| author | Florian Pose <fp@igh-essen.com> |
| Thu, 19 Mar 2009 08:44:48 +0000 | |
| changeset 1374 | 1ca1178a3f93 |
| parent 1363 | 11c0b2caa253 |
| child 1379 | cbceb0e2f2a0 |
| permissions | -rw-r--r-- |
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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_PHY_READ EC_IOWR(0x10, ec_ioctl_slave_phy_t) |
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#define EC_IOCTL_SLAVE_PHY_WRITE EC_IOW(0x11, ec_ioctl_slave_phy_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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// Application interface |
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#define EC_IOCTL_REQUEST EC_IO(0x18) |
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#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x19) |
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#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1a, ec_ioctl_config_t) |
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#define EC_IOCTL_ACTIVATE EC_IOR(0x1b, size_t) |
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#define EC_IOCTL_SEND EC_IO(0x1c) |
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#define EC_IOCTL_RECEIVE EC_IO(0x1d) |
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#define EC_IOCTL_MASTER_STATE EC_IOR(0x1e, ec_master_state_t) |
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#define EC_IOCTL_SC_SYNC EC_IOW(0x1f, ec_ioctl_config_t) |
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#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x20, ec_ioctl_config_pdo_t) |
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#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x21, ec_ioctl_config_pdo_t) |
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#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x22, ec_ioctl_add_pdo_entry_t) |
|
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merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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|
93 |
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x23, ec_ioctl_config_pdo_t) |
|
09c6fce1ae45
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diff
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|
94 |
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x24, ec_ioctl_reg_pdo_entry_t) |
|
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diff
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|
95 |
#define EC_IOCTL_SC_SDO EC_IOW(0x25, ec_ioctl_sc_sdo_t) |
|
1352
275d2fdeab48
Implemented SDO requests in userspace library.
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|
96 |
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x26, ec_ioctl_sdo_request_t) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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|
97 |
#define EC_IOCTL_SC_VOE EC_IOWR(0x27, ec_ioctl_voe_t) |
|
275d2fdeab48
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|
98 |
#define EC_IOCTL_SC_STATE EC_IOWR(0x28, ec_ioctl_sc_state_t) |
|
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changeset
|
99 |
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x29) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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|
100 |
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x2a) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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|
101 |
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x2b) |
|
275d2fdeab48
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|
102 |
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x2c, ec_ioctl_domain_state_t) |
|
275d2fdeab48
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|
103 |
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x2d, ec_ioctl_sdo_request_t) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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|
104 |
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x2e, ec_ioctl_sdo_request_t) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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|
105 |
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x2f, ec_ioctl_sdo_request_t) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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|
106 |
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x30, ec_ioctl_sdo_request_t) |
|
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|
107 |
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x31, ec_ioctl_sdo_request_t) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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diff
changeset
|
108 |
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x32, ec_ioctl_voe_t) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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1337
diff
changeset
|
109 |
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x33, ec_ioctl_voe_t) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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diff
changeset
|
110 |
#define EC_IOCTL_VOE_READ EC_IOW(0x34, ec_ioctl_voe_t) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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diff
changeset
|
111 |
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x35, ec_ioctl_voe_t) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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parents:
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diff
changeset
|
112 |
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x36, ec_ioctl_voe_t) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
113 |
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x37, ec_ioctl_voe_t) |
|
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
114 |
#define EC_IOCTL_VOE_DATA EC_IOWR(0x38, ec_ioctl_voe_t) |
|
1259
5f9d1abbee71
Added state functions; writing of process data works.
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diff
changeset
|
115 |
|
|
5f9d1abbee71
Added state functions; writing of process data works.
