IgH EtherCAT Master: ioctl.h Source File

00001 /******************************************************************************
00002  *
00003  *  $Id$
00004  *
00005  *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
00006  *
00007  *  This file is part of the IgH EtherCAT Master.
00008  *
00009  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
00010  *  modify it under the terms of the GNU General Public License version 2, as
00011  *  published by the Free Software Foundation.
00012  *
00013  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
00016  *  Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License along
00019  *  with the IgH EtherCAT Master; if not, write to the Free Software
00020  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  *  ---
00023  *
00024  *  The license mentioned above concerns the source code only. Using the
00025  *  EtherCAT technology and brand is only permitted in compliance with the
00026  *  industrial property and similar rights of Beckhoff Automation GmbH.
00027  *
00028  *****************************************************************************/
00029 
00035 /*****************************************************************************/
00036 
00037 #ifndef __EC_IOCTL_H__
00038 #define __EC_IOCTL_H__
00039 
00040 #include <linux/ioctl.h>
00041 
00042 #include "globals.h"
00043 
00044 /*****************************************************************************/
00045 
00048 #define EC_IOCTL_TYPE 0xa4
00049 
00050 #define EC_IO(nr)           _IO(EC_IOCTL_TYPE, nr)
00051 #define EC_IOR(nr, type)   _IOR(EC_IOCTL_TYPE, nr, type)
00052 #define EC_IOW(nr, type)   _IOW(EC_IOCTL_TYPE, nr, type)
00053 #define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type)
00054 
00059 #define EC_IOCTL_VERSION_MAGIC 28
00060 
00061 // Command-line tool
00062 #define EC_IOCTL_MODULE                EC_IOR(0x00, ec_ioctl_module_t)
00063 #define EC_IOCTL_MASTER                EC_IOR(0x01, ec_ioctl_master_t)
00064 #define EC_IOCTL_SLAVE                EC_IOWR(0x02, ec_ioctl_slave_t)
00065 #define EC_IOCTL_SLAVE_SYNC           EC_IOWR(0x03, ec_ioctl_slave_sync_t)
00066 #define EC_IOCTL_SLAVE_SYNC_PDO       EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_t)
00067 #define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x05, ec_ioctl_slave_sync_pdo_entry_t)
00068 #define EC_IOCTL_DOMAIN               EC_IOWR(0x06, ec_ioctl_domain_t)
00069 #define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)
00070 #define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x08, ec_ioctl_domain_data_t)
00071 #define EC_IOCTL_MASTER_DEBUG           EC_IO(0x09)
00072 #define EC_IOCTL_MASTER_RESCAN          EC_IO(0x0a)
00073 #define EC_IOCTL_SLAVE_STATE           EC_IOW(0x0b, ec_ioctl_slave_state_t)
00074 #define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0c, ec_ioctl_slave_sdo_t)
00075 #define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t)
00076 #define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t)
00077 #define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t)
00078 #define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x10, ec_ioctl_slave_sii_t)
00079 #define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x11, ec_ioctl_slave_sii_t)
00080 #define EC_IOCTL_SLAVE_REG_READ       EC_IOWR(0x12, ec_ioctl_slave_reg_t)
00081 #define EC_IOCTL_SLAVE_REG_WRITE       EC_IOW(0x13, ec_ioctl_slave_reg_t)
00082 #define EC_IOCTL_SLAVE_FOE_READ       EC_IOWR(0x14, ec_ioctl_slave_foe_t)
00083 #define EC_IOCTL_SLAVE_FOE_WRITE       EC_IOW(0x15, ec_ioctl_slave_foe_t)
00084 #define EC_IOCTL_SLAVE_SOE_READ       EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)
00085 #define EC_IOCTL_SLAVE_SOE_WRITE      EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)
00086 #define EC_IOCTL_CONFIG               EC_IOWR(0x18, ec_ioctl_config_t)
