EtherCAT数据帧及SOEM报⽂数据结构介绍
EtherCAT数据帧及SOEM报⽂数据结构介绍
EtherCAT数据帧结构介绍
总报⽂
参照电⼦科技⼤学，蒲婉玲的学位论⽂“EtherCAT 主站与从站设计与实现”，Ether CAT 通信帧结构采⽤标准以外⽹帧结构，是通过对传统协议进⾏修改形成，在标准协议⾥插⼊专⽤帧类型的 Ether CAT 数据帧，也就是说，标准协议的数据内容就是 Ether CAT 的数据帧。专⽤帧类型⽤ 0x88A4 进⾏标记。也因为如此，Ether CAT 通信可被标准的以太⽹通信完全兼容。
报⽂数据结构
⼦报⽂
⼦报⽂包含命令、索引、地址区长度、标志位、状态位、数据区和⼯作计数器等 7 个部分。报⽂中的命令⼀般是 8 位，⽤来表⽰报⽂寻址⽅式和读写操作；索引就是帧编码；从站通信地址是地址去中的 32 位⼆进制码；标志位 M 是后续报⽂的表⽰，如果 Ether CAT 数据帧有多个⼦报⽂，除最后⼀个⼦报⽂的标志位外，其他⼦报⽂的标志位都需要被职位；⼦报⽂数据属于⽤户⾃定义部分，长度⼀般是 1486 个byte。
SOEM报⽂结构介绍
soem⽂件包中的ethercatmain.h⽂件中，定义了ecx_context报⽂数据帧结构和ec_slave⼦报⽂数据结构，下⾯将分别对其进⾏介绍。总报⽂ecx_context
/** Context structure , referenced by all ecx functions*/
struct ecx_context
{
/** port reference, may include red_port */
ecx_portt      *port;
/** slavelist reference */
ec_slavet      *slavelist;
/** number of slaves found in configuration */
int*slavecount;
/** maximum number of slaves allowed in slavelist */
int            maxslave;
/** grouplist reference */
ec_groupt      *grouplist;
/** maximum number of groups allowed in grouplist */
int            maxgroup;
/
** internal, reference to eeprom cache buffer */
uint8          *esibuf;
/** internal, reference to eeprom cache map */
uint32        *esimap;
/** internal, current slave for eeprom cache */
uint16        esislave;
/** internal, reference to error list */
ec_eringt      *elist;
/** internal, reference to processdata stack buffer info */
ec_idxstackT  *idxstack;
/** reference to ecaterror state */
boolean        *ecaterror;
/** reference to last DC time from slaves */
int64          *DCtime;
/** internal, SM buffer */
ec_SMcommtypet *SMcommtype;
/** internal, PDO assign list */
ec_PDOassignt  *PDOassign;
/** internal, PDO description list */
ec_PDOdesct    *PDOdesc;
/** internal, SM list from eeprom */
ec_eepromSMt  *eepSM;
/
** internal, FMMU list from eeprom */
ec_eepromFMMUt *eepFMMU;
/** registered FoE hook */
int(*FOEhook)(uint16 slave,int packetnumber,int datasize);
/** registered EoE hook */
int(*EOEhook)(ecx_contextt * context, uint16 slave,void* eoembx); /** flag to control legacy automatic state change or manual state change */ int            manualstatechange;
};
需要特别注意
1 从站个数int *slavecount;
2 从站列表 ec_slavet *slavelist;
⼦报⽂ec_slave
/** for list of ethercat slaves detected */
typedef struct ec_slave
{
/** state of slave */
uint16          state;
/** AL status code */
uint16          ALstatuscode;
/** Configured address */
uint16          configadr;
/** Alias address */
/** Alias address */
uint16          aliasadr;
/** Manufacturer from EEprom */
uint32          eep_man;
/** ID from EEprom */
uint32          eep_id;
/** revision from EEprom */
uint32          eep_rev;
/** Interface type */
uint16          Itype;
/** Device type */
uint16          Dtype;
/
** output bits */
uint16          Obits;
/** output bytes, if Obits < 8 then Obytes = 0 */
uint32          Obytes;
/** output pointer in IOmap buffer */
uint8            *outputs;
/** startbit in first output byte */
uint8            Ostartbit;
/** input bits */
uint16          Ibits;
/** input bytes, if Ibits < 8 then Ibytes = 0 */
uint32          Ibytes;
/** input pointer in IOmap buffer */
uint8            *inputs;
/** startbit in first input byte */
uint8            Istartbit;
/** SM structure */
ec_smt          SM[EC_MAXSM];
/** SM type 0=unused 1=MbxWr 2=MbxRd 3=Outputs 4=Inputs */
uint8            SMtype[EC_MAXSM];
/** FMMU structure */
ec_fmmut        FMMU[EC_MAXFMMU];
/
** FMMU0 function */
uint8            FMMU0func;
/** FMMU1 function */
uint8            FMMU1func;
/** FMMU2 function */
uint8            FMMU2func;
/** FMMU3 function */
uint8            FMMU3func;
/** length of write mailbox in bytes, if no mailbox then 0 */
uint16          mbx_l;
/** mailbox write offset */
uint16          mbx_wo;
/** length of read mailbox in bytes */
uint16          mbx_rl;
