master/ioctl.h
author Florian Pose <fp@igh-essen.com>
Tue, 05 Jan 2010 13:44:46 +0100
changeset 1592 0f070a230401
parent 1585 1f640e321ee4
child 1600 e36c92cf58a9
permissions -rw-r--r--
Removed 'Preliminary'.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master character device IOCTL commands.
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*/
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/*****************************************************************************/
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#ifndef __EC_IOCTL_H__
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#define __EC_IOCTL_H__
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#include <linux/ioctl.h>
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#include "globals.h"
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/*****************************************************************************/
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/** \cond */
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#define EC_IOCTL_TYPE 0xa4
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#define EC_IO(nr)           _IO(EC_IOCTL_TYPE, nr)
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#define EC_IOR(nr, type)   _IOR(EC_IOCTL_TYPE, nr, type)
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#define EC_IOW(nr, type)   _IOW(EC_IOCTL_TYPE, nr, type)
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#define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type)
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// Command-line tool
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#define EC_IOCTL_MASTER                EC_IOR(0x00, ec_ioctl_master_t)
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#define EC_IOCTL_SLAVE                EC_IOWR(0x01, ec_ioctl_slave_t)
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#define EC_IOCTL_SLAVE_SYNC           EC_IOWR(0x02, ec_ioctl_slave_sync_t)
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#define EC_IOCTL_SLAVE_SYNC_PDO       EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t)
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#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t)
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#define EC_IOCTL_DOMAIN               EC_IOWR(0x05, ec_ioctl_domain_t)
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#define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x06, ec_ioctl_domain_fmmu_t)
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#define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x07, ec_ioctl_domain_data_t)
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#define EC_IOCTL_MASTER_DEBUG           EC_IO(0x08)
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#define EC_IOCTL_SLAVE_STATE           EC_IOW(0x09, ec_ioctl_slave_state_t)
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#define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0a, ec_ioctl_slave_sdo_t)
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#define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t)
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#define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t)
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#define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t)
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#define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x0e, ec_ioctl_slave_sii_t)
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#define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x0f, ec_ioctl_slave_sii_t)
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#define EC_IOCTL_SLAVE_REG_READ       EC_IOWR(0x10, ec_ioctl_slave_reg_t)
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#define EC_IOCTL_SLAVE_REG_WRITE       EC_IOW(0x11, ec_ioctl_slave_reg_t)
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#define EC_IOCTL_SLAVE_FOE_READ       EC_IOWR(0x12, ec_ioctl_slave_foe_t)
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#define EC_IOCTL_SLAVE_FOE_WRITE       EC_IOW(0x13, ec_ioctl_slave_foe_t)
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#define EC_IOCTL_CONFIG               EC_IOWR(0x14, ec_ioctl_config_t)
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#define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x15, ec_ioctl_config_pdo_t)
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#define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x16, ec_ioctl_config_pdo_entry_t)
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#define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x17, ec_ioctl_config_sdo_t)
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#ifdef EC_EOE
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#define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x18, ec_ioctl_eoe_handler_t)
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#endif
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// Application interface
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#define EC_IOCTL_REQUEST                EC_IO(0x19)
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#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x1a)
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#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x1b, ec_ioctl_config_t)
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#define EC_IOCTL_ACTIVATE              EC_IOR(0x1c, size_t)
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#define EC_IOCTL_DEACTIVATE             EC_IO(0x1d)
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#define EC_IOCTL_SEND                   EC_IO(0x1e)
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#define EC_IOCTL_RECEIVE                EC_IO(0x1f)
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#define EC_IOCTL_MASTER_STATE          EC_IOR(0x20, ec_master_state_t)
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#define EC_IOCTL_APP_TIME              EC_IOW(0x21, ec_ioctl_app_time_t)
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#define EC_IOCTL_SYNC_REF               EC_IO(0x22)
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#define EC_IOCTL_SYNC_SLAVES            EC_IO(0x23)
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#define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x24)
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#define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x25, uint32_t)
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#define EC_IOCTL_SC_SYNC               EC_IOW(0x26, ec_ioctl_config_t)
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#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x27, ec_ioctl_config_t)
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#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x28, ec_ioctl_config_pdo_t)
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#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x29, ec_ioctl_config_pdo_t)
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#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x2a, ec_ioctl_add_pdo_entry_t)
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#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x2b, ec_ioctl_config_pdo_t)
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#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x2c, ec_ioctl_reg_pdo_entry_t)
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#define EC_IOCTL_SC_DC                 EC_IOW(0x2d, ec_ioctl_config_t)
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#define EC_IOCTL_SC_SDO                EC_IOW(0x2e, ec_ioctl_sc_sdo_t)
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#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x2f, ec_ioctl_sdo_request_t)
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   108
#define EC_IOCTL_SC_VOE               EC_IOWR(0x20, ec_ioctl_voe_t)
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   109
#define EC_IOCTL_SC_STATE             EC_IOWR(0x31, ec_ioctl_sc_state_t)
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   110
#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x32)
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   111
#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x33)
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   112
#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x34)
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   113
#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x35, ec_ioctl_domain_state_t)
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   114
