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.
91 lines
2.3 KiB
Rust
91 lines
2.3 KiB
Rust
use core::future::poll_fn;
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use core::task::Poll;
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use criterion::{Bencher, Criterion, Throughput, criterion_group, criterion_main};
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use ethercrab::{Command, MainDevice, MainDeviceConfig, PduStorage, Timeouts};
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use std::{pin::pin, time::Duration};
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const DATA: [u8; 8] = [0x11u8, 0x22, 0x33, 0x44, 0xaa, 0xbb, 0xcc, 0xdd];
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fn do_bench(b: &mut Bencher) {
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const FRAME_OVERHEAD: usize = 28;
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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 (mut tx, mut rx, pdu_loop) = storage.try_split().unwrap();
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let maindevice = MainDevice::new(
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pdu_loop,
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Timeouts {
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pdu: Duration::from_millis(1000),
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..Timeouts::default()
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},
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MainDeviceConfig::default(),
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);
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let mut written_packet = [0u8; { FRAME_OVERHEAD + DATA.len() }];
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b.iter(|| {
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// --- Prepare frame
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let mut frame_fut =
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pin!(Command::fpwr(0x5678, 0x1234).send_receive::<()>(&maindevice, &DATA));
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// Poll future once to register it with sender
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cassette::block_on(poll_fn(|ctx| {
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let _ = frame_fut.as_mut().poll(ctx);
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Poll::Ready(())
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}));
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let frame = tx.next_sendable_frame().expect("Next frame");
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frame
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.send_blocking(|bytes| {
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written_packet.copy_from_slice(bytes);
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Ok(bytes.len())
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})
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.expect("TX");
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// --- Receive frame
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// Turn master sent MAC into receiving MAC
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written_packet[6] = 0x12;
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// Bump working counter so we don't error out
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written_packet[written_packet.len() - 2] = 1;
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rx.receive_frame(&written_packet).expect("RX");
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let _ = cassette::block_on(frame_fut);
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})
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}
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pub fn tx_rx(c: &mut Criterion) {
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let mut group = c.benchmark_group("pdu_loop");
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group.throughput(Throughput::Elements(1));
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group.bench_function("elements", do_bench);
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let overhead = {
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// Ethernet header
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(6 + 6 + 2) +
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// EtherCAT header
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2 +
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// PDU header
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10 +
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// Working counter
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2
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};
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group.throughput(Throughput::Bytes(DATA.len() as u64 + overhead));
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group.bench_function("ethernet frame bytes", do_bench);
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group.finish();
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}
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criterion_group!(pdu_loop, tx_rx);
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criterion_main!(pdu_loop);
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