default compilation target -> xdp

Cargo.lock

@@ -367,6 +367,26 @@ version = "0.22.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
+[[package]]
+name = "bindgen"
+version = "0.72.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "993776b509cfb49c750f11b8f07a46fa23e0a1386ffc01fb1e7d343efc387895"
+dependencies = [
+ "bitflags 2.9.0",
+ "cexpr",
+ "clang-sys",
+ "itertools",
+ "log",
+ "prettyplease",
+ "proc-macro2",
+ "quote",
+ "regex",
+ "rustc-hash 2.1.1",
+ "shlex",
+ "syn 2.0.105",
+]
+
 [[package]]
 name = "bitflags"
 version = "1.3.2"
@@ -455,6 +475,15 @@ dependencies = [
  "shlex",
 ]
 
+[[package]]
+name = "cexpr"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6fac387a98bb7c37292057cffc56d62ecb629900026402633ae9160df93a8766"
+dependencies = [
+ "nom",
+]
+
 [[package]]
 name = "cfg-if"
 version = "1.0.0"
@@ -506,6 +535,17 @@ dependencies = [
  "half",
 ]
 
+[[package]]
+name = "clang-sys"
+version = "1.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b023947811758c97c59bf9d1c188fd619ad4718dcaa767947df1cadb14f39f4"
+dependencies = [
+ "glob",
+ "libc",
+ "libloading",
+]
+
 [[package]]
 name = "clap"
 version = "4.5.40"
@@ -789,7 +829,7 @@ dependencies = [
  "lazy_static",
  "mintex",
  "parking_lot",
- "rustc-hash",
+ "rustc-hash 1.1.0",
  "serde",
  "serde_json",
  "thousands",
@@ -1036,8 +1076,7 @@ dependencies = [
 [[package]]
 name = "ethercrab"
 version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbb13becfa15713adb09b27fdb74468b827cdc78aa99aea638a89c1b0db3ce94"
+source = "git+https://github.com/ethercrab-rs/ethercrab?branch=main#5bd732c491172835b8d122545bee0c4f4dd79eb8"
 dependencies = [
  "async-io",
  "atomic-waker",
@@ -1061,13 +1100,13 @@ dependencies = [
  "smlang",
  "spin",
  "timerfd",
+ "xsk-rs",
 ]
 
 [[package]]
 name = "ethercrab-wire"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d15828cb020fb44c92ca67e1ee3c122c9621c2e00d383d066e488f0619023ba2"
+source = "git+https://github.com/ethercrab-rs/ethercrab?branch=main#5bd732c491172835b8d122545bee0c4f4dd79eb8"
 dependencies = [
  "ethercrab-wire-derive",
  "heapless",
@@ -1076,8 +1115,7 @@ dependencies = [
 [[package]]
 name = "ethercrab-wire-derive"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e790b8011211ed70babfcacbd4277b91ee21402ad5ba6a2c293db02e2f12919"
+source = "git+https://github.com/ethercrab-rs/ethercrab?branch=main#5bd732c491172835b8d122545bee0c4f4dd79eb8"
 dependencies = [
  "criterion",
  "proc-macro2",
@@ -1272,6 +1310,12 @@ version = "0.31.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "07e28edb80900c19c28f1072f2e8aeca7fa06b23cd4169cefe1af5aa3260783f"
 
+[[package]]
+name = "glob"
+version = "0.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0cc23270f6e1808e30a928bdc84dea0b9b4136a8bc82338574f23baf47bbd280"
+
 [[package]]
 name = "h2"
 version = "0.4.10"
@@ -1762,6 +1806,15 @@ dependencies = [
  "pkg-config",
 ]
 
+[[package]]
+name = "libxdp-sys"
+version = "0.2.2+1.5.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e07efa8681fd85d4a284b5c62025ea4c34d19ae8299e5c39bf9e8e0b72d9c8e3"
+dependencies = [
+ "bindgen",
+]
+
 [[package]]
 name = "linux-raw-sys"
 version = "0.4.15"
@@ -1860,6 +1913,12 @@ dependencies = [
  "unicase",
 ]
 
+[[package]]
+name = "minimal-lexical"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
+
 [[package]]
 name = "miniz_oxide"
 version = "0.8.8"
@@ -1933,6 +1992,16 @@ version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "43794a0ace135be66a25d3ae77d41b91615fb68ae937f904090203e81f755b65"
 
+[[package]]
+name = "nom"
+version = "7.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d273983c5a657a70a3e8f2a01329822f3b8c8172b73826411a55751e404a0a4a"
+dependencies = [
+ "memchr",
+ "minimal-lexical",
+]
+
 [[package]]
 name = "nu-ansi-term"
 version = "0.50.1"
@@ -2271,6 +2340,16 @@ dependencies = [
  "zerocopy",
 ]
 
