diff -r ef09f0ea0c4c -r 1875b9fea0ba master/ioctl.h --- a/master/ioctl.h Fri Feb 26 18:22:02 2010 +0100 +++ b/master/ioctl.h Mon Mar 01 18:33:42 2010 +0100 @@ -56,7 +56,7 @@ * * Increment this when changing the ioctl interface! */ -#define EC_IOCTL_VERSION_MAGIC 1 +#define EC_IOCTL_VERSION_MAGIC 2 // Command-line tool #define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t) @@ -80,57 +80,59 @@ #define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x12, ec_ioctl_slave_reg_t) #define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x13, ec_ioctl_slave_foe_t) #define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x14, ec_ioctl_slave_foe_t) -#define EC_IOCTL_CONFIG EC_IOWR(0x15, ec_ioctl_config_t) -#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x16, ec_ioctl_config_pdo_t) -#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x17, ec_ioctl_config_pdo_entry_t) -#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x18, ec_ioctl_config_sdo_t) +#define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x15, ec_ioctl_slave_soe_t) +#define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x16, ec_ioctl_slave_soe_t) +#define EC_IOCTL_CONFIG EC_IOWR(0x17, ec_ioctl_config_t) +#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x18, ec_ioctl_config_pdo_t) +#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x19, ec_ioctl_config_pdo_entry_t) +#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1a, ec_ioctl_config_sdo_t) #ifdef EC_EOE -#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x19, ec_ioctl_eoe_handler_t) +#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1b, ec_ioctl_eoe_handler_t) #endif // Application interface -#define EC_IOCTL_REQUEST EC_IO(0x1a) -#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1b) -#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1c, ec_ioctl_config_t) -#define EC_IOCTL_ACTIVATE EC_IOR(0x1d, size_t) -#define EC_IOCTL_DEACTIVATE EC_IO(0x1e) -#define EC_IOCTL_SEND EC_IO(0x1f) -#define EC_IOCTL_RECEIVE EC_IO(0x20) -#define EC_IOCTL_MASTER_STATE EC_IOR(0x21, ec_master_state_t) -#define EC_IOCTL_APP_TIME EC_IOW(0x22, ec_ioctl_app_time_t) -#define EC_IOCTL_SYNC_REF EC_IO(0x23) -#define EC_IOCTL_SYNC_SLAVES EC_IO(0x24) -#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x25) -#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x26, uint32_t) -#define EC_IOCTL_SC_SYNC EC_IOW(0x27, ec_ioctl_config_t) -#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x28, ec_ioctl_config_t) -#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x29, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2a, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2b, ec_ioctl_add_pdo_entry_t) -#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2c, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2d, ec_ioctl_reg_pdo_entry_t) -#define EC_IOCTL_SC_DC EC_IOW(0x2e, ec_ioctl_config_t) -#define EC_IOCTL_SC_SDO EC_IOW(0x2f, ec_ioctl_sc_sdo_t) -#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x20, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SC_VOE EC_IOWR(0x31, ec_ioctl_voe_t) -#define EC_IOCTL_SC_STATE EC_IOWR(0x32, ec_ioctl_sc_state_t) -#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x33) -#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x34) -#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x35) -#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x36, ec_ioctl_domain_state_t) -#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x37, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x38, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x39, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3a, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3b, ec_ioctl_sdo_request_t) -#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3c, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3d, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ EC_IOW(0x3e, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3f, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_WRITE EC_IOWR(0x40, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_EXEC EC_IOWR(0x41, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_DATA EC_IOWR(0x42, ec_ioctl_voe_t) -#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x43, size_t) +#define EC_IOCTL_REQUEST EC_IO(0x1c) +#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1d) +#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1e, ec_ioctl_config_t) +#define EC_IOCTL_ACTIVATE EC_IOR(0x1f, size_t) +#define EC_IOCTL_DEACTIVATE EC_IO(0x20) +#define EC_IOCTL_SEND EC_IO(0x21) +#define EC_IOCTL_RECEIVE EC_IO(0x22) +#define EC_IOCTL_MASTER_STATE EC_IOR(0x23, ec_master_state_t) +#define EC_IOCTL_APP_TIME EC_IOW(0x24, ec_ioctl_app_time_t) +#define EC_IOCTL_SYNC_REF EC_IO(0x25) +#define EC_IOCTL_SYNC_SLAVES EC_IO(0x26) +#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x27) +#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x28, uint32_t) +#define EC_IOCTL_SC_SYNC EC_IOW(0x29, ec_ioctl_config_t) +#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2a, ec_ioctl_config_t) +#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2b, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2c, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2d, ec_ioctl_add_pdo_entry_t) +#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2e, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2f, ec_ioctl_reg_pdo_entry_t) +#define EC_IOCTL_SC_DC EC_IOW(0x20, ec_ioctl_config_t) +#define EC_IOCTL_SC_SDO EC_IOW(0x31, ec_ioctl_sc_sdo_t) +#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x32, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SC_VOE EC_IOWR(0x33, ec_ioctl_voe_t) +#define EC_IOCTL_SC_STATE EC_IOWR(0x34, ec_ioctl_sc_state_t) +#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x35) +#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x36) +#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x37) +#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x38, ec_ioctl_domain_state_t) +#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x39, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3a, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3b, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3c, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3d, ec_ioctl_sdo_request_t) +#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3e, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3f, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_READ EC_IOW(0x40, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x41, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_WRITE EC_IOWR(0x42, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_EXEC EC_IOWR(0x43, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_DATA EC_IOWR(0x44, ec_ioctl_voe_t) +#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x45, size_t) /*****************************************************************************/ @@ -404,6 +406,21 @@ typedef struct { // inputs + uint16_t slave_position; + uint16_t idn; + uint32_t mem_size; + uint8_t *data; + + // outputs + uint32_t data_size; + uint32_t result; + uint16_t error_code; +} ec_ioctl_slave_soe_t; + +/*****************************************************************************/ + +typedef struct { + // inputs uint32_t config_index; // outputs