FieldbusConfig Struct Reference

"fieldbus" block — the driver to auto-init at startup. An empty driver means "do not auto-init"; the fieldbus then waits for POST /api/init. More...

#include <config.h>

Collaboration diagram for FieldbusConfig:

Public Attributes
std::string	driver
	"" | "soem" | "spoe" (spoe planned; only soem is implemented today).
std::string	adapter
bool	mailboxStatusFmmu = false

Detailed Description

"fieldbus" block — the driver to auto-init at startup. An empty driver means "do not auto-init"; the fieldbus then waits for POST /api/init.

Member Data Documentation

adapter

std::string FieldbusConfig::adapter

SOEM NIC: MAC or interface name. "" = none.

driver

std::string FieldbusConfig::driver

"" | "soem" | "spoe" (spoe planned; only soem is implemented today).

mailboxStatusFmmu

bool FieldbusConfig::mailboxStatusFmmu = false

SOEM only. Keep SOEM 2.0's mailbox-status FMMU active — the extra input FMMU it maps the SM1 mailbox-status register (0x080D) into the cyclic image on every mailbox slave, letting the master notice a waiting mailbox message without a separate read. Motion Master does not use that optimisation, and on TI PRU-ICSS ESCs a register-space FMMU inside an LRW is fatal (every cyclic frame is dropped, SAFE-OP → OP fails). Default false ⇒ the FMMU is deactivated after mapping. Set true only for hardware that both needs and supports it.

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

• apps/motion_master/config.h