337 lines
11 KiB
Rust
337 lines
11 KiB
Rust
|
//! Demonstrate oversampling with EK1100, EL3702.
|
||
|
|
|
||
|
|
use env_logger::Env;
|
||
|
|
use ethercrab::{
|
||
|
|
DcSync, EtherCrabWireRead, EtherCrabWireSized, MainDevice, MainDeviceConfig, PduStorage,
|
||
|
|
RegisterAddress, Timeouts,
|
||
|
|
error::Error,
|
||
|
|
std::ethercat_now,
|
||
|
|
subdevice_group::{CycleInfo, DcConfiguration, TxRxResponse},
|
||
|
|
};
|
||
|
|
use futures_lite::StreamExt;
|
||
|
|
use std::{
|
||
|
|
sync::{
|
||
|
|
Arc,
|
||
|
|
atomic::{AtomicBool, Ordering},
|
||
|
|
},
|
||
|
|
thread,
|
||
|
|
time::{Duration, Instant},
|
||
|
|
};
|
||
|
|
|
||
|
|
/// Maximum number of SubDevices that can be stored. This must be a power of 2 greater than 1.
|
||
|
|
const MAX_SUBDEVICES: usize = 16;
|
||
|
|
const MAX_PDU_DATA: usize = PduStorage::element_size(1100);
|
||
|
|
const MAX_FRAMES: usize = 32;
|
||
|
|
const PDI_LEN: usize = 128;
|
||
|
|
|
||
|
|
static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
|
||
|
|
|
||
|
|
const TICK_INTERVAL: Duration = Duration::from_millis(5);
|
||
|
|
|
||
|
|
/// PDI layout of EL3702, based on looking at the ESI file and the Beckhoff InfoSys pages
|
||
|
|
#[derive(Debug, ethercrab_wire::EtherCrabWireRead)]
|
||
|
|
#[allow(unused)]
|
||
|
|
#[wire(bytes = 108)]
|
||
|
|
struct EL3702 {
|
||
|
|
#[wire(bytes = 2)]
|
||
|
|
ch1_cycle_count: u16,
|
||
|
|
#[wire(bytes = 50)]
|
||
|
|
ch1_samples: [i16; 25],
|
||
|
|
#[wire(bytes = 2)]
|
||
|
|
ch2_cycle_count: u16,
|
||
|
|
#[wire(bytes = 50)]
|
||
|
|
ch2_samples: [i16; 25],
|
||
|
|
#[wire(bytes = 4)]
|
||
|
|
start_time_next_latch: u32,
|
||
|
|
}
|
||
|
|
|
||
|
|
impl EL3702 {
|
||
|
|
// Make sure this is the same value as the array lengths in the struct definition
|
||
|
|
const OVERSAMPLE_MUL: u8 = 25;
|
||
|
|
}
|
||
|
|
|
||
|
|
fn main() -> 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 Distributed Clocks demo...");
|
||
|
|
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(5),
|
||
|
|
state_transition: Duration::from_secs(10),
|
||
|
|
pdu: Duration::from_millis(2000),
|
||
|
|
..Timeouts::default()
|
||
|
|
},
|
||
|
|
MainDeviceConfig {
|
||
|
|
dc_static_sync_iterations: 10_000,
|
||
|
|
..MainDeviceConfig::default()
|
||
|
|
},
|
||
|
|
));
|
||
|
|
|
||
|
|
let mut tick_interval = smol::Timer::interval(TICK_INTERVAL);
|
||
|
|
|
||
|
|
#[cfg(target_os = "windows")]
|
||
|
|
std::thread::spawn(move || {
|
||
|
|
ethercrab::std::tx_rx_task_blocking(
|
||
|
|
&interface,
|
||
|
|
tx,
|
||
|
|
rx,
|
||
|
|
ethercrab::std::TxRxTaskConfig { spinloop: false },
|
||
|
|
)
|
||
|
|
.expect("TX/RX task")
|
||
|
|
});
|
||
|
|
#[cfg(not(target_os = "windows"))]
|
||
|
|
smol::spawn(ethercrab::std::tx_rx_task(&interface, tx, rx).expect("spawn TX/RX task")).detach();
|
||
|
|
|
||
|
|
// Wait for TX/RX loop to start
|
||
|
|
thread::sleep(Duration::from_millis(200));
|
||
|
|
|
||
|
|
#[cfg(target_os = "linux")]
|
||
|
|
thread_priority::set_current_thread_priority(thread_priority::ThreadPriority::Crossplatform(
|
||
|
|
thread_priority::ThreadPriorityValue::try_from(48u8).unwrap(),
|
||
|
|
))
|
||
|
|
.expect("Main thread prio");
|
||
|
|
|
||
|
|
smol::block_on(async {
|
||
|
|
let mut group = maindevice
|
||
|
|
