21b2d3bf99
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.
48 lines
934 B
Gnuplot
48 lines
934 B
Gnuplot
set datafile separator comma
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set term wxt size 1920,1080
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set key autotitle columnhead
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FILE = "dc-pd.csv"
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set multiplot
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set size 1.0,0.25
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# For time in seconds
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# set xlabel 'Elapsed (seconds)'
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# set xrange [0.0:10.0]
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# For cycle count
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set xlabel 'Cycle'
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# set xrange [700:800]
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# Milliseconds
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# set yrange [0:10]
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set origin 0.0,0.75
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set title "SubDevice system time u32"
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plot for [n=4:23:4] FILE using 2:(column(n)) with lines
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# Milliseconds
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# set yrange [0:10]
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set origin 0.0,0.50
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set title "SubDevice system time u64"
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plot for [n=5:23:4] FILE using 2:(column(n)) with lines
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# set yrange [0:3]
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set ylabel "Millis"
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# set logscale y
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set origin 0.0,0.25
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set title "Time to next SYNC0"
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plot for [n=6:23:4] FILE using 2:(column(n)) with lines
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# Milliseconds
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# set yrange [0:10]
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unset logscale y
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set ylabel "Nanoseconds"
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set origin 0.0,0.0
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set title "Next SYNC0 raw value"
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plot for [n=7:23:4] FILE using 2:(column(n)) with lines
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