| author | Florian Pose <fp@igh-essen.com> |
| Mon, 29 Dec 2008 15:50:57 +0000 | |
| branch | stable-1.4 |
| changeset 1691 | ac49105b1b23 |
| parent 1685 | 399ef727bf62 |
| child 1707 | 11ec009e145d |
| permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* Using the EtherCAT technology and brand is permitted in compliance with |
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* the industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT master character device IOCTL commands. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __EC_IOCTL_H__ |
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#define __EC_IOCTL_H__ |
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#include <linux/ioctl.h> |
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#include "globals.h" |
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/*****************************************************************************/ |
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/** \cond */ |
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#define EC_IOCTL_TYPE 0xa4 |
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#define EC_IO(nr) _IO(EC_IOCTL_TYPE, nr) |
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#define EC_IOR(nr, type) _IOR(EC_IOCTL_TYPE, nr, type) |
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#define EC_IOW(nr, type) _IOW(EC_IOCTL_TYPE, nr, type) |
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#define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type) |
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#define EC_IOCTL_MASTER EC_IOR(0x00, ec_ioctl_master_t) |
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#define EC_IOCTL_SLAVE EC_IOWR(0x01, ec_ioctl_slave_t) |
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#define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x02, ec_ioctl_slave_sync_t) |
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#define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t) |
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#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t) |
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#define EC_IOCTL_DOMAIN EC_IOWR(0x05, ec_ioctl_domain_t) |
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#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x06, ec_ioctl_domain_fmmu_t) |
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#define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x07, ec_ioctl_domain_data_t) |
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#define EC_IOCTL_MASTER_DEBUG EC_IO(0x08) |
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#define EC_IOCTL_SLAVE_STATE EC_IOW(0x09, ec_ioctl_slave_state_t) |
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#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0a, ec_ioctl_slave_sdo_t) |
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#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t) |
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#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t) |
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#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t) |
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#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0e, ec_ioctl_slave_sii_t) |
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#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x0f, ec_ioctl_slave_sii_t) |
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#define EC_IOCTL_CONFIG EC_IOWR(0x10, ec_ioctl_config_t) |
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#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x11, ec_ioctl_config_pdo_t) |
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#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x12, ec_ioctl_config_pdo_entry_t) |
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#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x13, ec_ioctl_config_sdo_t) |
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#define EC_IOCTL_STRING_SIZE 64 |
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/*****************************************************************************/ |
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typedef struct {
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uint32_t slave_count; |
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uint32_t config_count; |
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uint32_t domain_count; |
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uint8_t phase; |
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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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typedef struct {
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// input |
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uint16_t position; |
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// outputs |
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uint32_t vendor_id; |
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uint32_t product_code; |
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uint32_t revision_number; |
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uint32_t serial_number; |
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uint16_t alias; |
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uint16_t rx_mailbox_offset; |
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uint16_t rx_mailbox_size; |
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uint16_t tx_mailbox_offset; |
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uint16_t tx_mailbox_size; |
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Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
106 |
uint16_t mailbox_protocols; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
107 |
uint8_t has_general_category; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
108 |
ec_sii_coe_details_t coe_details; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
109 |
ec_sii_general_flags_t general_flags; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
110 |
int16_t current_on_ebus; |
|
1148
1762296870bd
Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents:
1147
diff
changeset
|
111 |
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
|
112 |
uint8_t error_flag; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
113 |
uint8_t sync_count; |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
114 |
uint16_t sdo_count; |
| 978 | 115 |
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
|
116 |
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
|
117 |
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
|
118 |
char order[EC_IOCTL_STRING_SIZE]; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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989
diff
changeset
|
119 |
char name[EC_IOCTL_STRING_SIZE]; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
120 |
} ec_ioctl_slave_t; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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changeset
|
121 |
|
|
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Added 'pdos' command to ethercat tool.
