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)

   366 typedef struct {

   366 typedef struct {

   367     // inputs

   367     // inputs

   368     uint16_t slave_position;

   368     uint16_t slave_position;

   369     uint16_t sdo_index;

   369     uint16_t sdo_index;

   370     uint8_t sdo_entry_subindex;

   370     uint8_t sdo_entry_subindex;

   371     uint32_t data_size;

   372     uint32_t data_size;

   372     uint8_t *data;

   373     uint8_t *data;

   373 

   374 

   374     // outputs

   375     // outputs

   375     uint32_t abort_code;

   376     uint32_t abort_code;