JAUS to EtherCAT Bridge: Toward Real-Time and Deterministic Joint Architecture for Unmanned Systems

Algorithm 2

CoE frame structure (header file: ecat_packet.h).

struct CAN_Packet_Header

{

 UINT32  ulDest;

 UINT32  ulSrc;

 UINT32  ulDestId;

 UINT32  ulSrcId;

 UINT32  ulLen;

 UINT32  ulId;

 UINT32  ulSta;

 UINT32  ulCmd;

 UINT32  ulExt;

 UINT32  ulRout;

};

struct CAN_Packet_Body

{

 //MbxHeader

 UINT16  Length

 UINT16  Address;

 UINT8  Channel_Prio;

 UINT8    Type_Cntr;

 //CoE_Cmd

 UINT16  Num_Res_Type;

 //CoE_Specific_Data

 UINT8    ulNodeId;

 UINT16  ulIndex;

 UINT8    ulSubIndex;

 UINT32  ulDataCnt;

};

struct CAN_Packet_Data

{

 UINT8  abSdoData[100];

};

struct CAN_Packet

{

 CAN_Packet_Header   can_pkt_header;

 CAN_Packet_Body     can_pkt_body;

 CAN_Packet_Data    can_pkt_data;

};

struct SDO_Services_Packet

{

 EthernetHeader     ethernet_header;

 EthercatFrameHeader    ethercat_frame_header;

 EthercatDatagramHeader

 ethercat_datagram_header;

 CAN_Packet      can_pkt;

 WorkingCounter     wkc;

};