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@922: /*****************************************************************************/
fp@922: 
fp@922: enum {
fp@957:     EC_IOCTL_MASTER,
fp@935:     EC_IOCTL_SLAVE,
fp@935:     EC_IOCTL_SYNC,
fp@935:     EC_IOCTL_PDO,
fp@935:     EC_IOCTL_PDO_ENTRY,
fp@948: 	EC_IOCTL_DOMAIN_COUNT,
fp@949: 	EC_IOCTL_DOMAIN,
fp@950: 	EC_IOCTL_DOMAIN_FMMU,
fp@956: 	EC_IOCTL_DATA,
fp@957:     EC_IOCTL_SET_DEBUG,
fp@960:     EC_IOCTL_SLAVE_STATE,
fp@965:     EC_IOCTL_SDO,
fp@965:     EC_IOCTL_SDO_ENTRY,
fp@968:     EC_IOCTL_SDO_UPLOAD,
fp@922: };
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@957: typedef struct {
fp@957:     unsigned int slave_count;
fp@957:     uint8_t mode;
fp@957:     struct {
fp@957:         uint8_t address[6];
fp@957:         uint8_t attached;
fp@957:         unsigned int tx_count;
fp@957:         unsigned int rx_count;
fp@957:     } devices[2];
fp@957: } ec_ioctl_master_t;
fp@957: 
fp@957: /*****************************************************************************/
fp@957: 
fp@965: #define EC_IOCTL_SLAVE_NAME_SIZE 104
fp@922: 
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@922:     uint8_t state;
fp@935:     uint8_t sync_count;
fp@965:     uint16_t sdo_count;
fp@935:     char name[EC_IOCTL_SLAVE_NAME_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@935:     unsigned int 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 assign_source;
fp@935:     uint8_t pdo_count;
fp@935: } ec_ioctl_sync_t;
fp@935: 
fp@935: /*****************************************************************************/
fp@935: 
fp@935: #define EC_IOCTL_PDO_NAME_SIZE 114
fp@935: 
fp@935: typedef struct {
fp@935:     // inputs
fp@935:     uint16_t slave_position;
fp@935:     unsigned int sync_index;
fp@935:     unsigned int pdo_pos;
fp@935: 
fp@935:     // outputs
fp@935:     uint8_t dir;
fp@935:     uint16_t index;
fp@935:     uint8_t entry_count;
fp@935:     char name[EC_IOCTL_PDO_NAME_SIZE];
fp@935: } ec_ioctl_pdo_t;
fp@935: 
fp@935: /*****************************************************************************/
fp@935: 
fp@935: #define EC_IOCTL_PDO_ENTRY_NAME_SIZE 110
fp@935: 
fp@935: typedef struct {
fp@935:     // inputs
fp@935:     uint16_t slave_position;
fp@935:     unsigned int sync_index;
fp@935:     unsigned int pdo_pos;
fp@935:     unsigned int entry_pos;
fp@935: 
fp@935:     // outputs
fp@935:     uint16_t index;
fp@935:     uint8_t subindex;
fp@935:     uint8_t bit_length;
fp@935:     char name[EC_IOCTL_PDO_NAME_SIZE];
fp@935: } ec_ioctl_pdo_entry_t;
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@948: typedef struct {
fp@948:     // inputs
fp@948: 	unsigned int index;
fp@948: 
fp@948:     // outputs
fp@948: 	unsigned int data_size;
fp@948: 	uint32_t logical_base_address;
fp@948: 	uint16_t working_counter;
fp@948: 	uint16_t expected_working_counter;
fp@950:     unsigned int fmmu_count;
fp@948: } ec_ioctl_domain_t;
fp@948: 
fp@948: /*****************************************************************************/
fp@948: 
fp@949: typedef struct {
fp@949:     // inputs
fp@949: 	unsigned int domain_index;
fp@950: 	unsigned int fmmu_index;
fp@950: 
fp@950:     // outputs
fp@950:     uint16_t slave_config_alias;
fp@950:     uint16_t slave_config_position;
fp@950:     uint8_t fmmu_dir;
fp@950: 	uint32_t logical_address;
fp@950:     unsigned int data_size;
fp@950: } ec_ioctl_domain_fmmu_t;
fp@950: 
fp@950: /*****************************************************************************/
fp@950: 
fp@950: typedef struct {
fp@950:     // inputs
fp@950: 	unsigned int domain_index;
fp@949:     unsigned int data_size;
fp@949:     unsigned char *target;
fp@949: } ec_ioctl_data_t;
fp@949: 
fp@949: /*****************************************************************************/
fp@949: 
fp@960: typedef struct {
fp@960:     // inputs
fp@960: 	uint16_t slave_position;
fp@960:     uint8_t requested_state;
fp@960: } ec_ioctl_slave_state_t;
fp@960: 
fp@960: /*****************************************************************************/
fp@960: 
fp@965: #define EC_IOCTL_SDO_NAME_SIZE 121
fp@965: 
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@965:     char name[EC_IOCTL_SDO_NAME_SIZE];
fp@965: } ec_ioctl_sdo_t;
fp@965: 
fp@965: /*****************************************************************************/
fp@965: 
fp@965: #define EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE 120
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@965:     char description[EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE];
fp@965: } ec_ioctl_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@968:     unsigned int target_size;
fp@968:     uint8_t *target;
fp@968: 
fp@968:     // outputs
fp@968:     unsigned int data_size;
fp@968: } ec_ioctl_sdo_upload_t;
fp@968: 
fp@968: /*****************************************************************************/
fp@968: 
fp@922: #endif