equal
deleted
inserted
replaced
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 9 |
59 #define EC_IOCTL_VERSION_MAGIC 10 |
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) |
419 uint16_t idn; |
419 uint16_t idn; |
420 uint32_t mem_size; |
420 uint32_t mem_size; |
421 uint8_t *data; |
421 uint8_t *data; |
422 |
422 |
423 // outputs |
423 // outputs |
424 uint32_t data_size; |
424 size_t data_size; |
425 uint16_t error_code; |
425 uint16_t error_code; |
426 } ec_ioctl_slave_soe_read_t; |
426 } ec_ioctl_slave_soe_read_t; |
427 |
427 |
428 /*****************************************************************************/ |
428 /*****************************************************************************/ |
429 |
429 |
430 typedef struct { |
430 typedef struct { |
431 // inputs |
431 // inputs |
432 uint16_t slave_position; |
432 uint16_t slave_position; |
433 uint8_t drive_no; |
433 uint8_t drive_no; |
434 uint16_t idn; |
434 uint16_t idn; |
435 uint32_t data_size; |
435 size_t data_size; |
436 uint8_t *data; |
436 uint8_t *data; |
437 |
437 |
438 // outputs |
438 // outputs |
439 uint16_t error_code; |
439 uint16_t error_code; |
440 } ec_ioctl_slave_soe_write_t; |
440 } ec_ioctl_slave_soe_write_t; |
528 |
528 |
529 // outputs |
529 // outputs |
530 uint8_t drive_no; |
530 uint8_t drive_no; |
531 uint16_t idn; |
531 uint16_t idn; |
532 ec_al_state_t state; |
532 ec_al_state_t state; |
533 uint32_t size; |
533 size_t size; |
534 uint8_t data[EC_MAX_IDN_DATA_SIZE]; |
534 uint8_t data[EC_MAX_IDN_DATA_SIZE]; |
535 } ec_ioctl_config_idn_t; |
535 } ec_ioctl_config_idn_t; |
536 |
536 |
537 /*****************************************************************************/ |
537 /*****************************************************************************/ |
538 |
538 |