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)

   193 typedef struct {

   193 typedef struct {

   194     // input

   194     // input

   195     uint16_t position;

   195     uint16_t position;

   196 

   196 

   197     // outputs

   197     // outputs

   198     uint32_t vendor_id;

   199     uint32_t vendor_id;

   199     uint32_t product_code;

   200     uint32_t product_code;

   200     uint32_t revision_number;

   201     uint32_t revision_number;

   201     uint32_t serial_number;

   202     uint32_t serial_number;

   202     uint16_t alias;

   203     uint16_t alias;