), consists of three values X, Y, and Z. These
values can be read out in registers 0x0001 and 0x0002.
Table 5: Register Revision (0x0001)
Table 6: Register Build (0x0002:0x0003)
III-12 Slave Controller – IP Core for Altera FPGAs
Overview
Synthesis
User logic
License file (full)
FPGA configuration file
Download
utility
FPGA
Buy-out license /
Quantity-based license
(license agreement)
grants permission
EvaluationDevelopment
Download
utility
MAC ID
Dongle
bit-
stream
Application
specific ESC
sources
VHDL
Verilog
Schematic
Production
FPGA
FPGA
Download
utility
FPGA
FPGA configuration file
bit-
stream
(OpenCore Plus)
FPGA
(OpenCore Plus)
IP Core
installation
encrypted
VHDL
Customer
License file (eval)
MAC ID
Dongle
or
Vendor
ID
JTAG
tethered
(else timebomb)
Vendor ID
package
1.8 Design flow
The design flow for creating an EtherCAT Slave Controller based on the EtherCAT IP Core is shown
in the following picture:
Figure 3: Design flow
Slave Controller – IP Core for Altera FPGAs III-13
Overview
1.9 OpenCore Plus Evaluation
The EtherCAT IP Core for Altera FPGAs supports OpenCore Plus evaluation. A special License File
with OpenCore Plus support is issued for each user, together with the IP Core Vendor ID package. For
further information on OpenCore Plus, refer to the Altera Application Note 320 “OpenCore Plus Evaluation of Megafunctions”, available from Altera (http://www.altera.com).
A design with an OpenCore Plus EtherCAT IP Core is subject to some restrictions:
Only a time limited programming file (<design_name>_time_limited.sof) for the Altera Quartus II
Programmer is generated. Other programming files (e.g., .rbf, .pof) are not generated.
For hardware testing, the ESC design has to be connected to the PC running the Altera Quartus II
Programmer using a programming adapter with a JTAG connection. The EtherCAT IP Core is fully
functional while the adapter is connected.
If the connection is interrupted, the EtherCAT IP Core will discontinue its function after
approximately 1 hour.
The OpenCore Plus version slightly increases the resource consumption of the IP Core.
The OpenCore Plus programming file must not be distributed/sold.
A vendor ID package is required for both evaluation and full license. It is recommended to use an
evaluation vendor ID (package) for evaluation, and the original vendor ID for production. The
evaluation vendor ID is beginning with “0xE.......” and ends with the original vendor ID digits.
Evaluation vendor IDs cannot pass the EtherCAT conformance tests.
OpenCore Plus Issues
Sometimes additional top-level pins appear in the OpenCore Plus design, these signals should be
grounded externally if possible. This is a Quartus OpenCore Plus integration issue, not an EtherCAT
IP Core issue. The signals will not appear if a full license is used. Additionally, do not use incremental
synthesis together with OpenCore Plus, since this was found to produce defective designs similar to
the OpenCore Plus integration issue.
Sometimes timing requirements are not met with OpenCore Plus. Experience shows that timing
violations related to the clock altera_reserved_tck can be ignored.
Upgrading to a Full License
A design using an OpenCore Plus EtherCAT IP Core does not have to be changed when upgrading to
a full license, only the full License File has to be installed instead of the OpenCore Plus License File. A
re-generation of the EtherCAT IP Core (running through the MegaWizard) and a new synthesis run is
necessary to generate the unlimited programming files.
III-14 Slave Controller – IP Core for Altera FPGAs
Overview
1.10 Simulation
A behavioral simulation model of the EtherCAT IP core is not available because of its size and
complexity. Thus, simulation of the entire EtherCAT IP Core is not supported, and the EDA Netlist
Writer cannot be used for designs which contain the EtherCAT IP Core. In most cases, simulation of
the EtherCAT IP Core is not necessary, as the IP Core was thoroughly tested and the interfaces are
standardized (Ethernet, Avalon) or simple and well described. Problems at the interface level can
often be solved with a scope shot of the interface signals.
Nevertheless, customer designs using the Avalon or AXI on-chip bus can easily be simulated using a
Bus Functional Model of the on-chip bus slave interface instead of a simulation model of the entire
EtherCAT IP Core.
From the processor’s view, the EtherCAT IP Core is a memory (or a bunch of registers). For processor
bus verification, the EtherCAT IP Core can be substituted by another IP core with Avalon/AXI slave
interface which behaves like a memory as well. The EtherCAT IP Core can be replaced for simulation
by e.g.:
Altera On-Chip Memory slave
Avalon/AXI slave created with the Qsys
Slave Controller – IP Core for Altera FPGAs III-15
Features and Registers
Feature
IP Core
Altera®
V3.0.10
IP Core
Altera®
V3.0.0-
3.0.9
EtherCAT Ports
1-3
1-3
Permanent ports
1-3
1-3
Optional Bridge port 3 (EBUS or
MII)
-
-
EBUS ports
-
-
MII ports
0-3
0-3
RMII ports
0-2
0-2
RGMII ports
0-3
0-3
Port 0
x
x
Ports 0, 1
x x Ports 0, 1, 2
x
x
Ports 0, 1, 3
-
-
Ports 0, 1, 2, 3
-
-
EtherCAT mode
Direct
Direct
Slave Category
Full Slave
Full Slave
Position addressing
x x Node addressing
x
x
Logical addressing
x
x
Broadcast addressing
x
x
Physical Layer General Features
FIFO Size configurable
(0x0100[18:16])
x
x
FIFO Size default from SII
EEPROM
x
x
Auto-Forwarder checks CRC and
SOF
x
x
Forwarded RX Error indication,
detection and Counter
(0x0308:0x030B)
x
x
Lost Link Counter
(0x0310:0x0313)
c
c
Prevention of circulating frames
x
x
Fallback: Port 0 opens if all ports
are closed
x
x
VLAN Tag and IP/UDP support
x
x
Enhanced Link Detection per port
configurable
x
x
General Ethernet Features
(MII/RMII/RGMII)
MII Management Interface
(0x0510:0x051F)
c
c
Supported PHY Address Offsets
any
any
Individual port PHY addresses
x x Port PHY addresses readable
x x Link Polarity configurable
User logic
User logic
Enhanced Link Detection
supported
x
x
FX PHY support (native)
x
x
PHY reset out signals
x
x
Link detection using PHY signal
(LED)
x
x
MI link status and configuration
c
c
MI controllable by PDI
(0x0516:0x0517)
x
x
MI read error (0x0510.13)
x
x
MI PHY configuration update
status (0x0518.5)
x
x
MI preamble suppression
x x Additional MCLK
x
x
Gigabit PHY configuration
x
x
Gigabit PHY register 9 relaxed
check
x
x
FX PHY configuration
x x Transparent Mode
-
-
Feature
IP Core
Altera®
V3.0.10
IP Core
Altera®
V3.0.0-
3.0.9
MII Features
CLK25OUT as PHY clock source
User logic
User logic
Bootstrap TX Shift settings
c
c
Automatic TX Shift setting (with
TX_CLK)
c
c
TX Shift not necessary (PHY
TX_CLK as clock source)
-
-
FIFO size reduction steps
2
2
PDI General Features
Increased PDI performance
x
x
Extended PDI Configuration
(0x0152:0x0153)
x
x
PDI Error Counter (0x030D)
c
c
PDI Error Code (0x030E)
c
c
CPU_CLK output (10, 20, 25
MHz)
User logic
User logic
SOF, EOF, WD_TRIG and
WD_STATE independent of PDI
x
x
Available PDIs and PDI features
depending on port configuration
-
-
PDI selection at run-time (SII
EEPROM)
-
-
PDI active immediately (SII
EEPROM settings ignored)
x
x
PDI function acknowledge by
write
c
c
PDI Information register
0x014E:0x014F
c
c
Digital I/O PDI
x
x
Digital I/O width [bits]
8/16/24/32
8/16/24/32
PDI Control register value
(0x0140:0x0141)
4
4
Control/Status signals:
7 7 LATCH_IN
x x SOF
x x OUTVALID
x x WD_TRIG
x x OE_CONF
- - OE_EXT
x
x
EEPROM_
Loaded
x
x
WD_STATE
x
x
EOF
x
x
Granularity of direction
configuration [bits]
8 8 Bidirectional mode
- (User
logic)
- (User
logic)
Output high-Z if WD expired
User logic
User logic
Output 0 if WD expired
x
x
Output with EOF
x
x
Output with DC SyncSignals
x
x
Input with SOF
x
x
Input with DC SyncSignals
x x SPI Slave PDI
x
x
Max. SPI clock [MHz]
30
30
SPI modes configurable
(0x0150[1:0])
x
x
SPI_IRQ driver configurable
(0x0150[3:2])
x
x
SPI_SEL polarity configurable
(0x0150.4)
x
x
Data out sample mode
configurable (0x0150.5)
x
x
Busy signaling
-
-
2 Features and Registers
2.1 Features
Table 7: IP Core Feature Details
III-16 Slave Controller – IP Core for Altera FPGAs
Features and Registers
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 (000b 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®
-
-
AXI3TM
x
x
AXI4TM
- - AXI4 LITETM
-
-
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])
-
-
Slave Controller – IP Core for Altera FPGAs III-17
Features and Registers
Feature
IP Core
Altera®
V3.0.10
IP Core
Altera®
V3.0.0-
3.0.9
Propagation delay measurement
with traffic (BWR/FPWR 0x900
detected at each port)
x
x
LatchSignal state in Latch Status
register (0x09AE:0x09AF)
x
x
SyncSignal Auto-Activation
(0x0981.3)
x
x
SyncSignal 32 or 64 bit Start
Time (0x0981.4)
x
x
SyncSignal Late Activation
(0x0981[6:5])
x
x
SyncSignal debug pulse
(0x0981.7)
x
x
SyncSignal Activation State
0x0984)
x
x
Reset filters after writing filter
depth
x
x
ESC Specific Registers
(0x0E00:0x0EFF)
Product and Vendor ID
x
x
POR Values
-
-
FPGA Update (online)
-
-
Process RAM and User RAM
Process RAM (0x1000 ff.) [Kbyte]
0-60
0-60
User RAM (0x0F80:0x0FFF)
x
x
Extended ESC Feature
Availability in User RAM
x
x
Additional EEPROMs
1-2
1-2
SII EEPROM (I²C)
c
(EEPROM
of µC
used)
c
(EEPROM
of µC
used)
FPGA configuration EEPROM
x
x
LED Signals
RUN LED
c c RUN LED override
c c Link/Activity(x) LED per port
x x PERR(x) LED per port
- - Device ERR LED
c c STATE_RUN LED
c
c
Optional LED states
RUN LED: Bootstrap
x
x
RUN LED: Booting
c
c
RUN LED: Device identification
c
c
RUN LED: loading SII EEPROM
c
c
Error LED: SII EEPROM loading
error
c
c
Error LED: Invalid hardware
configuration
-
-
Error LED: Process data
watchdog timeout
c
c
Error LED: PDI watchdog timeout
c
c
Link/Activity: local auto-
negotiation error
-
-
Feature
IP Core
Altera®
V3.0.10
IP Core
Altera®
V3.0.0-
3.0.9
Link/Activity: remote auto-
negotiation error
-
-
Link/Activity: unknown PHY auto-
negotiation error
-
-
LED test
c cClock supply
Crystal
-
-
Crystal oscillator
x
x
TX_CLK from PHY
x x 25ppm clock source accuracy
x
x
Internal PLL
User logic
User logic
Power Supply Voltages
FPGA
dep.
FPGA
dep.
I/O Voltage
FPGA
dep.
FPGA
dep.
Core Voltage
FPGA
dep.
FPGA
dep.
Internal LDOs
-
-
Package
FPGA
dep.
FPGA
dep.
Original Release date
1/2015
3/2013
Configuration and Pinout calculator
(XLS)
-
-
Register Configuration
individual
individual
Complete IP Core evaluation
x
x
License device required
-
-
Example designs/
pre-synthesized time-limited evaluation
core included
4/4
6/6
FB1120 Digital I/O
- - FB1120 SPI
-
-
FB1122 Digital I/O
-
x/x
FB1122 SPI
-
x/x
DBC2C20 Digital I/O
-
-
DBC2C20 NIOS®
-
-
DBC3C40 Digital I/O
x/x
x/x
DBC3C40 NIOS
-
-
DBC4CE55 NIOS
x/x
x/x
DE2-115 NIOS MII
x/x
x/x
DE2-115 NIOS RGMII
x/x
x/x
Symbol
Description
x
available
-
not available
c
configurable
User logic
Functionality can be added by user logic inside the FPGA
red
Feature changed in this version
Table 8: Legend
III-18 Slave Controller – IP Core for Altera FPGAs
Features and Registers
Address
Length
(Byte)
Description
IP Core
V3.0.0-
V3.0.10
0x0000
1
Type x 0x0001
1
Revision
x
0x0002:0x0003
2
Build x 0x0004
1
FMMUs supported
x
0x0005
1
SyncManagers supported
x
0x0006
1
RAM Size
x
0x0007
1
Port Descriptor
x
0x0008:0x0009
2
ESC Features supported
x
0x0010:0x0011
2
Configured Station Address
x
0x0012:0x0013
2
Configured Station Alias
x
0x0020
1
Write Register Enable
c
0x0021
1
Write Register Protection
c
0x0030
1
ESC Write Enable
c
0x0031
1
ESC Write Protection
c
0x0040
1
ESC Reset ECAT
c
0x0041
1
ESC Reset PDI
c
0x0100:0x0101
2
ESC DL Control
x
0x0102:0x0103
2
Extended ESC DL Control
x
0x0108:0x0109
2
Physical Read/Write Offset
c
0x0110:0x0111
2
ESC DL Status
x
0x0120
5 bits
[4:0]
AL Control
x
0x0120:0x0121
2
AL Control
x
0x0130
5 bits
[4:0]
AL Status
x
0x0130:0x0131
2
AL Status
x
0x0134:0x0135
2
AL Status Code
c
0x0138
1
RUN LED Override
c
0x0139
1
ERR LED Override
c
0x0140
1
PDI Control
x
0x0141
1
ESC Configuration
x
0x014E:0x014F
2
PDI Information
c
0x0150
1
PDI Configuration
x
0x0151
1
DC Sync/Latch Configuration
x
0x0152:0x0153
2
Extended PDI Configuration
x
0x0200:0x0201
2
ECAT Event Mask
x
0x0204:0x0207
4
PDI0 AL Event Mask
r/c
2.2 Registers
An EtherCAT Slave Controller (ESC) has an address space of 64Kbyte. The first block of 4Kbyte
(0x0000:0x0FFF) is dedicated for registers. The process data RAM starts at address 0x1000, its size
is configurable.