/** mailbox read offset */
uint16          mbx_ro;
/** mailbox supported protocols */
uint16          mbx_proto;
/** Counter value of mailbox link layer protocol 1..7 */
uint8            mbx_cnt;
/** has DC capability */
boolean          hasdc;
/
** Physical type; Ebus, EtherNet combinations */
uint8            ptype;
/** topology: 1 to 3 links */
uint8            topology;
/** active ports bitmap : ....3210 , set if respective port is active **/
uint8            activeports;
/** consumed ports bitmap : ....3210, used for internal delay measurement **/  uint8            consumedports;
/** slave number for parent, 0=master */
uint16          parent;
uint16          parent;
/** port number on parent this slave is connected to **/
uint8            parentport;
/** port number on this slave the parent is connected to **/
uint8            entryport;
/** DC receivetimes on port A */
int32            DCrtA;
/** DC receivetimes on port B */
int32            DCrtB;
/** DC receivetimes on port C */
int32            DCrtC;
/** DC receivetimes on port D */
int32            DCrtD;
/
** propagation delay */
int32            pdelay;
/** next DC slave */
uint16          DCnext;
/** previous DC slave */
uint16          DCprevious;
/** DC cycle time in ns */
int32            DCcycle;
/** DC shift from clock modulus boundary */
int32            DCshift;
/** DC sync activation, 0=off, 1=on */
uint8            DCactive;
/** link to config table */
uint16          configindex;
/** link to SII config */
uint16          SIIindex;
/** 1 = 8 bytes per read, 0 = 4 bytes per read */
uint8            eep_8byte;
/** 0 = eeprom to master , 1 = eeprom to PDI */
uint8            eep_pdi;
/** CoE details */reference group
uint8            CoEdetails;
/
** FoE details */
uint8            FoEdetails;
/** EoE details */
uint8            EoEdetails;
/** SoE details */
uint8            SoEdetails;
/** E-bus current */
int16            Ebuscurrent;
/** if >0 block use of LRW in processdata */
uint8            blockLRW;
/** group */
uint8            group;
/** first unused FMMU */
uint8            FMMUunused;
/** Boolean for tracking whether the slave is (not) responding, not used/set by the SOEM library */  boolean          islost;
/** registered configuration function PO->SO, (DEPRECATED)*/
int(*PO2SOconfig)(uint16 slave);
/** registered configuration function PO->SO */
int(*PO2SOconfigx)(ecx_contextt * context, uint16 slave);
/** readable name */
char            name[EC_MAXNAME +1];
} ec_slavet;
其中需要特别关注的是
1 从站id /** ID from EEprom */ uint3
2 eep_id;
2 输出指针/** output pointer in IOmap buffer */ uint8 *outputs;
3 输⼊指针/** input pointer in IOmap buffer */ uint8 *inputs;
ec_group数据结构
/** for list of ethercat slave groups */
typedef struct ec_group
{
/** logical start address for this group */
uint32          logstartaddr;
/
** output bytes, if Obits < 8 then Obytes = 0 */
uint32          Obytes;
/** output pointer in IOmap buffer */
uint8            *outputs;
/** input bytes, if Ibits < 8 then Ibytes = 0 */
uint32          Ibytes;
/** input pointer in IOmap buffer */
uint8            *inputs;
/** has DC capabillity */
boolean          hasdc;
/** next DC slave */
uint16          DCnext;
/** E-bus current */
int16            Ebuscurrent;
/** if >0 block use of LRW in processdata */
uint8            blockLRW;
/** IO segments used */
uint16          nsegments;
/** 1st input segment */
uint16          Isegment;
/** Offset in input segment */
uint16          Ioffset;
/
** Expected workcounter outputs */
uint16          outputsWKC;
/** Expected workcounter inputs */
uint16          inputsWKC;
/** check slave states */
boolean          docheckstate;
/** IO segmentation list. Datagrams must not break SM in two. */  uint32          IOsegment[EC_MAXIOSEGMENTS];
} ec_groupt;

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