| 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-- |
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1 |
/****************************************************************************** |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2 |
* |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3 |
* $Id$ |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4 |
* |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
5 |
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
6 |
* |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
7 |
* This file is part of the IgH EtherCAT Master. |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
8 |
* |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
9 |
* The IgH EtherCAT Master is free software; you can redistribute it |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
10 |
* and/or modify it under the terms of the GNU General Public License |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
11 |
* as published by the Free Software Foundation; either version 2 of the |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
12 |
* License, or (at your option) any later version. |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
13 |
* |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
14 |
* The IgH EtherCAT Master is distributed in the hope that it will be |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
15 |
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
16 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
17 |
* GNU General Public License for more details. |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
18 |
* |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
19 |
* You should have received a copy of the GNU General Public License |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
20 |
* along with the IgH EtherCAT Master; if not, write to the Free Software |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
21 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
22 |
* |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
23 |
* The right to use EtherCAT Technology is granted and comes free of |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
24 |
* charge under condition of compatibility of product made by |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
25 |
* Licensee. People intending to distribute/sell products based on the |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
26 |
* code, have to sign an agreement to guarantee that products using |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
27 |
* software based on IgH EtherCAT master stay compatible with the actual |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
28 |
* EtherCAT specification (which are released themselves as an open |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
29 |
* standard) as the (only) precondition to have the right to use EtherCAT |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
30 |
* Technology, IP and trade marks. |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
31 |
* |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
32 |
*****************************************************************************/ |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
33 |
|
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
34 |
/** |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
35 |
\file |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
36 |
EtherCAT master character device IOCTL commands. |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
37 |
*/ |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
38 |
|
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
39 |
/*****************************************************************************/ |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
40 |
|
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
41 |
#ifndef __EC_IOCTL_H__ |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
42 |
#define __EC_IOCTL_H__ |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
43 |
|
|
971
d169890332fe
Using Linux ioctl() number generation macros.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
44 |
#include <linux/ioctl.h> |
|
d169890332fe
Using Linux ioctl() number generation macros.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
45 |
|
|
989
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
46 |
#include "globals.h" |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
47 |
|
|
971
d169890332fe
Using Linux ioctl() number generation macros.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
48 |
/*****************************************************************************/ |
|
d169890332fe
Using Linux ioctl() number generation macros.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
49 |
|
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
50 |
/** \cond */ |
|
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
51 |
|
|
1079
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
52 |
#define EC_IOCTL_TYPE 0xa4 |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
53 |
|
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
54 |
#define EC_IO(nr) _IO(EC_IOCTL_TYPE, nr) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
55 |
#define EC_IOR(nr, type) _IOR(EC_IOCTL_TYPE, nr, type) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
56 |
#define EC_IOW(nr, type) _IOW(EC_IOCTL_TYPE, nr, type) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
57 |
#define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
58 |
|
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
59 |
#define EC_IOCTL_MASTER EC_IOR(0x00, ec_ioctl_master_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
60 |
#define EC_IOCTL_SLAVE EC_IOWR(0x01, ec_ioctl_slave_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
61 |
#define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x02, ec_ioctl_slave_sync_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
62 |
#define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
63 |
#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
64 |
#define EC_IOCTL_DOMAIN EC_IOWR(0x05, ec_ioctl_domain_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
65 |
#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x06, ec_ioctl_domain_fmmu_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
66 |
#define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x07, ec_ioctl_domain_data_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
67 |
#define EC_IOCTL_MASTER_DEBUG EC_IO(0x08) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
68 |
#define EC_IOCTL_SLAVE_STATE EC_IOW(0x09, ec_ioctl_slave_state_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
69 |
#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0a, ec_ioctl_slave_sdo_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
70 |
#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
71 |
#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
72 |
#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
73 |
#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0e, ec_ioctl_slave_sii_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
74 |
#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x0f, ec_ioctl_slave_sii_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
75 |
#define EC_IOCTL_CONFIG EC_IOWR(0x10, ec_ioctl_config_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
76 |
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x11, ec_ioctl_config_pdo_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
77 |
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x12, ec_ioctl_config_pdo_entry_t) |
|
ef1266652c4d
Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents:
1057
diff
changeset
|
78 |
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x13, ec_ioctl_config_sdo_t) |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
79 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
80 |
#define EC_IOCTL_STRING_SIZE 64 |
| 978 | 81 |
|
82 |
/*****************************************************************************/ |
|
83 |
||
84 |
typedef struct {
|
|
85 |
uint32_t slave_count; |
|
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
86 |
uint32_t config_count; |
|
1001
a8eab75aa8e3
Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
87 |
uint32_t domain_count; |
|
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents:
1001
diff
changeset
|
88 |
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
|
89 |
struct {
|
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
90 |
uint8_t address[6]; |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
91 |
uint8_t attached; |
| 978 | 92 |
uint32_t tx_count; |
93 |
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
|
94 |
} devices[2]; |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
95 |
} ec_ioctl_master_t; |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
96 |
|
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
97 |
