ethercat_frame.h File Reference

#include "ros_ethercat_eml/ethercat_telegram.h"
#include "ros_ethercat_eml/netif.h"

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Classes
class	EC_Ethernet_Frame
	Class representing EtherCAT Frames in "raw" ethernet mode. More...
class	EC_Frame
	EtherCAT Frame base class. More...
struct	EtherCAT_Frame
	EtherCAT Frame Interface (we need a C interface) More...
Typedefs
typedef struct EtherCAT_Frame	ECFrame
	EtherCAT Frame Interface (we need a C interface)
Functions
int	framebuild (struct EtherCAT_Frame *frame, const unsigned char *buffer)
int	framedump (const struct EtherCAT_Frame *frame, unsigned char *buffer, size_t bufferlength)
Variables
static const size_t	ETHERCAT_ETHERNET_FRAME_HEADER_SIZE = 2
	Ethercat Ethernet_mode frame.

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Typedef Documentation

typedef struct EtherCAT_Frame ECFrame

EtherCAT Frame Interface (we need a C interface)

Due to the fact that this is a C-interface, this class does not herit from EC_Datastruct, although it has the same needs

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Function Documentation

int framebuild	(	struct EtherCAT_Frame *	frame,
		const unsigned char *	buffer
	)

Build an EtherCAT frame from an array of bytes (for receiving).

Parameters:

frame	pointer to the frame where data can be put in
buffer	pointer to an array of unsigned chars that contain the necessary info

Returns:

zero on succes, -1 otherwise

int framedump	(	const struct EtherCAT_Frame *	frame,
		unsigned char *	buffer,
		size_t	bufferlength
	)

"Dump" an EtherCAT frame into an array of bytes (for transmitting).

Parameters:

frame	pointer to the frame to be dumped
buffer	pointer to an array of unsigned chars that can be put into an ethernet frame
bufferlength	the maximum length that the frame may have

Returns:

the length of the buffer expressed as a number of bytes, if smaller than bufferlength, 0 otherwise

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Variable Documentation

const size_t ETHERCAT_ETHERNET_FRAME_HEADER_SIZE = 2 [static]

Ethercat Ethernet_mode frame.

Definition at line 139 of file ethercat_frame.h.