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ethercat-linux/vendor/ethercrab/tests
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Tony Cao 21b2d3bf99 J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 
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.
2026-07-22 08:55:41 +08:00
..
init-must-be-send.rs J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
README.md J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-dc.pcapng J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-dc.rs J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1100-alias-address.pcapng J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1100-alias-address.rs J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1100-el2828-el2889.pcapng J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1100-el2828-el2889.rs J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1914-el3004-configure.pcapng J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1914-el3004-configure.rs J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1914-el3004-mailbox.pcapng J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1914-el3004-mailbox.rs J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1914-no-complete-access.pcapng J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1914-no-complete-access.rs J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1914-segmented-upload.pcapng J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-ek1914-segmented-upload.rs J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-issue-255.pcapng J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
replay-issue-255.rs J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00
util.rs J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 2026-07-22 08:55:41 +08:00

README.md

Integration tests

Uses Wireshark captures of known-good runs as replays to test for regressions against.

Capturing replays

Captures should be run in debug mode to make sure everything has time to breathe. If this is not done, the replays can fail in weird and confusing ways.

With just

From the repository root, run e.g.

just capture-replay replay-ek1100-el2828-el2889 enx00e04c680066

The replay name must exactly match the name of a file in tests/ (without the .rs) extension.

Debian users may need to run:

  • sudo apt install psmisc
  • cargo install fd-find

Note that the Debian apt package fd-find installs the binary as fd-find, however the script looks for just fd. Installing with cargo doesn't present this issue.

Manually on local machine (terminal method)

sudo apt install -y tshark

Then e.g.

tshark  -w tests/replay-ek1100-el2828-el2889.pcapng --interface enp2s0 -f 'ether proto 0x88a4'

Remote machine (GUI method)

On remote machine from project root e.g.

ssh ethercrab 'sudo tcpdump -U -i enp2s0 -w -' | wireshark -f 'ecat' -i - -w ./tests/replay-ek1100-el2828-el2889.pcapng -k

Then run the test using real interface e.g.:

INTERFACE=enp2s0 just linux-test replay

Filtering captured replays

Use tshark to filter out only EtherCAT packets from provided dumps:

tshark -r EL1014.pcapng -Y 'ecat' -w issue-63-el1014.pcapng

This isn't required if the original capture is filtered with -f 'ether proto 0x88a4'.