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  */

    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)

   411 /*****************************************************************************/

   411 /*****************************************************************************/

   412 

   412 

   413 typedef struct {

   413 typedef struct {

   414     // inputs

   414     // inputs

   415     uint16_t slave_position;

   415     uint16_t slave_position;

   416     uint16_t idn;

   417     uint16_t idn;

   417     uint32_t mem_size;

   418     uint32_t mem_size;

   418     uint8_t *data;

   419     uint8_t *data;

   419 

   420 

   420     // outputs

   421     // outputs

   425 /*****************************************************************************/

   426 /*****************************************************************************/

   426 

   427 

   427 typedef struct {

   428 typedef struct {

   428     // inputs

   429     // inputs

   429     uint16_t slave_position;

   430     uint16_t slave_position;

   430     uint16_t idn;

   432     uint16_t idn;

   431     uint32_t data_size;

   433     uint32_t data_size;

   432     uint8_t *data;

   434     uint8_t *data;

   433 

   435 

   434     // outputs

   436     // outputs

   580 /*****************************************************************************/

   582 /*****************************************************************************/

   581 

   583 

   582 typedef struct {

   584 typedef struct {

   583     // inputs

   585     // inputs

   584     uint32_t config_index;

   586     uint32_t config_index;

   585     uint16_t idn;

   588     uint16_t idn;

   586     ec_al_state_t al_state;

   589     ec_al_state_t al_state;

   587     const uint8_t *data;

   590     const uint8_t *data;

   588     size_t size;

   591     size_t size;

   589 } ec_ioctl_sc_idn_t;

   592 } ec_ioctl_sc_idn_t;