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@khalilbendhief please explain why you needed to change the Bus Coupler code and whats different now. Please also fix the rust formating error. @kraemr please take a look. |
kraemr
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Apr 8, 2026
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kraemr
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Fix Formatting Error, and Electron errors and remove your coupler logic changes for the Wago 750-354 unless they are absolutely necessary
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| fn set_module(&mut self, module: Module) { | ||
| self.slots[self.module_count] = Some(module.clone()); | ||
| self.module_count += 1; | ||
| } | ||
| } | ||
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| impl EthercatDeviceUsed for Wago750_354 { | ||
| fn is_used(&self) -> bool { | ||
| self.is_used | ||
| } | ||
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| fn set_used(&mut self, used: bool) { | ||
| self.is_used = used; | ||
| } | ||
| } | ||
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| impl EthercatDeviceProcessing for Wago750_354 {} | ||
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| impl NewEthercatDevice for Wago750_354 { | ||
| fn new() -> Self { | ||
| Self { | ||
| is_used: false, | ||
| slots: [const { None }; 64], | ||
| slot_devices: [const { None }; 64], | ||
| module_count: 0, | ||
| dev_count: 0, | ||
| tx_size: 0, | ||
| rx_size: 0, | ||
| rx_pdo_mappings: vec![], | ||
| tx_pdo_mappings: vec![], | ||
| } | ||
| } | ||
| } | ||
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| impl std::fmt::Debug for Wago750_354 { | ||
| fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result { | ||
| write!(f, "Wago_750_354") | ||
| } | ||
| } | ||
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| impl Wago750_354 { | ||
| pub fn calculate_module_index(pdo_mapping: u32, is_tx: bool) -> u32 { | ||
| let start_index = match is_tx { | ||
| true => 0x6000, | ||
| false => 0x7000, | ||
| }; | ||
| let pdo_index = (pdo_mapping & 0xFFFF0000) >> 16; | ||
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| if pdo_index < start_index { | ||
| // Treat as coupler/module 0 | ||
| return 0; | ||
| } | ||
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| let index_in_hex = pdo_index - start_index; | ||
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| if index_in_hex < 16 { | ||
| 0 | ||
| } else { | ||
| index_in_hex / 16 | ||
| } | ||
| } | ||
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| pub async fn get_pdo_offsets<'a>( | ||
| &mut self, | ||
| device: &EthercrabSubDevicePreoperational<'a>, | ||
| get_tx: bool, | ||
| ) -> Result<(), Error> { | ||
| let mut vec: Vec<ModulePdoMapping> = vec![]; | ||
| let mut bit_offset = 0; | ||
| let start_subindex = 0x2; | ||
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| let index = match get_tx { | ||
| true => (TX_MAPPING_INDEX.0, TX_MAPPING_INDEX.1), | ||
| false => (RX_MAPPING_INDEX.0, RX_MAPPING_INDEX.1), | ||
| }; | ||
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| let count_mappings = device.sdo_read::<u8>(index.0, index.1).await?; | ||
| let pdo_index = device.sdo_read::<u16>(index.0, 1).await?; | ||
| let pdo_map_count = device.sdo_read::<u8>(pdo_index, 0).await?; | ||
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| for i in 0..pdo_map_count { | ||
| let pdo_mapping: u32 = device.sdo_read(pdo_index, 1 + i).await?; | ||
| let bit_length = (pdo_mapping & 0xFF) as u8; | ||
| bit_offset += bit_length as usize; | ||
| } | ||
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| for i in start_subindex..=count_mappings { | ||
| let pdo_index = device.sdo_read(index.0, i).await?; | ||
| let pdo_map_count = device.sdo_read::<u8>(pdo_index, 0).await?; | ||
| for j in 0..pdo_map_count { | ||
| let pdo_mapping: u32 = device.sdo_read(pdo_index, 1 + j).await?; | ||
| let pdo_index_hi = (pdo_mapping & 0xFFFF0000) >> 16; | ||
| let bit_length = (pdo_mapping & 0xFF) as usize; | ||
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| // Preserve the original coupler assignment order. Padding/alignment | ||
| // entries still consume bits, but must not be assigned to a module. | ||
| let start_index = if get_tx { 0x6000 } else { 0x7000 }; | ||
| if pdo_index_hi >= start_index { | ||
| let module_i = Wago750_354::calculate_module_index(pdo_mapping, get_tx); |
Collaborator
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Why did you change the logic in here ?
Collaborator
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@khalilbendhief maybe just cherry-pick your new machine integration on top of current master since the coupler code is functional now
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Implements the
wago_dio_separatemachine, combining a WAGO 750-430(8-channel DI) and 750-530 (8-channel DO) under a single EtherCAT
machine abstraction.