/***************************************************************************** * * Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH * * This file is part of the IgH EtherCAT master. * * The file is free software; you can redistribute it and/or modify it under * the terms of the GNU Lesser General Public License as published by the * Free Software Foundation; version 2.1 of the License. * * This file is distributed in the hope that it will be useful, but WITHOUT * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public * License for more details. * * You should have received a copy of the GNU Lesser General Public License * along with this file. If not, see . * ****************************************************************************/ /** \file EtherCAT master character device IOCTL commands. */ /****************************************************************************/ #ifndef __EC_IOCTL_H__ #define __EC_IOCTL_H__ #include #include "globals.h" /****************************************************************************/ /** \cond */ #define EC_IOCTL_TYPE 0xa4 #define EC_IO(nr) _IO(EC_IOCTL_TYPE, nr) #define EC_IOR(nr, type) _IOR(EC_IOCTL_TYPE, nr, type) #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 37 // Command-line tool #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_MASTER_RESCAN EC_IO(0x0a) #define EC_IOCTL_SLAVE_STATE EC_IOW(0x0b, ec_ioctl_slave_state_t) #define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0c, ec_ioctl_slave_sdo_t) #define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t) #define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t) #define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t) #define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x10, ec_ioctl_slave_sii_t) #define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x11, ec_ioctl_slave_sii_t) #define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x12, ec_ioctl_slave_reg_t) #define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x13, ec_ioctl_slave_reg_t) #define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x14, ec_ioctl_slave_foe_t) #define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x15, ec_ioctl_slave_foe_t) #define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x16, ec_ioctl_slave_soe_read_t) #define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x17, ec_ioctl_slave_soe_write_t) #ifdef EC_EOE #define EC_IOCTL_SLAVE_EOE_IP_PARAM EC_IOW(0x18, ec_ioctl_eoe_ip_t) #endif #define EC_IOCTL_CONFIG EC_IOWR(0x19, ec_ioctl_config_t) #define EC_IOCTL_CONFIG_PDO EC_IOWR(0x1a, ec_ioctl_config_pdo_t) #define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x1b, ec_ioctl_config_pdo_entry_t) #define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1c, ec_ioctl_config_sdo_t) #define EC_IOCTL_CONFIG_IDN EC_IOWR(0x1d, ec_ioctl_config_idn_t) #define EC_IOCTL_CONFIG_FLAG EC_IOWR(0x1e, ec_ioctl_config_flag_t) #ifdef EC_EOE #define EC_IOCTL_CONFIG_EOE_IP_PARAM EC_IOWR(0x1f, ec_ioctl_eoe_ip_t) #define EC_IOCTL_EOE_HANDLER EC_IOWR(0x20, ec_ioctl_eoe_handler_t) #endif // Application interface #define EC_IOCTL_REQUEST EC_IO(0x21) #define EC_IOCTL_CREATE_DOMAIN EC_IO(0x22) #define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x23, ec_ioctl_config_t) #define EC_IOCTL_SELECT_REF_CLOCK EC_IOW(0x24, uint32_t) #define EC_IOCTL_ACTIVATE EC_IOR(0x25, ec_ioctl_master_activate_t) #define EC_IOCTL_DEACTIVATE EC_IO(0x26) #define EC_IOCTL_SEND EC_IO(0x27) #define EC_IOCTL_RECEIVE EC_IO(0x28) #define EC_IOCTL_MASTER_STATE EC_IOR(0x29, ec_master_state_t) #define EC_IOCTL_MASTER_LINK_STATE EC_IOWR(0x2a, ec_ioctl_link_state_t) #define EC_IOCTL_APP_TIME EC_IOW(0x2b, uint64_t) #define EC_IOCTL_SYNC_REF EC_IO(0x2c) #define EC_IOCTL_SYNC_REF_TO EC_IOW(0x2d, uint64_t) #define EC_IOCTL_SYNC_SLAVES EC_IO(0x2e) #define EC_IOCTL_REF_CLOCK_TIME EC_IOR(0x2f, uint32_t) #define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x30) #define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x31, uint32_t) #define EC_IOCTL_RESET EC_IO(0x32) #define EC_IOCTL_SC_SYNC EC_IOW(0x33, ec_ioctl_config_t) #define EC_IOCTL_SC_WATCHDOG EC_IOW(0x34, ec_ioctl_config_t) #define