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/******************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2012  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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/*****************************************************************************/

    45

    46

/** \cond */

    47

    48

#define EC_IOCTL_TYPE 0xa4

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    50

#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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    55

/** EtherCAT master ioctl() version magic.

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 *

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 * Increment this when changing the ioctl interface!

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 */

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#define EC_IOCTL_VERSION_MAGIC 29

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// Command-line tool

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#define EC_IOCTL_MODULE                EC_IOR(0x00, ec_ioctl_module_t)

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#define EC_IOCTL_MASTER                EC_IOR(0x01, ec_ioctl_master_t)

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#define EC_IOCTL_SLAVE                EC_IOWR(0x02, ec_ioctl_slave_t)

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#define EC_IOCTL_SLAVE_SYNC           EC_IOWR(0x03, ec_ioctl_slave_sync_t)

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#define EC_IOCTL_SLAVE_SYNC_PDO       EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_t)

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#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x05, ec_ioctl_slave_sync_pdo_entry_t)

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#define EC_IOCTL_DOMAIN               EC_IOWR(0x06, ec_ioctl_domain_t)

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#define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)

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#define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x08, ec_ioctl_domain_data_t)

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#define EC_IOCTL_MASTER_DEBUG           EC_IO(0x09)

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#define EC_IOCTL_MASTER_RESCAN          EC_IO(0x0a)

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#define EC_IOCTL_SLAVE_STATE           EC_IOW(0x0b, ec_ioctl_slave_state_t)

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#define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0c, ec_ioctl_slave_sdo_t)

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#define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t)

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#define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t)

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#define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t)

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#define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x10, ec_ioctl_slave_sii_t)

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#define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x11, ec_ioctl_slave_sii_t)

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#define EC_IOCTL_SLAVE_REG_READ       EC_IOWR(0x12, ec_ioctl_slave_reg_t)

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#define EC_IOCTL_SLAVE_REG_WRITE       EC_IOW(0x13, ec_ioctl_slave_reg_t)

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#define EC_IOCTL_SLAVE_FOE_READ       EC_IOWR(0x14, ec_ioctl_slave_foe_t)

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#define EC_IOCTL_SLAVE_FOE_WRITE       EC_IOW(0x15, ec_ioctl_slave_foe_t)

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#define EC_IOCTL_SLAVE_SOE_READ       EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)

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#define EC_IOCTL_SLAVE_SOE_WRITE      EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)

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#define EC_IOCTL_SLAVE_EOE_IP_PARAM    EC_IOW(0x18, ec_ioctl_slave_eoe_ip_t)

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#define EC_IOCTL_CONFIG               EC_IOWR(0x19, ec_ioctl_config_t)

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#define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x1a, ec_ioctl_config_pdo_t)

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#define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x1b, ec_ioctl_config_pdo_entry_t)

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#define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x1c, ec_ioctl_config_sdo_t)

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#define EC_IOCTL_CONFIG_IDN           EC_IOWR(0x1d, ec_ioctl_config_idn_t)

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#ifdef EC_EOE

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#define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x1e, 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(0x1f)

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#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x20)

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#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x21, ec_ioctl_config_t)

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#define EC_IOCTL_SELECT_REF_CLOCK      EC_IOW(0x22, uint32_t)

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#define EC_IOCTL_ACTIVATE              EC_IOR(0x23, ec_ioctl_master_activate_t)

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#define EC_IOCTL_DEACTIVATE             EC_IO(0x24)

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#define EC_IOCTL_SEND                   EC_IO(0x25)

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#define EC_IOCTL_RECEIVE                EC_IO(0x26)

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#define EC_IOCTL_MASTER_STATE          EC_IOR(0x27, ec_master_state_t)

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#define EC_IOCTL_MASTER_LINK_STATE    EC_IOWR(0x28, ec_ioctl_link_state_t)

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#define EC_IOCTL_APP_TIME              EC_IOW(0x29, ec_ioctl_app_time_t)

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#define EC_IOCTL_SYNC_REF               EC_IO(0x2a)

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#define EC_IOCTL_SYNC_SLAVES            EC_IO(0x2b)

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#define EC_IOCTL_REF_CLOCK_TIME        EC_IOR(0x2c, uint32_t)

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#define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x2d)

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#define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x2e, uint32_t)

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#define EC_IOCTL_RESET                  EC_IO(0x2f)

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#define EC_IOCTL_SC_SYNC               EC_IOW(0x30, ec_ioctl_config_t)