.init_single_group::<MAX_SUBDEVICES, PDI_LEN>(ethercat_now)
|
||
|
|
.await
|
||
|
|
.expect("Init");
|
||
|
|
|
||
|
|
// The group will be in PRE-OP at this point
|
||
|
|
|
||
|
|
for mut subdevice in group.iter_mut(&maindevice) {
|
||
|
|
if subdevice.name() == "EL3702" {
|
||
|
|
log::info!("Found EL3702");
|
||
|
|
|
||
|
|
// Configure oversampling for both input channels
|
||
|
|
subdevice.set_oversampling(&[
|
||
|
|
(0x1a00, EL3702::OVERSAMPLE_MUL),
|
||
|
|
(0x1a80, EL3702::OVERSAMPLE_MUL),
|
||
|
|
]);
|
||
|
|
|
||
|
|
subdevice.set_dc_sync(DcSync::Sync01 {
|
||
|
|
sync1_period: Duration::from_micros(
|
||
|
|
TICK_INTERVAL.as_micros() as u64 * EL3702::OVERSAMPLE_MUL as u64,
|
||
|
|
),
|
||
|
|
});
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
log::info!("Group has {} SubDevices", group.len());
|
||
|
|
|
||
|
|
log::info!("Moving into PRE-OP with PDI");
|
||
|
|
|
||
|
|
let group = group.into_pre_op_pdi(&maindevice).await?;
|
||
|
|
|
||
|
|
log::info!("Done. PDI available. Waiting for SubDevices to align");
|
||
|
|
|
||
|
|
let mut now = Instant::now();
|
||
|
|
let start = Instant::now();
|
||
|
|
|
||
|
|
// Repeatedly send group PDI and sync frame to align all SubDevice clocks. We use an
|
||
|
|
// exponential moving average of each SubDevice's deviation from the EtherCAT System Time
|
||
|
|
// (the time in the DC reference SubDevice) and take the maximum deviation. When that is
|
||
|
|
// below 100ns (arbitraily chosen value for this demo), we call the sync good enough and
|
||
|
|
// exit the loop.
|
||
|
|
loop {
|
||
|
|
group
|
||
|
|
.tx_rx_sync_system_time(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("TX/RX");
|
||
|
|
|
||
|
|
let mut max_deviation = 0;
|
||
|
|
|
||
|
|
for s1 in group.iter(&maindevice) {
|
||
|
|
let diff = match s1
|
||
|
|
.register_read::<u32>(RegisterAddress::DcSystemTimeDifference)
|
||
|
|
.await
|
||
|
|
{
|
||
|
|
Ok(value) =>
|
||
|
|
// The returned value is NOT in two's compliment, rather the upper bit specifies
|
||
|
|
// whether the number in the remaining bits is odd or even, so we convert the
|
||
|
|
// value to `i32` using that logic here.
|
||
|
|
{
|
||
|
|
let flag = 0b1u32 << 31;
|
||
|
|
|
||
|
|
if value >= flag {
|
||
|
|
// Strip off negative flag bit and negate value as normal
|
||
|
|
-((value & !flag) as i32)
|
||
|
|
} else {
|
||
|
|
value as i32
|
||
|
|
}
|
||
|
|
}
|
||
|
|
Err(Error::WorkingCounter { .. }) => 0,
|
||
|
|
Err(e) => return Err(e),
|
||
|
|
};
|
||
|
|
|
||
|
|
max_deviation = max_deviation.max(diff as u32);
|
||
|
|
}
|
||
|
|
|
||
|
|
if now.elapsed() >= Duration::from_millis(1000) {
|
||
|
|
now = Instant::now();
|
||
|
|
|
||
|
|
log::info!("--> Max deviation {} ns", max_deviation);
|
||
|
|
|
||
|
|
// Less than 500ns max deviation as an example threshold.
|
||
|
|
// <https://github.com/OpenEtherCATsociety/SOEM/issues/487#issuecomment-786245585>
|
||
|
|
// mentions less than 100us as a good enough value as well.
|
||
|
|
if max_deviation < 500 {
|
||
|
|
log::info!("Clocks settled after {} ms", start.elapsed().as_millis());
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
tick_interval.next().await;
|
||
|
|
}
|
||
|
|
|
||
|
|
log::info!("Alignment done");
|
||
|
|
|
||
|
|
// SubDevice clocks are aligned. We can turn DC on now.
