Classes
class	CyclicDataBuilder
	Builds C_SDU payload from IO data objects with double-buffering. More...

struct	IOCRConfig
	IOCR configuration derived from AR setup: timing parameters and IO object mappings needed for cyclic data exchange. More...

struct	IODataObject
	Single IO data object within the C_SDU: one piece of process data mapped to a slot/subslot, with its IOPS (and optional IOCS) offset. More...

struct	RTFrame
	A single PROFINET Real-Time cyclic frame: Frame ID + C_SDU payload + cycle counter/status trailer. More...

Functions
template<typename SlotT >
std::pair< IOCRConfig, IOCRConfig >	BuildIocrConfigs (const std::vector< SlotT > &slots, std::uint16_t inputFrameId, std::uint16_t outputFrameId, std::uint16_t sendClockFactor=32, std::uint16_t reductionRatio=32, int watchdogFactor=3, std::uint16_t cSduLength=43)

Bytes	BuildEthernetFrame (const MacAddress &dstMac, const MacAddress &srcMac, const RTFrame &rtFrame)
	Build a complete Ethernet frame carrying an RT frame.

std::optional< RTFrame >	ParseEthernetFrame (const Bytes &data)
	Parse a complete Ethernet frame and extract its RT frame.

Variables
constexpr std::uint16_t	ETHERTYPE_PROFINET = 0x8892
	EtherType used by PROFINET RT frames (0x8892).

constexpr std::uint16_t	FRAME_ID_RT_CLASS_1_MIN = 0xC000
	Minimum frame ID in the RT_CLASS_1 range.

constexpr std::uint16_t	FRAME_ID_RT_CLASS_1_MAX = 0xF7FF
	Maximum frame ID in the RT_CLASS_1 range.

constexpr std::uint16_t	VLAN_TAG_RT = 0x8100C000
	802.1Q priority tag for cyclic RT frames per IEC 61158-6-10: TPID 0x8100, PCP 6, VID 0 (TCI 0xC000, matching the negotiated IOCRTagHeader). Devices validate the negotiated priority, and managed switches may drop untagged sub-64-byte RT frames as runts, so TX frames must carry the tag.

constexpr std::uint16_t	FRAME_ID_ALARM_HIGH = 0xFC01
	Frame ID used for high-priority alarms.

constexpr std::uint16_t	FRAME_ID_ALARM_LOW = 0xFE01
	Frame ID used for low-priority alarms.

constexpr std::uint16_t	IOCR_TYPE_INPUT = 1
	IOCR direction: Device -> Controller.

constexpr std::uint16_t	IOCR_TYPE_OUTPUT = 2
	IOCR direction: Controller -> Device.

constexpr std::uint8_t	RT_CLASS_1 = 0x01
	Real-time class: software scheduled (250us-512ms).

constexpr std::uint8_t	RT_CLASS_2 = 0x02
	Real-time class: hardware scheduled (reserved).

constexpr std::uint8_t	RT_CLASS_3 = 0x03
	Real-time class: isochronous (IRT, hardware only).

constexpr std::uint8_t	DATA_STATUS_STATE = 0x01
	DataStatus bit: provider state, 0=Backup, 1=Primary.

constexpr std::uint8_t	DATA_STATUS_REDUNDANCY = 0x02
	DataStatus bit: redundancy state.

constexpr std::uint8_t	DATA_STATUS_VALID = 0x04
	DataStatus bit: data validity, 0=Invalid, 1=Valid.

constexpr std::uint8_t	DATA_STATUS_RESERVED = 0x08
	DataStatus bit: reserved.

constexpr std::uint8_t	DATA_STATUS_PROVIDER_RUN = 0x10
	DataStatus bit: provider run state, 0=Stop, 1=Run.

constexpr std::uint8_t	DATA_STATUS_STATION_OK = 0x20
	DataStatus bit: station health, 0=Problem, 1=OK.

