Mirrors_Framework/ethercat
1
0
Fork 0
mirror of https://gitlab.com/etherlab.org/ethercat.git synced 2026-02-05 19:39:50 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity
Files
972337444b564b04e7a169ff37da72435d730ded
ethercat/master/ioctl.h
Florian Pose 25bf7ef885 Set IP parameter methods on user and kernel side.
2024-02-05 15:24:24 +01:00

869 lines
25 KiB
C
Raw Blame History

/*****************************************************************************
*
* 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 <http://www.gnu.org/licenses/>.
*
****************************************************************************/
/**
\file
EtherCAT master character device IOCTL commands.
*/
/****************************************************************************/
#ifndef __EC_IOCTL_H__
#define __EC_IOCTL_H__
#include <linux/ioctl.h>
#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 36
// 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_DOMAIN_SIZE EC_IO(0x49)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x4a)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x4b)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x4c)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x4d, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x4e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x4f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x50, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x51, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x52, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x53, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SOE_REQUEST_IDN EC_IOWR(0x54, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_TIMEOUT EC_IOWR(0x55, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_STATE EC_IOWR(0x56, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_READ EC_IOWR(0x57, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_WRITE EC_IOWR(0x58, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_DATA EC_IOWR(0x59, ec_ioctl_soe_request_t)
#define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x5a, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x5b, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x5c, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x5d, ec_ioctl_reg_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x5e, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x5f, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x60, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x61, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x62, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x63, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x64, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x65, 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];
uint32_t ip_address;
uint32_t subnet_mask;
uint32_t gateway;
uint32_t 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 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
Reference in New Issue View Git Blame Copy Permalink