mm::node::PdoMapping Struct Reference

A device's desired PDO configuration to write and assign — the write-side input to Device::writePdoMapping, and the grouped counterpart of the read-side FlatPdoMapping. More...

#include <pdo_mapping.h>

Collaboration diagram for mm::node::PdoMapping:

Public Attributes
std::vector< PdoMappingObject >	outputs
	RxPDO objects, assigned to 0x1C12.
std::vector< PdoMappingObject >	inputs
	TxPDO objects, assigned to 0x1C13.

Detailed Description

A device's desired PDO configuration to write and assign — the write-side input to Device::writePdoMapping, and the grouped counterpart of the read-side FlatPdoMapping.

outputs are RxPDO objects (master→slave) assigned to sync manager 2 via 0x1C12; inputs are TxPDO objects (slave→master) assigned to sync manager 3 via 0x1C13 (named for the master's perspective, as everywhere else in the node layer, rather than the ambiguous rx/tx). The vector order is the sync-manager assignment order — the order objects are written to 0x1C12 / 0x1C13 subindices 1..N — which fixes their position in the process image.

Member Data Documentation

inputs

std::vector<PdoMappingObject> mm::node::PdoMapping::inputs

TxPDO objects, assigned to 0x1C13.

outputs

std::vector<PdoMappingObject> mm::node::PdoMapping::outputs

RxPDO objects, assigned to 0x1C12.

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

• libs/node/pdo_mapping.h