<p align="center"><img src="https://download.darra.xyz/ethercat/static/icon.png" alt="Darra EtherCAT Master" width="96" height="96"></p>

# 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

|  | SOEM 开源 | 专用主站板卡 | **Darra EtherCAT** |
|---|---|---|---|
| 协议覆盖 | 部分 | 视厂商 | **全协议 + 功能安全** |
| 拓扑 | 简单 | 视厂商 | **复杂拓扑 + 热插拔** |
| SDK 语言 | C 一种 | 厂商专用 | **6 语言一致** |
| 安装 | 自行集成 | 硬件 + IDE | **包管理器一行** |
| 配置 | 手工写代码 | 厂商工具 | **图形化一键导出** |
| 实时抖动 | 视 RT 系统 | 硬件保障 | **配 DarraRT ≤ 1 µs** |
| 可靠性 | 用户自实现 | 视厂商 | **冗余 + 故障自愈** |
| 诊断 | 基础 | 视厂商 | **完整在线诊断** |

## Why Darra

|  | SOEM (Open-source) | Dedicated master card | **Darra EtherCAT** |
|---|---|---|---|
| Protocols | Partial | Vendor-dependent | **Full + functional safety** |
| Topology | Simple | Vendor-dependent | **Complex + hot-plug** |
| Languages | C only | Vendor-specific | **6 byte-consistent languages** |
| Install | Build yourself | Hardware + IDE | **One line via package manager** |
| Config | Hand-coded | Vendor tool | **GUI one-click export** |
| RT jitter | Depends on RT stack | Hardware-guaranteed | **≤ 1 µs with DarraRT** |
| Reliability | DIY | Vendor-dependent | **Redundancy + auto-recovery** |
| Diagnostics | Basic | Vendor-dependent | **Full live diagnostics** |

---
## 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

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

```bash
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**.

```rust
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**.

```rust
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](https://crates.io/crates/darra-ethercat-master) |
| **C#** | `Darra.EtherCAT.Master` | [NuGet](https://www.nuget.org/packages/Darra.EtherCAT.Master/) |
| **Python** | `darra-ethercat-master` | [PyPI](https://pypi.org/project/darra-ethercat-master/) |
| **Java** | `xyz.darra:darra-ethercat-master` | [Maven Central](https://central.sonatype.com/artifact/xyz.darra/darra-ethercat-master) |
| **C / C++** | `darra-ethercat-c` / `darra-ethercat-cpp` | [Releases](https://ethercat.darra.xyz/release/) |

---

## 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](https://ethercat.darra.xyz/docs/driver).
>
> *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.*

---
