| changeset 2589 | 2b9c78543663 |
| parent 2247 | 00e3937e0f0a |
| child 2597 | 0e145bb05859 |
| 2415:af21f0bdc7c9 | 2589:2b9c78543663 |
|---|---|
1 /****************************************************************************** |
1 /****************************************************************************** |
2 * |
2 * |
3 * $Id$ |
3 * $Id$ |
4 * |
4 * |
5 * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
5 * Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH |
6 * |
6 * |
7 * This file is part of the IgH EtherCAT Master. |
7 * This file is part of the IgH EtherCAT Master. |
8 * |
8 * |
9 * The IgH EtherCAT Master is free software; you can redistribute it and/or |
9 * The IgH EtherCAT Master is free software; you can redistribute it and/or |
10 * modify it under the terms of the GNU General Public License version 2, as |
10 * modify it under the terms of the GNU General Public License version 2, as |
54 |
54 |
55 /** EtherCAT master ioctl() version magic. |
55 /** EtherCAT master ioctl() version magic. |
56 * |
56 * |
57 * Increment this when changing the ioctl interface! |
57 * Increment this when changing the ioctl interface! |
58 */ |
58 */ |
59 #define EC_IOCTL_VERSION_MAGIC 13 |
59 #define EC_IOCTL_VERSION_MAGIC 28 |
60 |
60 |
61 // Command-line tool |
61 // Command-line tool |
62 #define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t) |
62 #define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t) |
63 #define EC_IOCTL_MASTER EC_IOR(0x01, ec_ioctl_master_t) |
63 #define EC_IOCTL_MASTER EC_IOR(0x01, ec_ioctl_master_t) |
64 #define EC_IOCTL_SLAVE EC_IOWR(0x02, ec_ioctl_slave_t) |
64 #define EC_IOCTL_SLAVE EC_IOWR(0x02, ec_ioctl_slave_t) |
94 |
94 |
95 // Application interface |
95 // Application interface |
96 #define EC_IOCTL_REQUEST EC_IO(0x1e) |
96 #define EC_IOCTL_REQUEST EC_IO(0x1e) |
97 #define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1f) |
97 #define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1f) |
98 #define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x20, ec_ioctl_config_t) |
98 #define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x20, ec_ioctl_config_t) |
99 #define EC_IOCTL_ACTIVATE EC_IOR(0x21, size_t) |
99 #define EC_IOCTL_SELECT_REF_CLOCK EC_IOW(0x21, uint32_t) |
100 #define EC_IOCTL_DEACTIVATE EC_IO(0x22) |
100 #define EC_IOCTL_ACTIVATE EC_IOR(0x22, ec_ioctl_master_activate_t) |
101 #define EC_IOCTL_SEND EC_IO(0x23) |
101 #define EC_IOCTL_DEACTIVATE EC_IO(0x23) |
102 #define EC_IOCTL_RECEIVE EC_IO(0x24) |
102 #define EC_IOCTL_SEND EC_IO(0x24) |
103 #define EC_IOCTL_MASTER_STATE EC_IOR(0x25, ec_master_state_t) |
103 #define EC_IOCTL_RECEIVE EC_IO(0x25) |
104 #define EC_IOCTL_APP_TIME EC_IOW(0x26, ec_ioctl_app_time_t) |
104 #define EC_IOCTL_MASTER_STATE EC_IOR(0x26, ec_master_state_t) |
105 #define EC_IOCTL_SYNC_REF EC_IO(0x27) |
105 #define EC_IOCTL_MASTER_LINK_STATE EC_IOWR(0x27, ec_ioctl_link_state_t) |
106 #define EC_IOCTL_SYNC_SLAVES EC_IO(0x28) |
106 #define EC_IOCTL_APP_TIME EC_IOW(0x28, ec_ioctl_app_time_t) |
107 #define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x29) |
107 #define EC_IOCTL_SYNC_REF EC_IO(0x29) |
108 #define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2a, uint32_t) |
108 #define EC_IOCTL_SYNC_SLAVES EC_IO(0x2a) |
109 #define EC_IOCTL_RESET EC_IO(0x2b) |
109 #define EC_IOCTL_REF_CLOCK_TIME EC_IOR(0x2b, uint32_t) |
110 #define EC_IOCTL_SC_SYNC EC_IOW(0x2c, ec_ioctl_config_t) |
110 #define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x2c) |
111 #define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2d, ec_ioctl_config_t) |
111 #define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2d, uint32_t) |
112 #define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2e, ec_ioctl_config_pdo_t) |
112 #define EC_IOCTL_RESET EC_IO(0x2e) |
113 #define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2f, ec_ioctl_config_pdo_t) |
113 #define EC_IOCTL_SC_SYNC EC_IOW(0x2f, ec_ioctl_config_t) |
114 #define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x30, ec_ioctl_add_pdo_entry_t) |