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|
116 |
/*****************************************************************************/ |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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|
117 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
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diff
changeset
|
118 |
#define EC_IOCTL_STRING_SIZE 64 |
| 978 | 119 |
|
120 |
/*****************************************************************************/ |
|
121 |
||
122 |
typedef struct {
|
|
123 |
uint32_t slave_count; |
|
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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parents:
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diff
changeset
|
124 |
uint32_t config_count; |
|
1001
a8eab75aa8e3
Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
125 |
uint32_t domain_count; |
|
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
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parents:
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diff
changeset
|
126 |
uint8_t phase; |
|
957
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
127 |
struct {
|
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents:
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diff
changeset
|
128 |
uint8_t address[6]; |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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diff
changeset
|
129 |
uint8_t attached; |
| 978 | 130 |
uint32_t tx_count; |
131 |
uint32_t rx_count; |
|
|
957
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents:
956
diff
changeset
|
132 |
} devices[2]; |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents:
956
diff
changeset
|
133 |
} ec_ioctl_master_t; |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents:
956
diff
changeset
|
134 |
|
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
135 |
/*****************************************************************************/ |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
136 |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
137 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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diff
changeset
|
138 |
// input |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
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diff
changeset
|
139 |
uint16_t position; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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diff
changeset
|
140 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
141 |
// outputs |
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
142 |
uint32_t vendor_id; |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
143 |
uint32_t product_code; |
|
938
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
935
diff
changeset
|
144 |
uint32_t revision_number; |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
935
diff
changeset
|
145 |
uint32_t serial_number; |
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
uint16_t alias; |
|
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1336
diff
changeset
|
147 |
uint16_t boot_rx_mailbox_offset; |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1336
diff
changeset
|
148 |
uint16_t boot_rx_mailbox_size; |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1336
diff
changeset
|
149 |
uint16_t boot_tx_mailbox_offset; |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1336
diff
changeset
|
150 |
uint16_t boot_tx_mailbox_size; |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1336
diff
changeset
|
151 |
uint16_t std_rx_mailbox_offset; |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1336
diff
changeset
|
152 |
uint16_t std_rx_mailbox_size; |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1336
diff
changeset
|
153 |
uint16_t std_tx_mailbox_offset; |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1336
diff
changeset
|
154 |
uint16_t std_tx_mailbox_size; |
|
989
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
155 |
uint16_t mailbox_protocols; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
156 |
uint8_t has_general_category; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
157 |
ec_sii_coe_details_t coe_details; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
158 |
ec_sii_general_flags_t general_flags; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
159 |
int16_t current_on_ebus; |
|
1148
1762296870bd
Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents:
1147
diff
changeset
|
160 |
uint8_t al_state; |
|
987
3c9090138140
Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents:
980
diff
changeset
|
161 |
uint8_t error_flag; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
162 |
uint8_t sync_count; |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
163 |
uint16_t sdo_count; |
| 978 | 164 |
uint32_t sii_nwords; |
|
1109
11ac4051db6b
Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
165 |
char group[EC_IOCTL_STRING_SIZE]; |
|
11ac4051db6b
Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
166 |
char image[EC_IOCTL_STRING_SIZE]; |
|
11ac4051db6b
Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
167 |
char order[EC_IOCTL_STRING_SIZE]; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
168 |
char name[EC_IOCTL_STRING_SIZE]; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
169 |
} ec_ioctl_slave_t; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
170 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
171 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
172 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
173 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
174 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
175 |
uint16_t slave_position; |
| 978 | 176 |
uint32_t sync_index; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
177 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
178 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
179 |
uint16_t physical_start_address; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
180 |
uint16_t default_size; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
181 |
uint8_t control_register; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
182 |
uint8_t enable; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
183 |
uint8_t pdo_count; |
|
1079
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
184 |
} ec_ioctl_slave_sync_t; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
185 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
186 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
187 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
188 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
189 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
190 |
uint16_t slave_position; |
| 978 | 191 |
uint32_t sync_index; |
192 |
uint32_t pdo_pos; |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
193 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
194 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
195 |
uint16_t index; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
196 |
uint8_t entry_count; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
197 |
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
|
198 |
} ec_ioctl_slave_sync_pdo_t; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
199 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
200 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
201 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
202 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
203 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
204 |
uint16_t slave_position; |
| 978 | 205 |
uint32_t sync_index; |
206 |
uint32_t pdo_pos; |
|
207 |
uint32_t entry_pos; |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
208 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
209 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
210 |
uint16_t index; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
211 |
uint8_t subindex; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
212 |
uint8_t bit_length; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
213 |
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
|
214 |
} ec_ioctl_slave_sync_pdo_entry_t; |
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
215 |
|
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
216 |
/*****************************************************************************/ |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
217 |
|
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
218 |
