J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge
Re-implementation of rustbootd's ecat_el6695_* examples as a single binary
with fixes found in review and on hardware:
- DC-follow PLL hardened against period-2 hunting: slew-limited anchor
(+/-50us/cycle), bistable-trap snap re-anchor, re-prime on stale deadline
- drift-free absolute-grid ticker mode; probe mode for timestamp forensics
- bounded-memory online stats (histograms), graceful SIGINT/SIGTERM shutdown
with full report, error-streak abort
- timestamp plausibility filter comparing against the previous raw sample
(avoids the deadlock after a startup outlier)
- XFC scope waveform options: --el2202 (with --el2202-dual), --el2262,
--el1252 latch timestamp readback with per-channel edge statistics
- register access unified in regs.rs: named bit constants everywhere,
read-modify-write for enable/activation bytes
- vendored patched ethercrab 0.7.1 (sdo_write_complete, send_raw_coe)
Verified on J1900 (PREEMPT_RT 6.6.135): 600k cycles/600s exact 1 kHz,
tx/rx zero errors, phase_err p50=164us std=5us; EL2202<->EL1252 loopback
edge interval mean 2000.24us std=24.65us.
2026-07-22 08:55:41 +08:00
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[package]
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name = "el6695-rt"
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version = "0.1.0"
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edition = "2021"
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rust-version = "1.85"
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license = "MIT OR Apache-2.0"
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description = "J1900 <-> TwinCAT 1 kHz communication verification over an EL6695 EtherCAT bridge"
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[dependencies]
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2026-08-12 21:47:50 +08:00
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ethercrab = { version = "0.7", default-features = false, features = ["std", "io-uring"] }
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J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge
Re-implementation of rustbootd's ecat_el6695_* examples as a single binary
with fixes found in review and on hardware:
- DC-follow PLL hardened against period-2 hunting: slew-limited anchor
(+/-50us/cycle), bistable-trap snap re-anchor, re-prime on stale deadline
- drift-free absolute-grid ticker mode; probe mode for timestamp forensics
- bounded-memory online stats (histograms), graceful SIGINT/SIGTERM shutdown
with full report, error-streak abort
- timestamp plausibility filter comparing against the previous raw sample
(avoids the deadlock after a startup outlier)
- XFC scope waveform options: --el2202 (with --el2202-dual), --el2262,
--el1252 latch timestamp readback with per-channel edge statistics
- register access unified in regs.rs: named bit constants everywhere,
read-modify-write for enable/activation bytes
- vendored patched ethercrab 0.7.1 (sdo_write_complete, send_raw_coe)
Verified on J1900 (PREEMPT_RT 6.6.135): 600k cycles/600s exact 1 kHz,
tx/rx zero errors, phase_err p50=164us std=5us; EL2202<->EL1252 loopback
edge interval mean 2000.24us std=24.65us.
2026-07-22 08:55:41 +08:00
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futures-lite = "2"
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libc = "0.2"
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2026-07-27 19:01:05 +08:00
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crc32fast = "1.4"
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J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge
Re-implementation of rustbootd's ecat_el6695_* examples as a single binary
with fixes found in review and on hardware:
- DC-follow PLL hardened against period-2 hunting: slew-limited anchor
(+/-50us/cycle), bistable-trap snap re-anchor, re-prime on stale deadline
- drift-free absolute-grid ticker mode; probe mode for timestamp forensics
- bounded-memory online stats (histograms), graceful SIGINT/SIGTERM shutdown
with full report, error-streak abort
- timestamp plausibility filter comparing against the previous raw sample
(avoids the deadlock after a startup outlier)
- XFC scope waveform options: --el2202 (with --el2202-dual), --el2262,
--el1252 latch timestamp readback with per-channel edge statistics
- register access unified in regs.rs: named bit constants everywhere,
read-modify-write for enable/activation bytes
- vendored patched ethercrab 0.7.1 (sdo_write_complete, send_raw_coe)
Verified on J1900 (PREEMPT_RT 6.6.135): 600k cycles/600s exact 1 kHz,
tx/rx zero errors, phase_err p50=164us std=5us; EL2202<->EL1252 loopback
edge interval mean 2000.24us std=24.65us.
2026-07-22 08:55:41 +08:00
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# Locally patched ethercrab 0.7.1: adds `sdo_write_complete` (single-message
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# Complete Access download, required by EL6695 firmware) and `send_raw_coe`.
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[patch.crates-io]
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ethercrab = { path = "vendor/ethercrab" }
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[profile.release]
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opt-level = 3
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lto = "fat"
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codegen-units = 1
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