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.
60 lines
2.6 KiB
Smarty
60 lines
2.6 KiB
Smarty
# EtherCrab
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[](https://circleci.com/gh/ethercrab-rs/ethercrab/tree/main)
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[](https://crates.io/crates/ethercrab)
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[](https://docs.rs/ethercrab)
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[](https://matrix.to/#/#ethercrab:matrix.org)
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{{readme}}
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## Community
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[We're on Matrix!](https://matrix.to/#/#ethercrab:matrix.org)
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## Current and future features
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- [x] `async` API
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- [x] Usable in `no_std` contexts with no allocator required, as long as an `async` executor is available.
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- [x] Tested with [Embassy](https://embassy.dev)
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- [ ] Tested with [RTIC](https://rtic.rs/2/book/en/)
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- [x] Autoconfigure SubDevices from their EEPROM (SII) data during startup
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- [x] Supports configuration using CoE data
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- [x] Safely usable in multi-threaded Linux systems with e.g. `smol`, `tokio` or `std::thread` and
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`block_on`.
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- [x] Support for `io_uring` on Linux systems to improve performance and latency
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- [x] Support for SDO read/writes to configure SubDevices
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- [x] Distributed clocks
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- [x] Detection of delays between SubDevices in topology
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- [x] Static drift compensation on startup
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- [x] Cyclic synchronisation during OP
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- [x] Basic support for [CiA402](https://www.can-cia.org/can-knowledge/canopen/cia402/)/DS402 drives
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- [ ] A higher level DS402 API for torque, position and velocity control of common servo drives in
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a more abstract way.
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- [ ] Integration with LinuxCNC as a HAL component using
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[the `linuxcnc-hal` crate](https://github.com/jamwaffles/linuxcnc-hal-rs).
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- [ ] Load SubDevice configurations from ESI XML files
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## Sponsors
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Thank you to everyone who has donated test equipment, time or money to the EtherCrab project! Would
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you like to be in this list? Then please consider
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[becoming a Github sponsor](https://github.com/sponsors/jamwaffles)!
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- [@nealsjoe](https://twitter.com/nealsjoe) generously donated an EK1100 with several IO modules for
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testing with.
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- [Trisk Bio](https://triskbio.com/) generously donated some additional Beckhoff modules and some
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optical ethernet gear.
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- Smark sent a $200 one time donation. Thank you!
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## License
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Licensed under either of
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- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
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http://www.apache.org/licenses/LICENSE-2.0)
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- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
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at your option.
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