494 lines
16 KiB
Rust
494 lines
16 KiB
Rust
|
//! An extremely crude example that runs two DC-enabeld LAN9252 at different cycle times to check
|
||
|
|
//! SYNC0 alignment.
|
||
|
|
|
||
|
|
use env_logger::Env;
|
||
|
|
use ethercrab::{
|
||
|
|
DcSync, MainDevice, MainDeviceConfig, PduStorage, RegisterAddress, SubDeviceGroup, Timeouts,
|
||
|
|
error::Error,
|
||
|
|
std::ethercat_now,
|
||
|
|
subdevice_group::{CycleInfo, DcConfiguration, TxRxResponse},
|
||
|
|
};
|
||
|
|
use futures_lite::StreamExt;
|
||
|
|
use std::{
|
||
|
|
sync::{
|
||
|
|
Arc,
|
||
|
|
atomic::{AtomicBool, Ordering},
|
||
|
|
},
|
||
|
|
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;
|
||
|
|
|
||
|
|
static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
|
||
|
|
|
||
|
|
const SLOW_TICK_INTERVAL: Duration = Duration::from_millis(5);
|
||
|
|
const FAST_TICK_INTERVAL: Duration = Duration::from_micros(2500);
|
||
|
|
|
||
|
|
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::default(),
|
||
|
|
MainDeviceConfig::default(),
|
||
|
|
));
|
||
|
|
|
||
|
|
let mut slow_tick_interval = smol::Timer::interval(SLOW_TICK_INTERVAL);
|
||
|
|
let mut fast_tick_interval = smol::Timer::interval(SLOW_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();
|
||
|
|
|
||
|
|
#[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 slow_group, mut fast_group) = maindevice
|
||
|
|
.init::<MAX_SUBDEVICES, (SubDeviceGroup<1, 32>, SubDeviceGroup<1, 32>)>(
|
||
|
|
ethercat_now,
|
||
|
|
Default::default(),
|
||
|
|
|groups, s| {
|
||
|
|
if s.configured_address() == 0x1000 {
|
||
|
|
Ok(&groups.0)
|
||
|
|
} else {
|
||
|
|
Ok(&groups.1)
|
||
|
|
}
|
||
|
|
},
|
||
|
|
)
|
||
|
|
.await
|
||
|
|
.expect("Init");
|
||
|
|
|
||
|
|
for mut subdevice in slow_group.iter_mut(&maindevice) {
|
||
|
|
// Sync mode 02 = SYNC0
|
||
|
|
subdevice
|
||
|
|
.sdo_write(0x1c32, 1, 2u16)
|
||
|
|
.await
|
||
|
|
.expect("Set sync mode");
|
||
|
|
|
||
|
|
// ETG1020 calc and copy time
|
||
|
|
let cal_and_copy_time = subdevice
|
||
|
|
.sdo_read::<u16>(0x1c32, 6)
|
||
|
|
.await
|
||
|
|
.expect("Calc and copy time");
|
||
|
|
|
||
|
|
// Delay time
|
||
|
|
let delay_time = subdevice
|
||
|
|
.sdo_read::<u16>(0x1c32, 9)
|
||
|
|
.await
|
||
|
|
.expect("Delay time");
|
||
|
|
|
||
|
|
log::info!(
|
||
|
|
"LAN9252 calc time {} ns, delay time {} ns",
|
||
|
|
cal_and_copy_time,
|
||
|
|
delay_time,
|
||
|
|
);
|
||
|
|
|
||
|
|
// Adding this seems to make the second LAN9252 converge much more quickly
|
||
|
|
subdevice
|
||
|
|
.sdo_write(0x1c32, 0x0a, SLOW_TICK_INTERVAL.as_nanos() as u32)
|
||
|
|
.await
|
||
|
|
.expect("Set cycle time");
|
||
|
|
|
||
|
|
