darra-ethercat-master 1.99.7

商业 EtherCAT 主站协议栈 · 实时内核驱动 · 抖动 1µs · Windows + Linux · 多编程语言 · 全协议 · 支持复杂拓扑 + 热插拔 · ethercat.darra.xyz · Commercial EtherCAT Master protocol stack · Real-time kernel driver · 1µs jitter · Multi-platform · Multi-language · Complex topology + hot-plug.
Documentation

Darra EtherCAT Master · Rust SDK

商业 EtherCAT 主站协议栈 · 功能齐全 · 易于集成 · 高可靠 Commercial EtherCAT master protocol stack · Feature-complete · Easy to integrate · High reliability

[ Windows · Linux · MCU ] [ 6 语言 SDK / 6 languages ] [ 全协议含 FSoE / Full mailbox + FSoE ] [ 冗余 + 热插拔 + 三级自愈 / Redundancy + hot-plug + 3-level recovery ] [ ethercat.darra.xyz ]

为什么选 Darra

围绕三件事打磨:功能齐全 · 使用方便 · 高可靠.

SOEM 开源 专用主站板卡 Darra EtherCAT
— 功能齐全 —
邮箱协议 CoE / EoE / FoE 视厂商 全 7 协议: CoE · EoE · FoE · SoE · AoE · VoE · FSoE (SIL3)
高级特性 DC, 冗余需自实现 视厂商 DC + Hot-Connect + 邮箱网关 (ETG.8200) + CiA402 状态机
拓扑 线 / 树 视厂商 线 / 树 / 环 / 分支 / 星 + 热插拔
— 使用方便 —
SDK 语言 C 一种 厂商专用 SDK 6 种字节级一致 (C / C++ / C# / Java / Python / Rust)
安装 自行编译集成 配套硬件 + 厂商 IDE 包管理器一行: dotnet add / pip install / cargo add / Maven
配置 手工写代码 厂商配置工具 图形化工具一键导出 ENI / DENI + 多语言示例自动生成
文档 社区 / 源码 厂商手册 6 语言一致 SDK 在线文档 + 示例
— 高可靠 —
实时抖动 视用户 RT 系统 硬件保障 配 DarraRT ≤ 1 µs (Windows / Linux PREEMPT_RT)
冗余 用户自实现 视厂商 零丢帧切换 + 三级故障自愈 (L1 冗余 / L2 降级 / L3 热插拔)
功能安全 — 视厂商 FSoE (SIL3) 协议栈
诊断 基础 视厂商 ETG.1510 在线诊断 + EMCY 历史 + 实时抖动统计

Why Darra

Built around three goals: feature-complete · easy to use · highly reliable.

SOEM (Open-source) Dedicated master card Darra EtherCAT
— Feature-complete —
Mailbox CoE / EoE / FoE Vendor-dependent All 7: CoE · EoE · FoE · SoE · AoE · VoE · FSoE (SIL3)
Advanced DC, redundancy DIY Vendor-dependent DC + Hot-Connect + Mailbox Gateway (ETG.8200) + CiA402 FSM
Topology Line / tree Vendor-dependent Line / tree / ring / branch / star + hot-plug
— Easy to use —
Languages C only Vendor-specific SDK 6 byte-consistent (C / C++ / C# / Java / Python / Rust)
Install Build & integrate yourself Hardware + vendor IDE One-line via package manager: dotnet add / pip install / cargo add / Maven
Config Hand-coded Vendor config tool GUI tool exports ENI / DENI + multi-language example auto-generation
Docs Community / source Vendor manual Unified online SDK docs + examples for 6 languages
— High reliability —
RT jitter Depends on user RT stack Hardware-guaranteed ≤ 1 µs with DarraRT (Windows / Linux PREEMPT_RT)
Redundancy User-implemented Vendor-dependent Zero frame loss + 3-level recovery (L1 redundancy / L2 degrade / L3 hot-plug)
Safety — Vendor-dependent FSoE (SIL3) protocol stack
Diagnostics Basic Vendor-dependent ETG.1510 live diagnostics + EMCY history + jitter stats

核心能力 · Key capabilities

初始化 · Initialization

三种方式按场景选用. Three init paths to fit common scenarios.

