1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *****************************************************************************/

    29

    30

/**

    31

   \file

    32

   EtherCAT master character device IOCTL commands.

    33

*/

    34

    35

/*****************************************************************************/

    36

    37

#ifndef __EC_IOCTL_H__

    38

#define __EC_IOCTL_H__

    39

    40

#include <linux/ioctl.h>

    41

    42

#include "globals.h"

    43

    44

/*****************************************************************************/

    45

    46

/** \cond */

    47

    48

#define EC_IOCTL_TYPE 0xa4

    49

    50

#define EC_IO(nr)           _IO(EC_IOCTL_TYPE, nr)

    51

#define EC_IOR(nr, type)   _IOR(EC_IOCTL_TYPE, nr, type)

    52

#define EC_IOW(nr, type)   _IOW(EC_IOCTL_TYPE, nr, type)

    53

#define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type)

    54

    55

/** EtherCAT master ioctl() version magic.

    56

 *

    57

 * Increment this when changing the ioctl interface!

    58

 */

    59

#define EC_IOCTL_VERSION_MAGIC 30

    60

    61

// Command-line tool

    62

#define EC_IOCTL_MODULE                EC_IOR(0x00, ec_ioctl_module_t)

    63

#define EC_IOCTL_MASTER                EC_IOR(0x01, ec_ioctl_master_t)

    64

#define EC_IOCTL_SLAVE                EC_IOWR(0x02, ec_ioctl_slave_t)

    65

#define EC_IOCTL_SLAVE_SYNC           EC_IOWR(0x03, ec_ioctl_slave_sync_t)

    66

#define EC_IOCTL_SLAVE_SYNC_PDO       EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_t)

    67

#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x05, ec_ioctl_slave_sync_pdo_entry_t)

    68

#define EC_IOCTL_DOMAIN               EC_IOWR(0x06, ec_ioctl_domain_t)

    69

#define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)

    70

#define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x08, ec_ioctl_domain_data_t)

    71

#define EC_IOCTL_MASTER_DEBUG           EC_IO(0x09)

    72

#define EC_IOCTL_MASTER_RESCAN          EC_IO(0x0a)

    73

#define EC_IOCTL_SLAVE_STATE           EC_IOW(0x0b, ec_ioctl_slave_state_t)

    74

#define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0c, ec_ioctl_slave_sdo_t)

    75

#define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t)

    76

#define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t)

    77

#define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t)

    78

#define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x10, ec_ioctl_slave_sii_t)

    79

#define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x11, ec_ioctl_slave_sii_t)

    80

#define EC_IOCTL_SLAVE_REG_READ       EC_IOWR(0x12, ec_ioctl_slave_reg_t)

    81

#define EC_IOCTL_SLAVE_REG_WRITE       EC_IOW(0x13, ec_ioctl_slave_reg_t)

    82

#define EC_IOCTL_SLAVE_FOE_READ       EC_IOWR(0x14, ec_ioctl_slave_foe_t)

    83

#define EC_IOCTL_SLAVE_FOE_WRITE       EC_IOW(0x15, ec_ioctl_slave_foe_t)

    84

#define EC_IOCTL_SLAVE_SOE_READ       EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)

    85

#define EC_IOCTL_SLAVE_SOE_WRITE      EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)

    86

#define EC_IOCTL_SLAVE_EOE_IP_PARAM    EC_IOW(0x18, ec_ioctl_slave_eoe_ip_t)

    87

#define EC_IOCTL_CONFIG               EC_IOWR(0x19, ec_ioctl_config_t)

    88

#define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x1a, ec_ioctl_config_pdo_t)

    89

#define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x1b, ec_ioctl_config_pdo_entry_t)

    90

#define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x1c, ec_ioctl_config_sdo_t)

    91

#define EC_IOCTL_CONFIG_IDN           EC_IOWR(0x1d, ec_ioctl_config_idn_t)

    92

#ifdef EC_EOE

    93

#define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x1e, ec_ioctl_eoe_handler_t)

    94

#endif

    95

    96

// Application interface

    97

#define EC_IOCTL_REQUEST                EC_IO(0x1f)

    98

#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x20)

