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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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

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

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

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 *

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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

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/**

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   \file

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   EtherCAT master character device IOCTL commands.

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*/

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

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#ifndef __EC_IOCTL_H__

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#define __EC_IOCTL_H__

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#include <linux/ioctl.h>

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#include "globals.h"

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

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    46

/** \cond */

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#define EC_IOCTL_TYPE 0xa4

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

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

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

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

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// Command-line tool

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#define EC_IOCTL_MASTER                EC_IOR(0x00, ec_ioctl_master_t)

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#define EC_IOCTL_SLAVE                EC_IOWR(0x01, ec_ioctl_slave_t)

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#define EC_IOCTL_SLAVE_SYNC           EC_IOWR(0x02, ec_ioctl_slave_sync_t)

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#define EC_IOCTL_SLAVE_SYNC_PDO       EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t)

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#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t)

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#define EC_IOCTL_DOMAIN               EC_IOWR(0x05, ec_ioctl_domain_t)

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#define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x06, ec_ioctl_domain_fmmu_t)

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#define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x07, ec_ioctl_domain_data_t)

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#define EC_IOCTL_MASTER_DEBUG           EC_IO(0x08)

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#define EC_IOCTL_SLAVE_STATE           EC_IOW(0x09, ec_ioctl_slave_state_t)

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#define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0a, ec_ioctl_slave_sdo_t)

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#define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t)

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#define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t)

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#define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t)

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#define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x0e, ec_ioctl_slave_sii_t)

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#define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x0f, ec_ioctl_slave_sii_t)

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#define EC_IOCTL_SLAVE_REG_READ       EC_IOWR(0x10, ec_ioctl_slave_reg_t)

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#define EC_IOCTL_SLAVE_REG_WRITE       EC_IOW(0x11, ec_ioctl_slave_reg_t)

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#define EC_IOCTL_SLAVE_FOE_READ       EC_IOWR(0x12, ec_ioctl_slave_foe_t)

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#define EC_IOCTL_SLAVE_FOE_WRITE       EC_IOW(0x13, ec_ioctl_slave_foe_t)

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#define EC_IOCTL_CONFIG               EC_IOWR(0x14, ec_ioctl_config_t)

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#define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x15, ec_ioctl_config_pdo_t)

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#define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x16, ec_ioctl_config_pdo_entry_t)

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#define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x17, ec_ioctl_config_sdo_t)

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#define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x18, ec_ioctl_eoe_handler_t)

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// Application interface

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#define EC_IOCTL_REQUEST                EC_IO(0x19)

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#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x1a)

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#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x1b, ec_ioctl_config_t)

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#define EC_IOCTL_ACTIVATE              EC_IOR(0x1c, size_t)

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#define EC_IOCTL_SEND                   EC_IO(0x1d)

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#define EC_IOCTL_RECEIVE                EC_IO(0x1e)

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#define EC_IOCTL_MASTER_STATE          EC_IOR(0x1f, ec_master_state_t)

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#define EC_IOCTL_APP_TIME              EC_IOW(0x20, ec_ioctl_app_time_t)

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#define EC_IOCTL_SYNC_REF               EC_IO(0x21)

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#define EC_IOCTL_SYNC_SLAVES            EC_IO(0x22)

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#define EC_IOCTL_SC_SYNC               EC_IOW(0x23, ec_ioctl_config_t)

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#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x24, ec_ioctl_config_t)

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#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x25, ec_ioctl_config_pdo_t)

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#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x26, ec_ioctl_config_pdo_t)

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#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x27, ec_ioctl_add_pdo_entry_t)

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#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x28, ec_ioctl_config_pdo_t)

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#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x29, ec_ioctl_reg_pdo_entry_t)

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#define EC_IOCTL_SC_DC                 EC_IOW(0x2a, ec_ioctl_config_t)

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#define EC_IOCTL_SC_SDO                EC_IOW(0x2b, ec_ioctl_sc_sdo_t)

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#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x2c, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_SC_VOE               EC_IOWR(0x2d, ec_ioctl_voe_t)

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#define EC_IOCTL_SC_STATE             EC_IOWR(0x2e, ec_ioctl_sc_state_t)

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#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x2f)

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#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x20)

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#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x31)

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#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x32, ec_ioctl_domain_state_t)

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#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x33, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x34, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x35, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x36, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x37, ec_ioctl_sdo_request_t)

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#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x38, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x39, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_READ              EC_IOW(0x3a, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x3b, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x3c, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x3d, ec_ioctl_voe_t)

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#define EC_IOCTL_VOE_DATA             EC_IOWR(0x3e, ec_ioctl_voe_t)

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

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#define EC_IOCTL_STRING_SIZE 64

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

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typedef struct {

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    uint32_t slave_count;

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    uint32_t config_count;

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    uint32_t domain_count;

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    uint32_t eoe_handler_count;

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    uint8_t phase;

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    uint8_t scan_busy;