00087 #define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x19, ec_ioctl_config_pdo_t)
00088 #define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t)
00089 #define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x1b, ec_ioctl_config_sdo_t)
00090 #define EC_IOCTL_CONFIG_IDN           EC_IOWR(0x1c, ec_ioctl_config_idn_t)
00091 #ifdef EC_EOE
00092 #define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x1d, ec_ioctl_eoe_handler_t)
00093 #endif
00094 
00095 // Application interface
00096 #define EC_IOCTL_REQUEST                EC_IO(0x1e)
00097 #define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x1f)
00098 #define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x20, ec_ioctl_config_t)
00099 #define EC_IOCTL_SELECT_REF_CLOCK      EC_IOW(0x21, uint32_t)
00100 #define EC_IOCTL_ACTIVATE              EC_IOR(0x22, ec_ioctl_master_activate_t)
00101 #define EC_IOCTL_DEACTIVATE             EC_IO(0x23)
00102 #define EC_IOCTL_SEND                   EC_IO(0x24)
00103 #define EC_IOCTL_RECEIVE                EC_IO(0x25)
00104 #define EC_IOCTL_MASTER_STATE          EC_IOR(0x26, ec_master_state_t)
00105 #define EC_IOCTL_MASTER_LINK_STATE    EC_IOWR(0x27, ec_ioctl_link_state_t)
00106 #define EC_IOCTL_APP_TIME              EC_IOW(0x28, ec_ioctl_app_time_t)
00107 #define EC_IOCTL_SYNC_REF               EC_IO(0x29)
00108 #define EC_IOCTL_SYNC_SLAVES            EC_IO(0x2a)
00109 #define EC_IOCTL_REF_CLOCK_TIME        EC_IOR(0x2b, uint32_t)
00110 #define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x2c)
00111 #define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x2d, uint32_t)
00112 #define EC_IOCTL_RESET                  EC_IO(0x2e)
00113 #define EC_IOCTL_SC_SYNC               EC_IOW(0x2f, ec_ioctl_config_t)
00114 #define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x30, ec_ioctl_config_t)
00115 #define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x31, ec_ioctl_config_pdo_t)
00116 #define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x32, ec_ioctl_config_pdo_t)
00117 #define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x33, ec_ioctl_add_pdo_entry_t)
00118 #define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x34, ec_ioctl_config_pdo_t)
00119 #define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x35, ec_ioctl_reg_pdo_entry_t)
00120 #define EC_IOCTL_SC_REG_PDO_POS       EC_IOWR(0x36, ec_ioctl_reg_pdo_pos_t)
00121 #define EC_IOCTL_SC_DC                 EC_IOW(0x37, ec_ioctl_config_t)
00122 #define EC_IOCTL_SC_SDO                EC_IOW(0x38, ec_ioctl_sc_sdo_t)
00123 #define EC_IOCTL_SC_EMERG_SIZE         EC_IOW(0x39, ec_ioctl_sc_emerg_t)
00124 #define EC_IOCTL_SC_EMERG_POP         EC_IOWR(0x3a, ec_ioctl_sc_emerg_t)
00125 #define EC_IOCTL_SC_EMERG_CLEAR        EC_IOW(0x3b, ec_ioctl_sc_emerg_t)
00126 #define EC_IOCTL_SC_EMERG_OVERRUNS    EC_IOWR(0x3c, ec_ioctl_sc_emerg_t)
00127 #define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
00128 #define EC_IOCTL_SC_REG_REQUEST       EC_IOWR(0x3e, ec_ioctl_reg_request_t)
00129 #define EC_IOCTL_SC_VOE               EC_IOWR(0x3f, ec_ioctl_voe_t)
00130 #define EC_IOCTL_SC_STATE             EC_IOWR(0x40, ec_ioctl_sc_state_t)
00131 #define EC_IOCTL_SC_IDN                EC_IOW(0x41, ec_ioctl_sc_idn_t)
00132 #define EC_IOCTL_DOMAIN_SIZE            EC_IO(0x42)
00133 #define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x43)
00134 #define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x44)
00135 #define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x45)
00136 #define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x46, ec_ioctl_domain_state_t)
00137 #define EC_IOCTL_SDO_REQUEST_INDEX    EC_IOWR(0x47, ec_ioctl_sdo_request_t)
00138 #define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x48, ec_ioctl_sdo_request_t)
00139 #define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x49, ec_ioctl_sdo_request_t)
00140 #define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x4a, ec_ioctl_sdo_request_t)
