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.
68 lines
2.0 KiB
Rust
68 lines
2.0 KiB
Rust
//! Test that SDO multi writes behave as expected.
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//!
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//! - EK1914
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//! - EL3004
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mod util;
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use env_logger::Env;
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use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, Timeouts, error::Error};
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use std::path::PathBuf;
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const MAX_SUBDEVICES: usize = 16;
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const MAX_PDU_DATA: usize = PduStorage::element_size(1100);
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const MAX_FRAMES: usize = 128;
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const PDI_LEN: usize = 128;
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#[tokio::test]
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#[cfg_attr(miri, ignore)]
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async fn replay_ek1914_el3004_configure() -> Result<(), Error> {
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env_logger::Builder::from_env(Env::default().default_filter_or("info")).init();
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static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
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let (tx, rx, pdu_loop) = PDU_STORAGE.try_split().expect("can only split once");
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let maindevice = 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: 100,
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..Default::default()
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},
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);
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let test_name = PathBuf::from(file!())
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.file_stem()
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.unwrap()
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.to_string_lossy()
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.to_string();
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util::spawn_tx_rx(&format!("tests/{test_name}.pcapng"), tx, rx);
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// Read configurations from SubDevice EEPROMs and configure devices.
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let group = maindevice
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.init_single_group::<MAX_SUBDEVICES, PDI_LEN>(|| 0)
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.await
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.expect("Init");
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assert_eq!(group.subdevice(&maindevice, 0)?.name(), "EK1914");
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assert_eq!(group.subdevice(&maindevice, 1)?.name(), "EL3004");
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let el3004 = group.subdevice(&maindevice, 1)?;
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el3004.sdo_write(0x1c12, 0, 0u8).await?;
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el3004
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.sdo_write_array(0x1c13, &[0x1a00u16, 0x1a02, 0x1a04, 0x1a06])
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.await?;
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assert_eq!(el3004.sdo_read::<u16>(0x1c13, 1).await?, 0x1a00u16);
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assert_eq!(el3004.sdo_read::<u16>(0x1c13, 2).await?, 0x1a02u16);
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assert_eq!(el3004.sdo_read::<u16>(0x1c13, 3).await?, 0x1a04u16);
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assert_eq!(el3004.sdo_read::<u16>(0x1c13, 4).await?, 0x1a06u16);
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assert_eq!(el3004.sdo_read::<u8>(0x1c13, 0).await?, 4u8);
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Ok(())
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}
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