Mercurial Mercurial > etherlabmaster / comparison
summary | shortlog | changelog | graph | tags | bookmarks | branches | files | changeset | file | latest | revisions | annotate | diff | comparison | raw | help
master/ioctl.h
branchstable-1.5
changeset 2419 fdb85a806585
parent 2380 cf9db49bcce8
child 2421 bc2d4bf9cbe5
equal deleted inserted replaced
2417:63bef67e812b 2419:fdb85a806585 
    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 12
 
    59 #define EC_IOCTL_VERSION_MAGIC 18
 
    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)
 
    99 #define EC_IOCTL_ACTIVATE              EC_IOR(0x21, size_t)
 
    99 #define EC_IOCTL_ACTIVATE              EC_IOR(0x21, size_t)
 
   100 #define EC_IOCTL_DEACTIVATE             EC_IO(0x22)
 
   100 #define EC_IOCTL_DEACTIVATE             EC_IO(0x22)
 
   101 #define EC_IOCTL_SEND                   EC_IO(0x23)
 
   101 #define EC_IOCTL_SEND                   EC_IO(0x23)
 
   102 #define EC_IOCTL_RECEIVE                EC_IO(0x24)
 
   102 #define EC_IOCTL_RECEIVE                EC_IO(0x24)
 
   103 #define EC_IOCTL_MASTER_STATE          EC_IOR(0x25, ec_master_state_t)
 
   103 #define EC_IOCTL_MASTER_STATE          EC_IOR(0x25, ec_master_state_t)
 
   104 #define EC_IOCTL_APP_TIME              EC_IOW(0x26, ec_ioctl_app_time_t)
 
   104 #define EC_IOCTL_MASTER_LINK_STATE    EC_IOWR(0x26, ec_ioctl_link_state_t)
 
   105 #define EC_IOCTL_SYNC_REF               EC_IO(0x27)
 
   105 #define EC_IOCTL_APP_TIME              EC_IOW(0x27, ec_ioctl_app_time_t)
 
   106 #define EC_IOCTL_SYNC_SLAVES            EC_IO(0x28)
 
   106 #define EC_IOCTL_SYNC_REF               EC_IO(0x28)
 
   107 #define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x29)
 
   107 #define EC_IOCTL_SYNC_SLAVES            EC_IO(0x29)
 
   108 #define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x2a, uint32_t)
 
   108 #define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x2a)
 
   109 #define EC_IOCTL_RESET                  EC_IO(0x2b)
 
   109 #define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x2b, uint32_t)
 
   110 #define EC_IOCTL_SC_SYNC               EC_IOW(0x2c, ec_ioctl_config_t)
 
   110 #define EC_IOCTL_RESET                  EC_IO(0x2c)
 
   111 #define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x2d, ec_ioctl_config_t)
 
   111 #define EC_IOCTL_SC_SYNC               EC_IOW(0x2d, ec_ioctl_config_t)
 
   112 #define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x2e, ec_ioctl_config_pdo_t)
 
   112 #define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x2e, ec_ioctl_config_t)
 
   113 #define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x2f, ec_ioctl_config_pdo_t)
 
   113 #define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x2f, ec_ioctl_config_pdo_t)
 
   114 #define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x30, ec_ioctl_add_pdo_entry_t)
 
   114 #define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x20, ec_ioctl_config_pdo_t)
 
   115 #define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x31, ec_ioctl_config_pdo_t)
 
   115 #define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x31, ec_ioctl_add_pdo_entry_t)
 
   116 #define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x32, ec_ioctl_reg_pdo_entry_t)
 
   116 #define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x32, ec_ioctl_config_pdo_t)
 
   117 #define EC_IOCTL_SC_DC                 EC_IOW(0x33, ec_ioctl_config_t)
 
   117 #define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x33, ec_ioctl_reg_pdo_entry_t)
 
   118 #define EC_IOCTL_SC_SDO                EC_IOW(0x34, ec_ioctl_sc_sdo_t)
 
   118 #define EC_IOCTL_SC_DC                 EC_IOW(0x34, ec_ioctl_config_t)
 
