master/ioctl.h
author Florian Pose <fp@igh-essen.com>
Wed, 22 Oct 2008 11:53:40 +0000
changeset 1298 de91d633ff6c
parent 1264 e7882f246d7a
child 1314 b3d06a8807b3
permissions -rw-r--r--
VoE handlers.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master character device IOCTL commands.
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*/
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/*****************************************************************************/
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#ifndef __EC_IOCTL_H__
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#define __EC_IOCTL_H__
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#include <linux/ioctl.h>
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#include "globals.h"
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/*****************************************************************************/
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/** \cond */
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#define EC_IOCTL_TYPE 0xa4
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#define EC_IO(nr)           _IO(EC_IOCTL_TYPE, nr)
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#define EC_IOR(nr, type)   _IOR(EC_IOCTL_TYPE, nr, type)
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#define EC_IOW(nr, type)   _IOW(EC_IOCTL_TYPE, nr, type)
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#define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type)
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// Command-line tool
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#define EC_IOCTL_MASTER                EC_IOR(0x00, ec_ioctl_master_t)
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#define EC_IOCTL_SLAVE                EC_IOWR(0x01, ec_ioctl_slave_t)
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#define EC_IOCTL_SLAVE_SYNC           EC_IOWR(0x02, ec_ioctl_slave_sync_t)
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#define EC_IOCTL_SLAVE_SYNC_PDO       EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t)
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#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t)
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#define EC_IOCTL_DOMAIN               EC_IOWR(0x05, ec_ioctl_domain_t)
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#define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x06, ec_ioctl_domain_fmmu_t)
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#define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x07, ec_ioctl_domain_data_t)
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#define EC_IOCTL_MASTER_DEBUG           EC_IO(0x08)
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#define EC_IOCTL_SLAVE_STATE           EC_IOW(0x09, ec_ioctl_slave_state_t)
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#define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0a, ec_ioctl_slave_sdo_t)
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#define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t)
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#define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t)
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#define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t)
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#define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x0e, ec_ioctl_slave_sii_t)
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#define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x0f, ec_ioctl_slave_sii_t)
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#define EC_IOCTL_SLAVE_PHY_READ       EC_IOWR(0x10, ec_ioctl_slave_phy_t)
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#define EC_IOCTL_SLAVE_PHY_WRITE       EC_IOW(0x11, ec_ioctl_slave_phy_t)
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#define EC_IOCTL_CONFIG               EC_IOWR(0x12, ec_ioctl_config_t)
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#define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x13, ec_ioctl_config_pdo_t)
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#define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x14, ec_ioctl_config_pdo_entry_t)
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#define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x15, ec_ioctl_config_sdo_t)
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// Application interface
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#define EC_IOCTL_REQUEST                EC_IO(0x16)
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#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x17)
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#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x18, ec_ioctl_config_t)
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#define EC_IOCTL_ACTIVATE              EC_IOR(0x19, size_t)
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#define EC_IOCTL_SEND                   EC_IO(0x1a)
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#define EC_IOCTL_RECEIVE                EC_IO(0x1b)
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#define EC_IOCTL_MASTER_STATE          EC_IOR(0x1c, ec_master_state_t)
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#define EC_IOCTL_SC_SYNC               EC_IOW(0x1d, ec_ioctl_config_t)
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#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x1e, ec_ioctl_config_pdo_t)
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#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x1f, ec_ioctl_config_pdo_t)
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#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x20, ec_ioctl_add_pdo_entry_t)
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#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x21, ec_ioctl_config_pdo_t)
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#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x22, ec_ioctl_reg_pdo_entry_t)
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#define EC_IOCTL_SC_SDO                EC_IOW(0x23, ec_ioctl_sc_sdo_t)
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#define EC_IOCTL_SC_VOE               EC_IOWR(0x24, ec_ioctl_voe_t)
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#define EC_IOCTL_SC_STATE             EC_IOWR(0x25, ec_ioctl_sc_state_t)
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#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x26)
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#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x27)
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#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x28)
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#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x29, ec_ioctl_domain_state_t)
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#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x2a, ec_ioctl_voe_t)
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#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x2b, ec_ioctl_voe_t)
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#define EC_IOCTL_VOE_READ              EC_IOW(0x2c, ec_ioctl_voe_t)
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#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x2d, ec_ioctl_voe_t)
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#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x2e, ec_ioctl_voe_t)
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#define EC_IOCTL_VOE_DATA             EC_IOWR(0x2f, ec_ioctl_voe_t)
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/*****************************************************************************/
990
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   112
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   113
#define EC_IOCTL_STRING_SIZE 64
978
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/*****************************************************************************/
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typedef struct {
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    uint32_t slave_count;
990
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   119
    uint32_t config_count;
1001
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
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    uint32_t domain_count;
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
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    uint8_t phase;
957
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    struct {
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   123
        uint8_t address[6];
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   124
        uint8_t attached;
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        uint32_t tx_count;
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   126
        uint32_t rx_count;
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   127
    } devices[2];
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} ec_ioctl_master_t;
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/*****************************************************************************/
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   131
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typedef struct {
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    // input
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    uint16_t position;
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    // outputs
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    uint32_t vendor_id;
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   138
    uint32_t product_code;
938
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   139
    uint32_t revision_number;
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   140
    uint32_t serial_number;
922
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   141
    uint16_t alias;
989
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   142
    uint16_t rx_mailbox_offset;
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   143
    uint16_t rx_mailbox_size;
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   144
    uint16_t tx_mailbox_offset;
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   145
    uint16_t tx_mailbox_size;
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   146
    uint16_t mailbox_protocols;
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   147
    uint8_t has_general_category;
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    ec_sii_coe_details_t coe_details;
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   149
    ec_sii_general_flags_t general_flags;
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   150
    int16_t current_on_ebus;
1148
1762296870bd Renamed state field to al_state.