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    struct {

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        uint8_t address[6];

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        uint8_t attached;

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        uint8_t link_state;

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        uint32_t tx_count;

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        uint32_t rx_count;

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    } devices[2];

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    uint64_t app_time;

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    uint16_t ref_clock;

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} ec_ioctl_master_t;

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   146

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

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   148

typedef struct {

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    // input

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    uint16_t position;

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    // outputs

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    uint32_t vendor_id;

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    uint32_t product_code;

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    uint32_t revision_number;

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    uint32_t serial_number;

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    uint16_t alias;

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    uint16_t boot_rx_mailbox_offset;

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    uint16_t boot_rx_mailbox_size;

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    uint16_t boot_tx_mailbox_offset;

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    uint16_t boot_tx_mailbox_size;

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    uint16_t std_rx_mailbox_offset;

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    uint16_t std_rx_mailbox_size;

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    uint16_t std_tx_mailbox_offset;

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    uint16_t std_tx_mailbox_size;

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    uint16_t mailbox_protocols;

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    uint8_t has_general_category;

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    ec_sii_coe_details_t coe_details;

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    ec_sii_general_flags_t general_flags;

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    int16_t current_on_ebus;

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    struct {

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        ec_slave_port_desc_t desc;

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        ec_slave_port_link_t link;

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        uint32_t receive_time;

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        uint16_t next_slave;

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        uint32_t delay_to_next_dc;

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    } ports[EC_MAX_PORTS];

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    uint8_t fmmu_bit;

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    uint8_t dc_supported;

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    ec_slave_dc_range_t dc_range;

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    uint8_t has_dc_system_time;

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    uint32_t transmission_delay;

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    uint8_t al_state;

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    uint8_t error_flag;

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    uint8_t sync_count;

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    uint16_t sdo_count;

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    uint32_t sii_nwords;

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    char group[EC_IOCTL_STRING_SIZE];

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    char image[EC_IOCTL_STRING_SIZE];

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    char order[EC_IOCTL_STRING_SIZE];

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    char name[EC_IOCTL_STRING_SIZE];

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} ec_ioctl_slave_t;

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

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typedef struct {

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    // inputs

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    uint16_t slave_position;

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    uint32_t sync_index;

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    // outputs

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    uint16_t physical_start_address;

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    uint16_t default_size;

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    uint8_t control_register;

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    uint8_t enable;

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    uint8_t pdo_count;

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} ec_ioctl_slave_sync_t;

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

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typedef struct {

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    // inputs

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    uint16_t slave_position;

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    uint32_t sync_index;

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    uint32_t pdo_pos;

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    // outputs

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    uint16_t index;

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    uint8_t entry_count;

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    int8_t name[EC_IOCTL_STRING_SIZE];

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} ec_ioctl_slave_sync_pdo_t;

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

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typedef struct {

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    // inputs

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    uint16_t slave_position;

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    uint32_t sync_index;

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    uint32_t pdo_pos;

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    uint32_t entry_pos;

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    // outputs

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    uint16_t index;

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    uint8_t subindex;

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    uint8_t bit_length;

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    int8_t name[EC_IOCTL_STRING_SIZE];

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} ec_ioctl_slave_sync_pdo_entry_t;

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

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typedef struct {

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    // inputs

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    uint32_t index;

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    // outputs

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    uint32_t data_size;

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    uint32_t logical_base_address;

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    uint16_t working_counter;

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    uint16_t expected_working_counter;

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    uint32_t fmmu_count;

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} ec_ioctl_domain_t;

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

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typedef struct {

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    // inputs

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    uint32_t domain_index;

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    uint32_t fmmu_index;

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    // outputs

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    uint16_t slave_config_alias;

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    uint16_t slave_config_position;

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    uint8_t sync_index;

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    ec_direction_t dir;

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    uint32_t logical_address;

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    uint32_t data_size;

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} ec_ioctl_domain_fmmu_t;

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

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typedef struct {

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    // inputs

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    uint32_t domain_index;

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    uint32_t data_size;

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    uint8_t *target;

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} ec_ioctl_domain_data_t;

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

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typedef struct {

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    // inputs

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    uint16_t slave_position;

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    uint8_t al_state;

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} ec_ioctl_slave_state_t;

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

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   288

typedef struct {

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    // inputs

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    uint16_t slave_position;

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    uint16_t sdo_position;

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    // outputs

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    uint16_t sdo_index;

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    uint8_t max_subindex;

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    int8_t name[EC_IOCTL_STRING_SIZE];

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} ec_ioctl_slave_sdo_t;

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   299

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

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typedef struct {

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    // inputs

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    uint16_t slave_position;

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

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    uint8_t sdo_entry_subindex;

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    // outputs

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    uint16_t data_type;

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    uint16_t bit_length;

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    uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];

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    uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];

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    int8_t description[EC_IOCTL_STRING_SIZE];

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} ec_ioctl_slave_sdo_entry_t;

