| author | Florian Pose <fp@igh-essen.com> |
| Tue, 18 Nov 2008 11:13:49 +0000 | |
| changeset 1314 | b3d06a8807b3 |
| parent 1264 | e7882f246d7a |
| child 1326 | ef907b0b5125 |
| 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 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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#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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// Command-line tool |
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#define EC_IOCTL_MASTER EC_IOR(0x00, ec_ioctl_master_t) |
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#define EC_IOCTL_SLAVE EC_IOWR(0x01, ec_ioctl_slave_t) |
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#define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x02, ec_ioctl_slave_sync_t) |
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#define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t) |
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#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t) |
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#define EC_IOCTL_DOMAIN EC_IOWR(0x05, ec_ioctl_domain_t) |
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#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x06, ec_ioctl_domain_fmmu_t) |
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#define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x07, ec_ioctl_domain_data_t) |
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#define EC_IOCTL_MASTER_DEBUG EC_IO(0x08) |
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#define EC_IOCTL_SLAVE_STATE EC_IOW(0x09, ec_ioctl_slave_state_t) |
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#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0a, ec_ioctl_slave_sdo_t) |
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#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t) |
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#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t) |
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#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t) |
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#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0e, ec_ioctl_slave_sii_t) |
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#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x0f, ec_ioctl_slave_sii_t) |
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#define EC_IOCTL_SLAVE_PHY_READ EC_IOWR(0x10, ec_ioctl_slave_phy_t) |
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#define EC_IOCTL_SLAVE_PHY_WRITE EC_IOW(0x11, ec_ioctl_slave_phy_t) |
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#define EC_IOCTL_CONFIG EC_IOWR(0x12, ec_ioctl_config_t) |
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#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x13, ec_ioctl_config_pdo_t) |
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#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x14, ec_ioctl_config_pdo_entry_t) |
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#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x15, ec_ioctl_config_sdo_t) |
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// Application interface |
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#define EC_IOCTL_REQUEST EC_IO(0x16) |
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#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x17) |
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#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x18, ec_ioctl_config_t) |
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#define EC_IOCTL_ACTIVATE EC_IOR(0x19, size_t) |
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#define EC_IOCTL_SEND EC_IO(0x1a) |
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#define EC_IOCTL_RECEIVE EC_IO(0x1b) |
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#define EC_IOCTL_MASTER_STATE EC_IOR(0x1c, ec_master_state_t) |
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#define EC_IOCTL_SC_SYNC EC_IOW(0x1d, ec_ioctl_config_t) |
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#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x1e, ec_ioctl_config_pdo_t) |
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#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x1f, ec_ioctl_config_pdo_t) |
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#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x20, ec_ioctl_add_pdo_entry_t) |
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#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x21, ec_ioctl_config_pdo_t) |
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#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x22, ec_ioctl_reg_pdo_entry_t) |
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#define EC_IOCTL_SC_SDO EC_IOW(0x23, ec_ioctl_sc_sdo_t) |
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#define EC_IOCTL_SC_VOE EC_IOWR(0x24, ec_ioctl_voe_t) |
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#define EC_IOCTL_SC_STATE EC_IOWR(0x25, ec_ioctl_sc_state_t) |
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100 |
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x26) |
|
e7882f246d7a
Implemented VoE handler in userspace.
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1259
diff
changeset
|
101 |
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x27) |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
102 |
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x28) |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
103 |
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x29, ec_ioctl_domain_state_t) |
|
e7882f246d7a
Implemented VoE handler in userspace.
