fp@922: /******************************************************************************
fp@922:  *
fp@922:  *  $Id$
fp@922:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@922:  *
fp@922:  *  This file is part of the IgH EtherCAT Master.
fp@922:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  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@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
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@1826: /** EtherCAT master ioctl() version magic.
fp@1826:  *
fp@1826:  * Increment this when changing the ioctl interface!
fp@1826:  */
fp@1963: #define EC_IOCTL_VERSION_MAGIC 8
fp@1826: 
fp@1259: // Command-line tool
fp@1826: #define EC_IOCTL_MODULE                EC_IOR(0x00, ec_ioctl_module_t)
fp@1826: #define EC_IOCTL_MASTER                EC_IOR(0x01, ec_ioctl_master_t)
fp@1826: #define EC_IOCTL_SLAVE                EC_IOWR(0x02, ec_ioctl_slave_t)
fp@1826: #define EC_IOCTL_SLAVE_SYNC           EC_IOWR(0x03, ec_ioctl_slave_sync_t)
fp@1826: #define EC_IOCTL_SLAVE_SYNC_PDO       EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_t)
fp@1826: #define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x05, ec_ioctl_slave_sync_pdo_entry_t)
fp@1826: #define EC_IOCTL_DOMAIN               EC_IOWR(0x06, ec_ioctl_domain_t)
fp@1826: #define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)
fp@1826: #define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x08, ec_ioctl_domain_data_t)
fp@1826: #define EC_IOCTL_MASTER_DEBUG           EC_IO(0x09)
fp@1961: #define EC_IOCTL_MASTER_RESCAN          EC_IO(0x0a)
fp@1961: #define EC_IOCTL_SLAVE_STATE           EC_IOW(0x0b, ec_ioctl_slave_state_t)
fp@1961: #define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0c, ec_ioctl_slave_sdo_t)
fp@1961: #define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t)
fp@1961: #define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t)
fp@1961: #define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t)
fp@1961: #define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x10, ec_ioctl_slave_sii_t)
fp@1961: #define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x11, ec_ioctl_slave_sii_t)
fp@1961: #define EC_IOCTL_SLAVE_REG_READ       EC_IOWR(0x12, ec_ioctl_slave_reg_t)
fp@1961: #define EC_IOCTL_SLAVE_REG_WRITE       EC_IOW(0x13, ec_ioctl_slave_reg_t)
fp@1961: #define EC_IOCTL_SLAVE_FOE_READ       EC_IOWR(0x14, ec_ioctl_slave_foe_t)
fp@1961: #define EC_IOCTL_SLAVE_FOE_WRITE       EC_IOW(0x15, ec_ioctl_slave_foe_t)
fp@1961: #define EC_IOCTL_SLAVE_SOE_READ       EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)
fp@1961: #define EC_IOCTL_SLAVE_SOE_WRITE      EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)
fp@1961: #define EC_IOCTL_CONFIG               EC_IOWR(0x18, ec_ioctl_config_t)
fp@1961: #define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x19, ec_ioctl_config_pdo_t)
fp@1961: #define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t)
fp@1961: #define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x1b, ec_ioctl_config_sdo_t)
fp@1516: #ifdef EC_EOE
fp@1961: #define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x1c, ec_ioctl_eoe_handler_t)
fp@1516: #endif
fp@1244: 
fp@1259: // Application interface
fp@1961: #define EC_IOCTL_REQUEST                EC_IO(0x1d)
fp@1961: #define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x1e)
fp@1961: #define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x1f, ec_ioctl_config_t)
fp@1961: #define EC_IOCTL_ACTIVATE              EC_IOR(0x20, size_t)
fp@1961: #define EC_IOCTL_DEACTIVATE             EC_IO(0x21)
fp@1961: #define EC_IOCTL_SEND                   EC_IO(0x22)
fp@1961: #define EC_IOCTL_RECEIVE                EC_IO(0x23)
fp@1961: #define EC_IOCTL_MASTER_STATE          EC_IOR(0x24, ec_master_state_t)
fp@1961: #define EC_IOCTL_APP_TIME              EC_IOW(0x25, ec_ioctl_app_time_t)