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diff
changeset
|
122 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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changeset
|
123 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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diff
changeset
|
124 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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diff
changeset
|
125 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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diff
changeset
|
126 |
uint16_t slave_position; |
| 978 | 127 |
uint32_t sync_index; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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diff
changeset
|
128 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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922
diff
changeset
|
129 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
130 |
uint16_t physical_start_address; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
131 |
uint16_t default_size; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
132 |
uint8_t control_register; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
133 |
uint8_t enable; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
134 |
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
|
135 |
} ec_ioctl_slave_sync_t; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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diff
changeset
|
136 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
137 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
138 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
139 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
140 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
141 |
uint16_t slave_position; |
| 978 | 142 |
uint32_t sync_index; |
143 |
uint32_t pdo_pos; |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
144 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
145 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
146 |
uint16_t index; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
147 |
uint8_t entry_count; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
148 |
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
|
149 |
} ec_ioctl_slave_sync_pdo_t; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
150 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
151 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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diff
changeset
|
152 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
153 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
154 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
155 |
uint16_t slave_position; |
| 978 | 156 |
uint32_t sync_index; |
157 |
uint32_t pdo_pos; |
|
158 |
uint32_t entry_pos; |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
159 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
160 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
161 |
uint16_t index; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
162 |
uint8_t subindex; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
163 |
uint8_t bit_length; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
164 |
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
|
165 |
} 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
|
166 |
|
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
167 |
/*****************************************************************************/ |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
168 |
|
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
169 |
typedef struct {
|
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
170 |
// inputs |
| 978 | 171 |
uint32_t index; |
172 |
||
173 |
// outputs |
|
174 |
uint32_t data_size; |
|
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
175 |
uint32_t logical_base_address; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
176 |
uint16_t working_counter; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
177 |
uint16_t expected_working_counter; |
| 978 | 178 |
uint32_t fmmu_count; |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
179 |
} ec_ioctl_domain_t; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
180 |
|
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
181 |
/*****************************************************************************/ |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
182 |
|
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
183 |
typedef struct {
|
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
184 |
// inputs |
| 978 | 185 |
uint32_t domain_index; |
186 |
uint32_t fmmu_index; |
|
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
187 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
188 |
// outputs |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
189 |
uint16_t slave_config_alias; |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
190 |
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
|
191 |
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
|
192 |
ec_direction_t dir; |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
193 |
uint32_t logical_address; |
| 978 | 194 |
uint32_t data_size; |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
195 |
} ec_ioctl_domain_fmmu_t; |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
196 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
197 |
/*****************************************************************************/ |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
198 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
199 |
typedef struct {
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
200 |
// inputs |
| 978 | 201 |
uint32_t domain_index; |
202 |
uint32_t data_size; |
|
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
203 |
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
|
204 |
} ec_ioctl_domain_data_t; |
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
205 |
|
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
206 |
/*****************************************************************************/ |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
207 |
|
|
960
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
208 |
typedef struct {
|
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
209 |
// inputs |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
210 |
uint16_t slave_position; |
|
1148
1762296870bd
Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents:
1147
diff
changeset
|
211 |
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
|
212 |
} 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
|
213 |
|
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
214 |
/*****************************************************************************/ |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
215 |
|
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
216 |
typedef struct {
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
217 |
// inputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
218 |
uint16_t slave_position; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
219 |
uint16_t sdo_position; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
220 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
221 |
// outputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
222 |
uint16_t sdo_index; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
223 |
uint8_t max_subindex; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
224 |
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
|
225 |
} ec_ioctl_slave_sdo_t; |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
226 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
227 |
/*****************************************************************************/ |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
228 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
229 |
typedef struct {
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
230 |
// inputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
231 |
uint16_t slave_position; |
|
968
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Implemented sdo_upload command.
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965
diff
changeset
|
232 |
int sdo_spec; // positive: index, negative: list position |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
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diff
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|
233 |
uint8_t sdo_entry_subindex; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
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diff
changeset
|
234 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
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diff
changeset
|
235 |
// outputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
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parents:
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diff
changeset
|
236 |
uint16_t data_type; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
237 |
uint16_t bit_length; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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diff
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|
238 |
int8_t description[EC_IOCTL_STRING_SIZE]; |
|
1079
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diff
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|
239 |
} ec_ioctl_slave_sdo_entry_t; |
|
965
1aee4aa1def3
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diff
changeset
|
240 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
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diff
changeset
|
241 |
/*****************************************************************************/ |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
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diff
changeset
|
242 |
|
|
968
b0e894257743
Implemented sdo_upload command.
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diff
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|
243 |
typedef struct {
|
|
b0e894257743
Implemented sdo_upload command.
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diff
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|
244 |
// inputs |
|
b0e894257743
Implemented sdo_upload command.
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parents:
965
diff
changeset
|
245 |
uint16_t slave_position; |
|
b0e894257743
Implemented sdo_upload command.
