One EtherCAT datagram the master sends at a transition (ENI ECatCmdType). More...

#include <eni.h>

Collaboration diagram for mm::etg::EniEcatCmd:

Public Attributes
std::vector< EniTransition >	transitions
	Transitions to send this command at.

bool	beforeSlave = false
	Send before the addressed device's own commands.

std::string	comment
	Free text a master may log. Empty is not written.

EniRequires	requirement = EniRequires::None
	Frame or cycle isolation.

EniCmd	cmd = EniCmd::Nop
	The datagram type, which also fixes the addressing mode.

std::optional< std::uint16_t >	adp
	Device address, with `ado`. Excludes `addr`.

std::optional< std::uint16_t >	ado
	Offset in the device's ESC memory. Excludes `addr`.

std::optional< std::uint32_t >	addr
	Logical start address. Excludes `adp` and `ado`.

std::vector< std::uint8_t >	data
	Bytes to write. Excludes `dataLength`.

std::optional< std::uint32_t >	dataLength
	Bytes to read. Excludes `data`.

std::optional< std::uint32_t >	cnt
	Working counter a successful datagram returns.

std::optional< std::uint32_t >	retries
	Re-sends allowed before the command fails.

std::optional< EniValidate >	validate
	Retry-until condition. Excludes `timeoutMs`.

std::optional< std::uint32_t >	timeoutMs
	Plain timeout. Excludes `validate`.

Detailed Description

One EtherCAT datagram the master sends at a transition (ENI ECatCmdType).

The address is one of two shapes, and exactly one must be filled: ado with an optional adp for the physical commands, or addr for the logical ones. The payload is the same choice: data for a write, or dataLength alone for a read, which says how many bytes to make room for. writeEni rejects a command that fills both sides of either choice.

Member Data Documentation

◆ addr

std::optional<std::uint32_t> mm::etg::EniEcatCmd::addr

Logical start address. Excludes adp and ado.

◆ ado

std::optional<std::uint16_t> mm::etg::EniEcatCmd::ado

Offset in the device's ESC memory. Excludes addr.

◆ adp

std::optional<std::uint16_t> mm::etg::EniEcatCmd::adp

Device address, with ado. Excludes addr.

◆ beforeSlave

bool mm::etg::EniEcatCmd::beforeSlave = false

Send before the addressed device's own commands.

◆ cmd

EniCmd mm::etg::EniEcatCmd::cmd = EniCmd::Nop

The datagram type, which also fixes the addressing mode.

◆ cnt

std::optional<std::uint32_t> mm::etg::EniEcatCmd::cnt

Working counter a successful datagram returns.

◆ comment

std::string mm::etg::EniEcatCmd::comment

Free text a master may log. Empty is not written.

◆ data

std::vector<std::uint8_t> mm::etg::EniEcatCmd::data

Bytes to write. Excludes dataLength.

◆ dataLength

std::optional<std::uint32_t> mm::etg::EniEcatCmd::dataLength

Bytes to read. Excludes data.

◆ requirement

EniRequires mm::etg::EniEcatCmd::requirement = EniRequires::None

Frame or cycle isolation.

◆ retries

std::optional<std::uint32_t> mm::etg::EniEcatCmd::retries

Re-sends allowed before the command fails.

◆ timeoutMs

std::optional<std::uint32_t> mm::etg::EniEcatCmd::timeoutMs

Plain timeout. Excludes validate.

◆ transitions

std::vector<EniTransition> mm::etg::EniEcatCmd::transitions

Transitions to send this command at.

◆ validate

std::optional<EniValidate> mm::etg::EniEcatCmd::validate

Retry-until condition. Excludes timeoutMs.

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

libs/etg/eni.h

Public Attributes