etherlabmaster: master/ioctl.h@36c23e993040 (annotated)

922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	11	* published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	12	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	16	* Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	17	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	/**
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	\file
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	EtherCAT master character device IOCTL commands.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	*/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#ifndef __EC_IOCTL_H__
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#define __EC_IOCTL_H__
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
971 d169890332fe Using Linux ioctl() number generation macros. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	40	#include <linux/ioctl.h>
d169890332fe Using Linux ioctl() number generation macros. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	41
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	42	#include "globals.h"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	43
971 d169890332fe Using Linux ioctl() number generation macros. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	44	/*****************************************************************************/
d169890332fe Using Linux ioctl() number generation macros. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	45
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	46	/** \cond */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	47
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	48	#define EC_IOCTL_TYPE 0xa4
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	49
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	50	#define EC_IO(nr) _IO(EC_IOCTL_TYPE, nr)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	51	#define EC_IOR(nr, type) _IOR(EC_IOCTL_TYPE, nr, type)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	52	#define EC_IOW(nr, type) _IOW(EC_IOCTL_TYPE, nr, type)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	53	#define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	54
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	55	// Command-line tool
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	56	#define EC_IOCTL_MASTER EC_IOR(0x00, ec_ioctl_master_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	57	#define EC_IOCTL_SLAVE EC_IOWR(0x01, ec_ioctl_slave_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	58	#define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x02, ec_ioctl_slave_sync_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	59	#define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	60	#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	61	#define EC_IOCTL_DOMAIN EC_IOWR(0x05, ec_ioctl_domain_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	62	#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x06, ec_ioctl_domain_fmmu_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	63	#define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x07, ec_ioctl_domain_data_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	64	#define EC_IOCTL_MASTER_DEBUG EC_IO(0x08)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	65	#define EC_IOCTL_SLAVE_STATE EC_IOW(0x09, ec_ioctl_slave_state_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	66	#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0a, ec_ioctl_slave_sdo_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	67	#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	68	#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	69	#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	70	#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0e, ec_ioctl_slave_sii_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	71	#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x0f, ec_ioctl_slave_sii_t)
1388 3c886ec376f5 Renamed phy_ commands to reg_. Florian Pose <fp@igh-essen.com> parents: 1382 diff changeset	72	#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x10, ec_ioctl_slave_reg_t)
3c886ec376f5 Renamed phy_ commands to reg_. Florian Pose <fp@igh-essen.com> parents: 1382 diff changeset	73	#define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x11, ec_ioctl_slave_reg_t)
1335 09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	74	#define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x12, 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	75	#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x13, 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	76	#define EC_IOCTL_CONFIG EC_IOWR(0x14, ec_ioctl_config_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	77	#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x15, ec_ioctl_config_pdo_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	78	#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x16, ec_ioctl_config_pdo_entry_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	79	#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x17, ec_ioctl_config_sdo_t)
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: 1242 diff changeset	80
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	81	// Application interface
1335 09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	82	#define EC_IOCTL_REQUEST EC_IO(0x18)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	83	#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x19)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	84	#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1a, ec_ioctl_config_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	85	#define EC_IOCTL_ACTIVATE EC_IOR(0x1b, size_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	86	#define EC_IOCTL_SEND EC_IO(0x1c)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	87	#define EC_IOCTL_RECEIVE EC_IO(0x1d)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	88	#define EC_IOCTL_MASTER_STATE EC_IOR(0x1e, ec_master_state_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	89	#define EC_IOCTL_SC_SYNC EC_IOW(0x1f, ec_ioctl_config_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	90	#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x20, ec_ioctl_config_pdo_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	91	#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x21, ec_ioctl_config_pdo_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	92	#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x22, ec_ioctl_add_pdo_entry_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	93	#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x23, ec_ioctl_config_pdo_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	94	#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x24, ec_ioctl_reg_pdo_entry_t)
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	95	#define EC_IOCTL_SC_SDO EC_IOW(0x25, ec_ioctl_sc_sdo_t)
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	96	#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x26, ec_ioctl_sdo_request_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	97	#define EC_IOCTL_SC_VOE EC_IOWR(0x27, ec_ioctl_voe_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	98	#define EC_IOCTL_SC_STATE EC_IOWR(0x28, ec_ioctl_sc_state_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	99	#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x29)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	100	#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x2a)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	101	#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x2b)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	102	#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x2c, ec_ioctl_domain_state_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	103	#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x2d, ec_ioctl_sdo_request_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	104	#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x2e, ec_ioctl_sdo_request_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	105	#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x2f, ec_ioctl_sdo_request_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	106	#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x30, ec_ioctl_sdo_request_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	107	#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x31, ec_ioctl_sdo_request_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	108	#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x32, ec_ioctl_voe_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	109	#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x33, ec_ioctl_voe_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	110	#define EC_IOCTL_VOE_READ EC_IOW(0x34, ec_ioctl_voe_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	111	#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x35, ec_ioctl_voe_t)
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 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> parents: 1337 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. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	115
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	116	/*****************************************************************************/
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	117
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	118	#define EC_IOCTL_STRING_SIZE 64
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	119
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	120	/*****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	121
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	122	typedef struct {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	123	uint32_t slave_count;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	124	uint32_t config_count;
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	125	uint32_t domain_count;
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 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: 956 diff changeset	127	struct {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	128	uint8_t address[6];
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	129	uint8_t attached;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	130	uint32_t tx_count;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	131	uint32_t rx_count;
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	132	} devices[2];
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	133	} ec_ioctl_master_t;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> 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> parents: 956 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. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	138	// input
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	139	uint16_t position;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 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;
1379 cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	160	ec_slave_port_desc_t ports[EC_MAX_PORTS];
cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	161	uint8_t fmmu_bit;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	162	uint8_t dc_supported;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	163	ec_slave_dc_range_t dc_range;
1148 1762296870bd Renamed state field to al_state. Florian Pose <fp@igh-essen.com> parents: 1147 diff changeset	164	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	165	uint8_t error_flag;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	166	uint8_t sync_count;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	167	uint16_t sdo_count;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	168	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	169	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	170	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	171	char order[EC_IOCTL_STRING_SIZE];
