equal
deleted
inserted
replaced
55 EC_IOCTL_DATA, |
55 EC_IOCTL_DATA, |
56 EC_IOCTL_SET_DEBUG, |
56 EC_IOCTL_SET_DEBUG, |
57 EC_IOCTL_SLAVE_STATE, |
57 EC_IOCTL_SLAVE_STATE, |
58 EC_IOCTL_SDO, |
58 EC_IOCTL_SDO, |
59 EC_IOCTL_SDO_ENTRY, |
59 EC_IOCTL_SDO_ENTRY, |
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60 EC_IOCTL_SDO_UPLOAD, |
60 }; |
61 }; |
61 |
62 |
62 /*****************************************************************************/ |
63 /*****************************************************************************/ |
63 |
64 |
64 typedef struct { |
65 typedef struct { |
209 #define EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE 120 |
210 #define EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE 120 |
210 |
211 |
211 typedef struct { |
212 typedef struct { |
212 // inputs |
213 // inputs |
213 uint16_t slave_position; |
214 uint16_t slave_position; |
214 uint16_t sdo_position; |
215 int sdo_spec; // positive: index, negative: list position |
215 uint8_t sdo_entry_subindex; |
216 uint8_t sdo_entry_subindex; |
216 |
217 |
217 // outputs |
218 // outputs |
218 uint16_t data_type; |
219 uint16_t data_type; |
219 uint16_t bit_length; |
220 uint16_t bit_length; |
220 char description[EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE]; |
221 char description[EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE]; |
221 } ec_ioctl_sdo_entry_t; |
222 } ec_ioctl_sdo_entry_t; |
222 |
223 |
223 /*****************************************************************************/ |
224 /*****************************************************************************/ |
224 |
225 |
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226 typedef struct { |
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227 // inputs |
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228 uint16_t slave_position; |
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229 uint16_t sdo_index; |
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230 uint8_t sdo_entry_subindex; |
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231 unsigned int target_size; |
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232 uint8_t *target; |
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233 |
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234 // outputs |
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235 unsigned int data_size; |
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236 } ec_ioctl_sdo_upload_t; |
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237 |
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238 /*****************************************************************************/ |
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239 |
225 #endif |
240 #endif |