master/ioctl.h
author Florian Pose <fp@igh-essen.com>
Mon, 09 Jan 2012 12:01:22 +0100
branchstable-1.5
changeset 2214 f55fe046b22b
parent 2124 c4afc5fede19
child 2158 69f2b2702336
permissions -rw-r--r--
Avoided enabling timer.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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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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/** EtherCAT master ioctl() version magic.
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 *
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 * Increment this when changing the ioctl interface!
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 */
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#define EC_IOCTL_VERSION_MAGIC 12
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// Command-line tool
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#define EC_IOCTL_MODULE                EC_IOR(0x00, ec_ioctl_module_t)
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#define EC_IOCTL_MASTER                EC_IOR(0x01, ec_ioctl_master_t)
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#define EC_IOCTL_SLAVE                EC_IOWR(0x02, ec_ioctl_slave_t)
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#define EC_IOCTL_SLAVE_SYNC           EC_IOWR(0x03, ec_ioctl_slave_sync_t)
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#define EC_IOCTL_SLAVE_SYNC_PDO       EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_t)
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#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x05, ec_ioctl_slave_sync_pdo_entry_t)
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#define EC_IOCTL_DOMAIN               EC_IOWR(0x06, ec_ioctl_domain_t)
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#define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)
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#define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x08, ec_ioctl_domain_data_t)
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#define EC_IOCTL_MASTER_DEBUG           EC_IO(0x09)
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#define EC_IOCTL_MASTER_RESCAN          EC_IO(0x0a)
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#define EC_IOCTL_SLAVE_STATE           EC_IOW(0x0b, ec_ioctl_slave_state_t)
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#define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0c, ec_ioctl_slave_sdo_t)
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#define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t)
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#define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t)
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#define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t)
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#define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x10, ec_ioctl_slave_sii_t)
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#define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x11, ec_ioctl_slave_sii_t)
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#define EC_IOCTL_SLAVE_REG_READ       EC_IOWR(0x12, ec_ioctl_slave_reg_t)
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#define EC_IOCTL_SLAVE_REG_WRITE       EC_IOW(0x13, ec_ioctl_slave_reg_t)
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#define EC_IOCTL_SLAVE_FOE_READ       EC_IOWR(0x14, ec_ioctl_slave_foe_t)
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#define EC_IOCTL_SLAVE_FOE_WRITE       EC_IOW(0x15, ec_ioctl_slave_foe_t)
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#define EC_IOCTL_SLAVE_SOE_READ       EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)
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#define EC_IOCTL_SLAVE_SOE_WRITE      EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)
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#define EC_IOCTL_CONFIG               EC_IOWR(0x18, ec_ioctl_config_t)
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#define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x19, ec_ioctl_config_pdo_t)
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#define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t)
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#define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x1b, ec_ioctl_config_sdo_t)
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#define EC_IOCTL_CONFIG_IDN           EC_IOWR(0x1c, ec_ioctl_config_idn_t)
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#ifdef EC_EOE
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#define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x1d, ec_ioctl_eoe_handler_t)
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#endif
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// Application interface
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#define EC_IOCTL_REQUEST                EC_IO(0x1e)
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#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x1f)
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#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x20, ec_ioctl_config_t)
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#define EC_IOCTL_ACTIVATE              EC_IOR(0x21, size_t)
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#define EC_IOCTL_DEACTIVATE             EC_IO(0x22)
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#define EC_IOCTL_SEND                   EC_IO(0x23)
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#define EC_IOCTL_RECEIVE                EC_IO(0x24)
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#define EC_IOCTL_MASTER_STATE          EC_IOR(0x25, ec_master_state_t)
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#define EC_IOCTL_APP_TIME              EC_IOW(0x26, ec_ioctl_app_time_t)
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#define EC_IOCTL_SYNC_REF               EC_IO(0x27)
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#define EC_IOCTL_SYNC_SLAVES            EC_IO(0x28)
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#define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x29)
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#define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x2a, uint32_t)
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#define EC_IOCTL_RESET                  EC_IO(0x2b)
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#define EC_IOCTL_SC_SYNC               EC_IOW(0x2c, ec_ioctl_config_t)
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#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x2d, ec_ioctl_config_t)
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   112
#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x2e, ec_ioctl_config_pdo_t)
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   113
#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x2f, ec_ioctl_config_pdo_t)
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   114
#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x30, ec_ioctl_add_pdo_entry_t)
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   115
#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x31, ec_ioctl_config_pdo_t)
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   116
#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x32, ec_ioctl_reg_pdo_entry_t)
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   117
#define EC_IOCTL_SC_DC                 EC_IOW(0x33, ec_ioctl_config_t)
