50 #define EC_IO(nr) _IO(EC_IOCTL_TYPE, nr) |
50 #define EC_IO(nr) _IO(EC_IOCTL_TYPE, nr) |
51 #define EC_IOR(nr, type) _IOR(EC_IOCTL_TYPE, nr, type) |
51 #define EC_IOR(nr, type) _IOR(EC_IOCTL_TYPE, nr, type) |
52 #define EC_IOW(nr, type) _IOW(EC_IOCTL_TYPE, nr, type) |
52 #define EC_IOW(nr, type) _IOW(EC_IOCTL_TYPE, nr, type) |
53 #define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type) |
53 #define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type) |
54 |
54 |
|
55 /** EtherCAT master ioctl() version magic. |
|
56 * |
|
57 * Increment this when changing the ioctl interface! |
|
58 */ |
|
59 #define EC_IOCTL_VERSION_MAGIC 1 |
|
60 |
55 // Command-line tool |
61 // Command-line tool |
56 #define EC_IOCTL_MASTER EC_IOR(0x00, ec_ioctl_master_t) |
62 #define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t) |
57 #define EC_IOCTL_SLAVE EC_IOWR(0x01, ec_ioctl_slave_t) |
63 #define EC_IOCTL_MASTER EC_IOR(0x01, ec_ioctl_master_t) |
58 #define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x02, ec_ioctl_slave_sync_t) |
64 #define EC_IOCTL_SLAVE EC_IOWR(0x02, ec_ioctl_slave_t) |
59 #define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t) |
65 #define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x03, ec_ioctl_slave_sync_t) |
60 #define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t) |
66 #define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_t) |
61 #define EC_IOCTL_DOMAIN EC_IOWR(0x05, ec_ioctl_domain_t) |
67 #define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x05, ec_ioctl_slave_sync_pdo_entry_t) |
62 #define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x06, ec_ioctl_domain_fmmu_t) |
68 #define EC_IOCTL_DOMAIN EC_IOWR(0x06, ec_ioctl_domain_t) |
63 #define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x07, ec_ioctl_domain_data_t) |
69 #define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x07, ec_ioctl_domain_fmmu_t) |
64 #define EC_IOCTL_MASTER_DEBUG EC_IO(0x08) |
70 #define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x08, ec_ioctl_domain_data_t) |
65 #define EC_IOCTL_SLAVE_STATE EC_IOW(0x09, ec_ioctl_slave_state_t) |
71 #define EC_IOCTL_MASTER_DEBUG EC_IO(0x09) |
66 #define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0a, ec_ioctl_slave_sdo_t) |
72 #define EC_IOCTL_SLAVE_STATE EC_IOW(0x0a, ec_ioctl_slave_state_t) |
67 #define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t) |
73 #define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0b, ec_ioctl_slave_sdo_t) |
68 #define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t) |
74 #define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0c, ec_ioctl_slave_sdo_entry_t) |
69 #define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t) |
75 #define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_upload_t) |
70 #define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0e, ec_ioctl_slave_sii_t) |
76 #define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_download_t) |
71 #define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x0f, ec_ioctl_slave_sii_t) |
77 #define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0f, ec_ioctl_slave_sii_t) |
72 #define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x10, ec_ioctl_slave_reg_t) |
78 #define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x10, ec_ioctl_slave_sii_t) |
73 #define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x11, ec_ioctl_slave_reg_t) |
79 #define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x11, ec_ioctl_slave_reg_t) |
74 #define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x12, ec_ioctl_slave_foe_t) |
80 #define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x12, ec_ioctl_slave_reg_t) |
75 #define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x13, ec_ioctl_slave_foe_t) |
81 #define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x13, ec_ioctl_slave_foe_t) |