subdevice.set_dc_sync(DcSync::Sync0);
|
||
|
|
}
|
||
|
|
|
||
|
|
for mut subdevice in fast_group.iter_mut(&maindevice) {
|
||
|
|
// Sync mode 02 = SYNC0
|
||
|
|
subdevice
|
||
|
|
.sdo_write(0x1c32, 1, 2u16)
|
||
|
|
.await
|
||
|
|
.expect("Set sync mode");
|
||
|
|
|
||
|
|
// ETG1020 calc and copy time
|
||
|
|
let cal_and_copy_time = subdevice
|
||
|
|
.sdo_read::<u16>(0x1c32, 6)
|
||
|
|
.await
|
||
|
|
.expect("Calc and copy time");
|
||
|
|
|
||
|
|
// Delay time
|
||
|
|
let delay_time = subdevice
|
||
|
|
.sdo_read::<u16>(0x1c32, 9)
|
||
|
|
.await
|
||
|
|
.expect("Delay time");
|
||
|
|
|
||
|
|
log::info!(
|
||
|
|
"LAN9252 calc time {} ns, delay time {} ns",
|
||
|
|
cal_and_copy_time,
|
||
|
|
delay_time,
|
||
|
|
);
|
||
|
|
|
||
|
|
// Adding this seems to make the second LAN9252 converge much more quickly
|
||
|
|
subdevice
|
||
|
|
.sdo_write(0x1c32, 0x0a, FAST_TICK_INTERVAL.as_nanos() as u32)
|
||
|
|
.await
|
||
|
|
.expect("Set cycle time");
|
||
|
|
|
||
|
|
subdevice.set_dc_sync(DcSync::Sync0);
|
||
|
|
}
|
||
|
|
|
||
|
|
log::info!("Moving into PRE-OP with PDI");
|
||
|
|
|
||
|
|
let slow_group = slow_group.into_pre_op_pdi(&maindevice).await?;
|
||
|
|
let fast_group = fast_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();
|
||
|
|
|
||
|
|
loop {
|
||
|
|
slow_group
|
||
|
|
.tx_rx_sync_system_time(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("TX/RX");
|
||
|
|
|
||
|
|
if now.elapsed() >= Duration::from_millis(25) {
|
||
|
|
now = Instant::now();
|
||
|
|
|
||
|
|
let mut max_deviation = 0;
|
||
|
|
|
||
|
|
for s1 in slow_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.abs());
|
||
|
|
}
|
||
|
|
|
||
|
|
log::debug!("--> Max deviation {} ns", max_deviation);
|
||
|
|
|
||
|
|
// Less than 100ns 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 < 1_000 {
|
||
|
|
log::info!("Clocks settled after {} ms", start.elapsed().as_millis());
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
slow_tick_interval.next().await;
|
||
|
|
}
|
||
|
|
|
||
|
|
log::info!("Slow group alignment done");
|
||
|
|
|
||
|
|
let mut now = Instant::now();
|
||
|
|
let start = Instant::now();
|
||
|
|
|
||
|
|
loop {
|
||
|
|
fast_group
|
||
|
|
.tx_rx_sync_system_time(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("TX/RX");
|
||
|
|
|
||
|
|
if now.elapsed() >= Duration::from_millis(25) {
|
||
|
|
now = Instant::now();
|
||
|
|
|
||
|
|
let mut max_deviation = 0;
|
||
|
|
|
||
|
|
for s1 in fast_group.iter(&maindevice) {
|
||
|
|
let diff = match s1
|
||
|
|
.register_read::<u32>(RegisterAddress::DcSystemTimeDifference)
|
||
|
|
.await
|
||
|
|
// 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.
