etherlabmaster: master/ioctl.h@dd32f74ee76e (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	*
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	5	* Copyright (C) 2006-2012 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	*/
2529 c7e1f2616a9d Implemented emergency register requests to analyze a broken bus. Florian Pose <fp@igh-essen.com> parents: 2505 diff changeset	59	#define EC_IOCTL_VERSION_MAGIC 28
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)
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	99	#define EC_IOCTL_SELECT_REF_CLOCK EC_IOW(0x21, uint32_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	100	#define EC_IOCTL_ACTIVATE EC_IOR(0x22, ec_ioctl_master_activate_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	101	#define EC_IOCTL_DEACTIVATE EC_IO(0x23)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	102	#define EC_IOCTL_SEND EC_IO(0x24)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	103	#define EC_IOCTL_RECEIVE EC_IO(0x25)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	104	#define EC_IOCTL_MASTER_STATE EC_IOR(0x26, ec_master_state_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	105	#define EC_IOCTL_MASTER_LINK_STATE EC_IOWR(0x27, ec_ioctl_link_state_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	106	#define EC_IOCTL_APP_TIME EC_IOW(0x28, ec_ioctl_app_time_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	107	#define EC_IOCTL_SYNC_REF EC_IO(0x29)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	108	#define EC_IOCTL_SYNC_SLAVES EC_IO(0x2a)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	109	#define EC_IOCTL_REF_CLOCK_TIME EC_IOR(0x2b, uint32_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	110	#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x2c)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	111	#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2d, uint32_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	112	#define EC_IOCTL_RESET EC_IO(0x2e)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	113	#define EC_IOCTL_SC_SYNC EC_IOW(0x2f, ec_ioctl_config_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	114	#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x30, ec_ioctl_config_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	115	#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x31, ec_ioctl_config_pdo_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	116	#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x32, ec_ioctl_config_pdo_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	117	#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x33, ec_ioctl_add_pdo_entry_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	118	#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x34, ec_ioctl_config_pdo_t)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	119	#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x35, ec_ioctl_reg_pdo_entry_t)
2505 5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	120	#define EC_IOCTL_SC_REG_PDO_POS EC_IOWR(0x36, ec_ioctl_reg_pdo_pos_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	121	#define EC_IOCTL_SC_DC EC_IOW(0x37, ec_ioctl_config_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	122	#define EC_IOCTL_SC_SDO EC_IOW(0x38, ec_ioctl_sc_sdo_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	123	#define EC_IOCTL_SC_EMERG_SIZE EC_IOW(0x39, ec_ioctl_sc_emerg_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	124	#define EC_IOCTL_SC_EMERG_POP EC_IOWR(0x3a, ec_ioctl_sc_emerg_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	125	#define EC_IOCTL_SC_EMERG_CLEAR EC_IOW(0x3b, ec_ioctl_sc_emerg_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	126	#define EC_IOCTL_SC_EMERG_OVERRUNS EC_IOWR(0x3c, ec_ioctl_sc_emerg_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	127	#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	128	#define EC_IOCTL_SC_REG_REQUEST EC_IOWR(0x3e, ec_ioctl_reg_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	129	#define EC_IOCTL_SC_VOE EC_IOWR(0x3f, ec_ioctl_voe_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	130	#define EC_IOCTL_SC_STATE EC_IOWR(0x40, ec_ioctl_sc_state_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	131	#define EC_IOCTL_SC_IDN EC_IOW(0x41, ec_ioctl_sc_idn_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	132	#define EC_IOCTL_DOMAIN_SIZE EC_IO(0x42)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	133	#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x43)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	134	#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x44)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	135	#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x45)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	136	#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x46, ec_ioctl_domain_state_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	137	#define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x47, ec_ioctl_sdo_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	138	#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x48, ec_ioctl_sdo_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	139	#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x49, ec_ioctl_sdo_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	140	#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x4a, ec_ioctl_sdo_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	141	#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x4b, ec_ioctl_sdo_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	142	#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x4c, ec_ioctl_sdo_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	143	#define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x4d, ec_ioctl_reg_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	144	#define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x4e, ec_ioctl_reg_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	145	#define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x4f, ec_ioctl_reg_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	146	#define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x50, ec_ioctl_reg_request_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	147	#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x51, ec_ioctl_voe_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	148	#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x52, ec_ioctl_voe_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	149	#define EC_IOCTL_VOE_READ EC_IOW(0x53, ec_ioctl_voe_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	150	#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x54, ec_ioctl_voe_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	151	#define EC_IOCTL_VOE_WRITE EC_IOWR(0x55, ec_ioctl_voe_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	152	#define EC_IOCTL_VOE_EXEC EC_IOWR(0x56, ec_ioctl_voe_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	153	#define EC_IOCTL_VOE_DATA EC_IOWR(0x57, ec_ioctl_voe_t)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	154	#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x58, size_t)
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	155
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	156	/*****************************************************************************/
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	157
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	158	#define EC_IOCTL_STRING_SIZE 64
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	159
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	160	/*****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	161
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	162	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	163	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	164	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	165	} 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	166
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	167	/*****************************************************************************/
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	168
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports Florian Pose <fp@igh-essen.com> parents: 1600 diff changeset	169	typedef struct {
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	170	uint32_t slave_count;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	171	uint32_t config_count;
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	172	uint32_t domain_count;
1516 e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	173	#ifdef EC_EOE
1485 5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	174	uint32_t eoe_handler_count;
1516 e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	175	#endif
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	176	uint8_t phase;
