etherlabmaster: master/ioctl.h@ce2fae4d3c4f (annotated)

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	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
922 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	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	11	* published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	12	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	16	* Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	17	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1314 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* 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	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	/**
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	\file
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	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	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	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#ifndef __EC_IOCTL_H__
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#define __EC_IOCTL_H__
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
971 d169890332fe Using Linux ioctl() number generation macros. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	40	#include <linux/ioctl.h>
d169890332fe Using Linux ioctl() number generation macros. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	41
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	42	#include "globals.h"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	43
971 d169890332fe Using Linux ioctl() number generation macros. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	44	/*****************************************************************************/
d169890332fe Using Linux ioctl() number generation macros. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	45
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	46	/** \cond */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	47
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	48	#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	49
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	50	#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	51	#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	52	#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	53	#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	54
1826 ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	55	/** EtherCAT master ioctl() version magic.
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	56	*
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	57	* Increment this when changing the ioctl interface!
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	58	*/
2009 b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	59	#define EC_IOCTL_VERSION_MAGIC 11
1826 ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	60
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	61	// Command-line tool
1826 ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	62	#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	63	#define EC_IOCTL_MASTER EC_IOR(0x01, ec_ioctl_master_t)
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	64	#define EC_IOCTL_SLAVE EC_IOWR(0x02, ec_ioctl_slave_t)
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	65	#define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x03, ec_ioctl_slave_sync_t)
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	66	#define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_t)
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	67	#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x05, ec_ioctl_slave_sync_pdo_entry_t)
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	68	#define EC_IOCTL_DOMAIN EC_IOWR(0x06, ec_ioctl_domain_t)
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	69	#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	70	#define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x08, ec_ioctl_domain_data_t)
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	71	#define EC_IOCTL_MASTER_DEBUG EC_IO(0x09)
1961 48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	72	#define EC_IOCTL_MASTER_RESCAN EC_IO(0x0a)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	73	#define EC_IOCTL_SLAVE_STATE EC_IOW(0x0b, ec_ioctl_slave_state_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	74	#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0c, ec_ioctl_slave_sdo_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	75	#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	76	#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	77	#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	78	#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x10, ec_ioctl_slave_sii_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	79	#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x11, ec_ioctl_slave_sii_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	80	#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x12, ec_ioctl_slave_reg_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	81	#define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x13, ec_ioctl_slave_reg_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	82	#define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x14, ec_ioctl_slave_foe_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	83	#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x15, ec_ioctl_slave_foe_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	84	#define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	85	#define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	86	#define EC_IOCTL_CONFIG EC_IOWR(0x18, ec_ioctl_config_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	87	#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x19, ec_ioctl_config_pdo_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	88	#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t)
48f536aefc18 Rescan command. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	89	#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1b, ec_ioctl_config_sdo_t)
1966 23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	90	#define EC_IOCTL_CONFIG_IDN EC_IOWR(0x1c, ec_ioctl_config_idn_t)
1516 e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	91	#ifdef EC_EOE
1966 23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	92	#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1d, ec_ioctl_eoe_handler_t)
1516 e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	93	#endif
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: 1242 diff changeset	94
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	95	// Application interface
1966 23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	96	#define EC_IOCTL_REQUEST EC_IO(0x1e)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	97	#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1f)
2009 b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	98	#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x20, ec_ioctl_config_t)
1966 23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	99	#define EC_IOCTL_ACTIVATE EC_IOR(0x21, size_t)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	100	#define EC_IOCTL_DEACTIVATE EC_IO(0x22)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	101	#define EC_IOCTL_SEND EC_IO(0x23)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	102	#define EC_IOCTL_RECEIVE EC_IO(0x24)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	103	#define EC_IOCTL_MASTER_STATE EC_IOR(0x25, ec_master_state_t)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	104	#define EC_IOCTL_APP_TIME EC_IOW(0x26, ec_ioctl_app_time_t)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	105	#define EC_IOCTL_SYNC_REF EC_IO(0x27)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	106	#define EC_IOCTL_SYNC_SLAVES EC_IO(0x28)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	107	#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x29)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	108	#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2a, uint32_t)