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   151
    uint8_t al_state;
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
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   152
    uint8_t error_flag;
935
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   153
    uint8_t sync_count;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   154
    uint16_t sdo_count;
978
2962baf7e6d1 Implemented SII read.
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   155
    uint32_t sii_nwords;
1109
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
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   156
    char group[EC_IOCTL_STRING_SIZE];
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   157
    char image[EC_IOCTL_STRING_SIZE];
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   158
    char order[EC_IOCTL_STRING_SIZE];
990
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   159
    char name[EC_IOCTL_STRING_SIZE];
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   160
} ec_ioctl_slave_t;
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   161
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   162
/*****************************************************************************/
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   163
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   164
typedef struct {
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   165
    // inputs
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   166
    uint16_t slave_position;
978
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   167
    uint32_t sync_index;
935
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   168
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   169
    // outputs
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   170
    uint16_t physical_start_address;
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   171
    uint16_t default_size;
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   172
    uint8_t control_register;
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   173
    uint8_t enable;
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   174
    uint8_t pdo_count;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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   175
} ec_ioctl_slave_sync_t;
935
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   176
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   177
/*****************************************************************************/
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   178
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   179
typedef struct {
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   180
    // inputs
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   181
    uint16_t slave_position;
978
2962baf7e6d1 Implemented SII read.
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   182
    uint32_t sync_index;
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   183
    uint32_t pdo_pos;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   184
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   185
    // outputs
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   186
    uint16_t index;
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   187
    uint8_t entry_count;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   188
    int8_t name[EC_IOCTL_STRING_SIZE];
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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   189
} ec_ioctl_slave_sync_pdo_t;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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diff changeset
   190
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   191
/*****************************************************************************/
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   192
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   193
typedef struct {
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   194
    // inputs
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diff changeset
   195
    uint16_t slave_position;
978
2962baf7e6d1 Implemented SII read.
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diff changeset
   196
    uint32_t sync_index;
2962baf7e6d1 Implemented SII read.
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   197
    uint32_t pdo_pos;
2962baf7e6d1 Implemented SII read.
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   198
    uint32_t entry_pos;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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diff changeset
   199
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   200
    // outputs
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diff changeset
   201
    uint16_t index;
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diff changeset
   202
    uint8_t subindex;
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diff changeset
   203
    uint8_t bit_length;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   204
    int8_t name[EC_IOCTL_STRING_SIZE];
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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   205
} ec_ioctl_slave_sync_pdo_entry_t;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
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   206
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   207
/*****************************************************************************/
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   208
948
1cfab7161491 Implemented domain command.
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   209
typedef struct {
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   210
    // inputs
978
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diff changeset
   211
	uint32_t index;
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diff changeset
   212
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   213
    // outputs
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   214
	uint32_t data_size;
948
1cfab7161491 Implemented domain command.
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   215
	uint32_t logical_base_address;
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   216
	uint16_t working_counter;
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   217
	uint16_t expected_working_counter;
978
2962baf7e6d1 Implemented SII read.
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   218
    uint32_t fmmu_count;
948
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   219
} ec_ioctl_domain_t;
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   220
1cfab7161491 Implemented domain command.
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   221
/*****************************************************************************/
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   222
949
e424c0074c67 Implemented 'data' command.
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   223
typedef struct {
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   224
    // inputs
978
2962baf7e6d1 Implemented SII read.
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   225
	uint32_t domain_index;
2962baf7e6d1 Implemented SII read.
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diff changeset
   226
	uint32_t fmmu_index;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
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   227
8b00e63fff90 'ethercat domain' shows domain contents and process data.