Some registers are implemented depending on the configuration.
Table 9 gives an overview of the available registers.
Table 9: Register availability
Slave Controller – IP Core for Altera FPGAs III-19
Features and Registers
Address
Length
(Byte)
Description
IP Core
V3.0.0-
V3.0.10
0x0210:0x0211
2
ECAT Event Request
x
0x0220:0x0223
4
AL Event Request
x
0x0300:0x0307
4x2
Rx Error Counter[3:0]
x
0x0308:0x030B
4x1
Forwarded Rx Error
counter[3:0]
x
0x030C
1
ECAT Processing Unit Error
Counter c 0x030D
1
PDI Error Counter
c
0x030E
1
PDI Error Code
c
0x0310:0x0313
4x1
Lost Link Counter[3:0]
c
0x0400:0x0401
2
Watchdog Divider
r/c
0x0410:0x0411
2
Watchdog Time PDI
c
0x0420:0x0421
2
Watchdog Time Process Data
x
0x0440:0x0441
2
Watchdog Status Process Data
x
0x0442
1
Watchdog Counter Process
Data c 0x0443
1
Watchdog Counter PDI
c
0x0500:0x050F
16
SII EEPROM Interface
x
0x0510:0x0515
6
MII Management Interface
c
0x0516:0x0517
2
MII Management Access State
c
0x0518:0x051B
4
PHY Port Status[3:0]
c
0x0600:0x06FC
16x13
FMMU[15:0]
0-8
0x0800:0x087F
16x8
SyncManager[15:0]
0-8
0x0900:0x090F
4x4
DC – Receive Times[3:0]
rt
0x0910:0x0917
8
DC – System Time
dc
0x0918:0x091F
8
DC – Receive Time EPU
dc
0x0920:0x0935
24
DC – Time Loop Control Unit
dc
0x0936
1
DC – Receive Time Latch
mode - 0x0980
1
DC – Cyclic Unit Control
dc
0x0981
1
DC – Activation
dc
0x0982:0x0983
2
DC – Pulse length of
SyncSignals
dc
0x0984
1
DC – Activation Status
dc
0x098E:0x09A7
26
DC – SYNC Out Unit
dc
0x09A8
1
DC – Latch0 Control
dc
0x09A9
1
DC – Latch1 Control
dc
0x09AE
1
DC – Latch0 Status
dc
0x09B0:0x09B7
8
DC – Latch0 Positive Edge
dc
0x09B8:0x09BF
8
DC – Latch0 Negative Edge
dc
0x09C0:0x09C7
8
DC – Latch1 Positive Edge
dc
0x09C7:0x09CF
8
DC – Latch1 Negative Edge
dc
0x09F0:0x09F3
0x09F8:0x09FF
12
DC – SyncManager Event
Times
c
0x0E00:0x0E03
4
Power-On Values (Bits)
-
0x0E00:0x0E07
8
Product ID
x
III-20 Slave Controller – IP Core for Altera FPGAs
Features and Registers
Address
Length
(Byte)
Description
IP Core
V3.0.0-
V3.0.10
0x0E08:0x0E0F
8
Vendor ID
x
0x0F00:0x0F03
4
Digital I/O Output Data
io
0x0F10:0x0F17
8
General Purpose Outputs
[Byte]
0-8
0x0F18:0x0F1F
8
General Purpose Inputs [Byte]
0-8
0x0F80:0x0FFF
128
User RAM
x
0x1000:0x1003
4
Digital I/O Input Data
io
0x1000 ff.
Process Data RAM [Kbyte]
1-60
Symbol
Description
x
Available
-
Not available
r
Read only
c
Configurable
dc
Available if Distributed Clocks with all
Sync/Latch signals are enabled
rt
Available if Receive Times or Distributed Clocks
are enabled (always available for 3-4 ports)
io
Available if Digital I/O PDI is selected
red
Register changed in this version
Table 10: Legend
Slave Controller – IP Core for Altera FPGAs III-21
Features and Registers
Addr.
Bit
Feat.
Description
Reset Value
0F80
7:0
-
Number of extended feature bits
Depends on ESC
IP Core extended features:
Depends on ESC:
0: Not available
1: Available
c: Configurable
0F81
0
0
Extended DL Control Register (0x0102:0x0103)
1
1
1
AL Status Code Register (0x0134:0x0135)
c
2
2
ECAT Interrupt Mask (0x0200:0x0201)
1
3
3
Configured Station Alias (0x0012:0x0013)
1
4
4
General Purpose Inputs (0x0F18:0x0F1F)
c
5
5
General Purpose Outputs (0x0F10:0x0F17)
c
6
6
AL Event Mask (0x0204:0x0207)
c
7
7
Physical Read/Write Offset (0x0108:0x0109)
c
0F82
0
8
Watchdog divider writeable (0x0400:0x04001) and
Watchdog PDI (0x0410:0x0f11)
EEPROM Size configurable (0x0502.7):
0: EEPROM Size fixed to sizes up to 16 Kbit
1: EEPROM Size configurable
1
0F83
0
16
Reserved
1
1
17
Reserved
0
2
18
Reserved
0
3
19
Lost Link Counter (0x0310:0x0313)
c
4
20
MII Management Interface (0x0510:0x0515)
c
5
21
Enhanced Link Detection MII
c
6
22
Enhanced Link Detection EBUS
0
7
23
Run LED (DEV_STATE LED)
c
0F84
0
24
Link/Activity LED
1
1
25
Reserved
0
2
26
Reserved
1
3
27
DC Latch In Unit
c
4
28
Reserved
0
5
29
DC Sync Out Unit
c
6
30
DC Time loop control assigned to PDI
c
7
31
Link detection and configuration by MI
c
2.3 Extended ESC Features in User RAM
Table 11: Extended ESC Features (Reset values of User RAM – 0x0F80:0x0FFF)
III-22 Slave Controller – IP Core for Altera FPGAs
Features and Registers
Addr.
Bit
Feat.
Description
Reset Value
0F85
0
32
MI control by PDI possible
1
1
33
Automatic TX shift
c
2
34
EEPROM emulation by µController
c
3
35
Reserved
0
4
36
Reserved
0
5
37
Disable Digital I/O register (0x0F00:0x0F03)
c
6
38
Reserved
0
7
39
Reserved
0
0F86
0
40
Reserved
0
1
41
Reserved
0
2
42
RUN/ERR LED Override (0x0138:0x0139)
c
3
43
Reserved
0
4
44
Reserved
1
5
45
Reserved
0
6
46
Reserved
0
7
47
Reserved
0
0F87
0
48
Reserved
0
1
49
Reserved
0
2
50
Reserved
0
3
51
DC Sync1 disable
c
4
52
Reserved
0
5
53
Reserved
0
6
54
DC Receive Times (0x0900:0x090F)
c
7
55
DC System Time (0x0910:0x0936)
c
0F88
0
56
DC 64 bit
c
1
57
Reserved
0
2
58
PDI clears error counter
0
3
59
Avalon PDI
c
4
60
Reserved
0
5
61
PLB PDI
0
6
62
Reserved
0
7
63
Reserved
0
0F89
0
64
Reserved
0
1
65
Reserved
0
2
66
Reserved
0
3
67
Reserved
0
4
68
Reserved
0
5
69
Reserved
0
6
70
Reserved
0
7
71
Direct RESET
0
Slave Controller – IP Core for Altera FPGAs III-23
Features and Registers
Addr.
Bit
Feat.
Description
Reset Value
0F8A
0
72
Reserved
0
1
73
Reserved
1
2
74
DC Latch1 disable
c
3
75
AXI PDI
c
4
76
Reserved
0
5
77
Reserved
0
6
78
PDI function acknowledge by PDI write
c
7
79
Reserved
0
0F8B
0
80
Reserved
1
1
81
Reserved
1
2
82
Reserved
0
3
83
LED test
c
4
84
Reserved
0
5
85
Reserved
0
6
86
Reserved
0
7
87
Reserved
0
0F8C
3:0
91:88
Reserved
0
7:4
95:92
Reserved
0
0F8D
3:0
99:96
Reserved
0
7:4
103:100
Reserved
0
0F8E
3:0
107:104
Reserved
0
4
108
Reserved
0
5
109
Reserved
0
7:6
111:110
Digital I/O PDI byte size
c
0F8F
0
112
Reserved
0
1
113
Reserved
0
2
114
Digital I/O PDI
c
3
115
SPI PDI
c
4
116
Asynchronous µC PDI
c
5
117
Reserved
0
6
118
Reserved
1
7
119
Reserved
1
0F90
0
120
Reserved
0
1
121
Reserved
0
2
122
Reserved
0
3
123
Reserved
0
4
124
Reserved
0
5
125
Reserved
0
6
126
Reserved
0
7
127
Reserved
0
III-24 Slave Controller – IP Core for Altera FPGAs
Features and Registers
Addr.
Bit
Feat.
Description
Reset Value
0F91
0
128
Reserved
0
1
129
Reserved
0
2
130
Reserved
0
3
131
Reserved
0
4
132
Reserved
0
5
133
Reserved
0
6
134
Reserved
0
7
135
Reserved
0
0F92
0
136
Reserved
0
1
137
Reserved
0
2
138
Reserved
0
3
139
Reserved
0
4
140
Reserved
0
5
141
Reserved
0
6
142
Reserved
0
7
143
Reserved
0
0F93
0
144
RGMII c 1
145
Individual PHY address read out (0x0510[7:3])
c
2
146
CLK_PDI_EXT is asynchronous
c
3
147
Reserved
0
4
148
Use RGMII GTX_CLK phase shifted clock input
1
5
149
RMII
c
6
150
Reserved
0
7
151
Reserved
0
Slave Controller – IP Core for Altera FPGAs III-25
IP Core Installation
Installation directory <IPInst_dir>
Documentation
Encrypted source code of IP Core
Example designs
XML Device Description
for Example Designs
Software templates
Add to Quartus II installation folder
<Quartus_install_dir>
3 IP Core Installation
3.1 Installation on Windows PCs
3.1.1 System Requirements
The system requirements of Altera Quartus II are applicable.
3.1.2 Installation
For installation of the EtherCAT IP Core on your system run the setup program
“EtherCAT IP core for Altera FPGAs <version>Setup.exe”
and follow the instructions of the installation wizard.
The EtherCAT IP Core, example designs, and documentation are typically installed in the directory
C:\BECKHOFF\ethercat_altera_v<version>
This folder is further referenced to as <IPInst_dir>.
Figure 4: Files installed with EtherCAT IP Core setup
III-26 Slave Controller – IP Core for Altera FPGAs
IP Core Installation
File name
Description
beckhoff.jpg
BECKHOFF image used in MegaWizard
ethercat_<version>.qprs
Quartus MegaWizard presets
ethercat_<version>_hw.tcl
Quartus MegaWizard and Qsys IP hardware configuration TCL
ethercat_<version>_wizard.lst
Quartus MegaWizard list
ETHERCAT_IPCORE.VHD
Encrypted EtherCAT IP Core source code (core)
ETHERCAT_IPCORE_TOP.VHD
Encrypted EtherCAT IP Core soruce code (top level)
ETHERCAT_IPCORE_V2.ocp
OpenCorePlus description for EtherCAT IP Core
ETHERCAT_VENDORID.VHD
Vendor ID package (added during installation, not part of setup)
3.2 Installation on Linux PCs
3.2.1 System Requirements
The system requirements of Altera Quartus II are applicable.
3.2.2 Installation
For installation of the EtherCAT IP Core extract the archive to any folder on your Linux PC (same
contents as on windows PCs):
1. Create installation directory, , e.g. /opt/beckkhoff/ :
# mkdir /opt/beckhoff
2. Change to installation directory
# cd /opt/beckhoff
3. Copy EtherCAT IP Core archive to installation folder
4. Extract the EtherCAT IP Core:
# tar –xf EtherCAT_IP_core_for_Altera_FPGAs_<version>_Linux_
<region>.tar.gz
5. Continue with the following installation chapters.
The folder
ethercat_<version>
created inside this directory is further referenced to as <IPInst_dir>.
3.3 Files located in the lib folder
Table 12: Contents of lib folder
Slave Controller – IP Core for Altera FPGAs III-27
IP Core Installation
a
b
3.4 License File
The license file for the EtherCAT IP Core (license_<company>_<Dongle/MAC ID>.dat) has to be
linked to the Altera Quartus Development environment. The EtherCAT IP Core can only be used with
a license file.
