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qitech_lib wiki

qitech_lib is a set of Rust building blocks for industrial machines: EtherCAT, serial, and GRAM XTREM scales over UDP.

The API is not stable yet and may change drastically. If you want to avoid refactoring, wait for the first "stable" release.

Start here

• New to the repository? Read Development for building, testing and the sudo prompt you'll get from cargo run.
• Writing a machine program with EtherCAT? Read EtherCAT HAL, then the Application guide.
• Adding support for a terminal? Read Writing device drivers.
• Reading GRAM XTREM scales? Read XTREM, then the XTREM scale driver.

Crates

The root crate qitech_lib has no code of its own. It re-exports common, ethercat_hal, units and xtrem (so qitech_lib::ethercat_hal::… works). ethercat_hal_derive isn't re-exported; ethercat_hal uses it internally.

Crate	What it is	Docs
ethercat_hal	EtherCAT master thread, lock-free cyclic data exchange, and device drivers for Beckhoff, WAGO and Panasonic terminals	EtherCAT HAL
ethercat_hal_derive	proc macros that generate PDO (de)serialization and EthercatDevice glue	Derive macros
units	typed physical quantities (Length, Velocity, Mass, …) built on uom	Units
xtrem	GRAM XTREM / XTREM-S weighing modules over UDP	XTREM