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   228
    // outputs
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   229
    uint16_t slave_config_alias;
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diff changeset
   230
    uint16_t slave_config_position;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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parents: 1037
diff changeset
   231
    uint8_t sync_index;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff changeset
   232
    ec_direction_t dir;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
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diff changeset
   233
	uint32_t logical_address;
978
2962baf7e6d1 Implemented SII read.
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diff changeset
   234
    uint32_t data_size;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
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diff changeset
   235
} ec_ioctl_domain_fmmu_t;
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diff changeset
   236
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   237
/*****************************************************************************/
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   238
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diff changeset
   239
typedef struct {
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   240
    // inputs
978
2962baf7e6d1 Implemented SII read.
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diff changeset
   241
	uint32_t domain_index;
2962baf7e6d1 Implemented SII read.
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parents: 974
diff changeset
   242
    uint32_t data_size;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   243
    uint8_t *target;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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parents: 1057
diff changeset
   244
} ec_ioctl_domain_data_t;
949
e424c0074c67 Implemented 'data' command.
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diff changeset
   245
e424c0074c67 Implemented 'data' command.
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diff changeset
   246
/*****************************************************************************/
e424c0074c67 Implemented 'data' command.
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parents: 948
diff changeset
   247
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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parents: 957
diff changeset
   248
typedef struct {
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    // inputs
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	uint16_t slave_position;
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    uint8_t al_state;
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} ec_ioctl_slave_state_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint16_t slave_position;
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    uint16_t sdo_position;
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    // outputs
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    uint16_t sdo_index;
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    uint8_t max_subindex;
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    int8_t name[EC_IOCTL_STRING_SIZE];
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} ec_ioctl_slave_sdo_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint16_t slave_position;
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    int sdo_spec; // positive: index, negative: list position
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    uint8_t sdo_entry_subindex;
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    // outputs
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    uint16_t data_type;
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    uint16_t bit_length;
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    int8_t description[EC_IOCTL_STRING_SIZE];
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} ec_ioctl_slave_sdo_entry_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint16_t slave_position;
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    uint16_t sdo_index;
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    uint8_t sdo_entry_subindex;
978
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    uint32_t target_size;
968
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    uint8_t *target;
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    // outputs
978
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    uint32_t data_size;
1037
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    uint32_t abort_code;
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} ec_ioctl_slave_sdo_upload_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint16_t slave_position;
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    uint16_t sdo_index;
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    uint8_t sdo_entry_subindex;
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    uint32_t data_size;
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    uint8_t *data;
1037
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   305
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    // outputs
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    uint32_t abort_code;
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} ec_ioctl_slave_sdo_download_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint16_t slave_position;
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    uint16_t offset;
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    uint32_t nwords;
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    uint16_t *words;
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   318
} ec_ioctl_slave_sii_t;
978
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   319
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   320
/*****************************************************************************/
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   321
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   322
typedef struct {
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   323
    // inputs
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   324
    uint16_t slave_position;
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   325
    uint16_t offset;
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   326
    uint16_t length;
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   327
    uint8_t *data;
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   328
} ec_ioctl_slave_phy_t;
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   329
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   330
/*****************************************************************************/
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   331
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   332
typedef struct {
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   333
    // inputs
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   334
    uint32_t config_index;
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   335
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   336
    // outputs
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   337
    uint16_t alias;
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   338
    uint16_t position;
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   339
    uint32_t vendor_id;
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   340
    uint32_t product_code;
1055
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   341
    struct {
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   342
        ec_direction_t dir;
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   343
        uint32_t pdo_count;
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
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   344
    } syncs[EC_MAX_SYNC_MANAGERS];
990
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   345
    uint32_t sdo_count;
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   346
    int32_t slave_position;
990
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   347
} ec_ioctl_config_t;
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   348
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   349
/*****************************************************************************/
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   350
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   351
typedef struct {
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   352
    // inputs
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   353
    uint32_t config_index;
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   354
    uint8_t sync_index;
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   355
    uint16_t pdo_pos;
990
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   356
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   357
    // outputs
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   358
    uint16_t index;
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   359
    uint8_t entry_count;
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   360
    int8_t name[EC_IOCTL_STRING_SIZE];
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   361
} ec_ioctl_config_pdo_t;
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   362
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   363
/*****************************************************************************/
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   364
4f223f3df05a Bus configuration via 'ethercat config'.
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   365
typedef struct {
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   366
    // inputs
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   367
    uint32_t config_index;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff changeset
   368
    uint8_t sync_index;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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diff changeset
   369
    uint16_t pdo_pos;
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   370
    uint8_t entry_pos;
990
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   371
4f223f3df05a Bus configuration via 'ethercat config'.
