ethercat-linux/vendor/ethercrab/src/fmt.rs
Tony Cao 21b2d3bf99 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

244 lines
6.1 KiB
Rust

#![macro_use]
#![allow(unused_macros)]
#![allow(unused)]
use core::fmt::{Debug, Display, LowerHex};
#[cfg(all(feature = "defmt", feature = "log"))]
compile_error!("The `defmt` and `log` features may not be enabled at the same time");
macro_rules! assert_ {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::assert!($($x)*);
#[cfg(feature = "defmt")]
::defmt::assert!($($x)*);
}
};
}
macro_rules! assert_eq_ {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::assert_eq!($($x)*);
#[cfg(feature = "defmt")]
::defmt::assert_eq!($($x)*);
}
};
}
macro_rules! assert_ne_ {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::assert_ne!($($x)*);
#[cfg(feature = "defmt")]
::defmt::assert_ne!($($x)*);
}
};
}
macro_rules! debug_assert_ {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::debug_assert!($($x)*);
#[cfg(feature = "defmt")]
::defmt::debug_assert!($($x)*);
}
};
}
macro_rules! debug_assert_eq_ {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::debug_assert_eq!($($x)*);
#[cfg(feature = "defmt")]
::defmt::debug_assert_eq!($($x)*);
}
};
}
macro_rules! debug_assert_ne_ {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::debug_assert_ne!($($x)*);
#[cfg(feature = "defmt")]
::defmt::debug_assert_ne!($($x)*);
}
};
}
macro_rules! todo_ {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::todo!($($x)*);
#[cfg(feature = "defmt")]
::defmt::todo!($($x)*);
}
};
}
macro_rules! unreachable_ {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::unreachable!($($x)*);
#[cfg(feature = "defmt")]
::defmt::unreachable!($($x)*);
}
};
}
macro_rules! panic_ {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::panic!($($x)*);
#[cfg(feature = "defmt")]
::defmt::panic!($($x)*);
}
};
}
macro_rules! trace_ {
($s:literal $(, $x:expr)* $(,)?) => {
{
#[cfg(feature = "log")]
::log::trace!($s $(, $x)*);
#[cfg(feature = "defmt")]
::defmt::trace!($s $(, $x)*);
#[cfg(not(any(feature = "log", feature="defmt")))]
let _ = ($( & $x ),*);
}
};
}
macro_rules! debug_ {
($s:literal $(, $x:expr)* $(,)?) => {
{
#[cfg(feature = "log")]
::log::debug!($s $(, $x)*);
#[cfg(feature = "defmt")]
::defmt::debug!($s $(, $x)*);
#[cfg(not(any(feature = "log", feature="defmt")))]
let _ = ($( & $x ),*);
}
};
}
macro_rules! info_ {
($s:literal $(, $x:expr)* $(,)?) => {
{
#[cfg(feature = "log")]
::log::info!($s $(, $x)*);
#[cfg(feature = "defmt")]
::defmt::info!($s $(, $x)*);
#[cfg(not(any(feature = "log", feature="defmt")))]
let _ = ($( & $x ),*);
}
};
}
macro_rules! warn_ {
($s:literal $(, $x:expr)* $(,)?) => {
{
#[cfg(feature = "log")]
::log::warn!($s $(, $x)*);
#[cfg(feature = "defmt")]
::defmt::warn!($s $(, $x)*);
#[cfg(not(any(feature = "log", feature="defmt")))]
let _ = ($( & $x ),*);
}
};
}
macro_rules! error_ {
($s:literal $(, $x:expr)* $(,)?) => {
{
#[cfg(feature = "log")]
::log::error!($s $(, $x)*);
#[cfg(feature = "defmt")]
::defmt::error!($s $(, $x)*);
#[cfg(not(any(feature = "log", feature="defmt")))]
let _ = ($( & $x ),*);
}
};
}
#[cfg(feature = "defmt")]
macro_rules! unwrap_ {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
};
}
#[cfg(not(feature = "defmt"))]
macro_rules! unwrap_ {
($arg:expr) => {
match $arg {
::core::result::Result::Ok(t) => t,
::core::result::Result::Err(e) => {
::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e);
}
}
};
($arg:expr, $($msg:expr),+ $(,)? ) => {
match $arg {
::core::result::Result::Ok(t) => t,
::core::result::Result::Err(e) => {
::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e);
}
}
}
}
#[cfg(feature = "defmt")]
macro_rules! unwrap_opt_ {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
};
}
#[cfg(not(feature = "defmt"))]
macro_rules! unwrap_opt_ {
($arg:expr) => {
match $arg {
::core::option::Option::Some(t) => t,
::core::option::Option::None => {
::core::panic!("unwrap of `{}` failed", ::core::stringify!($arg));
}
}
};
($arg:expr, $($msg:expr),+ $(,)? ) => {
match $arg {
::core::option::Option::Some(t) => t,
::core::option::Option::None => {
::core::panic!("unwrap of `{}` failed: {}", ::core::stringify!($arg), ::core::format_args!($($msg,)*));
}
}
}
}
pub(crate) use assert_ as assert;
pub(crate) use assert_eq_ as assert_eq;
pub(crate) use assert_ne_ as assert_ne;
pub(crate) use debug_ as debug;
pub(crate) use debug_assert_ as debug_assert;
pub(crate) use debug_assert_eq_ as debug_assert_eq;
pub(crate) use debug_assert_ne_ as debug_assert_ne;
pub(crate) use error_ as error;
pub(crate) use info_ as info;
pub(crate) use panic_ as panic;
pub(crate) use todo_ as todo;
pub(crate) use trace_ as trace;
pub(crate) use unreachable_ as unreachable;
pub(crate) use unwrap_ as unwrap;
pub(crate) use unwrap_opt_ as unwrap_opt;
pub(crate) use warn_ as warn;