datagram.h File Reference

ethercat datagram More...

#include <libosal/types.h>
#include <libosal/mutex.h>
#include "libethercat/common.h"
#include "libethercat/pool.h"
#include "libethercat/idx.h"

Go to the source code of this file.

Data Structures
struct	ec_frame
struct	ec_datagram
struct	ec_cyclic_datagram

Macros
#define	EC_WKC_SIZE   (2u)
	Working counter byte length.
#define	ec_frame_hdr_length   (sizeof(ec_frame_t))
	EtherCAT frame header length.
#define	ec_frame_length(f)   ((f)->len)
	EtherCAT frame length.
#define	ec_frame_end(pframe)   (&((osal_uint8_t *)(pframe))[(pframe)->len])
	Pointer to EtherCAT frame end.
#define	ec_datagram_hdr_length   (sizeof(ec_datagram_t))
	EtherCAT datagram header length.
#define	ec_datagram_length(pdg)   (ec_datagram_hdr_length + (pdg)->len + EC_WKC_SIZE)
	EtherCAT datagram length.

Typedefs
typedef struct ec_frame	ec_frame_t
	EtherCAT frame type.
typedef struct ec_datagram	ec_datagram_t
	EtherCAT datagram type.
typedef struct ec_cyclic_datagram	ec_cyclic_datagram_t
	EtherCAT cyclic datagram type.

Functions
int	ec_cyclic_datagram_init (ec_cyclic_datagram_t *cdg, osal_uint64_t recv_timeout)
	Initialize cyclic datagram structure.
int	ec_cyclic_datagram_destroy (ec_cyclic_datagram_t *cdg)
	Destroy cyclic datagram structure.
int	ec_frame_init (ec_frame_t *frame)
	Initialize empty frame.
void	ec_frame_add_datagram_phys (ec_frame_t *frame, osal_uint8_t cmd, osal_uint8_t idx, osal_uint16_t adp, osal_uint16_t ado, osal_uint8_t *payload, osal_size_t payload_len)
	Add datagram at the end of frame.
void	ec_frame_add_datagram_log (ec_frame_t *frame, osal_uint8_t cmd, osal_uint8_t idx, osal_uint32_t adr, osal_uint8_t *payload, osal_size_t payload_len)
	Add datagram at the end of frame.
static ec_datagram_t *	ec_datagram_cast (osal_uint8_t *p)
	Cast pointer to ec_datagram_t type.
static void	ec_datagram_mark_next (ec_datagram_t *pdg)
	Marking next field in datagram.
static ec_datagram_t *	ec_datagram_first (ec_frame_t *pf)
	Get pointer to first datagram in frame.
static ec_datagram_t *	ec_datagram_next (ec_datagram_t *pdg)
	Get pointer to next datagram in frame.
static osal_uint8_t *	ec_datagram_payload (ec_datagram_t *pdg)
	Get pointer to datagram payload.
static osal_uint16_t	ec_datagram_wkc (ec_datagram_t *pdg)
	Get working counter of datagram.

Detailed Description

ethercat datagram

Author

Robert Burger rober.nosp@m.t.bu.nosp@m.rger@.nosp@m.dlr..nosp@m.de

Date

24 Nov 2016

These are EtherCAT datagram specific configuration functions.