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   372
    // outputs
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   373
    uint16_t index;
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   374
    uint8_t subindex;
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   375
    uint8_t bit_length;
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   376
    int8_t name[EC_IOCTL_STRING_SIZE];
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   377
} ec_ioctl_config_pdo_entry_t;
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   378
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   379
/*****************************************************************************/
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   380
4f223f3df05a Bus configuration via 'ethercat config'.
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   381
typedef struct {
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   382
    // inputs
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diff changeset
   383
    uint32_t config_index;
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diff changeset
   384
    uint32_t sdo_pos;
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diff changeset
   385
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   386
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   387
    uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   388
    uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'.
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   389
    uint32_t size;
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   390
    uint8_t data[4];
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   391
} ec_ioctl_config_sdo_t;
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   392
4f223f3df05a Bus configuration via 'ethercat config'.
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   393
/*****************************************************************************/
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   394
1255
38b7e05b20c1 Added some slave configuration methods.
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   395
typedef struct {
38b7e05b20c1 Added some slave configuration methods.
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   396
    // inputs
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   397
    uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods.
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   398
    uint16_t pdo_index;
38b7e05b20c1 Added some slave configuration methods.
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   399
    uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods.
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   400
    uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods.
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   401
    uint8_t entry_bit_length;
38b7e05b20c1 Added some slave configuration methods.
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   402
} ec_ioctl_add_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   403
38b7e05b20c1 Added some slave configuration methods.
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   404
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
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   405
38b7e05b20c1 Added some slave configuration methods.
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   406
typedef struct {
38b7e05b20c1 Added some slave configuration methods.
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   407
    // inputs
38b7e05b20c1 Added some slave configuration methods.
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   408
    uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   409
    uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   410
    uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods.
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   411
    uint32_t domain_index;
38b7e05b20c1 Added some slave configuration methods.
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   412
    
38b7e05b20c1 Added some slave configuration methods.
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   413
    // outputs
38b7e05b20c1 Added some slave configuration methods.
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   414
    unsigned int bit_position;
38b7e05b20c1 Added some slave configuration methods.
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   415
} ec_ioctl_reg_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   416
38b7e05b20c1 Added some slave configuration methods.
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   417
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
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   418
38b7e05b20c1 Added some slave configuration methods.
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   419
typedef struct {
38b7e05b20c1 Added some slave configuration methods.
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   420
    // inputs
38b7e05b20c1 Added some slave configuration methods.
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   421
    uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods.
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   422
    uint16_t index;
38b7e05b20c1 Added some slave configuration methods.
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   423
    uint8_t subindex;
38b7e05b20c1 Added some slave configuration methods.
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   424
    const uint8_t *data;
38b7e05b20c1 Added some slave configuration methods.
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   425
    size_t size;
38b7e05b20c1 Added some slave configuration methods.
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   426
} ec_ioctl_sc_sdo_t;
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   427
38b7e05b20c1 Added some slave configuration methods.
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   428
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
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   429
1259
5f9d1abbee71 Added state functions; writing of process data works.
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   430
typedef struct {
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   431
    // inputs
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   432
    uint32_t config_index;
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parents: 1258
diff changeset
   433
5f9d1abbee71 Added state functions; writing of process data works.
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diff changeset
   434
    // outputs
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diff changeset
   435
    ec_slave_config_state_t *state;
5f9d1abbee71 Added state functions; writing of process data works.
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diff changeset
   436
} ec_ioctl_sc_state_t;
5f9d1abbee71 Added state functions; writing of process data works.
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diff changeset
   437
5f9d1abbee71 Added state functions; writing of process data works.
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   438
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
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diff changeset
   439
5f9d1abbee71 Added state functions; writing of process data works.
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   440
typedef struct {
5f9d1abbee71 Added state functions; writing of process data works.
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   441
    // inputs
5f9d1abbee71 Added state functions; writing of process data works.
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   442
    uint32_t domain_index;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   443
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
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diff changeset
   444
    // outputs
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   445
    ec_domain_state_t *state;
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Florian Pose <fp@igh-essen.com>
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diff changeset
   446
} ec_ioctl_domain_state_t;
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diff changeset
   447
5f9d1abbee71 Added state functions; writing of process data works.
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diff changeset
   448
/*****************************************************************************/
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diff changeset
   449
1264
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   450
typedef struct {
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diff changeset
   451
    // inputs
e7882f246d7a Implemented VoE handler in userspace.
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parents: 1259
diff changeset
   452
    uint32_t config_index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   453
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   454
    // inputs/outputs
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
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diff changeset
   455
    uint32_t voe_index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   456
    uint32_t *vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
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diff changeset
   457
    uint16_t *vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
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diff changeset
   458
    size_t size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   459
    uint8_t *data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   460
    ec_request_state_t state;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   461
} ec_ioctl_voe_t;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   462
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   463
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   464
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   465
/** \endcond */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   466
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
#endif