master/ioctl.h
author Florian Pose <fp@igh-essen.com>
Wed, 13 Jan 2010 00:04:47 +0100
branchstable-1.4
changeset 1769 5c317e78a5ef
parent 1685 399ef727bf62
child 1707 11ec009e145d
permissions -rw-r--r--
merge
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
1685
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
     5
 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
 *
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     8
 *
1685
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    10
 *  modify it under the terms of the GNU General Public License version 2, as
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    11
 *  published by the Free Software Foundation.
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    12
 *
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    13
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    14
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    15
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    16
 *  Public License for more details.
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    17
 *
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    18
 *  You should have received a copy of the GNU General Public License along
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    21
 *
1685
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    22
 *  Using the EtherCAT technology and brand is permitted in compliance with
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
    23
 *  the industrial property and similar rights of Beckhoff Automation GmbH.
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    24
 *
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    25
 *****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    26
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
/**
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
   \file
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
   EtherCAT master character device IOCTL commands.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
*/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    31
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
#ifndef __EC_IOCTL_H__
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
#define __EC_IOCTL_H__
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
971
d169890332fe Using Linux ioctl() number generation macros.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
    37
#include <linux/ioctl.h>
d169890332fe Using Linux ioctl() number generation macros.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
    38
989
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
    39
#include "globals.h"
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
    40
971
d169890332fe Using Linux ioctl() number generation macros.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
    41
/*****************************************************************************/
d169890332fe Using Linux ioctl() number generation macros.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
    42
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
    43
/** \cond */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
    44
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    45
#define EC_IOCTL_TYPE 0xa4
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    46
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    47
#define EC_IO(nr)           _IO(EC_IOCTL_TYPE, nr)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    48
#define EC_IOR(nr, type)   _IOR(EC_IOCTL_TYPE, nr, type)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    49
#define EC_IOW(nr, type)   _IOW(EC_IOCTL_TYPE, nr, type)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    50
#define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    51
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    52
#define EC_IOCTL_MASTER                EC_IOR(0x00, ec_ioctl_master_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    53
#define EC_IOCTL_SLAVE                EC_IOWR(0x01, ec_ioctl_slave_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    54
#define EC_IOCTL_SLAVE_SYNC           EC_IOWR(0x02, ec_ioctl_slave_sync_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    55
#define EC_IOCTL_SLAVE_SYNC_PDO       EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    56
#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    57
#define EC_IOCTL_DOMAIN               EC_IOWR(0x05, ec_ioctl_domain_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    58
#define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x06, ec_ioctl_domain_fmmu_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    59
#define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x07, ec_ioctl_domain_data_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    60
#define EC_IOCTL_MASTER_DEBUG           EC_IO(0x08)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    61
#define EC_IOCTL_SLAVE_STATE           EC_IOW(0x09, ec_ioctl_slave_state_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    62
#define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0a, ec_ioctl_slave_sdo_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    63
#define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    64
#define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    65
#define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    66
#define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x0e, ec_ioctl_slave_sii_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    67
#define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x0f, ec_ioctl_slave_sii_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    68
#define EC_IOCTL_CONFIG               EC_IOWR(0x10, ec_ioctl_config_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    69
#define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x11, ec_ioctl_config_pdo_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    70
#define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x12, ec_ioctl_config_pdo_entry_t)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
    71
#define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x13, ec_ioctl_config_sdo_t)
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
    72
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
    73
#define EC_IOCTL_STRING_SIZE 64
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
    74
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
    75
/*****************************************************************************/
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
    76
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
    77
typedef struct {
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
    78
    uint32_t slave_count;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
    79
    uint32_t config_count;
1001
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
    80
    uint32_t domain_count;
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1001
diff changeset
    81
    uint8_t phase;
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
    82
    struct {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
    83
        uint8_t address[6];
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
    84
        uint8_t attached;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
    85
        uint32_t tx_count;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
    86
        uint32_t rx_count;
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
    87
    } devices[2];
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
    88
} ec_ioctl_master_t;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
    89
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
    90
/*****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
    91
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
    92
typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
    93
    // input
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
    94
    uint16_t position;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
    95
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
    96
    // outputs
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    97
    uint32_t vendor_id;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    98
    uint32_t product_code;
938
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
    99
    uint32_t revision_number;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
   100
    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
   101
    uint16_t alias;
989
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   102
    uint16_t rx_mailbox_offset;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   103
    uint16_t rx_mailbox_size;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   104
    uint16_t tx_mailbox_offset;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   105
    uint16_t tx_mailbox_size;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   106
    uint16_t mailbox_protocols;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   107
    uint8_t has_general_category;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   108
    ec_sii_coe_details_t coe_details;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   109
    ec_sii_general_flags_t general_flags;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   110
    int16_t current_on_ebus;
1148
1762296870bd Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents: 1147
diff changeset
   111
    uint8_t al_state;
987
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag;
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   112
    uint8_t error_flag;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   113
    uint8_t sync_count;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   114
    uint16_t sdo_count;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   115
    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
   116
    char group[EC_IOCTL_STRING_SIZE];
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   117
    char image[EC_IOCTL_STRING_SIZE];
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   118
    char order[EC_IOCTL_STRING_SIZE];
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   119
    char name[EC_IOCTL_STRING_SIZE];
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   120
} ec_ioctl_slave_t;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   121
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   122
/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   123
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   124
typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   125
    // inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   126
    uint16_t slave_position;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   127
    uint32_t sync_index;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   128
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   129
    // outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   130
    uint16_t physical_start_address;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   131
    uint16_t default_size;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   132
    uint8_t control_register;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   133
    uint8_t enable;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   134
    uint8_t pdo_count;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
   135
} ec_ioctl_slave_sync_t;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   136
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   137
/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   138
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   139
typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   140
    // inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   141
    uint16_t slave_position;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   142
    uint32_t sync_index;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   143
    uint32_t pdo_pos;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   144
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   145
    // outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   146
    uint16_t index;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   147
    uint8_t entry_count;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   148
    int8_t name[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
   149
} ec_ioctl_slave_sync_pdo_t;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   150
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   151
/*****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   152
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   153
typedef struct {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   154
    // inputs
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   155
    uint16_t slave_position;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   156
    uint32_t sync_index;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   157
    uint32_t pdo_pos;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   158
    uint32_t entry_pos;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   159
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   160
    // outputs
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   161
    uint16_t index;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   162
    uint8_t subindex;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   163
    uint8_t bit_length;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   164
    int8_t name[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
   165