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#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x31, ec_ioctl_config_t)

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#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x32, ec_ioctl_config_pdo_t)

   117

#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x33, ec_ioctl_config_pdo_t)

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#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x34, ec_ioctl_add_pdo_entry_t)

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#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x35, ec_ioctl_config_pdo_t)

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#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x36, ec_ioctl_reg_pdo_entry_t)

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#define EC_IOCTL_SC_REG_PDO_POS       EC_IOWR(0x37, ec_ioctl_reg_pdo_pos_t)

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#define EC_IOCTL_SC_DC                 EC_IOW(0x38, ec_ioctl_config_t)

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#define EC_IOCTL_SC_SDO                EC_IOW(0x39, ec_ioctl_sc_sdo_t)

   124

#define EC_IOCTL_SC_EMERG_SIZE         EC_IOW(0x3a, ec_ioctl_sc_emerg_t)

   125

#define EC_IOCTL_SC_EMERG_POP         EC_IOWR(0x3b, ec_ioctl_sc_emerg_t)

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#define EC_IOCTL_SC_EMERG_CLEAR        EC_IOW(0x3c, ec_ioctl_sc_emerg_t)

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#define EC_IOCTL_SC_EMERG_OVERRUNS    EC_IOWR(0x3d, ec_ioctl_sc_emerg_t)

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#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x3e, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_SC_REG_REQUEST       EC_IOWR(0x3f, ec_ioctl_reg_request_t)

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#define EC_IOCTL_SC_VOE               EC_IOWR(0x40, ec_ioctl_voe_t)

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#define EC_IOCTL_SC_STATE             EC_IOWR(0x41, ec_ioctl_sc_state_t)

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#define EC_IOCTL_SC_IDN                EC_IOW(0x42, ec_ioctl_sc_idn_t)

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#define EC_IOCTL_DOMAIN_SIZE            EC_IO(0x43)

   134

#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x44)

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#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x45)

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#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x46)

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#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x47, ec_ioctl_domain_state_t)

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#define EC_IOCTL_SDO_REQUEST_INDEX    EC_IOWR(0x48, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x49, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x4a, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x4b, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x4c, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x4d, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_REG_REQUEST_DATA     EC_IOWR(0x4e, ec_ioctl_reg_request_t)

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#define EC_IOCTL_REG_REQUEST_STATE    EC_IOWR(0x4f, ec_ioctl_reg_request_t)

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#define EC_IOCTL_REG_REQUEST_WRITE    EC_IOWR(0x50, ec_ioctl_reg_request_t)

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#define EC_IOCTL_REG_REQUEST_READ     EC_IOWR(0x51, ec_ioctl_reg_request_t)

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#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x52, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x53, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_READ              EC_IOW(0x54, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x55, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x56, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x57, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_DATA             EC_IOWR(0x58, ec_ioctl_voe_t)

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#define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x59, size_t)

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/*****************************************************************************/

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#define EC_IOCTL_STRING_SIZE 64

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/*****************************************************************************/

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typedef struct {

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    uint32_t ioctl_version_magic;

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    uint32_t master_count;

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} ec_ioctl_module_t;

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/*****************************************************************************/

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typedef struct {

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    uint32_t slave_count;

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    uint32_t config_count;

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    uint32_t domain_count;

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#ifdef EC_EOE

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    uint32_t eoe_handler_count;

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#endif

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    uint8_t phase;

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    uint8_t active;

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    uint8_t scan_busy;

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    struct ec_ioctl_device {

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        uint8_t address[6];

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        uint8_t attached;

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        uint8_t link_state;

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        uint64_t tx_count;

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        uint64_t rx_count;

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        uint64_t tx_bytes;

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        uint64_t rx_bytes;

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        uint64_t tx_errors;

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        int32_t tx_frame_rates[EC_RATE_COUNT];

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        int32_t rx_frame_rates[EC_RATE_COUNT];

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        int32_t tx_byte_rates[EC_RATE_COUNT];

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        int32_t rx_byte_rates[EC_RATE_COUNT];

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    } devices[EC_MAX_NUM_DEVICES];

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    uint32_t num_devices;

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    uint64_t tx_count;

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    uint64_t rx_count;

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    uint64_t tx_bytes;

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    uint64_t rx_bytes;

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    int32_t tx_frame_rates[EC_RATE_COUNT];

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    int32_t rx_frame_rates[EC_RATE_COUNT];

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    int32_t tx_byte_rates[EC_RATE_COUNT];

