Hilscher NXHX 52-JTAG Manual de usuario

Getting Started

NXHX 52-JTAG

Hilscher Gesellschaft für Systemautomation mbH

www.hilscher.com

Table of Contents 2/89

NXHX 52-JTAG | Getting Started

Table of Contents

1INTRODUCTION.........................................................................................................4

1.1 About this Document ..................................................................................................4

1.1.1 Description of the Contents..................................................................................4

1.1.2 List of Revisions ...................................................................................................4

1.1.3 Conventions in this Manual..................................................................................4

1.2 Legal Notes.................................................................................................................5

1.2.1 Copyright..............................................................................................................5

1.2.2 Important Notes....................................................................................................5

1.2.3 Exclusion of Liability.............................................................................................6

1.2.4 Warranty...............................................................................................................6

1.2.5 Export Regulations...............................................................................................7

1.2.6 Registered Trademarks........................................................................................7

2DESCRIPTIONS OF THE USE CASES......................................................................8

2.1 Overview.....................................................................................................................8

2.2 Using the EtherCAT Slave Loadable Firmware..........................................................8

2.2.1 Loadable Firmware and Second Stage Bootloader .............................................9

2.2.2 Downloading SSBL and LFW to Serial Flash of NXHX 52-JTAG Board.............9

2.2.3 Using cifX Toolkit................................................................................................10

2.3 Using the Application Examples on the Product DVD..............................................10

2.3.1 Overview.............................................................................................................10

2.3.2 Using Waf to Build the Application Examples....................................................11

2.3.3 Using Eclipse to Build the Application Examples...............................................11

3DEVICE DRAWING AND POSITIONS OF THE NXHX 52-JTAG .............................12

4CONNECTING POWER SUPPLY.............................................................................14

5STEP BY STEP INSTRUCTIONS FOR TYPICAL USE CASES...............................15

5.1 Installing Code Sourcery Compiler on Your Development PC..................................15

5.1.1 Overview.............................................................................................................15

5.1.2 Prerequisites.......................................................................................................15

5.1.3 Step-by-Step Instructions...................................................................................15

5.2 Using Waf to Build ELF Files from All Application Examples ...................................16

5.2.1 Overview.............................................................................................................16

5.2.2 Prerequisites.......................................................................................................16

5.2.3 Step-by-Step Instructions...................................................................................16

5.3 Using Waf to Build an ELF File from a Single rcX Application Example...................18

5.3.1 Overview.............................................................................................................18

5.3.2 Prerequisites.......................................................................................................18

5.3.3 Step-by-Step Instructions...................................................................................18

5.4 Using Eclipse to Build ELF Files from All Application Examples ..............................24

5.4.1 Overview.............................................................................................................24

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5.4.2 Prerequisites.......................................................................................................24

5.4.3 Step-by-Step Instructions...................................................................................24

5.5 Using Bootwizard to Create an Executable Binary Firmware File from ELF File......29

5.5.1 Overview.............................................................................................................29

5.5.2 Prerequisites.......................................................................................................29

5.5.3 Step-by-Step Instructions...................................................................................29

5.6 Downloading Executable Binary Image to Serial Flash of the NXHX 52-JTAG via

USB ..........................................................................................................................33

5.6.1 Overview.............................................................................................................33

5.6.2 Prerequisites.......................................................................................................33

5.6.3 Step-by-Step Instructions...................................................................................34

5.7 Downloading NXF Firmware to Serial Flash of the NXHX 52-JTAG via USB...........44

5.7.1 Overview.............................................................................................................44

5.7.2 Prerequisites.......................................................................................................44

5.7.3 Step-by-Step Instructions...................................................................................45

5.8 Downloading NXF Firmware via PCI and Host Interface..........................................51

5.8.1 Overview.............................................................................................................51

5.8.2 Prerequisites.......................................................................................................51

5.8.3 Step-by-Step Instructions...................................................................................52

5.9 Configuration Example .............................................................................................62

5.9.1 Overview.............................................................................................................62

5.9.2 Prerequisites.......................................................................................................62

5.9.3 Step-by-Step Instructions...................................................................................63

5.10 Testing I/O Communication......................................................................................75

5.10.1 Overview.............................................................................................................75

5.10.2 Prerequisites.......................................................................................................75

5.10.3 Step-by-Step Instructions...................................................................................76

6APPENDIX................................................................................................................86

6.1 List of Figures...........................................................................................................86

6.2 List of Tables ............................................................................................................88

6.3 Contacts....................................................................................................................89

Introduction 4/89

NXHX 52-JTAG | Getting Started

1 Introduction

1.1 About this Document

1.1.1 Description of the Contents

This Getting Started Guide describes typical use cases for the Hilscher

NXHX 52-JTAG Development Board.