typedef struct {
|
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
219 |
// inputs |
| 978 | 220 |
uint32_t index; |
221 |
||
222 |
// outputs |
|
223 |
uint32_t data_size; |
|
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
224 |
uint32_t logical_base_address; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
225 |
uint16_t working_counter; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
226 |
uint16_t expected_working_counter; |
| 978 | 227 |
uint32_t fmmu_count; |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
228 |
} ec_ioctl_domain_t; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
229 |
|
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
230 |
/*****************************************************************************/ |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
231 |
|
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
232 |
typedef struct {
|
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
233 |
// inputs |
| 978 | 234 |
uint32_t domain_index; |
235 |
uint32_t fmmu_index; |
|
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
236 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
237 |
// outputs |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
238 |
uint16_t slave_config_alias; |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
239 |
uint16_t slave_config_position; |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
240 |
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
|
241 |
ec_direction_t dir; |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
242 |
uint32_t logical_address; |
| 978 | 243 |
uint32_t data_size; |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
244 |
} ec_ioctl_domain_fmmu_t; |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
245 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
246 |
/*****************************************************************************/ |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
247 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
248 |
typedef struct {
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
249 |
// inputs |
| 978 | 250 |
uint32_t domain_index; |
251 |
uint32_t data_size; |
|
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
252 |
uint8_t *target; |
|
1079
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
253 |
} ec_ioctl_domain_data_t; |
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
254 |
|
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
255 |
/*****************************************************************************/ |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
256 |
|
|
960
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
257 |
typedef struct {
|
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
258 |
// inputs |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
259 |
uint16_t slave_position; |
|
1148
1762296870bd
Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents:
1147
diff
changeset
|
260 |
uint8_t al_state; |
|
960
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
261 |
} ec_ioctl_slave_state_t; |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
262 |
|
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
263 |
/*****************************************************************************/ |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
264 |
|
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
265 |
typedef struct {
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
266 |
// inputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
267 |
uint16_t slave_position; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
268 |
uint16_t sdo_position; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
269 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
270 |
// outputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
271 |
uint16_t sdo_index; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
272 |
uint8_t max_subindex; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
273 |
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
|
274 |
} ec_ioctl_slave_sdo_t; |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
275 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
276 |
/*****************************************************************************/ |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
277 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
278 |
typedef struct {
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
279 |
// inputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
280 |
uint16_t slave_position; |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
281 |
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
|
282 |
uint8_t sdo_entry_subindex; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
283 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
284 |
// outputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
285 |
uint16_t data_type; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
286 |
uint16_t bit_length; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
287 |
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
|
288 |
} 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
|
289 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
290 |
/*****************************************************************************/ |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
291 |
|
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
292 |
typedef struct {
|
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
293 |
// inputs |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
294 |
uint16_t slave_position; |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
295 |
uint16_t sdo_index; |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
296 |
uint8_t sdo_entry_subindex; |
| 978 | 297 |
uint32_t target_size; |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
298 |
uint8_t *target; |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
299 |
|
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
300 |
// outputs |
| 978 | 301 |
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
|
302 |
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
|
303 |
} ec_ioctl_slave_sdo_upload_t; |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
304 |
|
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
305 |
/*****************************************************************************/ |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
306 |
|
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
307 |
typedef struct {
|
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
308 |
// inputs |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
309 |
uint16_t slave_position; |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
310 |
uint16_t sdo_index; |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
311 |
uint8_t sdo_entry_subindex; |
| 978 | 312 |
uint32_t data_size; |
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
313 |
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
|
314 |
|
|
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
315 |
// 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
|
316 |
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
|
317 |
} ec_ioctl_slave_sdo_download_t; |
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
318 |
|
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
319 |
/*****************************************************************************/ |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
320 |
|
| 978 | 321 |
typedef struct {
|
322 |
// inputs |
|
323 |
uint16_t slave_position; |
|
324 |
uint16_t offset; |
|
325 |
uint32_t nwords; |
|
326 |
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
|
327 |
} ec_ioctl_slave_sii_t; |
| 978 | 328 |
|
329 |
/*****************************************************************************/ |
|
330 |
||
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
331 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
332 |
// inputs |
| 1200 | 333 |
uint16_t slave_position; |
334 |
uint16_t offset; |
|
335 |
uint16_t length; |
|
336 |
uint8_t *data; |
|
337 |
} ec_ioctl_slave_phy_t; |
|
338 |
||
339 |
/*****************************************************************************/ |
|
340 |
||
341 |
typedef struct {
|
|
342 |
// 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
|
343 |
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
|
344 |
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
|
345 |
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
|
346 |
