fp@922: /******************************************************************************
fp@922:  *
fp@922:  *  $Id$
fp@922:  *
fp@922:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@922:  *
fp@922:  *  This file is part of the IgH EtherCAT Master.
fp@922:  *
fp@922:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@922:  *  and/or modify it under the terms of the GNU General Public License
fp@922:  *  as published by the Free Software Foundation; either version 2 of the
fp@922:  *  License, or (at your option) any later version.
fp@922:  *
fp@922:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@922:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@922:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@922:  *  GNU General Public License for more details.
fp@922:  *
fp@922:  *  You should have received a copy of the GNU General Public License
fp@922:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@922:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@922:  *
fp@922:  *  The right to use EtherCAT Technology is granted and comes free of
fp@922:  *  charge under condition of compatibility of product made by
fp@922:  *  Licensee. People intending to distribute/sell products based on the
fp@922:  *  code, have to sign an agreement to guarantee that products using
fp@922:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@922:  *  EtherCAT specification (which are released themselves as an open
fp@922:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@922:  *  Technology, IP and trade marks.
fp@922:  *
fp@922:  *****************************************************************************/
fp@922: 
fp@922: /**
fp@922:    \file
fp@922:    EtherCAT master character device IOCTL commands.
fp@922: */
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@922: #ifndef __EC_IOCTL_H__
fp@922: #define __EC_IOCTL_H__
fp@922: 
fp@971: #include <linux/ioctl.h>
fp@971: 
fp@989: #include "globals.h"
fp@989: 
fp@971: /*****************************************************************************/
fp@971: 
fp@1082: /** \cond */
fp@1082: 
fp@1079: #define EC_IOCTL_TYPE 0xa4
fp@1079: 
fp@1079: #define EC_IO(nr)           _IO(EC_IOCTL_TYPE, nr)
fp@1079: #define EC_IOR(nr, type)   _IOR(EC_IOCTL_TYPE, nr, type)
fp@1079: #define EC_IOW(nr, type)   _IOW(EC_IOCTL_TYPE, nr, type)
fp@1079: #define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type)
fp@1079: 
fp@1079: #define EC_IOCTL_MASTER                EC_IOR(0x00, ec_ioctl_master_t)
fp@1079: #define EC_IOCTL_SLAVE                EC_IOWR(0x01, ec_ioctl_slave_t)
fp@1079: #define EC_IOCTL_SLAVE_SYNC           EC_IOWR(0x02, ec_ioctl_slave_sync_t)
fp@1079: #define EC_IOCTL_SLAVE_SYNC_PDO       EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t)
fp@1079: #define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t)
fp@1079: #define EC_IOCTL_DOMAIN               EC_IOWR(0x05, ec_ioctl_domain_t)
fp@1079: #define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x06, ec_ioctl_domain_fmmu_t)
fp@1079: #define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x07, ec_ioctl_domain_data_t)
fp@1079: #define EC_IOCTL_MASTER_DEBUG           EC_IO(0x08)
fp@1079: #define EC_IOCTL_SLAVE_STATE           EC_IOW(0x09, ec_ioctl_slave_state_t)
fp@1079: #define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0a, ec_ioctl_slave_sdo_t)
fp@1079: #define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t)
fp@1079: #define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t)
fp@1079: #define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t)
fp@1079: #define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x0e, ec_ioctl_slave_sii_t)
fp@1079: #define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x0f, ec_ioctl_slave_sii_t)
fp@1200: #define EC_IOCTL_SLAVE_PHY_READ       EC_IOWR(0x10, ec_ioctl_slave_phy_t)
fp@1200: #define EC_IOCTL_SLAVE_PHY_WRITE       EC_IOW(0x11, ec_ioctl_slave_phy_t)
fp@1200: #define EC_IOCTL_CONFIG               EC_IOWR(0x12, ec_ioctl_config_t)
fp@1200: #define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x13, ec_ioctl_config_pdo_t)
fp@1200: #define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x14, ec_ioctl_config_pdo_entry_t)
fp@1200: #define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x15, ec_ioctl_config_sdo_t)
fp@1242: #define EC_IOCTL_REQUEST               EC_IOR(0x16, ec_ioctl_request_t)
fp@990: 
fp@990: #define EC_IOCTL_STRING_SIZE 64
fp@978: 
fp@978: /*****************************************************************************/