2009 b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	109	#define EC_IOCTL_RESET EC_IO(0x2b)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	110	#define EC_IOCTL_SC_SYNC EC_IOW(0x2c, ec_ioctl_config_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	111	#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2d, ec_ioctl_config_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	112	#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2e, ec_ioctl_config_pdo_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	113	#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2f, ec_ioctl_config_pdo_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	114	#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x30, ec_ioctl_add_pdo_entry_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	115	#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x31, ec_ioctl_config_pdo_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	116	#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x32, ec_ioctl_reg_pdo_entry_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	117	#define EC_IOCTL_SC_DC EC_IOW(0x33, ec_ioctl_config_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	118	#define EC_IOCTL_SC_SDO EC_IOW(0x34, ec_ioctl_sc_sdo_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	119	#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x35, ec_ioctl_sdo_request_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	120	#define EC_IOCTL_SC_VOE EC_IOWR(0x36, ec_ioctl_voe_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	121	#define EC_IOCTL_SC_STATE EC_IOWR(0x37, ec_ioctl_sc_state_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	122	#define EC_IOCTL_SC_IDN EC_IOW(0x38, ec_ioctl_sc_idn_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	123	#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x39)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	124	#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x3a)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	125	#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x3b)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	126	#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3c, ec_ioctl_domain_state_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	127	#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	128	#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	129	#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	130	#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x40, ec_ioctl_sdo_request_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	131	#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x41, ec_ioctl_sdo_request_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	132	#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x42, ec_ioctl_voe_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	133	#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x43, ec_ioctl_voe_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	134	#define EC_IOCTL_VOE_READ EC_IOW(0x44, ec_ioctl_voe_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	135	#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x45, ec_ioctl_voe_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	136	#define EC_IOCTL_VOE_WRITE EC_IOWR(0x46, ec_ioctl_voe_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	137	#define EC_IOCTL_VOE_EXEC EC_IOWR(0x47, ec_ioctl_voe_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	138	#define EC_IOCTL_VOE_DATA EC_IOWR(0x48, ec_ioctl_voe_t)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1972 diff changeset	139	#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x49, size_t)
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	140
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	141	/*****************************************************************************/
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	142
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	143	#define EC_IOCTL_STRING_SIZE 64
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	144
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	145	/*****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	146
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	147	typedef struct {
1826 ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	148	uint32_t ioctl_version_magic;
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	149	uint32_t master_count;
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	150	} ec_ioctl_module_t;
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	151
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	152	/*****************************************************************************/
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	153
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	154	typedef struct {
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	155	uint32_t slave_count;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	156	uint32_t config_count;
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	157	uint32_t domain_count;
1516 e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	158	#ifdef EC_EOE
1485 5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	159	uint32_t eoe_handler_count;
1516 e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	160	#endif
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	161	uint8_t phase;
1530 96629de2202b Added ecrt_master_deactivate() to remove the bus configuration. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	162	uint8_t active;
1447 846d75637c43 Added scan_busy flag to ioctl(). Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	163	uint8_t scan_busy;
1857 ed8b490b5bc3 Output tx errors and tx rate in byte/s. Florian Pose <fp@igh-essen.com> parents: 1851 diff changeset	164	struct ec_ioctl_device {
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	165	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	166	uint8_t attached;
1401 96baef8a3162 Output link state in 'ethercat master'. Florian Pose <fp@igh-essen.com> parents: 1388 diff changeset	167	uint8_t link_state;
1863 8ea4a79dfe84 64 bit frame statistics. Florian Pose <fp@igh-essen.com> parents: 1862 diff changeset	168	uint64_t tx_count;
8ea4a79dfe84 64 bit frame statistics. Florian Pose <fp@igh-essen.com> parents: 1862 diff changeset	169	uint64_t rx_count;
8ea4a79dfe84 64 bit frame statistics. Florian Pose <fp@igh-essen.com> parents: 1862 diff changeset	170	uint64_t tx_bytes;
8ea4a79dfe84 64 bit frame statistics. Florian Pose <fp@igh-essen.com> parents: 1862 diff changeset	171	uint64_t tx_errors;
1857 ed8b490b5bc3 Output tx errors and tx rate in byte/s. Florian Pose <fp@igh-essen.com> parents: 1851 diff changeset	172	uint32_t tx_frame_rates[EC_RATE_COUNT];
ed8b490b5bc3 Output tx errors and tx rate in byte/s. Florian Pose <fp@igh-essen.com> parents: 1851 diff changeset	173	uint32_t tx_byte_rates[EC_RATE_COUNT];
1851 a56bd34e20a1 Frame statistics in 'ethercat master' output. Florian Pose <fp@igh-essen.com> parents: 1837 diff changeset	174	int32_t loss_rates[EC_RATE_COUNT];
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	175	} devices[2];
1415 9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	176	uint64_t app_time;
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	177	uint16_t ref_clock;
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	178	} 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	179
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	180	/*****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	181
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	182	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	183	// input
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	184	uint16_t position;
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
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	uint32_t vendor_id;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	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	189	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	190	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	191	uint16_t alias;