The location of your Altera license file can be found in the Altera Quartus License Setup (“Tools –
License Setup…” from the menu.:
There are three options:
a) Add the path of the license file (separated by a semicolon) to the License file input box in the
Altera Quartus License Setup.
b) Add the path of the license file to the LM_LICENSE_FILE environment variable (separated by a
semicolon) if the LM_LICENSE_FILE variable is used.
c) Add the content of the EtherCAT IP Core license file to an existing license file.
Figure 5: License Setup
The EtherCAT IP Core license is shown in Licensed AMPP/MegaCore® functions list: the Vendor is
Beckhoff (745C), and the Product number is 1810.
For further information regarding license setup, refer to Altera Application Note 340 “Altera Software
Licensing”, found at the Altera homepage http://www.altera.com.
III-28 Slave Controller – IP Core for Altera FPGAs
IP Core Installation
3.5 IP Core Vendor ID package
The Vendor ID Package (VHDL file) is part of the EtherCAT IP Core source code, and it contains your
company’s unique vendor ID. The vendor ID package is not part of the IP Core setup, it is delivered
separately.
Copy the IP Core Vendor ID package (pk_ECAT_VENDORID_<company>_Altera.vhd) to the lib folder
ETHERCAT_VENDORID.VHD
(exact naming and upper case is necessary).
The steps of adding the IP Core Vendor ID package into the IP Core installation folder can also be
performed by the EtherCAT IP Core Setup program (Windows PCs only). Just check the appropriate
option and select the path to your pk_ECAT_VENDORID_<company>_Altera.vhd file, and the Setup
program will perform all necessary steps.
A vendor ID package is required for both evaluation and full license. It is recommended to use an
evaluation vendor ID (package) for evaluation, and the original vendor ID for production. The
evaluation vendor ID is beginning with “0xE.......” and ends with the original vendor ID digits.
Evaluation vendor IDs cannot pass the EtherCAT conformance tests.
Slave Controller – IP Core for Altera FPGAs III-29
IP Core Installation
3.6 Integrating the EtherCAT IP Core into the Altera Designflow
Quartus II expects all IP cores to be installed into
<Quartus installation folder>\ip\
This can be done by the windows setup program automatically if it recognizes the Quartus II
installations on the disk. The EtherCAT IP core can also be integrated into Quartus II installations
manually by copying the contents of the
<IPInst_dir>\quartus_add\
folder to the Quartus installation folder.
3.6.1 Software Templates for example designs with NIOS processor
Software example templates are available for example designs with NIOS processor. The templates
are part of the quartus_add folder, they will be copied to your NIOS II installation folder.
The NIOS demo applications are not suitable for production, they cannot be certified. Use the
EtherCAT Slave Stack Code (SSC, available from the ETG) for products.
3.7 EtherCAT Slave Information (ESI) / XML device description for example designs
If you want to use the example designs, add the ESI to your EtherCAT master/EtherCAT configuration
tool/network configurator.
III-30 Slave Controller – IP Core for Altera FPGAs
IP Core Usage
System
Resources
System Configuration
EtherCAT
IP Core
4 IP Core Usage
4.1 IP Catalog
The EtherCAT IP Core is integrated in the Quartus II IP Catalog, you can add it to your Quartus II
project like any other IP and configure it with the MegaWizard.
The output of the MegaWizard is a VHDL or Verilog wrapper for the EtherCAT IP Core. The wrapper
file makes only those signals and interfaces visible, which are required, and it configures the
EtherCAT IP Core using generics as desired.
A synthesizable EtherCAT IP Core consists of the user generated VHDL wrapper, the encrypted
EtherCAT IP Core files, and the vendor ID package (ECAT_VENDORID.vhd). These files, together
with a PLL, represent the minimum source set for a fully functional EtherCAT slave. Typically,
additional user logic is added inside the FPGA.
4.2 Qsys
The EtherCAT IP Core can also be integrated into a System on a Programmable Chip (SoPC) with a
processor inside the FPGA (e.g., Altera NIOS II processor). The EtherCAT IP Core and the processor
can communicate via an Avalon or AXI3 on-chip bus system.
For building an SoPC including the EtherCAT IP Core, Altera Qsys is used (Figure 6). The NIOS
processor and the EtherCAT IP Core as well as other resources which might be used for an SOPC are
listed under the System Resources (Figure 6). Signal Routing is done automatically. The interrupts
used by the EtherCAT IP Core (Avalon_ethercat_sync0, Avalon_ethercat_sync1, and PDI collector
interrupt Avalon_ethercat_slave) are listed and signal routing is shown.
Figure 6: Qsys with EtherCAT IP Core
Slave Controller – IP Core for Altera FPGAs III-31
IP Core Configuration
5 IP Core Configuration
Figure 7: EtherCAT IP Core Configuration Interface
Documentation button
Documentation on the MegaWizard, the EtherCAT IP Core and the configuration options
Parameters pane (left)
The configuration options for the EtherCAT IP Core are available in the IP Core parameters pane on
the left side.
Presets pane (right)
Depending on the IP Core functionality that should be implemented and the available resources (Les)
in the FPGA, the internal features can be chosen. Several common feature presets are available.
Based upon these presets, individual functions can be enabled/disabled in the parameter pane.
Message pane (bottom)
In the lower box additional information like warnings and errors are displayed.
III-32 Slave Controller – IP Core for Altera FPGAs
IP Core Configuration
5.1 Documentation
Figure 8: Documentation
General information
Name and version of the IP Core, as well as links to the datasheet and online support are given.
Parameters
Short descriptions on the various parameters of the parameters pane can be found here.
Slave Controller – IP Core for Altera FPGAs III-33
IP Core Configuration
5.2 Parameters
5.2.1 Product ID tab
Figure 9: Product ID tab
PRODUCT_ID input in hexadecimal groups
The Product ID can be chosen freely and is for vendor issues. It can be read out in register
0x0E08:0x0E0F.
The PRODUCT_ID has to be entered in hexadecimal format for each of the four 16 bit fields
(representing a 16 bit part of the 64 bit Product ID each).
The Product ID is meant to identify special configurations of the IP Core. It does not have to reflect the
EtherCAT slave product code, which is part of the EEPROM/XML device description.
NOTE: The current GUI seems to allow 32 bit entries for each of the 4 16 bit fields, but this is not true. This is an
Altera MegaWizard configuration restriction.
III-34 Slave Controller – IP Core for Altera FPGAs
IP Core Configuration
5.2.2 Physical Layer tab
Figure 10: Physical Layer tab
Communication Ports
The number of communication ports by default is two. As PHY interface MII/RGMII (1, 2, or 3 ports) or
RMII (1 or 2 ports only) can be selected. It is recommended to use MII as for accuracy of the
distributed clocks is much better with MII.
Optical link (FX) Port
Each port can be configured to be an FX (fiber optic) port which has influence on Enhanced Link
Detection and MI link detection and configuration, since FX connections do not use Auto-negotiation.
Enhanced link detection
Enhanced MII link detection is a mechanism of informing link partners of receive errors.
TX Shift
Automatic or manual TX Shift is available if TX Shift is selected. TX Shift delays MII TX signals to
comply to Ethernet PHY setup and hold timing. Automatic TX Shift uses the TX_CLK signals of the
PHYs to detect appropriate TX Shift settings automatically. Manual TX Shift configuration allows for
delaying the MII TX signals by 0, 10, 20, or 30 ns.
Slave Controller – IP Core for Altera FPGAs III-35
IP Core Configuration
PHY Management Interface
The PHY Management Interface function can be selected or deselected. If it deselected, the other MII
Configuration options are not available.
LINK state and PHY configuration through MI
MI link detection and configuration is available if checked. Ethernet PHYs are configured and link
status is polled via the MII Management Interface. Enhanced link detection has to be activated if MI
link detection and configuration is used and the nMII_LINK0/1/2 signals are not used.
Export PHY address as signals
Enable for dynamically changing PHY addresses (the PHY address configuration is exported as
signals), otherwise the PHY address configuration is static.
Independent PHY addresses
Enable if the PHY addresses are not consecutive. If enabled, the PHY addresses of each port can be
configured individually.
PHY address offset
Configure the base PHY address (belonging to port 0) if the PHY addresses are consecutive.
PHY address port n
Configure the individual PHY address of port n
Tristate Driver inside core (EEPROM/MI)
If selected tri-state drivers of the core are used for access to EEPROM and PHY Management signals.
III-36 Slave Controller – IP Core for Altera FPGAs
IP Core Configuration
5.2.3 Internal Functions tab
Figure 11: Internal Functions tab
FMMUs
Number of FMMU instances. Between 0 and 8 FMMUs are possible.
SyncManager
Number of SyncManager instances. Between 0 and 8 SyncManagers are possible.
Process Data RAM
The size of the Process data memory can be determined in this dialog. Minimum memory size is
0 Kbyte, maximum memory size is 60 Kbyte.
Receive Times enabled
The Distributed Clocks receive time feature for propagation delay calculation can be enabled without
using all DC features.
Slave Controller – IP Core for Altera FPGAs III-37
IP Core Configuration
Distributed Clocks enabled
The Distributed Clocks feature comprises synchronized distributed clocks, receive times, SyncSignal
generation, and LatchSignal time stamping.
DC SyncSignals
Select the number of SyncSignals.
DC LatchSignals
Select the number of LatchSignals.
Distributed Clocks Width
The width of the Distributed Clocks can be selected to be either 32 bit or 64 bit. DC with 64 bit require
more FPGA resources. DC with 32 bit and DC with 64 bit are interoperable.
Cyclic pulse length
Determines the length of SyncSignal output (register 0x0982:0x0983).
Mapping to global IRQ
Sync0 and Sync1 can additionally be mapped internally to the global IRQ. This might be a good
solution if a microcontroller interface is short on IRQs. However, the sync signals will remain available
on Sync0 and Sync1 outputs.
III-38 Slave Controller – IP Core for Altera FPGAs
IP Core Configuration
5.2.4 Feature Details tab
Figure 12: Feature Details tab
Read/Write Offset
Physical Read/Write Offset (0x00108:0x0109) is available if checked.
Write Protection
Register write protection and ESC write protection (0x0020:0x0031) are available if checked.
AL Status Code Register
AL Status Code register (0x0134:0x0135) is available if checked.
Extended Watchdog
Watchdog Divider (0x0400:0x0401) is configurable and PDI Watchdog (0x0410:0x0411, and
0x0100.1) is available if checked.
AL Event Mask Register
AL Event Mask register (0x0204:0x0207) is available if checked.
Watchdog Counter
Watchdog Counters (0x0442:0x0443) are available if checked. Watchdog Counter PDI is only used if
Extended Watchdog feature is selected.
System Time PDI controlled
Distributed Clocks Time Loop Control Unit is controlled by PDI (µController) if selected. EtherCAT
access is not possible. Used for synchronization of secondary EtherCAT busses.
Slave Controller – IP Core for Altera FPGAs III-39
IP Core Configuration
PDI information register
PDI information register 0x014E:0x014F is available. Required if PDI SM/IRQ acknowledge by WRITE
is selected.
PDI SM/IRQ acknowledge by WRITE
Some ESC functions are triggered by reading from the PDI. Since PDI data bus widths are increasing
up to 64 bit and beyond, it is not possible to read individual bytes anymore because most µControllers
do not support byte enable signals for read commands. In order to prevent accidentally reading of
trigger addresses (like SyncManager buffer end or IRQ acknowledge registers), this option allows to
use write commands (with byte enables) to trigger the functions.
SyncManager Event Times
Distributed Clocks SyncManager Event Times (0x09F0:0x09FF) are available if checked. Used for
debugging SyncManager interactions.
EPU and PDI Error Counter
EtherCAT Processing Unit (EPU) and PDI Error counters (0x030C:0x030D) are available if checked.
Lost Link Counter
Lost Link Counters (0x0310:0x0313) are available if checked.
EEPROM Emulation by PDI
EEPROM is and has to be emulated by a µController with access to a NVRAM. I²C EEPROM is not
necessary if EEPROM Emulation is activated, I²C interface is deactivated. Only usable with PDIs for
µController connection.
RESET slave by ECAT/PDI
The reset registers (0x0040:0x0041) and the RESET_OUT signal is available if this feature is
checked.
RUN_LED (Device State)
RUN LED output indicates AL Status (0x0130) if activated. Otherwise RUN LED has to be controlled
by a µController. Always activated if no PDI is selected or if Digital I/O PDI is selected.
Extended RUN/ERR LED
Support for ERR LED and STATE LED, direct control of RUN/ERR LED via RUN/ERR LED Override
register (0x0138:0x0139).
LED Test
A short LED flash after reset for all LED signals is enabled if this feature is selected.
III-40 Slave Controller – IP Core for Altera FPGAs
IP Core Configuration
EtherCAT
Logic
PDI
PDI
PDI
PDI
SPI
Digital I/O
µC 8 Bit
Avalon/
AXI
EtherCAT IP Core
NIOS
RAM
…..
µC 16 BitPDI
FPGA
PHY
PHY
PHY
General
Purpose I/O
5.2.5 Process Data Interface tab
Several interfaces between ESC and the application are available:
Digital I/O
8 Bit asynchronous µController
16 Bit asynchronous µController
SPI slave
Avalon MM slave
AXI3 slave
General Purpose I/O
Figure 13: Available PDI Interfaces
The PDI can be selected from the pull down menu. After selection settings for the selected PDI are
shown and can be changed. If the EtherCAT IP Core is used in Qsys, only Avalon and AXI on-chip
busses are selectable.
