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.
77 lines
2.5 KiB
Rust
77 lines
2.5 KiB
Rust
//! Discover devices connected to the network.
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use env_logger::Env;
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use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, Timeouts, std::ethercat_now};
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use std::{str::FromStr, sync::Arc};
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/// Maximum number of SubDevices that can be stored. This must be a power of 2 greater than 1.
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const MAX_SUBDEVICES: usize = 128;
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/// Maximum PDU data payload size - set this to the max PDI size or higher.
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const MAX_PDU_DATA: usize = PduStorage::element_size(1100);
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/// Maximum number of EtherCAT frames that can be in flight at any one time.
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const MAX_FRAMES: usize = 16;
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/// Maximum total PDI length.
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const PDI_LEN: usize = 64;
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static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
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fn main() {
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env_logger::Builder::from_env(Env::default().default_filter_or("info")).init();
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let interface = std::env::args()
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.nth(1)
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.expect("Provide network interface as first argument.");
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log::info!("Discovering EtherCAT devices on {}...", interface);
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let (tx, rx, pdu_loop) = PDU_STORAGE.try_split().expect("can only split once");
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let maindevice = Arc::new(MainDevice::new(
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pdu_loop,
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Timeouts::default(),
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MainDeviceConfig {
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dc_static_sync_iterations: 0,
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..MainDeviceConfig::default()
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},
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));
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smol::block_on(async {
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#[cfg(target_os = "windows")]
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std::thread::spawn(move || {
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ethercrab::std::tx_rx_task_blocking(
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&interface,
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tx,
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rx,
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ethercrab::std::TxRxTaskConfig { spinloop: false },
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)
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.expect("TX/RX task")
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});
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#[cfg(not(target_os = "windows"))]
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smol::spawn(ethercrab::std::tx_rx_task(&interface, tx, rx).expect("spawn TX/RX task"))
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.detach();
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let group = maindevice
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.init_single_group::<MAX_SUBDEVICES, PDI_LEN>(ethercat_now)
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.await
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.expect("Init");
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log::info!("Discovered {} SubDevices", group.len());
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for subdevice in group.iter(&maindevice) {
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log::info!(
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"--> SubDevice {:#06x} name {}, description {}, {}",
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subdevice.configured_address(),
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subdevice.name(),
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subdevice
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.description()
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.await
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.expect("Failed to read description")
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.unwrap_or(heapless::String::from_str("[no description]").unwrap()),
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subdevice.identity()
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);
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}
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});
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log::info!("Done.");
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}
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