mm::comm::SlaveDiagnostics Struct Reference

Decoded health diagnostics for one slave, read live from its ESC registers. More...

#include <fieldbus_driver.h>

Collaboration diagram for mm::comm::SlaveDiagnostics:

Public Attributes
uint16_t	slavePosition = 0
	1-based bus position.
std::array< PortDiagnostics, 4 >	ports
	Per-port link state and error counters (ports 0–3).
uint8_t	processingUnitError = 0
uint8_t	pdiError = 0
uint8_t	processDataWatchdog = 0
uint8_t	pdiWatchdog = 0
	PDI watchdog expirations (0x0443).

Detailed Description

Decoded health diagnostics for one slave, read live from its ESC registers.

A point-in-time snapshot of the link-quality and watchdog counters that surface a degrading bus before it drops out of OP. Produced by FieldbusDriver::readDiagnostics via FPRD reads (unlike busConfig, which is a cached snapshot — these are live). The per-port counters localise a fault to a specific cable/connector; the watchdog counters distinguish a slave that stopped receiving process data from a master-side problem.

Member Data Documentation

pdiError

uint8_t mm::comm::SlaveDiagnostics::pdiError = 0

PDI error counter (0x030D): problems on the slave-local process-data interface.

pdiWatchdog

uint8_t mm::comm::SlaveDiagnostics::pdiWatchdog = 0

PDI watchdog expirations (0x0443).

ports

std::array<PortDiagnostics, 4> mm::comm::SlaveDiagnostics::ports

Per-port link state and error counters (ports 0–3).

processDataWatchdog

uint8_t mm::comm::SlaveDiagnostics::processDataWatchdog = 0

Process-data (SM) watchdog expirations (0x0442): the slave stopped seeing fresh outputs.

processingUnitError

uint8_t mm::comm::SlaveDiagnostics::processingUnitError = 0

ECAT processing-unit error counter (0x030C): datagrams that reached the processing unit malformed.

slavePosition

uint16_t mm::comm::SlaveDiagnostics::slavePosition = 0

1-based bus position.

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

• libs/comm/fieldbus_driver.h