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1336 diff changeset	192	uint16_t boot_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1336 diff changeset	193	uint16_t boot_rx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1336 diff changeset	194	uint16_t boot_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1336 diff changeset	195	uint16_t boot_tx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1336 diff changeset	196	uint16_t std_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1336 diff changeset	197	uint16_t std_rx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1336 diff changeset	198	uint16_t std_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1336 diff changeset	199	uint16_t std_tx_mailbox_size;
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	200	uint16_t mailbox_protocols;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	201	uint8_t has_general_category;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	202	ec_sii_coe_details_t coe_details;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	203	ec_sii_general_flags_t general_flags;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	204	int16_t current_on_ebus;
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	205	struct {
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	206	ec_slave_port_desc_t desc;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	207	ec_slave_port_link_t link;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	208	uint32_t receive_time;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	209	uint16_t next_slave;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	210	uint32_t delay_to_next_dc;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	211	} ports[EC_MAX_PORTS];
1379 cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	212	uint8_t fmmu_bit;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	213	uint8_t dc_supported;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	214	ec_slave_dc_range_t dc_range;
1419 8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	215	uint8_t has_dc_system_time;
1426 af45bba80d85 Transition->Transmission. Florian Pose <fp@igh-essen.com> parents: 1425 diff changeset	216	uint32_t transmission_delay;
1148 1762296870bd Renamed state field to al_state. Florian Pose <fp@igh-essen.com> parents: 1147 diff changeset	217	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	218	uint8_t error_flag;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	219	uint8_t sync_count;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	220	uint16_t sdo_count;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	221	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	222	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	223	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	224	char order[EC_IOCTL_STRING_SIZE];
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	225	char name[EC_IOCTL_STRING_SIZE];
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	226	} ec_ioctl_slave_t;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	227
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	228	/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	229
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	230	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	231	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	232	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	233	uint32_t sync_index;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	234
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	235	// outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	236	uint16_t physical_start_address;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	237	uint16_t default_size;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	238	uint8_t control_register;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	239	uint8_t enable;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	240	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	241	} ec_ioctl_slave_sync_t;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	242
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	243	/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	244
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	245	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	246	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	247	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	248	uint32_t sync_index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	249	uint32_t pdo_pos;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	250
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	251	// outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	252	uint16_t index;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	253	uint8_t entry_count;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	254	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	255	} ec_ioctl_slave_sync_pdo_t;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	256
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	257	/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	258
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	259	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	260	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	261	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	262	uint32_t sync_index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	263	uint32_t pdo_pos;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	264	uint32_t entry_pos;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	265
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	266	// outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	267	uint16_t index;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	268	uint8_t subindex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	269	uint8_t bit_length;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	270	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	271	} 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	272
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	274
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	275	typedef struct {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	276	// inputs
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	277	uint32_t index;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	278
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	279	// outputs
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	280	uint32_t data_size;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	281	uint32_t logical_base_address;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	282	uint16_t working_counter;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	283	uint16_t expected_working_counter;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	284	uint32_t fmmu_count;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	285	} ec_ioctl_domain_t;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	286
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	287	/*****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	288
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	289	typedef struct {
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	290	// inputs
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	291	uint32_t domain_index;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	292	uint32_t fmmu_index;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	293
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	294	// outputs
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	295	uint16_t slave_config_alias;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	296	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	297	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	298	ec_direction_t dir;