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parents:
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diff
changeset
|
104 |
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x2a, ec_ioctl_voe_t) |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
105 |
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x2b, ec_ioctl_voe_t) |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
106 |
#define EC_IOCTL_VOE_READ EC_IOW(0x2c, ec_ioctl_voe_t) |
|
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1264
diff
changeset
|
107 |
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x2d, ec_ioctl_voe_t) |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1264
diff
changeset
|
108 |
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x2e, ec_ioctl_voe_t) |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1264
diff
changeset
|
109 |
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x2f, ec_ioctl_voe_t) |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1264
diff
changeset
|
110 |
#define EC_IOCTL_VOE_DATA EC_IOWR(0x30, ec_ioctl_voe_t) |
|
1259
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
111 |
|
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
112 |
/*****************************************************************************/ |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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989
diff
changeset
|
113 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
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diff
changeset
|
114 |
#define EC_IOCTL_STRING_SIZE 64 |
| 978 | 115 |
|
116 |
/*****************************************************************************/ |
|
117 |
||
118 |
typedef struct {
|
|
119 |
uint32_t slave_count; |
|
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
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diff
changeset
|
120 |
uint32_t config_count; |
|
1001
a8eab75aa8e3
Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
121 |
uint32_t domain_count; |
|
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents:
1001
diff
changeset
|
122 |
uint8_t phase; |
|
957
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
123 |
struct {
|
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
124 |
uint8_t address[6]; |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents:
956
diff
changeset
|
125 |
uint8_t attached; |
| 978 | 126 |
uint32_t tx_count; |
127 |
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
|
128 |
} devices[2]; |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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diff
changeset
|
129 |
} ec_ioctl_master_t; |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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diff
changeset
|
130 |
|
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
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956
diff
changeset
|
131 |
/*****************************************************************************/ |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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diff
changeset
|
132 |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
133 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
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diff
changeset
|
134 |
// input |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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parents:
922
diff
changeset
|
135 |
uint16_t position; |
|
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 |
// outputs |
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
138 |
uint32_t vendor_id; |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
139 |
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
|
140 |
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
|
141 |
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
|
142 |
uint16_t alias; |
|
989
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
143 |
uint16_t rx_mailbox_offset; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
144 |
uint16_t rx_mailbox_size; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
145 |
uint16_t tx_mailbox_offset; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
146 |
uint16_t tx_mailbox_size; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
147 |
uint16_t mailbox_protocols; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
148 |
uint8_t has_general_category; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
149 |
ec_sii_coe_details_t coe_details; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
150 |
ec_sii_general_flags_t general_flags; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
151 |
int16_t current_on_ebus; |
|
1148
1762296870bd
Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents:
1147
diff
changeset
|
152 |
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
|
153 |
uint8_t error_flag; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
154 |
uint8_t sync_count; |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
155 |
uint16_t sdo_count; |
| 978 | 156 |
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
|
157 |
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
|
158 |
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
|
159 |
char order[EC_IOCTL_STRING_SIZE]; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
160 |
char name[EC_IOCTL_STRING_SIZE]; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
161 |
} ec_ioctl_slave_t; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
162 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
163 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
164 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
165 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
166 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
167 |
uint16_t slave_position; |
| 978 | 168 |
uint32_t sync_index; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
169 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
170 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
171 |
uint16_t physical_start_address; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
172 |
uint16_t default_size; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
173 |
uint8_t control_register; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
174 |
uint8_t enable; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
175 |
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
|
176 |
} ec_ioctl_slave_sync_t; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
177 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
178 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
179 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
180 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
181 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
182 |
uint16_t slave_position; |
| 978 | 183 |
uint32_t sync_index; |
184 |
uint32_t pdo_pos; |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
185 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
186 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
187 |
uint16_t index; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
188 |
uint8_t entry_count; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
189 |
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
|
190 |
} ec_ioctl_slave_sync_pdo_t; |
|
935
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 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
194 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
195 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
196 |
uint16_t slave_position; |
| 978 | 197 |
uint32_t sync_index; |
198 |
uint32_t pdo_pos; |
|
199 |
uint32_t entry_pos; |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
200 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
201 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
202 |
uint16_t index; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
203 |
uint8_t subindex; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
204 |
uint8_t bit_length; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
205 |
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
|
206 |
} 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
|
207 |
|
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
/*****************************************************************************/ |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
|
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
210 |
typedef struct {
|
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
211 |
// inputs |
| 978 | 212 |
uint32_t index; |
213 |
||
214 |
// outputs |
|
215 |
uint32_t data_size; |
|
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
216 |
uint32_t logical_base_address; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
217 |
uint16_t working_counter; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