EC_IOCTL_SC_ADD_PDO EC_IOW(0x35, ec_ioctl_config_pdo_t) #define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x36, ec_ioctl_config_pdo_t) #define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x37, ec_ioctl_add_pdo_entry_t) #define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x38, ec_ioctl_config_pdo_t) #define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x39, ec_ioctl_reg_pdo_entry_t) #define EC_IOCTL_SC_REG_PDO_POS EC_IOWR(0x3a, ec_ioctl_reg_pdo_pos_t) #define EC_IOCTL_SC_DC EC_IOW(0x3b, ec_ioctl_config_t) #define EC_IOCTL_SC_SDO EC_IOW(0x3c, ec_ioctl_sc_sdo_t) #define EC_IOCTL_SC_EMERG_SIZE EC_IOW(0x3d, ec_ioctl_sc_emerg_t) #define EC_IOCTL_SC_EMERG_POP EC_IOWR(0x3e, ec_ioctl_sc_emerg_t) #define EC_IOCTL_SC_EMERG_CLEAR EC_IOW(0x3f, ec_ioctl_sc_emerg_t) #define EC_IOCTL_SC_EMERG_OVERRUNS EC_IOWR(0x40, ec_ioctl_sc_emerg_t) #define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x41, ec_ioctl_sdo_request_t) #define EC_IOCTL_SC_SOE_REQUEST EC_IOWR(0x42, ec_ioctl_soe_request_t) #define EC_IOCTL_SC_REG_REQUEST EC_IOWR(0x43, ec_ioctl_reg_request_t) #define EC_IOCTL_SC_VOE EC_IOWR(0x44, ec_ioctl_voe_t) #define EC_IOCTL_SC_STATE EC_IOWR(0x45, ec_ioctl_sc_state_t) #define EC_IOCTL_SC_IDN EC_IOW(0x46, ec_ioctl_sc_idn_t) #define EC_IOCTL_SC_FLAG EC_IOW(0x47, ec_ioctl_sc_flag_t) #ifdef EC_EOE #define EC_IOCTL_SC_EOE_IP_PARAM EC_IOW(0x48, ec_ioctl_eoe_ip_t) #endif #define EC_IOCTL_SC_STATE_TIMEOUT EC_IOW(0x49, ec_ioctl_sc_state_timeout_t) #define EC_IOCTL_DOMAIN_SIZE EC_IO(0x4a) #define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x4b) #define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x4c) #define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x4d) #define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x4e, ec_ioctl_domain_state_t) #define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x4f, ec_ioctl_sdo_request_t) #define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x50, ec_ioctl_sdo_request_t) #define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x51, ec_ioctl_sdo_request_t) #define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x52, ec_ioctl_sdo_request_t) #define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x53, ec_ioctl_sdo_request_t) #define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x54, ec_ioctl_sdo_request_t) #define EC_IOCTL_SOE_REQUEST_IDN EC_IOWR(0x55, ec_ioctl_soe_request_t) #define EC_IOCTL_SOE_REQUEST_TIMEOUT EC_IOWR(0x56, ec_ioctl_soe_request_t) #define EC_IOCTL_SOE_REQUEST_STATE EC_IOWR(0x57, ec_ioctl_soe_request_t) #define EC_IOCTL_SOE_REQUEST_READ EC_IOWR(0x58, ec_ioctl_soe_request_t) #define EC_IOCTL_SOE_REQUEST_WRITE EC_IOWR(0x59, ec_ioctl_soe_request_t) #define EC_IOCTL_SOE_REQUEST_DATA EC_IOWR(0x5a, ec_ioctl_soe_request_t) #define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x5b, ec_ioctl_reg_request_t) #define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x5c, ec_ioctl_reg_request_t) #define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x5d, ec_ioctl_reg_request_t) #define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x5e, ec_ioctl_reg_request_t) #define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x5f, ec_ioctl_voe_t) #define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x60, ec_ioctl_voe_t) #define EC_IOCTL_VOE_READ EC_IOW(0x61, ec_ioctl_voe_t) #define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x62, ec_ioctl_voe_t) #define EC_IOCTL_VOE_WRITE EC_IOWR(0x63, ec_ioctl_voe_t) #define EC_IOCTL_VOE_EXEC EC_IOWR(0x64, ec_ioctl_voe_t) #define EC_IOCTL_VOE_DATA EC_IOWR(0x65, ec_ioctl_voe_t) #define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x66, size_t) /****************************************************************************/ #define EC_IOCTL_STRING_SIZE 64 /****************************************************************************/ typedef struct { uint32_t ioctl_version_magic; uint32_t master_count; } ec_ioctl_module_t; /****************************************************************************/ typedef struct { uint32_t slave_count; uint32_t scan_index; uint32_t config_count; uint32_t domain_count; uint32_t eoe_handler_count; uint8_t