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	172	char name[EC_IOCTL_STRING_SIZE];
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	173	} ec_ioctl_slave_t;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	174
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	175	/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	176
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	177	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	178	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	179	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	180	uint32_t sync_index;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	181
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	182	// outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	183	uint16_t physical_start_address;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	184	uint16_t default_size;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	185	uint8_t control_register;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	186	uint8_t enable;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	187	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	188	} ec_ioctl_slave_sync_t;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	189
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	190	/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	191
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	192	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	193	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	194	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	195	uint32_t sync_index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	196	uint32_t pdo_pos;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	197
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	198	// outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	199	uint16_t index;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	200	uint8_t entry_count;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	201	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	202	} ec_ioctl_slave_sync_pdo_t;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	203
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	204	/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	205
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	206	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	207	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	208	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	209	uint32_t sync_index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	210	uint32_t pdo_pos;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	211	uint32_t entry_pos;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	212
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	213	// outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	214	uint16_t index;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	215	uint8_t subindex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	216	uint8_t bit_length;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	217	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	218	} 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	219
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	221
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	222	typedef struct {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	223	// inputs
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	224	uint32_t index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	225
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	226	// outputs
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	227	uint32_t data_size;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	228	uint32_t logical_base_address;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	229	uint16_t working_counter;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	230	uint16_t expected_working_counter;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	231	uint32_t fmmu_count;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	232	} ec_ioctl_domain_t;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	233
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	234	/*****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	235
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	236	typedef struct {
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	237	// inputs
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	238	uint32_t domain_index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	239	uint32_t fmmu_index;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	240
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	241	// outputs
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	242	uint16_t slave_config_alias;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	243	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	244	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	245	ec_direction_t dir;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	246	uint32_t logical_address;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	247	uint32_t data_size;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	248	} ec_ioctl_domain_fmmu_t;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	249
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	250	/*****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	251
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	252	typedef struct {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	253	// inputs
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	254	uint32_t domain_index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	255	uint32_t data_size;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	256	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	257	} ec_ioctl_domain_data_t;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	258
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	259	/*****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	260
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	261	typedef struct {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	262	// inputs
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	263	uint16_t slave_position;
1148 1762296870bd Renamed state field to al_state. Florian Pose <fp@igh-essen.com> parents: 1147 diff changeset	264	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	265	} 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	266
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	267	/*****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	268
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	269	typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	270	// inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	271	uint16_t slave_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	272	uint16_t sdo_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	273
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	274	// outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	275	uint16_t sdo_index;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	276	uint8_t max_subindex;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	277	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	278	} ec_ioctl_slave_sdo_t;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	279
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	280	/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	281
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	282	typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	283	// inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	284	uint16_t slave_position;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	285	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	286	uint8_t sdo_entry_subindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	287
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	288	// outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	289	uint16_t data_type;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	290	uint16_t bit_length;
1382 cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1379 diff changeset	291	uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];
cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1379 diff changeset	292	uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	293	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	294	} 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	295
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	296	/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	297
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	298	typedef struct {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	299	// inputs
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	300	uint16_t slave_position;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	301	uint16_t sdo_index;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	302	uint8_t sdo_entry_subindex;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	303	uint32_t target_size;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	304	uint8_t *target;
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	// outputs
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	307	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	308	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	309	} ec_ioctl_slave_sdo_upload_t;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	310
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	311	/*****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	312
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	313	typedef struct {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	314	// inputs
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	315	uint16_t slave_position;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	316	uint16_t sdo_index;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	317	uint8_t sdo_entry_subindex;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	318	uint32_t data_size;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	319	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	320
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	321	// 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	322	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	323	} ec_ioctl_slave_sdo_download_t;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	324
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	325	/*****************************************************************************/
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	326
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	327	typedef struct {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	328	// inputs
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	329	uint16_t slave_position;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	330	uint16_t offset;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	331	uint32_t nwords;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	332	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	333	} ec_ioctl_slave_sii_t;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	334
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	335	/*****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	336
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	337	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	338	// inputs
1200 ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	339	uint16_t slave_position;
