process data group structure More...

#include <ec.h>

Data Fields
osal_uint32_t	group
	Number of group.

osal_uint32_t	log
	logical address

osal_uint32_t	log_len
	byte length at logical address

osal_uint8_t	pd [LEC_MAX_PDLEN]
	process data pointer

osal_size_t	pdout_len
	length of process data outputs

osal_size_t	pdin_len
	length of process data inputs

osal_size_t	pd_lrw_len
	inputs and outputs length if lrw is used

int	use_lrw
	LRW flag.

int	overlapping
	Logical areas (inputs and outputs) are overlapping.

int	skip_pd_on_wkc_mismatch
	mismatch flag

osal_uint16_t	wkc_expected_lrw
	expected working counter

osal_uint16_t	wkc_expected_lrd
	Expected working couinter LRD.

osal_uint16_t	wkc_expected_lwr
	Expected working couinter LWR.

int	wkc_mismatch_cnt_lrw
	LRW missed counter to avoid flooding log output.

int	wkc_mismatch_cnt_lrd
	LRD missed counter to avoid flooding log output.

int	wkc_mismatch_cnt_lwr
	LWR missed counter to avoid flooding log output.

int	recv_missed_lrw
	Missed continues LRW ethercat frames.

int	recv_missed_lrd
	Missed continues LRD ethercat frames.

int	recv_missed_lwr
	Missed continues LWR ethercat frames.

osal_uint32_t	log_mbx_state
	logical address mailbox state.

osal_uint32_t	log_mbx_state_len
	Byte lenght at logical address mailbox state.

osal_uint16_t	wkc_expected_mbx_state
	Expected working counter.

int	wkc_mismatch_cnt_mbx_state
	MBX state command missed counter to avoid.

ec_cyclic_datagram_t	cdg
	Group cyclic datagram LRW case.

ec_cyclic_datagram_t	cdg_lrd
	Group cyclic datagram LRD case.

ec_cyclic_datagram_t	cdg_lwr
	Group cyclic datagram LWR case.

ec_cyclic_datagram_t	cdg_lrd_mbx_state
	Group cyclic datagram LRD mailbox state.

int	divisor
	Timer Divisor.

int	divisor_cnt
	Actual timer cycle count.

Detailed Description

process data group structure

Field Documentation

◆ log

osal_uint32_t ec_pd_group::log

logical address

This defines the logical start address for the process data group. It is used for EtherCAT logical addressing commands LRW, LRD, LWR, ...

◆ log_len

osal_uint32_t ec_pd_group::log_len

byte length at logical address

This defines the byte length at logical start address for the process data group. It is used for EtherCAT logical addressing commands LRW, LRD, LWR, ...

◆ log_mbx_state

osal_uint32_t ec_pd_group::log_mbx_state

logical address mailbox state.

This defines the logical start address for reading out the read mailbox full state bit.

◆ overlapping

int ec_pd_group::overlapping

Logical areas (inputs and outputs) are overlapping.

This flag defines if the EtherCAT master should use the LRW command for process data exchange

◆ pd

osal_uint8_t ec_pd_group::pd[LEC_MAX_PDLEN]

process data pointer

This address holds the process data of the whole group. At offset 0 the outputs should be set, at offset pdout_len, the inputs are filled in by the LRW command.

◆ skip_pd_on_wkc_mismatch

int ec_pd_group::skip_pd_on_wkc_mismatch

mismatch flag

Skip process data on working counter

◆ wkc_expected_lrd

osal_uint16_t ec_pd_group::wkc_expected_lrd

Expected working couinter LRD.

This is the expected working counter if LRW is disabled and LRD/LWR is used instead. The working counter for the LRD command will be incremented by every slave that read data by 1.

◆ wkc_expected_lrw

osal_uint16_t ec_pd_group::wkc_expected_lrw

expected working counter

This flag specifies that the cyclic process data should not be copied to the pd field when a working counter mismatch occurs. This is the expected working counter for the LRW command. The working counter will be incremented by every slave that reads data by 1, by every slave that writes data by 2 and by every slave that reads and writes data by 3.

◆ wkc_expected_lwr

osal_uint16_t ec_pd_group::wkc_expected_lwr

Expected working couinter LWR.

This is the expected working counter if LRW is disabled and LRD/LWR is used instead. The working counter for the LWR command will be incremented by every slave that writes data by 2.

◆ wkc_expected_mbx_state

osal_uint16_t ec_pd_group::wkc_expected_mbx_state

Expected working counter.

This defines the expected working for reading all read mailbox full state bits.

The documentation for this struct was generated from the following file:

include/libethercat/ec.h

Data Fields