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master/ioctl.h
branchstable-1.5
changeset 2443 2c3ccdde3919
parent 2438 9c3e629a220c
child 2447 e93efb4af231
equal deleted inserted replaced
2442:86ebf18a029f 2443:2c3ccdde3919 
    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 21
 
    59 #define EC_IOCTL_VERSION_MAGIC 22
 
    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)
 
   120 #define EC_IOCTL_SC_EMERG_SIZE         EC_IOW(0x36, ec_ioctl_sc_emerg_t)
 
   120 #define EC_IOCTL_SC_EMERG_SIZE         EC_IOW(0x36, ec_ioctl_sc_emerg_t)
 
   121 #define EC_IOCTL_SC_EMERG_POP         EC_IOWR(0x37, ec_ioctl_sc_emerg_t)
 
   121 #define EC_IOCTL_SC_EMERG_POP         EC_IOWR(0x37, ec_ioctl_sc_emerg_t)
 
   122 #define EC_IOCTL_SC_EMERG_CLEAR        EC_IOW(0x38, ec_ioctl_sc_emerg_t)
 
   122 #define EC_IOCTL_SC_EMERG_CLEAR        EC_IOW(0x38, ec_ioctl_sc_emerg_t)
 
   123 #define EC_IOCTL_SC_EMERG_OVERRUNS    EC_IOWR(0x39, ec_ioctl_sc_emerg_t)
 
   123 #define EC_IOCTL_SC_EMERG_OVERRUNS    EC_IOWR(0x39, ec_ioctl_sc_emerg_t)
 
   124 #define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
 
   124 #define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
 
   125 #define EC_IOCTL_SC_VOE               EC_IOWR(0x3b, ec_ioctl_voe_t)
 
   125 #define EC_IOCTL_SC_REG_REQUEST       EC_IOWR(0x3b, ec_ioctl_reg_request_t)
 
   126 #define EC_IOCTL_SC_STATE             EC_IOWR(0x3c, ec_ioctl_sc_state_t)
 
   126 #define EC_IOCTL_SC_VOE               EC_IOWR(0x3c, ec_ioctl_voe_t)
 
   127 #define EC_IOCTL_SC_IDN                EC_IOW(0x3d, ec_ioctl_sc_idn_t)
 
   127 #define EC_IOCTL_SC_STATE             EC_IOWR(0x3d, ec_ioctl_sc_state_t)
 
   128 #define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x3e)
 
   128 #define EC_IOCTL_SC_IDN                EC_IOW(0x3e, ec_ioctl_sc_idn_t)
 
   129 #define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x3f)
 
   129 #define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x3f)
 
   130 #define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x40)
 
   130 #define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x40)
 
   131 #define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x41, ec_ioctl_domain_state_t)
 
   131 #define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x41)
 
   132 #define EC_IOCTL_SDO_REQUEST_INDEX    EC_IOWR(0x42, ec_ioctl_sdo_request_t)
 
   132 #define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x42, ec_ioctl_domain_state_t)
 
   133 #define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x43, ec_ioctl_sdo_request_t)
 
   133 #define EC_IOCTL_SDO_REQUEST_INDEX    EC_IOWR(0x43, ec_ioctl_sdo_request_t)
 
   134 #define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x44, ec_ioctl_sdo_request_t)
 
   134 #define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x44, ec_ioctl_sdo_request_t)
 
   135 #define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x45, ec_ioctl_sdo_request_t)
 
   135 #define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x45, ec_ioctl_sdo_request_t)
 
   136 #define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x46, ec_ioctl_sdo_request_t)
 
   136 #define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x46, ec_ioctl_sdo_request_t)
 
   137 #define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x47, ec_ioctl_sdo_request_t)
 
   137 #define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x47, ec_ioctl_sdo_request_t)
 
   138 #define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x48, ec_ioctl_voe_t)
 
   138 #define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x48, ec_ioctl_sdo_request_t)
 
   139 #define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x49, ec_ioctl_voe_t)
 
   139 #define EC_IOCTL_REG_REQUEST_DATA     EC_IOWR(0x49, ec_ioctl_reg_request_t)
 
