/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT master character device IOCTL commands.
*/
/*****************************************************************************/
#ifndef __EC_IOCTL_H__
#define __EC_IOCTL_H__
#include <linux/ioctl.h>
/*****************************************************************************/
#define EC_IOCTL_TYPE 0xa4
#define EC_IO(nr) _IO(EC_IOCTL_TYPE,nr)
#define EC_IOR(nr,type) _IOR(EC_IOCTL_TYPE,nr,type)
#define EC_IOW(nr,type) _IOW(EC_IOCTL_TYPE,nr,type)
#define EC_IOWR(nr,type) _IOWR(EC_IOCTL_TYPE,nr,type)
#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_SYNC EC_IOWR(0x02, ec_ioctl_sync_t)
#define EC_IOCTL_PDO EC_IOWR(0x03, ec_ioctl_pdo_t)
#define EC_IOCTL_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_pdo_entry_t)
#define EC_IOCTL_DOMAIN_COUNT EC_IO(0x05)
#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_DATA EC_IOWR(0x08, ec_ioctl_data_t)
#define EC_IOCTL_SET_DEBUG EC_IO(0x09)
#define EC_IOCTL_SLAVE_STATE EC_IOW(0x0a, ec_ioctl_slave_state_t)
#define EC_IOCTL_SDO EC_IOWR(0x0b, ec_ioctl_sdo_t)
#define EC_IOCTL_SDO_ENTRY EC_IOWR(0x0c, ec_ioctl_sdo_entry_t)
#define EC_IOCTL_SDO_UPLOAD EC_IOWR(0x0d, ec_ioctl_sdo_upload_t)
#define EC_IOCTL_SDO_DOWNLOAD EC_IOW(0x0e, ec_ioctl_sdo_download_t)
#define EC_IOCTL_SII_READ EC_IOWR(0x0f, ec_ioctl_sii_t)
#define EC_IOCTL_SII_WRITE EC_IOW(0x10, ec_ioctl_sii_t)
/*****************************************************************************/
typedef struct {
uint32_t slave_count;
uint8_t mode;
struct {
uint8_t address[6];
uint8_t attached;
uint32_t tx_count;
uint32_t rx_count;
} devices[2];
} ec_ioctl_master_t;
/*****************************************************************************/
#define EC_IOCTL_SLAVE_NAME_SIZE 100
typedef struct {
// input
uint16_t position;
// outputs
uint32_t vendor_id;
uint32_t product_code;
uint32_t revision_number;
uint32_t serial_number;
uint16_t alias;
uint8_t state;
uint8_t sync_count;
uint16_t sdo_count;
uint32_t sii_nwords;
char name[EC_IOCTL_SLAVE_NAME_SIZE];
} ec_ioctl_slave_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint32_t sync_index;
// outputs
uint16_t physical_start_address;
uint16_t default_size;
uint8_t control_register;
uint8_t enable;
uint8_t assign_source;
uint8_t pdo_count;
} ec_ioctl_sync_t;
/*****************************************************************************/
#define EC_IOCTL_PDO_NAME_SIZE 114
typedef struct {
// inputs
uint16_t slave_position;
uint32_t sync_index;
uint32_t pdo_pos;
// outputs
uint8_t dir;
uint16_t index;
uint8_t entry_count;
char name[EC_IOCTL_PDO_NAME_SIZE];
} ec_ioctl_pdo_t;
/*****************************************************************************/
#define EC_IOCTL_PDO_ENTRY_NAME_SIZE 110
typedef struct {
// inputs
uint16_t slave_position;
uint32_t sync_index;
uint32_t pdo_pos;
uint32_t entry_pos;
// outputs
uint16_t index;
uint8_t subindex;
uint8_t bit_length;
char name[EC_IOCTL_PDO_NAME_SIZE];
} ec_ioctl_pdo_entry_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t index;
// outputs
uint32_t data_size;
uint32_t logical_base_address;
uint16_t working_counter;
uint16_t expected_working_counter;
uint32_t fmmu_count;
} ec_ioctl_domain_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t domain_index;
uint32_t fmmu_index;
// outputs
uint16_t slave_config_alias;
uint16_t slave_config_position;
uint8_t fmmu_dir;
uint32_t logical_address;
uint32_t data_size;
} ec_ioctl_domain_fmmu_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t domain_index;
uint32_t data_size;
unsigned char *target;
} ec_ioctl_data_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint8_t requested_state;
} ec_ioctl_slave_state_t;
/*****************************************************************************/
#define EC_IOCTL_SDO_NAME_SIZE 121
typedef struct {
// inputs
uint16_t slave_position;
uint16_t sdo_position;
// outputs
uint16_t sdo_index;
uint8_t max_subindex;
char name[EC_IOCTL_SDO_NAME_SIZE];
} ec_ioctl_sdo_t;
/*****************************************************************************/
#define EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE 120
typedef struct {
// inputs
uint16_t slave_position;
int sdo_spec; // positive: index, negative: list position
uint8_t sdo_entry_subindex;
// outputs
uint16_t data_type;
uint16_t bit_length;
char description[EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE];
} ec_ioctl_sdo_entry_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t sdo_index;
uint8_t sdo_entry_subindex;
uint32_t target_size;
uint8_t *target;
// outputs
uint32_t data_size;
} ec_ioctl_sdo_upload_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t sdo_index;
uint8_t sdo_entry_subindex;
uint32_t data_size;
uint8_t *data;
} ec_ioctl_sdo_download_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t offset;
uint32_t nwords;
uint16_t *words;
} ec_ioctl_sii_t;
/*****************************************************************************/
#endif