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parents:
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diff
changeset
|
246 |
uint16_t sdo_index; |
|
b0e894257743
Implemented sdo_upload command.
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diff
changeset
|
247 |
uint8_t sdo_entry_subindex; |
| 978 | 248 |
uint32_t target_size; |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
249 |
uint8_t *target; |
|
b0e894257743
Implemented sdo_upload command.
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parents:
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diff
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|
250 |
|
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
251 |
// outputs |
| 978 | 252 |
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
|
253 |
uint32_t abort_code; |
|
1079
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
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diff
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|
254 |
} ec_ioctl_slave_sdo_upload_t; |
|
968
b0e894257743
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diff
changeset
|
255 |
|
|
b0e894257743
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diff
changeset
|
256 |
/*****************************************************************************/ |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
257 |
|
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
258 |
typedef struct {
|
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
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971
diff
changeset
|
259 |
// inputs |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
260 |
uint16_t slave_position; |
|
5868944a6456
Implemented Sdo download via ethercat command.
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parents:
971
diff
changeset
|
261 |
uint16_t sdo_index; |
|
5868944a6456
Implemented Sdo download via ethercat command.
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diff
changeset
|
262 |
uint8_t sdo_entry_subindex; |
| 978 | 263 |
uint32_t data_size; |
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
264 |
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
|
265 |
|
|
59f191c9185b
Store abort code in sdo request; output it in user space; added some
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1029
diff
changeset
|
266 |
// 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
|
267 |
uint32_t abort_code; |
|
1079
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
268 |
} ec_ioctl_slave_sdo_download_t; |
|
974
5868944a6456
Implemented Sdo download via ethercat command.
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diff
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|
269 |
|
|
5868944a6456
Implemented Sdo download via ethercat command.
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parents:
971
diff
changeset
|
270 |
/*****************************************************************************/ |
|
5868944a6456
Implemented Sdo download via ethercat command.
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971
diff
changeset
|
271 |
|
| 978 | 272 |
typedef struct {
|
273 |
// inputs |
|
274 |
uint16_t slave_position; |
|
275 |
uint16_t offset; |
|
276 |
uint32_t nwords; |
|
277 |
uint16_t *words; |
|
|
1079
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
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diff
changeset
|
278 |
} ec_ioctl_slave_sii_t; |
| 978 | 279 |
|
280 |
/*****************************************************************************/ |
|
281 |
||
|
990
4f223f3df05a
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diff
changeset
|
282 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
283 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
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parents:
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diff
changeset
|
284 |
uint32_t config_index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
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parents:
989
diff
changeset
|
285 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
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parents:
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diff
changeset
|
286 |
// outputs |
|
4f223f3df05a
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diff
changeset
|
287 |
uint16_t alias; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
288 |
uint16_t position; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
289 |
uint32_t vendor_id; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
290 |
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
|
291 |
struct {
|
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
292 |
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
|
293 |
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
|
294 |
} syncs[EC_MAX_SYNC_MANAGERS]; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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parents:
989
diff
changeset
|
295 |
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
|
296 |
int32_t slave_position; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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parents:
989
diff
changeset
|
297 |
} ec_ioctl_config_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
298 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
299 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
300 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
301 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
302 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
303 |
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
|
304 |
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
|
305 |
uint16_t pdo_pos; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
306 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
307 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
308 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
309 |
uint8_t entry_count; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
310 |
int8_t name[EC_IOCTL_STRING_SIZE]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
311 |
} ec_ioctl_config_pdo_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
312 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
313 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
314 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
315 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
316 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
317 |
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
|
318 |
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
|
319 |
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
|
320 |
uint8_t entry_pos; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
321 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
322 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
323 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
324 |
uint8_t subindex; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
325 |
uint8_t bit_length; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
326 |
int8_t name[EC_IOCTL_STRING_SIZE]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
327 |
} ec_ioctl_config_pdo_entry_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
328 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
329 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
330 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
331 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
332 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
333 |
uint32_t config_index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
334 |
uint32_t sdo_pos; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
335 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
336 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
337 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
338 |
uint8_t subindex; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
339 |
uint32_t size; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
340 |
uint8_t data[4]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
341 |
} ec_ioctl_config_sdo_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
342 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
343 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
344 |
|
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
345 |
/** \endcond */ |
|
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
346 |
|
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
347 |
#endif |