00141 #define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x4b, ec_ioctl_sdo_request_t)
00142 #define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x4c, ec_ioctl_sdo_request_t)
00143 #define EC_IOCTL_REG_REQUEST_DATA     EC_IOWR(0x4d, ec_ioctl_reg_request_t)
00144 #define EC_IOCTL_REG_REQUEST_STATE    EC_IOWR(0x4e, ec_ioctl_reg_request_t)
00145 #define EC_IOCTL_REG_REQUEST_WRITE    EC_IOWR(0x4f, ec_ioctl_reg_request_t)
00146 #define EC_IOCTL_REG_REQUEST_READ     EC_IOWR(0x50, ec_ioctl_reg_request_t)
00147 #define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x51, ec_ioctl_voe_t)
00148 #define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x52, ec_ioctl_voe_t)
00149 #define EC_IOCTL_VOE_READ              EC_IOW(0x53, ec_ioctl_voe_t)
00150 #define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x54, ec_ioctl_voe_t)
00151 #define EC_IOCTL_VOE_WRITE            EC_IOWR(0x55, ec_ioctl_voe_t)
00152 #define EC_IOCTL_VOE_EXEC             EC_IOWR(0x56, ec_ioctl_voe_t)
00153 #define EC_IOCTL_VOE_DATA             EC_IOWR(0x57, ec_ioctl_voe_t)
00154 #define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x58, size_t)
00155 
00156 /*****************************************************************************/
00157 
00158 #define EC_IOCTL_STRING_SIZE 64
00159 
00160 /*****************************************************************************/
00161 
00162 typedef struct {
00163     uint32_t ioctl_version_magic;
00164     uint32_t master_count;
00165 } ec_ioctl_module_t;
00166 
00167 /*****************************************************************************/
00168 
00169 typedef struct {
00170     uint32_t slave_count;
00171     uint32_t config_count;
00172     uint32_t domain_count;
00173 #ifdef EC_EOE
00174     uint32_t eoe_handler_count;
00175 #endif
00176     uint8_t phase;
00177     uint8_t active;
00178     uint8_t scan_busy;
00179     struct ec_ioctl_device {
00180         uint8_t address[6];
00181         uint8_t attached;
00182         uint8_t link_state;
00183         uint64_t tx_count;
00184         uint64_t rx_count;
00185         uint64_t tx_bytes;
00186         uint64_t rx_bytes;
00187         uint64_t tx_errors;
00188         int32_t tx_frame_rates[EC_RATE_COUNT];
00189         int32_t rx_frame_rates[EC_RATE_COUNT];
00190         int32_t tx_byte_rates[EC_RATE_COUNT];
00191         int32_t rx_byte_rates[EC_RATE_COUNT];
00192     } devices[EC_MAX_NUM_DEVICES];
00193     uint32_t num_devices;
00194     uint64_t tx_count;
00195     uint64_t rx_count;
00196     uint64_t tx_bytes;
00197     uint64_t rx_bytes;
00198     int32_t tx_frame_rates[EC_RATE_COUNT];
00199     int32_t rx_frame_rates[EC_RATE_COUNT];
00200     int32_t tx_byte_rates[EC_RATE_COUNT];
00201     int32_t rx_byte_rates[EC_RATE_COUNT];
00202     int32_t loss_rates[EC_RATE_COUNT];
00203     uint64_t app_time;
00204     uint16_t ref_clock;
00205 } ec_ioctl_master_t;
00206 
00207 /*****************************************************************************/
00208 
00209 typedef struct {
00210     // input
00211     uint16_t position;
00212 
00213     // outputs
00214     unsigned int device_index;
00215     uint32_t vendor_id;
00216     uint32_t product_code;
00217     uint32_t revision_number;
00218     uint32_t serial_number;
00219     uint16_t alias;
00220     uint16_t boot_rx_mailbox_offset;
00221     uint16_t boot_rx_mailbox_size;
00222     uint16_t boot_tx_mailbox_offset;
00223     uint16_t boot_tx_mailbox_size;
00224     uint16_t std_rx_mailbox_offset;
00225     uint16_t std_rx_mailbox_size;
00226     uint16_t std_tx_mailbox_offset;
00227     uint16_t std_tx_mailbox_size;
00228     uint16_t mailbox_protocols;
00229     uint8_t has_general_category;
00230     ec_sii_coe_details_t coe_details;
00231     ec_sii_general_flags_t general_flags;
00232     int16_t current_on_ebus;
00233     struct {
00234         ec_slave_port_desc_t desc;