fp@1961: #define EC_IOCTL_SYNC_REF               EC_IO(0x26)
fp@1961: #define EC_IOCTL_SYNC_SLAVES            EC_IO(0x27)
fp@1961: #define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x28)
fp@1961: #define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x29, uint32_t)
fp@1961: #define EC_IOCTL_SC_SYNC               EC_IOW(0x2a, ec_ioctl_config_t)
fp@1961: #define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x2b, ec_ioctl_config_t)
fp@1961: #define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x2c, ec_ioctl_config_pdo_t)
fp@1961: #define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x2d, ec_ioctl_config_pdo_t)
fp@1961: #define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x2e, ec_ioctl_add_pdo_entry_t)
fp@1961: #define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x2f, ec_ioctl_config_pdo_t)
fp@1961: #define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t)
fp@1961: #define EC_IOCTL_SC_DC                 EC_IOW(0x31, ec_ioctl_config_t)
fp@1961: #define EC_IOCTL_SC_SDO                EC_IOW(0x32, ec_ioctl_sc_sdo_t)
fp@1961: #define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x33, ec_ioctl_sdo_request_t)
fp@1961: #define EC_IOCTL_SC_VOE               EC_IOWR(0x34, ec_ioctl_voe_t)
fp@1961: #define EC_IOCTL_SC_STATE             EC_IOWR(0x35, ec_ioctl_sc_state_t)
fp@1961: #define EC_IOCTL_SC_IDN                EC_IOW(0x36, ec_ioctl_sc_idn_t)
fp@1961: #define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x37)
fp@1961: #define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x38)
fp@1961: #define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x39)
fp@1961: #define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x3a, ec_ioctl_domain_state_t)
fp@1961: #define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
fp@1961: #define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
fp@1961: #define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
fp@1961: #define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
fp@1961: #define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
fp@1961: #define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x40, ec_ioctl_voe_t)
fp@1961: #define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x41, ec_ioctl_voe_t)
fp@1961: #define EC_IOCTL_VOE_READ              EC_IOW(0x42, ec_ioctl_voe_t)
fp@1961: #define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x43, ec_ioctl_voe_t)
fp@1961: #define EC_IOCTL_VOE_WRITE            EC_IOWR(0x44, ec_ioctl_voe_t)
fp@1961: #define EC_IOCTL_VOE_EXEC             EC_IOWR(0x45, ec_ioctl_voe_t)
fp@1961: #define EC_IOCTL_VOE_DATA             EC_IOWR(0x46, ec_ioctl_voe_t)
fp@1961: #define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x47, size_t)
fp@1259: 
fp@1259: /*****************************************************************************/
fp@990: 
fp@990: #define EC_IOCTL_STRING_SIZE 64
fp@978: 
fp@978: /*****************************************************************************/
fp@978: 
fp@978: typedef struct {
fp@1826:     uint32_t ioctl_version_magic;
fp@1826:     uint32_t master_count;
fp@1826: } ec_ioctl_module_t;
fp@1826: 
fp@1826: /*****************************************************************************/
fp@1826: 
fp@1826: typedef struct {
fp@978:     uint32_t slave_count;
fp@990:     uint32_t config_count;
fp@1001:     uint32_t domain_count;
fp@1516: #ifdef EC_EOE
fp@1485:     uint32_t eoe_handler_count;
fp@1516: #endif
fp@1029:     uint8_t phase;
fp@1530:     uint8_t active;
fp@1447:     uint8_t scan_busy;
fp@1857:     struct ec_ioctl_device {
fp@957:         uint8_t address[6];
fp@957:         uint8_t attached;
fp@1401:         uint8_t link_state;
fp@1863:         uint64_t tx_count;
fp@1863:         uint64_t rx_count;
fp@1863:         uint64_t tx_bytes;
fp@1863:         uint64_t tx_errors;
fp@1857:         uint32_t tx_frame_rates[EC_RATE_COUNT];
