Add 1.75 MSRV, optimise and unit test EEPROM reader (#134)

* Allow interchangeable EEPROM data provider backends

* Disable nearly all replay tests

They're flaky but kinda useful as sanity checks without having to plug
in loads of different hardware :(

* Rename `bench-hacks` feature to `__internals`

* Add `internals` module

* Add `dump-eeprom` "example" to write EEPROM to stdout

* Upgrade heapless, add defmt-03 feature for it

* Upgrade `smoltcp` and `embassy-time`

* Bump MSRV to 1.75.0

* Add rust-version 1.75 to Cargo.toml

Author: jamwaffles

.circleci/config.yml

@@ -50,11 +50,11 @@ miri_steps: &miri_steps
         key: v5-ethercrab-{{ .Environment.CIRCLE_JOB }}-{{ checksum "Cargo.toml" }}
 
     # Arbitrary nightly version - just the latest at time of writing. This can be changed freely.
-    - run: rustup toolchain add nightly-2023-11-02 --target $TARGET --component miri
+    - run: rustup toolchain add nightly-2023-12-25 --target $TARGET --component miri
     - run: |
         export MIRIFLAGS="-Zmiri-symbolic-alignment-check -Zmiri-disable-isolation"
 
-        cargo +nightly-2023-11-02 miri test --target $TARGET
+        cargo +nightly-2023-12-25 miri test --target $TARGET
 
     - save_cache:
         key: v5-ethercrab-{{ .Environment.CIRCLE_JOB }}-{{ checksum "Cargo.toml" }}

CHANGELOG.md

@@ -6,6 +6,12 @@ An EtherCAT master written in Rust.
 
 ## [Unreleased] - ReleaseDate
 
+### Changed
+
+- **(breaking)** [#134](https://github.com/ethercrab-rs/ethercrab/pull/134) Bump MSRV to 1.75.0
+- [#134](https://github.com/ethercrab-rs/ethercrab/pull/134) Refactor sub device EEPROM reader to be
+  more efficient when skipping sections of the device EEPROM map.
+
 ## [0.3.5] - 2023-12-22
 
 ### Changed
@@ -244,8 +250,8 @@ An EtherCAT master written in Rust.
 - Initial release
 
 <!-- next-url -->
-[unreleased]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.5...HEAD
 
+[unreleased]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.5...HEAD
 [0.3.5]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.4...v0.3.5
 [0.3.4]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.3...v0.3.4
 [0.3.3]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.2...v0.3.3

Cargo.toml

@@ -11,6 +11,7 @@ description = "An EtherCAT master in pure Rust that is no_std compatible"
 keywords = ["no-std", "ethercat", "beckhoff", "igh", "soem"]
 exclude = ["dumps", "doc", "NOTES.md", "SPECNOTES.md"]
 resolver = "2"
+rust-version = "1.75"
 
 [package.metadata.docs.rs]
 default-target = "x86_64-unknown-linux-gnu"
@@ -24,17 +25,18 @@ atomic_refcell = "0.1.13"
 bitflags = "2.4.1"
 defmt = { version = "0.3.5", optional = true }
 embassy-futures = "0.1.0"
-embassy-time = "0.1.5"
+embassy-time = "0.2.0"
+embedded-io-async = { version = "0.6.0", default-features = false }
 futures-lite = { version = "2.0.0", default-features = false }
-heapless = "0.7.16"
+heapless = "0.8.0"
 log = { version = "0.4.20", optional = true, default-features = false }
 nom = { version = "7.1.3", default-features = false }
 num_enum = { version = "0.7.0", default-features = false }
 packed_struct = { version = "0.10.1", default-features = false }
 sealed = "0.5.0"
 serde = { version = "1.0.190", features = ["derive"], optional = true }
 smlang = "0.6.0"
-smoltcp = { version = "0.10.0", default-features = false, features = [
+smoltcp = { version = "0.11.0", default-features = false, features = [
     "proto-ipv4",
     "socket-raw",
     "medium-ethernet",
@@ -74,22 +76,28 @@ tokio = { version = "1.33.0", features = [
 rustix = { version = "0.38.21", default-features = false, features = [
     "process",
 ] }
-thread-priority = "0.13.1"
+thread-priority = "0.15.1"
 