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   118
#define EC_IOCTL_SC_SDO                EC_IOW(0x34, ec_ioctl_sc_sdo_t)
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   119
#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x35, ec_ioctl_sdo_request_t)
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   120
#define EC_IOCTL_SC_VOE               EC_IOWR(0x36, ec_ioctl_voe_t)
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   121
#define EC_IOCTL_SC_STATE             EC_IOWR(0x37, ec_ioctl_sc_state_t)
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   122
#define EC_IOCTL_SC_IDN                EC_IOW(0x38, ec_ioctl_sc_idn_t)
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   123
#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x39)
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   124
#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x3a)
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   125
#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x3b)
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   126
#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x3c, ec_ioctl_domain_state_t)
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   127
#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
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   128
#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
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   129
#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
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   130
#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x40, ec_ioctl_sdo_request_t)
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   131
#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x41, ec_ioctl_sdo_request_t)
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   132
#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x42, ec_ioctl_voe_t)
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   133
#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x43, ec_ioctl_voe_t)
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   134
#define EC_IOCTL_VOE_READ              EC_IOW(0x44, ec_ioctl_voe_t)
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   135
#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x45, ec_ioctl_voe_t)
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   136
#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x46, ec_ioctl_voe_t)
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   137
#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x47, ec_ioctl_voe_t)
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   138
#define EC_IOCTL_VOE_DATA             EC_IOWR(0x48, ec_ioctl_voe_t)
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   139
#define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x49, size_t)
1259
5f9d1abbee71 Added state functions; writing of process data works.
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5f9d1abbee71 Added state functions; writing of process data works.
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   141
/*****************************************************************************/
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4f223f3df05a Bus configuration via 'ethercat config'.
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4f223f3df05a Bus configuration via 'ethercat config'.
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   143
#define EC_IOCTL_STRING_SIZE 64
978
2962baf7e6d1 Implemented SII read.
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   144
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   145
/*****************************************************************************/
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   146
2962baf7e6d1 Implemented SII read.
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typedef struct {
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ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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    uint32_t ioctl_version_magic;
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    uint32_t master_count;
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} ec_ioctl_module_t;
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ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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/*****************************************************************************/
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ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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typedef struct {
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2962baf7e6d1 Implemented SII read.
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   155
    uint32_t slave_count;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   156
    uint32_t config_count;
1001
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
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   157
    uint32_t domain_count;
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
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   158
#ifdef EC_EOE
1485
5ddc3a455059 ethercat eoe command.
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   159
    uint32_t eoe_handler_count;
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
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   160
#endif
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
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   161
    uint8_t phase;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
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   162
    uint8_t active;
1447
846d75637c43 Added scan_busy flag to ioctl().
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   163
    uint8_t scan_busy;
1857
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
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   164
    struct ec_ioctl_device {
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ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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        uint8_t address[6];
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        uint8_t attached;
1401
96baef8a3162 Output link state in 'ethercat master'.
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   167
        uint8_t link_state;
1863
8ea4a79dfe84 64 bit frame statistics.
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   168
        uint64_t tx_count;
8ea4a79dfe84 64 bit frame statistics.
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   169
        uint64_t rx_count;
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   170
        uint64_t tx_bytes;
8ea4a79dfe84 64 bit frame statistics.
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   171
        uint64_t tx_errors;
1857
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
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   172
        uint32_t tx_frame_rates[EC_RATE_COUNT];
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   173
        uint32_t tx_byte_rates[EC_RATE_COUNT];
1851
a56bd34e20a1 Frame statistics in 'ethercat master' output.
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diff changeset
   174
        int32_t loss_rates[EC_RATE_COUNT];
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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   175
    } devices[2];
1415
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'.
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   176
    uint64_t app_time;
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'.