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    int32_t rx_byte_rates[EC_RATE_COUNT];

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    int32_t loss_rates[EC_RATE_COUNT];

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    uint64_t app_time;

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    uint16_t ref_clock;

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} ec_ioctl_master_t;

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/*****************************************************************************/

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typedef struct {

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    // input

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    uint16_t position;

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    // outputs

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    unsigned int device_index;

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    uint32_t vendor_id;

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    uint32_t product_code;

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    uint32_t revision_number;

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    uint32_t serial_number;

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    uint16_t alias;

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    uint16_t boot_rx_mailbox_offset;

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    uint16_t boot_rx_mailbox_size;

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    uint16_t boot_tx_mailbox_offset;

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    uint16_t boot_tx_mailbox_size;

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    uint16_t std_rx_mailbox_offset;

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    uint16_t std_rx_mailbox_size;

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    uint16_t std_tx_mailbox_offset;

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    uint16_t std_tx_mailbox_size;

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    uint16_t mailbox_protocols;

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    uint8_t has_general_category;

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    ec_sii_coe_details_t coe_details;

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    ec_sii_general_flags_t general_flags;

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    int16_t current_on_ebus;

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    struct {

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        ec_slave_port_desc_t desc;

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        ec_slave_port_link_t link;

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        uint32_t receive_time;

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        uint16_t next_slave;

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        uint32_t delay_to_next_dc;

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    } ports[EC_MAX_PORTS];

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    uint8_t fmmu_bit;

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    uint8_t dc_supported;

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    ec_slave_dc_range_t dc_range;

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    uint8_t has_dc_system_time;

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    uint32_t transmission_delay;

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    uint8_t al_state;

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    uint8_t error_flag;

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    uint8_t sync_count;

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    uint16_t sdo_count;

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    uint32_t sii_nwords;

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    char group[EC_IOCTL_STRING_SIZE];

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    char image[EC_IOCTL_STRING_SIZE];

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    char order[EC_IOCTL_STRING_SIZE];

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    char name[EC_IOCTL_STRING_SIZE];

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} ec_ioctl_slave_t;

   256

   257

/*****************************************************************************/

   258

   259

typedef struct {

   260

    // inputs

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    uint16_t slave_position;

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    uint32_t sync_index;

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   264

    // outputs

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    uint16_t physical_start_address;

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    uint16_t default_size;

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    uint8_t control_register;

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    uint8_t enable;

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    uint8_t pdo_count;

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} ec_ioctl_slave_sync_t;

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/*****************************************************************************/

   273

   274

typedef struct {

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    // inputs

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    uint16_t slave_position;

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    uint32_t sync_index;

   278

    uint32_t pdo_pos;

   279

   280

    // outputs

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    uint16_t index;

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    uint8_t entry_count;

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    int8_t name[EC_IOCTL_STRING_SIZE];

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} ec_ioctl_slave_sync_pdo_t;

   285

   286

/*****************************************************************************/

   287

   288

typedef struct {

   289

    // inputs

   290

    uint16_t slave_position;

   291

    uint32_t sync_index;

   292

    uint32_t pdo_pos;

   293

    uint32_t entry_pos;

   294

   295

    // outputs

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    uint16_t index;

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    uint8_t subindex;

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    uint8_t bit_length;

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    int8_t name[EC_IOCTL_STRING_SIZE];

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} ec_ioctl_slave_sync_pdo_entry_t;

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   302

/*****************************************************************************/

   303

   304

typedef struct {

   305

    // inputs

   306

    uint32_t index;

   307

   308

    // outputs

   309

    uint32_t data_size;

   310

    uint32_t logical_base_address;

   311

    uint16_t working_counter[EC_MAX_NUM_DEVICES];

   312

    uint16_t expected_working_counter;

   313

    uint32_t fmmu_count;

   314

} ec_ioctl_domain_t;

   315

   316

/*****************************************************************************/

   317

   318

typedef struct {

   319

    // inputs

   320

    uint32_t domain_index;

   321

    uint32_t fmmu_index;

   322

   323

    // outputs

   324

    uint16_t slave_config_alias;

   325

    uint16_t slave_config_position;

   326

    uint8_t sync_index;

   327

    ec_direction_t dir;

   328

    uint32_t logical_address;

   329

    uint32_t data_size;

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} ec_ioctl_domain_fmmu_t;

   331

   332

/*****************************************************************************/

   333

   334

typedef struct {

   335

    // inputs

   336

    uint32_t domain_index;

   337

    uint32_t data_size;