 [features]
 default = ["std"]
-defmt = ["dep:defmt", "smoltcp/defmt"]
+defmt = [
+    "dep:defmt",
+    "smoltcp/defmt",
+    "embedded-io-async/defmt-03",
+    "heapless/defmt-03",
+]
 log = ["dep:log"]
 std = [
     "pnet_datalink",
     "async-io",
     "smoltcp/phy-raw_socket",
     "log",
     "futures-lite/std",
+    "embedded-io-async/std",
 ]
 serde = ["dep:serde", "bitflags/serde"]
 # Development only - DO NOT USE
-bench-hacks = []
+__internals = []
 
 [[example]]
 name = "akd"
@@ -111,6 +119,10 @@ required-features = ["std"]
 name = "multiple-groups"
 required-features = ["std"]
 
+[[example]]
+name = "dump-eeprom"
+required-features = ["std", "__internals"]
+
 [[bench]]
 name = "pdu_loop"
 harness = false

Justfile

@@ -28,10 +28,10 @@ linux-test *args:
      cargo test {{args}}
 
 linux-bench *args:
-     cargo bench --features bench-hacks --no-run {{args}}
+     cargo bench --features __internals --no-run {{args}}
      sudo echo
      fd . --type executable ./target/release/deps -x sudo setcap cap_net_raw=pe
-     cargo bench --features bench-hacks {{args}}
+     cargo bench --features __internals {{args}}
 
 generate-readme:
      cargo readme > README.md
@@ -40,3 +40,8 @@ generate-readme:
 
 check-readme: (generate-readme)
      git diff --quiet --exit-code README.md
+
+dump-eeprom *args:
+     cargo build --example dump-eeprom --features "std __internals" --release && \
+     sudo setcap cap_net_raw=pe ./target/release/examples/dump-eeprom && \
+     ./target/release/examples/dump-eeprom {{args}}

dumps/eeprom/akd.hex

@@ -0,0 +1,102 @@
+//! Dump the EEPROM of a given sub device to stdout.
+//!
+//! Requires the unstable `__internals` feature to be enabled.
+
+use std::io::Write;
+
+use embedded_io_async::Read;
+use env_logger::Env;
+use ethercrab::{
+    error::Error,
+    internals::{DeviceEeprom, EepromDataProvider, SlaveClient},
+    std::tx_rx_task,
+    Client, ClientConfig, PduStorage, SlaveGroupState, Timeouts,
+};
+
+/// Maximum number of slaves that can be stored. This must be a power of 2 greater than 1.
+const MAX_SLAVES: usize = 16;
+/// Maximum PDU data payload size - set this to the max PDI size or higher.
+const MAX_PDU_DATA: usize = 1100;
+/// Maximum number of EtherCAT frames that can be in flight at any one time.
+const MAX_FRAMES: usize = 16;
+/// Maximum total PDI length.
+const PDI_LEN: usize = 64;
+
+static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
+
+#[tokio::main]
+async fn main() -> Result<(), Error> {
+    env_logger::Builder::from_env(Env::default().default_filter_or("info")).init();
+
+    let interface = std::env::args()
+        .nth(1)
+        .expect("Provide network interface as first argument.");
+
+    let index: u16 = std::env::args()
+        .nth(2)
+        .expect("Provide device index (starting from zero) as second argument.")
+        .parse()
+        .expect("Invalid index: must be a number");
+
+    log::info!(
+        "Starting EEPROM dump tool, interface {}, device index {}",
+        interface,
+        index
+    );
+
+    let (tx, rx, pdu_loop) = PDU_STORAGE.try_split().expect("can only split once");
+
+    let client = Client::new(pdu_loop, Timeouts::default(), ClientConfig::default());
+
+    tokio::spawn(tx_rx_task(&interface, tx, rx).expect("spawn TX/RX task"));
+
+    let mut group = client
+        .init_single_group::<MAX_SLAVES, PDI_LEN>()
+        .await
+        .expect("Init");
+
+    log::info!("Discovered {} slaves", group.len());
+
+    for slave in group.iter(&client) {
+        log::info!(
+            "--> Slave {:#06x} {} {}",
+            slave.configured_address(),
+            slave.name(),
+            slave.identity()
+        );
+    }
+
+    let slave = group
+        .slave(&client, usize::from(index))
+        .expect("Could not find device for given index");
+
+    log::info!(
+        "Dumping EEPROM for device index {}: {:#06x} {} {}...",
+        index,
+        slave.configured_address(),
+        slave.name(),
+        slave.identity()
+    );
+
+    let base_address = 0x1000;
+
+    let slave_client = SlaveClient::new(&client, base_address + index);
+
+    let provider = DeviceEeprom::new(&slave_client);
+
+    let len = provider.len().await.expect("Len");
+
+    log::info!("--> Device EEPROM is {} bytes long", len);
+
+    let mut reader = provider.reader();
+
+    let mut buf = vec![0u8; usize::from(len)];
+
+    reader.read_exact(&mut buf).await.expect("Read exact");
+
+    std::io::stdout().write_all(&buf[..]).expect("Stdout write");
+
+    log::info!("Done, wrote {} bytes", buf.len());
+
+    Ok(())
+}