|
||
|
|
.map(|value| {
|
||
|
|
let flag = 0b1u32 << 31;
|
||
|
|
|
||
|
|
let less_than = value & flag > 0;
|
||
|
|
|
||
|
|
let value = value & !flag;
|
||
|
|
|
||
|
|
if less_than {
|
||
|
|
-(value as i32)
|
||
|
|
} else {
|
||
|
|
value as i32
|
||
|
|
}
|
||
|
|
}) {
|
||
|
|
Ok(diff) => diff,
|
||
|
|
Err(Error::WorkingCounter { .. }) => 0,
|
||
|
|
Err(e) => return Err(e),
|
||
|
|
};
|
||
|
|
|
||
|
|
max_deviation = max_deviation.max(diff.abs());
|
||
|
|
}
|
||
|
|
|
||
|
|
log::debug!("--> Max deviation {} ns", max_deviation);
|
||
|
|
|
||
|
|
// Less than 100ns 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 < 1_000 {
|
||
|
|
log::info!("Clocks settled after {} ms", start.elapsed().as_millis());
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
fast_tick_interval.next().await;
|
||
|
|
}
|
||
|
|
|
||
|
|
log::info!("Fast group alignment done");
|
||
|
|
|
||
|
|
// SubDevice clocks are aligned. We can turn DC on now.
|
||
|
|
let slow_group = slow_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: SLOW_TICK_INTERVAL,
|
||
|
|
// Send process data half way through cycle
|
||
|
|
sync0_shift: SLOW_TICK_INTERVAL / 2,
|
||
|
|
},
|
||
|
|
)
|
||
|
|
.await?;
|
||
|
|
|
||
|
|
let fast_group = fast_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: FAST_TICK_INTERVAL,
|
||
|
|
// Send process data half way through cycle
|
||
|
|
sync0_shift: FAST_TICK_INTERVAL / 2,
|
||
|
|
},
|
||
|
|
)
|
||
|
|
.await?;
|
||
|
|
|
||
|
|
let slow_group = slow_group
|
||
|
|
.into_safe_op(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("PRE-OP -> SAFE-OP");
|
||
|
|
|
||
|
|
let fast_group = fast_group
|
||
|
|
.into_safe_op(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("PRE-OP -> SAFE-OP");
|
||
|
|
|
||
|
|
log::info!("SAFE-OP");
|
||
|
|
|
||
|
|
let term = Arc::new(AtomicBool::new(false));
|
||
|
|
signal_hook::flag::register(signal_hook::consts::SIGINT, Arc::clone(&term))
|
||
|
|
.expect("Register hook");
|
||
|
|
|
||
|
|
// 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 slow_group = slow_group
|
||
|
|
.request_into_op(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("SAFE-OP -> OP");
|
||
|
|
let fast_group = fast_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.
|
||
|
|
smol::future::race(
|
||
|
|
async {
|
||
|
|
loop {
|
||
|
|
let now = Instant::now();
|
||
|
|
|
||
|
|
let response @ TxRxResponse {
|
||
|
|
working_counter: _wkc,
|
||
|
|
extra:
|
||
|
|
CycleInfo {
|
||
|
|
next_cycle_wait, ..
|
||
|
|
},
|
||
|
|
..
|
||
|
|
} = slow_group.tx_rx_dc(&maindevice).await.expect("TX/RX");
|
||
|
|
|
||
|
|
if response.all_op() {
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
smol::Timer::at(now + next_cycle_wait).await;
|
||
|
|
}
|
||
|
|
|
||
|
|
Result::<_, Error>::Ok(())
|
||
|
|
},
|
||
|
|
async {
|
||
|
|
loop {
|
||
|
|
let now = Instant::now();
|
||
|
|
|
||
|
|
let response @ TxRxResponse {
|
||
|
|
working_counter: _wkc,
|
||
|
|
extra:
|
||
|
|
CycleInfo {
|
||
|
|
next_cycle_wait, ..
|
||
|
|
},
|
||
|
|
..