  • 🟢 DENI 文件 / DENI file (★ 生产推荐 / Recommended) — Darra 配置工具一键导出 ESI/PDO/DC/启动参数, 1 行加载. Exported by the Darra GUI tool with all ESI / PDO / DC / startup preset; load in one line.
  • 🟡 ESI 目录 + 自动配 / ESI dir + auto-config — 给 ESI 库, SDK 按从站身份自动套默认参数. Pass an ESI library; the SDK auto-applies defaults per slave identity.
  • 🟠 纯自动配 / Pure auto-config — 无 ESI 也可, 用从站 CoE 对象字典自动配 (调试 / 演示场景). Works without ESI by reading the slave's own CoE object dictionary (debug / demo).

协议与可靠性 · Protocols & reliability

  • 全 7 邮箱协议 / All 7 mailbox protocols — CoE · EoE · FoE · SoE · AoE · VoE · FSoE (SIL3).
  • DC 分布式时钟 / Distributed Clocks — ≤ 1 µs 同步, 静态 + 动态偏移补偿 (配 DarraRT). Sub-µs sync with static + dynamic offset compensation (with DarraRT).
  • 冗余 + Hot-Connect / Redundancy + Hot-Connect — 双链路单周期切换, 环 / 分支拓扑, 零丢帧. Single-cycle dual-link failover, ring / branch topology, zero frame loss.
  • 三级故障自愈 / 3-level recovery — L1 冗余切换 · L2 通信降级 · L3 热插拔身份验证 + CoE 重入 PreOP. L1 redundancy / L2 degrade / L3 hot-plug identity verification + CoE re-enter PreOP.
  • 诊断 / Diagnostics (ETG.1510) — 32-bit CRC + 断线定位 + AL Status 解析 + 紧急消息历史 + 实时抖动统计. 32-bit CRC + link-loss locating + AL Status parsing + EMCY history + live jitter stats.

高级 API · High-level APIs

  • 一步初始化 / One-step init EcInit — 把 Initialize + SetNetwork + LoadConfig + SetStateSequence + Start 五步一行解决. Collapses 5 steps into a single call.
  • 状态链 / State chain SetState(OP) — 自动 INIT → PreOp → SafeOp → OP, 失败回退诊断. Auto INIT → PreOp → SafeOp → OP with failure diagnostics.
  • 启动参数管线 / Startup parameter pipeline — 批量添加 SDO 启动参数, 状态切换时一次写入. Batch SDO startup parameters, applied on state transition.
  • CiA402 驱动状态机 / CiA402 drive FSM — 一行使能 / 故障复位, 自动解析驱动状态字. One-line enable / fault-reset; auto-parses the drive statusword (Switch on / Operation enabled / Fault).
  • PDO 类型化读写 / Typed PDO I/O — 按 U16 / I32 / F32 / 结构体直接读写, 自动字节序处理. Read / write by U16 / I32 / F32 / structs with automatic endianness.
  • 邮箱网关 / Mailbox Gateway — ETG.8200 透传, 兼容 TwinCAT / 第三方工具远程访问 SDO. ETG.8200 pass-through compatible with TwinCAT and 3rd-party SDO tools.
  • 拓扑查询 / Topology query — 实时构建从站网络拓扑树, 含分支 / 环识别. Real-time slave network tree with branch / ring detection.

Install

[dependencies]
darra-ethercat-master = "*"

cargo add darra-ethercat-master

可选 features: async-tokio / redundancy / udp / wdk

要求: Rust 1.70+ · Windows 10/11 x64 · 首次运行需以管理员安装 DarraRT 实时内核驱动.