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	299	uint32_t logical_address;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	300	uint32_t data_size;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	301	} ec_ioctl_domain_fmmu_t;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	302
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	303	/*****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	304
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	305	typedef struct {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	306	// inputs
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	307	uint32_t domain_index;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	308	uint32_t data_size;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	309	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	310	} ec_ioctl_domain_data_t;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	311
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	312	/*****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	313
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	314	typedef struct {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	315	// inputs
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	316	uint16_t slave_position;
1148 1762296870bd Renamed state field to al_state. Florian Pose <fp@igh-essen.com> parents: 1147 diff changeset	317	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	318	} 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	319
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	320	/*****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	321
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	322	typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	323	// inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	324	uint16_t slave_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	325	uint16_t sdo_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	326
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	327	// outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	328	uint16_t sdo_index;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	329	uint8_t max_subindex;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	330	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	331	} ec_ioctl_slave_sdo_t;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	332
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	333	/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	334
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	335	typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	336	// inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	337	uint16_t slave_position;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	338	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	339	uint8_t sdo_entry_subindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	340
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	341	// outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	342	uint16_t data_type;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	343	uint16_t bit_length;
1382 cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1379 diff changeset	344	uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];
cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1379 diff changeset	345	uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	346	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	347	} 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	348
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	349	/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	350
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	351	typedef struct {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	352	// inputs
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	353	uint16_t slave_position;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	354	uint16_t sdo_index;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	355	uint8_t sdo_entry_subindex;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	356	uint32_t target_size;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	357	uint8_t *target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	358
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	359	// outputs
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	360	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	361	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	362	} ec_ioctl_slave_sdo_upload_t;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	363
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	364	/*****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	365
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	366	typedef struct {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	367	// inputs
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	368	uint16_t slave_position;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	369	uint16_t sdo_index;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	370	uint8_t sdo_entry_subindex;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	371	uint32_t data_size;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	372	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	373
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	374	// 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	375	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	376	} ec_ioctl_slave_sdo_download_t;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	377
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	378	/*****************************************************************************/
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	379
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	380	typedef struct {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	381	// inputs
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	382	uint16_t slave_position;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	383	uint16_t offset;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	384	uint32_t nwords;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	385	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	386	} ec_ioctl_slave_sii_t;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	387
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	388	/*****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	389
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	390	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	391	// inputs
1200 ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	392	uint16_t slave_position;
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	393	uint16_t offset;
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	394	uint16_t length;
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	395	uint8_t *data;
1388 3c886ec376f5 Renamed phy_ commands to reg_. Florian Pose <fp@igh-essen.com> parents: 1382 diff changeset	396	} ec_ioctl_slave_reg_t;
1200 ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	397
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	398	/*****************************************************************************/
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	399
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	400	typedef struct {
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	401	// inputs
1335 09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	402	uint16_t slave_position;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	403	uint16_t offset;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	404	uint32_t buffer_size;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	405	uint8_t *buffer;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	406
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	407	// outputs
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	408	uint32_t data_size;
1336 e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	409	uint32_t result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	410	uint32_t error_code;
