master/ioctl.h
author Florian Pose <fp@igh-essen.com>
Tue, 22 Jul 2008 14:26:21 +0000
changeset 1128 b69b2c850160
parent 1109 11ac4051db6b
child 1147 0eac1ee8512a
permissions -rw-r--r--
Fixed typos.
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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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#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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    uint16_t mailbox_protocols;
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    uint8_t has_general_category;
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    ec_sii_coe_details_t coe_details;
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    ec_sii_general_flags_t general_flags;
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    int16_t current_on_ebus;
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    uint8_t state;
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    uint8_t error_flag;
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   120
    uint8_t sync_count;
965
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    uint16_t sdo_count;
978
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    uint32_t sii_nwords;
1109
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   123
    char group[EC_IOCTL_STRING_SIZE];
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   124
    char image[EC_IOCTL_STRING_SIZE];
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   125
    char order[EC_IOCTL_STRING_SIZE];
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    char name[EC_IOCTL_STRING_SIZE];
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   127
} ec_ioctl_slave_t;
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/*****************************************************************************/
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   130
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typedef struct {
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    // inputs
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    uint16_t slave_position;
978
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    uint32_t sync_index;
935
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    // outputs
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    uint16_t physical_start_address;
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    uint16_t default_size;
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    uint8_t control_register;
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    uint8_t enable;
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    uint8_t assign_source;
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    uint8_t pdo_count;
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   143
} ec_ioctl_slave_sync_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint16_t slave_position;
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    uint32_t sync_index;
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    uint32_t pdo_pos;
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    // outputs
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    uint16_t index;
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    uint8_t entry_count;
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    int8_t name[EC_IOCTL_STRING_SIZE];
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   157
} ec_ioctl_slave_sync_pdo_t;
935
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   158
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   159
/*****************************************************************************/
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   160
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   161
typedef struct {
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    // inputs
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   163
    uint16_t slave_position;
978
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   164
    uint32_t sync_index;
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   165
    uint32_t pdo_pos;
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   166
    uint32_t entry_pos;
935
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   167
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   168
    // outputs
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   169
    uint16_t index;
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    uint8_t subindex;
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    uint8_t bit_length;
990
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   172
    int8_t name[EC_IOCTL_STRING_SIZE];
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   173
} ec_ioctl_slave_sync_pdo_entry_t;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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   174
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   175
/*****************************************************************************/
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   176
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   177
typedef struct {
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    // inputs
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	uint32_t index;
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   181
    // outputs
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	uint32_t data_size;
948
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   183
	uint32_t logical_base_address;
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   184
	uint16_t working_counter;
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   185
	uint16_t expected_working_counter;
978
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   186
    uint32_t fmmu_count;
948
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   187
} ec_ioctl_domain_t;
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   188
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   189
/*****************************************************************************/
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   190
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   191
typedef struct {
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   192
    // inputs
978
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   193
	uint32_t domain_index;
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   194
	uint32_t fmmu_index;
950
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   195
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   196
    // outputs
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   197
    uint16_t slave_config_alias;
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   198
    uint16_t slave_config_position;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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   199
    uint8_t sync_index;
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   200
    ec_direction_t dir;
950
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   201
	uint32_t logical_address;
978
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   202
    uint32_t data_size;
950
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   203
} ec_ioctl_domain_fmmu_t;
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   204
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   205
/*****************************************************************************/
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   206
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   207
typedef struct {
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   208
    // inputs
978
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   209
	uint32_t domain_index;
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   210
    uint32_t data_size;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   211
    uint8_t *target;
1079
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   212
} ec_ioctl_domain_data_t;
949
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   213
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   214
/*****************************************************************************/
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   215
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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   216
typedef struct {
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   217
    // inputs
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   218
	uint16_t slave_position;
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   219
    uint8_t requested_state;
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   220
} ec_ioctl_slave_state_t;
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   221
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   222
/*****************************************************************************/
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   223
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   224
typedef struct {
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   225
    // inputs
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   226
    uint16_t slave_position;
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   227
    uint16_t sdo_position;
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   228
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   229
    // outputs
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   230
    uint16_t sdo_index;
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   231
    uint8_t max_subindex;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   232
    int8_t name[EC_IOCTL_STRING_SIZE];
1079
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   233
} ec_ioctl_slave_sdo_t;
965
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   234
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   235
/*****************************************************************************/
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   236
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   237
typedef struct {
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   238
    // inputs
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   239
    uint16_t slave_position;
968
b0e894257743 Implemented sdo_upload command.
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diff changeset
   240
    int sdo_spec; // positive: index, negative: list position
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   241
    uint8_t sdo_entry_subindex;
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diff changeset
   242
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   243
    // outputs
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diff changeset
   244
    uint16_t data_type;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   245
    uint16_t bit_length;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   246
    int8_t description[EC_IOCTL_STRING_SIZE];
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   247
} ec_ioctl_slave_sdo_entry_t;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   248
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   249
/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   250
968
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   251
typedef struct {
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   252
    // inputs
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   253
    uint16_t slave_position;
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   254
    uint16_t sdo_index;
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diff changeset
   255
    uint8_t sdo_entry_subindex;
978
2962baf7e6d1 Implemented SII read.
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diff changeset
   256
    uint32_t target_size;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
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    uint8_t *target;
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    // outputs
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    uint32_t data_size;
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    uint32_t abort_code;
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} ec_ioctl_slave_sdo_upload_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint16_t slave_position;
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    uint16_t sdo_index;
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    uint8_t sdo_entry_subindex;
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    uint32_t data_size;
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    uint8_t *data;
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    // outputs
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    uint32_t abort_code;
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} ec_ioctl_slave_sdo_download_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint16_t slave_position;
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    uint16_t offset;
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    uint32_t nwords;
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    uint16_t *words;
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} ec_ioctl_slave_sii_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint32_t config_index;
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    // outputs
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    uint16_t alias;
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    uint16_t position;
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    uint32_t vendor_id;
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    uint32_t product_code;
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    struct {
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        ec_direction_t dir;
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        uint32_t pdo_count;
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    } syncs[EC_MAX_SYNC_MANAGERS];
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    uint32_t sdo_count;
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    uint8_t attached    : 1,
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            operational : 1;
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} ec_ioctl_config_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint32_t config_index;
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    uint8_t sync_index;
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    uint16_t pdo_pos;
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    // outputs
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    uint16_t index;
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    uint8_t entry_count;
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    int8_t name[EC_IOCTL_STRING_SIZE];
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} ec_ioctl_config_pdo_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint32_t config_index;
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    uint8_t sync_index;
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    uint16_t pdo_pos;
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    uint8_t entry_pos;
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    // outputs
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    uint16_t index;
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    uint8_t subindex;
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    uint8_t bit_length;
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    int8_t name[EC_IOCTL_STRING_SIZE];
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} ec_ioctl_config_pdo_entry_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint32_t config_index;
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    uint32_t sdo_pos;
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    // outputs
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    uint16_t index;
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    uint8_t subindex;
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    uint32_t size;
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    uint8_t data[4];
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} ec_ioctl_config_sdo_t;
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/*****************************************************************************/
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/** \endcond */
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#endif