00235         ec_slave_port_link_t link;
00236         uint32_t receive_time;
00237         uint16_t next_slave;
00238         uint32_t delay_to_next_dc;
00239     } ports[EC_MAX_PORTS];
00240     uint8_t fmmu_bit;
00241     uint8_t dc_supported;
00242     ec_slave_dc_range_t dc_range;
00243     uint8_t has_dc_system_time;
00244     uint32_t transmission_delay;
00245     uint8_t al_state;
00246     uint8_t error_flag;
00247     uint8_t sync_count;
00248     uint16_t sdo_count;
00249     uint32_t sii_nwords;
00250     char group[EC_IOCTL_STRING_SIZE];
00251     char image[EC_IOCTL_STRING_SIZE];
00252     char order[EC_IOCTL_STRING_SIZE];
00253     char name[EC_IOCTL_STRING_SIZE];
00254 } ec_ioctl_slave_t;
00255 
00256 /*****************************************************************************/
00257 
00258 typedef struct {
00259     // inputs
00260     uint16_t slave_position;
00261     uint32_t sync_index;
00262 
00263     // outputs
00264     uint16_t physical_start_address;
00265     uint16_t default_size;
00266     uint8_t control_register;
00267     uint8_t enable;
00268     uint8_t pdo_count;
00269 } ec_ioctl_slave_sync_t;
00270 
00271 /*****************************************************************************/
00272 
00273 typedef struct {
00274     // inputs
00275     uint16_t slave_position;
00276     uint32_t sync_index;
00277     uint32_t pdo_pos;
00278 
00279     // outputs
00280     uint16_t index;
00281     uint8_t entry_count;
00282     int8_t name[EC_IOCTL_STRING_SIZE];
00283 } ec_ioctl_slave_sync_pdo_t;
00284 
00285 /*****************************************************************************/
00286 
00287 typedef struct {
00288     // inputs
00289     uint16_t slave_position;
00290     uint32_t sync_index;
00291     uint32_t pdo_pos;
00292     uint32_t entry_pos;
00293 
00294     // outputs
00295     uint16_t index;
00296     uint8_t subindex;
00297     uint8_t bit_length;
00298     int8_t name[EC_IOCTL_STRING_SIZE];
00299 } ec_ioctl_slave_sync_pdo_entry_t;
00300 
00301 /*****************************************************************************/
00302 
00303 typedef struct {
00304     // inputs
00305     uint32_t index;
00306 
00307     // outputs
00308     uint32_t data_size;
00309     uint32_t logical_base_address;
00310     uint16_t working_counter[EC_MAX_NUM_DEVICES];
00311     uint16_t expected_working_counter;
00312     uint32_t fmmu_count;
00313 } ec_ioctl_domain_t;
00314 
00315 /*****************************************************************************/
00316 
00317 typedef struct {
00318     // inputs
00319     uint32_t domain_index;
00320     uint32_t fmmu_index;
00321 
00322     // outputs
00323     uint16_t slave_config_alias;
00324     uint16_t slave_config_position;
00325     uint8_t sync_index;
00326     ec_direction_t dir;
00327     uint32_t logical_address;
00328     uint32_t data_size;
00329 } ec_ioctl_domain_fmmu_t;
00330 
00331 /*****************************************************************************/
00332 
00333 typedef struct {
00334     // inputs
00335     uint32_t domain_index;
00336     uint32_t data_size;
00337     uint8_t *target;
00338 } ec_ioctl_domain_data_t;
00339 
00340 /*****************************************************************************/
00341 
00342 typedef struct {
00343     // inputs
00344     uint16_t slave_position;
00345     uint8_t al_state;
00346 } ec_ioctl_slave_state_t;
00347 
00348 /*****************************************************************************/
00349 
00350 typedef struct {
00351     // inputs
00352     uint16_t slave_position;
00353     uint16_t sdo_position;
00354 
00355     // outputs
00356     uint16_t sdo_index;
00357     uint8_t max_subindex;
00358     int8_t name[EC_IOCTL_STRING_SIZE];
00359 } ec_ioctl_slave_sdo_t;
00360 
00361 /*****************************************************************************/
00362 