218 |
uint16_t expected_working_counter; |
| 978 | 219 |
uint32_t fmmu_count; |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
220 |
} ec_ioctl_domain_t; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
221 |
|
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
222 |
/*****************************************************************************/ |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
223 |
|
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
224 |
typedef struct {
|
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
225 |
// inputs |
| 978 | 226 |
uint32_t domain_index; |
227 |
uint32_t fmmu_index; |
|
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
228 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
229 |
// outputs |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
230 |
uint16_t slave_config_alias; |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
231 |
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
|
232 |
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
|
233 |
ec_direction_t dir; |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
234 |
uint32_t logical_address; |
| 978 | 235 |
uint32_t data_size; |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
236 |
} ec_ioctl_domain_fmmu_t; |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
237 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
238 |
/*****************************************************************************/ |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
239 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
240 |
typedef struct {
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
241 |
// inputs |
| 978 | 242 |
uint32_t domain_index; |
243 |
uint32_t data_size; |
|
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
244 |
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
|
245 |
} ec_ioctl_domain_data_t; |
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
246 |
|
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
247 |
/*****************************************************************************/ |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
248 |
|
|
960
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
249 |
typedef struct {
|
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
250 |
// inputs |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
251 |
uint16_t slave_position; |
|
1148
1762296870bd
Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents:
1147
diff
changeset
|
252 |
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
|
253 |
} 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
|
254 |
|
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
255 |
/*****************************************************************************/ |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
256 |
|
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
257 |
typedef struct {
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
258 |
// inputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
259 |
uint16_t slave_position; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
260 |
uint16_t sdo_position; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
261 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
262 |
// outputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
263 |
uint16_t sdo_index; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
264 |
uint8_t max_subindex; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
265 |
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
|
266 |
} ec_ioctl_slave_sdo_t; |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
267 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
268 |
/*****************************************************************************/ |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
269 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
270 |
typedef struct {
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
271 |
// inputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
272 |
uint16_t slave_position; |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
273 |
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
|
274 |
uint8_t sdo_entry_subindex; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
275 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
276 |
// outputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
277 |
uint16_t data_type; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
278 |
uint16_t bit_length; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
279 |
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
|
280 |
} 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
|
281 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
282 |
/*****************************************************************************/ |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
283 |
|
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
284 |
typedef struct {
|
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
285 |
// inputs |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
286 |
uint16_t slave_position; |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
287 |
uint16_t sdo_index; |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
288 |
uint8_t sdo_entry_subindex; |
| 978 | 289 |
uint32_t target_size; |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
290 |
uint8_t *target; |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
291 |
|
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
292 |
// outputs |
| 978 | 293 |
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
|
294 |
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
|
295 |
} ec_ioctl_slave_sdo_upload_t; |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
296 |
|
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
297 |
/*****************************************************************************/ |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
298 |
|
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
299 |
typedef struct {
|
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
300 |
// inputs |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
301 |
uint16_t slave_position; |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
302 |
uint16_t sdo_index; |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
303 |
uint8_t sdo_entry_subindex; |
| 978 | 304 |
uint32_t data_size; |
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
305 |
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
|
306 |
|
|
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
307 |
// 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
|
308 |
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
|
309 |
} ec_ioctl_slave_sdo_download_t; |
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
310 |
|
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
311 |
/*****************************************************************************/ |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
312 |
|
| 978 | 313 |
typedef struct {
|
314 |
// inputs |
|
315 |
uint16_t slave_position; |
|
316 |
uint16_t offset; |
|
317 |
uint32_t nwords; |
|
318 |
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
|
319 |
} ec_ioctl_slave_sii_t; |
| 978 | 320 |
|
321 |
/*****************************************************************************/ |
|
322 |
||
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
323 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
324 |
// inputs |
| 1200 | 325 |
uint16_t slave_position; |
326 |
uint16_t offset; |
|
327 |
uint16_t length; |
|
328 |
uint8_t *data; |
|
329 |
} ec_ioctl_slave_phy_t; |
|
330 |
||
331 |
/*****************************************************************************/ |
|
332 |
||
333 |
typedef struct {
|
|
334 |
// inputs |
|
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
335 |
uint32_t config_index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
336 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
337 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
338 |
uint16_t alias; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
339 |
uint16_t position; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
340 |
uint32_t vendor_id; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
341 |
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
|
342 |
struct {
|
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
343 |
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
|
344 |
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
|
345 |
} syncs[EC_MAX_SYNC_MANAGERS]; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
346 |
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
|
347 |
int32_t slave_position; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
348 |
