Datagram

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

This modules contains functions on how EtherCAT datagrams are beeing build.

Function Documentation

ec_cyclic_datagram_destroy()

int ec_cyclic_datagram_destroy

(

ec_cyclic_datagram_t *

cdg

)

Destroy cyclic datagram structure.

This functions destroys a datagram.

Parameters

[in]

cdg

Pointer to cyclic datagram structure.

Return values

EC_OK

On success.

ec_cyclic_datagram_init()

int ec_cyclic_datagram_init	(	ec_cyclic_datagram_t *	cdg,
		osal_uint64_t	recv_timeout
	)

Initialize cyclic datagram structure.

This function initializes a default datagram.

Parameters

[in]	cdg	Pointer to cyclic datagram structure.
[in]	recv_timeout	Receive timeout in [ns].

Return values

EC_OK

On success.

ec_datagram_cast()

static ec_datagram_t * ec_datagram_cast ( osal_uint8_t *  p )

inlinestatic

Cast pointer to ec_datagram_t type.

Parameters

[in]

p

Pointer which contains a ec_datagram_t.

Returns

Pointer to ec_datagram_t.

ec_datagram_first()

static ec_datagram_t * ec_datagram_first ( ec_frame_t *  pf )

inlinestatic

Get pointer to first datagram in frame.

Parameters

[in]

pf

Pointer which contains a EtherCAT frame.

Returns

Pointer to first datagram in frame.

ec_datagram_mark_next()

static void ec_datagram_mark_next ( ec_datagram_t *  pdg )

inlinestatic

Marking next field in datagram.

Parameters

[in,out]

pdg

Pointer which contains a datagram.

ec_datagram_next()

static ec_datagram_t * ec_datagram_next ( ec_datagram_t *  pdg )

inlinestatic

Get pointer to next datagram in frame.

Parameters

[in]

pdg

Pointer which contains a EtherCAT datagram.

Returns

Pointer to next datagram in frame.

ec_datagram_payload()

static osal_uint8_t * ec_datagram_payload ( ec_datagram_t *  pdg )

inlinestatic

Get pointer to datagram payload.

Parameters

[in]

pdg

Pointer which contains a EtherCAT datagram.

Returns

Pointer to payload of datagram.

ec_datagram_wkc()

static osal_uint16_t ec_datagram_wkc ( ec_datagram_t *  pdg )

inlinestatic

Get working counter of datagram.

Parameters

[in]

pdg

Pointer which contains a EtherCAT datagram.

Returns

working counter of datagram.

ec_frame_add_datagram_log()

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.

This function add a logical datagram at the end of frame.

Parameters

[in,out]	frame	Pointer to frame.
[in]	cmd	Ethercat command.
[in]	idx	Ethercat frame index.
[in]	adr	Logical address.
[in]	payload	Frame payload.
[in]	payload_len	Length of payload.

ec_frame_add_datagram_phys()

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.

This function add a non-logical datagram at the end of frame.

Parameters

[in,out]	frame	Pointer to frame.
[in]	cmd	Ethercat command.
[in]	idx	Ethercat frame index.
[in]	adp	Auto inc/configured address.
[in]	ado	Physical mem address.
[in]	payload	Frame payload.
[in]	payload_len	Length of payload.

ec_frame_init()

int ec_frame_init

(

ec_frame_t *

frame

)

Initialize empty frame.

Initialize a frame with empty content.

Parameters

[in,out]

frame

Pointer to frame.

Return values

EC_OK

On success.