#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x36, ec_ioctl_sdo_request_t)
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   115
#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x37, ec_ioctl_sdo_request_t)
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   116
#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x38, ec_ioctl_sdo_request_t)
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   117
#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x39, ec_ioctl_sdo_request_t)
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   118
#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
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   119
#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x3b, ec_ioctl_voe_t)
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   120
#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x3c, ec_ioctl_voe_t)
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   121
#define EC_IOCTL_VOE_READ              EC_IOW(0x3d, ec_ioctl_voe_t)
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   122
#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x3e, ec_ioctl_voe_t)
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   123
#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x3f, ec_ioctl_voe_t)
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   124
#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x40, ec_ioctl_voe_t)
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   125
#define EC_IOCTL_VOE_DATA             EC_IOWR(0x41, ec_ioctl_voe_t)
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1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
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   126
#define EC_IOCTL_SET_MAX_CYCLE_SIZE    EC_IOW(0x42, size_t)
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/*****************************************************************************/
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#define EC_IOCTL_STRING_SIZE 64
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/*****************************************************************************/
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   133
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typedef struct {
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   135
    uint32_t slave_count;
990
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   136
    uint32_t config_count;
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a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
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   137
    uint32_t domain_count;
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
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   138
#ifdef EC_EOE
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5ddc3a455059 ethercat eoe command.
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   139
    uint32_t eoe_handler_count;
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e3b09f847512 Fixed compiler error on --disable-eoe.
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   140
#endif
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
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   141
    uint8_t phase;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
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   142
    uint8_t active;
1447
846d75637c43 Added scan_busy flag to ioctl().
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   143
    uint8_t scan_busy;
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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   144
    struct {
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   145
        uint8_t address[6];
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   146
        uint8_t attached;
1401
96baef8a3162 Output link state in 'ethercat master'.
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   147
        uint8_t link_state;
978
2962baf7e6d1 Implemented SII read.
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   148
        uint32_t tx_count;
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   149
        uint32_t rx_count;
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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   150
    } devices[2];
1415
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'.
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   151
    uint64_t app_time;
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   152
    uint16_t ref_clock;
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ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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   153
} ec_ioctl_master_t;
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ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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   155
/*****************************************************************************/
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   156
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typedef struct {
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    // input
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   159
    uint16_t position;
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   160
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   161
    // outputs
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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   162
    uint32_t vendor_id;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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diff changeset
   163
    uint32_t product_code;
938
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
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   164
    uint32_t revision_number;
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   165
    uint32_t serial_number;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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diff changeset
   166
    uint16_t alias;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
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   167
    uint16_t boot_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   168
    uint16_t boot_rx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   169
    uint16_t boot_tx_mailbox_offset;
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   170
    uint16_t boot_tx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   171
    uint16_t std_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   172
    uint16_t std_rx_mailbox_size;
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   173
    uint16_t std_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   174
    uint16_t std_tx_mailbox_size;
989
816663ca9370 Slave information via 'ethercat slave'.
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   175
    uint16_t mailbox_protocols;
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   176
    uint8_t has_general_category;
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   177
    ec_sii_coe_details_t coe_details;
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   178
    ec_sii_general_flags_t general_flags;
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   179
    int16_t current_on_ebus;
1425
c1322a8793c0 Transition delay calculation. TBC...
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   180
    struct {
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   181
        ec_slave_port_desc_t desc;
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   182
        ec_slave_port_link_t link;
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   183
        uint32_t receive_time;
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   184
        uint16_t next_slave;
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   185
        uint32_t delay_to_next_dc;
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   186
    } ports[EC_MAX_PORTS];
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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   187
    uint8_t fmmu_bit;
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   188
    uint8_t dc_supported;
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   189
    ec_slave_dc_range_t dc_range;
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
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diff changeset
   190
    uint8_t has_dc_system_time;
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
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diff changeset
   191
    uint32_t transmission_delay;
1148
1762296870bd Renamed state field to al_state.
