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.
23 lines
618 B
TOML
23 lines
618 B
TOML
[package]
|
|
name = "el6695-rt"
|
|
version = "0.1.0"
|
|
edition = "2021"
|
|
rust-version = "1.85"
|
|
license = "MIT OR Apache-2.0"
|
|
description = "J1900 <-> TwinCAT 1 kHz communication verification over an EL6695 EtherCAT bridge"
|
|
|
|
[dependencies]
|
|
ethercrab = { version = "0.7", default-features = false, features = ["std"] }
|
|
futures-lite = "2"
|
|
libc = "0.2"
|
|
|
|
# Locally patched ethercrab 0.7.1: adds `sdo_write_complete` (single-message
|
|
# Complete Access download, required by EL6695 firmware) and `send_raw_coe`.
|
|
[patch.crates-io]
|
|
ethercrab = { path = "vendor/ethercrab" }
|
|
|
|
[profile.release]
|
|
opt-level = 3
|
|
lto = "fat"
|
|
codegen-units = 1
|