1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT master character device IOCTL commands.

    37

*/

    38

    39

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

    40

    41

#ifndef __EC_IOCTL_H__

    42

#define __EC_IOCTL_H__

    43

    44

#include <linux/ioctl.h>

    45

    46

#include "globals.h"

    47

    48

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

    49

    50

#define EC_IOCTL_TYPE    0xa4

    51

    52

#define EC_IO(nr)          _IO(EC_IOCTL_TYPE,nr)

    53

#define EC_IOR(nr,type)   _IOR(EC_IOCTL_TYPE,nr,type)

    54

#define EC_IOW(nr,type)   _IOW(EC_IOCTL_TYPE,nr,type)

    55

#define EC_IOWR(nr,type) _IOWR(EC_IOCTL_TYPE,nr,type)

    56

    57

#define EC_IOCTL_MASTER            EC_IOR(0x00, ec_ioctl_master_t)

    58

#define EC_IOCTL_SLAVE            EC_IOWR(0x01, ec_ioctl_slave_t)

    59

#define EC_IOCTL_SYNC             EC_IOWR(0x02, ec_ioctl_sync_t)

    60

#define EC_IOCTL_PDO              EC_IOWR(0x03, ec_ioctl_pdo_t)

    61

#define EC_IOCTL_PDO_ENTRY        EC_IOWR(0x04, ec_ioctl_pdo_entry_t)

    62

#define EC_IOCTL_DOMAIN           EC_IOWR(0x05, ec_ioctl_domain_t)

    63

#define EC_IOCTL_DOMAIN_FMMU      EC_IOWR(0x06, ec_ioctl_domain_fmmu_t)

    64

#define EC_IOCTL_DATA             EC_IOWR(0x07, ec_ioctl_data_t)

    65

#define EC_IOCTL_SET_DEBUG          EC_IO(0x08)

    66

#define EC_IOCTL_SLAVE_STATE       EC_IOW(0x09, ec_ioctl_slave_state_t)

    67

#define EC_IOCTL_SDO              EC_IOWR(0x0a, ec_ioctl_sdo_t)

    68

#define EC_IOCTL_SDO_ENTRY        EC_IOWR(0x0b, ec_ioctl_sdo_entry_t)

    69

#define EC_IOCTL_SDO_UPLOAD       EC_IOWR(0x0c, ec_ioctl_sdo_upload_t)

    70

#define EC_IOCTL_SDO_DOWNLOAD     EC_IOWR(0x0d, ec_ioctl_sdo_download_t)

    71

#define EC_IOCTL_SII_READ         EC_IOWR(0x0e, ec_ioctl_sii_t)

    72

#define EC_IOCTL_SII_WRITE         EC_IOW(0x0f, ec_ioctl_sii_t)

    73

#define EC_IOCTL_CONFIG           EC_IOWR(0x10, ec_ioctl_config_t)

    74

#define EC_IOCTL_CONFIG_PDO       EC_IOWR(0x11, ec_ioctl_config_pdo_t)

    75

#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x12, ec_ioctl_config_pdo_entry_t)

    76

#define EC_IOCTL_CONFIG_SDO       EC_IOWR(0x13, ec_ioctl_config_sdo_t)

    77

    78

#define EC_IOCTL_STRING_SIZE 64

    79

    80

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

    81

    82

typedef struct {

    83

    uint32_t slave_count;

    84

    uint32_t config_count;

    85

    uint32_t domain_count;

    86

    uint8_t phase;

    87

    struct {

    88

        uint8_t address[6];

    89

        uint8_t attached;

    90

        uint32_t tx_count;

    91

        uint32_t rx_count;

    92

    } devices[2];

    93

} ec_ioctl_master_t;

    94

    95

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

    96

    97

typedef struct {

    98

    // input

    99

    uint16_t position;

   100

   101

    // outputs

   102

    uint32_t vendor_id;

   103

    uint32_t product_code;

   104

    uint32_t revision_number;

   105

    uint32_t serial_number;

   106

    uint16_t alias;

   107

    uint16_t rx_mailbox_offset;

   108

    uint16_t rx_mailbox_size;

   109

    uint16_t tx_mailbox_offset;

   110

    uint16_t tx_mailbox_size;

   111

    uint16_t mailbox_protocols;

   112

    uint8_t has_general_category;

   113

    ec_sii_coe_details_t coe_details;

   114

    ec_sii_general_flags_t general_flags;

   115

    int16_t current_on_ebus;

   116

    uint8_t state;

   117

    uint8_t error_flag;

   118

    uint8_t sync_count;

   119

    uint16_t sdo_count;

   120

    uint32_t sii_nwords;

   121

    char name[EC_IOCTL_STRING_SIZE];

   122

} ec_ioctl_slave_t;

   123

   124

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

   125

   126

typedef struct {

   127

    // inputs

   128

    uint16_t slave_position;

   129

    uint32_t sync_index;

   130

   131

    // outputs

   132

    uint16_t physical_start_address;

   133

    uint16_t default_size;

   134

    uint8_t control_register;

   135

    uint8_t enable;

   136

    uint8_t assign_source;

   137

    uint8_t pdo_count;

   138

} ec_ioctl_sync_t;

   139

   140

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

   141

   142

typedef struct {

   143

    // inputs

   144

    uint16_t slave_position;

   145

    uint32_t sync_index;

   146

    uint32_t pdo_pos;

   147

   148

    // outputs

   149

    uint8_t dir;

   150

    uint16_t index;

   151

    uint8_t entry_count;