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diff changeset
   192
    uint8_t al_state;
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
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parents: 980
diff changeset
   193
    uint8_t error_flag;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   194
    uint8_t sync_count;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   195
    uint16_t sdo_count;
978
2962baf7e6d1 Implemented SII read.
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diff changeset
   196
    uint32_t sii_nwords;
1109
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
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diff changeset
   197
    char group[EC_IOCTL_STRING_SIZE];
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
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diff changeset
   198
    char image[EC_IOCTL_STRING_SIZE];
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   199
    char order[EC_IOCTL_STRING_SIZE];
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   200
    char name[EC_IOCTL_STRING_SIZE];
935
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   201
} ec_ioctl_slave_t;
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   202
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   203
/*****************************************************************************/
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   204
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   205
typedef struct {
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   206
    // inputs
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   207
    uint16_t slave_position;
978
2962baf7e6d1 Implemented SII read.
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   208
    uint32_t sync_index;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   209
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   210
    // outputs
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   211
    uint16_t physical_start_address;
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   212
    uint16_t default_size;
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diff changeset
   213
    uint8_t control_register;
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   214
    uint8_t enable;
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diff changeset
   215
    uint8_t pdo_count;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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parents: 1057
diff changeset
   216
} ec_ioctl_slave_sync_t;
935
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diff changeset
   217
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   218
/*****************************************************************************/
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   219
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   220
typedef struct {
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   221
    // inputs
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diff changeset
   222
    uint16_t slave_position;
978
2962baf7e6d1 Implemented SII read.
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diff changeset
   223
    uint32_t sync_index;
2962baf7e6d1 Implemented SII read.
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   224
    uint32_t pdo_pos;
935
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diff changeset
   225
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   226
    // outputs
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   227
    uint16_t index;
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   228
    uint8_t entry_count;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   229
    int8_t name[EC_IOCTL_STRING_SIZE];
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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   230
} ec_ioctl_slave_sync_pdo_t;
935
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   231
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   232
/*****************************************************************************/
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   233
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   234
typedef struct {
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   235
    // inputs
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   236
    uint16_t slave_position;
978
2962baf7e6d1 Implemented SII read.
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   237
    uint32_t sync_index;
2962baf7e6d1 Implemented SII read.
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   238
    uint32_t pdo_pos;
2962baf7e6d1 Implemented SII read.
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diff changeset
   239
    uint32_t entry_pos;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   240
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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diff changeset
   241
    // outputs
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diff changeset
   242
    uint16_t index;
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diff changeset
   243
    uint8_t subindex;
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diff changeset
   244
    uint8_t bit_length;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   245
    int8_t name[EC_IOCTL_STRING_SIZE];
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   246
} ec_ioctl_slave_sync_pdo_entry_t;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   247
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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diff changeset
   248
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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diff changeset
   249
948
1cfab7161491 Implemented domain command.
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   250
typedef struct {
1cfab7161491 Implemented domain command.
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   251
    // inputs
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   252
    uint32_t index;
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parents: 1485
diff changeset
   253
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parents: 1485
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   254
    // outputs
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   255
    uint32_t data_size;
68e89abadd19 Removed unwanted tabulators.
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   256
    uint32_t logical_base_address;
68e89abadd19 Removed unwanted tabulators.
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   257
    uint16_t working_counter;
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   258
    uint16_t expected_working_counter;
978
2962baf7e6d1 Implemented SII read.
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   259
    uint32_t fmmu_count;
948
1cfab7161491 Implemented domain command.
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   260
} ec_ioctl_domain_t;
1cfab7161491 Implemented domain command.
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   261
1cfab7161491 Implemented domain command.
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   262
/*****************************************************************************/
1cfab7161491 Implemented domain command.
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parents: 938
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   263
949
e424c0074c67 Implemented 'data' command.
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diff changeset
   264
typedef struct {
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   265
    // inputs
1507
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   266
    uint32_t domain_index;
68e89abadd19 Removed unwanted tabulators.
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   267
    uint32_t fmmu_index;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
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diff changeset
   268
8b00e63fff90 'ethercat domain' shows domain contents and process data.
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diff changeset
   269
    // outputs
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   270
    uint16_t slave_config_alias;
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diff changeset
   271
    uint16_t slave_config_position;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff changeset
   272
    uint8_t sync_index;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff changeset
   273
    ec_direction_t dir;
1507
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   274
    uint32_t logical_address;
978
2962baf7e6d1 Implemented SII read.
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diff changeset
   275
    uint32_t data_size;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
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diff changeset
   276
} ec_ioctl_domain_fmmu_t;
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   277
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diff changeset
   278
/*****************************************************************************/
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diff changeset
   279
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diff changeset
   280
typedef struct {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
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diff changeset
   281
    // inputs
1507
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   282
    uint32_t domain_index;
978
2962baf7e6d1 Implemented SII read.
