1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT master character device IOCTL commands.

    37

*/

    38

    39

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

    40

    41

#ifndef __EC_IOCTL_H__

    42

#define __EC_IOCTL_H__

    43

    44

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

    45

    46

enum {

    47

    EC_IOCTL_SLAVE_COUNT,

    48

    EC_IOCTL_SLAVE,

    49

    EC_IOCTL_SYNC,

    50

    EC_IOCTL_PDO,

    51

    EC_IOCTL_PDO_ENTRY,

    52

};

    53

    54

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

    55

    56

#define EC_IOCTL_SLAVE_NAME_SIZE 114

    57

    58

typedef struct {

    59

    // input

    60

    uint16_t position;

    61

    62

    // outputs

    63

    uint32_t vendor_id;

    64

    uint32_t product_code;

    65

    uint16_t alias;

    66

    uint8_t state;

    67

    uint8_t sync_count;

    68

    char name[EC_IOCTL_SLAVE_NAME_SIZE];

    69

} ec_ioctl_slave_t;

    70

    71

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

    72

    73

typedef struct {

    74

    // inputs

    75

    uint16_t slave_position;

    76

    unsigned int sync_index;

    77

    78

    // outputs

    79

    uint16_t physical_start_address;

    80

    uint16_t default_size;

    81

    uint8_t control_register;

    82

    uint8_t enable;

    83

    uint8_t assign_source;

    84

    uint8_t pdo_count;

    85

} ec_ioctl_sync_t;

    86

    87

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

    88

    89

#define EC_IOCTL_PDO_NAME_SIZE 114

    90

    91

typedef struct {

    92

    // inputs

    93

    uint16_t slave_position;

    94

    unsigned int sync_index;

    95

    unsigned int pdo_pos;

    96

    97

    // outputs

    98

    uint8_t dir;

    99

    uint16_t index;

   100

    uint8_t entry_count;

   101

    char name[EC_IOCTL_PDO_NAME_SIZE];

   102

} ec_ioctl_pdo_t;

   103

   104

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

   105

   106

#define EC_IOCTL_PDO_ENTRY_NAME_SIZE 110

   107

   108

typedef struct {

   109

    // inputs

   110

    uint16_t slave_position;

   111

    unsigned int sync_index;

   112

    unsigned int pdo_pos;

   113

    unsigned int entry_pos;

   114

   115

    // outputs

   116

    uint16_t index;

   117

    uint8_t subindex;

   118

    uint8_t bit_length;

   119

    char name[EC_IOCTL_PDO_NAME_SIZE];

   120

} ec_ioctl_pdo_entry_t;

   121

   122

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

   123

   124

#endif