fp@978: 
fp@978: typedef struct {
fp@978:     uint32_t slave_count;
fp@990:     uint32_t config_count;
fp@1001:     uint32_t domain_count;
fp@1029:     uint8_t phase;
fp@957:     struct {
fp@957:         uint8_t address[6];
fp@957:         uint8_t attached;
fp@978:         uint32_t tx_count;
fp@978:         uint32_t rx_count;
fp@957:     } devices[2];
fp@957: } ec_ioctl_master_t;
fp@957: 
fp@957: /*****************************************************************************/
fp@957: 
fp@935: typedef struct {
fp@935:     // input
fp@935:     uint16_t position;
fp@935: 
fp@935:     // outputs
fp@922:     uint32_t vendor_id;
fp@922:     uint32_t product_code;
fp@938:     uint32_t revision_number;
fp@938:     uint32_t serial_number;
fp@922:     uint16_t alias;
fp@989:     uint16_t rx_mailbox_offset;
fp@989:     uint16_t rx_mailbox_size;
fp@989:     uint16_t tx_mailbox_offset;
fp@989:     uint16_t tx_mailbox_size;
fp@989:     uint16_t mailbox_protocols;
fp@989:     uint8_t has_general_category;
fp@989:     ec_sii_coe_details_t coe_details;
fp@989:     ec_sii_general_flags_t general_flags;
fp@989:     int16_t current_on_ebus;
fp@1148:     uint8_t al_state;
fp@987:     uint8_t error_flag;
fp@935:     uint8_t sync_count;
fp@965:     uint16_t sdo_count;
fp@978:     uint32_t sii_nwords;
fp@1109:     char group[EC_IOCTL_STRING_SIZE];
fp@1109:     char image[EC_IOCTL_STRING_SIZE];
fp@1109:     char order[EC_IOCTL_STRING_SIZE];
fp@990:     char name[EC_IOCTL_STRING_SIZE];
fp@935: } ec_ioctl_slave_t;
fp@935: 
fp@935: /*****************************************************************************/
fp@935: 
fp@935: typedef struct {
fp@935:     // inputs
fp@935:     uint16_t slave_position;
fp@978:     uint32_t sync_index;
fp@935: 
fp@935:     // outputs
fp@935:     uint16_t physical_start_address;
fp@935:     uint16_t default_size;
fp@935:     uint8_t control_register;
fp@935:     uint8_t enable;
fp@935:     uint8_t pdo_count;
fp@1079: } ec_ioctl_slave_sync_t;
fp@935: 
fp@935: /*****************************************************************************/
fp@935: 
fp@935: typedef struct {
fp@935:     // inputs
fp@935:     uint16_t slave_position;
fp@978:     uint32_t sync_index;
fp@978:     uint32_t pdo_pos;
fp@935: 
fp@935:     // outputs
fp@935:     uint16_t index;
fp@935:     uint8_t entry_count;
fp@990:     int8_t name[EC_IOCTL_STRING_SIZE];
fp@1079: } ec_ioctl_slave_sync_pdo_t;
fp@935: 
fp@935: /*****************************************************************************/
fp@935: 
fp@935: typedef struct {
fp@935:     // inputs
fp@935:     uint16_t slave_position;
fp@978:     uint32_t sync_index;
fp@978:     uint32_t pdo_pos;
fp@978:     uint32_t entry_pos;
fp@935: 
fp@935:     // outputs
fp@935:     uint16_t index;
fp@935:     uint8_t subindex;
fp@935:     uint8_t bit_length;
fp@990:     int8_t name[EC_IOCTL_STRING_SIZE];
fp@1079: } ec_ioctl_slave_sync_pdo_entry_t;
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@948: typedef struct {
fp@948:     // inputs
fp@978: 	uint32_t index;
fp@978: 
fp@978:     // outputs
fp@978: 	uint32_t data_size;
fp@948: 	uint32_t logical_base_address;
fp@948: 	uint16_t working_counter;
fp@948: 	uint16_t expected_working_counter;
fp@978:     uint32_t fmmu_count;
fp@948: } ec_ioctl_domain_t;
fp@948: 
fp@948: /*****************************************************************************/
fp@948: 
fp@949: typedef struct {
fp@949:     // inputs
fp@978: 	uint32_t domain_index;
fp@978: 	uint32_t fmmu_index;
fp@950: 
fp@950:     // outputs
fp@950:     uint16_t slave_config_alias;
fp@950:     uint16_t slave_config_position;
fp@1055:     uint8_t sync_index;
fp@1055:     ec_direction_t dir;
fp@950: 	uint32_t logical_address;
fp@978:     uint32_t data_size;
fp@950: } ec_ioctl_domain_fmmu_t;
fp@950: 
fp@950: /*****************************************************************************/
fp@950: 
fp@950: typedef struct {
fp@950:     // inputs
fp@978: 	uint32_t domain_index;
fp@978:     uint32_t data_size;
fp@990:     uint8_t *target;
fp@1079: } ec_ioctl_domain_data_t;
fp@949: 
fp@949: /*****************************************************************************/
fp@949: 
fp@960: typedef struct {
fp@960:     // inputs
fp@960: 	uint16_t slave_position;
fp@1148:     uint8_t al_state;
fp@960: } ec_ioctl_slave_state_t;
fp@960: 
fp@960: /*****************************************************************************/
fp@960: 
fp@965: typedef struct {
fp@965:     // inputs