   140 #define EC_IOCTL_VOE_READ              EC_IOW(0x4a, ec_ioctl_voe_t)
 
   140 #define EC_IOCTL_REG_REQUEST_STATE    EC_IOWR(0x4a, ec_ioctl_reg_request_t)
 
   141 #define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x4b, ec_ioctl_voe_t)
 
   141 #define EC_IOCTL_REG_REQUEST_WRITE    EC_IOWR(0x4b, ec_ioctl_reg_request_t)
 
   142 #define EC_IOCTL_VOE_WRITE            EC_IOWR(0x4c, ec_ioctl_voe_t)
 
   142 #define EC_IOCTL_REG_REQUEST_READ     EC_IOWR(0x4c, ec_ioctl_reg_request_t)
 
   143 #define EC_IOCTL_VOE_EXEC             EC_IOWR(0x4d, ec_ioctl_voe_t)
 
   143 #define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x4d, ec_ioctl_voe_t)
 
   144 #define EC_IOCTL_VOE_DATA             EC_IOWR(0x4e, ec_ioctl_voe_t)
 
   144 #define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x4e, ec_ioctl_voe_t)
 
   145 #define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x4f, size_t)
 
   145 #define EC_IOCTL_VOE_READ              EC_IOW(0x4f, ec_ioctl_voe_t)
 
       
   146 #define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x50, ec_ioctl_voe_t)
 
       
   147 #define EC_IOCTL_VOE_WRITE            EC_IOWR(0x51, ec_ioctl_voe_t)
 
       
   148 #define EC_IOCTL_VOE_EXEC             EC_IOWR(0x52, ec_ioctl_voe_t)
 
       
   149 #define EC_IOCTL_VOE_DATA             EC_IOWR(0x53, ec_ioctl_voe_t)
 
       
   150 #define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x54, size_t)
 
   146 
   151 
   147 /*****************************************************************************/
 
   152 /*****************************************************************************/
 
   148 
   153 
   149 #define EC_IOCTL_STRING_SIZE 64
 
   154 #define EC_IOCTL_STRING_SIZE 64
 
   150 
   155 
   407 /*****************************************************************************/
 
   412 /*****************************************************************************/
 
   408 
   413 
   409 typedef struct {
 
   414 typedef struct {
 
   410     // inputs
 
   415     // inputs
 
   411     uint16_t slave_position;
 
   416     uint16_t slave_position;
 
   412     uint16_t offset;
 
   417     uint16_t address;
 
   413     uint16_t length;
 
   418     size_t size;
 
   414     uint8_t *data;
 
   419     uint8_t *data;
 
   415 } ec_ioctl_slave_reg_t;
 
   420 } ec_ioctl_slave_reg_t;
 
   416 
   421 
   417 /*****************************************************************************/
 
   422 /*****************************************************************************/
 
   418 
   423 
   684 /*****************************************************************************/
 
   689 /*****************************************************************************/
 
   685 
   690 
   686 typedef struct {
 
   691 typedef struct {
 
   687     // inputs
 
   692     // inputs
 
   688     uint32_t config_index;
 
   693     uint32_t config_index;
 
       
   694     size_t mem_size;
 
       
   695 
       
   696     // inputs/outputs
 
       
   697     uint32_t request_index;
 
       
   698     uint8_t *data;
 
       
   699     ec_request_state_t state;
 
       
   700     uint8_t new_data;
 
       
   701     uint16_t address;
 
       
   702     size_t transfer_size;
 
       
   703 } ec_ioctl_reg_request_t;
 
       
   704 
       
   705 /*****************************************************************************/
 
       
   706 
       
   707 typedef struct {
 
       
   708     // inputs
 
       
   709     uint32_t config_index;
 
   689 
   710 
   690     // inputs/outputs
 
   711     // inputs/outputs
 
   691     uint32_t voe_index;
 
   712     uint32_t voe_index;
 
   692     uint32_t *vendor_id;
 
   713     uint32_t *vendor_id;
 
   693     uint16_t *vendor_type;
 
   714     uint16_t *vendor_type;
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