dumps/eeprom/ek1100.hex

@@ -19,39 +19,35 @@ embedded-hal = "0.2.6"
 embedded-io = "0.6.0"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 static_cell = { version = "1.1", features = ["nightly"] }
-smoltcp = { version = "0.10.0", features = ["defmt"], default-features = false }
+smoltcp = { version = "0.11.0", features = ["defmt"], default-features = false }
 
-embassy-sync = { version = "0.3.0", features = ["defmt"] }
-embassy-executor = { version = "0.3.0", features = [
-    "nightly",
+embassy-sync = { version = "0.5.0", features = ["defmt"] }
+embassy-executor = { version = "0.4.0", features = [
     "arch-cortex-m",
     "executor-thread",
     "executor-interrupt",
     "defmt",
     "integrated-timers",
     "arch-cortex-m",
+    # TODO: Use stable when type_alias_impl_trait is stabilised.
+    "nightly",
 ] }
-embassy-time = { version = "0.1.2", features = [
+embassy-time = { version = "0.2.0", features = [
     "defmt",
     "defmt-timestamp-uptime",
-    "unstable-traits",
     "tick-hz-1_000_000",
 ] }
 embassy-stm32 = { version = "0.1.0", features = [
-    "nightly",
-    "unstable-traits",
     "defmt",
     "stm32f429zi",
-    "unstable-pac",
     "memory-x",
     "time-driver-any",
 ] }
-embassy-net = { version = "0.2.0", features = [
+embassy-net = { version = "0.2.1", features = [
     "defmt",
     "tcp",
     "dhcpv4",
     "medium-ethernet",
-    "nightly",
 ] }
 embassy-net-driver = { version = "0.2.0", features = ["defmt"] }
 
@@ -62,9 +58,9 @@ lto = true
 codegen-units = 1
 
 [patch.crates-io]
-embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", rev = "b6fc682117a41e8e63a9632e06da5a17f46d9ab0" }
-embassy-executor = { git = "https://github.com/embassy-rs/embassy.git", rev = "b6fc682117a41e8e63a9632e06da5a17f46d9ab0" }
-embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "b6fc682117a41e8e63a9632e06da5a17f46d9ab0" }
-embassy-stm32 = { git = "https://github.com/embassy-rs/embassy.git", rev = "b6fc682117a41e8e63a9632e06da5a17f46d9ab0" }
-embassy-net = { git = "https://github.com/embassy-rs/embassy.git", rev = "b6fc682117a41e8e63a9632e06da5a17f46d9ab0" }
-embassy-net-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "b6fc682117a41e8e63a9632e06da5a17f46d9ab0" }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", rev = "eebfee189a592427423d3a3ad22132d59926a0e8" }
+embassy-executor = { git = "https://github.com/embassy-rs/embassy.git", rev = "eebfee189a592427423d3a3ad22132d59926a0e8" }
+embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "eebfee189a592427423d3a3ad22132d59926a0e8" }
+embassy-stm32 = { git = "https://github.com/embassy-rs/embassy.git", rev = "eebfee189a592427423d3a3ad22132d59926a0e8" }
+embassy-net = { git = "https://github.com/embassy-rs/embassy.git", rev = "eebfee189a592427423d3a3ad22132d59926a0e8" }
+embassy-net-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "eebfee189a592427423d3a3ad22132d59926a0e8" }