1335 09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	411	char file_name[32];
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	412	} ec_ioctl_slave_foe_t;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	413
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	414	/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	415
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	416	typedef struct {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	417	// inputs
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	418	uint16_t slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	419	uint8_t drive_no;
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	420	uint16_t idn;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	421	uint32_t mem_size;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	422	uint8_t *data;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	423
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	424	// outputs
1972 c1b564299829 Minor 64bit improvements. Florian Pose <fp@igh-essen.com> parents: 1966 diff changeset	425	size_t data_size;
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	426	uint16_t error_code;
1837 32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	427	} ec_ioctl_slave_soe_read_t;
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	428
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	429	/*****************************************************************************/
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	430
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	431	typedef struct {
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	432	// inputs
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	433	uint16_t slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	434	uint8_t drive_no;
1837 32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	435	uint16_t idn;
1972 c1b564299829 Minor 64bit improvements. Florian Pose <fp@igh-essen.com> parents: 1966 diff changeset	436	size_t data_size;
1837 32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	437	uint8_t *data;
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	438
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	439	// outputs
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	440	uint16_t error_code;
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	441	} ec_ioctl_slave_soe_write_t;
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	442
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	443	/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	444
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	445	typedef struct {
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	446	// inputs
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	447	uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	448
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	449	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	450	uint16_t alias;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	451	uint16_t position;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	452	uint32_t vendor_id;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	453	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	454	struct {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	455	ec_direction_t dir;
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	456	ec_watchdog_mode_t watchdog_mode;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	457	uint32_t pdo_count;
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	458	uint8_t config_this;
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	459	} syncs[EC_MAX_SYNC_MANAGERS];
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	460	uint16_t watchdog_divider;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	461	uint16_t watchdog_intervals;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	462	uint32_t sdo_count;
1966 23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	463	uint32_t idn_count;
1147 0eac1ee8512a Show attached slave position and state in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1109 diff changeset	464	int32_t slave_position;
1455 aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	465	uint16_t dc_assign_activate;
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	466	ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT];
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	467	} ec_ioctl_config_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	468
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	469	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	470
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	471	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	472	// inputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	473	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	474	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	475	uint16_t pdo_pos;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	476
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	477	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	478	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	479	uint8_t entry_count;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	480	int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	481	} ec_ioctl_config_pdo_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	482
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	483	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	484
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	485	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	486	// inputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	487	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	488	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	489	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	490	uint8_t entry_pos;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	491
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	492	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	493	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	494	uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	495	uint8_t bit_length;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	496	int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	497	} ec_ioctl_config_pdo_entry_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	498
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	499	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	500
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	501	/** Maximum size for displayed SDO data.
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	502	* \todo Make this dynamic.
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	503	*/
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	504	#define EC_MAX_SDO_DATA_SIZE 1024
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	505
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	506	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	507	// inputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	508	uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	509	uint32_t sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	510
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	511	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	512	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	513	uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	514	uint32_t size;
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	515	uint8_t data[EC_MAX_SDO_DATA_SIZE];
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	516	} ec_ioctl_config_sdo_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	517
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	518	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	519
1966 23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	520	/** Maximum size for displayed IDN data.
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	521	* \todo Make this dynamic.
