Layout of the process-data images, produced by configureProcessData. More...

#include <fieldbus_driver.h>

Collaboration diagram for mm::comm::PdoLayout:

Public Attributes
uint32_t	outputBytes = 0
	Size of the output image (master→slave).

uint32_t	inputBytes = 0
	Size of the input image (slave→master).

std::vector< SlaveIo >	slaves
	Per-slave windows, in bus order.

int	expectedWkc = 0
	Working counter when every slave exchanges (outputs×2 + inputs).

Detailed Description

Layout of the process-data images, produced by configureProcessData.

Transport-independent description of how mapped objects are placed within the flat output and input images the caller exchanges each cycle. The output image (master→slave) is outputBytes long and the input image (slave→master) is inputBytes long; each slave's window within them is given by slaves. The node layer combines these per-slave windows with the per-object bit offsets it reads from the PDO assignment to locate individual values. The driver exposes no caller-visible memory — the images themselves are owned by the caller and passed to exchangeProcessData, so the abstraction holds equally for a memory-mapped master (SOEM, IgH) and a message-based transport (SPoE).

Member Data Documentation

◆ expectedWkc

int mm::comm::PdoLayout::expectedWkc = 0

Working counter when every slave exchanges (outputs×2 + inputs).

◆ inputBytes

uint32_t mm::comm::PdoLayout::inputBytes = 0

Size of the input image (slave→master).

◆ outputBytes

uint32_t mm::comm::PdoLayout::outputBytes = 0

Size of the output image (master→slave).

◆ slaves

std::vector<SlaveIo> mm::comm::PdoLayout::slaves

Per-slave windows, in bus order.

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