    99

#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x21, ec_ioctl_config_t)

   100

#define EC_IOCTL_SELECT_REF_CLOCK      EC_IOW(0x22, uint32_t)

   101

#define EC_IOCTL_ACTIVATE              EC_IOR(0x23, ec_ioctl_master_activate_t)

   102

#define EC_IOCTL_DEACTIVATE             EC_IO(0x24)

   103

#define EC_IOCTL_SEND                   EC_IO(0x25)

   104

#define EC_IOCTL_RECEIVE                EC_IO(0x26)

   105

#define EC_IOCTL_MASTER_STATE          EC_IOR(0x27, ec_master_state_t)

   106

#define EC_IOCTL_MASTER_LINK_STATE    EC_IOWR(0x28, ec_ioctl_link_state_t)

   107

#define EC_IOCTL_APP_TIME              EC_IOW(0x29, ec_ioctl_app_time_t)

   108

#define EC_IOCTL_SYNC_REF               EC_IO(0x2a)

   109

#define EC_IOCTL_SYNC_SLAVES            EC_IO(0x2b)

   110

#define EC_IOCTL_REF_CLOCK_TIME        EC_IOR(0x2c, uint32_t)

   111

#define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x2d)

   112

#define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x2e, uint32_t)

   113

#define EC_IOCTL_RESET                  EC_IO(0x2f)

   114

#define EC_IOCTL_SC_SYNC               EC_IOW(0x30, ec_ioctl_config_t)

   115

#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x31, ec_ioctl_config_t)

   116

#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x32, ec_ioctl_config_pdo_t)

   117

#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x33, ec_ioctl_config_pdo_t)

   118

#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x34, ec_ioctl_add_pdo_entry_t)

   119

#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x35, ec_ioctl_config_pdo_t)

   120

#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x36, ec_ioctl_reg_pdo_entry_t)

   121

#define EC_IOCTL_SC_REG_PDO_POS       EC_IOWR(0x37, ec_ioctl_reg_pdo_pos_t)

   122

#define EC_IOCTL_SC_DC                 EC_IOW(0x38, ec_ioctl_config_t)

   123

#define EC_IOCTL_SC_SDO                EC_IOW(0x39, ec_ioctl_sc_sdo_t)

   124

#define EC_IOCTL_SC_EMERG_SIZE         EC_IOW(0x3a, ec_ioctl_sc_emerg_t)

   125

#define EC_IOCTL_SC_EMERG_POP         EC_IOWR(0x3b, ec_ioctl_sc_emerg_t)

   126

#define EC_IOCTL_SC_EMERG_CLEAR        EC_IOW(0x3c, ec_ioctl_sc_emerg_t)

   127

#define EC_IOCTL_SC_EMERG_OVERRUNS    EC_IOWR(0x3d, ec_ioctl_sc_emerg_t)

   128

#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x3e, ec_ioctl_sdo_request_t)

   129

#define EC_IOCTL_SC_REG_REQUEST       EC_IOWR(0x3f, ec_ioctl_reg_request_t)

   130

#define EC_IOCTL_SC_VOE               EC_IOWR(0x40, ec_ioctl_voe_t)

   131

#define EC_IOCTL_SC_STATE             EC_IOWR(0x41, ec_ioctl_sc_state_t)

   132

#define EC_IOCTL_SC_IDN                EC_IOW(0x42, ec_ioctl_sc_idn_t)

   133

#define EC_IOCTL_DOMAIN_SIZE            EC_IO(0x43)

   134

#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x44)

   135

#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x45)

   136

#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x46)

   137

#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x47, ec_ioctl_domain_state_t)

   138

#define EC_IOCTL_SDO_REQUEST_INDEX    EC_IOWR(0x48, ec_ioctl_sdo_request_t)

   139

#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x49, ec_ioctl_sdo_request_t)

   140

#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x4a, ec_ioctl_sdo_request_t)

   141

#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x4b, ec_ioctl_sdo_request_t)

   142

#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x4c, ec_ioctl_sdo_request_t)

   143

#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x4d, ec_ioctl_sdo_request_t)

