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.
396 lines
7.0 KiB
TOML
396 lines
7.0 KiB
TOML
# THIS FILE IS AUTOMATICALLY GENERATED BY CARGO
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#
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# When uploading crates to the registry Cargo will automatically
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# "normalize" Cargo.toml files for maximal compatibility
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# with all versions of Cargo and also rewrite `path` dependencies
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# to registry (e.g., crates.io) dependencies.
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#
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# If you are reading this file be aware that the original Cargo.toml
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# will likely look very different (and much more reasonable).
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# See Cargo.toml.orig for the original contents.
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[package]
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edition = "2024"
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rust-version = "1.85"
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name = "ethercrab"
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version = "0.7.1"
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build = false
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exclude = [
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"dumps",
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"doc",
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"NOTES.md",
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"SPECNOTES.md",
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]
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autolib = false
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autobins = false
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autoexamples = false
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autotests = false
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autobenches = false
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description = "A pure Rust EtherCAT MainDevice supporting std and no_std environments"
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documentation = "https://docs.rs/ethercrab"
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readme = "README.md"
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keywords = [
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"ethercat",
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"beckhoff",
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"automation",
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"fieldbus",
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"robotics",
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]
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categories = [
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"science::robotics",
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"no-std",
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"network-programming",
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]
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license = "MIT OR Apache-2.0"
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repository = "https://github.com/ethercrab-rs/ethercrab"
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resolver = "2"
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[package.metadata.docs.rs]
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default-target = "x86_64-unknown-linux-gnu"
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targets = [
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"x86_64-unknown-linux-gnu",
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"x86_64-pc-windows-gnu",
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]
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[features]
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default = [
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"std",
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"io-uring",
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]
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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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io-uring = ["dep:io-uring"]
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log = ["dep:log"]
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serde = [
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"dep:serde",
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"bitflags/serde",
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]
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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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[lib]
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name = "ethercrab"
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path = "src/lib.rs"
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[[example]]
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name = "dc"
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path = "examples/dc.rs"
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required-features = ["std"]
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[[example]]
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name = "dc-lan9252-groups"
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path = "examples/dc-lan9252-groups.rs"
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[[example]]
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name = "discover"
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path = "examples/discover.rs"
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[[example]]
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name = "dump-eeprom"
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path = "examples/dump-eeprom.rs"
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[[example]]
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name = "ek1100"
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path = "examples/ek1100.rs"
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required-features = ["std"]
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[[example]]
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name = "el3702-oversampling"
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path = "examples/el3702-oversampling.rs"
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[[example]]
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name = "io-uring"
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path = "examples/io-uring.rs"
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required-features = [
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"std",
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"io-uring",
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]
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[[example]]
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name = "multiple-groups"
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path = "examples/multiple-groups.rs"
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required-features = ["std"]
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[[example]]
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name = "pdi-and-sdo"
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path = "examples/pdi-and-sdo.rs"
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[[example]]
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name = "performance"
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path = "examples/performance.rs"
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[[example]]
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name = "release"
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path = "examples/release.rs"
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[[example]]
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name = "sdo-info"
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path = "examples/sdo-info.rs"
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[[example]]
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name = "smol-io-uring"
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path = "examples/smol-io-uring.rs"
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required-features = [
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"std",
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"io-uring",
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]
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[[example]]
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name = "windows"
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path = "examples/windows.rs"
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[[example]]
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name = "xdp"
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path = "examples/xdp.rs"
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required-features = [
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"std",
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"xdp",
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]
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[[test]]
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name = "init-must-be-send"
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path = "tests/init-must-be-send.rs"
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[[test]]
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name = "replay-dc"
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path = "tests/replay-dc.rs"
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[[test]]
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name = "replay-ek1100-alias-address"
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path = "tests/replay-ek1100-alias-address.rs"
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[[test]]
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name = "replay-ek1100-el2828-el2889"
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path = "tests/replay-ek1100-el2828-el2889.rs"
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[[test]]
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name = "replay-ek1914-el3004-configure"
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path = "tests/replay-ek1914-el3004-configure.rs"
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[[test]]
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name = "replay-ek1914-el3004-mailbox"
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path = "tests/replay-ek1914-el3004-mailbox.rs"
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[[test]]
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name = "replay-ek1914-no-complete-access"
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path = "tests/replay-ek1914-no-complete-access.rs"
