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.
158 lines
3.9 KiB
TOML
158 lines
3.9 KiB
TOML
[package]
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name = "ethercrab"
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categories = ["science::robotics", "no-std", "network-programming"]
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version = "0.7.1"
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edition = "2024"
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license = "MIT OR Apache-2.0"
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readme = "README.md"
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repository = "https://github.com/ethercrab-rs/ethercrab"
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documentation = "https://docs.rs/ethercrab"
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description = "A pure Rust EtherCAT MainDevice supporting std and no_std environments"
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keywords = ["ethercat", "beckhoff", "automation", "fieldbus", "robotics"]
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exclude = ["dumps", "doc", "NOTES.md", "SPECNOTES.md"]
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resolver = "2"
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rust-version = "1.85"
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[workspace]
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members = ["ethercrab-wire", "ethercrab-wire-derive"]
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[package.metadata.docs.rs]
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default-target = "x86_64-unknown-linux-gnu"
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targets = ["x86_64-unknown-linux-gnu", "x86_64-pc-windows-gnu"]
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[dependencies]
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async-io = { version = "2.0.0", optional = true }
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atomic-waker = "1.1.2"
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atomic_enum = "0.3.0"
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bitflags = "2.9.0"
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defmt = { version = "0.3.5", optional = true }
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embassy-time = "0.4.0"
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embedded-io-async = { version = "0.6.0", default-features = false }
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futures-lite = { version = "2.0.0", default-features = false }
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heapless = "0.8.0"
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log = { version = "0.4.27", optional = true, default-features = false }
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sealed = "0.6.0"
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serde = { version = "1.0.190", features = ["derive"], optional = true }
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smlang = "0.8.0"
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ethercrab-wire = { version = "0.3.0", path = "./ethercrab-wire" }
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spin = { version = "0.10.0", default-features = false, features = [
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"lock_api",
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"rwlock",
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] }
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crc = { version = "3.2.1", default-features = false }
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lock_api = "0.4.13"
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[target.'cfg(target_os = "windows")'.dependencies]
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pnet_datalink = { version = "0.35.0", features = ["std"], optional = true }
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pcap = "2.2.0"
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[target.'cfg(unix)'.dependencies]
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libc = "0.2.180"
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nix = { version = "0.31.1", features = ["net"] }
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[target.'cfg(target_os = "linux")'.dependencies]
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io-uring = { version = "0.7.4", optional = true }
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smallvec = { version = "1.13.1", features = ["const_generics"] }
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slab = "0.4.12"
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timerfd = "1.5.0"
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xsk-rs = { version = "0.8.0", optional = true }
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[dev-dependencies]
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arbitrary = { version = "1.3.1", features = ["derive"] }
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criterion = { version = "0.5.1", default-features = false, features = [
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"cargo_bench_support",
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] }
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env_logger = "0.11.6"
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heckcheck = "2.0.1"
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pcap-file = "2.0.0"
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pretty_assertions = "1.4.0"
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smol = "2.0.0"
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tokio = { version = "1.33.0", features = [
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"rt-multi-thread",
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"macros",
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"sync",
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"time",
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] }
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thread-priority = "1.2.0"
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ta = "0.5.0"
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cassette = "0.3.0"
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csv = "1.3.0"
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serde = { version = "1.0.190", default-features = false, features = ["derive"] }
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signal-hook = "0.3.17"
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core_affinity = "0.8.1"
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spin_sleep = "1.2.1"
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quanta = "0.12.3"
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savefile = { version = "0.18.5", default-features = false }
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savefile-derive = { version = "0.18.5", default-features = false }
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simple_logger = { version = "5.0.0", default-features = false }
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smoltcp = { version = "0.12.0", default-features = false, features = [
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"medium-ethernet",
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"proto-ipv4",
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"socket-raw",
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] }
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[features]
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default = ["std", "io-uring"]
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defmt = [
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"dep:defmt",
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"embedded-io-async/defmt-03",
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"heapless/defmt-03",
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"ethercrab-wire/defmt-03",
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]
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log = ["dep:log"]
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std = [
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"dep:pnet_datalink",
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"dep:async-io",
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"log",
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"futures-lite/std",
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"embedded-io-async/std",
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"ethercrab-wire/std",
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"spin/std",
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]
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xdp = ["dep:xsk-rs"]
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serde = ["dep:serde", "bitflags/serde"]
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io-uring = ["dep:io-uring"]
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# [[example]]
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# name = "akd"
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# required-features = ["std"]
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[[example]]
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name = "xdp"
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required-features = ["std", "xdp"]
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[[example]]
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name = "dc"
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required-features = ["std"]
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# [[example]]
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# name = "ec400"
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# required-features = ["std"]
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[[example]]
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name = "ek1100"
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required-features = ["std"]
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[[example]]
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name = "multiple-groups"
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required-features = ["std"]
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[[example]]
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name = "io-uring"
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required-features = ["std", "io-uring"]
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[[example]]
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name = "smol-io-uring"
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required-features = ["std", "io-uring"]
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[[bench]]
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name = "pdu_loop"
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harness = false
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[[bench]]
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name = "frame"
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harness = false
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[profile.profiling]
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inherits = "release"
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debug = true
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