4 releases
| 0.2.1 | Jul 17, 2025 |
|---|---|
| 0.2.0 | Mar 27, 2025 |
| 0.1.1 | Mar 26, 2025 |
| 0.1.0 | Mar 8, 2025 |
#11 in #fieldbus
36KB
853 lines
RPDO
RoboPLC Data Objects Protocol is a lightweight fieldbus data exchange protocol, inspired by Modbus, OPC-UA and TwinCAT/ADS.
Technical documentation
Available at https://info.bma.ai/en/actual/roboplc/rpdo.html
Locking safety
By default, the crate uses parking_lot for locking. For real-time applications, the following features are available:
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locking-rt- use parking_lot_rt crate which is a spin-free fork of parking_lot. -
locking-rt-safe- use rtsc priority-inheritance locking, which is not affected by priority inversion (Linux only).
Note: to switch locking policy, disable the crate default features.
Protocol specification
About
RPDO is a part of RoboPLC project.
Dependencies
~12MB
~157K SLoC