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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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

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

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

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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

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

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

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 *

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

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 *  charge under condition of compatibility of product made by

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

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

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

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 *  EtherCAT specification (which are released themselves as an open

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

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 *  Technology, IP and trade marks.

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 *

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

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/**

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   \file

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   EtherCAT master character device IOCTL commands.

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*/

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

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#ifndef __EC_IOCTL_H__

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#define __EC_IOCTL_H__

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#include <linux/ioctl.h>

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

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#define EC_IOCTL_TYPE    0xa4

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

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

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

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

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#define EC_IOCTL_MASTER        EC_IOR(0x00, ec_ioctl_master_t)

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#define EC_IOCTL_SLAVE        EC_IOWR(0x01, ec_ioctl_slave_t)

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#define EC_IOCTL_SYNC         EC_IOWR(0x02, ec_ioctl_sync_t)

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#define EC_IOCTL_PDO          EC_IOWR(0x03, ec_ioctl_pdo_t)

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#define EC_IOCTL_PDO_ENTRY    EC_IOWR(0x04, ec_ioctl_pdo_entry_t)

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#define EC_IOCTL_DOMAIN_COUNT   EC_IO(0x05)

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#define EC_IOCTL_DOMAIN       EC_IOWR(0x06, ec_ioctl_domain_t)

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#define EC_IOCTL_DOMAIN_FMMU  EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)

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#define EC_IOCTL_DATA         EC_IOWR(0x08, ec_ioctl_data_t)

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#define EC_IOCTL_SET_DEBUG      EC_IO(0x09)

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#define EC_IOCTL_SLAVE_STATE   EC_IOW(0x0a, ec_ioctl_slave_state_t)

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#define EC_IOCTL_SDO          EC_IOWR(0x0b, ec_ioctl_sdo_t)

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#define EC_IOCTL_SDO_ENTRY    EC_IOWR(0x0c, ec_ioctl_sdo_entry_t)

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#define EC_IOCTL_SDO_UPLOAD   EC_IOWR(0x0d, ec_ioctl_sdo_upload_t)

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#define EC_IOCTL_SDO_DOWNLOAD  EC_IOW(0x0e, ec_ioctl_sdo_download_t)

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#define EC_IOCTL_SII_READ     EC_IOWR(0x0f, ec_ioctl_sii_t)

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#define EC_IOCTL_SII_WRITE     EC_IOW(0x10, ec_ioctl_sii_t)

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

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typedef struct {

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    uint32_t slave_count;

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    uint8_t mode;

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    struct {

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        uint8_t address[6];

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        uint8_t attached;

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        uint32_t tx_count;

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        uint32_t rx_count;

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    } devices[2];

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} ec_ioctl_master_t;

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

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#define EC_IOCTL_SLAVE_NAME_SIZE 99

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typedef struct {

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    // input

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    uint16_t position;

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    // outputs

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    uint32_t vendor_id;

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    uint32_t product_code;

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    uint32_t revision_number;

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    uint32_t serial_number;

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    uint16_t alias;

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    uint8_t 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 name[EC_IOCTL_SLAVE_NAME_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 assign_source;

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    uint8_t pdo_count;

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} ec_ioctl_sync_t;

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

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#define EC_IOCTL_PDO_NAME_SIZE 114

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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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    uint8_t dir;

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    uint16_t index;

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    uint8_t entry_count;

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    char name[EC_IOCTL_PDO_NAME_SIZE];

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} ec_ioctl_pdo_t;

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

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#define EC_IOCTL_PDO_ENTRY_NAME_SIZE 110

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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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    char name[EC_IOCTL_PDO_NAME_SIZE];

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} ec_ioctl_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 fmmu_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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    unsigned char *target;

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} ec_ioctl_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 requested_state;

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} ec_ioctl_slave_state_t;

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

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#define EC_IOCTL_SDO_NAME_SIZE 121

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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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    char name[EC_IOCTL_SDO_NAME_SIZE];

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} ec_ioctl_sdo_t;

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

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#define EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE 120

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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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    char description[EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE];

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} ec_ioctl_sdo_entry_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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    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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} ec_ioctl_sdo_upload_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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    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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} ec_ioctl_sdo_download_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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    uint16_t offset;

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    uint32_t nwords;

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    uint16_t *words;

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} ec_ioctl_sii_t;

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

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#endif