+[[package]]
+name = "prettyplease"
+version = "0.2.37"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "479ca8adacdd7ce8f1fb39ce9ecccbfe93a3f1344b3d0d97f20bc0196208f62b"
+dependencies = [
+ "proc-macro2",
+ "syn 2.0.105",
+]
+
 [[package]]
 name = "proc-macro-crate"
 version = "1.3.1"
@@ -2487,6 +2566,12 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
 
+[[package]]
+name = "rustc-hash"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d"
+
 [[package]]
 name = "rustix"
 version = "0.38.44"
@@ -3884,6 +3969,19 @@ dependencies = [
  "tap",
 ]
 
+[[package]]
+name = "xsk-rs"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "964acfdda803c92ec548602e3e7e8e946d59513abf920e12a820f6a621193c06"
+dependencies = [
+ "bitflags 2.9.0",
+ "cfg-if",
+ "libc",
+ "libxdp-sys",
+ "log",
+]
+
 [[package]]
 name = "yoke"
 version = "0.8.0"

control-core/Cargo.toml

@@ -12,7 +12,7 @@ anyhow = "1.0.100"
 axum = "0.8.6"
 
 ethercat_hal = { path = "../ethercat-hal" }
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/ethercrab-rs/ethercrab", branch = "main", features = ["xdp"] }
 interfaces = "0.0.9"
 serde = "1.0.219"
 serde_json = "1.0.143"

ethercat-eeprom-dump/Cargo.toml

@@ -8,7 +8,7 @@ workspace = true
 
 [dependencies]
 clap = { version = "4.5.40", features = ["derive"] }
-ethercrab = "0.6.0"
+ethercrab = { git = "https://github.com/ethercrab-rs/ethercrab", branch = "main", features = ["xdp"] }
 interfaces = "0.0.9"
 tokio = { version = "1.45.1", features = ["macros", "rt-multi-thread"] }
 ethercat_hal = { path = "../ethercat-hal" }

ethercat-hal/Cargo.toml

@@ -8,7 +8,7 @@ workspace = true
 
 [dependencies]
 anyhow = "1.0.100"
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/ethercrab-rs/ethercrab", branch = "main", features = ["xdp"] }
 ethercat_hal_derive = { version = "0.1.0", path = "../ethercat-hal-derive" }
 bitvec = { version = "1.0.1", features = ["alloc"] }
 smol = "2.0.2"

nixos/packages/server.nix

@@ -34,5 +34,5 @@ craneLib.buildPackage {
     inherit src strictDeps nativeBuildInputs buildInputs pname version;
   };
 
-  cargoExtraArgs = "-p server --features tracing-journald,io-uring --no-default-features";
+  cargoExtraArgs = "-p server --features tracing-journald,xdp --no-default-features";
 }

server/Cargo.toml

@@ -9,7 +9,7 @@ workspace = true
 
 
 [dependencies]
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/ethercrab-rs/ethercrab", branch = "main", features = ["xdp"] }
 ethercat_hal = { path = "../ethercat-hal" }
 control_core = { path = "../control-core" }
 control_core_derive = { path = "../control-core-derive" }
@@ -79,6 +79,7 @@ tracing-otel = [
 mock-machine = []
 memory-locking = []
 io-uring = []
+xdp = []
 development-build = []
 
 [profile.release]

server/src/ethercat/setup.rs

@@ -54,7 +54,10 @@ pub async fn setup_loop(interface: &str, app_state: Arc<AppState>) -> Result<(),
             // Set the thread to real-time priority
             let _ = set_realtime_priority();
 
-            #[cfg(not(all(target_os = "linux", feature = "io-uring")))]
+            #[cfg(not(any(
+                all(target_os = "linux", feature = "io-uring"),
+                all(target_os = "linux", feature = "xdp")
+            )))]
             {
                 use ethercrab::std::tx_rx_task;
                 use futures::executor::block_on;
@@ -73,6 +76,14 @@ pub async fn setup_loop(interface: &str, app_state: Arc<AppState>) -> Result<(),
                 let _ = tx_rx_task_io_uring(&interface, tx, rx)
                     .expect("Failed to spawn TX/RX task (io_uring)");
             }
+
+            #[cfg(all(target_os = "linux", feature = "xdp"))]
+            {
+                use ethercrab::std::tx_rx_task_xdp;
+
+                let _ = tx_rx_task_xdp(&interface, tx, rx)
+                    .expect("Failed to spawn TX/RX task (io_uring)");
+            }
         })
         .expect("Building thread");