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   177
    uint16_t ref_clock;
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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   178
} ec_ioctl_master_t;
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   179
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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   180
/*****************************************************************************/
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   181
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b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   182
typedef struct {
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   183
    // input
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   184
    uint16_t position;
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   185
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   186
    // outputs
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   187
    uint32_t vendor_id;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   188
    uint32_t product_code;
938
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
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parents: 935
diff changeset
   189
    uint32_t revision_number;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
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parents: 935
diff changeset
   190
    uint32_t serial_number;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   191
    uint16_t alias;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1336
diff changeset
   192
    uint16_t boot_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1336
diff changeset
   193
    uint16_t boot_rx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1336
diff changeset
   194
    uint16_t boot_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1336
diff changeset
   195
    uint16_t boot_tx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1336
diff changeset
   196
    uint16_t std_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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parents: 1336
diff changeset
   197
    uint16_t std_rx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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diff changeset
   198
    uint16_t std_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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diff changeset
   199
    uint16_t std_tx_mailbox_size;
989
816663ca9370 Slave information via 'ethercat slave'.
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diff changeset
   200
    uint16_t mailbox_protocols;
816663ca9370 Slave information via 'ethercat slave'.
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diff changeset
   201
    uint8_t has_general_category;
816663ca9370 Slave information via 'ethercat slave'.
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diff changeset
   202
    ec_sii_coe_details_t coe_details;
816663ca9370 Slave information via 'ethercat slave'.
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diff changeset
   203
    ec_sii_general_flags_t general_flags;
816663ca9370 Slave information via 'ethercat slave'.
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diff changeset
   204
    int16_t current_on_ebus;
1425
c1322a8793c0 Transition delay calculation. TBC...
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diff changeset
   205
    struct {
c1322a8793c0 Transition delay calculation. TBC...
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diff changeset
   206
        ec_slave_port_desc_t desc;
c1322a8793c0 Transition delay calculation. TBC...
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   207
        ec_slave_port_link_t link;
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diff changeset
   208
        uint32_t receive_time;
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diff changeset
   209
        uint16_t next_slave;
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   210
        uint32_t delay_to_next_dc;
c1322a8793c0 Transition delay calculation. TBC...
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diff changeset
   211
    } ports[EC_MAX_PORTS];
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   212
    uint8_t fmmu_bit;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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   213
    uint8_t dc_supported;
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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   214
    ec_slave_dc_range_t dc_range;
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
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diff changeset
   215
    uint8_t has_dc_system_time;
1426
af45bba80d85 Transition->Transmission.
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diff changeset
   216
    uint32_t transmission_delay;
1148
1762296870bd Renamed state field to al_state.
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diff changeset
   217
    uint8_t al_state;
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
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parents: 980
diff changeset
   218
    uint8_t error_flag;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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parents: 922
diff changeset
   219
    uint8_t sync_count;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   220
    uint16_t sdo_count;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   221
    uint32_t sii_nwords;
1109
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   222
    char group[EC_IOCTL_STRING_SIZE];
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
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diff changeset
   223
    char image[EC_IOCTL_STRING_SIZE];
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
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diff changeset
   224
    char order[EC_IOCTL_STRING_SIZE];
990
4f223f3df05a Bus configuration via 'ethercat config'.
