Add RPDO deadline monitoring #63
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hefloryd
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Feb 9, 2024
As described in CiA 301, Object 1400h to 15FFh: RPDO communication parameter, Subindex 05h. The indication to the application is done via the EMCY callback. The EMCY transmission is not described, but since there is an EMCY code defined for RPDO timeout, it's assumed to be meant for this purpose. Change-Id: Ie98f67fb20b615d56fdbdfc207b38bfeef6d4fb6
nattgris
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As I understand it, it's basically like the heartbeat service, but instead of monitoring nodes, it's monitoring specific PDOs that could be critical. |
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And as usual, I haven't bothered to add test cases. I think the heartbeat consumer test would be a good starting point. |
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Merged, thanks |
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As described in CiA 301, Object 1400h to 15FFh: RPDO communication parameter, Subindex 05h.
The indication to the application is done via the EMCY callback. The EMCY transmission is not described, but since there is an EMCY code defined for RPDO timeout, it's assumed to be meant for this purpose.