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parents: 974
diff changeset
   283
    uint32_t data_size;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   284
    uint8_t *target;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   285
} ec_ioctl_domain_data_t;
949
e424c0074c67 Implemented 'data' command.
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diff changeset
   286
e424c0074c67 Implemented 'data' command.
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parents: 948
diff changeset
   287
/*****************************************************************************/
e424c0074c67 Implemented 'data' command.
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parents: 948
diff changeset
   288
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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parents: 957
diff changeset
   289
typedef struct {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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diff changeset
   290
    // inputs
1507
68e89abadd19 Removed unwanted tabulators.
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parents: 1485
diff changeset
   291
    uint16_t slave_position;
1148
1762296870bd Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents: 1147
diff changeset
   292
    uint8_t al_state;
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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parents: 957
diff changeset
   293
} ec_ioctl_slave_state_t;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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parents: 957
diff changeset
   294
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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diff changeset
   295
/*****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   296
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   297
typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   298
    // inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   299
    uint16_t slave_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   300
    uint16_t sdo_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   301
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   302
    // outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   303
    uint16_t sdo_index;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   304
    uint8_t max_subindex;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   305
    int8_t name[EC_IOCTL_STRING_SIZE];
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
   306
} ec_ioctl_slave_sdo_t;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   307
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   308
/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   309
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   310
typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   311
    // inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   312
    uint16_t slave_position;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   313
    int sdo_spec; // positive: index, negative: list position
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   314
    uint8_t sdo_entry_subindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   315
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   316
    // outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   317
    uint16_t data_type;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   318
    uint16_t bit_length;
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   319
    uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   320
    uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   321
    int8_t description[EC_IOCTL_STRING_SIZE];
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
   322
} ec_ioctl_slave_sdo_entry_t;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   323
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   324
/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   325
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   326
typedef struct {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   327
    // inputs
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   328
    uint16_t slave_position;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   329
    uint16_t sdo_index;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   330
    uint8_t sdo_entry_subindex;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   331
    uint32_t target_size;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   332
    uint8_t *target;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   333
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   334
    // outputs
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   335
    uint32_t data_size;
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   336
    uint32_t abort_code;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
   337
} ec_ioctl_slave_sdo_upload_t;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   338
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   339
/*****************************************************************************/
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   340
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   341
typedef struct {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   342
    // inputs
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   343
    uint16_t slave_position;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   344
    uint16_t sdo_index;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   345
    uint8_t sdo_entry_subindex;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   346
    uint32_t data_size;
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   347
    uint8_t *data;
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   348
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   349
    // outputs
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   350
    uint32_t abort_code;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
   351
} ec_ioctl_slave_sdo_download_t;
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   352
5868944a6456 Implemented Sdo download via ethercat command.
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parents: 971
diff changeset
   353
/*****************************************************************************/
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   354
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   355
typedef struct {
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   356
    // inputs
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   357
    uint16_t slave_position;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   358
    uint16_t offset;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   359
    uint32_t nwords;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   360
    uint16_t *words;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
   361
} ec_ioctl_slave_sii_t;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   362
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   363
/*****************************************************************************/
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   364
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   365
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   366
    // inputs
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   367
    uint16_t slave_position;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   368
    uint16_t offset;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   369
    uint16_t length;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   370
    uint8_t *data;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
   371
} ec_ioctl_slave_reg_t;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   372
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   373
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   374
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   375
typedef struct {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   376
    // inputs
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   377
    uint16_t slave_position;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   378
    uint16_t offset;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   379
    uint32_t buffer_size;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   380
    uint8_t *buffer;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   381
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   382
    // outputs
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   383
    uint32_t data_size;
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   384
    uint32_t result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   385
    uint32_t error_code;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   386
    char file_name[32];
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   387
} ec_ioctl_slave_foe_t;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   388
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   389
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   390
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   391
typedef struct {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   392
    // inputs
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   393
    uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   394
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   395
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   396
    uint16_t alias;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   397
    uint16_t position;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   398
    uint32_t vendor_id;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   399
    uint32_t product_code;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   400
    struct {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   401
        ec_direction_t dir;
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   402
        ec_watchdog_mode_t watchdog_mode;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   403
        uint32_t pdo_count;
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   404
        uint8_t config_this;
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   405
    } syncs[EC_MAX_SYNC_MANAGERS];
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   406
    uint16_t watchdog_divider;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   407
    uint16_t watchdog_intervals;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   408
    uint32_t sdo_count;
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1109
diff changeset
   409
    int32_t slave_position;
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   410
    uint16_t dc_assign_activate;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   411
    ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT];
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   412
} ec_ioctl_config_t;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   413
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   414
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   415
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   416
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   417
    // inputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   418
    uint32_t config_index;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   419
    uint8_t sync_index;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   420
    uint16_t pdo_pos;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   421
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   422