114 #define EC_IOCTL_SC_WATCHDOG EC_IOW(0x30, ec_ioctl_config_t) |
115 #define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x31, ec_ioctl_config_pdo_t) |
115 #define EC_IOCTL_SC_ADD_PDO EC_IOW(0x31, ec_ioctl_config_pdo_t) |
116 #define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x32, ec_ioctl_reg_pdo_entry_t) |
116 #define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x32, ec_ioctl_config_pdo_t) |
117 #define EC_IOCTL_SC_DC EC_IOW(0x33, ec_ioctl_config_t) |
117 #define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x33, ec_ioctl_add_pdo_entry_t) |
118 #define EC_IOCTL_SC_SDO EC_IOW(0x34, ec_ioctl_sc_sdo_t) |
118 #define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x34, ec_ioctl_config_pdo_t) |
119 #define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x35, ec_ioctl_sdo_request_t) |
119 #define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x35, ec_ioctl_reg_pdo_entry_t) |
120 #define EC_IOCTL_SC_VOE EC_IOWR(0x36, ec_ioctl_voe_t) |
120 #define EC_IOCTL_SC_REG_PDO_POS EC_IOWR(0x36, ec_ioctl_reg_pdo_pos_t) |
121 #define EC_IOCTL_SC_STATE EC_IOWR(0x37, ec_ioctl_sc_state_t) |
121 #define EC_IOCTL_SC_DC EC_IOW(0x37, ec_ioctl_config_t) |
122 #define EC_IOCTL_SC_IDN EC_IOW(0x38, ec_ioctl_sc_idn_t) |
122 #define EC_IOCTL_SC_SDO EC_IOW(0x38, ec_ioctl_sc_sdo_t) |
123 #define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x39) |
123 #define EC_IOCTL_SC_EMERG_SIZE EC_IOW(0x39, ec_ioctl_sc_emerg_t) |
124 #define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x3a) |
124 #define EC_IOCTL_SC_EMERG_POP EC_IOWR(0x3a, ec_ioctl_sc_emerg_t) |
125 #define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x3b) |
125 #define EC_IOCTL_SC_EMERG_CLEAR EC_IOW(0x3b, ec_ioctl_sc_emerg_t) |
126 #define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3c, ec_ioctl_domain_state_t) |
126 #define EC_IOCTL_SC_EMERG_OVERRUNS EC_IOWR(0x3c, ec_ioctl_sc_emerg_t) |
127 #define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3d, ec_ioctl_sdo_request_t) |
127 #define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x3d, ec_ioctl_sdo_request_t) |
128 #define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3e, ec_ioctl_sdo_request_t) |
128 #define EC_IOCTL_SC_REG_REQUEST EC_IOWR(0x3e, ec_ioctl_reg_request_t) |
129 #define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3f, ec_ioctl_sdo_request_t) |
129 #define EC_IOCTL_SC_VOE EC_IOWR(0x3f, ec_ioctl_voe_t) |
130 #define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x40, ec_ioctl_sdo_request_t) |
130 #define EC_IOCTL_SC_STATE EC_IOWR(0x40, ec_ioctl_sc_state_t) |
131 #define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x41, ec_ioctl_sdo_request_t) |
131 #define EC_IOCTL_SC_IDN EC_IOW(0x41, ec_ioctl_sc_idn_t) |
132 #define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x42, ec_ioctl_voe_t) |
132 #define EC_IOCTL_DOMAIN_SIZE EC_IO(0x42) |
133 #define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x43, ec_ioctl_voe_t) |
133 #define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x43) |
134 #define EC_IOCTL_VOE_READ EC_IOW(0x44, ec_ioctl_voe_t) |
134 #define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x44) |
135 #define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x45, ec_ioctl_voe_t) |
135 #define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x45) |
136 #define EC_IOCTL_VOE_WRITE EC_IOWR(0x46, ec_ioctl_voe_t) |
136 #define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x46, ec_ioctl_domain_state_t) |
137 #define EC_IOCTL_VOE_EXEC EC_IOWR(0x47, ec_ioctl_voe_t) |
137 #define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x47, ec_ioctl_sdo_request_t) |
138 #define EC_IOCTL_VOE_DATA EC_IOWR(0x48, ec_ioctl_voe_t) |
138 #define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x48, ec_ioctl_sdo_request_t) |
139 #define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x49, size_t) |
139 #define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x49, ec_ioctl_sdo_request_t) |
140 #define EC_IOCTL_MASTER_SC_STATE EC_IOR(0x50, ec_master_state_t) |
140 #define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x4a, ec_ioctl_sdo_request_t) |