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[[test]]
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name = "replay-ek1914-segmented-upload"
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path = "tests/replay-ek1914-segmented-upload.rs"
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[[test]]
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name = "replay-issue-255"
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path = "tests/replay-issue-255.rs"
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[[test]]
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name = "util"
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path = "tests/util.rs"
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[[bench]]
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name = "frame"
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path = "benches/frame.rs"
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harness = false
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[[bench]]
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name = "pdu_loop"
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path = "benches/pdu_loop.rs"
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harness = false
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[dependencies.async-io]
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version = "2.0.0"
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optional = true
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[dependencies.atomic-waker]
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version = "1.1.2"
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[dependencies.atomic_enum]
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version = "0.3.0"
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[dependencies.bitflags]
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version = "2.9.0"
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[dependencies.crc]
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version = "3.2.1"
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default-features = false
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[dependencies.defmt]
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version = "0.3.5"
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optional = true
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[dependencies.embassy-time]
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version = "0.4.0"
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[dependencies.embedded-io-async]
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version = "0.6.0"
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default-features = false
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[dependencies.ethercrab-wire]
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version = "0.3.0"
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[dependencies.futures-lite]
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version = "2.0.0"
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default-features = false
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[dependencies.heapless]
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version = "0.8.0"
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[dependencies.lock_api]
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version = "0.4.13"
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[dependencies.log]
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version = "0.4.27"
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optional = true
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default-features = false
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[dependencies.sealed]
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version = "0.6.0"
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[dependencies.serde]
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version = "1.0.190"
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features = ["derive"]
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optional = true
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[dependencies.smlang]
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version = "0.8.0"
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[dependencies.spin]
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version = "0.10.0"
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features = [
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"lock_api",
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"rwlock",
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]
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default-features = false
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[dev-dependencies.arbitrary]
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version = "1.3.1"
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features = ["derive"]
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[dev-dependencies.cassette]
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version = "0.3.0"
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[dev-dependencies.core_affinity]
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version = "0.8.1"
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[dev-dependencies.criterion]
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version = "0.5.1"
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features = ["cargo_bench_support"]
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default-features = false
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[dev-dependencies.csv]
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version = "1.3.0"
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[dev-dependencies.env_logger]
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version = "0.11.6"
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[dev-dependencies.heckcheck]
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version = "2.0.1"
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[dev-dependencies.pcap-file]
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version = "2.0.0"
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[dev-dependencies.pretty_assertions]
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version = "1.4.0"
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[dev-dependencies.quanta]
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version = "0.12.3"
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[dev-dependencies.savefile]
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version = "0.18.5"
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default-features = false
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[dev-dependencies.savefile-derive]
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version = "0.18.5"
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default-features = false
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[dev-dependencies.serde]
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version = "1.0.190"
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features = ["derive"]
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default-features = false
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[dev-dependencies.signal-hook]
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version = "0.3.17"
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[dev-dependencies.simple_logger]
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version = "5.0.0"
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default-features = false
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[dev-dependencies.smol]
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version = "2.0.0"
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[dev-dependencies.smoltcp]
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version = "0.12.0"
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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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default-features = false
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[dev-dependencies.spin_sleep]
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version = "1.2.1"
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[dev-dependencies.ta]
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version = "0.5.0"
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[dev-dependencies.thread-priority]
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version = "1.2.0"
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[dev-dependencies.tokio]
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version = "1.33.0"
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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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[target.'cfg(target_os = "linux")'.dependencies.io-uring]
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version = "0.7.4"
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optional = true
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[target.'cfg(target_os = "linux")'.dependencies.slab]
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version = "0.4.12"
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[target.'cfg(target_os = "linux")'.dependencies.smallvec]
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version = "1.13.1"
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features = ["const_generics"]
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[target.'cfg(target_os = "linux")'.dependencies.timerfd]
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version = "1.5.0"
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[target.'cfg(target_os = "linux")'.dependencies.xsk-rs]
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version = "0.8.0"
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optional = true
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[target.'cfg(target_os = "windows")'.dependencies.pcap]
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version = "2.2.0"
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[target.'cfg(target_os = "windows")'.dependencies.pnet_datalink]
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version = "0.35.0"
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features = ["std"]
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optional = true
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[target."cfg(unix)".dependencies.libc]
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version = "0.2.180"
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[target."cfg(unix)".dependencies.nix]
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version = "0.31.1"
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features = ["net"]
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[profile.profiling]
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debug = 2
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inherits = "release"
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