76 #define EC_IOCTL_CONFIG EC_IOWR(0x14, ec_ioctl_config_t) |
82 #define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x14, ec_ioctl_slave_foe_t) |
77 #define EC_IOCTL_CONFIG_PDO EC_IOWR(0x15, ec_ioctl_config_pdo_t) |
83 #define EC_IOCTL_CONFIG EC_IOWR(0x15, ec_ioctl_config_t) |
78 #define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x16, ec_ioctl_config_pdo_entry_t) |
84 #define EC_IOCTL_CONFIG_PDO EC_IOWR(0x16, ec_ioctl_config_pdo_t) |
79 #define EC_IOCTL_CONFIG_SDO EC_IOWR(0x17, ec_ioctl_config_sdo_t) |
85 #define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x17, ec_ioctl_config_pdo_entry_t) |
|
86 #define EC_IOCTL_CONFIG_SDO EC_IOWR(0x18, ec_ioctl_config_sdo_t) |
80 #ifdef EC_EOE |
87 #ifdef EC_EOE |
81 #define EC_IOCTL_EOE_HANDLER EC_IOWR(0x18, ec_ioctl_eoe_handler_t) |
88 #define EC_IOCTL_EOE_HANDLER EC_IOWR(0x19, ec_ioctl_eoe_handler_t) |
82 #endif |
89 #endif |
83 |
90 |
84 // Application interface |
91 // Application interface |
85 #define EC_IOCTL_REQUEST EC_IO(0x19) |
92 #define EC_IOCTL_REQUEST EC_IO(0x1a) |
86 #define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1a) |
93 #define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1b) |
87 #define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1b, ec_ioctl_config_t) |
94 #define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1c, ec_ioctl_config_t) |
88 #define EC_IOCTL_ACTIVATE EC_IOR(0x1c, size_t) |
95 #define EC_IOCTL_ACTIVATE EC_IOR(0x1d, size_t) |
89 #define EC_IOCTL_DEACTIVATE EC_IO(0x1d) |
96 #define EC_IOCTL_DEACTIVATE EC_IO(0x1e) |
90 #define EC_IOCTL_SEND EC_IO(0x1e) |
97 #define EC_IOCTL_SEND EC_IO(0x1f) |
91 #define EC_IOCTL_RECEIVE EC_IO(0x1f) |
98 #define EC_IOCTL_RECEIVE EC_IO(0x20) |
92 #define EC_IOCTL_MASTER_STATE EC_IOR(0x20, ec_master_state_t) |
99 #define EC_IOCTL_MASTER_STATE EC_IOR(0x21, ec_master_state_t) |
93 #define EC_IOCTL_APP_TIME EC_IOW(0x21, ec_ioctl_app_time_t) |
100 #define EC_IOCTL_APP_TIME EC_IOW(0x22, ec_ioctl_app_time_t) |
94 #define EC_IOCTL_SYNC_REF EC_IO(0x22) |
101 #define EC_IOCTL_SYNC_REF EC_IO(0x23) |
95 #define EC_IOCTL_SYNC_SLAVES EC_IO(0x23) |
102 #define EC_IOCTL_SYNC_SLAVES EC_IO(0x24) |
96 #define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x24) |
103 #define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x25) |
97 #define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x25, uint32_t) |
104 #define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x26, uint32_t) |
98 #define EC_IOCTL_SC_SYNC EC_IOW(0x26, ec_ioctl_config_t) |
105 #define EC_IOCTL_SC_SYNC EC_IOW(0x27, ec_ioctl_config_t) |
99 #define EC_IOCTL_SC_WATCHDOG EC_IOW(0x27, ec_ioctl_config_t) |
106 #define EC_IOCTL_SC_WATCHDOG EC_IOW(0x28, ec_ioctl_config_t) |
100 #define EC_IOCTL_SC_ADD_PDO EC_IOW(0x28, ec_ioctl_config_pdo_t) |
107 #define EC_IOCTL_SC_ADD_PDO EC_IOW(0x29, ec_ioctl_config_pdo_t) |
101 #define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x29, ec_ioctl_config_pdo_t) |
108 #define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2a, ec_ioctl_config_pdo_t) |
102 #define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2a, ec_ioctl_add_pdo_entry_t) |
109 #define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2b, ec_ioctl_add_pdo_entry_t) |
103 #define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2b, ec_ioctl_config_pdo_t) |
110 #define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2c, ec_ioctl_config_pdo_t) |
104 #define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2c, ec_ioctl_reg_pdo_entry_t) |
111 #define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2d, ec_ioctl_reg_pdo_entry_t) |
105 #define EC_IOCTL_SC_DC EC_IOW(0x2d, ec_ioctl_config_t) |
112 #define EC_IOCTL_SC_DC EC_IOW(0x2e, ec_ioctl_config_t) |
106 #define EC_IOCTL_SC_SDO EC_IOW(0x2e, ec_ioctl_sc_sdo_t) |
113 #define EC_IOCTL_SC_SDO EC_IOW(0x2f, ec_ioctl_sc_sdo_t) |
107 #define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2f, ec_ioctl_sdo_request_t) |