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
|
347 |
|
|
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
348 |
// outputs |
|
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
349 |
uint32_t data_size; |
|
1336
e27b37e80a99
merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents:
1335
diff
changeset
|
350 |
uint32_t result; |
|
e27b37e80a99
merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents:
1335
diff
changeset
|
351 |
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
|
352 |
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
|
353 |
} 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
|
354 |
|
|
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
355 |
/*****************************************************************************/ |
|
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
356 |
|
|
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
357 |
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
|
358 |
// inputs |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
359 |
uint32_t config_index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
360 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
361 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
362 |
uint16_t alias; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
363 |
uint16_t position; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
364 |
uint32_t vendor_id; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
365 |
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
|
366 |
struct {
|
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
367 |
ec_direction_t dir; |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
368 |
uint32_t pdo_count; |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
369 |
} syncs[EC_MAX_SYNC_MANAGERS]; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
370 |
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
|
371 |
int32_t slave_position; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
372 |
} ec_ioctl_config_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
373 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
374 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
375 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
376 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
377 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
378 |
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
|
379 |
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
|
380 |
uint16_t pdo_pos; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
381 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
382 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
383 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
384 |
uint8_t entry_count; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
385 |
int8_t name[EC_IOCTL_STRING_SIZE]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
386 |
} ec_ioctl_config_pdo_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
387 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
388 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
389 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
390 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
391 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
392 |
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
|
393 |
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
|
394 |
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
|
395 |
uint8_t entry_pos; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
396 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
397 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
398 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
399 |
uint8_t subindex; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
400 |
uint8_t bit_length; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
401 |
int8_t name[EC_IOCTL_STRING_SIZE]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
402 |
} ec_ioctl_config_pdo_entry_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
403 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
404 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
405 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
406 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
407 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
408 |
uint32_t config_index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
409 |
uint32_t sdo_pos; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
410 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
411 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
412 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
413 |
uint8_t subindex; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
414 |
uint32_t size; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
415 |
uint8_t data[4]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
416 |
} ec_ioctl_config_sdo_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
417 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
418 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
419 |
|
|
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
420 |
typedef struct {
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
421 |
// inputs |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
422 |
uint32_t config_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
423 |
uint16_t pdo_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
424 |
uint16_t entry_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
425 |
uint8_t entry_subindex; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
426 |
uint8_t entry_bit_length; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
427 |
} ec_ioctl_add_pdo_entry_t; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
428 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
429 |
/*****************************************************************************/ |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
430 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
431 |
typedef struct {
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
432 |
// inputs |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
433 |
uint32_t config_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
434 |
uint16_t entry_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
435 |
uint8_t entry_subindex; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
436 |
uint32_t domain_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
437 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
438 |
// outputs |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
439 |
unsigned int bit_position; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
440 |
} ec_ioctl_reg_pdo_entry_t; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
441 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
442 |
/*****************************************************************************/ |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
443 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
444 |
typedef struct {
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
445 |
// inputs |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
446 |
uint32_t config_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
447 |
uint16_t index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
448 |
uint8_t subindex; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
449 |
const uint8_t *data; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
450 |
size_t size; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
451 |
} ec_ioctl_sc_sdo_t; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
452 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
453 |
/*****************************************************************************/ |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
454 |
|
|
1259
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
455 |
typedef struct {
|
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
456 |
// inputs |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
457 |
uint32_t config_index; |
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458 |
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459 |
// outputs |
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460 |
ec_slave_config_state_t *state; |
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461 |
} ec_ioctl_sc_state_t; |
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|
462 |
|
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Added state functions; writing of process data works.