/*****************************************************************************/ |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
98 |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
99 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
100 |
// input |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
101 |
uint16_t position; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
102 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
103 |
// outputs |
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
104 |
uint32_t vendor_id; |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
105 |
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
|
106 |
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
|
107 |
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
|
108 |
uint16_t alias; |
|
989
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
109 |
uint16_t rx_mailbox_offset; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
110 |
uint16_t rx_mailbox_size; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
111 |
uint16_t tx_mailbox_offset; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
112 |
uint16_t tx_mailbox_size; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
113 |
uint16_t mailbox_protocols; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
114 |
uint8_t has_general_category; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
115 |
ec_sii_coe_details_t coe_details; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
116 |
ec_sii_general_flags_t general_flags; |
|
816663ca9370
Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents:
987
diff
changeset
|
117 |
int16_t current_on_ebus; |
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
118 |
uint8_t 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
|
119 |
uint8_t error_flag; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
120 |
uint8_t sync_count; |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
121 |
uint16_t sdo_count; |
| 978 | 122 |
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
|
123 |
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
|
124 |
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
|
125 |
char order[EC_IOCTL_STRING_SIZE]; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
126 |
char name[EC_IOCTL_STRING_SIZE]; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
127 |
} ec_ioctl_slave_t; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
128 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
129 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
130 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
131 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
132 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
133 |
uint16_t slave_position; |
| 978 | 134 |
uint32_t sync_index; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
135 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
136 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
137 |
uint16_t physical_start_address; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
138 |
uint16_t default_size; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
139 |
uint8_t control_register; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
140 |
uint8_t enable; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
141 |
uint8_t assign_source; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
142 |
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
|
143 |
} ec_ioctl_slave_sync_t; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
144 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
145 |
/*****************************************************************************/ |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
146 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
147 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
148 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
149 |
uint16_t slave_position; |
| 978 | 150 |
uint32_t sync_index; |
151 |
uint32_t pdo_pos; |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
152 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
153 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
154 |
uint16_t index; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
155 |
uint8_t entry_count; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
156 |
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
|
157 |
} ec_ioctl_slave_sync_pdo_t; |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
158 |
|
|
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 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
161 |
typedef struct {
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
162 |
// inputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
163 |
uint16_t slave_position; |
| 978 | 164 |
uint32_t sync_index; |
165 |
uint32_t pdo_pos; |
|
166 |
uint32_t entry_pos; |
|
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
167 |
|
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
168 |
// outputs |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
169 |
uint16_t index; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
170 |
uint8_t subindex; |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
171 |
uint8_t bit_length; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
172 |
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
|
173 |
} 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
|
174 |
|
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
/*****************************************************************************/ |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
|
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
177 |
typedef struct {
|
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
178 |
// inputs |
| 978 | 179 |
uint32_t index; |
180 |
||
181 |
// outputs |
|
182 |
uint32_t data_size; |
|
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
183 |
uint32_t logical_base_address; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
184 |
uint16_t working_counter; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
185 |
uint16_t expected_working_counter; |
| 978 | 186 |
uint32_t fmmu_count; |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
187 |
} ec_ioctl_domain_t; |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
188 |
|
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
189 |
/*****************************************************************************/ |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
190 |
|
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
191 |
typedef struct {
|
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
192 |
// inputs |
| 978 | 193 |
uint32_t domain_index; |
194 |
uint32_t fmmu_index; |
|
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
195 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
196 |
// outputs |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
197 |
uint16_t slave_config_alias; |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
198 |
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
|
199 |
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
|
200 |
ec_direction_t dir; |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
201 |
uint32_t logical_address; |
| 978 | 202 |
uint32_t data_size; |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
203 |
} ec_ioctl_domain_fmmu_t; |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
204 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
205 |
/*****************************************************************************/ |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
206 |
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
207 |
typedef struct {
|
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
208 |
// inputs |
| 978 | 209 |
uint32_t domain_index; |
210 |
uint32_t data_size; |
|
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
211 |
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
|
212 |
} ec_ioctl_domain_data_t; |
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
213 |
|
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
214 |
/*****************************************************************************/ |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
215 |
|
|
960
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
216 |
typedef struct {
|
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
217 |
// inputs |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
218 |
uint16_t slave_position; |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
219 |
uint8_t requested_state; |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
220 |
} 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
|
221 |
|
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
222 |
/*****************************************************************************/ |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
223 |
|
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
224 |
typedef struct {
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
225 |
// inputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
226 |
uint16_t slave_position; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
227 |
uint16_t sdo_position; |
|
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 |
// outputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
230 |
uint16_t sdo_index; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
231 |
uint8_t max_subindex; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
232 |
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
|
233 |
} ec_ioctl_slave_sdo_t; |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
234 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
235 |
/*****************************************************************************/ |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
236 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
237 |
typedef struct {
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
238 |
// inputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
239 |
uint16_t slave_position; |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
240 |
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
|
241 |
uint8_t sdo_entry_subindex; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
242 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
243 |
// outputs |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
244 |
uint16_t data_type; |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
245 |
uint16_t bit_length; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
246 |
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
|
247 |
} 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
|
248 |
|
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
249 |
/*****************************************************************************/ |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
250 |
|
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
251 |
typedef struct {
|
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
252 |
// inputs |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
253 |
uint16_t slave_position; |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
254 |
uint16_t sdo_index; |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
255 |
uint8_t sdo_entry_subindex; |
| 978 | 256 |
uint32_t target_size; |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
257 |
uint8_t *target; |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
258 |
|
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
259 |
// outputs |
| 978 | 260 |
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
|
261 |
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
|
262 |
} ec_ioctl_slave_sdo_upload_t; |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
263 |
|
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
264 |
/*****************************************************************************/ |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
965
diff
changeset
|
265 |
|
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
266 |
typedef struct {
|
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
267 |
// inputs |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
268 |
uint16_t slave_position; |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
269 |
uint16_t sdo_index; |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
270 |
uint8_t sdo_entry_subindex; |
| 978 | 271 |
uint32_t data_size; |
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
272 |
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
|
273 |
|
|
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
274 |
// 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
|
275 |
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
|
276 |
} ec_ioctl_slave_sdo_download_t; |
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
277 |
|
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
278 |
/*****************************************************************************/ |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
971
diff
changeset
|
279 |
|
| 978 | 280 |
typedef struct {
|
281 |
// inputs |
|
282 |
uint16_t slave_position; |
|
283 |
uint16_t offset; |
|
284 |
uint32_t nwords; |
|
285 |
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
|
286 |
} ec_ioctl_slave_sii_t; |
| 978 | 287 |
|
288 |
/*****************************************************************************/ |
|
289 |
||
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
290 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
291 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
292 |
uint32_t config_index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
293 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
294 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
295 |
uint16_t alias; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
296 |
uint16_t position; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
297 |
uint32_t vendor_id; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
298 |
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
|
299 |
struct {
|
|
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
300 |
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
|
301 |
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
|
302 |
} syncs[EC_MAX_SYNC_MANAGERS]; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
303 |
uint32_t sdo_count; |
|
1057
435d7f36f13d
Operational flag in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
304 |
uint8_t attached : 1, |
|
435d7f36f13d
Operational flag in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
305 |
operational : 1; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
306 |
} ec_ioctl_config_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
307 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
308 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
309 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
310 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
311 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
312 |
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
|
313 |
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
|
314 |
uint16_t pdo_pos; |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
315 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
316 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
317 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
318 |
uint8_t entry_count; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
319 |
int8_t name[EC_IOCTL_STRING_SIZE]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
320 |
} ec_ioctl_config_pdo_t; |
|
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 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
323 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
324 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
325 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
326 |
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
|
327 |
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
|
328 |
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
|
329 |
uint8_t entry_pos; |
|
990
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 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
332 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
333 |
uint8_t subindex; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
334 |
uint8_t bit_length; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
335 |
int8_t name[EC_IOCTL_STRING_SIZE]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
336 |
} ec_ioctl_config_pdo_entry_t; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
337 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
338 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
339 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
340 |
typedef struct {
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
341 |
// inputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
342 |
uint32_t config_index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
343 |
uint32_t sdo_pos; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
344 |
|
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
345 |
// outputs |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
346 |
uint16_t index; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
347 |
uint8_t subindex; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
348 |
uint32_t size; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
349 |
uint8_t data[4]; |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
350 |
} ec_ioctl_config_sdo_t; |
|
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 |
/*****************************************************************************/ |
|
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
353 |
|
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
354 |
/** \endcond */ |
|
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1079
diff
changeset
|
355 |
|
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
356 |
#endif |