fp@965:     uint16_t slave_position;
fp@965:     uint16_t sdo_position;
fp@965: 
fp@965:     // outputs
fp@965:     uint16_t sdo_index;
fp@965:     uint8_t max_subindex;
fp@990:     int8_t name[EC_IOCTL_STRING_SIZE];
fp@1079: } ec_ioctl_slave_sdo_t;
fp@965: 
fp@965: /*****************************************************************************/
fp@965: 
fp@965: typedef struct {
fp@965:     // inputs
fp@965:     uint16_t slave_position;
fp@968:     int sdo_spec; // positive: index, negative: list position
fp@965:     uint8_t sdo_entry_subindex;
fp@965: 
fp@965:     // outputs
fp@965:     uint16_t data_type;
fp@965:     uint16_t bit_length;
fp@990:     int8_t description[EC_IOCTL_STRING_SIZE];
fp@1079: } ec_ioctl_slave_sdo_entry_t;
fp@965: 
fp@965: /*****************************************************************************/
fp@965: 
fp@968: typedef struct {
fp@968:     // inputs
fp@968:     uint16_t slave_position;
fp@968:     uint16_t sdo_index;
fp@968:     uint8_t sdo_entry_subindex;
fp@978:     uint32_t target_size;
fp@968:     uint8_t *target;
fp@968: 
fp@968:     // outputs
fp@978:     uint32_t data_size;
fp@1037:     uint32_t abort_code;
fp@1079: } ec_ioctl_slave_sdo_upload_t;
fp@968: 
fp@968: /*****************************************************************************/
fp@968: 
fp@974: typedef struct {
fp@974:     // inputs
fp@974:     uint16_t slave_position;
fp@974:     uint16_t sdo_index;
fp@974:     uint8_t sdo_entry_subindex;
fp@978:     uint32_t data_size;
fp@974:     uint8_t *data;
fp@1037: 
fp@1037:     // outputs
fp@1037:     uint32_t abort_code;
fp@1079: } ec_ioctl_slave_sdo_download_t;
fp@974: 
fp@974: /*****************************************************************************/
fp@974: 
fp@978: typedef struct {
fp@978:     // inputs
fp@978:     uint16_t slave_position;
fp@978:     uint16_t offset;
fp@978:     uint32_t nwords;
fp@978:     uint16_t *words;
fp@1079: } ec_ioctl_slave_sii_t;
fp@978: 
fp@978: /*****************************************************************************/
fp@978: 
fp@990: typedef struct {
fp@990:     // inputs
fp@1200:     uint16_t slave_position;
fp@1200:     uint16_t offset;
fp@1200:     uint16_t length;
fp@1200:     uint8_t *data;
fp@1200: } ec_ioctl_slave_phy_t;
fp@1200: 
fp@1200: /*****************************************************************************/
fp@1200: 
fp@1200: typedef struct {
fp@1200:     // inputs
fp@990:     uint32_t config_index;
fp@990: 
fp@990:     // outputs
fp@990:     uint16_t alias;
fp@990:     uint16_t position;
fp@990:     uint32_t vendor_id;
fp@990:     uint32_t product_code;
fp@1055:     struct {
fp@1055:         ec_direction_t dir;
fp@1055:         uint32_t pdo_count;
fp@1082:     } syncs[EC_MAX_SYNC_MANAGERS];
fp@990:     uint32_t sdo_count;
fp@1147:     int32_t slave_position;
fp@990: } ec_ioctl_config_t;
fp@990: 
fp@990: /*****************************************************************************/
fp@990: 
fp@990: typedef struct {
fp@990:     // inputs
fp@990:     uint32_t config_index;
fp@1055:     uint8_t sync_index;
fp@1055:     uint16_t pdo_pos;
fp@990: 
fp@990:     // outputs
fp@990:     uint16_t index;
fp@990:     uint8_t entry_count;
fp@990:     int8_t name[EC_IOCTL_STRING_SIZE];
fp@990: } ec_ioctl_config_pdo_t;
fp@990: 
fp@990: /*****************************************************************************/
fp@990: 
fp@990: typedef struct {
fp@990:     // inputs
fp@990:     uint32_t config_index;
fp@1055:     uint8_t sync_index;
fp@1055:     uint16_t pdo_pos;
fp@1055:     uint8_t entry_pos;
fp@990: 
fp@990:     // outputs
fp@990:     uint16_t index;
fp@990:     uint8_t subindex;
fp@990:     uint8_t bit_length;
fp@990:     int8_t name[EC_IOCTL_STRING_SIZE];
fp@990: } ec_ioctl_config_pdo_entry_t;
fp@990: 
fp@990: /*****************************************************************************/
fp@990: 
fp@990: typedef struct {
fp@990:     // inputs
fp@990:     uint32_t config_index;
fp@990:     uint32_t sdo_pos;
fp@990: 
fp@990:     // outputs
fp@990:     uint16_t index;
fp@990:     uint8_t subindex;
fp@990:     uint32_t size;
fp@990:     uint8_t data[4];
fp@990: } ec_ioctl_config_sdo_t;
fp@990: 
fp@990: /*****************************************************************************/
fp@990: 
fp@1242: typedef struct {
fp@1242:     ec_master_t *handle;
fp@1242: } ec_ioctl_request_t;
fp@1242: 
fp@1242: /*****************************************************************************/
fp@1242: 
fp@1082: /** \endcond */
fp@1082: 
fp@922: #endif