fp@1857:         uint32_t tx_byte_rates[EC_RATE_COUNT];
fp@1851:         int32_t loss_rates[EC_RATE_COUNT];
fp@957:     } devices[2];
fp@1415:     uint64_t app_time;
fp@1415:     uint16_t ref_clock;
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@1337:     uint16_t boot_rx_mailbox_offset;
fp@1337:     uint16_t boot_rx_mailbox_size;
fp@1337:     uint16_t boot_tx_mailbox_offset;
fp@1337:     uint16_t boot_tx_mailbox_size;
fp@1337:     uint16_t std_rx_mailbox_offset;
fp@1337:     uint16_t std_rx_mailbox_size;
fp@1337:     uint16_t std_tx_mailbox_offset;
fp@1337:     uint16_t std_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@1425:     struct {
fp@1425:         ec_slave_port_desc_t desc;
fp@1425:         ec_slave_port_link_t link;
fp@1425:         uint32_t receive_time;
fp@1425:         uint16_t next_slave;
fp@1425:         uint32_t delay_to_next_dc;
fp@1425:     } ports[EC_MAX_PORTS];
fp@1379:     uint8_t fmmu_bit;
fp@1379:     uint8_t dc_supported;
fp@1379:     ec_slave_dc_range_t dc_range;
fp@1419:     uint8_t has_dc_system_time;
fp@1426:     uint32_t transmission_delay;
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@1507:     uint32_t index;
fp@1507: 
fp@1507:     // outputs
fp@1507:     uint32_t data_size;
fp@1507:     uint32_t logical_base_address;
fp@1507:     uint16_t working_counter;
fp@1507:     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@1507:     uint32_t domain_index;
fp@1507:     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@1507:     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@1507:     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@1507:     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@1382:     uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];
fp@1382:     uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];
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@1388: } ec_ioctl_slave_reg_t;
fp@1200: 
fp@1200: /*****************************************************************************/
fp@1200: 
fp@1200: typedef struct {
fp@1200:     // inputs
fp@1335:     uint16_t slave_position;
fp@1335:     uint16_t offset;
fp@1335:     uint32_t buffer_size;
fp@1335:     uint8_t *buffer;
fp@1335: 
fp@1335:     // outputs
fp@1335:     uint32_t data_size;
fp@1336:     uint32_t result;
fp@1336:     uint32_t error_code;
fp@1335:     char file_name[32];
fp@1335: } ec_ioctl_slave_foe_t;
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: typedef struct {
fp@1335:     // inputs
fp@1831:     uint16_t slave_position;
fp@1952:     uint8_t drive_no;
fp@1831:     uint16_t idn;
fp@1831:     uint32_t mem_size;
fp@1831:     uint8_t *data;
fp@1831: 
fp@1831:     // outputs
fp@1831:     uint32_t data_size;
fp@1831:     uint16_t error_code;
fp@1837: } ec_ioctl_slave_soe_read_t;
fp@1837: 
fp@1837: /*****************************************************************************/
fp@1837: 
fp@1837: typedef struct {
fp@1837:     // inputs
fp@1837:     uint16_t slave_position;
fp@1952:     uint8_t drive_no;
fp@1837:     uint16_t idn;
fp@1837:     uint32_t data_size;
fp@1837:     uint8_t *data;
fp@1837: 
fp@1837:     // outputs
fp@1837:     uint16_t error_code;
fp@1837: } ec_ioctl_slave_soe_write_t;
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: typedef struct {
fp@1831:     // 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@1509:         ec_watchdog_mode_t watchdog_mode;
fp@1055:         uint32_t pdo_count;
fp@1509:         uint8_t config_this;
fp@1082:     } syncs[EC_MAX_SYNC_MANAGERS];
fp@1509:     uint16_t watchdog_divider;
fp@1509:     uint16_t watchdog_intervals;
fp@990:     uint32_t sdo_count;
fp@1147:     int32_t slave_position;
fp@1455:     uint16_t dc_assign_activate;
fp@1455:     ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT];
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@1526: /** Maximum size for displayed SDO data.
fp@1526:  * \todo Make this dynamic.