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	522	*/
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	523	#define EC_MAX_IDN_DATA_SIZE 1024
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	524
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	525	typedef struct {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	526	// inputs
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	527	uint32_t config_index;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	528	uint32_t idn_pos;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	529
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	530	// outputs
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	531	uint8_t drive_no;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	532	uint16_t idn;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	533	ec_al_state_t state;
1972 c1b564299829 Minor 64bit improvements. Florian Pose <fp@igh-essen.com> parents: 1966 diff changeset	534	size_t size;
1966 23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	535	uint8_t data[EC_MAX_IDN_DATA_SIZE];
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	536	} ec_ioctl_config_idn_t;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	537
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	538	/*****************************************************************************/
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	539
1516 e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	540	#ifdef EC_EOE
e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	541
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	542	typedef struct {
1485 5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	543	// input
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	544	uint16_t eoe_index;
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	545
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	546	// outputs
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	547	char name[EC_DATAGRAM_NAME_SIZE];
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	548	uint16_t slave_position;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	549	uint8_t open;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	550	uint32_t rx_bytes;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	551	uint32_t rx_rate;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	552	uint32_t tx_bytes;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	553	uint32_t tx_rate;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	554	uint32_t tx_queued_frames;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	555	uint32_t tx_queue_size;
1485 5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	556	} ec_ioctl_eoe_handler_t;
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	557
1516 e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	558	#endif
e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	559
1485 5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	560	/*****************************************************************************/
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	561
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	562	typedef struct {
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	563	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	564	uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	565	uint16_t pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	566	uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	567	uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	568	uint8_t entry_bit_length;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	569	} ec_ioctl_add_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	570
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	571	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	572
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	573	typedef struct {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	574	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	575	uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	576	uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	577	uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	578	uint32_t domain_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	579
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	580	// outputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	581	unsigned int bit_position;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	582	} ec_ioctl_reg_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	583
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	584	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	585
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	586	typedef struct {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	587	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	588	uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	589	uint16_t index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	590	uint8_t subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	591	const uint8_t *data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	592	size_t size;
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	593	uint8_t complete_access;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	594	} ec_ioctl_sc_sdo_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	595
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	596	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	597
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	598	typedef struct {
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	599	// inputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	600	uint32_t config_index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	601
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	602	// outputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	603	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	604	} ec_ioctl_sc_state_t;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	605
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	606	/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	607
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	608	typedef struct {
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	609	// inputs
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	610	uint32_t config_index;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	611	uint8_t drive_no;
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	612	uint16_t idn;
1945 f9204699e799 Incremented ioctl interface version; Minor changes. Florian Pose <fp@igh-essen.com> parents: 1944 diff changeset	613	ec_al_state_t al_state;
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	614	const uint8_t *data;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	615	size_t size;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	616	} ec_ioctl_sc_idn_t;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	617
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	618	/*****************************************************************************/
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	619
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	620	typedef struct {
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	621	// inputs
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	622	uint32_t domain_index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	623
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	624	// outputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	625	ec_domain_state_t *state;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	626	} ec_ioctl_domain_state_t;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	627
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	628	/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	629
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	630	typedef struct {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	631	// inputs
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	632	uint32_t config_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	633
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	634	// inputs/outputs
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	635	uint32_t request_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	636	uint16_t sdo_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	637	uint8_t sdo_subindex;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	638	size_t size;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	639	uint8_t *data;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	640	uint32_t timeout;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	641	ec_request_state_t state;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	642	} ec_ioctl_sdo_request_t;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	643
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	644	/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	645
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	646	typedef struct {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	647	// inputs
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	648	uint32_t config_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	649
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	650	// inputs/outputs
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	651	uint32_t voe_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	652	uint32_t *vendor_id;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	653	uint16_t *vendor_type;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	654	size_t size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	655	uint8_t *data;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	656	ec_request_state_t state;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	657	} ec_ioctl_voe_t;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	658
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	659	/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	660
1455 aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	661	typedef struct {
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	662	// inputs
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	663	uint64_t app_time;
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	664	} ec_ioctl_app_time_t;
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	665
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	666	/*****************************************************************************/
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	667
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	668	/** \endcond */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	669
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	670	#endif

author	Florian Pose <fp@igh-essen.com>
	Fri, 14 Jan 2011 13:31:30 +0100
changeset 2015	ce2fae4d3c4f
parent 2009	b5391b329b5d
child 2042	8b358effa78b
child 2124	c4afc5fede19
permissions	-rw-r--r--