master/ioctl.h
branchstable-1.5
changeset 2438 9c3e629a220c
parent 2435 4151f6f4c3e1
child 2443 2c3ccdde3919
equal deleted inserted replaced
2437:7b8078c1ad36 2438:9c3e629a220c
    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 20
    59 #define EC_IOCTL_VERSION_MAGIC 21
    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)
   115 #define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x31, ec_ioctl_add_pdo_entry_t)
   115 #define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x31, ec_ioctl_add_pdo_entry_t)
   116 #define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x32, ec_ioctl_config_pdo_t)
   116 #define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x32, ec_ioctl_config_pdo_t)
   117 #define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x33, ec_ioctl_reg_pdo_entry_t)
   117 #define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x33, ec_ioctl_reg_pdo_entry_t)
   118 #define EC_IOCTL_SC_DC                 EC_IOW(0x34, ec_ioctl_config_t)
   118 #define EC_IOCTL_SC_DC                 EC_IOW(0x34, ec_ioctl_config_t)
   119 #define EC_IOCTL_SC_SDO                EC_IOW(0x35, ec_ioctl_sc_sdo_t)
   119 #define EC_IOCTL_SC_SDO                EC_IOW(0x35, ec_ioctl_sc_sdo_t)
   120 #define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x36, ec_ioctl_sdo_request_t)
   120 #define EC_IOCTL_SC_EMERG_SIZE         EC_IOW(0x36, ec_ioctl_sc_emerg_t)
   121 #define EC_IOCTL_SC_VOE               EC_IOWR(0x37, ec_ioctl_voe_t)
   121 #define EC_IOCTL_SC_EMERG_POP         EC_IOWR(0x37, ec_ioctl_sc_emerg_t)
   122 #define EC_IOCTL_SC_STATE             EC_IOWR(0x38, ec_ioctl_sc_state_t)
   122 #define EC_IOCTL_SC_EMERG_CLEAR        EC_IOW(0x38, ec_ioctl_sc_emerg_t)
   123 #define EC_IOCTL_SC_IDN                EC_IOW(0x39, ec_ioctl_sc_idn_t)
   123 #define EC_IOCTL_SC_EMERG_OVERRUNS    EC_IOWR(0x39, ec_ioctl_sc_emerg_t)
   124 #define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x3a)
   124 #define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
   125 #define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x3b)
   125 #define EC_IOCTL_SC_VOE               EC_IOWR(0x3b, ec_ioctl_voe_t)
   126 #define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x3c)
   126 #define EC_IOCTL_SC_STATE             EC_IOWR(0x3c, ec_ioctl_sc_state_t)
   127 #define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x3d, ec_ioctl_domain_state_t)
   127 #define EC_IOCTL_SC_IDN                EC_IOW(0x3d, ec_ioctl_sc_idn_t)
   128 #define EC_IOCTL_SDO_REQUEST_INDEX    EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
   128 #define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x3e)
   129 #define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
   129 #define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x3f)
   130 #define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x40, ec_ioctl_sdo_request_t)
   130 #define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x40)
   131 #define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x41, ec_ioctl_sdo_request_t)
   131 #define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x41, ec_ioctl_domain_state_t)
   132 #define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x42, ec_ioctl_sdo_request_t)
   132 #define EC_IOCTL_SDO_REQUEST_INDEX    EC_IOWR(0x42, ec_ioctl_sdo_request_t)
   133 #define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x43, ec_ioctl_sdo_request_t)
   133 #define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x43, ec_ioctl_sdo_request_t)
   134 #define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x44, ec_ioctl_voe_t)
   134 #define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x44, ec_ioctl_sdo_request_t)
   135 #define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x45, ec_ioctl_voe_t)
   135 #define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x45, ec_ioctl_sdo_request_t)
   136 #define EC_IOCTL_VOE_READ              EC_IOW(0x46, ec_ioctl_voe_t)
   136 #define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x46, ec_ioctl_sdo_request_t)
   137 #define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x47, ec_ioctl_voe_t)
   137 #define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x47, ec_ioctl_sdo_request_t)
   138 #define EC_IOCTL_VOE_WRITE            EC_IOWR(0x48, ec_ioctl_voe_t)
   138 #define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x48, ec_ioctl_voe_t)
   139 #define EC_IOCTL_VOE_EXEC             EC_IOWR(0x49, ec_ioctl_voe_t)
   139 #define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x49, ec_ioctl_voe_t)
   140 #define EC_IOCTL_VOE_DATA             EC_IOWR(0x4a, ec_ioctl_voe_t)
   140 #define EC_IOCTL_VOE_READ              EC_IOW(0x4a, ec_ioctl_voe_t)
   141 #define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x4b, size_t)
   141 #define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x4b, ec_ioctl_voe_t)
       
   142 #define EC_IOCTL_VOE_WRITE            EC_IOWR(0x4c, ec_ioctl_voe_t)
       
   143 #define EC_IOCTL_VOE_EXEC             EC_IOWR(0x4d, ec_ioctl_voe_t)
       
   144 #define EC_IOCTL_VOE_DATA             EC_IOWR(0x4e, ec_ioctl_voe_t)
       
   145 #define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x4f, size_t)
   142 
   146 
   143 /*****************************************************************************/
   147 /*****************************************************************************/
   144 
   148 
   145 #define EC_IOCTL_STRING_SIZE 64
   149 #define EC_IOCTL_STRING_SIZE 64
   146 
   150 
   620 /*****************************************************************************/
   624 /*****************************************************************************/
   621 
   625 
   622 typedef struct {
   626 typedef struct {
   623     // inputs
   627     // inputs
   624     uint32_t config_index;
   628     uint32_t config_index;
       
   629     size_t size;
       
   630     uint8_t *target;
       
   631 
       
   632     // outputs
       
   633     int32_t overruns;
       
   634 } ec_ioctl_sc_emerg_t;
       
   635 
       
   636 /*****************************************************************************/
       
   637 
       
   638 typedef struct {
       
   639     // inputs
       
   640     uint32_t config_index;
   625 
   641 
   626     // outputs
   642     // outputs
   627     ec_slave_config_state_t *state;
   643     ec_slave_config_state_t *state;
   628 } ec_ioctl_sc_state_t;
   644 } ec_ioctl_sc_state_t;
   629 
   645