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restore blocking FPWR in async loop - branch tip deployable (bridge/async both work; verified bSync=True 4kHz)

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This commit is contained in:
Tony Cao 2026-10-26 18:59:54 +08:00
parent ac99194b4e
commit 5b0bebe93f
1 changed files with 10 additions and 20 deletions
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28
src/main.rs
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@ -2550,26 +2550,16 @@ async fn rfm_async_loop(
while (rt::now_ns() as i64) < target { core::hint::spin_loop(); }
wphase_st.push(((rt::now_ns() % 1_000_000) / 1000) as i64);
}
// PIPELINE v2: mirror the fprd's working pattern - a short
// yield-kick lets the executor run the TX task (frame goes on
// the wire), then store for poll-based completion at reap.
let mut f: FpwrFut<'_> = Box::pin(
ethercrab::Command::fpwr(station, SM_TX_ADDR).send(maindevice, &slot[..PAYLOAD_LEN]),
);
let t_kick = Instant::now();
let _ = futures_lite::future::or(
async { f.as_mut().await.is_ok() },
async {
while t_kick.elapsed().as_micros() < 20 {
futures_lite::future::yield_now().await;
let tx_ok = ethercrab::Command::fpwr(station, SM_TX_ADDR)
.send(maindevice, &slot[..PAYLOAD_LEN])
.await
.is_ok();
n_fpwr += 1;
if tx_ok {
j2cx_st.push(t_detect.elapsed().as_nanos() as i64);
} else {
n_fpwr_err += 1;
}
false
},
)
.await;
pending_fpwr = Some(f);
j2cx_pending = Some(t_detect);
n_fpwr += 1; // issued; result counted at reap
} else {
n_ovf += 1; // wire busy; newer tx_latest will go out after reap
}