fp@1526:  */
fp@1526: #define EC_MAX_SDO_DATA_SIZE 1024
fp@1526: 
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@1526:     uint8_t data[EC_MAX_SDO_DATA_SIZE];
fp@990: } ec_ioctl_config_sdo_t;
fp@990: 
fp@990: /*****************************************************************************/
fp@990: 
fp@1516: #ifdef EC_EOE
fp@1516: 
fp@1255: typedef struct {
fp@1485:     // input
fp@1485:     uint16_t eoe_index;
fp@1485: 
fp@1485:     // outputs
fp@1507:     char name[EC_DATAGRAM_NAME_SIZE];
fp@1507:     uint16_t slave_position;
fp@1507:     uint8_t open;
fp@1507:     uint32_t rx_bytes;
fp@1507:     uint32_t rx_rate;
fp@1507:     uint32_t tx_bytes;
fp@1507:     uint32_t tx_rate;
fp@1507:     uint32_t tx_queued_frames;
fp@1507:     uint32_t tx_queue_size;
fp@1485: } ec_ioctl_eoe_handler_t;
fp@1485: 
fp@1516: #endif
fp@1516: 
fp@1485: /*****************************************************************************/
fp@1485: 
fp@1485: typedef struct {
fp@1255:     // inputs
fp@1255:     uint32_t config_index;
fp@1255:     uint16_t pdo_index;
fp@1255:     uint16_t entry_index;
fp@1255:     uint8_t entry_subindex;
fp@1255:     uint8_t entry_bit_length;
fp@1255: } ec_ioctl_add_pdo_entry_t;
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: typedef struct {
fp@1255:     // inputs
fp@1255:     uint32_t config_index;
fp@1255:     uint16_t entry_index;
fp@1255:     uint8_t entry_subindex;
fp@1255:     uint32_t domain_index;
fp@1255:     
fp@1255:     // outputs
fp@1255:     unsigned int bit_position;
fp@1255: } ec_ioctl_reg_pdo_entry_t;
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: typedef struct {
fp@1255:     // inputs
fp@1255:     uint32_t config_index;
fp@1255:     uint16_t index;
fp@1255:     uint8_t subindex;
fp@1255:     const uint8_t *data;
fp@1255:     size_t size;
fp@1526:     uint8_t complete_access;
fp@1255: } ec_ioctl_sc_sdo_t;
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1259: typedef struct {
fp@1259:     // inputs
fp@1259:     uint32_t config_index;
fp@1259: 
fp@1259:     // outputs
fp@1259:     ec_slave_config_state_t *state;
fp@1259: } ec_ioctl_sc_state_t;
fp@1259: 
fp@1259: /*****************************************************************************/
fp@1259: 
fp@1259: typedef struct {
fp@1259:     // inputs
fp@1862:     uint32_t config_index;
fp@1952:     uint8_t drive_no;
fp@1862:     uint16_t idn;
fp@1945:     ec_al_state_t al_state;
fp@1862:     const uint8_t *data;
fp@1862:     size_t size;
fp@1862: } ec_ioctl_sc_idn_t;
fp@1862: 
fp@1862: /*****************************************************************************/
fp@1862: 
fp@1862: typedef struct {
fp@1862:     // inputs
fp@1259:     uint32_t domain_index;
fp@1259: 
fp@1259:     // outputs
fp@1259:     ec_domain_state_t *state;
fp@1259: } ec_ioctl_domain_state_t;
fp@1259: 
fp@1259: /*****************************************************************************/
fp@1259: 
fp@1264: typedef struct {
fp@1264:     // inputs
fp@1264:     uint32_t config_index;
fp@1264: 
fp@1264:     // inputs/outputs
fp@1352:     uint32_t request_index;
fp@1352:     uint16_t sdo_index;
fp@1352:     uint8_t sdo_subindex;
fp@1352:     size_t size;
fp@1352:     uint8_t *data;
fp@1352:     uint32_t timeout;
fp@1352:     ec_request_state_t state;
fp@1352: } ec_ioctl_sdo_request_t;
fp@1352: 
fp@1352: /*****************************************************************************/
fp@1352: 
fp@1352: typedef struct {
fp@1352:     // inputs
fp@1352:     uint32_t config_index;
fp@1352: 
fp@1352:     // inputs/outputs
fp@1264:     uint32_t voe_index;
fp@1264:     uint32_t *vendor_id;
fp@1264:     uint16_t *vendor_type;
fp@1264:     size_t size;
fp@1264:     uint8_t *data;
fp@1264:     ec_request_state_t state;
fp@1264: } ec_ioctl_voe_t;
fp@1264: 
fp@1264: /*****************************************************************************/
fp@1264: 
fp@1455: typedef struct {
fp@1455:     // inputs
fp@1455:     uint64_t app_time;
fp@1455: } ec_ioctl_app_time_t;
fp@1455: 
fp@1455: /*****************************************************************************/
fp@1455: 
fp@1082: /** \endcond */
fp@1082: 
fp@922: #endif