1.1.2 List of Revisions

Index Date Chapter Revisions

1 2013-10-25 All Created

2 2013-11-13 5.8

Settings for Parallel Dual-Port Memory 16 Bit

Mode at Switch S2 updated according to

hardware revision 3.

Table 1: List of Revisions

1.1.3 Conventions in this Manual

Notes, operation instructions and results of operation steps are marked as

follows:

Notes

Important: <important note>

Note: <note>

<note, where to find further information>

Operation Instructions

1. <instruction>

2. <instruction>

<instruction>

Results

<result>

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NXHX 52-JTAG | Getting Started

1.2 Legal Notes

1.2.1 Copyright

The images, photographs and texts in the accompanying material (user

manual, accompanying texts, documentation, etc.) are protected by

German and international copyright law as well as international trade and

protection provisions. You are not authorized to duplicate these in whole or

in part using technical or mechanical methods (printing, photocopying or

other methods), to manipulate or transfer using electronic systems without

prior written consent. You are not permitted to make changes to copyright

notices, markings, trademarks or ownership declarations. The included

diagrams do not take the patent situation into account. The company

names and product descriptions included in this document may be

trademarks or brands of the respective owners and may be trademarked or

patented. Any form of further use requires the explicit consent of the

respective rights owner.

1.2.2 Important Notes

The user manual, accompanying texts and the documentation were created

for the use of the products by qualified experts, however, errors cannot be

ruled out. For this reason, no guarantee can be made and neither juristic

responsibility for erroneous information nor any liability can be assumed.

Descriptions, accompanying texts and documentation included in the user

manual do not present a guarantee nor any information about proper use

as stipulated in the contract or a warranted feature. It cannot be ruled out

that the user manual, the accompanying texts and the documentation do

not correspond exactly to the described features, standards or other data of

the delivered product. No warranty or guarantee regarding the correctness

or accuracy of the information is assumed.

We reserve the right to change our products and their specification as well

as related user manuals, accompanying texts and documentation at all

times and without advance notice, without obligation to report the change.

Changes will be included in future manuals and do not constitute any

obligations. There is no entitlement to revisions of delivered documents.

The manual delivered with the product applies.

Hilscher Gesellschaft für Systemautomation mbH is not liable under any

circumstances for direct, indirect, incidental or follow-on damage or loss of

earnings resulting from the use of the information contained in this

publication.

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NXHX 52-JTAG | Getting Started

1.2.3 Exclusion of Liability

The software was produced and tested with utmost care by Hilscher

Gesellschaft für Systemautomation mbH and is made available as is. No

warranty can be assumed for the performance and flawlessness of the

software for all usage conditions and cases and for the results produced

when utilized by the user. Liability for any damages that may result from the

use of the hardware or software or related documents, is limited to cases of

intent or grossly negligent violation of significant contractual obligations.

Indemnity claims for the violation of significant contractual obligations are

limited to damages that are foreseeable and typical for this type of contract.

It is strictly prohibited to use the software in the following areas:

for military purposes or in weapon systems;

for the design, construction, maintenance or operation of nuclear facili-

ties;

in air traffic control systems, air traffic or air traffic communication sys-

tems;

in life support systems;

in systems in which failures in the software could lead to personal injury

or injuries leading to death.

We inform you that the software was not developed for use in dangerous

environments requiring fail-proof control mechanisms. Use of the software

in such an environment occurs at your own risk. No liability is assumed for

damages or losses due to unauthorized use.

1.2.4 Warranty

Although the hardware and software was developed with utmost care and

tested intensively, Hilscher Gesellschaft für Systemautomation mbH does

not guarantee its suitability for any purpose not confirmed in writing. It

cannot be guaranteed that the hardware and software will meet your

requirements, that the use of the software operates without interruption and

that the software is free of errors. No guarantee is made regarding

infringements, violations of patents, rights of ownership or the freedom from

interference by third parties. No additional guarantees or assurances are

made regarding marketability, freedom of defect of title, integration or

usability for certain purposes unless they are required in accordance with

the law and cannot be limited. Warranty claims are limited to the right to

claim rectification.