141 #define EC_IOCTL_SC_OVERLAPPING_IO EC_IOW(0x51, ec_ioctl_config_t) |
141 #define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x4b, ec_ioctl_sdo_request_t) |
142 #define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x4c, ec_ioctl_sdo_request_t) |
|
143 #define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x4d, ec_ioctl_reg_request_t) |
|
144 #define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x4e, ec_ioctl_reg_request_t) |
|
145 #define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x4f, ec_ioctl_reg_request_t) |
|
146 #define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x50, ec_ioctl_reg_request_t) |
|
147 #define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x51, ec_ioctl_voe_t) |
|
148 #define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x52, ec_ioctl_voe_t) |
|
149 #define EC_IOCTL_VOE_READ EC_IOW(0x53, ec_ioctl_voe_t) |
|
150 #define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x54, ec_ioctl_voe_t) |
|
151 #define EC_IOCTL_VOE_WRITE EC_IOWR(0x55, ec_ioctl_voe_t) |
|
152 #define EC_IOCTL_VOE_EXEC EC_IOWR(0x56, ec_ioctl_voe_t) |
|
153 #define EC_IOCTL_VOE_DATA EC_IOWR(0x57, ec_ioctl_voe_t) |
|
154 #define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x58, size_t) |
|
142 |
155 |
143 /*****************************************************************************/ |
156 /*****************************************************************************/ |
144 |
157 |
145 #define EC_IOCTL_STRING_SIZE 64 |
158 #define EC_IOCTL_STRING_SIZE 64 |
146 |
159 |
168 uint8_t attached; |
181 uint8_t attached; |
169 uint8_t link_state; |
182 uint8_t link_state; |
170 uint64_t tx_count; |
183 uint64_t tx_count; |
171 uint64_t rx_count; |
184 uint64_t rx_count; |
172 uint64_t tx_bytes; |
185 uint64_t tx_bytes; |
186 uint64_t rx_bytes; |
|
173 uint64_t tx_errors; |
187 uint64_t tx_errors; |
174 uint32_t tx_frame_rates[EC_RATE_COUNT]; |
188 int32_t tx_frame_rates[EC_RATE_COUNT]; |
175 uint32_t tx_byte_rates[EC_RATE_COUNT]; |
189 int32_t rx_frame_rates[EC_RATE_COUNT]; |
176 int32_t loss_rates[EC_RATE_COUNT]; |
190 int32_t tx_byte_rates[EC_RATE_COUNT]; |
177 } devices[2]; |
191 int32_t rx_byte_rates[EC_RATE_COUNT]; |
192 } devices[EC_MAX_NUM_DEVICES]; |
|
193 uint32_t num_devices; |
|
194 uint64_t tx_count; |
|
195 uint64_t rx_count; |
|
196 uint64_t tx_bytes; |
|
197 uint64_t rx_bytes; |
|
198 int32_t tx_frame_rates[EC_RATE_COUNT]; |
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199 int32_t rx_frame_rates[EC_RATE_COUNT]; |
|
200 int32_t tx_byte_rates[EC_RATE_COUNT]; |
|
201 int32_t rx_byte_rates[EC_RATE_COUNT]; |
|
202 int32_t loss_rates[EC_RATE_COUNT]; |
|
178 uint64_t app_time; |
203 uint64_t app_time; |
179 uint16_t ref_clock; |
204 uint16_t ref_clock; |
180 } ec_ioctl_master_t; |
205 } ec_ioctl_master_t; |
181 |
206 |
182 /*****************************************************************************/ |
207 /*****************************************************************************/ |
184 typedef struct { |
209 typedef struct { |
185 // input |
210 // input |
186 uint16_t position; |
211 uint16_t position; |
187 |
212 |
188 // outputs |
213 // outputs |
214 unsigned int device_index; |
|
189 uint32_t vendor_id; |
215 uint32_t vendor_id; |
190 uint32_t product_code; |
216 uint32_t product_code; |
191 uint32_t revision_number; |
217 uint32_t revision_number; |
192 uint32_t serial_number; |
218 uint32_t serial_number; |
193 uint16_t alias; |
219 uint16_t alias; |
278 // inputs |
304 // inputs |
279 uint32_t index; |
305 uint32_t index; |
280 |
306 |
281 // outputs |
307 // outputs |
282 uint32_t data_size; |
308 uint32_t data_size; |
283 uint32_t tx_size; |
|
284 uint32_t logical_base_address; |
309 uint32_t logical_base_address; |
285 uint16_t working_counter; |
310 uint16_t working_counter[EC_MAX_NUM_DEVICES]; |
286 uint16_t expected_working_counter; |
311 uint16_t expected_working_counter; |
287 uint32_t fmmu_count; |
312 uint32_t fmmu_count; |
288 } ec_ioctl_domain_t; |
313 } ec_ioctl_domain_t; |
289 |
314 |