   144

#define EC_IOCTL_REG_REQUEST_DATA     EC_IOWR(0x4e, ec_ioctl_reg_request_t)

   145

#define EC_IOCTL_REG_REQUEST_STATE    EC_IOWR(0x4f, ec_ioctl_reg_request_t)

   146

#define EC_IOCTL_REG_REQUEST_WRITE    EC_IOWR(0x50, ec_ioctl_reg_request_t)

   147

#define EC_IOCTL_REG_REQUEST_READ     EC_IOWR(0x51, ec_ioctl_reg_request_t)

   148

#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x52, ec_ioctl_voe_t)

   149

#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x53, ec_ioctl_voe_t)

   150

#define EC_IOCTL_VOE_READ              EC_IOW(0x54, ec_ioctl_voe_t)

   151

#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x55, ec_ioctl_voe_t)

   152

#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x56, ec_ioctl_voe_t)

   153

#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x57, ec_ioctl_voe_t)

   154

#define EC_IOCTL_VOE_DATA             EC_IOWR(0x58, ec_ioctl_voe_t)

   155

#define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x59, size_t)

   156

#define EC_IOCTL_SC_OVERLAPPING_IO     EC_IOW(0x5a, ec_ioctl_config_t)

   157

   158

/*****************************************************************************/

   159

   160

#define EC_IOCTL_STRING_SIZE 64

   161

   162

/*****************************************************************************/

   163

   164

typedef struct {

   165

    uint32_t ioctl_version_magic;

   166

    uint32_t master_count;

   167

} ec_ioctl_module_t;

   168

   169

/*****************************************************************************/

   170

   171

typedef struct {

   172

    uint32_t slave_count;

   173

    uint32_t config_count;

   174

    uint32_t domain_count;

   175

#ifdef EC_EOE

   176

    uint32_t eoe_handler_count;

   177

#endif

   178

    uint8_t phase;

   179

    uint8_t active;

   180

    uint8_t scan_busy;

   181

    struct ec_ioctl_device {

   182

        uint8_t address[6];

   183

        uint8_t attached;

   184

        uint8_t link_state;

   185

        uint64_t tx_count;

   186

        uint64_t rx_count;

   187

        uint64_t tx_bytes;

   188

        uint64_t rx_bytes;

   189

        uint64_t tx_errors;

   190

        int32_t tx_frame_rates[EC_RATE_COUNT];

   191

        int32_t rx_frame_rates[EC_RATE_COUNT];

   192

        int32_t tx_byte_rates[EC_RATE_COUNT];

   193

        int32_t rx_byte_rates[EC_RATE_COUNT];

   194

    } devices[EC_MAX_NUM_DEVICES];

   195

    uint32_t num_devices;

   196

    uint64_t tx_count;

   197

    uint64_t rx_count;

   198

    uint64_t tx_bytes;

   199

    uint64_t rx_bytes;

   200

    int32_t tx_frame_rates[EC_RATE_COUNT];

   201

    int32_t rx_frame_rates[EC_RATE_COUNT];

   202

    int32_t tx_byte_rates[EC_RATE_COUNT];

   203

    int32_t rx_byte_rates[EC_RATE_COUNT];

   204

    int32_t loss_rates[EC_RATE_COUNT];

   205

    uint64_t app_time;

   206

    uint16_t ref_clock;

   207

} ec_ioctl_master_t;

   208

   209

/*****************************************************************************/

   210

   211

typedef struct {

   212

    // input

   213

    uint16_t position;

   214

   215

    // outputs

   216

    unsigned int device_index;

   217

    uint32_t vendor_id;

   218

    uint32_t product_code;

   219

    uint32_t revision_number;

   220

    uint32_t serial_number;

   221

    uint16_t alias;

   222

    uint16_t boot_rx_mailbox_offset;

   223

    uint16_t boot_rx_mailbox_size;

   224

    uint16_t boot_tx_mailbox_offset;

   225

    uint16_t boot_tx_mailbox_size;

   226

    uint16_t std_rx_mailbox_offset;

   227

    uint16_t std_rx_mailbox_size;

   228

    uint16_t std_tx_mailbox_offset;

   229

    uint16_t std_tx_mailbox_size;