1530 96629de2202b Added ecrt_master_deactivate() to remove the bus configuration. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	177	uint8_t active;
1447 846d75637c43 Added scan_busy flag to ioctl(). Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	178	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	179	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	180	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	181	uint8_t attached;
1401 96baef8a3162 Output link state in 'ethercat master'. Florian Pose <fp@igh-essen.com> parents: 1388 diff changeset	182	uint8_t link_state;
1863 8ea4a79dfe84 64 bit frame statistics. Florian Pose <fp@igh-essen.com> parents: 1862 diff changeset	183	uint64_t tx_count;
8ea4a79dfe84 64 bit frame statistics. Florian Pose <fp@igh-essen.com> parents: 1862 diff changeset	184	uint64_t rx_count;
8ea4a79dfe84 64 bit frame statistics. Florian Pose <fp@igh-essen.com> parents: 1862 diff changeset	185	uint64_t tx_bytes;
2158 69f2b2702336 Adjusted frame statistics for the use with two devices. Florian Pose <fp@igh-essen.com> parents: 2124 diff changeset	186	uint64_t rx_bytes;
1863 8ea4a79dfe84 64 bit frame statistics. Florian Pose <fp@igh-essen.com> parents: 1862 diff changeset	187	uint64_t tx_errors;
2372 d895cd1db2bf Improved/fixed frame statistics (low-pass filters). Florian Pose <fp@igh-essen.com> parents: 2369 diff changeset	188	int32_t tx_frame_rates[EC_RATE_COUNT];
d895cd1db2bf Improved/fixed frame statistics (low-pass filters). Florian Pose <fp@igh-essen.com> parents: 2369 diff changeset	189	int32_t rx_frame_rates[EC_RATE_COUNT];
d895cd1db2bf Improved/fixed frame statistics (low-pass filters). Florian Pose <fp@igh-essen.com> parents: 2369 diff changeset	190	int32_t tx_byte_rates[EC_RATE_COUNT];
d895cd1db2bf Improved/fixed frame statistics (low-pass filters). Florian Pose <fp@igh-essen.com> parents: 2369 diff changeset	191	int32_t rx_byte_rates[EC_RATE_COUNT];
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	192	} devices[EC_MAX_NUM_DEVICES];
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	193	uint32_t num_devices;
2158 69f2b2702336 Adjusted frame statistics for the use with two devices. Florian Pose <fp@igh-essen.com> parents: 2124 diff changeset	194	uint64_t tx_count;
69f2b2702336 Adjusted frame statistics for the use with two devices. Florian Pose <fp@igh-essen.com> parents: 2124 diff changeset	195	uint64_t rx_count;
69f2b2702336 Adjusted frame statistics for the use with two devices. Florian Pose <fp@igh-essen.com> parents: 2124 diff changeset	196	uint64_t tx_bytes;
69f2b2702336 Adjusted frame statistics for the use with two devices. Florian Pose <fp@igh-essen.com> parents: 2124 diff changeset	197	uint64_t rx_bytes;
2372 d895cd1db2bf Improved/fixed frame statistics (low-pass filters). Florian Pose <fp@igh-essen.com> parents: 2369 diff changeset	198	int32_t tx_frame_rates[EC_RATE_COUNT];
d895cd1db2bf Improved/fixed frame statistics (low-pass filters). Florian Pose <fp@igh-essen.com> parents: 2369 diff changeset	199	int32_t rx_frame_rates[EC_RATE_COUNT];
d895cd1db2bf Improved/fixed frame statistics (low-pass filters). Florian Pose <fp@igh-essen.com> parents: 2369 diff changeset	200	int32_t tx_byte_rates[EC_RATE_COUNT];
d895cd1db2bf Improved/fixed frame statistics (low-pass filters). Florian Pose <fp@igh-essen.com> parents: 2369 diff changeset	201	int32_t rx_byte_rates[EC_RATE_COUNT];
2158 69f2b2702336 Adjusted frame statistics for the use with two devices. Florian Pose <fp@igh-essen.com> parents: 2124 diff changeset	202	int32_t loss_rates[EC_RATE_COUNT];
1415 9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	203	uint64_t app_time;
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	204	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	205	} 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	206
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	207	/*****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	208
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	209	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	210	// input
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	211	uint16_t position;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	212
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	213	// outputs
2374 e898451c054a Slave scanning and configuration on all links. Florian Pose <fp@igh-essen.com> parents: 2372 diff changeset	214	unsigned int device_index;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	uint32_t vendor_id;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	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	217	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	218	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	219	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	220	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	221	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	222	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	223	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	224	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	225	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	226	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	227	uint16_t std_tx_mailbox_size;
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	228	uint16_t mailbox_protocols;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	229	uint8_t has_general_category;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	230	ec_sii_coe_details_t coe_details;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	231	ec_sii_general_flags_t general_flags;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	232	int16_t current_on_ebus;
1425 c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	233	struct {
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	234	ec_slave_port_desc_t desc;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	235	ec_slave_port_link_t link;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	236	uint32_t receive_time;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	237	uint16_t next_slave;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	238	uint32_t delay_to_next_dc;
c1322a8793c0 Transition delay calculation. TBC... Florian Pose <fp@igh-essen.com> parents: 1421 diff changeset	239	} ports[EC_MAX_PORTS];
1379 cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	240	uint8_t fmmu_bit;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	241	uint8_t dc_supported;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported). Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	242	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	243	uint8_t has_dc_system_time;
1426 af45bba80d85 Transition->Transmission. Florian Pose <fp@igh-essen.com> parents: 1425 diff changeset	244	uint32_t transmission_delay;
1148 1762296870bd Renamed state field to al_state. Florian Pose <fp@igh-essen.com> parents: 1147 diff changeset	245	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	246	uint8_t error_flag;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	247	uint8_t sync_count;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	248	uint16_t sdo_count;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	249	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	250	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	251	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	252	char order[EC_IOCTL_STRING_SIZE];
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	253	char name[EC_IOCTL_STRING_SIZE];
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	254	} ec_ioctl_slave_t;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	255
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	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	259	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	260	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	261	uint32_t sync_index;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	262
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	263	// outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	264	uint16_t physical_start_address;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	265	uint16_t default_size;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	266	uint8_t control_register;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	267	uint8_t enable;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	268	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	269	} ec_ioctl_slave_sync_t;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	270
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	271	/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	272
