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.
78 lines
1.7 KiB
Rust
78 lines
1.7 KiB
Rust
use crate::subdevice_state::SubDeviceState;
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/// The AL control/status word for an individual SubDevice.
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///
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/// Defined in ETG1000.6 Table 9 - AL Control Description.
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#[derive(Copy, Clone, Debug, Default, PartialEq, Eq, ethercrab_wire::EtherCrabWireReadWrite)]
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#[cfg_attr(feature = "defmt", derive(defmt::Format))]
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#[wire(bytes = 2)]
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pub struct AlControl {
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/// AL status.
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#[wire(bits = 4)]
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pub state: SubDeviceState,
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/// Error flag.
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#[wire(bits = 1)]
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pub error: bool,
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/// ID request flag.
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#[wire(bits = 1, post_skip = 10)]
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pub id_request: bool,
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}
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impl AlControl {
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pub fn new(state: SubDeviceState) -> Self {
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Self {
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state,
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error: false,
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id_request: false,
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}
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}
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pub fn reset() -> Self {
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Self {
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state: SubDeviceState::Init,
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// Acknowledge error
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error: true,
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..Default::default()
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}
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}
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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use ethercrab_wire::{EtherCrabWireRead, EtherCrabWireWriteSized};
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#[test]
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fn al_control() {
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let value = AlControl {
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state: SubDeviceState::SafeOp,
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error: true,
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id_request: false,
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};
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let packed = value.pack();
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assert_eq!(packed, [0x04 | 0x10, 0x00]);
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}
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#[test]
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fn unpack() {
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let value = AlControl {
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state: SubDeviceState::SafeOp,
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error: true,
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id_request: false,
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};
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let parsed = AlControl::unpack_from_slice(&[0x04 | 0x10, 0x00]).unwrap();
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assert_eq!(value, parsed);
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}
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#[test]
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fn unpack_short() {
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let parsed = AlControl::unpack_from_slice(&[0x04 | 0x10]);
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assert!(parsed.is_err());
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}
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}
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