00363 typedef struct {
00364     // inputs
00365     uint16_t slave_position;
00366     int sdo_spec; // positive: index, negative: list position
00367     uint8_t sdo_entry_subindex;
00368 
00369     // outputs
00370     uint16_t data_type;
00371     uint16_t bit_length;
00372     uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];
00373     uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];
00374     int8_t description[EC_IOCTL_STRING_SIZE];
00375 } ec_ioctl_slave_sdo_entry_t;
00376 
00377 /*****************************************************************************/
00378 
00379 typedef struct {
00380     // inputs
00381     uint16_t slave_position;
00382     uint16_t sdo_index;
00383     uint8_t sdo_entry_subindex;
00384     size_t target_size;
00385     uint8_t *target;
00386 
00387     // outputs
00388     size_t data_size;
00389     uint32_t abort_code;
00390 } ec_ioctl_slave_sdo_upload_t;
00391 
00392 /*****************************************************************************/
00393 
00394 typedef struct {
00395     // inputs
00396     uint16_t slave_position;
00397     uint16_t sdo_index;
00398     uint8_t sdo_entry_subindex;
00399     uint8_t complete_access;
00400     size_t data_size;
00401     uint8_t *data;
00402 
00403     // outputs
00404     uint32_t abort_code;
00405 } ec_ioctl_slave_sdo_download_t;
00406 
00407 /*****************************************************************************/
00408 
00409 typedef struct {
00410     // inputs
00411     uint16_t slave_position;
00412     uint16_t offset;
00413     uint32_t nwords;
00414     uint16_t *words;
00415 } ec_ioctl_slave_sii_t;
00416 
00417 /*****************************************************************************/
00418 
00419 typedef struct {
00420     // inputs
00421     uint16_t slave_position;
00422     uint8_t emergency;
00423     uint16_t address;
00424     size_t size;
00425     uint8_t *data;
00426 } ec_ioctl_slave_reg_t;
00427 
00428 /*****************************************************************************/
00429 
00430 typedef struct {
00431     // inputs
00432     uint16_t slave_position;
00433     uint16_t offset;
00434     size_t buffer_size;
00435     uint8_t *buffer;
00436 
00437     // outputs
00438     size_t data_size;
00439     uint32_t result;
00440     uint32_t error_code;
00441     char file_name[32];
00442 } ec_ioctl_slave_foe_t;
00443 
00444 /*****************************************************************************/
00445 
00446 typedef struct {
00447     // inputs
00448     uint16_t slave_position;
00449     uint8_t drive_no;
00450     uint16_t idn;
00451     size_t mem_size;
00452     uint8_t *data;
00453 
00454     // outputs
00455     size_t data_size;
00456     uint16_t error_code;
00457 } ec_ioctl_slave_soe_read_t;
00458 
00459 /*****************************************************************************/
00460 
00461 typedef struct {
00462     // inputs
00463     uint16_t slave_position;
00464     uint8_t drive_no;
00465     uint16_t idn;
00466     size_t data_size;
00467     uint8_t *data;
00468 
00469     // outputs
00470     uint16_t error_code;
00471 } ec_ioctl_slave_soe_write_t;
00472 
00473 /*****************************************************************************/
00474 
00475 typedef struct {
00476     // inputs
00477     uint32_t config_index;
00478 
00479     // outputs
00480     uint16_t alias;
00481     uint16_t position;
00482     uint32_t vendor_id;
00483     uint32_t product_code;
00484     struct {
00485         ec_direction_t dir;
00486         ec_watchdog_mode_t watchdog_mode;
00487         uint32_t pdo_count;
00488         uint8_t config_this;
00489     } syncs[EC_MAX_SYNC_MANAGERS];
00490     uint16_t watchdog_divider;
00491     uint16_t watchdog_intervals;
00492     uint32_t sdo_count;
00493     uint32_t idn_count;
00494     int32_t slave_position;
00495     uint16_t dc_assign_activate;