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parents: 989
diff changeset
   225
    char name[EC_IOCTL_STRING_SIZE];
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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diff changeset
   226
} ec_ioctl_slave_t;
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diff changeset
   227
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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   228
/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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diff changeset
   229
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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diff changeset
   230
typedef struct {
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    // inputs
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    uint16_t slave_position;
978
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    uint32_t sync_index;
935
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   234
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   235
    // outputs
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   236
    uint16_t physical_start_address;
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    uint16_t default_size;
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   238
    uint8_t control_register;
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   239
    uint8_t enable;
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   240
    uint8_t pdo_count;
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   241
} ec_ioctl_slave_sync_t;
935
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   242
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   243
/*****************************************************************************/
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   244
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   245
typedef struct {
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   246
    // inputs
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   247
    uint16_t slave_position;
978
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   248
    uint32_t sync_index;
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   249
    uint32_t pdo_pos;
935
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   250
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   251
    // outputs
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   252
    uint16_t index;
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   253
    uint8_t entry_count;
990
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   254
    int8_t name[EC_IOCTL_STRING_SIZE];
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   255
} ec_ioctl_slave_sync_pdo_t;
935
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   256
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   257
/*****************************************************************************/
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   258
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   259
typedef struct {
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   260
    // inputs
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   261
    uint16_t slave_position;
978
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   262
    uint32_t sync_index;
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   263
    uint32_t pdo_pos;
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   264
    uint32_t entry_pos;
935
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   265
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   266
    // outputs
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   267
    uint16_t index;
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   268
    uint8_t subindex;
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   269
    uint8_t bit_length;
990
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   270
    int8_t name[EC_IOCTL_STRING_SIZE];
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   271
} ec_ioctl_slave_sync_pdo_entry_t;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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   272
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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   273
/*****************************************************************************/
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   274
948
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   275
typedef struct {
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   276
    // inputs
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   277
    uint32_t index;
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   278
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   279
    // outputs
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   280
    uint32_t data_size;
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   281
    uint32_t logical_base_address;
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   282
    uint16_t working_counter;
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   283
    uint16_t expected_working_counter;
978
2962baf7e6d1 Implemented SII read.
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   284
    uint32_t fmmu_count;
948
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   285
} ec_ioctl_domain_t;
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   286
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   287
/*****************************************************************************/
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   288
949
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   289
typedef struct {
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   290
    // inputs
1507
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   291
    uint32_t domain_index;
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   292
    uint32_t fmmu_index;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
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   293
8b00e63fff90 'ethercat domain' shows domain contents and process data.
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   294
    // outputs
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   295
    uint16_t slave_config_alias;
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   296
    uint16_t slave_config_position;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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   297
    uint8_t sync_index;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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   298
    ec_direction_t dir;
1507
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   299
    uint32_t logical_address;
978
2962baf7e6d1 Implemented SII read.
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   300
    uint32_t data_size;
950
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   301
} ec_ioctl_domain_fmmu_t;
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   302
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   303
/*****************************************************************************/
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   304
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   305
typedef struct {
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   306
    // inputs
1507
68e89abadd19 Removed unwanted tabulators.
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   307
    uint32_t domain_index;
978
2962baf7e6d1 Implemented SII read.
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diff changeset
   308
    uint32_t data_size;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   309
    uint8_t *target;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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   310
} ec_ioctl_domain_data_t;
949
e424c0074c67 Implemented 'data' command.
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diff changeset
   311
e424c0074c67 Implemented 'data' command.
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   312
/*****************************************************************************/
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diff changeset
   313
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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diff changeset
   314
typedef struct {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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   315
    // inputs
1507
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   316
    uint16_t slave_position;
1148
1762296870bd Renamed state field to al_state.
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diff changeset
   317
    uint8_t al_state;
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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diff changeset
   318
} ec_ioctl_slave_state_t;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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diff changeset
   319
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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   320
/*****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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parents: 957
diff changeset
   321
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   322
typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   323
    // inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   324
    uint16_t slave_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   325
    uint16_t sdo_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   326
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   327
    // outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   328
    uint16_t sdo_index;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   329
    uint8_t max_subindex;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   330
    int8_t name[EC_IOCTL_STRING_SIZE];
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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parents: 1057
diff changeset
   331
} ec_ioctl_slave_sdo_t;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   332
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   333
/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   334
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   335
typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   336
    // inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   337
    uint16_t slave_position;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   338
    int sdo_spec; // positive: index, negative: list position
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   339
    uint8_t sdo_entry_subindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   340
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   341
    // outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   342
    uint16_t data_type;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   343
    uint16_t bit_length;
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   344
    uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
   345
    uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   346
    int8_t description[EC_IOCTL_STRING_SIZE];
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
   347
} ec_ioctl_slave_sdo_entry_t;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   348
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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diff changeset
   349
/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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parents: 960
diff changeset
   350
968
b0e894257743 Implemented sdo_upload command.
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diff changeset
   351
typedef struct {
b0e894257743 Implemented sdo_upload command.
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diff changeset
   352
    // inputs
b0e894257743 Implemented sdo_upload command.
