master/ioctl.h
author Florian Pose <fp@igh-essen.com>
Tue, 17 Jun 2008 13:27:28 +0000
changeset 1016 f831ef59426d
parent 1001 a8eab75aa8e3
child 1029 61ffe5f22306
permissions -rw-r--r--
Remove manual creation of device nodes, this is done by udev.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master character device IOCTL commands.
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*/
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/*****************************************************************************/
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#ifndef __EC_IOCTL_H__
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#define __EC_IOCTL_H__
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#include <linux/ioctl.h>
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#include "globals.h"
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/*****************************************************************************/
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#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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#define EC_IOCTL_MASTER            EC_IOR(0x00, ec_ioctl_master_t)
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#define EC_IOCTL_SLAVE            EC_IOWR(0x01, ec_ioctl_slave_t)
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#define EC_IOCTL_SYNC             EC_IOWR(0x02, ec_ioctl_sync_t)
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#define EC_IOCTL_PDO              EC_IOWR(0x03, ec_ioctl_pdo_t)
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#define EC_IOCTL_PDO_ENTRY        EC_IOWR(0x04, ec_ioctl_pdo_entry_t)
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#define EC_IOCTL_DOMAIN           EC_IOWR(0x05, ec_ioctl_domain_t)
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#define EC_IOCTL_DOMAIN_FMMU      EC_IOWR(0x06, ec_ioctl_domain_fmmu_t)
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#define EC_IOCTL_DATA             EC_IOWR(0x07, ec_ioctl_data_t)
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#define EC_IOCTL_SET_DEBUG          EC_IO(0x08)
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#define EC_IOCTL_SLAVE_STATE       EC_IOW(0x09, ec_ioctl_slave_state_t)
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#define EC_IOCTL_SDO              EC_IOWR(0x0a, ec_ioctl_sdo_t)
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#define EC_IOCTL_SDO_ENTRY        EC_IOWR(0x0b, ec_ioctl_sdo_entry_t)
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#define EC_IOCTL_SDO_UPLOAD       EC_IOWR(0x0c, ec_ioctl_sdo_upload_t)
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#define EC_IOCTL_SDO_DOWNLOAD      EC_IOW(0x0d, ec_ioctl_sdo_download_t)
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#define EC_IOCTL_SII_READ         EC_IOWR(0x0e, ec_ioctl_sii_t)
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#define EC_IOCTL_SII_WRITE         EC_IOW(0x0f, ec_ioctl_sii_t)
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#define EC_IOCTL_CONFIG           EC_IOWR(0x10, ec_ioctl_config_t)
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#define EC_IOCTL_CONFIG_PDO       EC_IOWR(0x11, ec_ioctl_config_pdo_t)
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#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x12, ec_ioctl_config_pdo_entry_t)
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#define EC_IOCTL_CONFIG_SDO       EC_IOWR(0x13, ec_ioctl_config_sdo_t)
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#define EC_IOCTL_STRING_SIZE 64
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/*****************************************************************************/
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typedef struct {
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    uint32_t slave_count;
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    uint32_t config_count;
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    uint32_t domain_count;
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    uint8_t mode;
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    struct {
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        uint8_t address[6];
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        uint8_t attached;
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        uint32_t tx_count;
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        uint32_t rx_count;
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    } devices[2];
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} ec_ioctl_master_t;
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/*****************************************************************************/
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typedef struct {
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    // input
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    uint16_t position;
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    // outputs
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    uint32_t vendor_id;
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    uint32_t product_code;
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    uint32_t revision_number;
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    uint32_t serial_number;
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    uint16_t alias;
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    uint16_t rx_mailbox_offset;
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    uint16_t rx_mailbox_size;
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    uint16_t tx_mailbox_offset;
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    uint16_t tx_mailbox_size;
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    uint16_t mailbox_protocols;
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    uint8_t has_general_category;
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    ec_sii_coe_details_t coe_details;
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    ec_sii_general_flags_t general_flags;
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    int16_t current_on_ebus;
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    uint8_t state;
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    uint8_t error_flag;
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    uint8_t sync_count;
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    uint16_t sdo_count;
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    uint32_t sii_nwords;
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    char name[EC_IOCTL_STRING_SIZE];
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} ec_ioctl_slave_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint16_t slave_position;
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    uint32_t sync_index;
935
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    // outputs
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    uint16_t physical_start_address;
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    uint16_t default_size;
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    uint8_t control_register;
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    uint8_t enable;
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    uint8_t assign_source;
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    uint8_t pdo_count;
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   138
} ec_ioctl_sync_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint16_t slave_position;
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    uint32_t sync_index;
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   146
    uint32_t pdo_pos;
935
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    // outputs
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    uint8_t dir;
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    uint16_t index;
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    uint8_t entry_count;
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    int8_t name[EC_IOCTL_STRING_SIZE];
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} ec_ioctl_pdo_t;
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   154
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/*****************************************************************************/
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   157
typedef struct {
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    // inputs
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   159
    uint16_t slave_position;
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   160
    uint32_t sync_index;
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   161
    uint32_t pdo_pos;
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   162
    uint32_t entry_pos;
935
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   163
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   164
    // outputs
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   165
    uint16_t index;
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    uint8_t subindex;
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    uint8_t bit_length;
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    int8_t name[EC_IOCTL_STRING_SIZE];
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   169
} ec_ioctl_pdo_entry_t;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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/*****************************************************************************/
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   172
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typedef struct {
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    // inputs
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	uint32_t index;
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   176
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    // outputs
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	uint32_t data_size;
948
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	uint32_t logical_base_address;
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	uint16_t working_counter;
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	uint16_t expected_working_counter;
978
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    uint32_t fmmu_count;
948
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   183
} ec_ioctl_domain_t;
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/*****************************************************************************/
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   186