Slave Controller – IP Core for Altera FPGAs III-41
IP Core Configuration
5.2.5.1 No Interface and General Purpose I/O
If there is no interface selected no communication with the application is possible (except for general
purpose I/O).
Figure 14: Register Process Data Interface
Number of GPIOs
General purpose I/O signals can be added to any selected PDI. The number of GPIO bytes is
configurable to 0, 1, 2, 4, or 8 Bytes. Both general purpose outputs and general purpose inputs of the
selected width are available.
III-42 Slave Controller – IP Core for Altera FPGAs
IP Core Configuration
5.2.5.2 Digital I/O Configuration
The Digital I/O PDI supports up to 4 Bytes of digital I/O signals. Each byte can be assigned as input or
output byte.
Figure 15: Register PDI – Digital I/O Configuration
Number of digital I/Os
Total number of I/Os. Possible values are 1, 2, 3 or 4 Bytes.
Byte 0-3 direction
Defining byte-wise if digital I/Os are used as input or output byte
Input Mode
Defines the latch signal which is used to take over input data.
Latch at SOF (Start of Frame)
The inputs are latched just before the data have to be written in the frame.
Latch with ext. signal
Connected to DIGI_LATCH_IN. Application controls latching
Latch at Dist-Sync0
Latch input data with distributed clock Sync0 signal
Latch at Dist-Sync1
Latch input data with distributed clock Sync1 signal
Slave Controller – IP Core for Altera FPGAs III-43
IP Core Configuration
Output Mode
Defines the trigger signal for data output.
Output at EOF (End of Frame)
The outputs will be set if the frame containing the data is received complete and error free.
Output at Dist-Sync0
Outputs will be set with Sync0 signal if distributed clocks are enabled.
Output at Dist-Sync1
Outputs will be set with Sync1 signal if distributed clocks are enabled.
III-44 Slave Controller – IP Core for Altera FPGAs
IP Core Configuration
5.2.5.3 µController Configuration (8/16Bit)
The 8/16 Bit µController interface is an asynchronous parallel interface for µControllers. The difference
between 8 and 16 bit interface is the extended data bus and the BHE signal which enables access to
the upper byte.
Figure 16: Register PDI – µC-Configuration
Device emulation
Enable Device emulation (0x0141[0]=1). This feature should be disabled in most use cases.
BUSY Polarity, BUSY Driver
Electrical definition of the busy signal driver
Read BUSY delayed
Delay the output of the BUSY signal by ~20 ns (refer to register 0x00152.0).
Write on falling edge
Start write access earlier with falling edge of nWR. Single write accesses will become slower, but
maximum write access time becomes faster.
Interrupt Polarity, Interrupt Driver
Electrical definition of the interrupt signal driver
Tristate driver for data bus inside core
If Tristate drivers for the data bus should be integrated into the IP Core already activate the check box.
Slave Controller – IP Core for Altera FPGAs III-45
IP Core Configuration
5.2.5.4 SPI Configuration
The SPI interface is a serial slave interface for µControllers.
Figure 17: Register PDI – SPI Configuration
Device emulation
Enable Device emulation (0x0141[0]=1). This feature should be disabled in most use cases.
SPI Mode
The SPI mode determines the SPI timing. Refer to SPI PDI description for details. Mode 3 is
recommended for slave sample code.
Late Sample
The Late Sample configuration determines the SPI timing. Refer to SPI PDI description for details. It is
recommended to leave this unchecked for slave sample code.
Interrupt Polarity, Interrupt Driver
SPI_IRQ output driver configuration.
Polarity of SPI_SEL
SPI_SEL signal polarity.
Tristate driver for SPI_DO inside core
Include tri-state driver for SPI Data Out. With tri-state driver, SPI_DO is either driven actively or high
impedance output.
III-46 Slave Controller – IP Core for Altera FPGAs
IP Core Configuration
5.2.5.5 Avalon Configuration
The Avalon PDI connects the IP Core with an Avalon Master (e.g., Altera NIOS). The Avalon PDI uses
memory addressing/dynamic bus sizing.
Enable Device emulation (0x0141[0]=1). This feature should be disabled in most use cases.
On-chip Bus CLK
This is the clock period of the Avalon bus clock for communication between ESC and the Avalon
master. This configuration option is not available if the clock period can be derived from the Qsys
clock connections.
On-Chip Bus CLK is asynchronous to CLK25 core clock
Enable if the On-chip BUS CLK is asynchronous to CLK25. Additional synchronization stages are
added in this case.
External data bus width
Select the Avalon data bus width (8/16/32/64 bit) of the Avalon slave interface.
Slave Controller – IP Core for Altera FPGAs III-47
IP Core Configuration
5.2.5.6 AXI3 Configuration
The AXI3 PDI connects the IP Core with an AXI Master. The AXI3 PDI uses memory
addressing/dynamic bus sizing.
Enable Device emulation (0x0141[0]=1). This feature should be disabled in most use cases.
On-chip Bus CLK
This is the clock period of the AXI bus clock for communication between ESC and the AXI master.
This configuration option is not available if the clock period can be derived from the Qsys clock
connections.
On-Chip Bus CLK is asynchronous to CLK25 core clock
Enable if the On-chip BUS CLK is asynchronous to CLK25. Additional synchronization stages are
added in this case.
External data bus width
Select the AXI data bus width (8/16/32/64 bit) of the AXI slave interface.
ID width
Width of the access ID signals.
III-48 Slave Controller – IP Core for Altera FPGAs
Example Designs
6 Example Designs
Example designs are available for:
EBV Cyclone III Evaluation Board DBC3C40 with RMII and 16 bit input/16 bit output Digital I/O
EBV Cyclone IV Evaluation Board DBC4CE55 with RMII and NIOS processor
Altera Cyclone IV DE2-115 Development and Education Board/Industrial Networking Kit (INK) with
MII and NIOS processor
Altera Cyclone IV DE2-115 Development and Education Board/Industrial Networking Kit (INK) with
RGMII and NIOS processor
The EtherCAT master uses an XML file which describes the device and its features. The XML device
description file for all example designs and its schema can be found in the installation directory.
Projects have to be compiled and then can be loaded to the configuration devices of the Evaluation
board.
The EtherCAT IP core example design resource consumption figures are based on EtherCAT IP Core
for Altera FPGAs Version 3.0.2 and Altera Quartus II 12.1 SP1.
Slave Controller – IP Core for Altera FPGAs III-49
Example Designs
Configuration
Resources
EP3C40
Physical layer
2x RMII
Les
8,626
22 %
Internal Function
2x FMMU
4x SyncManager
1 KB RAM
Registers
4,120
10 %
Distributed clocks
none
M9K
2
2 %
Feature details
RUN_LED,
LED Test
PLLs
1
25 %
PDI
Digital I/O: 2 Byte IN, 2
Byte OUT
Multiplier
elements
0
0 %
6.1 EBV Cyclone III DBC3C40 with Digital I/O
6.1.1 Configuration and resource consumption
Table 13: Resource consumption Digital I/O example design DBC3C40
NOTE: The board uses two individual PHY management interfaces, with both PHYs having the same PHY
addresses. Additionally, some of the PHY address bits have to be configured by extra logic inside the FPGA.
Because of the identical PHY addresses, the management interfaces on the board cannot be combined to one,
and thus, the EtherCAT IP Core cannot make use of the MII management interfaces of the PHY.
The Ethernet PHYs used on the DBC3C40 require Enhanced link detection for proper link loss reaction times.
Due to the hardware restrictions, it cannot be enabled on this board. This is suitable for evaluation purposes, but
not for production.
It is probably possible to change the PHY addresses on the board, combine the two management interfaces
inside the FPGA and add extra logic for proper configuration of the PHY address bits which are strapped on
signals connected to the FPGA. If this can be done, the PHY management interface as well as the Enhanced Link
Detection should be enabled.
6.1.2 Functionality
Functionality of the Digital I/O example design:
Digital input data from the buttons and the joystick is available in the Process Data RAM
(0x1000:0x1001).
Digital output data from Digital Output register (0x0F00:0x0F01) is visualized with IO LEDs.
6.1.3 Implementation
The EtherCAT IP Core MegaFunction needs to be completed before implementing the example
design (copy library files to the project folder). Perform the following steps for implementation:
1. Open Altera Quartus II
2. Open example design from <IPInst_dir>\example_designs\DBC3C40_EtherCAT_DIGI
3. Open MegaWizard Plug-In Manager, select “Edit and existing custom megafunction variation”
4. Select “ethercat_digitalio.vhd”
5. In the MegaWizard, select Finish. This will complete the EtherCAT IP Core MegaFunction.
folder. After expiration of about 1 hour the design quits its operation unless the JTAG connection to
Quartus remains active. This file must only be used for evaluation purposes, any distribution is not
allowed.
Slave Controller – IP Core for Altera FPGAs III-51
Example Designs
Configuration
Resources
EP4CE55
Physical layer
2x RMII
Les
15,614
28 %
Internal Function
2x FMMU
4x SyncManager
1 KB RAM
Registers
7,476
13 %
Distributed clocks
none
M9K
136
52 %
Feature details
RUN_LED,
LED Test
PLLs
1
25 %
PDI
Digital I/O: 2 Byte IN, 2
Byte OUT
Multiplier
elements
0
0 %
6.2 EBV Cyclone IV DBC4CE55 with NIOS
6.2.1 Configuration and resource consumption
Table 14: Resource consumption NIOS example design DBC4CE55
NOTE: The board uses two individual PHY management interfaces, with both PHYs having the same PHY
addresses. Additionally, some of the PHY address bits have to be configured by extra logic inside the FPGA.
Because of the identical PHY addresses, the management interfaces on the board cannot be combined to one,
and thus, the EtherCAT IP Core cannot make use of the MII management interfaces of the PHY.
The Ethernet PHYs used on the DBC3C40 require Enhanced link detection for proper link loss reaction times.
Due to the hardware restrictions, it cannot be enabled on this board. This is suitable for evaluation purposes, but
not for production.
It is probably possible to change the PHY addresses on the board, combine the two management interfaces
inside the FPGA and add extra logic for proper configuration of the PHY address bits which are strapped on
signals connected to the FPGA. If this can be done, the PHY management interface as well as the Enhanced Link
Detection should be enabled.
6.2.2 Functionality
The NIOS demo application performs the following tasks:
Accept any EtherCAT Slave State request (copying AL Control to AL Status register)
Visualize EtherCAT Slave State (7-segment displays and running IO light in Operational mode).
The NIOS demo application is not suitable for production, it cannot be certified. Use the EtherCAT
Slave Stack Code (SSC, available from the ETG) for products.
6.2.3 Implementation
The SOPC needs to be generated before implementing the example design. Perform the following
steps for implementation:
1. Open Altera Quartus II
2. Open example design from <IPInst_dir>\example_designs\DBC4CE55_EtherCAT_NIOS
3. Choose Tools on the menu bar and select Qsys…
4. Open Qsys system “DBC4CE55_EtherCAT_NIOS_QSYS.qsys” and view IP configurations
5. Select Generate on the Generation tab to generate system
6. Choose “Tools” on the menu bar and select “NIOS II Software Build Tools for Eclipse”
An already synthesized time limited OpenCore Plus configuration file
DBC4CE55_EtherCAT_NIOS_time_limited.sof
based on this digital I/O example design can be found in the
<IPInst_dir>\example_designs\DBC4CE55\
folder. After expiration of about 1 hour the design quits its operation unless the JTAG connection to
Quartus remains active. This file must only be used for evaluation purposes, any distribution is not
allowed.
Slave Controller – IP Core for Altera FPGAs III-53
Example Designs
Configuration
Resources
EP4CE115
Physical layer
2x MII,
TX Shift, MIIM, Link state
and PHY configuration
through MI
Les
19,062
17 %
Internal Function
3x FMMU
4x SyncManager
1 KB RAM
Registers
9,039
8 %
Distributed clocks
32 bit,
2x Sync, 2x Latch
M9K
264
61 %
Feature details
AL Status Code register,
Extended Watchdog,
AL Event Mask register,
Watchdog counter, EPU
and PDI Error counter,
Lost Link Counter,
RUN_LED,
LED Test
PLLs
1
25 %
PDI
Avalon
32 bit
Multiplier
elements
0
0 %
6.3 Altera Cyclone IV DE2-115 with NIOS and MII
6.3.1 Configuration and resource consumption
Table 15: Resource consumption NIOS example design DE2-115 MII
6.3.2 Functionality
Configure ETHERNET0 and ETHERNET1 for MII mode by setting jumpers JP1 and JP2 to 2-3.
Master is connected to Port ETHERNET0 of DE2-115 (left side, next to VGA). Port ETHERNET1 (right
side) can be used to connect other EtherCAT slaves.
The NIOS demo application performs the following tasks:
Accept any EtherCAT Slave State request (copying AL Control to AL Status register)
Display EtherCAT IP Core version and slave state on LCD
RUN LED is LEDG8
Link/Activity LEDs are LEDG6 and LEDG7
LEDG0 – LEDG5 are showing a running light if the slave is in OPERATIONAL mode
Digital input data from the switches SW0-SW17 is available in the Process Data RAM
(0x1000:0x1003).
Digital input data from the push buttons KEY0-KEY3 is available in the Process Data RAM
(0x1004).
Digital output data from Digital Output register (0x1100:0x1103) is visualized with LEDR0-LEDR17
Digital output data from Digital Output register (0x1104:0x1107) is visualized with the 7-segment
LED displays
The NIOS demo application is not suitable for production, it cannot be certified. Use the EtherCAT
Slave Stack Code (SSC, available from the ETG) for products.
