| author | Florian Pose <fp@igh-essen.com> |
| Wed, 27 Aug 2008 08:06:58 +0000 | |
| branch | stable-1.4 |
| changeset 1632 | 31196835d181 |
| parent 1183 | d77f634ab0b5 |
| child 1200 | ce1a65f06efc |
| child 1685 | 399ef727bf62 |
| 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 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 |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General 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 |
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* along 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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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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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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#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_CONFIG EC_IOWR(0x10, ec_ioctl_config_t) |
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#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x11, ec_ioctl_config_pdo_t) |
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#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x12, ec_ioctl_config_pdo_entry_t) |
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#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x13, ec_ioctl_config_sdo_t) |
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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 slave_count; |
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uint32_t config_count; |
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uint32_t domain_count; |
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uint8_t phase; |
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struct {
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uint8_t address[6]; |
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uint8_t attached; |
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uint32_t tx_count; |
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uint32_t rx_count; |
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} devices[2]; |
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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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uint32_t vendor_id; |
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uint32_t product_code; |
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938
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Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
935
diff
changeset
|
106 |
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
|
107 |
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
|
108 |
uint16_t alias; |
|
989
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
109 |
uint16_t rx_mailbox_offset; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
110 |
uint16_t rx_mailbox_size; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
111 |
uint16_t tx_mailbox_offset; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
112 |
uint16_t tx_mailbox_size; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
113 |
uint16_t mailbox_protocols; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
114 |
uint8_t has_general_category; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
115 |
ec_sii_coe_details_t coe_details; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
116 |
ec_sii_general_flags_t general_flags; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
117 |
int16_t current_on_ebus; |
|
1148
1762296870bd
Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents:
1147
diff
changeset
|
118 |
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
|
119 |
uint8_t error_flag; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
120 |
uint8_t sync_count; |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
121 |
uint16_t sdo_count; |
| 978 | 122 |
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
|
123 |
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
|
124 |
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
|
125 |
char order[EC_IOCTL_STRING_SIZE]; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
126 |
char name[EC_IOCTL_STRING_SIZE]; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
127 |
} ec_ioctl_slave_t; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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922
diff
changeset
|
128 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
129 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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922
diff
changeset
|
130 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
131 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
132 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
133 |
uint16_t slave_position; |
| 978 | 134 |
uint32_t sync_index; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
135 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
136 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
137 |
uint16_t physical_start_address; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
138 |
uint16_t default_size; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
139 |
uint8_t control_register; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
140 |
uint8_t enable; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
141 |
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
|
142 |
} ec_ioctl_slave_sync_t; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
143 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
144 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
145 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
146 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
147 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
148 |
uint16_t slave_position; |
| 978 | 149 |
uint32_t sync_index; |
150 |
uint32_t pdo_pos; |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
151 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
152 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
153 |
uint16_t index; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
154 |
uint8_t entry_count; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
155 |
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
|
156 |
} ec_ioctl_slave_sync_pdo_t; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
157 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
158 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
159 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
160 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
161 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
162 |
uint16_t slave_position; |
| 978 | 163 |
uint32_t sync_index; |
164 |
uint32_t pdo_pos; |
|
165 |
uint32_t entry_pos; |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
166 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
167 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
168 |
uint16_t index; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
169 |
uint8_t subindex; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
170 |
uint8_t bit_length; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
171 |
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
|
172 |
} 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
|
173 |
|
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
/*****************************************************************************/ |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
|
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
176 |
typedef struct {
|
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
177 |
// inputs |
| 978 | 178 |
uint32_t index; |
179 |
||
180 |
// outputs |
|
181 |
uint32_t data_size; |
|
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
182 |
uint32_t logical_base_address; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
183 |
uint16_t working_counter; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
184 |
uint16_t expected_working_counter; |
| 978 | 185 |
uint32_t fmmu_count; |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
186 |
} ec_ioctl_domain_t; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
187 |
|
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
188 |
/*****************************************************************************/ |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
189 |
|
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
190 |
typedef struct {
|
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
191 |
// inputs |
| 978 | 192 |
uint32_t domain_index; |
193 |
uint32_t fmmu_index; |
|
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
194 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
195 |
// outputs |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
196 |
uint16_t slave_config_alias; |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
197 |
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
|
198 |
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
|
199 |
ec_direction_t dir; |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
200 |
uint32_t logical_address; |
| 978 | 201 |
uint32_t data_size; |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
202 |
} ec_ioctl_domain_fmmu_t; |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
203 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
204 |
/*****************************************************************************/ |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
205 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
206 |
typedef struct {
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
207 |
// inputs |
| 978 | 208 |
uint32_t domain_index; |
209 |
uint32_t data_size; |
|
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
210 |
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
|
211 |
} ec_ioctl_domain_data_t; |
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
212 |
|
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
213 |
/*****************************************************************************/ |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
214 |
|
|
960
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
215 |
typedef struct {
|
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
216 |
// inputs |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
217 |
uint16_t slave_position; |
|
1148
1762296870bd
Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents:
1147
diff
changeset
|
218 |
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
|
219 |
} 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
|
220 |
|
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
221 |
/*****************************************************************************/ |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
222 |
|
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
223 |
typedef struct {
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
224 |
// inputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
225 |
uint16_t slave_position; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
226 |
uint16_t sdo_position; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
227 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
228 |
// outputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
229 |
uint16_t sdo_index; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
230 |
uint8_t max_subindex; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
231 |
int8_t name[EC_IOCTL_STRING_SIZE]; |
|
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|
232 |
} ec_ioctl_slave_sdo_t; |
|
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|
233 |
|
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|
234 |
/*****************************************************************************/ |
|
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|
235 |
|
|
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|
236 |
typedef struct {
|
|
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|
237 |
// inputs |
|
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|
238 |
uint16_t slave_position; |
|
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|
239 |
int sdo_spec; // positive: index, negative: list position |
|
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|
240 |
uint8_t sdo_entry_subindex; |
|
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|
241 |
|
|
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diff
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|
242 |
// outputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
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diff
changeset
|
243 |
uint16_t data_type; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
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diff
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|
244 |
uint16_t bit_length; |
|
990
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|
245 |
int8_t description[EC_IOCTL_STRING_SIZE]; |
|
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|
246 |
} ec_ioctl_slave_sdo_entry_t; |
|
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|
247 |
|
|
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diff
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|
248 |
/*****************************************************************************/ |
|
1aee4aa1def3
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|
249 |
|
|
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Implemented sdo_upload command.
