mm::comm::ProcessDataWatchdogConfig Struct Reference

Process-data (sync-manager) watchdog configuration of one slave. More...

#include <fieldbus_driver.h>

Public Attributes
bool	enabled = false
	False when the time register (0x0420) is zero.
bool	running = false
std::chrono::nanoseconds	timeout {0}
	Decoded timeout: ticks × 40 ns × (divider + 2).
uint16_t	divider = 0
	Raw 0x0400 divider (shared with the PDI watchdog).
uint16_t	ticks = 0
	Raw 0x0420 process-data watchdog time register.

Detailed Description

Process-data (sync-manager) watchdog configuration of one slave.

Decoded from the watchdog divider (0x0400) and process-data watchdog time (0x0420) ESC registers. The divider is the common time base for both the process-data and PDI watchdogs; the time register scales it. A zero time register disables the watchdog. Unlike SlaveDiagnostics::processDataWatchdog (an expiration counter), this is the configured timeout itself. Produced/consumed by FieldbusDriver::processDataWatchdog and setProcessDataWatchdog.

Member Data Documentation

divider

uint16_t mm::comm::ProcessDataWatchdogConfig::divider = 0

Raw 0x0400 divider (shared with the PDI watchdog).

enabled

bool mm::comm::ProcessDataWatchdogConfig::enabled = false

False when the time register (0x0420) is zero.

running

bool mm::comm::ProcessDataWatchdogConfig::running = false

Live status (0x0440 bit 0): true = counting, false = expired or disabled. Meaningful only while enabled.

ticks

uint16_t mm::comm::ProcessDataWatchdogConfig::ticks = 0

Raw 0x0420 process-data watchdog time register.

timeout

std::chrono::nanoseconds mm::comm::ProcessDataWatchdogConfig::timeout {0}

Decoded timeout: ticks × 40 ns × (divider + 2).

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

• libs/comm/fieldbus_driver.h