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   423
    uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   424
    uint8_t entry_count;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   425
    int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   426
} ec_ioctl_config_pdo_t;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   427
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   428
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   429
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   430
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   431
    // inputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   432
    uint32_t config_index;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   433
    uint8_t sync_index;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   434
    uint16_t pdo_pos;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   435
    uint8_t entry_pos;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   436
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   437
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   438
    uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   439
    uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   440
    uint8_t bit_length;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   441
    int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   442
} ec_ioctl_config_pdo_entry_t;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   443
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   444
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   445
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   446
/** Maximum size for displayed SDO data.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   447
 * \todo Make this dynamic.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   448
 */
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   449
#define EC_MAX_SDO_DATA_SIZE 1024
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   450
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   451
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   452
    // inputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   453
    uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   454
    uint32_t sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   455
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   456
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   457
    uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   458
    uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   459
    uint32_t size;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   460
    uint8_t data[EC_MAX_SDO_DATA_SIZE];
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   461
} ec_ioctl_config_sdo_t;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   462
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   463
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   464
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   465
#ifdef EC_EOE
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   466
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   467
typedef struct {
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   468
    // input
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   469
    uint16_t eoe_index;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   470
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   471
    // outputs
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   472
    char name[EC_DATAGRAM_NAME_SIZE];
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   473
    uint16_t slave_position;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   474
    uint8_t open;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   475
    uint32_t rx_bytes;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   476
    uint32_t rx_rate;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   477
    uint32_t tx_bytes;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   478
    uint32_t tx_rate;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   479
    uint32_t tx_queued_frames;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   480
    uint32_t tx_queue_size;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   481
} ec_ioctl_eoe_handler_t;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   482
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   483
#endif
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   484
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   485
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   486
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   487
typedef struct {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   488
    // inputs
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   489
    uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   490
    uint16_t pdo_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   491
    uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   492
    uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   493
    uint8_t entry_bit_length;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   494
} ec_ioctl_add_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   495
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   496
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   497
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   498
typedef struct {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   499
    // inputs
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   500
    uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   501
    uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   502
    uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   503
    uint32_t domain_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   504
    
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   505
    // outputs
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   506
    unsigned int bit_position;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   507
} ec_ioctl_reg_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   508
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   509
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   510
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   511
typedef struct {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   512
    // inputs
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   513
    uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   514
    uint16_t index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   515
    uint8_t subindex;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   516
    const uint8_t *data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   517
    size_t size;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   518
    uint8_t complete_access;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   519
} ec_ioctl_sc_sdo_t;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   520
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   521
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   522
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   523
typedef struct {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   524
    // inputs
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   525
    uint32_t config_index;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   526
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   527
    // outputs
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   528
    ec_slave_config_state_t *state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   529
} ec_ioctl_sc_state_t;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   530
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   531
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   532
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   533
typedef struct {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   534
    // inputs
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   535
    uint32_t domain_index;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   536
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   537
    // outputs
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   538
    ec_domain_state_t *state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   539
} ec_ioctl_domain_state_t;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   540
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   541
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   542
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   543
typedef struct {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   544
    // inputs
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   545
    uint32_t config_index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   546
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   547
    // inputs/outputs
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   548
    uint32_t request_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   549
    uint16_t sdo_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   550
    uint8_t sdo_subindex;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   551
    size_t size;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   552
    uint8_t *data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   553
    uint32_t timeout;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   554
    ec_request_state_t state;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   555
} ec_ioctl_sdo_request_t;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   556
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   557
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   558
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   559
typedef struct {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   560
    // inputs
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   561
    uint32_t config_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   562
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   563
    // inputs/outputs
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   564
    uint32_t voe_index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   565
    uint32_t *vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   566
    uint16_t *vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   567
    size_t size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   568
    uint8_t *data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   569
    ec_request_state_t state;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   570
} ec_ioctl_voe_t;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   571
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   572
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   573
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   574
typedef struct {
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   575
    // inputs
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   576
    uint64_t app_time;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   577
} ec_ioctl_app_time_t;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   578
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   579
/*****************************************************************************/
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   580
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   581
/** \endcond */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   582
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   583
#endif