   230

    uint16_t mailbox_protocols;

   231

    uint8_t has_general_category;

   232

    ec_sii_coe_details_t coe_details;

   233

    ec_sii_general_flags_t general_flags;

   234

    int16_t current_on_ebus;

   235

    struct {

   236

        ec_slave_port_desc_t desc;

   237

        ec_slave_port_link_t link;

   238

        uint32_t receive_time;

   239

        uint16_t next_slave;

   240

        uint32_t delay_to_next_dc;

   241

    } ports[EC_MAX_PORTS];

   242

    uint8_t fmmu_bit;

   243

    uint8_t dc_supported;

   244

    ec_slave_dc_range_t dc_range;

   245

    uint8_t has_dc_system_time;

   246

    uint32_t transmission_delay;

   247

    uint8_t al_state;

   248

    uint8_t error_flag;

   249

    uint8_t sync_count;

   250

    uint16_t sdo_count;

   251

    uint32_t sii_nwords;

   252

    char group[EC_IOCTL_STRING_SIZE];

   253

    char image[EC_IOCTL_STRING_SIZE];

   254

    char order[EC_IOCTL_STRING_SIZE];

   255

    char name[EC_IOCTL_STRING_SIZE];

   256

} ec_ioctl_slave_t;

   257

   258

/*****************************************************************************/

   259

   260

typedef struct {

   261

    // inputs

   262

    uint16_t slave_position;

   263

    uint32_t sync_index;

   264

   265

    // outputs

   266

    uint16_t physical_start_address;

   267

    uint16_t default_size;

   268

    uint8_t control_register;

   269

    uint8_t enable;

   270

    uint8_t pdo_count;

   271

} ec_ioctl_slave_sync_t;

   272

   273

/*****************************************************************************/

   274

   275

typedef struct {

   276

    // inputs

   277

    uint16_t slave_position;

   278

    uint32_t sync_index;

   279

    uint32_t pdo_pos;

   280

   281

    // outputs

   282

    uint16_t index;

   283

    uint8_t entry_count;

   284

    int8_t name[EC_IOCTL_STRING_SIZE];

   285

} ec_ioctl_slave_sync_pdo_t;

   286

   287

/*****************************************************************************/

   288

   289

typedef struct {

   290

    // inputs

   291

    uint16_t slave_position;

   292

    uint32_t sync_index;

   293

    uint32_t pdo_pos;

   294

    uint32_t entry_pos;

   295

   296

    // outputs

   297

    uint16_t index;

   298

    uint8_t subindex;

   299

    uint8_t bit_length;

   300

    int8_t name[EC_IOCTL_STRING_SIZE];

   301

} ec_ioctl_slave_sync_pdo_entry_t;

   302

   303

/*****************************************************************************/

   304

   305

typedef struct {

   306

    // inputs

   307

    uint32_t index;

   308

   309

    // outputs

   310

    uint32_t data_size;

   311

    uint32_t logical_base_address;

   312

    uint16_t working_counter[EC_MAX_NUM_DEVICES];

   313

    uint16_t expected_working_counter;

   314

    uint32_t fmmu_count;

   315

} ec_ioctl_domain_t;

   316

   317

/*****************************************************************************/

   318

   319

typedef struct {

   320

    // inputs

   321

    uint32_t domain_index;

   322

    uint32_t fmmu_index;

   323

   324

    // outputs

   325

    uint16_t slave_config_alias;

   326

    uint16_t slave_config_position;

   327

    uint8_t sync_index;

   328

    ec_direction_t dir;

   329

    uint32_t logical_address;

   330

    uint32_t data_size;

   331

} ec_ioctl_domain_fmmu_t;

   332

   333

/*****************************************************************************/

   334

   335

typedef struct {

   336

    // inputs

   337

    uint32_t domain_index;

   338

    uint32_t data_size;

   339

    uint8_t *target;

   340

} ec_ioctl_domain_data_t;

   341

   342

/*****************************************************************************/

   343

   344

typedef struct {

   345

    // inputs

   346

    uint16_t slave_position;

   347

    uint8_t al_state;

   348

} ec_ioctl_slave_state_t;

