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.
730 B
730 B
| name | about | title | labels | assignees |
|---|---|---|---|---|
| Issue | A request for help, a problem or a bug |
Hi! Thanks for opening an issue. Please provide some specific details to make it easier to debug any problems.
Environment
- Version of ethercrab in use or git hash: [version here]
- Operating system kind and version: [kind] [version]
- EtherCAT devices in use: [list here]
Uploads
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- A Wireshark capture of a single run of the buggy program
- The log output of the program run with
RUST_LOG=debug
Description of the problem/feature request/other
[description here]
Code used to produce the bug
// Failing test case demonstrating the issue here