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.
75 lines
2.3 KiB
Rust
75 lines
2.3 KiB
Rust
//! Configuration passed to [`MainDevice`](crate::MainDevice).
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/// Configuration passed to [`MainDevice`](crate::MainDevice).
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#[derive(Debug, Copy, Clone, PartialEq, Eq)]
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pub struct MainDeviceConfig {
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/// The number of `FRMW` packets to send during the static phase of Distributed Clocks (DC)
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/// synchronisation.
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///
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/// Defaults to 10000.
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///
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/// If this is set to zero, no static sync will be performed.
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pub dc_static_sync_iterations: u32,
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/// EtherCAT packet (PDU) network retry behaviour.
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pub retry_behaviour: RetryBehaviour,
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}
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impl Default for MainDeviceConfig {
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fn default() -> Self {
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Self {
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dc_static_sync_iterations: 10_000,
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retry_behaviour: RetryBehaviour::default(),
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}
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}
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}
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/// Network communication retry policy.
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///
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/// Retries will be performed at the rate defined by [`Timeouts::pdu`](field@crate::Timeouts::pdu).
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#[derive(Debug, Copy, Clone, Default, PartialEq, Eq)]
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pub enum RetryBehaviour {
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/// Do not attempt to retry timed out packet sends (default).
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///
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/// If this option is chosen, any timeouts will raise an
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/// [`Error::Timeout`](crate::error::Error::Timeout).
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#[default]
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None,
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/// Attempt to resend a PDU up to `N` times, then raise an
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/// [`Error::Timeout`](crate::error::Error::Timeout).
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Count(usize),
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/// Attempt to resend the PDU forever(*).
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///
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/// Note that this can soft-lock a program if for example the EtherCAT network cable is removed
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/// as EtherCrab will attempt to resend the packet forever. It may be preferable to use
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/// [`RetryBehaviour::Count`] to set an upper bound on retries.
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///
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/// (*) Forever in this case means a retry count of `usize::MAX`.
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Forever,
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}
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impl RetryBehaviour {
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pub(crate) const fn retry_count(&self) -> usize {
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match self {
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// Try at least once when used in a range like `for _ in 0..<counts>`.
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RetryBehaviour::None => 0,
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RetryBehaviour::Count(n) => *n,
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RetryBehaviour::Forever => usize::MAX,
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}
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}
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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#[test]
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fn retry_count_sanity_check() {
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assert_eq!(RetryBehaviour::None.retry_count(), 0);
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assert_eq!(RetryBehaviour::Count(10).retry_count(), 10);
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assert_eq!(RetryBehaviour::Forever.retry_count(), usize::MAX);
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}
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}
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