   119 #define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x35, ec_ioctl_sdo_request_t)
 
   119 #define EC_IOCTL_SC_SDO                EC_IOW(0x35, ec_ioctl_sc_sdo_t)
 
   120 #define EC_IOCTL_SC_VOE               EC_IOWR(0x36, ec_ioctl_voe_t)
 
   120 #define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x36, ec_ioctl_sdo_request_t)
 
   121 #define EC_IOCTL_SC_STATE             EC_IOWR(0x37, ec_ioctl_sc_state_t)
 
   121 #define EC_IOCTL_SC_VOE               EC_IOWR(0x37, ec_ioctl_voe_t)
 
   122 #define EC_IOCTL_SC_IDN                EC_IOW(0x38, ec_ioctl_sc_idn_t)
 
   122 #define EC_IOCTL_SC_STATE             EC_IOWR(0x38, ec_ioctl_sc_state_t)
 
   123 #define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x39)
 
   123 #define EC_IOCTL_SC_IDN                EC_IOW(0x39, ec_ioctl_sc_idn_t)
 
   124 #define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x3a)
 
   124 #define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x3a)
 
   125 #define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x3b)
 
   125 #define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x3b)
 
   126 #define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x3c, ec_ioctl_domain_state_t)
 
   126 #define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x3c)
 
   127 #define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
 
   127 #define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x3d, ec_ioctl_domain_state_t)
 
   128 #define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
 
   128 #define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
 
   129 #define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
 
   129 #define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
 
   130 #define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x40, ec_ioctl_sdo_request_t)
 
   130 #define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x30, ec_ioctl_sdo_request_t)
 
   131 #define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x41, ec_ioctl_sdo_request_t)
 
   131 #define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x41, ec_ioctl_sdo_request_t)
 
   132 #define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x42, ec_ioctl_voe_t)
 
   132 #define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x42, ec_ioctl_sdo_request_t)
 
   133 #define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x43, ec_ioctl_voe_t)
 
   133 #define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x43, ec_ioctl_voe_t)
 
   134 #define EC_IOCTL_VOE_READ              EC_IOW(0x44, ec_ioctl_voe_t)
 
   134 #define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x44, ec_ioctl_voe_t)
 
   135 #define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x45, ec_ioctl_voe_t)
 
   135 #define EC_IOCTL_VOE_READ              EC_IOW(0x45, ec_ioctl_voe_t)
 
   136 #define EC_IOCTL_VOE_WRITE            EC_IOWR(0x46, ec_ioctl_voe_t)
 
   136 #define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x46, ec_ioctl_voe_t)
 
   137 #define EC_IOCTL_VOE_EXEC             EC_IOWR(0x47, ec_ioctl_voe_t)
 
   137 #define EC_IOCTL_VOE_WRITE            EC_IOWR(0x47, ec_ioctl_voe_t)
 
   138 #define EC_IOCTL_VOE_DATA             EC_IOWR(0x48, ec_ioctl_voe_t)
 
   138 #define EC_IOCTL_VOE_EXEC             EC_IOWR(0x48, ec_ioctl_voe_t)
 
   139 #define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x49, size_t)
 
   139 #define EC_IOCTL_VOE_DATA             EC_IOWR(0x49, ec_ioctl_voe_t)
 
       
   140 #define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x4a, size_t)
 
   140 
   141 
   141 /*****************************************************************************/
 
   142 /*****************************************************************************/
 
   142 
   143 
   143 #define EC_IOCTL_STRING_SIZE 64
 
   144 #define EC_IOCTL_STRING_SIZE 64
 
   144 
   145 
   166         uint8_t attached;
 
   167         uint8_t attached;
 
   167         uint8_t link_state;
 
   168         uint8_t link_state;
 
   168         uint64_t tx_count;
 
   169         uint64_t tx_count;
 
   169         uint64_t rx_count;
 
   170         uint64_t rx_count;
 
   170         uint64_t tx_bytes;
 
   171         uint64_t tx_bytes;
 
       
   172         uint64_t rx_bytes;
 