phase; uint8_t active; uint8_t scan_busy; struct ec_ioctl_device { uint8_t address[6]; uint8_t attached; uint8_t link_state; uint64_t tx_count; uint64_t rx_count; uint64_t tx_bytes; uint64_t rx_bytes; uint64_t tx_errors; int32_t tx_frame_rates[EC_RATE_COUNT]; int32_t rx_frame_rates[EC_RATE_COUNT]; int32_t tx_byte_rates[EC_RATE_COUNT]; int32_t rx_byte_rates[EC_RATE_COUNT]; } devices[EC_MAX_NUM_DEVICES]; uint32_t num_devices; uint64_t tx_count; uint64_t rx_count; uint64_t tx_bytes; uint64_t rx_bytes; int32_t tx_frame_rates[EC_RATE_COUNT]; int32_t rx_frame_rates[EC_RATE_COUNT]; int32_t tx_byte_rates[EC_RATE_COUNT]; int32_t rx_byte_rates[EC_RATE_COUNT]; int32_t loss_rates[EC_RATE_COUNT]; uint64_t app_time; uint64_t dc_ref_time; uint16_t ref_clock; } ec_ioctl_master_t; /****************************************************************************/ typedef struct { // input uint16_t position; // outputs unsigned int device_index; uint32_t vendor_id; uint32_t product_code; uint32_t revision_number; uint32_t serial_number; uint16_t alias; uint16_t boot_rx_mailbox_offset; uint16_t boot_rx_mailbox_size; uint16_t boot_tx_mailbox_offset; uint16_t boot_tx_mailbox_size; uint16_t std_rx_mailbox_offset; uint16_t std_rx_mailbox_size; uint16_t std_tx_mailbox_offset; uint16_t std_tx_mailbox_size; uint16_t mailbox_protocols; uint8_t has_general_category; ec_sii_coe_details_t coe_details; ec_sii_general_flags_t general_flags; int16_t current_on_ebus; struct { ec_slave_port_desc_t desc; ec_slave_port_link_t link; uint32_t receive_time; uint16_t next_slave; uint32_t delay_to_next_dc; } ports[EC_MAX_PORTS]; uint8_t fmmu_bit; uint8_t dc_supported; ec_slave_dc_range_t dc_range; uint8_t has_dc_system_time; uint32_t transmission_delay; uint8_t al_state; uint8_t error_flag; uint8_t sync_count; uint16_t sdo_count; uint32_t sii_nwords; char group[EC_IOCTL_STRING_SIZE]; char image[EC_IOCTL_STRING_SIZE]; char order[EC_IOCTL_STRING_SIZE]; char name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_slave_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint32_t sync_index; // outputs uint16_t physical_start_address; uint16_t default_size; uint8_t control_register; uint8_t enable; uint8_t pdo_count; } ec_ioctl_slave_sync_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint32_t sync_index; uint32_t pdo_pos; // outputs uint16_t index; uint8_t entry_count; int8_t name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_slave_sync_pdo_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint32_t sync_index; uint32_t pdo_pos; uint32_t entry_pos; // outputs uint16_t index; uint8_t subindex; uint8_t bit_length; int8_t name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_slave_sync_pdo_entry_t; /****************************************************************************/ typedef struct { // inputs uint32_t index; // outputs uint32_t data_size; uint32_t logical_base_address; uint16_t working_counter[EC_MAX_NUM_DEVICES]; uint16_t expected_working_counter; uint32_t fmmu_count; } ec_ioctl_domain_t; /****************************************************************************/ typedef struct { // inputs uint32_t domain_index; uint32_t fmmu_index; // outputs uint16_t slave_config_alias; uint16_t slave_config_position; uint8_t sync_index; ec_direction_t dir; uint32_t logical_address; uint32_t data_size; } ec_ioctl_domain_fmmu_t; /****************************************************************************/ typedef struct { // inputs uint32_t domain_index; uint32_t data_size; uint8_t *target; } ec_ioctl_domain_data_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint8_t al_state; } ec_ioctl_slave_state_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint16_t sdo_position; // outputs uint16_t sdo_index; uint8_t max_subindex; int8_t name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_slave_sdo_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; int sdo_spec; // positive: index, negative: list position uint8_t sdo_entry_subindex; // outputs uint16_t data_type; uint16_t bit_length; uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT]; uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT]; int8_t