   349

   350

/*****************************************************************************/

   351

   352

typedef struct {

   353

    // inputs

   354

    uint16_t slave_position;

   355

    uint16_t sdo_position;

   356

   357

    // outputs

   358

    uint16_t sdo_index;

   359

    uint8_t max_subindex;

   360

    int8_t name[EC_IOCTL_STRING_SIZE];

   361

} ec_ioctl_slave_sdo_t;

   362

   363

/*****************************************************************************/

   364

   365

typedef struct {

   366

    // inputs

   367

    uint16_t slave_position;

   368

    int sdo_spec; // positive: index, negative: list position

   369

    uint8_t sdo_entry_subindex;

   370

   371

    // outputs

   372

    uint16_t data_type;

   373

    uint16_t bit_length;

   374

    uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];

   375

    uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];

   376

    int8_t description[EC_IOCTL_STRING_SIZE];

   377

} ec_ioctl_slave_sdo_entry_t;

   378

   379

/*****************************************************************************/

   380

   381

typedef struct {

   382

    // inputs

   383

    uint16_t slave_position;

   384

    uint16_t sdo_index;

   385

    uint8_t sdo_entry_subindex;

   386

    size_t target_size;

   387

    uint8_t *target;

   388

   389

    // outputs

   390

    size_t data_size;

   391

    uint32_t abort_code;

   392

} ec_ioctl_slave_sdo_upload_t;

   393

   394

/*****************************************************************************/

   395

   396

typedef struct {

   397

    // inputs

   398

    uint16_t slave_position;

   399

    uint16_t sdo_index;

   400

    uint8_t sdo_entry_subindex;

   401

    uint8_t complete_access;

   402

    size_t data_size;

   403

    const uint8_t *data;

   404

   405

    // outputs

   406

    uint32_t abort_code;

   407

} ec_ioctl_slave_sdo_download_t;

   408

   409

/*****************************************************************************/

   410

   411

typedef struct {

   412

    // inputs

   413

    uint16_t slave_position;

   414

    uint16_t offset;

   415

    uint32_t nwords;

   416

    uint16_t *words;

   417

} ec_ioctl_slave_sii_t;

   418

   419

/*****************************************************************************/

   420

   421

typedef struct {

   422

    // inputs

   423

    uint16_t slave_position;

   424

    uint8_t emergency;

   425

    uint16_t address;

   426

    size_t size;

   427

    uint8_t *data;

   428

} ec_ioctl_slave_reg_t;

   429

   430

/*****************************************************************************/

   431

   432

typedef struct {

   433

    // inputs

   434

    uint16_t slave_position;

   435

    uint16_t offset;

   436

    size_t buffer_size;

   437

    uint8_t *buffer;

   438

   439

    // outputs

   440

    size_t data_size;

   441

    uint32_t result;

   442

    uint32_t error_code;

   443

    char file_name[32];

   444

} ec_ioctl_slave_foe_t;

   445

   446

/*****************************************************************************/

   447

   448

typedef struct {

   449

    // inputs

   450

    uint16_t slave_position;

   451

    uint8_t drive_no;

   452

    uint16_t idn;

   453

    size_t mem_size;

   454

    uint8_t *data;

   455

   456

    // outputs

   457

    size_t data_size;

   458

    uint16_t error_code;

   459

} ec_ioctl_slave_soe_read_t;

   460

   461

/*****************************************************************************/

   462

   463

typedef struct {

   464

    // inputs

   465

    uint16_t slave_position;

   466

    uint8_t drive_no;

   467

    uint16_t idn;

   468

    size_t data_size;

   469

    uint8_t *data;

   470

   471

    // outputs

   472

    uint16_t error_code;

   473

} ec_ioctl_slave_soe_write_t;

   474

   475

/*****************************************************************************/

   476

   477

typedef struct {

   478

    // inputs

   479

    uint32_t config_index;

   480

   481

    // outputs

   482

    uint16_t alias;

   483

    uint16_t position;

   484

    uint32_t vendor_id;

   485

    uint32_t product_code;

   486

    struct {

   487

        ec_direction_t dir;

   488

        ec_watchdog_mode_t watchdog_mode;