etherlabmaster: master/ioctl.h@6d1ef8afeaab (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)
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	89	#define EC_IOCTL_APP_TIME EC_IOW(0x1f, ec_ioctl_app_time_t)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	90	#define EC_IOCTL_SYNC_REF EC_IO(0x20)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	91	#define EC_IOCTL_SYNC_SLAVES EC_IO(0x21)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	92	#define EC_IOCTL_SC_SYNC EC_IOW(0x22, ec_ioctl_config_t)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	93	#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x23, ec_ioctl_config_pdo_t)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	94	#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x24, ec_ioctl_config_pdo_t)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	95	#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x25, ec_ioctl_add_pdo_entry_t)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	96	#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x26, ec_ioctl_config_pdo_t)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	97	#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x27, ec_ioctl_reg_pdo_entry_t)
1448 d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	98	#define EC_IOCTL_SC_DC EC_IOW(0x28, ec_ioctl_sc_dc_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	99	#define EC_IOCTL_SC_SDO EC_IOW(0x29, ec_ioctl_sc_sdo_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	100	#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2a, ec_ioctl_sdo_request_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	101	#define EC_IOCTL_SC_VOE EC_IOWR(0x2b, ec_ioctl_voe_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	102	#define EC_IOCTL_SC_STATE EC_IOWR(0x2c, ec_ioctl_sc_state_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	103	#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x2d)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	104	#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x2e)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	105	#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x2f)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	106	#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x30, ec_ioctl_domain_state_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	107	#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x31, ec_ioctl_sdo_request_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	108	#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x32, ec_ioctl_sdo_request_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	109	#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x33, ec_ioctl_sdo_request_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	110	#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x34, ec_ioctl_sdo_request_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	111	#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x35, ec_ioctl_sdo_request_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	112	#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x36, ec_ioctl_voe_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	113	#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x37, ec_ioctl_voe_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	114	#define EC_IOCTL_VOE_READ EC_IOW(0x38, ec_ioctl_voe_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	115	#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x39, ec_ioctl_voe_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	116	#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3a, ec_ioctl_voe_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	117	#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3b, ec_ioctl_voe_t)
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1447 diff changeset	118	#define EC_IOCTL_VOE_DATA EC_IOWR(0x3c, ec_ioctl_voe_t)
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	119
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	120	/*****************************************************************************/
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	121
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	122	#define EC_IOCTL_STRING_SIZE 64
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	123
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	124	/*****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	125
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	126	typedef struct {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	127	uint32_t slave_count;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	128	uint32_t config_count;
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	129	uint32_t domain_count;
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	130	uint8_t phase;
1447 846d75637c43 Added scan_busy flag to ioctl(). Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	131	uint8_t scan_busy;
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	132	struct {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	133	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	134	uint8_t attached;
1401 96baef8a3162 Output link state in 'ethercat master'. Florian Pose <fp@igh-essen.com> parents: 1388 diff changeset	135	uint8_t link_state;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	136	uint32_t tx_count;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	137	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	138	} devices[2];
1415 9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	139	uint64_t app_time;
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	140	uint16_t ref_clock;
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	141	} 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	142
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	143	/*****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	144
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	145	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	146	// input
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	147	uint16_t position;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	148
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	149	// outputs
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	uint32_t vendor_id;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	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	152	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	153	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	154	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	155	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	156	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	157	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	158	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	159	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	160	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	161	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	162	uint16_t std_tx_mailbox_size;
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	163	uint16_t mailbox_protocols;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	164	uint8_t has_general_category;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	165	ec_sii_coe_details_t coe_details;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	166	ec_sii_general_flags_t general_flags;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	167	int16_t current_on_ebus;
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	168	struct {
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	169	ec_slave_port_desc_t desc;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	170	ec_slave_port_link_t link;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	171	uint32_t receive_time;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	172	uint16_t next_slave;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	173	uint32_t delay_to_next_dc;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	174	} ports[EC_MAX_PORTS];
1379 cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	175	uint8_t fmmu_bit;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	176	uint8_t dc_supported;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	177	ec_slave_dc_range_t dc_range;
1419 8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	178	uint8_t has_dc_system_time;
1426 af45bba80d85 Transition->Transmission. Florian Pose <fp@igh-essen.com> parents: 1425 diff changeset	179	uint32_t transmission_delay;
1148 1762296870bd Renamed state field to al_state. Florian Pose <fp@igh-essen.com> parents: 1147 diff changeset	180	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	181	uint8_t error_flag;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	182	uint8_t sync_count;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	183	uint16_t sdo_count;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	184	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	185	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	186	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	187	char order[EC_IOCTL_STRING_SIZE];
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	188	char name[EC_IOCTL_STRING_SIZE];
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	189	} ec_ioctl_slave_t;
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
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	193	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	194	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	195	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	196	uint32_t sync_index;
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 physical_start_address;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	200	uint16_t default_size;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	201	uint8_t control_register;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	202	uint8_t enable;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	203	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	204	} ec_ioctl_slave_sync_t;
935 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	/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	207
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	208	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	209	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	210	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	211	uint32_t sync_index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	212	uint32_t pdo_pos;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	213
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	214	// outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	215	uint16_t index;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	216	uint8_t entry_count;
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_t;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	219
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	220	/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	221
