datagram

Documentation

Index

• func NEWLrcmFromUint16(l uint16) lrcm
• func NewLrcm(isMore uint16, isCirculating uint16, len uint16) (lrcm, error)
• type EcatDatagram
  • func (e EcatDatagram) Bytes() []byte

Functions

func NEWLrcmFromUint16

func NEWLrcmFromUint16(l uint16) lrcm

NEWLrcmFromUint16 creates an lrcm instance from a uint16 value.

Parameters:

• l: The uint16 value representing lrcm fields.

Returns:

• lrcm: New lrcm instance

func NewLrcm

func NewLrcm(isMore uint16, isCirculating uint16, len uint16) (lrcm, error)

NewLrcm creates a new lrcm instance with the specified values for M, C, and Len.

Parameters:

• m: More EtherCAT Data field (1 bit, {0: last, 1: more})
• c: Circulating Frame field (1 bit, {0: not, 1: circulating})
• len: Payload Length field (11 bits, valid values: 0 to 2047)

Returns:

• lrcm: New lrcm instance
• error: An error is returned if the provided values are out of valid range.

Types

type EcatDatagram

type EcatDatagram struct {
	Command command.EcatCommand // EtherCAT Command Type
	Index   uint8               // The index is a numeric identifier used by the master for identification of duplicates/lost datagrams. It shall not be changed by EtherCAT slaves
	Address uint32              // Address (Auto Increment, Configured Station Address, or Logical Address)
	LRCM    lrcm                // LRCM represents the Len, R, C, M fields in the EtherCAT Datagram header.
	IRQ     uint16              // EtherCAT Event Request registers of all slaves combined with a logical OR
	Data    []byte              // Read/Write Data
	WKC     uint16              // Working Counter
}

EcatDatagram represents an EtherCAT datagram.

It contains various fields including the EtherCAT command type, index, address, LRCM (Length, Reserved, Circulating Frame, More EtherCAT Data), IRQ (EtherCAT Event Request registers of all slaves combined with a logical OR), data for read/write operations, and the working counter.

func (EcatDatagram) Bytes

func (e EcatDatagram) Bytes() []byte

Bytes returns the byte representation of the EtherCAT datagram.

Returns:

• []byte: The byte representation of the EtherCAT datagram.