Crate features

cargo add --no-default-features --features defmt

Examples

RUST_LOG=debug cargo run --example ek1100 --release -- eth0

$env:RUST_LOG="debug";cargorun--exampleek1100--release--'\Device\NPF_{FF0ACEE6-E8CD-48D5-A399-619CD2340465}'

use env_logger::Env;use ethercrab::{    error::Error, std::{ethercat_now, tx_rx_task},MainDevice,MainDeviceConfig,PduStorage,Timeouts};use std::{sync::Arc, time::Duration};use tokio::time::MissedTickBehavior;/// Maximum number of SubDevices that can be stored. This must be a power of 2 greater than 1.constMAX_SUBDEVICES:usize =16;/// Maximum PDU data payload size - set this to the max PDI size or higher.constMAX_PDU_DATA:usize =1100;/// Maximum number of EtherCAT frames that can be in flight at any one time.constMAX_FRAMES:usize =16;/// Maximum total PDI length.constPDI_LEN:usize =64;staticPDU_STORAGE:PduStorage<MAX_FRAMES,MAX_PDU_DATA> =PduStorage::new();#[tokio::main]asyncfnmain() ->Result<(),Error>{    env_logger::Builder::from_env(Env::default().default_filter_or("info")).init();let interface = std::env::args().nth(1).expect("Provide network interface as first argument.");    log::info!("Starting EK1100 demo...");    log::info!("Ensure an EK1100 is the first SubDevice, with any number of modules connected after");    log::info!("Run with RUST_LOG=ethercrab=debug or =trace for debug information");let(tx, rx, pdu_loop) =PDU_STORAGE.try_split().expect("can only split once");let maindevice =Arc::new(MainDevice::new(        pdu_loop,Timeouts{wait_loop_delay:Duration::from_millis(2),mailbox_response:Duration::from_millis(1000),            ..Default::default()},MainDeviceConfig::default(),));    tokio::spawn(tx_rx_task(&interface, tx, rx).expect("spawn TX/RX task"));letmut group = maindevice.init_single_group::<MAX_SUBDEVICES,PDI_LEN>(ethercat_now).await.expect("Init");    log::info!("Discovered {} SubDevices", group.len());for subdevicein group.iter(&maindevice){// Special case: if an EL3004 module is discovered, it needs some specific config during// init to function properlyif subdevice.name() =="EL3004"{            log::info!("Found EL3004. Configuring...");            subdevice.sdo_write(0x1c12,0,0u8).await?;            subdevice.sdo_write(0x1c13,0,0u8).await?;            subdevice.sdo_write(0x1c13,1,0x1a00u16).await?;            subdevice.sdo_write(0x1c13,2,0x1a02u16).await?;            subdevice.sdo_write(0x1c13,3,0x1a04u16).await?;            subdevice.sdo_write(0x1c13,4,0x1a06u16).await?;            subdevice.sdo_write(0x1c13,0,4u8).await?;}}letmut group = group.into_op(&maindevice).await.expect("PRE-OP -> OP");for subdevicein group.iter(&maindevice){let io = subdevice.io_raw();        log::info!("-> SubDevice {:#06x} {} inputs: {} bytes, outputs: {} bytes",            subdevice.configured_address(),            subdevice.name(),            io.inputs().len(),            io.outputs().len());}letmut tick_interval = tokio::time::interval(Duration::from_millis(5));    tick_interval.set_missed_tick_behavior(MissedTickBehavior::Skip);loop{        group.tx_rx(&maindevice).await.expect("TX/RX");// Increment every output byte for every SubDevice by oneformut subdevicein group.iter(&maindevice){letmut io = subdevice.io_raw_mut();for bytein io.outputs().iter_mut(){*byte = byte.wrapping_add(1);}}        tick_interval.tick().await;}}

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