Eoe mac address now derived from unique mac.
The EoE MAC address is now derived from the NIC part of the first global
unique MAC address of the linked list of available network interfaces or
otherwise the MAC address used by the EtherCAT master. The EoE MAC address
will get the format 02:NIC:NIC:NIC:RP:RP where NIC comes from the unique MAC
address (if available) and RP is the ring position of the EoE slave.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2012 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 version 2, as
* published by the Free Software Foundation.
*
* 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 license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\file
EtherCAT master character device IOCTL commands.
*/
/*****************************************************************************/
#ifndef __EC_IOCTL_H__
#define __EC_IOCTL_H__
#include <linux/ioctl.h>
#include "globals.h"
/*****************************************************************************/
/** \cond */
#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)
/** EtherCAT master ioctl() version magic.
*
* Increment this when changing the ioctl interface!
*/
#define EC_IOCTL_VERSION_MAGIC 30
// Command-line tool
#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_MASTER_RESCAN EC_IO(0x0a)
#define EC_IOCTL_SLAVE_STATE EC_IOW(0x0b, ec_ioctl_slave_state_t)
#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0c, ec_ioctl_slave_sdo_t)
#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t)
#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t)
#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t)
#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x10, ec_ioctl_slave_sii_t)
#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x11, ec_ioctl_slave_sii_t)
#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x12, ec_ioctl_slave_reg_t)
#define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x13, ec_ioctl_slave_reg_t)
#define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x14, ec_ioctl_slave_foe_t)
#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x15, ec_ioctl_slave_foe_t)
#define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)
#define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)
#define EC_IOCTL_SLAVE_EOE_IP_PARAM EC_IOW(0x18, ec_ioctl_slave_eoe_ip_t)
#define EC_IOCTL_CONFIG EC_IOWR(0x19, ec_ioctl_config_t)
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x1a, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x1b, ec_ioctl_config_pdo_entry_t)
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1c, ec_ioctl_config_sdo_t)
#define EC_IOCTL_CONFIG_IDN EC_IOWR(0x1d, ec_ioctl_config_idn_t)
#ifdef EC_EOE
#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1e, ec_ioctl_eoe_handler_t)
#endif
// Application interface
#define EC_IOCTL_REQUEST EC_IO(0x1f)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x20)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x21, ec_ioctl_config_t)
#define EC_IOCTL_SELECT_REF_CLOCK EC_IOW(0x22, uint32_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x23, ec_ioctl_master_activate_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x24)
#define EC_IOCTL_SEND EC_IO(0x25)
#define EC_IOCTL_RECEIVE EC_IO(0x26)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x27, ec_master_state_t)
#define EC_IOCTL_MASTER_LINK_STATE EC_IOWR(0x28, ec_ioctl_link_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x29, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x2a)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x2b)
#define EC_IOCTL_REF_CLOCK_TIME EC_IOR(0x2c, uint32_t)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x2d)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2e, uint32_t)
#define EC_IOCTL_RESET EC_IO(0x2f)
#define EC_IOCTL_SC_SYNC EC_IOW(0x30, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x31, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x32, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x33, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x34, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x35, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x36, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_REG_PDO_POS EC_IOWR(0x37, ec_ioctl_reg_pdo_pos_t)
#define EC_IOCTL_SC_DC EC_IOW(0x38, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x39, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_EMERG_SIZE EC_IOW(0x3a, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_EMERG_POP EC_IOWR(0x3b, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_EMERG_CLEAR EC_IOW(0x3c, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_EMERG_OVERRUNS EC_IOWR(0x3d, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_REG_REQUEST EC_IOWR(0x3f, ec_ioctl_reg_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x40, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x41, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x42, ec_ioctl_sc_idn_t)
#define EC_IOCTL_DOMAIN_SIZE EC_IO(0x43)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x44)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x45)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x46)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x47, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x48, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x49, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x4a, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x4b, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x4c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x4d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x4e, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x4f, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x50, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x51, ec_ioctl_reg_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x52, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x53, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x54, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x55, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x56, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x57, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x58, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x59, size_t)