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diff changeset
   353
    uint16_t slave_position;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   354
    uint16_t sdo_index;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   355
    uint8_t sdo_entry_subindex;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   356
    uint32_t target_size;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   357
    uint8_t *target;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   358
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   359
    // outputs
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   360
    uint32_t data_size;
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   361
    uint32_t abort_code;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
   362
} ec_ioctl_slave_sdo_upload_t;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   363
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   364
/*****************************************************************************/
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   365
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   366
typedef struct {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   367
    // inputs
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   368
    uint16_t slave_position;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   369
    uint16_t sdo_index;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   370
    uint8_t sdo_entry_subindex;
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   371
    uint8_t complete_access;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   372
    uint32_t data_size;
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   373
    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
   374
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   375
    // 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
   376
    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
   377
} ec_ioctl_slave_sdo_download_t;
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   378
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   379
/*****************************************************************************/
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   380
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   381
typedef struct {
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   382
    // inputs
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   383
    uint16_t slave_position;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   384
    uint16_t offset;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   385
    uint32_t nwords;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   386
    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
   387
} ec_ioctl_slave_sii_t;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   388
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   389
/*****************************************************************************/
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   390
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   391
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   392
    // inputs
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   393
    uint16_t slave_position;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   394
    uint16_t offset;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   395
    uint16_t length;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   396
    uint8_t *data;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
   397
} ec_ioctl_slave_reg_t;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   398
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   399
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   400
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   401
typedef struct {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   402
    // 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
   403
    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
   404
    uint16_t offset;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   405
    uint32_t buffer_size;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   406
    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
   407
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   408
    // outputs
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   409
    uint32_t data_size;
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   410
    uint32_t result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
   411
    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
   412
    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
   413
} 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
   414
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   415
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   416
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   417
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
   418
    // inputs
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   419
    uint16_t slave_position;
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   420
    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
   421
    uint16_t idn;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   422
    uint32_t mem_size;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   423
    uint8_t *data;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   424
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   425
    // outputs
1972
c1b564299829 Minor 64bit improvements.
Florian Pose <fp@igh-essen.com>
parents: 1966
diff changeset
   426
    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
   427
    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
   428
} 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
   429
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   430
/*****************************************************************************/
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   431
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   432
typedef struct {
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   433
    // inputs
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   434
    uint16_t slave_position;
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   435
    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
   436
    uint16_t idn;
1972
c1b564299829 Minor 64bit improvements.
Florian Pose <fp@igh-essen.com>
parents: 1966
diff changeset
   437
    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
   438
    uint8_t *data;
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   439
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   440
    // outputs
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   441
    uint16_t error_code;
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   442
} 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
   443
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   444
/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   445
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   446
typedef struct {
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   447
    // inputs
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   448
    uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   449
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   450
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   451
    uint16_t alias;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   452
    uint16_t position;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   453
    uint32_t vendor_id;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   454
    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
   455
    struct {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   456
        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
   457
        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
   458
        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
   459
        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
   460
    } 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
   461
    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
   462
    uint16_t watchdog_intervals;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   463
    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
   464
    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
   465
    int32_t slave_position;
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   466
    uint16_t dc_assign_activate;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   467
    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
   468
} ec_ioctl_config_t;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   469
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   470
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   471
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   472
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   473
    // inputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   474
    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
   475
    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
   476
    uint16_t pdo_pos;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   477
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   478
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   479
    uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   480
    uint8_t entry_count;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   481
    int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   482
} ec_ioctl_config_pdo_t;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   483
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   484
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   485
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   486
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   487
    // inputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   488
    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
   489
    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
   490
    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
   491
    uint8_t entry_pos;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   492
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   493
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   494
    uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   495
    uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   496
    uint8_t bit_length;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   497
    int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   498
} ec_ioctl_config_pdo_entry_t;
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
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   502
/** Maximum size for displayed SDO data.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   503
 * \todo Make this dynamic.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   504
 */
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   505
#define EC_MAX_SDO_DATA_SIZE 1024
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   506
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   507
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   508
    // inputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   509
    uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   510
    uint32_t sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   511
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   512
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   513
    uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   514
    uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   515
    uint32_t size;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   516
    uint8_t data[EC_MAX_SDO_DATA_SIZE];
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   517
} ec_ioctl_config_sdo_t;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   518
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   519
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   520
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   521
/** 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
   522
 * \todo Make this dynamic.