290 /*****************************************************************************/ |
315 /*****************************************************************************/ |
298 uint16_t slave_config_alias; |
323 uint16_t slave_config_alias; |
299 uint16_t slave_config_position; |
324 uint16_t slave_config_position; |
300 uint8_t sync_index; |
325 uint8_t sync_index; |
301 ec_direction_t dir; |
326 ec_direction_t dir; |
302 uint32_t logical_address; |
327 uint32_t logical_address; |
303 uint32_t domain_address; |
|
304 uint32_t data_size; |
328 uint32_t data_size; |
305 } ec_ioctl_domain_fmmu_t; |
329 } ec_ioctl_domain_fmmu_t; |
306 |
330 |
307 /*****************************************************************************/ |
331 /*****************************************************************************/ |
308 |
332 |
355 typedef struct { |
379 typedef struct { |
356 // inputs |
380 // inputs |
357 uint16_t slave_position; |
381 uint16_t slave_position; |
358 uint16_t sdo_index; |
382 uint16_t sdo_index; |
359 uint8_t sdo_entry_subindex; |
383 uint8_t sdo_entry_subindex; |
360 uint32_t target_size; |
384 size_t target_size; |
361 uint8_t *target; |
385 uint8_t *target; |
362 |
386 |
363 // outputs |
387 // outputs |
364 uint32_t data_size; |
388 size_t data_size; |
365 uint32_t abort_code; |
389 uint32_t abort_code; |
366 } ec_ioctl_slave_sdo_upload_t; |
390 } ec_ioctl_slave_sdo_upload_t; |
367 |
391 |
368 /*****************************************************************************/ |
392 /*****************************************************************************/ |
369 |
393 |
371 // inputs |
395 // inputs |
372 uint16_t slave_position; |
396 uint16_t slave_position; |
373 uint16_t sdo_index; |
397 uint16_t sdo_index; |
374 uint8_t sdo_entry_subindex; |
398 uint8_t sdo_entry_subindex; |
375 uint8_t complete_access; |
399 uint8_t complete_access; |
376 uint32_t data_size; |
400 size_t data_size; |
377 uint8_t *data; |
401 uint8_t *data; |
378 |
402 |
379 // outputs |
403 // outputs |
380 uint32_t abort_code; |
404 uint32_t abort_code; |
381 } ec_ioctl_slave_sdo_download_t; |
405 } ec_ioctl_slave_sdo_download_t; |
393 /*****************************************************************************/ |
417 /*****************************************************************************/ |
394 |
418 |
395 typedef struct { |
419 typedef struct { |
396 // inputs |
420 // inputs |
397 uint16_t slave_position; |
421 uint16_t slave_position; |
398 uint16_t offset; |
422 uint8_t emergency; |
399 uint16_t length; |
423 uint16_t address; |
424 size_t size; |
|
400 uint8_t *data; |
425 uint8_t *data; |
401 } ec_ioctl_slave_reg_t; |
426 } ec_ioctl_slave_reg_t; |
402 |
427 |
403 /*****************************************************************************/ |
428 /*****************************************************************************/ |
404 |
429 |
405 typedef struct { |
430 typedef struct { |
406 // inputs |
431 // inputs |
407 uint16_t slave_position; |
432 uint16_t slave_position; |
408 uint16_t offset; |
433 uint16_t offset; |
409 uint32_t buffer_size; |
434 size_t buffer_size; |
410 uint8_t *buffer; |
435 uint8_t *buffer; |
411 |
436 |
412 // outputs |
437 // outputs |
413 uint32_t data_size; |
438 size_t data_size; |
414 uint32_t result; |
439 uint32_t result; |
415 uint32_t error_code; |
440 uint32_t error_code; |
416 char file_name[32]; |
441 char file_name[32]; |
417 } ec_ioctl_slave_foe_t; |
442 } ec_ioctl_slave_foe_t; |
418 |
443 |
421 typedef struct { |
446 typedef struct { |
422 // inputs |
447 // inputs |
423 uint16_t slave_position; |
448 uint16_t slave_position; |
424 uint8_t drive_no; |
449 uint8_t drive_no; |
425 uint16_t idn; |
450 uint16_t idn; |
426 uint32_t mem_size; |
451 size_t mem_size; |
427 uint8_t *data; |
452 uint8_t *data; |
428 |
453 |
429 // outputs |
454 // outputs |
430 size_t data_size; |
455 size_t data_size; |
431 uint16_t error_code; |
456 uint16_t error_code; |
462 uint32_t pdo_count; |
487 uint32_t pdo_count; |
463 uint8_t config_this; |
488 uint8_t config_this; |
464 } syncs[EC_MAX_SYNC_MANAGERS]; |
489 } syncs[EC_MAX_SYNC_MANAGERS]; |
