[APPS-000] SAM/DAM_MPDO#3
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Add SAM (Source Address Mode) consumer and producer alongside the DAM
first-pass:
- CO_MPDO_applySAM: peer to applyDAM; dispatcher table looks up
(producerNodeId, srcIdx, srcSub) -> (dstIdx, dstSub) and writes the
payload into the local OD.
- CO_MPDO_scanWrite: OD-extension write callback that flags the scanned
entry dirty; CO_MPDO_processTX SAM walker emits one frame per dirty
row on the carrier TX slot, with clear-before-read race ordering.
- Public API: CO_MPDO_configRX_SAM, CO_MPDO_dispatchAdd_SAM,
CO_MPDO_configTX_SAM, CO_MPDO_scanAdd_SAM. Programmatic registration
(no 0x1FA0 / 0x1FD0 OD parsing yet); the OD-driven path is a future
enhancement layered on these primitives.
- CO_MPDO_processTX: inhibit decrement lifted out of the DAM-only block
so SAM-only builds tick the timers.
Compile-tested for CO_CONFIG_MPDO ∈ {0, RX_DAM|TX_DAM, RX_SAM|TX_SAM,
all four, RX_SAM only, TX_SAM only} with -Wall -Wextra -Wpedantic
-Wshadow -Wstrict-prototypes -Wmissing-prototypes -std=c11.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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First pass at letting an agent generate DAM/SAM MPDOs before testing integration into brain-rt.