#define EC_IOCTL_SC_OVERLAPPING_IO EC_IOW(0x5a, ec_ioctl_config_t)
/*****************************************************************************/
#define EC_IOCTL_STRING_SIZE 64
/*****************************************************************************/
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;
#ifdef EC_EOE
uint32_t eoe_handler_count;
#endif
uint8_t phase;
uint8_t active;
uint8_t scan_busy;
struct ec_ioctl_device {
uint8_t address[6];
uint8_t attached;
uint8_t link_state;
uint64_t tx_count;
uint64_t rx_count;
uint64_t tx_bytes;
uint64_t rx_bytes;
uint64_t tx_errors;
int32_t tx_frame_rates[EC_RATE_COUNT];
int32_t rx_frame_rates[EC_RATE_COUNT];
int32_t tx_byte_rates[EC_RATE_COUNT];
int32_t rx_byte_rates[EC_RATE_COUNT];
} devices[EC_MAX_NUM_DEVICES];
uint32_t num_devices;
uint64_t tx_count;
uint64_t rx_count;
uint64_t tx_bytes;
uint64_t rx_bytes;
int32_t tx_frame_rates[EC_RATE_COUNT];
int32_t rx_frame_rates[EC_RATE_COUNT];
int32_t tx_byte_rates[EC_RATE_COUNT];
int32_t rx_byte_rates[EC_RATE_COUNT];
int32_t loss_rates[EC_RATE_COUNT];
uint64_t app_time;
uint16_t ref_clock;
} ec_ioctl_master_t;
/*****************************************************************************/
typedef struct {
// input
uint16_t position;
// outputs
unsigned int device_index;
uint32_t vendor_id;
uint32_t product_code;
uint32_t revision_number;
uint32_t serial_number;
uint16_t alias;
uint16_t boot_rx_mailbox_offset;
uint16_t boot_rx_mailbox_size;
uint16_t boot_tx_mailbox_offset;
uint16_t boot_tx_mailbox_size;
uint16_t std_rx_mailbox_offset;
uint16_t std_rx_mailbox_size;
uint16_t std_tx_mailbox_offset;
uint16_t std_tx_mailbox_size;
uint16_t mailbox_protocols;
uint8_t has_general_category;
ec_sii_coe_details_t coe_details;
ec_sii_general_flags_t general_flags;
int16_t current_on_ebus;
struct {
ec_slave_port_desc_t desc;
ec_slave_port_link_t link;
uint32_t receive_time;
uint16_t next_slave;
uint32_t delay_to_next_dc;
} ports[EC_MAX_PORTS];
uint8_t fmmu_bit;
uint8_t dc_supported;
ec_slave_dc_range_t dc_range;
uint8_t has_dc_system_time;
uint32_t transmission_delay;
uint8_t al_state;
uint8_t error_flag;
uint8_t sync_count;
uint16_t sdo_count;
uint32_t sii_nwords;
char group[EC_IOCTL_STRING_SIZE];
char image[EC_IOCTL_STRING_SIZE];
char order[EC_IOCTL_STRING_SIZE];
char name[EC_IOCTL_STRING_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 pdo_count;
} ec_ioctl_slave_sync_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint32_t sync_index;
uint32_t pdo_pos;
// outputs
uint16_t index;
uint8_t entry_count;
int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_slave_sync_pdo_t;
/*****************************************************************************/
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;
int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_slave_sync_pdo_entry_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t index;
// outputs
uint32_t data_size;
uint32_t logical_base_address;
uint16_t working_counter[EC_MAX_NUM_DEVICES];
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 sync_index;
ec_direction_t 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;
uint8_t *target;
} ec_ioctl_domain_data_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint8_t al_state;
} ec_ioctl_slave_state_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t sdo_position;
// outputs
uint16_t sdo_index;
uint8_t max_subindex;
int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_slave_sdo_t;
/*****************************************************************************/
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;
uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];
uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];
int8_t description[EC_IOCTL_STRING_SIZE];
} ec_ioctl_slave_sdo_entry_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t sdo_index;
uint8_t sdo_entry_subindex;
size_t target_size;
uint8_t *target;
// outputs
size_t data_size;
uint32_t abort_code;
} ec_ioctl_slave_sdo_upload_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t sdo_index;
uint8_t sdo_entry_subindex;
uint8_t complete_access;
size_t data_size;
const uint8_t *data;
// outputs
uint32_t abort_code;
} ec_ioctl_slave_sdo_download_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t offset;
uint32_t nwords;
uint16_t *words;
} ec_ioctl_slave_sii_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint8_t emergency;
uint16_t address;
size_t size;
uint8_t *data;
} ec_ioctl_slave_reg_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t offset;
size_t buffer_size;
uint8_t *buffer;
// outputs
size_t data_size;
uint32_t result;
uint32_t error_code;
char file_name[32];
} ec_ioctl_slave_foe_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint8_t drive_no;
uint16_t idn;
size_t mem_size;
uint8_t *data;
// outputs
size_t data_size;
uint16_t error_code;
} ec_ioctl_slave_soe_read_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint8_t drive_no;
uint16_t idn;
size_t data_size;
uint8_t *data;
// outputs
uint16_t error_code;
} ec_ioctl_slave_soe_write_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
// outputs
uint16_t alias;
uint16_t position;
uint32_t vendor_id;
uint32_t product_code;
struct {
ec_direction_t dir;
ec_watchdog_mode_t watchdog_mode;
uint32_t pdo_count;
uint8_t config_this;
} syncs[EC_MAX_SYNC_MANAGERS];
uint16_t watchdog_divider;
uint16_t watchdog_intervals;
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];
uint8_t allow_overlapping_pdos;
} ec_ioctl_config_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint8_t sync_index;
uint16_t pdo_pos;
// outputs
uint16_t index;
uint8_t entry_count;
int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_config_pdo_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint8_t sync_index;
uint16_t pdo_pos;
uint8_t entry_pos;
// outputs
uint16_t index;
uint8_t subindex;
uint8_t bit_length;
int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_config_pdo_entry_t;
/*****************************************************************************/
/** Maximum size for displayed SDO data.
