21b2d3bf99
Re-implementation of rustbootd's ecat_el6695_* examples as a single binary with fixes found in review and on hardware: - DC-follow PLL hardened against period-2 hunting: slew-limited anchor (+/-50us/cycle), bistable-trap snap re-anchor, re-prime on stale deadline - drift-free absolute-grid ticker mode; probe mode for timestamp forensics - bounded-memory online stats (histograms), graceful SIGINT/SIGTERM shutdown with full report, error-streak abort - timestamp plausibility filter comparing against the previous raw sample (avoids the deadlock after a startup outlier) - XFC scope waveform options: --el2202 (with --el2202-dual), --el2262, --el1252 latch timestamp readback with per-channel edge statistics - register access unified in regs.rs: named bit constants everywhere, read-modify-write for enable/activation bytes - vendored patched ethercrab 0.7.1 (sdo_write_complete, send_raw_coe) Verified on J1900 (PREEMPT_RT 6.6.135): 600k cycles/600s exact 1 kHz, tx/rx zero errors, phase_err p50=164us std=5us; EL2202<->EL1252 loopback edge interval mean 2000.24us std=24.65us.
30 lines
971 B
Rust
30 lines
971 B
Rust
use criterion::{Criterion, criterion_group, criterion_main};
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use ethercrab::{Command, MainDevice, MainDeviceConfig, PduStorage, Timeouts};
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use std::{future::poll_fn, pin::pin, task::Poll};
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const DATA: [u8; 8] = [0x11u8, 0x22, 0x33, 0x44, 0xaa, 0xbb, 0xcc, 0xdd];
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pub fn push_pdu(c: &mut Criterion) {
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// 1 frame, up to 128 bytes payload
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let storage = PduStorage::<1, { PduStorage::element_size(128) }>::new();
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let (_tx, _rx, pdu_loop) = storage.try_split().unwrap();
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let maindevice = MainDevice::new(pdu_loop, Timeouts::default(), MainDeviceConfig::default());
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c.bench_function("frame push pdu", |b| {
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b.iter(|| {
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let mut f = pin!(Command::fpwr(0x5678, 0x1234).send_receive_slice(&maindevice, &DATA));
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cassette::block_on(poll_fn(|ctx| {
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let _ = f.as_mut().poll(ctx);
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Poll::Ready(())
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}));
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})
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});
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}
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criterion_group!(frame, push_pdu);
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criterion_main!(frame);
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