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 · Feature-complete · Easy to integrate · High reliability

[ Windows · Linux · MCU ] [ 6 语言 SDK / 6 languages ] [ 全协议 / Full protocols ] [ 高可靠 / Highly reliable ] [ ethercat.darra.xyz ]

为什么选 Darra

Why Darra

版本兼容 · Version compatibility

• 同 MAJOR.MINOR 内 PATCH 任意升级互相兼容 (例 X.Y.1 ↔ X.Y.2 ↔ X.Y.3) — SDK 包管理器一行升级即可, 不需重装驱动
• MAJOR 或 MINOR 变化 → 必须重装驱动 — 驱动 .sys 内嵌了 Core.dll SHA256 白名单, 主/次版本变 → hash 变 → MS 必须重签 → 客户必须升级驱动
• master.Build() 自动比对 Core.dll ↔ 驱动版本, 不匹配 → 日志 Warning

PATCH within same MAJOR.MINOR is mutually compatible (e.g. X.Y.1 ↔ X.Y.2) — package manager upgrade only, no driver reinstall. MINOR or MAJOR change requires driver reinstall (Core.dll hash baked into kernel sys whitelist).

启动性能 · Startup performance

• DENI 加载比从零扫描快 50% (实测 7.4s vs 15.2s)
• 推荐生产环境用 DENI 文件 (Darra 配置工具一键导出, 预存 ESI/PDO/DC/启动参数)
• 调试 / 演示场景用自动配 (无 DENI 也能跑, SDK 实时扫从站身份)

DENI loading is 50% faster than full scan (7.4s vs 15.2s). Use DENI for production, auto-config for debugging.

自动健康检查 · Auto health checks

master.Build() 时自动跑 (无需客户调用):

• 驱动版本比对 / Driver version match — Core.dll 直读 \\.\DarraRT 拿内核驱动版本, 与 SDK 自身版本比 MAJOR.MINOR. 不匹配 → SDK 日志 Warning, 客户立刻看到 "需要升级驱动" 提示.
• RT 核隔离配置 / RT core isolation — 后台异步读 HKLM\SOFTWARE\Darra\EtherCAT marker. 缺失 (MSI 安装时未跑 CoreOptimize) → SDK 日志 Warning, 提示用户调 EnsureRtIsolation(elevated:true) 自动修复 (仅 C#, 跨语言 SDK 提示重装).

Auto-runs on master.Build(): driver version match (Core.dll vs kernel) and RT core isolation registry check. Mismatches log warnings, no manual API call needed.

错误码本地化 · Error code localization

AL Status Code 描述支持双语, 全部下沉到 Core.dll (VMP 保护):

AL Status descriptions are bilingual: English by default for SDKs, dedicated Chinese API for UI applications. All translations are baked into Core.dll with VMP protection.

核心能力 · Key capabilities

初始化 · Init

• 🟢 DENI 文件 / DENI file (★ 推荐 / Recommended) — 配置工具一键导出, 1 行加载. One-click export, single-line load.
• 🟡 ESI 自动配 / Auto-config — SDK 按从站身份自动套参数. Auto-applies defaults per slave identity.
• 🟠 零配置 / Zero-config — 无 ESI 用从站 CoE 字典自动配. Reads slave's own object dictionary.

协议与可靠性 · Protocols & reliability

• 全协议 / Full mailbox protocols (含功能安全 SIL3 / incl. FSoE SIL3)
• DC 同步 / Distributed Clocks ≤ 1 µs (配 DarraRT)
• 冗余 + 故障自愈 / Redundancy + auto-recovery — 零丢帧切换 / zero-loss failover
• 完整在线诊断 / Full live diagnostics

高级 API · High-level APIs

• 一行初始化 / One-line init — 5 步合 1. 5 steps in a single call.
• 状态链 / State chain — 自动 INIT → OP. Auto walk to OP with diagnostics.
• CiA402 一行使能 / One-line drive enable.
• PDO 类型化读写 / Typed PDO I/O — 自动字节序. Automatic endianness.
• 邮箱网关 / Mailbox gateway — 兼容 TwinCAT 等第三方工具. Compatible with TwinCAT and 3rd-party tools.

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(EcState::Operational)?;  // 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(EcState::Operational)?;

    // 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。

文档 · Documentation

• 官网 · Homepage: https://ethercat.darra.xyz
• Rust SDK 文档: https://ethercat.darra.xyz/docs/sdk/rust
• 快速开始: https://ethercat.darra.xyz/docs/quick-start
• 协议详解: https://ethercat.darra.xyz/docs/ethercat
• 应用案例: https://ethercat.darra.xyz/docs/examples

⚠️ 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.