--- a/master/ioctl.h Fri Nov 26 11:23:19 2010 +0100
+++ b/master/ioctl.h Sat Nov 27 17:02:54 2010 +0100
@@ -56,7 +56,7 @@
*
* Increment this when changing the ioctl interface!
*/
-#define EC_IOCTL_VERSION_MAGIC 8
+#define EC_IOCTL_VERSION_MAGIC 10
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@@ -87,54 +87,55 @@
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x19, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t)
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1b, ec_ioctl_config_sdo_t)
+#define EC_IOCTL_CONFIG_IDN EC_IOWR(0x1c, ec_ioctl_config_idn_t)
#ifdef EC_EOE
-#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1c, ec_ioctl_eoe_handler_t)
+#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1d, ec_ioctl_eoe_handler_t)
#endif
// Application interface
-#define EC_IOCTL_REQUEST EC_IO(0x1d)
-#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1e)
-#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1f, ec_ioctl_config_t)
-#define EC_IOCTL_ACTIVATE EC_IOR(0x20, size_t)
-#define EC_IOCTL_DEACTIVATE EC_IO(0x21)
-#define EC_IOCTL_SEND EC_IO(0x22)
-#define EC_IOCTL_RECEIVE EC_IO(0x23)
-#define EC_IOCTL_MASTER_STATE EC_IOR(0x24, ec_master_state_t)
-#define EC_IOCTL_APP_TIME EC_IOW(0x25, ec_ioctl_app_time_t)
-#define EC_IOCTL_SYNC_REF EC_IO(0x26)
-#define EC_IOCTL_SYNC_SLAVES EC_IO(0x27)
-#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x28)
-#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x29, uint32_t)
-#define EC_IOCTL_SC_SYNC EC_IOW(0x2a, ec_ioctl_config_t)
-#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2b, ec_ioctl_config_t)
-#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2c, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2d, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2e, ec_ioctl_add_pdo_entry_t)
-#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2f, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_DC EC_IOW(0x31, ec_ioctl_config_t)
-#define EC_IOCTL_SC_SDO EC_IOW(0x32, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x33, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SC_VOE EC_IOWR(0x34, ec_ioctl_voe_t)
-#define EC_IOCTL_SC_STATE EC_IOWR(0x35, ec_ioctl_sc_state_t)
-#define EC_IOCTL_SC_IDN EC_IOW(0x36, ec_ioctl_sc_idn_t)
-#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x37)
-#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x38)
-#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x39)
-#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3a, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x40, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x41, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ EC_IOW(0x42, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x43, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE EC_IOWR(0x44, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC EC_IOWR(0x45, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA EC_IOWR(0x46, ec_ioctl_voe_t)
-#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x47, size_t)
+#define EC_IOCTL_REQUEST EC_IO(0x1e)
+#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1f)
+#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x10, ec_ioctl_config_t)
+#define EC_IOCTL_ACTIVATE EC_IOR(0x21, size_t)
+#define EC_IOCTL_DEACTIVATE EC_IO(0x22)
+#define EC_IOCTL_SEND EC_IO(0x23)
+#define EC_IOCTL_RECEIVE EC_IO(0x24)
+#define EC_IOCTL_MASTER_STATE EC_IOR(0x25, ec_master_state_t)
+#define EC_IOCTL_APP_TIME EC_IOW(0x26, ec_ioctl_app_time_t)
+#define EC_IOCTL_SYNC_REF EC_IO(0x27)
+#define EC_IOCTL_SYNC_SLAVES EC_IO(0x28)
+#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x29)
+#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2a, uint32_t)
+#define EC_IOCTL_SC_SYNC EC_IOW(0x2b, ec_ioctl_config_t)
+#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2c, ec_ioctl_config_t)
+#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2d, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2e, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2f, ec_ioctl_add_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x20, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x21, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_DC EC_IOW(0x32, ec_ioctl_config_t)
+#define EC_IOCTL_SC_SDO EC_IOW(0x33, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x34, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SC_VOE EC_IOWR(0x35, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_STATE EC_IOWR(0x36, ec_ioctl_sc_state_t)
+#define EC_IOCTL_SC_IDN EC_IOW(0x37, ec_ioctl_sc_idn_t)
+#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x38)
+#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x39)
+#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x3a)
+#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3b, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x30, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x41, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x42, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ EC_IOW(0x43, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x44, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE EC_IOWR(0x45, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC EC_IOWR(0x46, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA EC_IOWR(0x47, ec_ioctl_voe_t)
+#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x48, size_t)
#define EC_IOCTL_MASTER_SC_STATE EC_IOR(0x47, ec_master_state_t)
#define EC_IOCTL_SC_OVERLAPPING_IO EC_IOW(0x48, ec_ioctl_config_t)
@@ -424,7 +425,7 @@
uint8_t *data;
// outputs
- uint32_t data_size;
+ size_t data_size;
uint16_t error_code;
} ec_ioctl_slave_soe_read_t;
@@ -435,7 +436,7 @@
uint16_t slave_position;
uint8_t drive_no;
uint16_t idn;
- uint32_t data_size;
+ size_t data_size;
uint8_t *data;
// outputs
@@ -463,6 +464,7 @@
uint16_t watchdog_intervals;
uint8_t allow_overlapping_pdos;
uint32_t sdo_count;
+ uint32_t idn_count;
int32_t slave_position;
uint16_t dc_assign_activate;
ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT];
@@ -519,6 +521,26 @@
/*****************************************************************************/
+/** Maximum size for displayed IDN data.
+ * \todo Make this dynamic.
+ */
+#define EC_MAX_IDN_DATA_SIZE 1024
+
+typedef struct {
+ // inputs
+ uint32_t config_index;
+ uint32_t idn_pos;
+
+ // outputs
+ uint8_t drive_no;
+ uint16_t idn;
+ ec_al_state_t state;
+ size_t size;
+ uint8_t data[EC_MAX_IDN_DATA_SIZE];
+} ec_ioctl_config_idn_t;
+
+/*****************************************************************************/
+
#ifdef EC_EOE
typedef struct {