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typedef struct {
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    // inputs
978
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	uint32_t domain_index;
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   190
	uint32_t fmmu_index;
950
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    // outputs
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   193
    uint16_t slave_config_alias;
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   194
    uint16_t slave_config_position;
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   195
    uint8_t fmmu_dir;
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   196
	uint32_t logical_address;
978
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   197
    uint32_t data_size;
950
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   198
} ec_ioctl_domain_fmmu_t;
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   199
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   200
/*****************************************************************************/
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   201
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   202
typedef struct {
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   203
    // inputs
978
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   204
	uint32_t domain_index;
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   205
    uint32_t data_size;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   206
    uint8_t *target;
949
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   207
} ec_ioctl_data_t;
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   208
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   209
/*****************************************************************************/
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   210
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
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   211
typedef struct {
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   212
    // inputs
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   213
	uint16_t slave_position;
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   214
    uint8_t requested_state;
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   215
} ec_ioctl_slave_state_t;
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   216
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   217
/*****************************************************************************/
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   218
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   219
typedef struct {
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   220
    // inputs
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   221
    uint16_t slave_position;
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   222
    uint16_t sdo_position;
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   223
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   224
    // outputs
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   225
    uint16_t sdo_index;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   226
    uint8_t max_subindex;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   227
    int8_t name[EC_IOCTL_STRING_SIZE];
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   228
} ec_ioctl_sdo_t;
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   229
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   230
/*****************************************************************************/
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   231
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   232
typedef struct {
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   233
    // inputs
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   234
    uint16_t slave_position;
968
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   235
    int sdo_spec; // positive: index, negative: list position
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   236
    uint8_t sdo_entry_subindex;
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diff changeset
   237
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   238
    // outputs
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diff changeset
   239
    uint16_t data_type;
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   240
    uint16_t bit_length;
990
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   241
    int8_t description[EC_IOCTL_STRING_SIZE];
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
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   242
} ec_ioctl_sdo_entry_t;
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   243
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   244
/*****************************************************************************/
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   245
968
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diff changeset
   246
typedef struct {
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   247
    // inputs
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diff changeset
   248
    uint16_t slave_position;
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   249
    uint16_t sdo_index;
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   250
    uint8_t sdo_entry_subindex;
978
2962baf7e6d1 Implemented SII read.
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   251
    uint32_t target_size;
968
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   252
    uint8_t *target;
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diff changeset
   253
b0e894257743 Implemented sdo_upload command.
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   254
    // outputs
978
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diff changeset
   255
    uint32_t data_size;
968
b0e894257743 Implemented sdo_upload command.
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diff changeset
   256
} ec_ioctl_sdo_upload_t;
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diff changeset
   257
b0e894257743 Implemented sdo_upload command.
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   258
/*****************************************************************************/
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diff changeset
   259
974
5868944a6456 Implemented Sdo download via ethercat command.
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   260
typedef struct {
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   261
    // inputs
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    uint16_t slave_position;
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    uint16_t sdo_index;
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    uint8_t sdo_entry_subindex;
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    uint32_t data_size;
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    uint8_t *data;
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} ec_ioctl_sdo_download_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint16_t slave_position;
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    uint16_t offset;
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    uint32_t nwords;
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    uint16_t *words;
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} ec_ioctl_sii_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint32_t config_index;
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    // outputs
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    uint16_t alias;
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    uint16_t position;
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    uint32_t vendor_id;
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    uint32_t product_code;
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    uint32_t pdo_count[2];
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    uint32_t sdo_count;
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    uint8_t attached;
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} ec_ioctl_config_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint32_t config_index;
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    uint32_t direction;
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    uint32_t pdo_pos;
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    // outputs
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    uint16_t index;
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    uint8_t entry_count;
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    int8_t name[EC_IOCTL_STRING_SIZE];
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} ec_ioctl_config_pdo_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint32_t config_index;
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    uint32_t direction;
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    uint32_t pdo_pos;
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    uint32_t entry_pos;
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    // outputs
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    uint16_t index;
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    uint8_t subindex;
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    uint8_t bit_length;
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    int8_t name[EC_IOCTL_STRING_SIZE];
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} ec_ioctl_config_pdo_entry_t;
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/*****************************************************************************/
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typedef struct {
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    // inputs
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    uint32_t config_index;
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    uint32_t sdo_pos;
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    // outputs
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    uint16_t index;
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    uint8_t subindex;
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    uint32_t size;
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    uint8_t data[4];
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} ec_ioctl_config_sdo_t;
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/*****************************************************************************/
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#endif