Introduction 7/89

NXHX 52-JTAG | Getting Started

1.2.5 Export Regulations

The delivered product (including the technical data) is subject to export or

import laws as well as the associated regulations of different counters, in

particular those of Germany and the USA. The software may not be

exported to countries where this is prohibited by the United States Export

Administration Act and its additional provisions. You are obligated to

comply with the regulations at your personal responsibility. We wish to

inform you that you may require permission from state authorities to export,

re-export or import the product.

1.2.6 Registered Trademarks

Java is a registered trademark of Sun Microsystems, Inc.

Eclipse is a trademark of Eclipse Foundation, Inc.

EtherCAT®is a registered trademark and a patented technology of

Beckhoff Automation GmbH, Verl, Germany, formerly Elektro Beckhoff

GmbH.

Sourcery G++ is a trademark of CodeSourcery, Inc.

Windows ® XP, Windows ® 7 and Windows ® 8 are registered

trademarks of Microsoft Corporation.

Descriptions of the Use Cases 8/89

NXHX 52-JTAG | Getting Started

2 Descriptions of the Use Cases

2.1 Overview

The product DVD of the NXHX 52-JTAG board provides a loadable

EtherCAT slave (V4.2) firmware file with limited IO data exchange

(2 Bytes), which can be downloaded to the NXHX board. The NXHX board

can thus be operated as slave device in an EtherCAT network for testing

and evaluation purposes. This use case is described in full detail in this

document. The necessary tools for downloading software to the board and

for configuring the board as EtherCAT slave device are also provided on

the DVD.

On the DVD, you will also find precompiled libraries of the rcX operating

system, source code of software examples based on the rcX OS and

source code of embedded software programs running without the rcX OS,

specialized for the particular netX hardware.

You can use the Waf framework as meta build system or the Eclipse IDE

for creating ELF files from the provided application examples, which then

can be downloaded to the NXHX board for testing and debugging with a

debugger of your choice. Both build systems use Mentor Code Sourcery

GNU (GCC) as tool for compiling C source code. Detailed instructions on

how to build the application examples and also on how to turn an ELF into

an executable binary file, which can then be stored in the serial flash of the

NXHX board, are provided in this document.

2.2 Using the EtherCAT Slave Loadable Firmware

The EtherCAT slave (V4.2) firmware provided on the DVD is a Hilscher

Standard Loadable Firmware (LFW) with limited IO data exchange

(2 Bytes) for testing and evaluation purposes. You will find this

ECSV4_52.nxf firmware file in the Examples and

API\Targets\LFW\1. LFW netX Toolkit\Firmware\ETHERCAT

directory of the DVD.

In general, LFW contains a certain protocol stack (in this case EtherCAT

slave V4.2) and the rcX operating system for the netX controller. LFW files

are in the NXF format, and can thus be recognized by their .nxf file

extension. LFW is “ready-to-use”: after downloading the firmware and a

configuration file to the board, the device is immediately ready for

EtherCAT communication. It is thus the easiest way to operate the NXHX

52-JTAG board for testing and development purposes. Once downloaded

and stored in the non-volatile flash memory of the NXHX board, the

firmware is available on each netX boot process.

Descriptions of the Use Cases 9/89

NXHX 52-JTAG | Getting Started

2.2.1 Loadable Firmware and Second Stage Bootloader

Standard Loadable Firmware in NXF format can not be booted directly by

the ROM code (ROM Loader) residing in the netX controller. Firmware in

NXF format needs to be started by a software module called Second

Stage Bootloader (SSBL).

Therefore, operating your NXHX 52-JTAG with LFW requires the SSBL file

on the board. The SSBL must be downloaded and running on the NXHX

board before you can download or boot any LFW file.

An SSBL file, the NETX51-BSL.bin, is stored in the Tools\2nd Stage

Bootloader directory of the product DVD.

Important: Please note that this NETX51-BSL.bin SSBL stored in the

Tools\2nd Stage Bootloader directory needs to be patched before it

can be used on the NXHX 52-JTAG board. Instructions for this can be

found in the README file in the root directory of the DVD.