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	273	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	274	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	275	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	276	uint32_t sync_index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	277	uint32_t pdo_pos;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	278
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	279	// outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	280	uint16_t index;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	281	uint8_t entry_count;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	282	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	283	} ec_ioctl_slave_sync_pdo_t;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	284
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	285	/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	286
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	287	typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	288	// inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	289	uint16_t slave_position;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	290	uint32_t sync_index;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	291	uint32_t pdo_pos;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	292	uint32_t entry_pos;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	293
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	294	// outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	295	uint16_t index;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	296	uint8_t subindex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	297	uint8_t bit_length;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	298	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	299	} 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	300
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	302
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	303	typedef struct {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	304	// inputs
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	305	uint32_t index;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	306
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	307	// outputs
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	308	uint32_t data_size;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	309	uint32_t logical_base_address;
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	310	uint16_t working_counter[EC_MAX_NUM_DEVICES];
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	311	uint16_t expected_working_counter;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	312	uint32_t fmmu_count;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	313	} ec_ioctl_domain_t;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	314
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	315	/*****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	316
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	317	typedef struct {
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	318	// inputs
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	319	uint32_t domain_index;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	320	uint32_t fmmu_index;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	321
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	322	// outputs
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	323	uint16_t slave_config_alias;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	324	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	325	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	326	ec_direction_t dir;
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	327	uint32_t logical_address;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	328	uint32_t data_size;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	329	} ec_ioctl_domain_fmmu_t;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	330
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	331	/*****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	332
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	333	typedef struct {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	334	// inputs
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	335	uint32_t domain_index;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	336	uint32_t data_size;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	337	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	338	} ec_ioctl_domain_data_t;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	339
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	340	/*****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	341
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	342	typedef struct {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	343	// inputs
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	344	uint16_t slave_position;
1148 1762296870bd Renamed state field to al_state. Florian Pose <fp@igh-essen.com> parents: 1147 diff changeset	345	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	346	} 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	347
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	348	/*****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	349
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	350	typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	351	// inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	352	uint16_t slave_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	353	uint16_t sdo_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	354
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	355	// outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	356	uint16_t sdo_index;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	357	uint8_t max_subindex;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	358	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	359	} ec_ioctl_slave_sdo_t;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	360
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	361	/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	362
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	363	typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	364	// inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	365	uint16_t slave_position;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	366	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	367	uint8_t sdo_entry_subindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	368
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	369	// outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	370	uint16_t data_type;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	371	uint16_t bit_length;
1382 cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1379 diff changeset	372	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	373	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	374	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	375	} 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	376
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	377	/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	378
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	379	typedef struct {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	380	// inputs
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	381	uint16_t slave_position;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	382	uint16_t sdo_index;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	383	uint8_t sdo_entry_subindex;
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	384	size_t target_size;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	385	uint8_t *target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	386
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	387	// outputs
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	388	size_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	389	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	390	} ec_ioctl_slave_sdo_upload_t;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	391
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	392	/*****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	393
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	394	typedef struct {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	395	// inputs
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	396	uint16_t slave_position;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	397	uint16_t sdo_index;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	398	uint8_t sdo_entry_subindex;
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2009 diff changeset	399	uint8_t complete_access;
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	400	size_t data_size;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	401	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	402