III-54 Slave Controller – IP Core for Altera FPGAs
Example Designs
6.3.3 Implementation
The SOPC needs to be generated before implementing the example design. Perform the following
steps for implementation:
1. Open Altera Quartus II
2. Open example design from <IPInst_dir>\example_designs\DE2_115_NIOS
3. Choose Tools on the menu bar and select Qsys…
4. Open Qsys system “DE2_115_EtherCAT_NIOS_QSYS.qsys” and view IP configurations
5. Select Generate on the Generation tab to generate system
6. Choose “NIOS II” on the menu bar and select “NIOS II Software Build Tools for Eclipse”
7. Select workspace, e.g. create <IPInst_dir>\example_designs\DE2_115_NIOS\workspace
8. Choose File on the menu bar and select New – “NIOS II Application and BSP from Template”
9. Select SOPC information file “DE2_115_EtherCAT_NIOS_QSYS.sopcinfo”, project template
“EtherCAT DE2-115” and enter project name“EtherCAT_Demo”
10. Select Finish
11. Choose Project on the menu bar and select “Build all” to build the software project
“EtherCAT_Demo.elf” file is generated in the Debug-Folder of your workspace directory
12. Select “Make Targets –Build…” from the context menu of the “EtherCAT_Demo” project.
13. Select “mem_init_ generate” and press “Build” button. This will generate the memory initialization
files which will be added to the project later.
14. Switch over to Quartus II window
15. Select menu “Project –Add/Remove Files in Project…” and add file
An already synthesized time limited OpenCore Plus configuration file
DE2_115_EtherCAT_NIOS_time_limited.sof
based on this digital I/O example design can be found in the
<IPInst_dir>\example_designs\DE2_115_NIOS\
folder. After expiration of about 1 hour the design quits its operation unless the JTAG connection to
Quartus remains active. This file must only be used for evaluation purposes, any distribution is not
allowed.
Slave Controller – IP Core for Altera FPGAs III-55
Example Designs
Configuration
Resources
EP4CE115
Physical layer
2x RGMII,
MIIM, Link state and PHY
configuration through MI
Les
19,182
17 %
Internal Function
3x FMMU
4x SyncManager
1 KB RAM
Registers
9,106
8 %
Distributed clocks
32 bit,
2x Sync, 2x Latch
M9K
264
61 %
Feature details
AL Status Code register,
Extended Watchdog,
AL Event Mask register,
Watchdog counter, EPU
and PDI Error counter,
Lost Link Counter,
RUN_LED,
LED Test
PLLs
1
25 %
PDI
Avalon
32 bit
Multiplier
elements
0
0 %
6.4 Altera Cyclone IV DE2-115 with NIOS and RGMII
6.4.1 Configuration and resource consumption
Table 16: Resource consumption NIOS example design DE2-115 RGMII
6.4.2 Functionality
Configure ETHERNET0 and ETHERNET1 for RGMII mode by setting jumpers JP1 and JP2 to 1-2.
The DE2-115 example design with RGMII ports is equal to the DE2-115 example design with MII,
except for the PHY connection. Refer to DE2-115 example design with MII for more details.
6.4.3 Downloadable configuration file
An already synthesized time limited OpenCore Plus configuration file
DE2_115_EtherCAT_NIOS_RGMII_time_limited.sof
based on this digital I/O example design can be found in the
<IPInst_dir>\example_designs\DE2_115_NIOS_RGMII\
folder. After expiration of about 1 hour the design quits its operation unless the JTAG connection to
Quartus remains active. This file must only be used for evaluation purposes, any distribution is not
allowed.
III-56 Slave Controller – IP Core for Altera FPGAs
FPGA Resource Consumption
Configurable Function
Approx. LE
Details
Minimum Configuration
3,850
0 x SM, 0 x FMMU, no features, no DC, PDI: 32 Bit
digital I/O, 1 kByte DPRAM, 1 port MII
Maximum Configuration
32,500
8 x SM, 8 x FMMU, all features except for EEPROM
Emulation, DC 64 bit, PDI: SPI, GPIO, 60 kByte
DPRAM, 3 ports MII
Additional port
1,200
all port features enabled (without DC Receive time)
PHY features
950
All MII features: Management Interface, MI link
detection and configuration, TX Shift, and enhanced
link detection (3 ports)
SyncManager
1,100
per SyncManager
FMMU
700
per FMMU
DPRAM
500
60 KB (M4K/M9K)
Distributed Clocks
200
Receive time per port
1,300
System time (32 bit)
1,800
SyncSignals (32 bit)
750
LatchSignals (32 bit)
1,800
System time (64 bit)
3,400
SyncSignals (64 bit)
1,300
LatchSignals (64 bit)
350
SyncManager Event Times
Feature details
800
all features except for EEPROM Emulation and DC
Receive time
PDI
32 Bit Digital I/O
1,150
SPI
2,400
8 Bit µController
1,750
16 Bit µController
2,300
Avalon
1,700
25 MHz, 32 Bit
AXI
2,800
25 MHz, 32 Bit
GPIO
550
8 Byte
7 FPGA Resource Consumption
The resource consumption figures shown in this chapter reflect results of example synthesis runs and
can only be used for rough resource estimations. The figures are subject to quite large variations
depending on design tools and version, FPGA type, constraints (e.g., area vs. speed), total FPGA
utilization (design tools typically stop optimization if the timing goal is reached), etc. No extra effort
was undertaken to achieve optimum results, i.e. by sophisticated constraining and design flow setting.
For accurate resource consumption figures, please use the evaluation license of the EtherCAT IP
Core and synthesize your individual configuration for the desired FPGA.
The figures of the following table do not imply that the individual features are operational in the
selected FPGA (i.e., that the resources are sufficient or that timing closure is achievable). The
synthesis runs where performed without timing constraints, without location constraints, and without
bitstream generation.
The EtherCAT IP core resource consumption overview figures are based on EtherCAT IP Core for
Altera FPGAs Version 3.0.2, Altera Quartus II 12.1 SP1, and Altera Cyclone IV devices.
Table 17: Typical need of Logic Cells (LE) for main configurable functions
Slave Controller – IP Core for Altera FPGAs III-57
FPGA Resource Consumption
EtherCAT Device
SM
FMMU
DPRAM
[kByte]
PDI
DC
Logic
Elements
IO 2 2 1 32 Bit Digital I/O
-
8,800
Frequency Inverter
4 4 1
SPI
-
13,900
Encoder
4 4 1
SPI
32
18,600
Fieldbus Gateway
4 4 4
16 Bit µC
-
13,800
Servo Drive
4 4 4
16 Bit µC
32
18,200
The EtherCAT IP core resource consumption figures for typical EtherCAT devices are based on
EtherCAT IP Core for Altera FPGAs Version 3.0.2, Altera Quartus II 12.1 SP1, and Altera Cyclone IV
devices.
Table 18: EtherCAT IP Core configuration for typical EtherCAT Devices
NOTE: Register preset medium and large including MII Management Interface. All devices have 2 MII ports, DC is
32 bit wide, and typical features are selected.
III-58 Slave Controller – IP Core for Altera FPGAs
IP Core Signals
Condition
Name
Direction
Description
nRESET
INPUT
Resets all registers of the
IP Core, active low
Reset slave by
ECAT/PDI
RESET_OUT
OUTPUT
Reset by ECAT (reset
register 0x0040), active
high. RESET_OUT has to
trigger nRESET, which
clears RESET_OUT.
CLK25
INPUT
25 MHz clock signal from
PLL (rising edge
synchronous with rising
edge of CLK100)
CLK100
INPUT
100 MHz clock signal from
PLL
8 IP Core Signals
The available signals depend on the IP Core configuration.
8.1 General Signals
Table 19: General Signals
Slave Controller – IP Core for Altera FPGAs III-59
IP Core Signals
CLK25
EtherCAT IP Core
Ethernet
PHY
MII
CLK25
PLL
CLK_INCLK25
CLK100
CLK100
Ethernet
PHY
MII
CLK25
25 MHz
Ethernet
PHY
MII
CLK25
FPGA
CLK25
EtherCAT IP CoreEthernet
PHY
RMII
REF_CLK
PLL
CLK_INCLK25
CLK100
CLK100
Ethernet
PHY
RMII
REF_CLK
50 MHz
CLK50
CLK50
FPGA
CLK25
EtherCAT IP Core
Ethernet
PHY
RGMII
REF_CLK
PLL
CLK_INCLK25
CLK100
CLK100
Ethernet
PHY
RGMII
REF_CLK
25 MHz
Ethernet
PHY
RGMII
REF_CLK
FPGA
REF_CLK
CLK25_2NS
CLK25_2NS
8.1.1 Clock source example schematics
The EtherCAT IP Core and the Ethernet PHYs have to share the same clock source. The initial
accuracy of the EtherCAT IP clock source has to be 25ppm or better.
Typically, the clock inputs of the EtherCAT IP Core (CLK25, CLK100, and optionally CLK50 or
CLK25_2NS) are sourced by a PLL inside the FPGA. The PLL has to use a configuration which
guarantees a fixed phase relation between clock input and clock outputs, in order to enable TX shift
compensation for the MII TX signals.
Figure 20: EtherCAT IP Core clock source (MII)
Figure 21: EtherCAT IP Core clock source (RMII)
III-60 Slave Controller – IP Core for Altera FPGAs
Figure 22: EtherCAT IP Core clock source (RGMII)
IP Core Signals
Condition
Name
Direction
Description
PROM_SIZE
INPUT
Sets EEPROM size
0: up to 16 kbit EEPROM
1: 32 kbit-4Mbit EEPROM
Tristate drivers inside
core (EEPROM/MI)
PROM_CLK
OUTPUT
EEPROM I²C Clock
(output values: 0 or Z)
External tristate drivers
for EEPROM/MI
PROM_CLK
OUTPUT
EEPROM I²C Clock
(output values: 0 or 1)
Tristate drivers inside
core (EEPROM/MI)
PROM_DATA
BIDIR
EEPROM I²C Data
External tristate drivers
for EEPROM/MI
PROM_DATA_IN
INPUT
EEPROM I²C Data:
EEPROM IP Core
PROM_DATA_OUT
OUTPUT
EEPROM I²C Data :
IP Core EEPROM
(always 0)
PROM_DATA_ENA
OUTPUT
0: disable output driver for
PROM_DATA_OUT
1: enable output driver for
PROM_DATA_OUT
PROM_LOADED
OUTPUT
0: EEPROM is not loaded
1: EEPROM is loaded
Condition
Name
Direction
Description
LED_LINK_ACT[0]
OUTPUT
Link/activity LED for
ethernet port 0
2 or 3 communication
ports
LED_LINK_ACT[1]
OUTPUT
Link/activity LED for
ethernet port 1
3 communication ports
LED_LINK_ACT[2]
OUTPUT
Link/activity LED for
Ethernet port 2
RUN_LED enabled
LED_RUN
OUTPUT
RUN LED for device status
Always 0 if RUN LED is
deactivated.
RUN_LED enabled and
Extended RUN/ERR
LED enabled
LED_ERR
OUTPUT
ERR LED for device
status.
LED_STATE_RUN
OUTPUT
Connect to RUN pin of
dual-color STATE LED,
connect LED_ERR to ERR
pin of STATE LED
8.2 SII EEPROM Interface Signals
Table 20: SII EEPROM Signals
8.3 LED Signals
Table 21 lists the signals used for the LEDs. The LED signals are active high. All LEDs should be
green.
Table 21: LED Signals
NOTE: The application ERR LED and STATE LED can alternatively be controlled by a µController if required.
Slave Controller – IP Core for Altera FPGAs III-61
IP Core Signals
Condition
Name
Direction
Description
Distributed Clocks and
SYNC0 enabled
SYNC_OUT0
OUTPUT
DC sync output 0
Distributed Clocks and
SYNC0+1 enabled
SYNC_OUT1
OUTPUT
DC sync output 1
Distributed Clocks and
Latch0 enabled
LATCH_IN0
INPUT
DC latch input 0
Distributed Clocks and
Latch0+1 enabled
LATCH_IN1
INPUT
DC latch input 1
8.4 Distributed Clocks SYNC/LATCH Signals
Table 22 lists the signals used with Distributed Clocks.
Table 22: DC SYNC/LATCH signals
NOTE: SYNC_OUT0/1 are active high/push-pull outputs.
III-62 Slave Controller – IP Core for Altera FPGAs
IP Core Signals
Condition
Name
Direction
Description
PHY Management
Interface enabled and
Export PHY address as
signals and
not(Independent PHY
addresses)
PHY_OFFSET_VEC[4:0]
INPUT
PHY address offset
PHY Management
Interface enabled and
Export PHY address as
signals and
Independent PHY
addresses
PHY_ADR_PORT0[4:0]
INPUT
PHY address port 0
PHY Management
Interface enabled and
Export PHY address as
signals and
Independent PHY
addresses and Port1
PHY_ADR_PORT1[4:0]
INPUT
PHY address port 1
PHY Management
Interface enabled and
Export PHY address as
signals and
Independent PHY
addresses and Port2
PHY_ADR_PORT2[4:0]
INPUT
PHY address port 2
Port0 enabled
nPHY_RESET_OUT0
OUTPUT
PHY reset port 0 (act. Low)
Port1 enabled
nPHY_RESET_OUT1
OUTPUT
PHY reset port 1 (act. Low)
Port2 enabled
nPHY_RESET_OUT2
OUTPUT
PHY reset port 2 (act. Low)
PHY Management
Interface enabled
MCLK
OUTPUT
PHY management clock
PHY Management
Interface enabled,
Tristate drivers inside
core (EEPROM/MII)
MDIO
BIDIR
PHY management data
PHY Management
Interface enabled,
External tristate drivers
for EEPROM/MI
MDIO_DATA_IN
INPUT
PHY management data:
PHY IP Core
MDIO_DATA_OUT
OUTPUT
PHY management data:
IP Core PHY
MDIO_DATA_ENA
OUTPUT
0: disable output driver for
MDIO_DATA_OUT
1: enable output driver for
MDIO_DATA_OUT
8.5 Physical Layer Interface
The IP Core is connected with Ethernet PHYs using MII/RMII/RGMII interfaces.
