mm::comm::soem::SoemFieldbusDriverConfig Struct Reference

Construction-time configuration for SoemFieldbusDriver. More...

#include <soem_fieldbus_driver.h>

Collaboration diagram for mm::comm::soem::SoemFieldbusDriverConfig:

Public Attributes
std::string	ifname
	Resolved OS network interface name (e.g. "eth0", "enp3s0").
bool	mailboxStatusFmmu = false

Detailed Description

Construction-time configuration for SoemFieldbusDriver.

Groups the SOEM/EtherCAT-specific knobs so they stay off the FieldbusDriver interface and off other drivers (a future SpoeFieldbusDriver takes IP addresses and has no concept of a mailbox-status FMMU). The composition root (main.cc) fills this from the SOEM slice of the config file.

Member Data Documentation

ifname

std::string mm::comm::soem::SoemFieldbusDriverConfig::ifname

Resolved OS network interface name (e.g. "eth0", "enp3s0").

mailboxStatusFmmu

bool mm::comm::soem::SoemFieldbusDriverConfig::mailboxStatusFmmu = false

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:

• libs/comm/soem_fieldbus_driver.h