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   523
 */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   524
#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
   525
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   526
typedef struct {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   527
    // inputs
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   528
    uint32_t config_index;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   529
    uint32_t idn_pos;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   530
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   531
    // outputs
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   532
    uint8_t drive_no;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   533
    uint16_t idn;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   534
    ec_al_state_t state;
1972
c1b564299829 Minor 64bit improvements.
Florian Pose <fp@igh-essen.com>
parents: 1966
diff changeset
   535
    size_t size;
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   536
    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
   537
} 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
   538
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   539
/*****************************************************************************/
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   540
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   541
#ifdef EC_EOE
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   542
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   543
typedef struct {
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   544
    // input
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   545
    uint16_t eoe_index;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   546
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   547
    // outputs
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   548
    char name[EC_DATAGRAM_NAME_SIZE];
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   549
    uint16_t slave_position;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   550
    uint8_t open;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   551
    uint32_t rx_bytes;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   552
    uint32_t rx_rate;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   553
    uint32_t tx_bytes;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   554
    uint32_t tx_rate;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   555
    uint32_t tx_queued_frames;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   556
    uint32_t tx_queue_size;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   557
} ec_ioctl_eoe_handler_t;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   558
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   559
#endif
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   560
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   561
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   562
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   563
typedef struct {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   564
    // inputs
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   565
    uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   566
    uint16_t pdo_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   567
    uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   568
    uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   569
    uint8_t entry_bit_length;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   570
} ec_ioctl_add_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   571
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   572
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   573
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   574
typedef struct {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   575
    // inputs
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   576
    uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   577
    uint16_t entry_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   578
    uint8_t entry_subindex;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   579
    uint32_t domain_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   580
    
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   581
    // outputs
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   582
    unsigned int bit_position;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   583
} ec_ioctl_reg_pdo_entry_t;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   584
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   585
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   586
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   587
typedef struct {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   588
    // inputs
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   589
    uint32_t config_index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   590
    uint16_t index;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   591
    uint8_t subindex;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   592
    const uint8_t *data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   593
    size_t size;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   594
    uint8_t complete_access;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   595
} ec_ioctl_sc_sdo_t;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   596
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   597
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   598
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   599
typedef struct {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   600
    // inputs
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   601
    uint32_t config_index;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   602
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   603
    // outputs
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   604
    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
   605
} ec_ioctl_sc_state_t;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   606
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   607
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   608
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   609
typedef struct {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   610
    // inputs
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
   611
    uint32_t config_index;
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   612
    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
   613
    uint16_t idn;
1945
f9204699e799 Incremented ioctl interface version; Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
   614
    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
   615
    const uint8_t *data;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
   616
    size_t size;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
   617
} 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
   618
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
   619
/*****************************************************************************/
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
   620
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
   621
typedef struct {
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
   622
    // inputs
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   623
    uint32_t domain_index;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   624
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   625
    // outputs
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   626
    ec_domain_state_t *state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   627
} ec_ioctl_domain_state_t;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   628
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   629
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   630
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   631
typedef struct {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   632
    // inputs
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   633
    uint32_t config_index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   634
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   635
    // inputs/outputs
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   636
    uint32_t request_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   637
    uint16_t sdo_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   638
    uint8_t sdo_subindex;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   639
    size_t size;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   640
    uint8_t *data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   641
    uint32_t timeout;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   642
    ec_request_state_t state;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   643
} ec_ioctl_sdo_request_t;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   644
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   645
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   646
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   647
typedef struct {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   648
    // inputs
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   649
    uint32_t config_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   650
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
   651
    // inputs/outputs
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   652
    uint32_t voe_index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   653
    uint32_t *vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   654
    uint16_t *vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   655
    size_t size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   656
    uint8_t *data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   657
    ec_request_state_t state;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   658
} ec_ioctl_voe_t;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   659
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   660
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   661
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   662
typedef struct {
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   663
    // inputs
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   664
    uint64_t app_time;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   665
} ec_ioctl_app_time_t;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   666
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   667
/*****************************************************************************/
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   668
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   669
/** \endcond */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   670
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
#endif