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	403	// 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	404	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	405	} ec_ioctl_slave_sdo_download_t;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	406
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	407	/*****************************************************************************/
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 971 diff changeset	408
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	409	typedef struct {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	410	// inputs
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	411	uint16_t slave_position;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	412	uint16_t offset;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	413	uint32_t nwords;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	414	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	415	} ec_ioctl_slave_sii_t;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	416
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	417	/*****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	418
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	419	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	420	// inputs
1200 ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	421	uint16_t slave_position;
2529 c7e1f2616a9d Implemented emergency register requests to analyze a broken bus. Florian Pose <fp@igh-essen.com> parents: 2505 diff changeset	422	uint8_t emergency;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	423	uint16_t address;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	424	size_t size;
1200 ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	425	uint8_t *data;
1388 3c886ec376f5 Renamed phy_ commands to reg_. Florian Pose <fp@igh-essen.com> parents: 1382 diff changeset	426	} ec_ioctl_slave_reg_t;
1200 ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	427
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	428	/*****************************************************************************/
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	429
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	430	typedef struct {
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1183 diff changeset	431	// 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	432	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	433	uint16_t offset;
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	434	size_t buffer_size;
1335 09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	435	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	436
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	437	// outputs
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	438	size_t data_size;
1336 e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	439	uint32_t result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	440	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	441	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	442	} 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	443
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	444	/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	445
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	446	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	447	// inputs
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	448	uint16_t slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	449	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	450	uint16_t idn;
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	451	size_t mem_size;
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	452	uint8_t *data;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	453
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	454	// outputs
1972 c1b564299829 Minor 64bit improvements. Florian Pose <fp@igh-essen.com> parents: 1966 diff changeset	455	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	456	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	457	} 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	458
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	459	/*****************************************************************************/
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	460
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	461	typedef struct {
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	462	// inputs
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	463	uint16_t slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	464	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	465	uint16_t idn;
1972 c1b564299829 Minor 64bit improvements. Florian Pose <fp@igh-essen.com> parents: 1966 diff changeset	466	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	467	uint8_t *data;
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	468
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	469	// outputs
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	470	uint16_t error_code;
32136215c1fa Implemented SoE write state machine and soe_write command. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	471	} 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	472
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	473	/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	474
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	475	typedef struct {
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1826 diff changeset	476	// inputs
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	477	uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	478
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	479	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	480	uint16_t alias;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	481	uint16_t position;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	482	uint32_t vendor_id;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	483	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	484	struct {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	485	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	486	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	487	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	488	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	489	} 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	490	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	491	uint16_t watchdog_intervals;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	492	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	493	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	494	int32_t slave_position;
1455 aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	495	uint16_t dc_assign_activate;
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	496	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	497	} ec_ioctl_config_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
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	501	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	502	// inputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	503	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	504	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	505	uint16_t pdo_pos;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	506
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	507	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	508	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	509	uint8_t entry_count;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	510	int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	511	} ec_ioctl_config_pdo_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	512
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	513	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	514
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	515	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	516	// inputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	517	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	518	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	519	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	520	uint8_t entry_pos;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	521
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	522	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	523	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	524	uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	525	uint8_t bit_length;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	526	int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	527	} ec_ioctl_config_pdo_entry_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	528
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	529	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	530
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	531	/** Maximum size for displayed SDO data.