465 uint16_t watchdog_divider; |
490 uint16_t watchdog_divider; |
466 uint16_t watchdog_intervals; |
491 uint16_t watchdog_intervals; |
467 uint8_t allow_overlapping_pdos; |
|
468 uint32_t sdo_count; |
492 uint32_t sdo_count; |
469 uint32_t idn_count; |
493 uint32_t idn_count; |
470 int32_t slave_position; |
494 int32_t slave_position; |
471 uint16_t dc_assign_activate; |
495 uint16_t dc_assign_activate; |
472 ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]; |
496 ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]; |
515 uint32_t sdo_pos; |
539 uint32_t sdo_pos; |
516 |
540 |
517 // outputs |
541 // outputs |
518 uint16_t index; |
542 uint16_t index; |
519 uint8_t subindex; |
543 uint8_t subindex; |
520 uint32_t size; |
544 size_t size; |
521 uint8_t data[EC_MAX_SDO_DATA_SIZE]; |
545 uint8_t data[EC_MAX_SDO_DATA_SIZE]; |
546 uint8_t complete_access; |
|
522 } ec_ioctl_config_sdo_t; |
547 } ec_ioctl_config_sdo_t; |
523 |
548 |
524 /*****************************************************************************/ |
549 /*****************************************************************************/ |
525 |
550 |
526 /** Maximum size for displayed IDN data. |
551 /** Maximum size for displayed IDN data. |
564 #endif |
589 #endif |
565 |
590 |
566 /*****************************************************************************/ |
591 /*****************************************************************************/ |
567 |
592 |
568 typedef struct { |
593 typedef struct { |
594 // outputs |
|
595 void *process_data; |
|
596 size_t process_data_size; |
|
597 } ec_ioctl_master_activate_t; |
|
598 |
|
599 /*****************************************************************************/ |
|
600 |
|
601 typedef struct { |
|
569 // inputs |
602 // inputs |
570 uint32_t config_index; |
603 uint32_t config_index; |
571 uint16_t pdo_index; |
604 uint16_t pdo_index; |
572 uint16_t entry_index; |
605 uint16_t entry_index; |
573 uint8_t entry_subindex; |
606 uint8_t entry_subindex; |
580 // inputs |
613 // inputs |
581 uint32_t config_index; |
614 uint32_t config_index; |
582 uint16_t entry_index; |
615 uint16_t entry_index; |
583 uint8_t entry_subindex; |
616 uint8_t entry_subindex; |
584 uint32_t domain_index; |
617 uint32_t domain_index; |
585 |
618 |
586 // outputs |
619 // outputs |
587 unsigned int bit_position; |
620 unsigned int bit_position; |
588 } ec_ioctl_reg_pdo_entry_t; |
621 } ec_ioctl_reg_pdo_entry_t; |
622 |
|
623 /*****************************************************************************/ |
|
624 |
|
625 typedef struct { |
|
626 // inputs |
|
627 uint32_t config_index; |
|
628 uint32_t sync_index; |
|
629 uint32_t pdo_pos; |
|
630 uint32_t entry_pos; |
|
631 uint32_t domain_index; |
|
632 |
|
633 // outputs |
|
634 unsigned int bit_position; |
|
635 } ec_ioctl_reg_pdo_pos_t; |
|
589 |
636 |
590 /*****************************************************************************/ |
637 /*****************************************************************************/ |
591 |
638 |
592 typedef struct { |
639 typedef struct { |
593 // inputs |
640 // inputs |
596 uint8_t subindex; |
643 uint8_t subindex; |
597 const uint8_t *data; |
644 const uint8_t *data; |
598 size_t size; |
645 size_t size; |
599 uint8_t complete_access; |
646 uint8_t complete_access; |
600 } ec_ioctl_sc_sdo_t; |
647 } ec_ioctl_sc_sdo_t; |
648 |
|
649 /*****************************************************************************/ |
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650 |
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651 typedef struct { |
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652 // inputs |
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653 uint32_t config_index; |
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654 size_t size; |
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655 uint8_t *target; |
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656 |
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657 // outputs |
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658 int32_t overruns; |
