--- a/master/ioctl.h Tue Feb 23 17:40:46 2010 +0100
+++ b/master/ioctl.h Wed Feb 24 16:27:11 2010 +0100
@@ -52,78 +52,85 @@
#define EC_IOW(nr, type) _IOW(EC_IOCTL_TYPE, nr, type)
#define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type)
+/** EtherCAT master ioctl() version magic.
+ *
+ * Increment this when changing the ioctl interface!
+ */
+#define EC_IOCTL_VERSION_MAGIC 1
+
// Command-line tool
-#define EC_IOCTL_MASTER EC_IOR(0x00, ec_ioctl_master_t)
-#define EC_IOCTL_SLAVE EC_IOWR(0x01, ec_ioctl_slave_t)
-#define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x02, ec_ioctl_slave_sync_t)
-#define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t)
-#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t)
-#define EC_IOCTL_DOMAIN EC_IOWR(0x05, ec_ioctl_domain_t)
-#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x06, ec_ioctl_domain_fmmu_t)
-#define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x07, ec_ioctl_domain_data_t)
-#define EC_IOCTL_MASTER_DEBUG EC_IO(0x08)
-#define EC_IOCTL_SLAVE_STATE EC_IOW(0x09, ec_ioctl_slave_state_t)
-#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0a, ec_ioctl_slave_sdo_t)
-#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t)
-#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t)
-#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t)
-#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0e, ec_ioctl_slave_sii_t)
-#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x0f, ec_ioctl_slave_sii_t)
-#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x10, ec_ioctl_slave_reg_t)
-#define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x11, ec_ioctl_slave_reg_t)
-#define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x12, ec_ioctl_slave_foe_t)
-#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x13, ec_ioctl_slave_foe_t)
-#define EC_IOCTL_CONFIG EC_IOWR(0x14, ec_ioctl_config_t)
-#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x15, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x16, ec_ioctl_config_pdo_entry_t)
-#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x17, ec_ioctl_config_sdo_t)
+#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
+#define EC_IOCTL_MASTER EC_IOR(0x01, ec_ioctl_master_t)
+#define EC_IOCTL_SLAVE EC_IOWR(0x02, ec_ioctl_slave_t)
+#define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x03, ec_ioctl_slave_sync_t)
+#define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_t)
+#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x05, ec_ioctl_slave_sync_pdo_entry_t)
+#define EC_IOCTL_DOMAIN EC_IOWR(0x06, ec_ioctl_domain_t)
+#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)
+#define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x08, ec_ioctl_domain_data_t)
+#define EC_IOCTL_MASTER_DEBUG EC_IO(0x09)
+#define EC_IOCTL_SLAVE_STATE EC_IOW(0x0a, ec_ioctl_slave_state_t)
+#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0b, ec_ioctl_slave_sdo_t)
+#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0c, ec_ioctl_slave_sdo_entry_t)
+#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_upload_t)
+#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_download_t)
+#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0f, ec_ioctl_slave_sii_t)
+#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x10, ec_ioctl_slave_sii_t)
+#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x11, ec_ioctl_slave_reg_t)
+#define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x12, ec_ioctl_slave_reg_t)
+#define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x13, ec_ioctl_slave_foe_t)
+#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x14, ec_ioctl_slave_foe_t)
+#define EC_IOCTL_CONFIG EC_IOWR(0x15, ec_ioctl_config_t)
+#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x16, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x17, ec_ioctl_config_pdo_entry_t)
+#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x18, ec_ioctl_config_sdo_t)
#ifdef EC_EOE
-#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x18, ec_ioctl_eoe_handler_t)
+#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x19, ec_ioctl_eoe_handler_t)
#endif
// Application interface
-#define EC_IOCTL_REQUEST EC_IO(0x19)
-#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1a)
-#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1b, ec_ioctl_config_t)
-#define EC_IOCTL_ACTIVATE EC_IOR(0x1c, size_t)
-#define EC_IOCTL_DEACTIVATE EC_IO(0x1d)
-#define EC_IOCTL_SEND EC_IO(0x1e)
-#define EC_IOCTL_RECEIVE EC_IO(0x1f)
-#define EC_IOCTL_MASTER_STATE EC_IOR(0x20, ec_master_state_t)
-#define EC_IOCTL_APP_TIME EC_IOW(0x21, ec_ioctl_app_time_t)
-#define EC_IOCTL_SYNC_REF EC_IO(0x22)
-#define EC_IOCTL_SYNC_SLAVES EC_IO(0x23)
-#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x24)
-#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x25, uint32_t)
-#define EC_IOCTL_SC_SYNC EC_IOW(0x26, ec_ioctl_config_t)
-#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x27, ec_ioctl_config_t)
-#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x28, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x29, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2a, ec_ioctl_add_pdo_entry_t)
-#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2b, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2c, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_DC EC_IOW(0x2d, ec_ioctl_config_t)
-#define EC_IOCTL_SC_SDO EC_IOW(0x2e, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2f, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SC_VOE EC_IOWR(0x20, ec_ioctl_voe_t)
-#define EC_IOCTL_SC_STATE EC_IOWR(0x31, ec_ioctl_sc_state_t)
-#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x32)
-#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x33)
-#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x34)
-#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x35, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x36, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x37, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x38, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x39, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3b, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3c, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ EC_IOW(0x3d, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3e, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3f, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC EC_IOWR(0x40, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA EC_IOWR(0x41, ec_ioctl_voe_t)
-#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x42, size_t)
+#define EC_IOCTL_REQUEST EC_IO(0x1a)
+#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1b)
+#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1c, ec_ioctl_config_t)
+#define EC_IOCTL_ACTIVATE EC_IOR(0x1d, size_t)
+#define EC_IOCTL_DEACTIVATE EC_IO(0x1e)
+#define EC_IOCTL_SEND EC_IO(0x1f)
+#define EC_IOCTL_RECEIVE EC_IO(0x20)
+#define EC_IOCTL_MASTER_STATE EC_IOR(0x21, ec_master_state_t)
+#define EC_IOCTL_APP_TIME EC_IOW(0x22, ec_ioctl_app_time_t)
+#define EC_IOCTL_SYNC_REF EC_IO(0x23)
+#define EC_IOCTL_SYNC_SLAVES EC_IO(0x24)
+#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x25)
+#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x26, uint32_t)
+#define EC_IOCTL_SC_SYNC EC_IOW(0x27, ec_ioctl_config_t)
+#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x28, ec_ioctl_config_t)
+#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x29, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2a, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2b, ec_ioctl_add_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2c, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2d, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_DC EC_IOW(0x2e, ec_ioctl_config_t)
+#define EC_IOCTL_SC_SDO EC_IOW(0x2f, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x20, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SC_VOE EC_IOWR(0x31, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_STATE EC_IOWR(0x32, ec_ioctl_sc_state_t)
+#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x33)
+#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x34)
+#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x35)
+#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x36, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x37, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x38, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x39, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3c, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3d, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ EC_IOW(0x3e, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3f, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE EC_IOWR(0x40, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC EC_IOWR(0x41, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA EC_IOWR(0x42, ec_ioctl_voe_t)
+#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x43, size_t)
/*****************************************************************************/
@@ -132,6 +139,13 @@
/*****************************************************************************/
typedef struct {
+ uint32_t ioctl_version_magic;
+ uint32_t master_count;
+} ec_ioctl_module_t;
+
+/*****************************************************************************/
+
+typedef struct {
uint32_t slave_count;
uint32_t config_count;
uint32_t domain_count;