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	532	* \todo Make this dynamic.
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	533	*/
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	534	#define EC_MAX_SDO_DATA_SIZE 1024
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	535
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	536	typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	537	// inputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	538	uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	539	uint32_t sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	540
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	541	// outputs
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	542	uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	543	uint8_t subindex;
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	544	size_t size;
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	545	uint8_t data[EC_MAX_SDO_DATA_SIZE];
2435 4151f6f4c3e1 Show complete access flag in config view. Florian Pose <fp@igh-essen.com> parents: 2434 diff changeset	546	uint8_t complete_access;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	547	} ec_ioctl_config_sdo_t;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	548
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	549	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	550
1966 23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	551	/** 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	552	* \todo Make this dynamic.
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	553	*/
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	554	#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	555
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	556	typedef struct {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	557	// inputs
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	558	uint32_t config_index;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	559	uint32_t idn_pos;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	560
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	561	// outputs
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	562	uint8_t drive_no;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	563	uint16_t idn;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	564	ec_al_state_t state;
1972 c1b564299829 Minor 64bit improvements. Florian Pose <fp@igh-essen.com> parents: 1966 diff changeset	565	size_t size;
1966 23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	566	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	567	} 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	568
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	569	/*****************************************************************************/
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	570
1516 e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	571	#ifdef EC_EOE
e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	572
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	573	typedef struct {
1485 5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	574	// input
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	575	uint16_t eoe_index;
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	576
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	577	// outputs
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	578	char name[EC_DATAGRAM_NAME_SIZE];
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	579	uint16_t slave_position;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	580	uint8_t open;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	581	uint32_t rx_bytes;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	582	uint32_t rx_rate;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	583	uint32_t tx_bytes;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	584	uint32_t tx_rate;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	585	uint32_t tx_queued_frames;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1485 diff changeset	586	uint32_t tx_queue_size;
1485 5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	587	} ec_ioctl_eoe_handler_t;
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	588
1516 e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	589	#endif
e3b09f847512 Fixed compiler error on --disable-eoe. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	590
1485 5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	591	/*****************************************************************************/
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	592
5ddc3a455059 ethercat eoe command. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	593	typedef struct {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	594	// outputs
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	595	void *process_data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	596	size_t process_data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	597	} ec_ioctl_master_activate_t;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	598
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	599	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	600
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	601	typedef struct {
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	602	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	603	uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	604	uint16_t pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	605	uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	606	uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	607	uint8_t entry_bit_length;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	608	} ec_ioctl_add_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	609
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	610	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	611
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	612	typedef struct {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	613	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	614	uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	615	uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	616	uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	617	uint32_t domain_index;
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 2380 diff changeset	618
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	619	// outputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	620	unsigned int bit_position;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	621	} ec_ioctl_reg_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	622
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	623	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	624
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	625	typedef struct {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	626	// inputs
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	627	uint32_t config_index;
2505 5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	628	uint32_t sync_index;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	629	uint32_t pdo_pos;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	630	uint32_t entry_pos;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	631	uint32_t domain_index;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	632
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	633	// outputs
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	634	unsigned int bit_position;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	635	} ec_ioctl_reg_pdo_pos_t;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	636
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	637	/*****************************************************************************/
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	638
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	639	typedef struct {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	640	// inputs
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	641	uint32_t config_index;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	642	uint16_t index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	643	uint8_t subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	644	const uint8_t *data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	645	size_t size;
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1516 diff changeset	646	uint8_t complete_access;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	647	} ec_ioctl_sc_sdo_t;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	648
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	649	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	650
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	651	typedef struct {
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	652	// inputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	653	uint32_t config_index;
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	654	size_t size;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	655	uint8_t *target;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	656
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	657	// outputs
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	658	int32_t overruns;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	659	} ec_ioctl_sc_emerg_t;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	660
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	661	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	662