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|
463 |
/*****************************************************************************/ |
|
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|
464 |
|
|
5f9d1abbee71
Added state functions; writing of process data works.
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|
465 |
typedef struct {
|
|
5f9d1abbee71
Added state functions; writing of process data works.
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|
466 |
// inputs |
|
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467 |
uint32_t domain_index; |
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Added state functions; writing of process data works.
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|
468 |
|
|
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Added state functions; writing of process data works.
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|
469 |
// outputs |
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|
470 |
ec_domain_state_t *state; |
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|
471 |
} ec_ioctl_domain_state_t; |
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|
472 |
|
|
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Added state functions; writing of process data works.
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|
473 |
/*****************************************************************************/ |
|
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|
474 |
|
|
1264
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|
475 |
typedef struct {
|
|
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|
476 |
// inputs |
|
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|
477 |
uint32_t config_index; |
|
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|
478 |
|
|
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|
479 |
// inputs/outputs |
|
1352
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|
480 |
uint32_t request_index; |
|
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|
481 |
uint16_t sdo_index; |
|
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|
482 |
uint8_t sdo_subindex; |
|
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|
483 |
size_t size; |
|
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|
484 |
uint8_t *data; |
|
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|
485 |
uint32_t timeout; |
|
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|
486 |
ec_request_state_t state; |
|
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|
487 |
} ec_ioctl_sdo_request_t; |
|
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changeset
|
488 |
|
|
275d2fdeab48
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|
489 |
/*****************************************************************************/ |
|
275d2fdeab48
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changeset
|
490 |
|
|
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Implemented SDO requests in userspace library.
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changeset
|
491 |
typedef struct {
|
|
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Implemented SDO requests in userspace library.
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|
492 |
// inputs |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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changeset
|
493 |
uint32_t config_index; |
|
275d2fdeab48
Implemented SDO requests in userspace library.
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changeset
|
494 |
|
|
275d2fdeab48
Implemented SDO requests in userspace library.
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changeset
|
495 |
// inputs/outputs |
|
1264
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Implemented VoE handler in userspace.
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|
496 |
uint32_t voe_index; |
|
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|
497 |
uint32_t *vendor_id; |
|
e7882f246d7a
Implemented VoE handler in userspace.
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|
498 |
uint16_t *vendor_type; |
|
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|
499 |
size_t size; |
|
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|
500 |
uint8_t *data; |
|
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changeset
|
501 |
ec_request_state_t state; |
|
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Implemented VoE handler in userspace.
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|
502 |
} ec_ioctl_voe_t; |
|
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Implemented VoE handler in userspace.
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changeset
|
503 |
|
|
e7882f246d7a
Implemented VoE handler in userspace.
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changeset
|
504 |
/*****************************************************************************/ |
|
e7882f246d7a
Implemented VoE handler in userspace.
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changeset
|
505 |
|
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
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changeset
|
506 |
/** \endcond */ |
|
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
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changeset
|
507 |
|
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
508 |
#endif |