} ec_ioctl_slave_sync_pdo_entry_t;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   166
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   167
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   168
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   169
typedef struct {
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   170
    // inputs
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   171
	uint32_t index;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   172
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   173
    // outputs
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   174
	uint32_t data_size;
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   175
	uint32_t logical_base_address;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   176
	uint16_t working_counter;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   177
	uint16_t expected_working_counter;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   178
    uint32_t fmmu_count;
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   179
} ec_ioctl_domain_t;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   180
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   181
/*****************************************************************************/
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   182
949
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   183
typedef struct {
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   184
    // inputs
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   185
	uint32_t domain_index;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   186
	uint32_t fmmu_index;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   187
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   188
    // outputs
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   189
    uint16_t slave_config_alias;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   190
    uint16_t slave_config_position;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   191
    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
   192
    ec_direction_t dir;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   193
	uint32_t logical_address;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   194
    uint32_t data_size;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   195
} ec_ioctl_domain_fmmu_t;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   196
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   197
/*****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   198
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   199
typedef struct {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   200
    // inputs
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   201
	uint32_t domain_index;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   202
    uint32_t data_size;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   203
    uint8_t *target;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1057
diff changeset
   204
} ec_ioctl_domain_data_t;
949
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   205
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   206
/*****************************************************************************/
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   207
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   208
typedef struct {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   209
    // inputs
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   210
	uint16_t slave_position;
1148
1762296870bd Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents: 1147
diff changeset
   211
    uint8_t al_state;
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   212
} ec_ioctl_slave_state_t;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   213
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   214
/*****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   215
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   216
typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   217
    // inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   218
    uint16_t slave_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   219
    uint16_t sdo_position;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   220
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   221
    // outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   222
    uint16_t sdo_index;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   223
    uint8_t max_subindex;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   224
    int8_t name[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
   225
} ec_ioctl_slave_sdo_t;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   226
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   227
/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   228
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   229
typedef struct {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   230
    // inputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   231
    uint16_t slave_position;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   232
    int sdo_spec; // positive: index, negative: list position
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   233
    uint8_t sdo_entry_subindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   234
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   235
    // outputs
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   236
    uint16_t data_type;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   237
    uint16_t bit_length;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   238
    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
   239
} ec_ioctl_slave_sdo_entry_t;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   240
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   241
/*****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   242
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   243
typedef struct {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   244
    // inputs
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   245
    uint16_t slave_position;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   246
    uint16_t sdo_index;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   247
    uint8_t sdo_entry_subindex;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   248
    uint32_t target_size;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   249
    uint8_t *target;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   250
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   251
    // outputs
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   252
    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
   253
    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
   254
} ec_ioctl_slave_sdo_upload_t;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   255
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   256
/*****************************************************************************/
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   257
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   258
typedef struct {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   259
    // inputs
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   260
    uint16_t slave_position;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   261
    uint16_t sdo_index;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   262
    uint8_t sdo_entry_subindex;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   263
    uint32_t data_size;
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   264
    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
   265
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   266
    // 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
   267
    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
   268
} ec_ioctl_slave_sdo_download_t;
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   269
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   270
/*****************************************************************************/
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 971
diff changeset
   271
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   272
typedef struct {
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   273
    // inputs
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   274
    uint16_t slave_position;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   275
    uint16_t offset;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   276
    uint32_t nwords;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   277
    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
   278
} ec_ioctl_slave_sii_t;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   279
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   280
/*****************************************************************************/
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   281
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   282
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   283
    // inputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   284
    uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   285
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   286
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   287
    uint16_t alias;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   288
    uint16_t position;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   289
    uint32_t vendor_id;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   290
    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
   291
    struct {
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   292
        ec_direction_t dir;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   293
        uint32_t pdo_count;
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   294
    } syncs[EC_MAX_SYNC_MANAGERS];
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   295
    uint32_t sdo_count;
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1109
diff changeset
   296
    int32_t slave_position;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   297
} ec_ioctl_config_t;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   298
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   299
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   300
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   301
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   302
    // inputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   303
    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
   304
    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
   305
    uint16_t pdo_pos;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   306
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   307
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   308
    uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   309
    uint8_t entry_count;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   310
    int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   311
} ec_ioctl_config_pdo_t;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   312
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   313
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   314
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   315
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   316
    // inputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   317
    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
   318
    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
   319
    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
   320
    uint8_t entry_pos;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   321
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   322
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   323
    uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   324
    uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   325
    uint8_t bit_length;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   326
    int8_t name[EC_IOCTL_STRING_SIZE];
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   327
} ec_ioctl_config_pdo_entry_t;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   328
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   329
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   330
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   331
typedef struct {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   332
    // inputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   333
    uint32_t config_index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   334
    uint32_t sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   335
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   336
    // outputs
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   337
    uint16_t index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   338
    uint8_t subindex;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   339
    uint32_t size;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   340
    uint8_t data[4];
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   341
} ec_ioctl_config_sdo_t;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   342
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   343
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
   344
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   345
/** \endcond */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
   346
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
#endif