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	663	typedef struct {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	664	// inputs
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	665	uint32_t config_index;
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	666
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	667	// outputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	668	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	669	} ec_ioctl_sc_state_t;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	670
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	671	/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	672
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	673	typedef struct {
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	674	// inputs
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	675	uint32_t config_index;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	676	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	677	uint16_t idn;
1945 f9204699e799 Incremented ioctl interface version; Minor changes. Florian Pose <fp@igh-essen.com> parents: 1944 diff changeset	678	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	679	const uint8_t *data;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	680	size_t size;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	681	} 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	682
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	683	/*****************************************************************************/
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	684
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	685	typedef struct {
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1857 diff changeset	686	// inputs
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	687	uint32_t domain_index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	688
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	689	// outputs
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	690	ec_domain_state_t *state;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	691	} ec_ioctl_domain_state_t;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	692
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	693	/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	694
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	695	typedef struct {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	696	// inputs
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	697	uint32_t config_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	698
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	699	// inputs/outputs
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	700	uint32_t request_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	701	uint16_t sdo_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	702	uint8_t sdo_subindex;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	703	size_t size;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	704	uint8_t *data;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	705	uint32_t timeout;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	706	ec_request_state_t state;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	707	} ec_ioctl_sdo_request_t;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	708
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	709	/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	710
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	711	typedef struct {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	712	// inputs
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	713	uint32_t config_index;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	714	size_t mem_size;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	715
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	716	// inputs/outputs
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	717	uint32_t request_index;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	718	uint8_t *data;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	719	ec_request_state_t state;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	720	uint8_t new_data;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	721	uint16_t address;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	722	size_t transfer_size;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	723	} ec_ioctl_reg_request_t;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	724
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	725	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	726
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	727	typedef struct {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	728	// inputs
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	729	uint32_t config_index;
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	730
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	731	// inputs/outputs
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	732	uint32_t voe_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	733	uint32_t *vendor_id;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	734	uint16_t *vendor_type;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	735	size_t size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	736	uint8_t *data;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	737	ec_request_state_t state;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	738	} ec_ioctl_voe_t;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	739
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	740	/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	741
1455 aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	742	typedef struct {
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	743	// inputs
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2374 diff changeset	744	uint32_t dev_idx;
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2374 diff changeset	745
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2374 diff changeset	746	// outputs
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2374 diff changeset	747	ec_master_link_state_t *state;
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2374 diff changeset	748	} ec_ioctl_link_state_t;
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2374 diff changeset	749
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2374 diff changeset	750	/*****************************************************************************/
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2374 diff changeset	751
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2374 diff changeset	752	typedef struct {
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2374 diff changeset	753	// inputs
1455 aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	754	uint64_t app_time;
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	755	} ec_ioctl_app_time_t;
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	756
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	757	/*****************************************************************************/
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	758
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	759	#ifdef __KERNEL__
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	760
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	761	/** Context data structure for file handles.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	762	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	763	typedef struct {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	764	unsigned int writable; /*< Device was opened with write permission. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	765	unsigned int requested; /*< Master was requested via this file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	766	uint8_t process_data; /< Total process data area. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	767	size_t process_data_size; /*< Size of the \a process_data. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	768	} ec_ioctl_context_t;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	769
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	770	long ec_ioctl(ec_master_t , ec_ioctl_context_t , unsigned int,
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	771	void __user *);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	772
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	773	#ifdef EC_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	774
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	775	long ec_ioctl_rtdm(ec_master_t , ec_ioctl_context_t , unsigned int,
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	776	void __user *);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	777	int ec_rtdm_mmap(ec_ioctl_context_t , void *);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	778
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	779	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	780
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	781	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	782
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	783	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2421 diff changeset	784
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	785	/** \endcond */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	786
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	787	#endif

author	Florian Pose <fp@gh.de>
	Fri, 03 Mar 2017 13:55:01 +0100
branch	stable-1.5
changeset 2668	dd32f74ee76e
parent 2529	c7e1f2616a9d
child 2712	5d21d80777a6
permissions	-rw-r--r--