constexpr std::uint8_t	DATA_STATUS_IGNORE = 0x80
	DataStatus bit: 1=Ignore this frame.

constexpr std::uint8_t	IOXS_GOOD = 0x80
	IOxS value: good, subslot level.

constexpr std::uint8_t	IOXS_DATA_STATE_GOOD = 0x80
	IOxS value: DataState is bit 7 of an IOxS byte; the lower bits carry Instance and Extension, so a received IOxS must be masked rather than compared to IOXS_GOOD.

constexpr std::uint8_t	IOXS_BAD = 0x00
	IOxS value: bad.

constexpr std::uint8_t	IOXS_EXTENSION = 0x01
	IOxS value: extension bit set (another IOxS byte follows).

Function Documentation

◆ BuildEthernetFrame()

Bytes profinet::rt::BuildEthernetFrame	(	const MacAddress &	dstMac,
		const MacAddress &	srcMac,
		const RTFrame &	rtFrame
	)

Build a complete Ethernet frame carrying an RT frame.

Parameters

dstMac	Destination MAC address.
srcMac	Source MAC address.
rtFrame	RT frame to embed.

Returns: DstMac + SrcMac + EtherType(0x8892) + RtFrame.ToBytes().

Definition at line 212 of file rt.cpp.

References ETHERTYPE_PROFINET, profinet::LowByteMask, profinet::OneOctetShift, and profinet::rt::RTFrame::ToBytes().

Referenced by profinet::cyclic::CyclicController::SendOutputFrame().

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◆ BuildIocrConfigs()

template<typename SlotT >

std::pair< IOCRConfig, IOCRConfig > profinet::rt::BuildIocrConfigs	(	const std::vector< SlotT > &	slots,
		std::uint16_t	inputFrameId,
		std::uint16_t	outputFrameId,
		std::uint16_t	sendClockFactor = `32`,
		std::uint16_t	reductionRatio = `32`,
		int	watchdogFactor = `3`,
		std::uint16_t	cSduLength = `43`
	)

Definition at line 444 of file rt.h.

References profinet::rt::IOCRConfig::dataLength, profinet::rt::IOCRConfig::frameId, IOCR_TYPE_INPUT, IOCR_TYPE_OUTPUT, profinet::rt::IOCRConfig::objects, profinet::rt::IOCRConfig::phase, profinet::rt::IOCRConfig::reductionRatio, profinet::rt::IOCRConfig::referenceIOCR, profinet::rt::IOCRConfig::sendClockFactor, profinet::rt::IOCRConfig::typeIOCR, and profinet::rt::IOCRConfig::watchdogFactor.

Referenced by profinet::device::ProfinetDevice::StartCyclic().

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◆ ParseEthernetFrame()

std::optional< RTFrame > profinet::rt::ParseEthernetFrame ( const Bytes & data )

Parse a complete Ethernet frame and extract its RT frame.

Parameters

data	Complete frame bytes, starting at the destination MAC.

Returns: The parsed RT frame, or std::nullopt if too short, not PROFINET EtherType, or malformed.

Definition at line 229 of file rt.cpp.

References ETHERTYPE_PROFINET, profinet::rt::RTFrame::FromBytes(), and profinet::OneOctetShift.

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Variable Documentation

◆ DATA_STATUS_IGNORE

constexpr std::uint8_t profinet::rt::DATA_STATUS_IGNORE = 0x80

inlineconstexpr

DataStatus bit: 1=Ignore this frame.

Definition at line 85 of file rt.h.

◆ DATA_STATUS_PROVIDER_RUN

constexpr std::uint8_t profinet::rt::DATA_STATUS_PROVIDER_RUN = 0x10

inlineconstexpr

DataStatus bit: provider run state, 0=Stop, 1=Run.

Definition at line 81 of file rt.h.

Referenced by profinet::rt::RTFrame::IsRunning(), and profinet::cyclic::CyclicController::SendOutputFrame().