* \todo Make this dynamic.
*/
#define EC_MAX_SDO_DATA_SIZE 1024
typedef struct {
// inputs
uint32_t config_index;
uint32_t sdo_pos;
// outputs
uint16_t index;
uint8_t subindex;
size_t size;
uint8_t data[EC_MAX_SDO_DATA_SIZE];
uint8_t complete_access;
} ec_ioctl_config_sdo_t;
/*****************************************************************************/
/** 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 {
// input
uint16_t eoe_index;
// outputs
char name[EC_DATAGRAM_NAME_SIZE];
uint16_t slave_position;
uint8_t open;
uint32_t rx_bytes;
uint32_t rx_rate;
uint32_t tx_bytes;
uint32_t tx_rate;
uint32_t tx_queued_frames;
uint32_t tx_queue_size;
} ec_ioctl_eoe_handler_t;
#endif
/*****************************************************************************/
#define EC_ETH_ALEN 6
#ifdef ETH_ALEN
#if ETH_ALEN != EC_ETH_ALEN
#error Ethernet address length mismatch
#endif
#endif
typedef struct {
// input
uint16_t slave_position;
uint8_t mac_address_included;
uint8_t ip_address_included;
uint8_t subnet_mask_included;
uint8_t gateway_included;
uint8_t dns_included;
uint8_t name_included;
unsigned char mac_address[EC_ETH_ALEN];
uint32_t ip_address;
uint32_t subnet_mask;
uint32_t gateway;
uint32_t dns;
char name[EC_MAX_HOSTNAME_SIZE];
// output
uint16_t result;
} ec_ioctl_slave_eoe_ip_t;
/*****************************************************************************/
typedef struct {
// outputs
void *process_data;
size_t process_data_size;
} ec_ioctl_master_activate_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint16_t pdo_index;
uint16_t entry_index;
uint8_t entry_subindex;
uint8_t entry_bit_length;
} ec_ioctl_add_pdo_entry_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint16_t entry_index;
uint8_t entry_subindex;
uint32_t domain_index;
// outputs
unsigned int bit_position;
} ec_ioctl_reg_pdo_entry_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint32_t sync_index;
uint32_t pdo_pos;
uint32_t entry_pos;
uint32_t domain_index;
// outputs
unsigned int bit_position;
} ec_ioctl_reg_pdo_pos_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint16_t index;
uint8_t subindex;
const uint8_t *data;
size_t size;
uint8_t complete_access;
} ec_ioctl_sc_sdo_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
size_t size;
uint8_t *target;
// outputs
int32_t overruns;
} ec_ioctl_sc_emerg_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
// outputs
ec_slave_config_state_t *state;
} ec_ioctl_sc_state_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint8_t drive_no;
uint16_t idn;
ec_al_state_t al_state;
const uint8_t *data;
size_t size;
} ec_ioctl_sc_idn_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t domain_index;
// outputs
ec_domain_state_t *state;
} ec_ioctl_domain_state_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
// inputs/outputs
uint32_t request_index;
uint16_t sdo_index;
uint8_t sdo_subindex;
size_t size;
uint8_t *data;
uint32_t timeout;
ec_request_state_t state;
} ec_ioctl_sdo_request_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
size_t mem_size;
// inputs/outputs
uint32_t request_index;
uint8_t *data;
ec_request_state_t state;
uint8_t new_data;
uint16_t address;
size_t transfer_size;
} ec_ioctl_reg_request_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
// inputs/outputs
uint32_t voe_index;
uint32_t *vendor_id;
uint16_t *vendor_type;
size_t size;
uint8_t *data;
ec_request_state_t state;
} ec_ioctl_voe_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t dev_idx;
// outputs
ec_master_link_state_t *state;
} ec_ioctl_link_state_t;
/*****************************************************************************/
typedef struct {
// inputs
uint64_t app_time;
} ec_ioctl_app_time_t;
/*****************************************************************************/
#ifdef __KERNEL__
/** Context data structure for file handles.
*/
typedef struct {
unsigned int writable; /**< Device was opened with write permission. */
unsigned int requested; /**< Master was requested via this file handle. */
uint8_t *process_data; /**< Total process data area. */
size_t process_data_size; /**< Size of the \a process_data. */
} ec_ioctl_context_t;
long ec_ioctl(ec_master_t *, ec_ioctl_context_t *, unsigned int,
void __user *);
#ifdef EC_RTDM
long ec_ioctl_rtdm(ec_master_t *, ec_ioctl_context_t *, unsigned int,
void __user *);
int ec_rtdm_mmap(ec_ioctl_context_t *, void **);
#endif
#endif
/*****************************************************************************/
/** \endcond */
#endif