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659 } ec_ioctl_sc_emerg_t; |
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601 |
660 |
602 /*****************************************************************************/ |
661 /*****************************************************************************/ |
603 |
662 |
604 typedef struct { |
663 typedef struct { |
605 // inputs |
664 // inputs |
650 /*****************************************************************************/ |
709 /*****************************************************************************/ |
651 |
710 |
652 typedef struct { |
711 typedef struct { |
653 // inputs |
712 // inputs |
654 uint32_t config_index; |
713 uint32_t config_index; |
714 size_t mem_size; |
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715 |
|
716 // inputs/outputs |
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717 uint32_t request_index; |
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718 uint8_t *data; |
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719 ec_request_state_t state; |
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720 uint8_t new_data; |
|
721 uint16_t address; |
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722 size_t transfer_size; |
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723 } ec_ioctl_reg_request_t; |
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724 |
|
725 /*****************************************************************************/ |
|
726 |
|
727 typedef struct { |
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728 // inputs |
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729 uint32_t config_index; |
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655 |
730 |
656 // inputs/outputs |
731 // inputs/outputs |
657 uint32_t voe_index; |
732 uint32_t voe_index; |
658 uint32_t *vendor_id; |
733 uint32_t *vendor_id; |
659 uint16_t *vendor_type; |
734 uint16_t *vendor_type; |
664 |
739 |
665 /*****************************************************************************/ |
740 /*****************************************************************************/ |
666 |
741 |
667 typedef struct { |
742 typedef struct { |
668 // inputs |
743 // inputs |
744 uint32_t dev_idx; |
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745 |
|
746 // outputs |
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747 ec_master_link_state_t *state; |
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748 } ec_ioctl_link_state_t; |
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749 |
|
750 /*****************************************************************************/ |
|
751 |
|
752 typedef struct { |
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753 // inputs |
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669 uint64_t app_time; |
754 uint64_t app_time; |
670 } ec_ioctl_app_time_t; |
755 } ec_ioctl_app_time_t; |
671 |
756 |
672 /*****************************************************************************/ |
757 /*****************************************************************************/ |
673 |
758 |
759 #ifdef __KERNEL__ |
|
760 |
|
761 /** Context data structure for file handles. |
|
762 */ |
|
763 typedef struct { |
|
764 unsigned int writable; /**< Device was opened with write permission. */ |
|
765 unsigned int requested; /**< Master was requested via this file handle. */ |
|
766 uint8_t *process_data; /**< Total process data area. */ |
|
767 size_t process_data_size; /**< Size of the \a process_data. */ |
|
768 } ec_ioctl_context_t; |
|
769 |
|
770 long ec_ioctl(ec_master_t *, ec_ioctl_context_t *, unsigned int, |
|
771 void __user *); |
|
772 |
|
773 #ifdef EC_RTDM |
|
774 |
|
775 long ec_ioctl_rtdm(ec_master_t *, ec_ioctl_context_t *, unsigned int, |
|
776 void __user *); |
|
777 int ec_rtdm_mmap(ec_ioctl_context_t *, void **); |
|
778 |
|
779 #endif |
|
780 |
|
781 #endif |
|
782 |
|
783 /*****************************************************************************/ |
|
784 |
|
674 /** \endcond */ |
785 /** \endcond */ |
675 |
786 |
676 #endif |
787 #endif |