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   315

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

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   317

typedef struct {

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    // inputs

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    uint16_t slave_position;

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    uint16_t sdo_index;

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    uint8_t sdo_entry_subindex;

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    uint32_t target_size;

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    uint8_t *target;

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    // outputs

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    uint32_t data_size;

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    uint32_t abort_code;

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} ec_ioctl_slave_sdo_upload_t;

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

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   332

typedef struct {

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    // inputs

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    uint16_t slave_position;

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    uint16_t sdo_index;

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    uint8_t sdo_entry_subindex;

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    uint32_t data_size;

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    uint8_t *data;

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    // outputs

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    uint32_t abort_code;

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} ec_ioctl_slave_sdo_download_t;

   343

   344

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

   345

   346

typedef struct {

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    // inputs

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    uint16_t slave_position;

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    uint16_t offset;

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    uint32_t nwords;

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    uint16_t *words;

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} ec_ioctl_slave_sii_t;

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   354

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

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   356

typedef struct {

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    // inputs

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    uint16_t slave_position;

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    uint16_t offset;

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    uint16_t length;

   361

    uint8_t *data;

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} ec_ioctl_slave_reg_t;

   363

   364

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

   365

   366

typedef struct {

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    // inputs

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    uint16_t slave_position;

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    uint16_t offset;

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    uint32_t buffer_size;

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    uint8_t *buffer;

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    // outputs

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    uint32_t data_size;

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    uint32_t result;

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    uint32_t error_code;

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    char file_name[32];

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} ec_ioctl_slave_foe_t;

   379

   380

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

   381

   382

typedef struct {

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    // inputs

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    uint32_t config_index;

   385

   386

    // outputs

   387

    uint16_t alias;

   388

    uint16_t position;

   389

    uint32_t vendor_id;

   390

    uint32_t product_code;

   391

    struct {

   392

        ec_direction_t dir;

   393

        ec_watchdog_mode_t watchdog_mode;

   394

        uint32_t pdo_count;

   395

        uint8_t config_this;

   396

    } syncs[EC_MAX_SYNC_MANAGERS];

   397

    uint16_t watchdog_divider;

   398

    uint16_t watchdog_intervals;

   399

    uint32_t sdo_count;

   400

    int32_t slave_position;

   401

    uint16_t dc_assign_activate;

   402

    ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT];

   403

} ec_ioctl_config_t;

   404

   405

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

   406

   407

typedef struct {

   408

    // inputs

   409

    uint32_t config_index;

   410

    uint8_t sync_index;

   411

    uint16_t pdo_pos;

   412

   413

    // outputs

   414

    uint16_t index;

   415

    uint8_t entry_count;

   416

    int8_t name[EC_IOCTL_STRING_SIZE];

   417

} ec_ioctl_config_pdo_t;

   418

   419

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

   420

   421

typedef struct {

   422

    // inputs

   423

    uint32_t config_index;

   424

    uint8_t sync_index;

   425

    uint16_t pdo_pos;

   426

    uint8_t entry_pos;

   427

   428

    // outputs

   429

    uint16_t index;

   430

    uint8_t subindex;

   431

    uint8_t bit_length;

   432

    int8_t name[EC_IOCTL_STRING_SIZE];

   433

} ec_ioctl_config_pdo_entry_t;

   434

   435

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

   436

   437

typedef struct {

   438

    // inputs

   439

    uint32_t config_index;

   440

    uint32_t sdo_pos;

   441

   442

    // outputs

   443

    uint16_t index;

   444

    uint8_t subindex;

   445

    uint32_t size;

   446

    uint8_t data[4];

   447

} ec_ioctl_config_sdo_t;

   448

   449

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

   450

   451

typedef struct {

   452

    // input

   453

    uint16_t eoe_index;

   454

   455

    // outputs

   456

    char name[EC_DATAGRAM_NAME_SIZE];

   457

    uint16_t slave_position;

   458

    uint8_t open;

   459

    uint32_t rx_bytes;

   460

    uint32_t rx_rate;

   461

    uint32_t tx_bytes;

   462

    uint32_t tx_rate;

   463

    uint32_t tx_queued_frames;

   464

    uint32_t tx_queue_size;

   465

} ec_ioctl_eoe_handler_t;

   466

   467

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

   468

   469

typedef struct {

   470

    // inputs

   471

    uint32_t config_index;

   472

    uint16_t pdo_index;

   473

    uint16_t entry_index;

   474

    uint8_t entry_subindex;

   475

    uint8_t entry_bit_length;

   476

} ec_ioctl_add_pdo_entry_t;

   477

   478

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

   479

   480

typedef struct {

   481

    // inputs

   482

    uint32_t config_index;

   483

    uint16_t entry_index;

   484

    uint8_t entry_subindex;

   485

    uint32_t domain_index;

   486

   487

    // outputs

   488

    unsigned int bit_position;

   489

} ec_ioctl_reg_pdo_entry_t;