diff -r 65781b048a47 -r ec6223c3b7ec master/ioctl.h --- a/master/ioctl.h Tue Feb 23 17:40:46 2010 +0100 +++ b/master/ioctl.h Wed Feb 24 16:27:11 2010 +0100 @@ -52,78 +52,85 @@ #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 1 + // Command-line tool -#define EC_IOCTL_MASTER EC_IOR(0x00, ec_ioctl_master_t) -#define EC_IOCTL_SLAVE EC_IOWR(0x01, ec_ioctl_slave_t) -#define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x02, ec_ioctl_slave_sync_t) -#define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x03, ec_ioctl_slave_sync_pdo_t) -#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_entry_t) -#define EC_IOCTL_DOMAIN EC_IOWR(0x05, ec_ioctl_domain_t) -#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x06, ec_ioctl_domain_fmmu_t) -#define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x07, ec_ioctl_domain_data_t) -#define EC_IOCTL_MASTER_DEBUG EC_IO(0x08) -#define EC_IOCTL_SLAVE_STATE EC_IOW(0x09, ec_ioctl_slave_state_t) -#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0a, ec_ioctl_slave_sdo_t) -#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0b, ec_ioctl_slave_sdo_entry_t) -#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0c, ec_ioctl_slave_sdo_upload_t) -#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_download_t) -#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0e, ec_ioctl_slave_sii_t) -#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x0f, ec_ioctl_slave_sii_t) -#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x10, ec_ioctl_slave_reg_t) -#define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x11, ec_ioctl_slave_reg_t) -#define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x12, ec_ioctl_slave_foe_t) -#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x13, ec_ioctl_slave_foe_t) -#define EC_IOCTL_CONFIG EC_IOWR(0x14, ec_ioctl_config_t) -#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x15, ec_ioctl_config_pdo_t) -#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x16, ec_ioctl_config_pdo_entry_t) -#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x17, ec_ioctl_config_sdo_t) +#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_SLAVE_STATE EC_IOW(0x0a, ec_ioctl_slave_state_t) +#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0b, ec_ioctl_slave_sdo_t) +#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0c, ec_ioctl_slave_sdo_entry_t) +#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_upload_t) +#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_download_t) +#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0f, ec_ioctl_slave_sii_t) +#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x10, ec_ioctl_slave_sii_t) +#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x11, ec_ioctl_slave_reg_t) +#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) #ifdef EC_EOE -#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x18, ec_ioctl_eoe_handler_t) +#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x19, ec_ioctl_eoe_handler_t) #endif // Application interface -#define EC_IOCTL_REQUEST EC_IO(0x19) -#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1a) -#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1b, ec_ioctl_config_t) -#define EC_IOCTL_ACTIVATE EC_IOR(0x1c, size_t) -#define EC_IOCTL_DEACTIVATE EC_IO(0x1d) -#define EC_IOCTL_SEND EC_IO(0x1e) -#define EC_IOCTL_RECEIVE EC_IO(0x1f) -#define EC_IOCTL_MASTER_STATE EC_IOR(0x20, ec_master_state_t) -#define EC_IOCTL_APP_TIME EC_IOW(0x21, ec_ioctl_app_time_t) -#define EC_IOCTL_SYNC_REF EC_IO(0x22) -#define EC_IOCTL_SYNC_SLAVES EC_IO(0x23) -#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x24) -#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x25, uint32_t) -#define EC_IOCTL_SC_SYNC EC_IOW(0x26, ec_ioctl_config_t) -#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x27, ec_ioctl_config_t) -#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x28, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x29, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2a, ec_ioctl_add_pdo_entry_t) -#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2b, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2c, ec_ioctl_reg_pdo_entry_t) -#define EC_IOCTL_SC_DC EC_IOW(0x2d, ec_ioctl_config_t) -#define EC_IOCTL_SC_SDO EC_IOW(0x2e, ec_ioctl_sc_sdo_t) -#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2f, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SC_VOE EC_IOWR(0x20, ec_ioctl_voe_t) -#define EC_IOCTL_SC_STATE EC_IOWR(0x31, ec_ioctl_sc_state_t) -#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x32) -#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x33) -#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x34) -#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x35, ec_ioctl_domain_state_t) -#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x36, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x37, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x38, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x39, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3a, ec_ioctl_sdo_request_t) -#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3b, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3c, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ EC_IOW(0x3d, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3e, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3f, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_EXEC EC_IOWR(0x40, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_DATA EC_IOWR(0x41, ec_ioctl_voe_t) -#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x42, size_t) +#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) /*****************************************************************************/ @@ -132,6 +139,13 @@ /*****************************************************************************/ 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;