◆ DATA_STATUS_REDUNDANCY

constexpr std::uint8_t profinet::rt::DATA_STATUS_REDUNDANCY = 0x02

inlineconstexpr

DataStatus bit: redundancy state.

Definition at line 75 of file rt.h.

◆ DATA_STATUS_RESERVED

constexpr std::uint8_t profinet::rt::DATA_STATUS_RESERVED = 0x08

inlineconstexpr

DataStatus bit: reserved.

Definition at line 79 of file rt.h.

◆ DATA_STATUS_STATE

constexpr std::uint8_t profinet::rt::DATA_STATUS_STATE = 0x01

inlineconstexpr

DataStatus bit: provider state, 0=Backup, 1=Primary.

Definition at line 73 of file rt.h.

Referenced by profinet::rt::RTFrame::IsPrimary(), profinet::cyclic::CyclicController::SendOutputFrame(), and profinet::cyclic::CyclicController::SendStopFrames().

◆ DATA_STATUS_STATION_OK

constexpr std::uint8_t profinet::rt::DATA_STATUS_STATION_OK = 0x20

inlineconstexpr

DataStatus bit: station health, 0=Problem, 1=OK.

Definition at line 83 of file rt.h.

Referenced by profinet::rt::RTFrame::IsOk(), profinet::cyclic::CyclicController::SendOutputFrame(), and profinet::cyclic::CyclicController::SendStopFrames().

◆ DATA_STATUS_VALID

constexpr std::uint8_t profinet::rt::DATA_STATUS_VALID = 0x04

inlineconstexpr

DataStatus bit: data validity, 0=Invalid, 1=Valid.

Definition at line 77 of file rt.h.

Referenced by profinet::rt::RTFrame::IsValid(), profinet::cyclic::CyclicController::SendOutputFrame(), and profinet::cyclic::CyclicController::SendStopFrames().

◆ ETHERTYPE_PROFINET

constexpr std::uint16_t profinet::rt::ETHERTYPE_PROFINET = 0x8892

inlineconstexpr

EtherType used by PROFINET RT frames (0x8892).

Definition at line 34 of file rt.h.

Referenced by BuildEthernetFrame(), ParseEthernetFrame(), and profinet::cyclic::CyclicController::ProcessInputFrame().

◆ FRAME_ID_ALARM_HIGH

constexpr std::uint16_t profinet::rt::FRAME_ID_ALARM_HIGH = 0xFC01

inlineconstexpr

Frame ID used for high-priority alarms.

Definition at line 55 of file rt.h.

◆ FRAME_ID_ALARM_LOW

constexpr std::uint16_t profinet::rt::FRAME_ID_ALARM_LOW = 0xFE01

inlineconstexpr

Frame ID used for low-priority alarms.

Definition at line 57 of file rt.h.

◆ FRAME_ID_RT_CLASS_1_MAX

constexpr std::uint16_t profinet::rt::FRAME_ID_RT_CLASS_1_MAX = 0xF7FF

inlineconstexpr

Maximum frame ID in the RT_CLASS_1 range.

Definition at line 46 of file rt.h.

◆ FRAME_ID_RT_CLASS_1_MIN

constexpr std::uint16_t profinet::rt::FRAME_ID_RT_CLASS_1_MIN = 0xC000

inlineconstexpr

Minimum frame ID in the RT_CLASS_1 range.

Definition at line 44 of file rt.h.

◆ IOCR_TYPE_INPUT

constexpr std::uint16_t profinet::rt::IOCR_TYPE_INPUT = 1

inlineconstexpr

IOCR direction: Device -> Controller.

Definition at line 60 of file rt.h.

Referenced by BuildIocrConfigs(), and profinet::rt::IOCRConfig::IsInput().

◆ IOCR_TYPE_OUTPUT

constexpr std::uint16_t profinet::rt::IOCR_TYPE_OUTPUT = 2

inlineconstexpr

IOCR direction: Controller -> Device.

Definition at line 62 of file rt.h.