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	340	uint16_t offset;
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	341	uint16_t length;
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	342	uint8_t *data;
1388 3c886ec376f5 Renamed phy_ commands to reg_. Florian Pose <fp@igh-essen.com> parents: 1382 diff changeset	343	} ec_ioctl_slave_reg_t;
1200 ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	344
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	345	/*****************************************************************************/
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	346
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	347	typedef struct {
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	348	// 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	349	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	350	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	351	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	352	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	353
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	354	// outputs
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	355	uint32_t data_size;
1336 e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	356	uint32_t result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	357	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	358	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	359	} 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	360
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	361	/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	362
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	363	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	364	// inputs
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	365	uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	366
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	367	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	368	uint16_t alias;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	369	uint16_t position;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	370	uint32_t vendor_id;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	371	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	372	struct {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	373	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	374	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	375	} syncs[EC_MAX_SYNC_MANAGERS];
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	376	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	377	int32_t slave_position;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	378	} ec_ioctl_config_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	379
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	380	/*****************************************************************************/
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	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	383	// inputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	384	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	385	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	386	uint16_t pdo_pos;
990 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	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	389	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	390	uint8_t entry_count;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	391	int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	392	} ec_ioctl_config_pdo_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	393
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	394	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	395
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	396	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	397	// inputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	398	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	399	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	400	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	401	uint8_t entry_pos;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	402
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	403	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	404	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	405	uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	406	uint8_t bit_length;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	407	int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	408	} ec_ioctl_config_pdo_entry_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	409
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
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	412	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	413	// inputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	414	uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	415	uint32_t sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	416
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	417	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	418	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	419	uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	420	uint32_t size;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	421	uint8_t data[4];
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	422	} ec_ioctl_config_sdo_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	423
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	424	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	425
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	426	typedef struct {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	427	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	428	uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	429	uint16_t pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	430	uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	431	uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	432	uint8_t entry_bit_length;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	433	} ec_ioctl_add_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	434
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	435	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	436
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	437	typedef struct {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	438	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	439	uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	440	uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	441	uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	442	uint32_t domain_index;
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	// outputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	445	unsigned int bit_position;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	446	} ec_ioctl_reg_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	447
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	448	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	449
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	450	typedef struct {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	451	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	452	uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	453	uint16_t index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	454	uint8_t subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	455	const uint8_t *data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	456	size_t size;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	457	} ec_ioctl_sc_sdo_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	458
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	459	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	460
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	461	typedef struct {
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	462	// inputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	463	uint32_t config_index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	464
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	465	// outputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	466	ec_slave_config_state_t *state;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	467	} ec_ioctl_sc_state_t;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	468
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	469	/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	470
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	471	typedef struct {
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	472	// inputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	473	uint32_t domain_index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	474
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	475	// outputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	476	ec_domain_state_t *state;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	477	} ec_ioctl_domain_state_t;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	478
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	479	/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	480
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	481	typedef struct {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	482	// inputs
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	483	uint32_t config_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	484
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	485	// inputs/outputs
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	486	uint32_t request_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	487	uint16_t sdo_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	488	uint8_t sdo_subindex;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	489	size_t size;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	490	uint8_t *data;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	491	uint32_t timeout;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	492	ec_request_state_t state;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	493	} ec_ioctl_sdo_request_t;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	494
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	495	/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	496
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	497	typedef struct {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	498	// inputs
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	499	uint32_t config_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	500
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	501	// inputs/outputs
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	502	uint32_t voe_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	503	uint32_t *vendor_id;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	504	uint16_t *vendor_type;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	505	size_t size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	506	uint8_t *data;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	507	ec_request_state_t state;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	508	} ec_ioctl_voe_t;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	509
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	510	/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	511
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	512	/** \endcond */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	513
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	514	#endif

author	Florian Pose <fp@igh-essen.com>
	Fri, 17 Apr 2009 11:07:27 +0000
changeset 1398	36c23e993040
parent 1388	3c886ec376f5
child 1401	96baef8a3162
permissions	-rw-r--r--