|
||
|
|
} = fast_group.tx_rx_dc(&maindevice).await.expect("TX/RX");
|
||
|
|
|
||
|
|
if response.all_op() {
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
smol::Timer::at(now + next_cycle_wait).await;
|
||
|
|
}
|
||
|
|
|
||
|
|
Ok(())
|
||
|
|
},
|
||
|
|
)
|
||
|
|
.await?;
|
||
|
|
|
||
|
|
log::info!(
|
||
|
|
"All SubDevices entered OP in {} us",
|
||
|
|
op_request.elapsed().as_micros()
|
||
|
|
);
|
||
|
|
|
||
|
|
smol::future::race(
|
||
|
|
async {
|
||
|
|
loop {
|
||
|
|
let now = Instant::now();
|
||
|
|
|
||
|
|
let TxRxResponse {
|
||
|
|
working_counter: _wkc,
|
||
|
|
extra:
|
||
|
|
CycleInfo {
|
||
|
|
next_cycle_wait, ..
|
||
|
|
},
|
||
|
|
..
|
||
|
|
} = slow_group.tx_rx_dc(&maindevice).await.expect("TX/RX");
|
||
|
|
|
||
|
|
for subdevice in slow_group.iter(&maindevice) {
|
||
|
|
let mut o = subdevice.outputs_raw_mut();
|
||
|
|
|
||
|
|
for byte in o.iter_mut() {
|
||
|
|
*byte = byte.wrapping_add(1);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
smol::Timer::at(now + next_cycle_wait).await;
|
||
|
|
|
||
|
|
if term.load(Ordering::Relaxed) {
|
||
|
|
log::info!("Exiting...");
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
},
|
||
|
|
async {
|
||
|
|
loop {
|
||
|
|
let now = Instant::now();
|
||
|
|
|
||
|
|
let TxRxResponse {
|
||
|
|
working_counter: _wkc,
|
||
|
|
extra:
|
||
|
|
CycleInfo {
|
||
|
|
next_cycle_wait, ..
|
||
|
|
},
|
||
|
|
..
|
||
|
|
} = fast_group.tx_rx_dc(&maindevice).await.expect("TX/RX");
|
||
|
|
|
||
|
|
for subdevice in fast_group.iter(&maindevice) {
|
||
|
|
let mut o = subdevice.outputs_raw_mut();
|
||
|
|
|
||
|
|
for byte in o.iter_mut() {
|
||
|
|
*byte = byte.wrapping_add(1);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
smol::Timer::at(now + next_cycle_wait).await;
|
||
|
|
|
||
|
|
if term.load(Ordering::Relaxed) {
|
||
|
|
log::info!("Exiting...");
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
},
|
||
|
|
)
|
||
|
|
.await;
|
||
|
|
|
||
|
|
let slow_group = slow_group
|
||
|
|
.into_safe_op(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("OP -> SAFE-OP");
|
||
|
|
let fast_group = fast_group
|
||
|
|
.into_safe_op(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("OP -> SAFE-OP");
|
||
|
|
|
||
|
|
log::info!("OP -> SAFE-OP");
|
||
|
|
|
||
|
|
let slow_group = slow_group
|
||
|
|
.into_pre_op(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("SAFE-OP -> PRE-OP");
|
||
|
|
let fast_group = fast_group
|
||
|
|
.into_pre_op(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("SAFE-OP -> PRE-OP");
|
||
|
|
|
||
|
|
log::info!("SAFE-OP -> PRE-OP");
|
||
|
|
|
||
|
|
let _slow_group = slow_group
|
||
|
|
.into_init(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("PRE-OP -> INIT");
|
||
|
|
let _fast_group = fast_group
|
||
|
|
.into_init(&maindevice)
|
||
|
|
.await
|
||
|
|
.expect("PRE-OP -> INIT");
|
||
|
|
|
||
|
|
log::info!("PRE-OP -> INIT, shutdown complete");
|
||
|
|
|
||
|
|
Ok(())
|
||
|
|
})
|
||
|
|
}
|