Referenced by BuildIocrConfigs(), and profinet::rt::IOCRConfig::IsOutput().

◆ IOXS_BAD

constexpr std::uint8_t profinet::rt::IOXS_BAD = 0x00

inlineconstexpr

IOxS value: bad.

Definition at line 95 of file rt.h.

Referenced by profinet::cyclic::CyclicController::HandleWatchdogTimeout().

◆ IOXS_DATA_STATE_GOOD

constexpr std::uint8_t profinet::rt::IOXS_DATA_STATE_GOOD = 0x80

inlineconstexpr

IOxS value: DataState is bit 7 of an IOxS byte; the lower bits carry Instance and Extension, so a received IOxS must be masked rather than compared to IOXS_GOOD.

Definition at line 93 of file rt.h.

Referenced by profinet::cyclic::CyclicController::LocalIsInputGood(), and profinet::cyclic::CyclicController::ProcessInputFrame().

◆ IOXS_EXTENSION

constexpr std::uint8_t profinet::rt::IOXS_EXTENSION = 0x01

inlineconstexpr

IOxS value: extension bit set (another IOxS byte follows).

Definition at line 97 of file rt.h.

◆ IOXS_GOOD

constexpr std::uint8_t profinet::rt::IOXS_GOOD = 0x80

inlineconstexpr

IOxS value: good, subslot level.

Definition at line 89 of file rt.h.

Referenced by profinet::cyclic::CyclicController::CyclicController(), profinet::cyclic::CyclicController::ProcessInputFrame(), and profinet::cyclic::CyclicController::SetOutputData().

◆ RT_CLASS_1

constexpr std::uint8_t profinet::rt::RT_CLASS_1 = 0x01

inlineconstexpr

Real-time class: software scheduled (250us-512ms).

Definition at line 65 of file rt.h.

◆ RT_CLASS_2

constexpr std::uint8_t profinet::rt::RT_CLASS_2 = 0x02

inlineconstexpr

Real-time class: hardware scheduled (reserved).

Definition at line 67 of file rt.h.

◆ RT_CLASS_3

constexpr std::uint8_t profinet::rt::RT_CLASS_3 = 0x03

inlineconstexpr

Real-time class: isochronous (IRT, hardware only).

Definition at line 69 of file rt.h.

◆ VLAN_TAG_RT

constexpr std::uint16_t profinet::rt::VLAN_TAG_RT = 0x8100C000

inlineconstexpr

802.1Q priority tag for cyclic RT frames per IEC 61158-6-10: TPID 0x8100, PCP 6, VID 0 (TCI 0xC000, matching the negotiated IOCRTagHeader). Devices validate the negotiated priority, and managed switches may drop untagged sub-64-byte RT frames as runts, so TX frames must carry the tag.

Definition at line 52 of file rt.h.

Classes

Functions

Variables

Function Documentation

◆ BuildEthernetFrame()

◆ BuildIocrConfigs()

◆ ParseEthernetFrame()

Variable Documentation

◆ DATA_STATUS_IGNORE

◆ DATA_STATUS_PROVIDER_RUN

◆ DATA_STATUS_REDUNDANCY

◆ DATA_STATUS_RESERVED

◆ DATA_STATUS_STATE

◆ DATA_STATUS_STATION_OK

◆ DATA_STATUS_VALID

◆ ETHERTYPE_PROFINET

◆ FRAME_ID_ALARM_HIGH

◆ FRAME_ID_ALARM_LOW

◆ FRAME_ID_RT_CLASS_1_MAX

◆ FRAME_ID_RT_CLASS_1_MIN

◆ IOCR_TYPE_INPUT

◆ IOCR_TYPE_OUTPUT

◆ IOXS_BAD

◆ IOXS_DATA_STATE_GOOD

◆ IOXS_EXTENSION

◆ IOXS_GOOD

◆ RT_CLASS_1

◆ RT_CLASS_2

◆ RT_CLASS_3

◆ VLAN_TAG_RT