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	222	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	223	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	224	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	225	uint32_t sync_index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	226	uint32_t pdo_pos;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	227	uint32_t entry_pos;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	228
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	229	// outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	230	uint16_t index;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	231	uint8_t subindex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	232	uint8_t bit_length;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	233	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	234	} 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	235
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	237
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	238	typedef struct {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	239	// inputs
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	240	uint32_t index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	241
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	242	// outputs
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	243	uint32_t data_size;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	244	uint32_t logical_base_address;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	245	uint16_t working_counter;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	246	uint16_t expected_working_counter;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	247	uint32_t fmmu_count;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	248	} ec_ioctl_domain_t;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	249
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	250	/*****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	251
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	252	typedef struct {
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 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 fmmu_index;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	256
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	257	// outputs
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	258	uint16_t slave_config_alias;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	259	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	260	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	261	ec_direction_t dir;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	262	uint32_t logical_address;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	263	uint32_t data_size;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	264	} ec_ioctl_domain_fmmu_t;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	265
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	266	/*****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	267
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	268	typedef struct {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	269	// inputs
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	270	uint32_t domain_index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	271	uint32_t data_size;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	272	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	273	} ec_ioctl_domain_data_t;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	274
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	275	/*****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	276
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	277	typedef struct {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	278	// inputs
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	279	uint16_t slave_position;
1148 1762296870bd Renamed state field to al_state. Florian Pose <fp@igh-essen.com> parents: 1147 diff changeset	280	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	281	} 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	282
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	283	/*****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	284
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	285	typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	286	// inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	287	uint16_t slave_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	288	uint16_t sdo_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	289
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	290	// outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	291	uint16_t sdo_index;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	292	uint8_t max_subindex;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	293	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	294	} ec_ioctl_slave_sdo_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
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	298	typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	299	// inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	300	uint16_t slave_position;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	301	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	302	uint8_t sdo_entry_subindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	303
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	304	// outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	305	uint16_t data_type;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	306	uint16_t bit_length;
1382 cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1379 diff changeset	307	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	308	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	309	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	310	} 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	311
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	312	/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	313
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	314	typedef struct {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	315	// inputs
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	316	uint16_t slave_position;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	317	uint16_t sdo_index;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	318	uint8_t sdo_entry_subindex;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	319	uint32_t target_size;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	320	uint8_t *target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	321
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	322	// outputs
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	323	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	324	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	325	} ec_ioctl_slave_sdo_upload_t;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	326
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	327	/*****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	328
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	329	typedef struct {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	330	// inputs
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	331	uint16_t slave_position;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	332	uint16_t sdo_index;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	333	uint8_t sdo_entry_subindex;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	334	uint32_t data_size;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	335	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	336
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	337	// 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	338	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	339	} ec_ioctl_slave_sdo_download_t;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	340
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	341	/*****************************************************************************/
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	342
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	343	typedef struct {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	344	// inputs
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	345	uint16_t slave_position;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	346	uint16_t offset;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	347	uint32_t nwords;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	348	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	349	} ec_ioctl_slave_sii_t;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	350
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	351	/*****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	352
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	353	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	354	// inputs
1200 ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	355	uint16_t slave_position;
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	356	uint16_t offset;
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	357	uint16_t length;
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	358	uint8_t *data;
1388 3c886ec376f5 Renamed phy_ commands to reg_. Florian Pose <fp@igh-essen.com> parents: 1382 diff changeset	359	} ec_ioctl_slave_reg_t;
1200 ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	360
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	361	/*****************************************************************************/
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	362
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	363	typedef struct {
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	364	// 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	365	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	366	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	367	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	368	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	369
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	370	// outputs
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	371	uint32_t data_size;
1336 e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	372	uint32_t result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	373	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	374	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	375	} 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	376
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	377	/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	378
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	379	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	380	// inputs
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	381	uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	382