Note also that there is a special SSBL file needed for the EtherCAT LFW

example provided on the DVD. Thus, if you intend to use the

ECSV4_52.nxf EtherCAT firmware, you must download the

NXHX52JTAG_2ndStageLoader_V1.4.12.1.bin file stored in the

Examples and API\Targets\LFW\1.LFW netX Toolkit

\Firmware\ETHERCAT\2nd Stage Loader directory of the DVD

beforehand.

The SSBL can be downloaded and stored “non-volatile” in the serial flash of

the NXHX 52-JTAG board. After download to flash, the SSBL will be started

by the ROM loader after every power-on reset of the board (given that flash

boot mode is configured). The SSBL then in turn starts the firmware.

2.2.2 Downloading SSBL and LFW to Serial Flash of NXHX 52-JTAG

Board

There are several ways to download (“flash”) the Second Stage Bootloader

and the Loadable Firmware to the serial flash memory of the NXHX 52-

JTAG board from a Windows PC.

Hilscher recommends to use the netX Bootwizard tool and serial interface

(USB or COM Port). Instructions for this are provided in the Downloading

Executable Binary Image to Serial Flash of the NXHX 52-JTAG via USB

section on page 33 of this Getting Started Guide. An installation program

for the Bootwizard can be found on the product DVD in the

Tools\Bootwizard directory.

Like the SSBL, the LFW can also be flashed to the board from a Windows

PC via serial interface (USB or COM Port). Hilscher recommends to use the

netHOST Device Test Application for this. Instructions for this method are

provided in the Downloading NXF Firmware to Serial Flash of the NXHX

52-JTAG via USB section on page 44. The netHOST Device Test

Application can be found on the product DVD in the Tools\netX

Transport directory.

If you are using a Windows PC as host device for the NXHX board, you can

also download the firmware from the PC via PCI and host interface (i. e.

parallel Dual-Port Memory). You need an adapter board and a cable for

this, which can be purchased from Hilscher. This method is described in the

Downloading NXF Firmware via PCI and Host Interface section on page 51.

Descriptions of the Use Cases 10/89

NXHX 52-JTAG | Getting Started

2.2.3 Using cifX Toolkit

If you are using a customer-engineered host system not based on

Windows, you can, of course, also implement a customized download

function for firmware files via host interface in your own host application.

You can use the cifX Toolkit, which is provided on the product DVD in the

Driver and Toolkit\Driver Toolkit (NXDRV-

TKIT)\cifXToolkit directory, to develop application programs and

drivers enabling communication between your host system and the Dual-

Port Memory of the netX 52 (parallel or serial DPM).

An example of a host application program demonstrating Toolkit hardware

functions is stored in the Examples and API\Targets\LFW\1. LFW

netX Toolkit\cifXTKitHWFunctions directory of the DVD.

A Visual Studio project based on the cifX Toolkit featuring an application

program for configuring and initializing the NXHX board as EtherCAT slave

device is also provided in the above mentioned directory.

For more detailed information about the cifX Toolkit, please refer to the

Toolkit Manual cifX/netX Toolkit – DPM, DOC090203TKxxEN, which is

stored in the Driver and Toolkit\Driver Toolkit (NXDRV-

TKIT)\Documentation directory of the product DVD.

2.3 Using the Application Examples on the Product DVD

2.3.1 Overview

The Examples and API\Targets folder of the product DVD contains

the following sub-directories:

LFW: The 1. LFW netX Toolkit\Firmware\ETHERCAT directory

contains a ready-made Loadable Firmware file for EtherCAT slave with

limited IO data exchange (2 Bytes), a Second Stage Bootloader, a

SYCON.net configuration project for EtherCAT and a device description file

for the NXHX board serving as EtherCAT slave.

The 1. LFW netX Toolkit\cifXTKitHWFunctions directory

contains an example of a host application based on the cifX Toolkit for the

provided LFW file.

nonOS: Contains embedded software programs without OS (rcX), typically

specialized for the particular netX hardware.

rcX: Contains rcX based software examples with driver- and kernel

functionality for peripheral and interface support.

You can use the Waf framework or Eclipse for creating ELF files from the

nonOS and rcX application examples. Both build systems use Mentor

Code Sourcery GNU (GCC) as tool for compiling C source code.

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