Table 23 lists the general PHY interface signals.
Table 23: Physical Layer General
NOTE: MDIO must have a pull-up resistor (4.7kΩ recommended for ESCs).
Slave Controller – IP Core for Altera FPGAs III-63
IP Core Signals
Condition
Name
Direction
Description
Port0 = MII
nMII_LINK0
INPUT
0: 100 Mbit/s (Full
Duplex) link at port 0
1: no link at port 0
MII_RX_CLK0
INPUT
Receive clock port 0
MII_RX_DV0
INPUT
Receive data valid port 0
MII_RX_DATA0[3:0]
INPUT
Receive data port 0
MII_RX_ERR0
INPUT
Receive error port 0
MII_TX_ENA0
OUTPUT
Transmit enable port 0
MII_TX_DATA0[3:0]
OUTPUT
Transmit data port 0
Port0 = MII and TX
Shift activated
MII_TX_CLK0
INPUT
Transmit clock port 0 for
automatic TX Shift
configuration. Set to 0 for
manual TX Shift
configuration.
MII_TX_SHIFT0[1:0]
INPUT
Manual TX shift
configuration port 0.
Additional TX signal delay:
00: 0 ns
01: 10 ns
10: 20 ns
11: 30 ns
Port1 = MII
nMII_LINK1
INPUT
0: 100 Mbit/s (Full
Duplex) link at port 1
1: no link at port 1
MII_RX_CLK1
INPUT
Receive clock port 1
MII_RX_DV1
INPUT
Receive data valid port 1
MII_RX_DATA1[3:0]
INPUT
Receive data port 1
MII_RX_ERR1
INPUT
Receive error port 1
MII_TX_ENA1
OUTPUT
Transmit enable port 1
MII_TX_DATA1[3:0]
OUTPUT
Transmit data port 1
Port1 = MII and TX
Shift activated
MII_TX_CLK1
INPUT
Transmit clock port 1 for
automatic TX Shift
configuration. Set to 0 for
manual TX Shift
configuration.
MII_TX_SHIFT1[1:0]
INPUT
Manual TX shift
configuration port 1.
Additional TX signal delay:
00: 0 ns
01: 10 ns
10: 20 ns
11: 30 ns
8.5.1 MII Interface
Table 24 lists the signals used with MII. The TX_CLK signals of the PHYs are not connected to the IP
Core unless TX Shift automatic configuration is enabled.
Table 24: PHY Interface MII
III-64 Slave Controller – IP Core for Altera FPGAs
IP Core Signals
Condition
Name
Direction
Description
Port2 = MII
nMII_LINK2
INPUT
0: 100 Mbit/s (Full
Duplex) link at port 2
1: no link at port 2
MII_RX_CLK2
INPUT
Receive clock port 2
MII_RX_DV2
INPUT
Receive data valid port 2
MII_RX_DATA2[3:0]
INPUT
Receive data port 2
MII_RX_ERR2
INPUT
Receive error port 2
MII_TX_ENA2
OUTPUT
Transmit enable port 2
MII_TX_DATA2[3:0]
OUTPUT
Transmit data port 2
Port2 = MII and TX
Shift activated
MII_TX_CLK2
INPUT
Transmit clock port 2 for
automatic TX Shift
configuration. Set to 0 for
manual TX Shift
configuration.
MII_TX_SHIFT2[1:0]
INPUT
Manual TX shift
configuration port 2.
Additional TX signal delay:
00: 0 ns
01: 10 ns
10: 20 ns
11: 30 ns
Slave Controller – IP Core for Altera FPGAs III-65
IP Core Signals
Condition
Name
Direction
Description
Selected
communication
interface Port0/Port1 =
RMII
CLK50
INPUT
50 MHz reference clock
signal from PLL (rising edge
synchronous with rising
edge of CLK100), also
connected to PHY
nRMII_LINK0
INPUT
0: 100 Mbit/s (Full
Duplex) link at port 0
1: no link at port 0
RMII_RX_DV0
INPUT
Carrier sense/receive data
valid port 0
RMII_RX_DATA0[1:0]
INPUT
Receive data port 0
RMII_RX_ERR0
INPUT
Receive error port 0
RMII_TX_ENA0
OUTPUT
Transmit enable port 0
RMII_TX_DATA0[1:0]
OUTPUT
Transmit data port 0
2 communication ports
and
selected
communication
interface Port1 = RMII
nRMII_LINK1
INPUT
0: 100 Mbit/s (Full
Duplex) link at port 1
1: no link at port 1
RMII_RX_DV1
INPUT
Carrier sense/receive data
valid port 1
RMII_RX_DATA1[1:0]
INPUT
Receive data port 1
RMII_RX_ERR1
INPUT
Receive error port 1
RMII_TX_ENA1
OUTPUT
Transmit enable port 1
RMII_TX_DATA1[1:0]
OUTPUT
Transmit data port 1
8.5.2 RMII Interface
Table 25 lists the signals used with RMII.
Table 25: PHY Interface RMII
III-66 Slave Controller – IP Core for Altera FPGAs
IP Core Signals
Condition
Name
Direction
Description
Port0 =
RGMII
CLK25_2NS
INPUT
25 MHz clock signal from
PLL (rising edge 2 ns after
rising edge of CLK25),
used for RGMII GTX_CLK
nRGMII_LINK0
INPUT
0: 100 Mbit/s (Full
Duplex) link at port 0
1: no link at port 0
RGMII_RX_CLK0
INPUT
Receive clock port 0
RGMII_RX_CTL_DATA_DDR_CLK0
OUTPUT
Receive control/data DDR
input clock port 0
RGMII_RX_CTL_DATA_DDR_NRESET0
OUTPUT
Receive control/data DDR
input reset (act. Low) port 0
Slave Controller – IP Core for Altera FPGAs III-69
IP Core Signals
Condition
Name
Direction
Description
PDI_SOF
OUTPUT
Ethernet Start-of-Frame if
1
PDI_EOF
OUTPUT
Ethernet End-of-Frame if 1
PDI_WD_TRIGGER
OUTPUT
Process Data Watchdog
trigger if 1
PDI_WD_STATE
OUTPUT
Process Data Watchdog
state
0: Expired
1: Not expired
GPIO Bytes > 0
PDI_GPI[8*Bytes-1:0]
INPUT
General purpose inputs
(width configurable, 1/2/4/8
Bytes)
GPIO Bytes > 0
PDI_GPO[8*Bytes-1:0]
OUTPUT
General purpose outputs
(width N:0 configurable,
1/2/4/8 Bytes)
Condition
Name
Direction
Description
Byte 0 is Output
PDI_DIGI_DATA_OUT0 [7:0]
OUTPUT
Digital output byte 0
Byte 0 is Input
PDI_DIGI_DATA_IN0 [7:0]
INPUT
Digital input byte 0
Byte 1 is Output
PDI_DIGI_DATA_OUT1[7:0]
OUTPUT
Digital output byte 1
Byte 1 is Input
PDI_DIGI_DATA_IN1[7:0]
INPUT
Digital input byte 1
Byte 2 is Output
PDI_DIGI_DATA_OUT2[7:0]
OUTPUT
Digital output byte 2
Byte 2 is Input
PDI_DIGI_DATA_IN2[7:0]
INPUT
Digital input byte 2
Byte 3 is Output
PDI_DIGI_DATA_OUT3 [7:0]
OUTPUT
Digital output byte 3
Byte 3 is Input
PDI_DIGI_DATA_IN3[7:0]
INPUT
Digital input byte 3
If both, digital input and
output selected
PDI_DIGI_DATA_ENA
OUTPUT
Digital output enable
any digital input
selected and Input
mode=Latch with ext.
signal
PDI_DIGI_LATCH_IN
INPUT
Latch digital input at rising
edge
any digital output
selected
PDI_DIGI_OE_EXT
INPUT
External output enable
PDI_DIGI_OUTVALID
OUTPUT
Output event: output valid
8.6 PDI Signals
8.6.1 General PDI Signals
Table 28 lists the signals available independent of the PDI configuration.
Table 27: General PDI Signals
8.6.2 Digital I/O Interface
Table 28 lists the signals used with the Digital I/O PDI.
Table 28: Digital I/O PDI
III-70 Slave Controller – IP Core for Altera FPGAs
IP Core Signals
Condition
Name
Direction
Description
SPI PDI
PDI_SPI_CLK
INPUT
SPI clock
PDI_SPI_SEL
INPUT
SPI slave select
PDI_SPI_DI
INPUT
SPI slave data in (MOSI)
PDI_SPI_IRQ
OUTPUT
SPI interrupt
Tristate drivers inside
core (SPI
configuration)
PDI_SPI_DO
OUTPUT
SPI slave data out (MISO)
External tristate drivers
PDI_SPI_DO_OUT
OUTPUT
SPI slave data out:
IP Core µC
PDI_SPI_DO_ENA
OUTPUT
0: disable output driver for
PDI_SPI_DO_OUT
1: enable output driver for
PDI_SPI_DO_OUT
Condition
Name
Direction
Description
8/16 Bit µC
PDI_uC_ADR[15:0]
INPUT
µC address bus
PDI_uC_nBHE
INPUT
µC byte high enable
PDI_uC_nRD
INPUT
µC read access
PDI_uC_nWR
INPUT
µC write access
PDI_uC_nCS
INPUT
µC chip select
PDI_uC_IRQ
OUTPUT
Interrupt
PDI_uC_BUSY
OUTPUT
PDI busy
PDI_uC_DATA_ENA
OUTPUT
0: disable output driver for
PDI_uC_DATA_OUT
1: enable output driver for
PDI_uC_DATA_OUT
Condition
Name
Direction
Description
Tristate drivers inside
core (µController
configuration)
PDI_uC_DATA[7:0]
BIDIR
µC data bus
External tristate drivers
PDI_uC_DATA_IN[7:0]
INPUT
µC data bus:
µC IP Core
PDI_uC_DATA_OUT[7:0]
OUTPUT
µC data bus:
IP Core µC
8.6.3 SPI Slave Interface
Table 29 used with an SPI PDI.
Table 29: SPI PDI
8.6.4 Asynchronous 8/16 Bit µController Interface
Table 30 lists the signals used with both, 8 Bit and 16 Bit asynchronous µController PDI.
Table 30: 8/16 Bit µC PDI
8.6.4.1 8 Bit µController Interface
Table 31 lists the signals used with an 8 Bit µC PDI.
Table 31: 8 Bit µC PDI
Slave Controller – IP Core for Altera FPGAs III-71
IP Core Signals
Condition
Name
Direction
Description
Tristate drivers inside
core (µController
configuration)
PDI_uC_DATA[15:0]
BIDIR
µC data bus
External tristate drivers
PDI_uC_DATA_IN[15:0]
INPUT
µC data bus:
µC IP Core
PDI_uC_DATA_OUT[15:0]
OUTPUT
µC data bus:
IP Core µC
Condition
Name
Direction
Description
Avalon PDI
PDI_AVALON_CLK
INPUT
N*25 MHz Avalon bus clock from
PLL (rising edge of CLK25
synchronous with rising edge of
PDI_AVALON_CLK)
PDI_AVALON_ADR
[18-ld(PDI_EXT_BUS_WIDTH):0]
INPUT
Avalon address
PDI_AVALON_BE
[PDI_EXT_BUS_WIDTH/8 -1:0]
INPUT
Avalon byte enable
PDI_AVALON_RD_DATA
[PDI_EXT_BUS_WIDTH -1:0]
OUTPUT
Avalon slave read data
PDI_AVALON_WR_DATA
[PDI_EXT_BUS_WIDTH:0]
INPUT
Avalon write data
PDI_AVALON_READ
INPUT
Avalon read access
PDI_AVALON_WRITE
INPUT
Avalon write access
PDI_AVALON_CS
INPUT
Avalon chip select
PDI_AVALON_IRQ
OUTPUT
Avalon slave interrupt
PDI_AVALON_BUSY
OUTPUT
Avalon slave busy
PDI_AVALON_SYNC0
OUTPUT
DC SYNC0 output. Always 0 if DC
Sync0 is disabled.
PDI_AVALON_SYNC1
OUTPUT
DC SYNC1 output. Always 0 if DC
Sync 1 is disabled.
8.6.4.2 16 Bit µController Interface
Table 32 lists the signals used with a 16 Bit µC PDI.
Table 32: 16 Bit µC PDI
8.6.5 Avalon On-Chip Bus
Table 33 lists the signals used with the Avalon PDI.
Table 33: Avalon PDI
NOTE: If the EtherCAT IP Core is used inside Qsys, PDI_AVALON_SYNC0 and PDI_AVALON_SYNC1 are
declared as interrupt signals for the processor ( valon_ethercat_sync0/1). Use SYNC_OUT0/1 signals for
external use of the SyncSignals.