114 #define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x20, ec_ioctl_sdo_request_t) |
108 #define EC_IOCTL_SC_VOE EC_IOWR(0x20, ec_ioctl_voe_t) |
115 #define EC_IOCTL_SC_VOE EC_IOWR(0x31, ec_ioctl_voe_t) |
109 #define EC_IOCTL_SC_STATE EC_IOWR(0x31, ec_ioctl_sc_state_t) |
116 #define EC_IOCTL_SC_STATE EC_IOWR(0x32, ec_ioctl_sc_state_t) |
110 #define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x32) |
117 #define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x33) |
111 #define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x33) |
118 #define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x34) |
112 #define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x34) |
119 #define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x35) |
113 #define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x35, ec_ioctl_domain_state_t) |
120 #define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x36, ec_ioctl_domain_state_t) |
114 #define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x36, ec_ioctl_sdo_request_t) |
121 #define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x37, ec_ioctl_sdo_request_t) |
115 #define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x37, ec_ioctl_sdo_request_t) |
122 #define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x38, ec_ioctl_sdo_request_t) |
116 #define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x38, ec_ioctl_sdo_request_t) |
123 #define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x39, ec_ioctl_sdo_request_t) |
117 #define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x39, ec_ioctl_sdo_request_t) |
124 #define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3a, ec_ioctl_sdo_request_t) |
118 #define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3a, ec_ioctl_sdo_request_t) |
125 #define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3b, ec_ioctl_sdo_request_t) |
119 #define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3b, ec_ioctl_voe_t) |
126 #define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3c, ec_ioctl_voe_t) |
120 #define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3c, ec_ioctl_voe_t) |
127 #define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3d, ec_ioctl_voe_t) |
121 #define EC_IOCTL_VOE_READ EC_IOW(0x3d, ec_ioctl_voe_t) |
128 #define EC_IOCTL_VOE_READ EC_IOW(0x3e, ec_ioctl_voe_t) |
122 #define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3e, ec_ioctl_voe_t) |
129 #define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3f, ec_ioctl_voe_t) |
123 #define EC_IOCTL_VOE_WRITE EC_IOWR(0x3f, ec_ioctl_voe_t) |
130 #define EC_IOCTL_VOE_WRITE EC_IOWR(0x40, ec_ioctl_voe_t) |
124 #define EC_IOCTL_VOE_EXEC EC_IOWR(0x40, ec_ioctl_voe_t) |
131 #define EC_IOCTL_VOE_EXEC EC_IOWR(0x41, ec_ioctl_voe_t) |
125 #define EC_IOCTL_VOE_DATA EC_IOWR(0x41, ec_ioctl_voe_t) |
132 #define EC_IOCTL_VOE_DATA EC_IOWR(0x42, ec_ioctl_voe_t) |
126 #define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x42, size_t) |
133 #define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x43, size_t) |
127 |
134 |
128 /*****************************************************************************/ |
135 /*****************************************************************************/ |
129 |
136 |
130 #define EC_IOCTL_STRING_SIZE 64 |
137 #define EC_IOCTL_STRING_SIZE 64 |
|
138 |
|
139 /*****************************************************************************/ |
|
140 |
|
141 typedef struct { |
|
142 uint32_t ioctl_version_magic; |
|
143 uint32_t master_count; |
|
144 } ec_ioctl_module_t; |
131 |
145 |
132 /*****************************************************************************/ |
146 /*****************************************************************************/ |
133 |
147 |
134 typedef struct { |
148 typedef struct { |
135 uint32_t slave_count; |
149 uint32_t slave_count; |