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|
250 |
typedef struct {
|
|
b0e894257743
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|
251 |
// inputs |
|
b0e894257743
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diff
changeset
|
252 |
uint16_t slave_position; |
|
b0e894257743
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|
253 |
uint16_t sdo_index; |
|
b0e894257743
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|
254 |
uint8_t sdo_entry_subindex; |
| 978 | 255 |
uint32_t target_size; |
|
968
b0e894257743
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diff
changeset
|
256 |
uint8_t *target; |
|
b0e894257743
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|
257 |
|
|
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Florian Pose <fp@igh-essen.com>
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diff
changeset
|
258 |
// outputs |
| 978 | 259 |
uint32_t data_size; |
|
1037
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|
260 |
uint32_t abort_code; |
|
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diff
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|
261 |
} ec_ioctl_slave_sdo_upload_t; |
|
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|
262 |
|
|
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diff
changeset
|
263 |
/*****************************************************************************/ |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
264 |
|
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
265 |
typedef struct {
|
|
5868944a6456
Implemented Sdo download via ethercat command.
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|
266 |
// inputs |
|
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Implemented Sdo download via ethercat command.
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diff
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|
267 |
uint16_t slave_position; |
|
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|
268 |
uint16_t sdo_index; |
|
5868944a6456
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diff
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|
269 |
uint8_t sdo_entry_subindex; |
| 978 | 270 |
uint32_t data_size; |
|
974
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|
271 |
uint8_t *data; |
|
1037
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|
272 |
|
|
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|
273 |
// outputs |
|
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Store abort code in sdo request; output it in user space; added some
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1029
diff
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|
274 |
uint32_t abort_code; |
|
1079
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diff
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|
275 |
} ec_ioctl_slave_sdo_download_t; |
|
974
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|
276 |
|
|
5868944a6456
Implemented Sdo download via ethercat command.
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diff
changeset
|
277 |
/*****************************************************************************/ |
|
5868944a6456
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diff
changeset
|
278 |
|
| 978 | 279 |
typedef struct {
|
280 |
// inputs |
|
281 |
uint16_t slave_position; |
|
282 |
uint16_t offset; |
|
283 |
uint32_t nwords; |
|
284 |
uint16_t *words; |
|
|
1079
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Improved locking between ioctl()s and master state machine; separate
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|
285 |
} ec_ioctl_slave_sii_t; |
| 978 | 286 |
|
287 |
/*****************************************************************************/ |
|
288 |
||
|
990
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diff
changeset
|
289 |
typedef struct {
|
|
4f223f3df05a
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diff
changeset
|
290 |
// inputs |
|
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diff
changeset
|
291 |
uint32_t config_index; |
|
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|
292 |
|
|
4f223f3df05a
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changeset
|
293 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
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diff
changeset
|
294 |
uint16_t alias; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
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changeset
|
295 |
uint16_t position; |
|
4f223f3df05a
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diff
changeset
|
296 |
uint32_t vendor_id; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
297 |
uint32_t product_code; |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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parents:
1037
diff
changeset
|
298 |
struct {
|
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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1037
diff
changeset
|
299 |
ec_direction_t dir; |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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1037
diff
changeset
|
300 |
uint32_t pdo_count; |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
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1079
diff
changeset
|
301 |
} syncs[EC_MAX_SYNC_MANAGERS]; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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diff
changeset
|
302 |
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
|
303 |
int32_t slave_position; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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diff
changeset
|
304 |
} ec_ioctl_config_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
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989
diff
changeset
|
305 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
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parents:
989
diff
changeset
|
306 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
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parents:
989
diff
changeset
|
307 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
308 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
309 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
310 |
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
|
311 |
uint8_t sync_index; |
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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parents:
1037
diff
changeset
|
312 |
uint16_t pdo_pos; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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diff
changeset
|
313 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
314 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
315 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
316 |
uint8_t entry_count; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
317 |
int8_t name[EC_IOCTL_STRING_SIZE]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
318 |
} ec_ioctl_config_pdo_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
319 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
320 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
321 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
322 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
323 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
324 |
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
|
325 |
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
|
326 |
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
|
327 |
uint8_t entry_pos; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
328 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
329 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
330 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
331 |
uint8_t subindex; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
332 |
uint8_t bit_length; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
333 |
int8_t name[EC_IOCTL_STRING_SIZE]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
334 |
} ec_ioctl_config_pdo_entry_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
335 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
336 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
337 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
338 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
339 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
340 |
uint32_t config_index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
341 |
uint32_t sdo_pos; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
342 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
343 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
344 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
345 |
uint8_t subindex; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
346 |
uint32_t size; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
347 |
uint8_t data[4]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
348 |
} ec_ioctl_config_sdo_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
349 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
350 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
351 |
|
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
352 |
/** \endcond */ |
|
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
353 |
|
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
354 |
#endif |