} ec_ioctl_config_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
349 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
350 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
351 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
352 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
353 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
354 |
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
|
355 |
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
|
356 |
uint16_t pdo_pos; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
357 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
358 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
359 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
360 |
uint8_t entry_count; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
361 |
int8_t name[EC_IOCTL_STRING_SIZE]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
362 |
} ec_ioctl_config_pdo_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
363 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
364 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
365 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
366 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
367 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
368 |
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
|
369 |
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
|
370 |
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
|
371 |
uint8_t entry_pos; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
372 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
373 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
374 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
375 |
uint8_t subindex; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
376 |
uint8_t bit_length; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
377 |
int8_t name[EC_IOCTL_STRING_SIZE]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
378 |
} ec_ioctl_config_pdo_entry_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
379 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
380 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
381 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
382 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
383 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
384 |
uint32_t config_index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
385 |
uint32_t sdo_pos; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
386 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
387 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
388 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
389 |
uint8_t subindex; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
390 |
uint32_t size; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
391 |
uint8_t data[4]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
392 |
} ec_ioctl_config_sdo_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
393 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
394 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
395 |
|
|
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
396 |
typedef struct {
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
397 |
// inputs |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
398 |
uint32_t config_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
399 |
uint16_t pdo_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
400 |
uint16_t entry_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
401 |
uint8_t entry_subindex; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
402 |
uint8_t entry_bit_length; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
403 |
} ec_ioctl_add_pdo_entry_t; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
404 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
405 |
/*****************************************************************************/ |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
406 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
407 |
typedef struct {
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
408 |
// inputs |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
409 |
uint32_t config_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
410 |
uint16_t entry_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
411 |
uint8_t entry_subindex; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
412 |
uint32_t domain_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
413 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
414 |
// outputs |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
415 |
unsigned int bit_position; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
416 |
} ec_ioctl_reg_pdo_entry_t; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
417 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
418 |
/*****************************************************************************/ |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
419 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
420 |
typedef struct {
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
421 |
// inputs |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
422 |
uint32_t config_index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
423 |
uint16_t index; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
424 |
uint8_t subindex; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
425 |
const uint8_t *data; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
426 |
size_t size; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
427 |
} ec_ioctl_sc_sdo_t; |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
428 |
|
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
429 |
/*****************************************************************************/ |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
430 |
|
|
1259
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
431 |
typedef struct {
|
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
432 |
// inputs |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
433 |
uint32_t config_index; |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
434 |
|
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
435 |
// outputs |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
436 |
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
|
437 |
} ec_ioctl_sc_state_t; |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
438 |
|
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
439 |
/*****************************************************************************/ |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
440 |
|
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
441 |
typedef struct {
|
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
442 |
// inputs |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
443 |
uint32_t domain_index; |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
444 |
|
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
445 |
// outputs |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
446 |
ec_domain_state_t *state; |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
447 |
} ec_ioctl_domain_state_t; |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
448 |
|
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
449 |
/*****************************************************************************/ |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
450 |
|
|
1264
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
451 |
typedef struct {
|
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
452 |
// inputs |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
453 |
uint32_t config_index; |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
454 |
|
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
455 |
// inputs/outputs |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
456 |
uint32_t voe_index; |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
457 |
uint32_t *vendor_id; |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
458 |
uint16_t *vendor_type; |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
459 |
size_t size; |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
460 |
uint8_t *data; |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
461 |
ec_request_state_t state; |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
462 |
} ec_ioctl_voe_t; |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
463 |
|
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
464 |
/*****************************************************************************/ |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
465 |
|
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
466 |
/** \endcond */ |
|
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
467 |
|
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
468 |
#endif |