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1 /****************************************************************************** |
1 /****************************************************************************** |
2 * |
2 * |
3 * $Id$ |
3 * $Id: ioctl.h,v 8b358effa78b 2011/03/14 10:20:05 ch1010277 $ |
4 * |
4 * |
5 * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
5 * Copyright (C) 2006-2008 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 * |
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 12 |
59 #define EC_IOCTL_VERSION_MAGIC 13 |
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) |
370 typedef struct { |
370 typedef struct { |
371 // inputs |
371 // inputs |
372 uint16_t slave_position; |
372 uint16_t slave_position; |
373 uint16_t sdo_index; |
373 uint16_t sdo_index; |
374 uint8_t sdo_entry_subindex; |
374 uint8_t sdo_entry_subindex; |
|
375 uint8_t complete_access; |
375 uint32_t data_size; |
376 uint32_t data_size; |
376 uint8_t *data; |
377 uint8_t *data; |
377 |
378 |
378 // outputs |
379 // outputs |
379 uint32_t abort_code; |
380 uint32_t abort_code; |