   338

    uint8_t *target;

   339

} ec_ioctl_domain_data_t;

   340

   341

/*****************************************************************************/

   342

   343

typedef struct {

   344

    // inputs

   345

    uint16_t slave_position;

   346

    uint8_t al_state;

   347

} ec_ioctl_slave_state_t;

   348

   349

/*****************************************************************************/

   350

   351

typedef struct {

   352

    // inputs

   353

    uint16_t slave_position;

   354

    uint16_t sdo_position;

   355

   356

    // outputs

   357

    uint16_t sdo_index;

   358

    uint8_t max_subindex;

   359

    int8_t name[EC_IOCTL_STRING_SIZE];

   360

} ec_ioctl_slave_sdo_t;

   361

   362

/*****************************************************************************/

   363

   364

typedef struct {

   365

    // inputs

   366

    uint16_t slave_position;

   367

    int sdo_spec; // positive: index, negative: list position

   368

    uint8_t sdo_entry_subindex;

   369

   370

    // outputs

   371

    uint16_t data_type;

   372

    uint16_t bit_length;

   373

    uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];

   374

    uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];

   375

    int8_t description[EC_IOCTL_STRING_SIZE];

   376

} ec_ioctl_slave_sdo_entry_t;

   377

   378

/*****************************************************************************/

   379

   380

typedef struct {

   381

    // inputs

   382

    uint16_t slave_position;

   383

    uint16_t sdo_index;

   384

    uint8_t sdo_entry_subindex;

   385

    size_t target_size;

   386

    uint8_t *target;

   387

   388

    // outputs

   389

    size_t data_size;

   390

    uint32_t abort_code;

   391

} ec_ioctl_slave_sdo_upload_t;

   392

   393

/*****************************************************************************/

   394

   395

typedef struct {

   396

    // inputs

   397

    uint16_t slave_position;

   398

    uint16_t sdo_index;

   399

    uint8_t sdo_entry_subindex;

   400

    uint8_t complete_access;

   401

    size_t data_size;

   402

    uint8_t *data;

   403

   404

    // outputs

   405

    uint32_t abort_code;

   406

} ec_ioctl_slave_sdo_download_t;

   407

   408

/*****************************************************************************/

   409

   410

typedef struct {

   411

    // inputs

   412

    uint16_t slave_position;

   413

    uint16_t offset;

   414

    uint32_t nwords;

   415

    uint16_t *words;

   416

} ec_ioctl_slave_sii_t;

   417

   418

/*****************************************************************************/

   419

   420

typedef struct {

   421

    // inputs

   422

    uint16_t slave_position;

   423

    uint8_t emergency;

   424

    uint16_t address;

   425

    size_t size;

   426

    uint8_t *data;

   427

} ec_ioctl_slave_reg_t;

   428

   429

/*****************************************************************************/

   430

   431

typedef struct {

   432

    // inputs

   433

    uint16_t slave_position;

   434

    uint16_t offset;

   435

    size_t buffer_size;

   436

    uint8_t *buffer;

   437

   438

    // outputs

   439

    size_t data_size;

   440

    uint32_t result;

   441

    uint32_t error_code;

   442

    char file_name[32];

   443

} ec_ioctl_slave_foe_t;

   444

   445

/*****************************************************************************/

   446

   447

typedef struct {

   448

    // inputs

   449

    uint16_t slave_position;

   450

    uint8_t drive_no;

   451

    uint16_t idn;

   452

    size_t mem_size;

   453

    uint8_t *data;

   454

   455

    // outputs

   456

    size_t data_size;

   457

    uint16_t error_code;

   458

} ec_ioctl_slave_soe_read_t;

   459

   460

/*****************************************************************************/

   461

   462

typedef struct {

   463

    // inputs

   464

    uint16_t slave_position;

   465

    uint8_t drive_no;

   466

    uint16_t idn;

   467

    size_t data_size;

   468

    uint8_t *data;

   469

   470

    // outputs

   471

    uint16_t error_code;

   472

} ec_ioctl_slave_soe_write_t;

   473

   474

/*****************************************************************************/

   475

   476

typedef struct {

   477

    // inputs

   478

    uint32_t config_index;

   479

   480

    // outputs

   481

    uint16_t alias;

   482

    uint16_t position;

   483

    uint32_t vendor_id;

   484

    uint32_t product_code;

   485

    struct {

   486

        ec_direction_t dir;

   487

        ec_watchdog_mode_t watchdog_mode;

   488

        uint32_t pdo_count;