III-72 Slave Controller – IP Core for Altera FPGAs
Condition
Name
Direction
Description
AXI3 PDI
PDI_AXI_AWID
[PDI_BUS_ID_WIDTH-1:0]
INPUT
Write address ID
PDI_AXI_AWADDR[15:0]
INPUT
Write address
PDI_AXI3_AWLEN[3:0]
INPUT
Write length
PDI_AXI_AWSIZE[2:0]
INPUT
Write size
PDI_AXI_AWBURST[1:0]
INPUT
Write burst type
PDI_AXI3_AWLOCK
INPUT
Write lock
PDI_AXI_AWCACHE[3:0]
INPUT
Write cache type
PDI_AXI_AWPROT[2:0]
INPUT
Write protection type
PDI_AXI_AWVALID
INPUT
Write address valid
PDI_AXI_AWREADY
OUTPUT
Write address ready
PDI_AXI_WID[PDI_BUS_ID_WIDTH-1:0]
INPUT
Write data ID
PDI_AXI_WDATA
[PDI_EXT_BUS_WIDTH-1:0]
INPUT
Write data
PDI_AXI_WSTRB
[PDI_EXT_BUS_WIDTH/8-1:0]
INPUT
Write data byte enable
PDI_AXI_WLAST
INPUT
Write data last
PDI_AXI_WVALID
INPUT
Write data valid
PDI_AXI_WREADY
OUTPUT
Write data ready
PDI_AXI_BID[PDI_BUS_ID_WIDTH-1:0]
OUTPUT
Write response ID
PDI_AXI_BRESP[1:0]
OUTPUT
Write response
PDI_AXI_BVALID
OUTPUT
Write response valid
PDI_AXI_BREADY
INPUT
Write response ready
PDI_AXI_ARID[PDI_BUS_ID_WIDTH-1:0]
INPUT
Read address ID
PDI_AXI_ARADDR[15:0]
INPUT
Read address
PDI_AXI3_ARLEN[3:0]
INPUT
Read length
PDI_AXI_ARSIZE[2:0]
INPUT
Read size
PDI_AXI_ARBURST[1:0]
INPUT
Read burst type
PDI_AXI3_ARLOCK
INPUT
Read lock
PDI_AXI_ARCACHE[3:0]
INPUT
Read cache type
PDI_AXI_ARPROT[2:0]
INPUT
Read protection type
PDI_AXI_ARVALID
INPUT
Read address valid
PDI_AXI_ARREADY
OUTPUT
Read address ready
PDI_AXI_RID
[PDI_BUS_ID_WIDTH-1:0]
OUTPUT
Read data ID
PDI_AXI_RDATA
[PDI_EXT_BUS_WIDTH-1:0]
OUTPUT
Read data
PDI_AXI_RRESP[1:0]
OUTPUT
Read response
PDI_AXI_RLAST
OUTPUT
Read data last
PDI_AXI_RVALID
OUTPUT
Read data valid
PDI_AXI_RREADY
INPUT
Read data ready
PDI_AXI_IRQ_MAIN
OUTPUT
Interrupt
IP Core Signals
8.6.6 AXI3 On-Chip Bus
Table 34 lists the signals used with the AXI3 PDI.
Table 34: AXI3 PDI
Slave Controller – IP Core for Altera FPGAs III-73
PHY address offset (consecutive PHY addresses,
address of port 0)
PHY_ADR_PORT0[4:0]
INPUT
PHY address port 0 (individual PHY addresses)
PHY_ADR_PORT1[4:0]
INPUT
PHY address port 1 (individual PHY addresses)
PHY_ADR_PORT2[4:0]
INPUT
PHY address port 2 (individual PHY addresses)
9 Ethernet Interface
The IP Core is connected with Ethernet PHYs using MII, RMII, or RGMII interfaces. MII is
recommended since the PHY delay (and delay jitter) is smaller in comparison to RMII and RGMII.
9.1 PHY Management interface
9.1.1 PHY Management Interface Signals
The PHY management interface of the IP Core has the following signals:
Figure 23: PHY management Interface signals
Table 35: PHY management Interface signals
MDIO must have a pull-up resistor (4.7 kΩ recommended for ESCs), either integrated into the ESC or
externally. MCLK is driven rail-to-rail, idle value is High.
9.1.2 PHY Address Configuration
The EtherCAT IP Core addresses Ethernet PHYs typically using logical port number plus PHY
address offset. Ideally, the Ethernet PHY addresses should correspond with the logical port number,
so PHY addresses 0-2 are used.
A PHY address offset of 0-31 can be applied which moves the PHY addresses to any consecutive
address range. The IP Core expects logical port 0 to have PHY address 0 plus PHY address offset
(and so on).
Alternatively, the PHY addresses can be configured individually for each port.
Since the PHY addresses are static in most cases, they are set in the MegaWizard Plugin. If the PHY
addresses are changing dynamically, their configuration can be done by signals (Export PHY address
signals feature enabled).
III-74 Slave Controller – IP Core for Altera FPGAs
Ethernet Interface
EtherCAT IP Core
Ethernet PHY
MDIO_IN
MCLK
MDIO
MDC
4K7
V
CC I/O
Ethernet PHY
MDIO
MDC
4K7
V
CC I/O
MDIO_OUT
MDIO_ENA
&
FPGA
Parameter
Min
Typ
Max
Comment
PRELIMINARY TIMING
t
MI_startup
1.34 ms
Time between nPHY_RESET_OUT reset end and
the first access via management interface
t
Clk
400 ns
MI_CLK period
t
Write
~ 25.6 µs
MI Write access time
t
Read
~ 25.4 µs
MI Read access time
9.1.3 Separate external MII management interfaces
If two separate external MII management interfaces are to be connected to the single MII
management interface of the EtherCAT IP Core, some glue logic has to be added. Disable internal TriState drivers for the MII management bus and combine the signals according to the following figure.
Take care of proper PHY address configuration: the PHYs need different PHY addresses.
9.1.4 MII management timing specifications
For MII Management Interface timing diagrams refer to Section I.
Figure 24: Example schematic with two individual MII management interfaces
Table 36: MII management timing characteristics
Slave Controller – IP Core for Altera FPGAs III-75
Ethernet Interface
9.2 MII Interface
The MII interface of the IP Core is optimized for low processing/forwarding delays by omitting a
transmit FIFO. To allow this, the IP Core has additional requirements to Ethernet PHYs, which are
easily accomplished by several PHY vendors.
Refer to “Section I – Technology” for Ethernet PHY requirements.
Additional information regarding the IP Core:
The clock source of the PHYs is the same as for the FPGA (25 MHz quartz oscillator)
The signal polarity of nMII_LINK is not configurable inside the IP Core, nMII_LINK is active low. If
necessary, the signal polarity must be swapped by user logic outside the IP Core.
The IP Core can be configured to use the MII management interface for link detection and link
configuration.
The IP Core supports arbitrary PHY addresses.
For details about the ESC MII Interface refer to Section I.
III-76 Slave Controller – IP Core for Altera FPGAs
Ethernet Interface
EtherCAT
device
MII_RX_CLK
nMII_LINK
MII_RX_DV
MII_RX_ERR
MII_RX_DATA[3:0]
MII_TX_ENA
MII_TX_DATA[3:0]
MII_TX_CLK
MII_TX_SHIFT[1:0]
NPHY_RESET_OUT
Signal
Direction
Description
nMII_LINK
IN
Input signal provided by the PHY if a 100 Mbit/s (Full
Duplex) link is established (alias LINK_MII)
MII_RX_CLK
IN
Receive Clock
MII_RX_DV
IN
Receive data valid
MII_RX_DATA[3:0]
IN
Receive data (alias RXD)
MII_RX_ERR
IN
Receive error (alias RX_ER)
MII_TX_ENA
OUT
Transmit enable (alias TX_EN)
MII_TX_DATA[3:0]
OUT
Transmit data (alias TXD)
MII_TX_CLK
IN
Transmit Clock for automatic TX Shift compensation
MII_TX_SHIFT[1:0]
IN
Manual TX Shift compensation with additional registers
NPHY_RESET_OUT
OUT
PHY reset (akt. Low), resets PHY while ESC is in
Reset state, and, for FX PHYs, if Enhanced Link
Detection detects a lost link
9.2.1 MII Interface Signals
The MII interface of the IP Core has the following signals:
Figure 25: MII Interface signals
Table 37: MII Interface signals
NOTE: A pull-down resistor is typically required for NPHY_RESET_OUT to hold the PHY in reset state while the
FPGA is configured, since this pin is floating or even pulled up during that time.
Slave Controller – IP Core for Altera FPGAs III-77
Ethernet Interface
CLK_IN
TX_CLK
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
MII_TX_ENA
MII_TX_DATA
t
CLK25
10 ns
20 ns
30 ns
t
TX_delay
t
PHY_TX_hold
t
PHY_TX_setup
Wrong: Setup/Hold Timing violated
Good: Setup/Hold Timing met
t
CLK25
t
PHY_TX_CLK
MII_TX_ENA, MII_TX_DATA
MII_TX_ENA, MII_TX_DATA
+10 ns additional delay
MII_TX_ENA, MII_TX_DATA
+20 ns additional delay
MII_TX_ENA, MII_TX_DATA
+30 ns additional delay
9.2.2 TX Shift Compensation
Since IP Core and the Ethernet PHYs share the same clock source, TX_CLK from the PHY has a
fixed phase relation to MII_TX_ENA/MII_TX_DATA from the IP Core. Thus, TX_CLK is not connected
and the delay of a TX FIFO inside the IP Core is saved.
In order to fulfill the setup/hold requirements of the PHY, the phase shift between TX_CLK and
MII_TX_ENA/MII_TX_DATA has to be controlled. There are several alternatives:
TX Shift Compensation by specifying/verifying minimum and maximum clock-to-output times for
MII_TX_ENA/MII_TX_DATA with respect to CLK_IN (PHY and PLL clock source).
TX Shift compensation with additional delays for MII_TX_ENA/MII_TX_DATA of 10, 20, or 30 ns.
Such delays can be added using the TX Shift feature and applying MII_TX_SHIFT[1:0].
MII_TX_SHIFT[1:0] determine the delay in multiples of 10 ns for each port. For guaranteed
timings, maximum clock-to-output times for MII_TX_ENA/MII_TX_DATA should be applied, too.
Set MII_TX_CLK to 0 if manual TX Shift compensation is used.
Automatic TX Shift compensation if the TX Shift feature is selected: connect MII_TX_CLK and the
automatic TX Shift compensation will determine correct shift settings. For guaranteed timings,
maximum clock-to-output times for MII_TX_ENA/MII_TX_DATA should be applied, too. Set
manual TX Shift compensation to 0 in this case.
MII_TX_ENA and MII_TX_DATA are generated synchronous to CLK25, although the source registers
are both CLK25 and CLK100 registers.
The PLL has to use a configuration which guarantees a fixed phase relation between clock input and
CLK25/CLK100 output, in order to enable TX shift compensation for the MII TX signals.
Figure 26: MII TX Timing Diagram
III-78 Slave Controller – IP Core for Altera FPGAs
Ethernet Interface
Parameter
Comment
t
CLK25
25 MHz quartz oscillator (CLK_IN)
t
TX_delay
MII_TX_ENA/MII_TX_DATA[3:0] delay after rising edge of CLK_IN,
depends on synthesis results
t
PHY_TX_CLK
Delay between PHY clock source and TX_CLK output of the PHY,
PHY dependent
t
PHY_TX_setup
PHY setup requirement: TX_ENA/TX_DATA with respect to TX_CLK
(PHY dependent, IEEE802.3 limit is 15 ns)
t
PHY_TX_hold
PHY hold requirement: TX_ENA/TX_DATA with respect to TX_CLK
(PHY dependent, IEEE802.3 limit is 0 ns)
Parameter
Min
Typ
Max
Comment
t
RX_CLK
40 ns ± 100 ppm
RX_CLK period (100 ppm with maximum FIFO
Size only)
t
RX_setup
x1
RX_DV/RX_DATA/RX_D[3:0] valid before rising
edge of RX_CLK
t
RX_hold
x1
RX_DV/RX_DATA/RX_D[3:0] valid after rising
edge of RX_CLK
RX_DV
RX_D[3:0]
RX_ERR
RX_CLK
t
RX_setuptRX_hold
RX signals valid
t
RX_CLK
1
Table 38: MII TX Timing characteristics
If the phase shift between CLK25 and TX_CLK should not be constant for a some special PHYs,
additional FIFOs for MII_TX_ENA/MII_TX_DATA are necessary. The FIFO input uses CLK25, the
FIFO output TX_CLK[0] or TX_CLK[1] respectively.
NOTE: The phase shift can be adjusted by displaying TX_CLK of a PHY and MII_TX_ENA/MII_TX_DATA[3:0] on
an oscilloscope. MII_TX_ENA/MII_TX_DATA[3:0] is allowed to change between 0 ns and 25 ns after a rising
edge of TX_CLK (according to IEEE802.3 – check your PHY’s documentation). Setup phase shift so that
MII_TX_ENA/MII_TX_DATA[3:0] change near the middle of this range. MII_TX_ENA/MII_TX_DATA[3:0] signals
are generated at the same time.
9.2.3 MII Timing specifications
Table 39: MII timing characteristics
Figure 27: MII timing RX signals
EtherCAT IP Core: time depends on synthesis results
Slave Controller – IP Core for Altera FPGAs III-79
Ethernet Interface
EtherCAT IP Core
Ethernet PHY
MII_RX_DV
MII_RX_DATA[3:0]
MII_RX_ERR
MII_TX_ENA
MII_TX_DATA[3:0]
MII_RX_CLK
RX_DV
RXD[3:0]
RX_ER
TX_EN
TXD[3:0]
RX_CLK
TX_CLK
CLK25
CRS
TX_ER
COL
nMII_LINKLINK_STATUS
!