   152

    int8_t name[EC_IOCTL_STRING_SIZE];

   153

} ec_ioctl_pdo_t;

   154

   155

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

   156

   157

typedef struct {

   158

    // inputs

   159

    uint16_t slave_position;

   160

    uint32_t sync_index;

   161

    uint32_t pdo_pos;

   162

    uint32_t entry_pos;

   163

   164

    // outputs

   165

    uint16_t index;

   166

    uint8_t subindex;

   167

    uint8_t bit_length;

   168

    int8_t name[EC_IOCTL_STRING_SIZE];

   169

} ec_ioctl_pdo_entry_t;

   170

   171

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

   172

   173

typedef struct {

   174

    // inputs

   175

	uint32_t index;

   176

   177

    // outputs

   178

	uint32_t data_size;

   179

	uint32_t logical_base_address;

   180

	uint16_t working_counter;

   181

	uint16_t expected_working_counter;

   182

    uint32_t fmmu_count;

   183

} ec_ioctl_domain_t;

   184

   185

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

   186

   187

typedef struct {

   188

    // inputs

   189

	uint32_t domain_index;

   190

	uint32_t fmmu_index;

   191

   192

    // outputs

   193

    uint16_t slave_config_alias;

   194

    uint16_t slave_config_position;

   195

    uint8_t fmmu_dir;

   196

	uint32_t logical_address;

   197

    uint32_t data_size;

   198

} ec_ioctl_domain_fmmu_t;

   199

   200

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

   201

   202

typedef struct {

   203

    // inputs

   204

	uint32_t domain_index;

   205

    uint32_t data_size;

   206

    uint8_t *target;

   207

} ec_ioctl_data_t;

   208

   209

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

   210

   211

typedef struct {

   212

    // inputs

   213

	uint16_t slave_position;

   214

    uint8_t requested_state;

   215

} ec_ioctl_slave_state_t;

   216

   217

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

   218

   219

typedef struct {

   220

    // inputs

   221

    uint16_t slave_position;

   222

    uint16_t sdo_position;

   223

   224

    // outputs

   225

    uint16_t sdo_index;

   226

    uint8_t max_subindex;

   227

    int8_t name[EC_IOCTL_STRING_SIZE];

   228

} ec_ioctl_sdo_t;

   229

   230

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

   231

   232

typedef struct {

   233

    // inputs

   234

    uint16_t slave_position;

   235

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

   236

    uint8_t sdo_entry_subindex;

   237

   238

    // outputs

   239

    uint16_t data_type;

   240

    uint16_t bit_length;

   241

    int8_t description[EC_IOCTL_STRING_SIZE];

   242

} ec_ioctl_sdo_entry_t;

   243

   244

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

   245

   246

typedef struct {

   247

    // inputs

   248

    uint16_t slave_position;

   249

    uint16_t sdo_index;

   250

    uint8_t sdo_entry_subindex;

   251

    uint32_t target_size;

   252

    uint8_t *target;

   253

   254

    // outputs

   255

    uint32_t data_size;

   256

    uint32_t abort_code;

   257

} ec_ioctl_sdo_upload_t;

   258

   259

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

   260

   261

typedef struct {

   262

    // inputs

   263

    uint16_t slave_position;

   264

    uint16_t sdo_index;

   265

    uint8_t sdo_entry_subindex;

   266

    uint32_t data_size;

   267

    uint8_t *data;

   268

   269

    // outputs

   270

    uint32_t abort_code;

   271

} ec_ioctl_sdo_download_t;

   272

   273

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

   274

   275

typedef struct {

   276

    // inputs

   277

    uint16_t slave_position;

   278

    uint16_t offset;

   279

    uint32_t nwords;

   280

    uint16_t *words;

   281

} ec_ioctl_sii_t;

   282

   283

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

   284

   285

typedef struct {

   286

    // inputs

   287

    uint32_t config_index;

   288

   289

    // outputs

   290

    uint16_t alias;

   291

    uint16_t position;

   292

    uint32_t vendor_id;

   293

    uint32_t product_code;

   294

    uint32_t pdo_count[2];

   295

    uint32_t sdo_count;

   296

    uint8_t attached;

   297

} ec_ioctl_config_t;

   298

   299

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

   300

   301

typedef struct {

   302

    // inputs

   303

    uint32_t config_index;

   304

    uint32_t direction;

   305

    uint32_t pdo_pos;

   306

   307

    // outputs

   308

    uint16_t index;

   309

    uint8_t entry_count;

   310

    int8_t name[EC_IOCTL_STRING_SIZE];

   311

} ec_ioctl_config_pdo_t;

   312

   313

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

   314

   315

typedef struct {

   316

    // inputs

   317

    uint32_t config_index;

   318

    uint32_t direction;

   319

    uint32_t pdo_pos;

   320

    uint32_t entry_pos;

   321

   322

    // outputs

   323

    uint16_t index;

   324

    uint8_t subindex;

   325

    uint8_t bit_length;

   326

    int8_t name[EC_IOCTL_STRING_SIZE];

   327

} ec_ioctl_config_pdo_entry_t;

   328

   329

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

   330

   331

typedef struct {

   332

    // inputs

   333

    uint32_t config_index;

   334

    uint32_t sdo_pos;

   335

   336

    // outputs

   337

    uint16_t index;

   338

    uint8_t subindex;

   339

    uint32_t size;

   340

    uint8_t data[4];

   341

} ec_ioctl_config_sdo_t;

   342

   343

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

   344

   345

#endif