|
||
|
|
let group = group
|
||
|
|
.configure_dc_sync(
|
||
|
|
&maindevice,
|
||
|
|
DcConfiguration {
|
||
|
|
// Start SYNC0 100ms in the future
|
||
|
|
start_delay: Duration::from_millis(100),
|
||
|
|
// SYNC0 period should be the same as the process data loop in most cases
|
||
|
|
sync0_period: TICK_INTERVAL,
|
||
|
|
// Send process data half way through cycle
|
||
|
|
sync0_shift: TICK_INTERVAL / 2,
|
||
|
|
},
|
||
|
|
)
|
||
|
|
.await?;
|
||
|
|
|
||
|
|
let group = group
|
||
|
|
.into_safe_op(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("PRE-OP -> SAFE-OP");
|
||
|
|
|
||
|
|
log::info!("SAFE-OP");
|
||
|
|
|
||
|
|
// Request OP state without waiting for all SubDevices to reach it. Allows the immediate
|
||
|
|
// start of the process data cycle, which is required when DC sync is used, otherwise
|
||
|
|
// SubDevices never reach OP, most often timing out with a SyncManagerWatchdog error.
|
||
|
|
let group = group
|
||
|
|
.request_into_op(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("SAFE-OP -> OP");
|
||
|
|
|
||
|
|
log::info!("OP requested");
|
||
|
|
|
||
|
|
let op_request = Instant::now();
|
||
|
|
|
||
|
|
// Send PDI and check group state until all SubDevices enter OP state. At this point, we can
|
||
|
|
// exit this loop and enter the main process data loop that does not have the state check
|
||
|
|
// overhead present here.
|
||
|
|
loop {
|
||
|
|
let now = Instant::now();
|
||
|
|
|
||
|
|
let response @ TxRxResponse {
|
||
|
|
working_counter: _wkc,
|
||
|
|
extra: CycleInfo {
|
||
|
|
next_cycle_wait, ..
|
||
|
|
},
|
||
|
|
..
|
||
|
|
} = group.tx_rx_dc(&maindevice).await.expect("TX/RX");
|
||
|
|
|
||
|
|
if response.all_op() {
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
smol::Timer::at(now + next_cycle_wait).await;
|
||
|
|
}
|
||
|
|
|
||
|
|
log::info!(
|
||
|
|
"All SubDevices entered OP in {} us",
|
||
|
|
op_request.elapsed().as_micros()
|
||
|
|
);
|
||
|
|
|
||
|
|
for subdevice in 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()
|
||
|
|
);
|
||
|
|
}
|
||
|
|
|
||
|
|
let term = Arc::new(AtomicBool::new(false));
|
||
|
|
signal_hook::flag::register(signal_hook::consts::SIGINT, Arc::clone(&term))
|
||
|
|
.expect("Register hook");
|
||
|
|
|
||
|
|
println!();
|
||
|
|
|
||
|
|
// Main application process data cycle
|
||
|
|
loop {
|
||
|
|
let now = Instant::now();
|
||
|
|
|
||
|
|
let TxRxResponse {
|
||
|
|
working_counter: _wkc,
|
||
|
|
extra: CycleInfo {
|
||
|
|
next_cycle_wait, ..
|
||
|
|
},
|
||
|
|
..
|
||
|
|
} = group.tx_rx_dc(&maindevice).await.expect("TX/RX");
|
||
|
|
|
||
|
|
smol::Timer::at(now + next_cycle_wait).await;
|
||
|
|
|
||
|
|
if let Some(first_el3702) = group.iter(&maindevice).find(|sd| sd.name() == "EL3702") {
|
||
|
|
let i = first_el3702.inputs_raw();
|
||
|
|
|
||
|
|
match EL3702::unpack_from_slice(&i) {
|
||
|
|
Ok(inputs) => {
|
||
|
|
print!("\r{:?}", inputs);
|
||
|
|
}
|
||
|
|
Err(e) => {
|
||
|
|
log::error!("{} want {}, got {}", e, EL3702::PACKED_LEN, i.len());
|
||
|
|
}
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
println!("ASs");
|
||
|
|
}
|
||
|
|
|
||
|
|
// Hook signal so we can write CSV data before exiting
|
||
|
|
if term.load(Ordering::Relaxed) {
|
||
|
|
println!();
|
||
|
|
|
||
|
|
log::info!("Exiting...");
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
let group = group
|
||
|
|
.into_safe_op(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("OP -> SAFE-OP");
|
||
|
|
|
||
|
|
log::info!("OP -> SAFE-OP");
|
||
|
|
|
||
|
|
let group = group
|
||
|
|
.into_pre_op(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("SAFE-OP -> PRE-OP");
|
||
|
|
|
||
|
|
log::info!("SAFE-OP -> PRE-OP");
|
||
|
|
|
||
|
|
let _group = group.into_init(&maindevice).await.expect("PRE-OP -> INIT");
|
||
|
|
|
||
|
|
log::info!("PRE-OP -> INIT, shutdown complete");
|
||
|
|
|
||
|
|
Ok(())
|
||
|
|
})
|
||
|
|
}
|