description[EC_IOCTL_STRING_SIZE]; } ec_ioctl_slave_sdo_entry_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint16_t sdo_index; uint8_t sdo_entry_subindex; size_t target_size; uint8_t *target; // outputs size_t data_size; uint32_t abort_code; } ec_ioctl_slave_sdo_upload_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint16_t sdo_index; uint8_t sdo_entry_subindex; uint8_t complete_access; size_t data_size; uint8_t *data; // outputs uint32_t abort_code; } ec_ioctl_slave_sdo_download_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint16_t offset; uint32_t nwords; uint16_t *words; } ec_ioctl_slave_sii_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint8_t emergency; uint16_t address; size_t size; uint8_t *data; } ec_ioctl_slave_reg_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint16_t offset; size_t buffer_size; uint8_t *buffer; // outputs size_t data_size; uint32_t result; uint32_t error_code; char file_name[32]; } ec_ioctl_slave_foe_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint8_t drive_no; uint16_t idn; size_t mem_size; uint8_t *data; // outputs size_t data_size; uint16_t error_code; } ec_ioctl_slave_soe_read_t; /****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint8_t drive_no; uint16_t idn; size_t data_size; uint8_t *data; // outputs uint16_t error_code; } ec_ioctl_slave_soe_write_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; // outputs uint16_t alias; uint16_t position; uint32_t vendor_id; uint32_t product_code; struct { ec_direction_t dir; ec_watchdog_mode_t watchdog_mode; uint32_t pdo_count; uint8_t config_this; } syncs[EC_MAX_SYNC_MANAGERS]; uint16_t watchdog_divider; uint16_t watchdog_intervals; uint32_t sdo_count; uint32_t idn_count; uint32_t flag_count; int32_t slave_position; uint16_t dc_assign_activate; ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]; } ec_ioctl_config_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint8_t sync_index; uint16_t pdo_pos; // outputs uint16_t index; uint8_t entry_count; int8_t name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_config_pdo_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint8_t sync_index; uint16_t pdo_pos; uint8_t entry_pos; // outputs uint16_t index; uint8_t subindex; uint8_t bit_length; int8_t name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_config_pdo_entry_t; /****************************************************************************/ /** Maximum size for displayed SDO data. * \todo Make this dynamic. */ #define EC_MAX_SDO_DATA_SIZE 1024 typedef struct { // inputs uint32_t config_index; uint32_t sdo_pos; // outputs uint16_t index; uint8_t subindex; size_t size; uint8_t data[EC_MAX_SDO_DATA_SIZE]; uint8_t complete_access; } ec_ioctl_config_sdo_t; /****************************************************************************/ /** Maximum size for displayed IDN data. * \todo Make this dynamic. */ #define EC_MAX_IDN_DATA_SIZE 1024 typedef struct { // inputs uint32_t config_index; uint32_t idn_pos; // outputs uint8_t drive_no; uint16_t idn; ec_al_state_t state; size_t size; uint8_t data[EC_MAX_IDN_DATA_SIZE]; } ec_ioctl_config_idn_t; /****************************************************************************/ /** Maximum size for key. */ #define EC_MAX_FLAG_KEY_SIZE 128 typedef struct { // inputs uint32_t config_index; uint32_t flag_pos; // outputs char key[EC_MAX_FLAG_KEY_SIZE]; int32_t value; } ec_ioctl_config_flag_t; /****************************************************************************/ #ifdef EC_EOE typedef struct { // input uint16_t eoe_index; // outputs char name[EC_DATAGRAM_NAME_SIZE]; uint16_t slave_position; uint8_t open; uint32_t rx_bytes; uint32_t rx_rate; uint32_t tx_bytes; uint32_t tx_rate; uint32_t tx_queued_frames; uint32_t tx_queue_size; } ec_ioctl_eoe_handler_t; #endif /****************************************************************************/ #define EC_ETH_ALEN 6 #ifdef ETH_ALEN #if ETH_ALEN != EC_ETH_ALEN #error Ethernet address length mismatch #endif #endif typedef struct { // input uint16_t slave_position; uint16_t config_index; // alternatively uint8_t mac_address_included; uint8_t ip_address_included; uint8_t