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	383	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	384	uint16_t alias;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	385	uint16_t position;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	386	uint32_t vendor_id;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	387	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	388	struct {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	389	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	390	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	391	} syncs[EC_MAX_SYNC_MANAGERS];
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	392	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	393	int32_t slave_position;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	394	} ec_ioctl_config_t;
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	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	397
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	398	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	399	// inputs
1417 7c2d5d69134c Replaced timeval by 64-bit EtherCAT time. Florian Pose <fp@igh-essen.com> parents: 1415 diff changeset	400	uint64_t app_time;
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1426 diff changeset	401	} ec_ioctl_app_time_t;
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	402
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	403	/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	404
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	405	typedef struct {
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	406	// inputs
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	407	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	408	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	409	uint16_t pdo_pos;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	410
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	411	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	412	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	413	uint8_t entry_count;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	414	int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	415	} ec_ioctl_config_pdo_t;
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	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	418
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	419	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	420	// inputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	421	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	422	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	423	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	424	uint8_t entry_pos;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	425
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	426	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	427	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	428	uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	429	uint8_t bit_length;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	430	int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	431	} ec_ioctl_config_pdo_entry_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	432
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	433	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	434
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	435	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	436	// inputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	437	uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	438	uint32_t sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	439
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	440	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	441	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	442	uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	443	uint32_t size;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	444	uint8_t data[4];
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	445	} ec_ioctl_config_sdo_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	446
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	447	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	448
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	449	typedef struct {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	450	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	451	uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	452	uint16_t pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	453	uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	454	uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	455	uint8_t entry_bit_length;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	456	} ec_ioctl_add_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	457
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	typedef struct {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	461	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	462	uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	463	uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	464	uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	465	uint32_t domain_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	466
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	467	// outputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	468	unsigned int bit_position;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	469	} ec_ioctl_reg_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	470
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	471	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	472
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	473	typedef struct {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	474	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	475	uint32_t config_index;
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	476	uint16_t assign_activate;
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1434 diff changeset	477	ec_sync_signal_t sync[EC_SYNC_SIGNAL_COUNT];
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	478	} ec_ioctl_sc_dc_t;
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	479
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	480	/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	481
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	482	typedef struct {
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	483	// inputs
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	484	uint32_t config_index;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	485	uint16_t index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	486	uint8_t subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	487	const uint8_t *data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	488	size_t size;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	489	} ec_ioctl_sc_sdo_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	490
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	491	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	492
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	493	typedef struct {
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	494	// inputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	495	uint32_t config_index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	496
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	497	// outputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	498	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	499	} ec_ioctl_sc_state_t;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	500
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	501	/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	502
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	503	typedef struct {
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	504	// inputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	505	uint32_t domain_index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	506
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	507	// outputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	508	ec_domain_state_t *state;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	509	} ec_ioctl_domain_state_t;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	510
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	511	/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	512
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	513	typedef struct {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	514	// inputs
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	515	uint32_t config_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	516
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	517	// inputs/outputs
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	518	uint32_t request_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	519	uint16_t sdo_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	520	uint8_t sdo_subindex;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	521	size_t size;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	522	uint8_t *data;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	523	uint32_t timeout;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	524	ec_request_state_t state;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	525	} ec_ioctl_sdo_request_t;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	526
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	527	/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	528
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	529	typedef struct {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	530	// inputs
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	531	uint32_t config_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	532
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	533	// inputs/outputs
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	534	uint32_t voe_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	535	uint32_t *vendor_id;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	536	uint16_t *vendor_type;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	537	size_t size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	538	uint8_t *data;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	539	ec_request_state_t state;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	540	} ec_ioctl_voe_t;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	541
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	542	/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	543
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	544	/** \endcond */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	545
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	546	#endif

author	Florian Pose <fp@igh-essen.com>
	Tue, 05 May 2009 15:18:24 +0000
changeset 1449	6d1ef8afeaab
parent 1448	d7ba0c408a07
child 1455	aa18fcfe0fd1
permissions	-rw-r--r--