!
! optional
CLK25
PLL
CLK_INCLK25
CLK100
CLK100
25 MHz
MII_TX_CLK
! optional
MII_TX_SHIFT[1:0]
00/01/10/11
NPHY_RESET_OUT
NRESET
4K7
9.2.4 MII example schematic
Refer to chapter 8.5 for more information on special markings (!). Take care of proper compensation of
the TX_CLK phase shift.
Figure 28: MII example schematic
III-80 Slave Controller – IP Core for Altera FPGAs
Ethernet Interface
EtherCAT
device
nRMII_LINK
CLK50
RMII_RX_DV
RMII_RX_ERR
RMII_RX_DATA[1:0]
RMII_TX_ENA
RMII_TX_DATA[1:0]
NPHY_RESET_OUT
9.3 RMII Interface
The IP Core supports RMII with 2 communication ports. Nevertheless, MII is recommended since the
PHY delay (and delay jitter) is smaller in comparison to RMII.
The Beckhoff ESCs have additional requirements to Ethernet PHYs using RMII, which are easily
accomplished by several PHY vendors.
Refer to “Section I – Technology” for Ethernet PHY requirements.
Additional information regarding the IP Core:
The clock source of the PHYs is the same as for the FPGA (25 MHz quartz oscillator)
The signal polarity of nRMII_LINK is not configurable inside the IP Core, nRMII_LINK is active low.
If necessary, the signal polarity must be swapped outside the IP Core.
The IP Core can be configured to use the MII management interface for link detection and link
configuration.
The IP Core supports arbitrary PHY addresses.
For details about the ESC RMII Interface refer to Section I.
9.3.1 RMII Interface Signals
The RMII interface of the IP Core has the following signals:
Figure 29: RMII Interface signals
Slave Controller – IP Core for Altera FPGAs III-81
Ethernet Interface
Signal
Direction
Description
CLK50
IN
RMII RX/TX reference clock (50 MHz)
nRMII_LINK
IN
Input signal provided by the PHY if a 100 Mbit/s (Full
Duplex) link is established (alias LINK_MII)
RMII_RX_DV
IN
Carrier sense/receive data valid
RMII_RX_DATA[1:0]
IN
Receive data (alias RXD)
RMII_RX_ERR
IN
Receive error (alias RX_ER)
RMII_TX_ENA
OUT
Transmit enable (alias TX_EN)
RMII_TX_DATA[1:0]
OUT
Transmit data (alias TXD)
NPHY_RESET_OUT
OUT
PHY reset (akt. Low), resets PHY while ESC is in
Reset state, and, for FX PHYs, if Enhanced Link
Detection detects a lost link
EtherCAT IP Core
Ethernet PHY
RMII_RX_DV
RMII_RX_DATA[1:0]
RMII_RX_ERR
RMII_TX_ENA
RMII_TX_DATA[1:0]
CRS_DV
RXD[1:0]
RX_ER
TX_EN
TXD[1:0]
REF_CLK
nRMII_LINKLINK_STATUS
!
CLK25
PLL
CLK_INCLK25
CLK100
CLK100
50 MHz
CLK50
CLK50
NPHY_RESET_OUT
NRESET
4K7
Table 40: RMII Interface signals
NOTE: A pull-down resistor is typically required for NPHY_RESET_OUT to hold the PHY in reset state while the
FPGA is configured, since this pin is floating or even pulled up during that time.
9.3.2 RMII example schematic
Refer to chapter 8.5 for more information on special markings (!). Take care of proper PHY address
configuration.
Figure 30: RMII example schematic
III-82 Slave Controller – IP Core for Altera FPGAs
Ethernet Interface
9.4 RGMII Interface
The IP Core supports RGMII with1-3 communication ports at 100 Mbit/s. Nevertheless, MII is
recommended since the PHY delay (and delay jitter) is smaller in comparison to RGMII.
The RGMII interface of the EtherCAT IP Core offers signals for attaching DDR input and output cells,
which have to be added by the IP Core user. This approach offers maximum flexibility for the
implementation, which is required because RGMII has tight timing requirements. Please refer to the
Altera Application Note 477 “Designing RGMII Interface with FPGA and HardCopy ASICs”, available
from Altera (http://www.altera.com). This application note contains implementation and constraining
guidelines.
The Beckhoff ESCs have additional requirements to Ethernet PHYs using RGMII, which are easily
accomplished by several PHY vendors.
Refer to “Section I – Technology” for Ethernet PHY requirements.
Additional information regarding the IP Core:
The signal polarity of nRGMII_LINK is not configurable inside the IP Core, nRGMII_LINK is active
low. If necessary, the signal polarity must be swapped outside the IP Core.
The IP Core can be configured to use the MII management interface for link detection and link
configuration.
The IP Core supports arbitrary PHY addresses.
A Gigabit Ethernet PHY has to be restricted to establish only 100 Mbit/s links (e.g. by using MI link
detection and configuration).
For details about the ESC RGMII Interface refer to Section I.
9.4.1 RGMII Interface Signals
The RGMII interface of the IP Core has the following signals:
Slave Controller – IP Core for Altera FPGAs III-83
25 MHz clock signal from PLL (rising edge 2 ns
after rising edge of CLK25), used for RGMII
GTX_CLK
nRGMII_LINK
IN
Input signal provided by the PHY if a 100 Mbit/s
(Full Duplex) link is established (alias LINK_MII)
RGMII_RX_CLK
IN
Receive clock
RGMII_RX_CTL_DATA_DDR_CLK
OUT
Receive control/data DDR input clock
RGMII_RX_CTL_DATA_DDR_NRESET
OUT
Receive control/data DDR input reset (act. Low)
RGMII_RX_CTL_DDR_L
IN
Receive control DDR input low
RGMII_RX_CTL_DDR_H
IN
Receive control DDR input high
RGMII_RX_DATA_DDR_L[3:0]
IN
Receive data DDR input low
RGMII_RX_DATA_DDR_H[3:0]
IN
Receive data DDR input high
RGMII_TX_CLK_DDR_CLK
OUT
Transmit clock DDR output clock
RGMII_TX_CLK_DDR_NRESET
OUT
Transmit clock DDR output reset (act. Low)
RGMII_TX_CLK_DDR_L
OUT
Transmit clock DDR output low
RGMII_TX_CLK_DDR_H
OUT
Transmit clock DDR output high
RGMII_TX_CTL_DATA_DDR_CLK
OUT
Transmit control/data DDR output clock
RGMII_TX_CTL_DATA_DDR_NRESET
OUT
Transmit control/data DDR output reset (act.
Low)
RGMII_TX_CTL_DDR_L
OUT
Transmit control DDR output low
RGMII_TX_CTL_DDR_H
OUT
Transmit control DDR output high
RGMII_TX_DATA_DDR_L[3:0]
OUT
Transmit data DDR output low
RGMII_TX_DATA_DDR_H[3:0]
OUT
Transmit data DDR output high
NPHY_RESET_OUT
OUT
PHY reset (akt. Low), resets PHY while ESC is
in Reset state, and, for FX PHYs, if Enhanced
Link Detection detects a lost link
Figure 31: RGMII Interface signals
Table 41: RGMII Interface signals
NOTE: A pull-down resistor is typically required for NPHY_RESET_OUT to hold the PHY in reset state while the
FPGA is configured, since this pin is floating or even pulled up during that time.
III-84 Slave Controller – IP Core for Altera FPGAs
Refer to chapter 8.5 for more information on special markings (!). Take care of proper PHY address
configuration.
Figure 32: RGMII example schematic
9.4.3 RGMII RX timing options
RGMII uses a source synchronous interface for receive signals. Originally, RX_CLK and
RX_CTL/RX_DATA are edge-aligned at the PHY side. RX_CLK needs to be delayed to maintain
setup/hold timing at the FPGA side. There are several options for delaying RX_CLK:
9.4.3.1 RX_CLK Delay in PHY
Some PHYs offer RGMII-ID, which means, the RX_CLK is delayed internally in the PHY. The
EtherCAT IP Core itself cannot enable this feature using the MII management interface if the PHY
requires this. It is up to the IP Core user to enable this feature.
9.4.3.2 RX_CLK Delay on PCB
One option is to delay RX_CLK on the PCB.
9.4.3.3 RX_CLK Delay in FPGA with PLL
The delay of RX_CLK can be realized with a PLL at each RGMII port, configured for clock phase shift.
9.4.3.4 RX_CLK Delay in FPGA without PLL
The delay of RX_CLK can be realized with routing delay inside the FPGA.
9.4.4 RGMII TX timing options
RGMII uses a source synchronous interface for receive signals. Originally, TX_CLK and
TX_CTL/RX_DATA are edge-aligned at the FPGA side. TX_CLK needs to be delayed to maintain
setup/hold timing at the PHY side. There are several options for delaying TX_CLK:
Slave Controller – IP Core for Altera FPGAs III-85
Ethernet Interface
9.4.4.1 TX_CLK Delay in PHY
Some PHYs offer RGMII-ID, which means, the TX_CLK is delayed internally in the PHY. The
EtherCAT IP Core itself cannot enable this feature using the MII management interface if the PHY
requires this. It is up to the IP Core user to enable this feature.
9.4.4.2 TX_CLK Delay on PCB
One option is to delay TX_CLK on the PCB.
9.4.4.3 TX_CLK Delay in FPGA with PLL
The delay of TX_CLK can be realized with a PLL providing a delayed CLK25 attached to the
CLK25_2NS input of the IP Core. This clock is used for the TX_CLK DDR output cell, while CLK25 is
used for the TX_CTL/TX_DATA DDR output cells.
9.4.4.4 TX_CLK Delay in FPGA without PLL
The delay of TX_CLK can be realized with routing delay inside the FPGA.
III-86 Slave Controller – IP Core for Altera FPGAs
PDI Description
PDI number
0x0140
[7:0]
On-chip bus
PDI name
IP Core
0x0150
[7:5]
0x0152
[10:8]
0x00
-
-
Interface deactivated
x
0x01
-
-
4 Digital Input
0x02
-
-
4 Digital Output
0x03
-
-
2 Digital Input and 2 Digital Output
0x04
-
-
Digital I/O
x
0x05
-
-
SPI Slave
x
0x06
-
-
Oversampling I/O
0x07
-
-
EtherCAT Bridge (port 3)
0x08
-
-
16 Bit asynchronous Microcontroller interface
x
0x09
-
-
8 Bit asynchronous Microcontroller interface
x
0x0A
-
-
16 Bit synchronous Microcontroller interface
0x0B
-
-
8 Bit synchronous Microcontroller interface
0x10
-
-
32 Digital Input/0 Digital Output
0x11
-
-
24 Digital Input/8 Digital Output
0x12
-
-
16 Digital Input/16 Digital Output
0x13
-
-
8 Digital Input/24 Digital Output
0x14
-
-
0 Digital Input/32 Digital Output
0x80
000 - On-chip bus (Avalon)
x
001
000
On-chip bus (AXI3)
x
001
On-chip bus (AXI4)
010
On-chip bus (AXI4LITE)
010 - On-chip bus (PLB v4.6)
100 - On-chip bus (OPB)
Others
Reserved
10 PDI Description
Table 42: Available PDIs for EtherCAT IP Core
Slave Controller – IP Core for Altera FPGAs III-87
PDI Description
EtherCAT
IP core
DATA_OUT[31:0]
LATCH_IN
OUTVALID
SOF
OE_EXT
WD_TRIG
DATA_IN[31:0]
I/O[31:0]
DATA_ENA
Signal
Direction
Description
Signal polarity
DATA_OUT[31:0]
OUT
Output data
DATA_IN[31:0]
IN
Input data
LATCH_IN
IN
External data latch signal
act. High
OUTVALID
OUT
Output data is valid/Output event
act. High
SOF
OUT
Start of Frame
act. High
OE_EXT
IN
Output Enable
act. High
WD_TRIG
OUT
Watchdog Trigger
act. High
DATA_ENA
OUT
Enable external Output data driver
act. High
I/O
Byte
I/O signal
Output signal
Output
address
Input signal
Input
address
0
I/O[7:0]
DATA_OUT[7:0]
0x0F00
DATA_IN[7:0]
0x1000
1
I/O[15:8]
DATA_OUT[15:8]
0x0F01
DATA_IN[15:8]
0x1001
2
I/O[23:16]
DATA_OUT[23:16]
0x0F02
DATA_IN[23:16]
0x1002
3
I/O[31:24]
DATA_OUT[31:24]
0x0F03
DATA_IN[31:24]
0x1003
2
10.1 Digital I/O Interface
10.1.1 Interface
The Digital I/O PDI is selected with PDI type 0x04. The signals of the Digital I/O interface are2:
Figure 33: IP core digital I/O signals
Table 43: IP core digital I/O signals
NOTE: Unsupported Digital I/O control signal OE_CONF is assumed to be low.
The Digital I/O PDI supports 1-4 byte of digital I/O signals, with each byte individually configurable as
either input or output. At the IP core interface, the I/O signals are separated in input signals
(DATA_IN) and output signals (DATA_OUT). The corresponding I/O bytes and addresses are listed
below.
Table 44: Input/Output byte reference
The prefix `PDI_DIGI_` is added to the Digital I/O interface signals if the EtherCAT IP Core is used.
III-88 Slave Controller – IP Core for Altera FPGAs
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