subnet_mask_included; uint8_t gateway_included; uint8_t dns_included; uint8_t name_included; unsigned char mac_address[EC_ETH_ALEN]; struct in_addr ip_address; struct in_addr subnet_mask; struct in_addr gateway; struct in_addr dns; char name[EC_MAX_HOSTNAME_SIZE]; // output uint16_t result; } ec_ioctl_eoe_ip_t; /*****************************************************************************/ typedef struct { // outputs void *process_data; size_t process_data_size; } ec_ioctl_master_activate_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint16_t pdo_index; uint16_t entry_index; uint8_t entry_subindex; uint8_t entry_bit_length; } ec_ioctl_add_pdo_entry_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint16_t entry_index; uint8_t entry_subindex; uint32_t domain_index; // outputs unsigned int bit_position; } ec_ioctl_reg_pdo_entry_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint32_t sync_index; uint32_t pdo_pos; uint32_t entry_pos; uint32_t domain_index; // outputs unsigned int bit_position; } ec_ioctl_reg_pdo_pos_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint16_t index; uint8_t subindex; const uint8_t *data; size_t size; uint8_t complete_access; } ec_ioctl_sc_sdo_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; size_t size; uint8_t *target; // outputs int32_t overruns; } ec_ioctl_sc_emerg_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; // outputs ec_slave_config_state_t *state; } ec_ioctl_sc_state_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint8_t drive_no; uint16_t idn; ec_al_state_t al_state; const uint8_t *data; size_t size; } ec_ioctl_sc_idn_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; size_t key_size; char *key; int32_t value; } ec_ioctl_sc_flag_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; ec_al_state_t from_state; ec_al_state_t to_state; uint32_t timeout_ms; } ec_ioctl_sc_state_timeout_t; /****************************************************************************/ typedef struct { // inputs uint32_t domain_index; // outputs ec_domain_state_t *state; } ec_ioctl_domain_state_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; // inputs/outputs uint32_t request_index; uint16_t sdo_index; uint8_t sdo_subindex; size_t size; uint8_t *data; uint32_t timeout; ec_request_state_t state; } ec_ioctl_sdo_request_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; // inputs/outputs uint32_t request_index; uint8_t drive_no; uint16_t idn; size_t size; uint8_t *data; uint32_t timeout; ec_request_state_t state; } ec_ioctl_soe_request_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; size_t mem_size; // inputs/outputs uint32_t request_index; uint8_t *data; ec_request_state_t state; uint8_t new_data; uint16_t address; size_t transfer_size; } ec_ioctl_reg_request_t; /****************************************************************************/ typedef struct { // inputs uint32_t config_index; // inputs/outputs uint32_t voe_index; uint32_t *vendor_id; uint16_t *vendor_type; size_t size; uint8_t *data; ec_request_state_t state; } ec_ioctl_voe_t; /****************************************************************************/ typedef struct { // inputs uint32_t dev_idx; // outputs ec_master_link_state_t *state; } ec_ioctl_link_state_t; /****************************************************************************/ #ifdef __KERNEL__ /** Context data structure for file handles. */ typedef struct { unsigned int writable; /**< Device was opened with write permission. */ unsigned int requested; /**< Master was requested via this file handle. */ uint8_t *process_data; /**< Total process data area. */ size_t process_data_size; /**< Size of the \a process_data. */ } ec_ioctl_context_t; long ec_ioctl(ec_master_t *, ec_ioctl_context_t *, unsigned int, void __user *); #ifdef EC_RTDM long ec_ioctl_rtdm_rt(ec_master_t *, ec_ioctl_context_t *, unsigned int, void __user *); long ec_ioctl_rtdm_nrt(ec_master_t *, ec_ioctl_context_t *, unsigned int, void __user *); #ifndef EC_RTDM_XENOMAI_V3 int ec_rtdm_mmap(ec_ioctl_context_t *, void **); #endif #endif #endif /****************************************************************************/ /** \endcond */ #endif