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)

   417 /*****************************************************************************/

   417 /*****************************************************************************/

   418 

   418 

   419 typedef struct {

   419 typedef struct {

   420     // inputs

   420     // inputs

   421     uint16_t slave_position;

   421     uint16_t slave_position;

   422     uint16_t address;

   423     uint16_t address;

   423     size_t size;

   424     size_t size;

   424     uint8_t *data;

   425     uint8_t *data;

   425 } ec_ioctl_slave_reg_t;

   426 } ec_ioctl_slave_reg_t;

   426 

   427