快捷使用 · Quick start

最简流程: DENI 一行加载 → 进 OP → 邮箱基本读写.

use darra_ethercat::{EtherCATMaster, EcState};

fn main() -> darra_ethercat::Result<()> {
    let master = EtherCATMaster::builder()
        .set_eni(r"C:\EtherCAT\MyProject.deni")     // DENI 一行加载
        .build()?;

    master.set_state_sequence(EcState::Operational, 10_000)?;  // 自动 INIT → PreOp → SafeOp → OP

    let slave = master.slave(1);

    // 邮箱读 — 两种风格任选:

    //  ① 基本: Vec<u8> + 手动解析
    let data = slave.coe().sdo_read(0x6041, 0x00, false)?;
    let statusword = u16::from_le_bytes([data[0], data[1]]);

    //  ② 高级: 标准库零拷贝类型化 (一行)
    let sw = u16::from_le_bytes(
        slave.coe().sdo_read(0x6041, 0x00, false)?[..2].try_into().unwrap()
    );

    // 邮箱基本写: 字节版
    slave.coe().sdo_write(0x607A, 0x00, false, &100_000i32.to_le_bytes())?;

    Ok(())
}

高级使用 · Advanced

自动搜网卡 + ESI 自动配 · CiA402 / 邮箱网关 / 诊断.

use darra_ethercat::{EtherCATMaster, EcState};
use darra_ethercat::statics::network::enumerate_network_info;

fn main() -> darra_ethercat::Result<()> {
    // ① 自动搜网卡 (取有从站的那张 NIC)
    let nets = enumerate_network_info(false, true);
    let ec = nets.iter().find(|n| n.slave_num > 0)
        .expect("未发现 EtherCAT 网络");

    // ② ESI 目录 + 自动配 (无 DENI 场景)
    let master = EtherCATMaster::builder()
        .set_esi_files(r"C:\Esi")
        .set_network(&ec.name, "")
        .enable_auto_startup()
        .build()?;

    master.set_state_sequence(EcState::Operational, 10_000)?;

    // ③ 异步 SDO 写 (启用 async-tokio feature 时)
    #[cfg(feature = "async-tokio")]
    master.slave(1).coe()
        .sdo_write_async(0x607A, 0x00, false, &100_000i32.to_le_bytes())
        .await?;

    Ok(())
}

更多 API · More APIs — 完整参考: https://ethercat.darra.xyz/docs/sdk/rust

6 语言 SDK 家族 · 6-language SDK family

字节级一致的 CRC / 枚举 / 错误码,业务代码可平滑跨语言。

Language Package Registry
Rust darra-ethercat-master crates.io
C# Darra.EtherCAT.Master NuGet
Python darra-ethercat-master PyPI
Java xyz.darra:darra-ethercat-master Maven Central
C / C++ darra-ethercat-c / darra-ethercat-cpp Releases

文档 · Documentation

⚠️ 关于"微秒级"实时性能 · About microsecond real-time 本 SDK 强制配合 DarraRT 实时内核驱动 + 兼容硬件 使用. 微秒级实时由 SDK + DarraRT 共同提供. DarraRT 通过 CPU 核心隔离 + I/O APIC 中断重定向 + LVT 屏蔽 + 干净抖动统计 显著降低 SMI 干扰 (但不能完全抑制, SMM 属硬件层中断, 完全抑制需 BIOS/UEFI 配合). DarraRT 需另行安装 (非自动安装); SDK 启动时若未检测到, 会提示获取下载链接. 我们另提供 硬实时隔离部署方案, 满足更严苛的实时与功能安全需求. 详见 DarraRT 驱动说明.

This SDK requires the DarraRT real-time kernel driver and supported hardware as runtime companions. Microsecond-level performance is delivered by SDK + DarraRT together. DarraRT mitigates SMI via CPU core isolation, I/O APIC redirect, LVT masking, and clean jitter accounting, though it cannot fully suppress SMI (SMM is a hardware-level interrupt; full suppression requires BIOS/UEFI tuning). DarraRT must be installed separately (not auto-installed); the SDK prompts a download link on startup if not detected. A hard real-time isolated deployment is also available for stricter real-time and functional-safety requirements.