   171         uint64_t tx_errors;
 
   173         uint64_t tx_errors;
 
   172         uint32_t tx_frame_rates[EC_RATE_COUNT];
 
   174         int32_t tx_frame_rates[EC_RATE_COUNT];
 
   173         uint32_t tx_byte_rates[EC_RATE_COUNT];
 
   175         int32_t rx_frame_rates[EC_RATE_COUNT];
 
   174         int32_t loss_rates[EC_RATE_COUNT];
 
   176         int32_t tx_byte_rates[EC_RATE_COUNT];
 
   175     } devices[2];
 
   177         int32_t rx_byte_rates[EC_RATE_COUNT];
 
       
   178     } devices[EC_NUM_DEVICES];
 
       
   179     uint64_t tx_count;
 
       
   180     uint64_t rx_count;
 
       
   181     uint64_t tx_bytes;
 
       
   182     uint64_t rx_bytes;
 
       
   183     int32_t tx_frame_rates[EC_RATE_COUNT];
 
       
   184     int32_t rx_frame_rates[EC_RATE_COUNT];
 
       
   185     int32_t tx_byte_rates[EC_RATE_COUNT];
 
       
   186     int32_t rx_byte_rates[EC_RATE_COUNT];
 
       
   187     int32_t loss_rates[EC_RATE_COUNT];
 
   176     uint64_t app_time;
 
   188     uint64_t app_time;
 
   177     uint16_t ref_clock;
 
   189     uint16_t ref_clock;
 
   178 } ec_ioctl_master_t;
 
   190 } ec_ioctl_master_t;
 
   179 
   191 
   180 /*****************************************************************************/
 
   192 /*****************************************************************************/
 
   182 typedef struct {
 
   194 typedef struct {
 
   183     // input
 
   195     // input
 
   184     uint16_t position;
 
   196     uint16_t position;
 
   185 
   197 
   186     // outputs
 
   198     // outputs
 
       
   199     unsigned int device_index;
 
   187     uint32_t vendor_id;
 
   200     uint32_t vendor_id;
 
   188     uint32_t product_code;
 
   201     uint32_t product_code;
 
   189     uint32_t revision_number;
 
   202     uint32_t revision_number;
 
   190     uint32_t serial_number;
 
   203     uint32_t serial_number;
 
   191     uint16_t alias;
 
   204     uint16_t alias;
 
   277     uint32_t index;
 
   290     uint32_t index;
 
   278 
   291 
   279     // outputs
 
   292     // outputs
 
   280     uint32_t data_size;
 
   293     uint32_t data_size;
 
   281     uint32_t logical_base_address;
 
   294     uint32_t logical_base_address;
 
   282     uint16_t working_counter;
 
   295     uint16_t working_counter[EC_NUM_DEVICES];
 
   283     uint16_t expected_working_counter;
 
   296     uint16_t expected_working_counter;
 
   284     uint32_t fmmu_count;
 
   297     uint32_t fmmu_count;
 
   285 } ec_ioctl_domain_t;
 
   298 } ec_ioctl_domain_t;
 
   286 
   299 
   287 /*****************************************************************************/
 
   300 /*****************************************************************************/
 
   659 
   672 
   660 /*****************************************************************************/
 
   673 /*****************************************************************************/
 
   661 
   674 
   662 typedef struct {
 
   675 typedef struct {
 
   663     // inputs
 
   676     // inputs
 
       
   677     uint32_t dev_idx;
 
       
   678 
       
   679     // outputs
 
       
   680     ec_master_link_state_t *state;
 
       
   681 } ec_ioctl_link_state_t;
 
       
   682 
       
   683 /*****************************************************************************/
 
       
   684 
       
   685 typedef struct {
 
       
   686     // inputs
 
   664     uint64_t app_time;
 
   687     uint64_t app_time;
 
   665 } ec_ioctl_app_time_t;
 
   688 } ec_ioctl_app_time_t;
 
   666 
   689 
   667 /*****************************************************************************/
 
   690 /*****************************************************************************/
 
   668 
   691
etherlabmaster