00496     ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT];
00497 } ec_ioctl_config_t;
00498 
00499 /*****************************************************************************/
00500 
00501 typedef struct {
00502     // inputs
00503     uint32_t config_index;
00504     uint8_t sync_index;
00505     uint16_t pdo_pos;
00506 
00507     // outputs
00508     uint16_t index;
00509     uint8_t entry_count;
00510     int8_t name[EC_IOCTL_STRING_SIZE];
00511 } ec_ioctl_config_pdo_t;
00512 
00513 /*****************************************************************************/
00514 
00515 typedef struct {
00516     // inputs
00517     uint32_t config_index;
00518     uint8_t sync_index;
00519     uint16_t pdo_pos;
00520     uint8_t entry_pos;
00521 
00522     // outputs
00523     uint16_t index;
00524     uint8_t subindex;
00525     uint8_t bit_length;
00526     int8_t name[EC_IOCTL_STRING_SIZE];
00527 } ec_ioctl_config_pdo_entry_t;
00528 
00529 /*****************************************************************************/
00530 
00534 #define EC_MAX_SDO_DATA_SIZE 1024
00535 
00536 typedef struct {
00537     // inputs
00538     uint32_t config_index;
00539     uint32_t sdo_pos;
00540 
00541     // outputs
00542     uint16_t index;
00543     uint8_t subindex;
00544     size_t size;
00545     uint8_t data[EC_MAX_SDO_DATA_SIZE];
00546     uint8_t complete_access;
00547 } ec_ioctl_config_sdo_t;
00548 
00549 /*****************************************************************************/
00550 
00554 #define EC_MAX_IDN_DATA_SIZE 1024
00555 
00556 typedef struct {
00557     // inputs
00558     uint32_t config_index;
00559     uint32_t idn_pos;
00560 
00561     // outputs
00562     uint8_t drive_no;
00563     uint16_t idn;
00564     ec_al_state_t state;
00565     size_t size;
00566     uint8_t data[EC_MAX_IDN_DATA_SIZE];
00567 } ec_ioctl_config_idn_t;
00568 
00569 /*****************************************************************************/
00570 
00571 #ifdef EC_EOE
00572 
00573 typedef struct {
00574     // input
00575     uint16_t eoe_index;
00576 
00577     // outputs
00578     char name[EC_DATAGRAM_NAME_SIZE];
00579     uint16_t slave_position;
00580     uint8_t open;
00581     uint32_t rx_bytes;
00582     uint32_t rx_rate;
00583     uint32_t tx_bytes;
00584     uint32_t tx_rate;
00585     uint32_t tx_queued_frames;
00586     uint32_t tx_queue_size;
00587 } ec_ioctl_eoe_handler_t;
00588 
00589 #endif
00590 
00591 /*****************************************************************************/
00592 
00593 typedef struct {
00594     // outputs
00595     void *process_data;
00596     size_t process_data_size;
00597 } ec_ioctl_master_activate_t;
00598 
00599 /*****************************************************************************/
00600 
00601 typedef struct {
00602     // inputs
00603     uint32_t config_index;
00604     uint16_t pdo_index;
00605     uint16_t entry_index;
00606     uint8_t entry_subindex;
00607     uint8_t entry_bit_length;
00608 } ec_ioctl_add_pdo_entry_t;
00609 
00610 /*****************************************************************************/
00611 
00612 typedef struct {
00613     // inputs
00614     uint32_t config_index;
00615     uint16_t entry_index;
00616     uint8_t entry_subindex;
00617     uint32_t domain_index;
00618 
00619     // outputs
00620     unsigned int bit_position;
00621 } ec_ioctl_reg_pdo_entry_t;
00622 
00623 /*****************************************************************************/
00624 
00625 typedef struct {
00626     // inputs
00627     uint32_t config_index;
00628     uint32_t sync_index;
00629     uint32_t pdo_pos;
00630     uint32_t entry_pos;
00631     uint32_t domain_index;
00632 
00633     // outputs
00634     unsigned int bit_position;
00635 } ec_ioctl_reg_pdo_pos_t;
00636 
00637 /*****************************************************************************/
00638 
00639 typedef struct {
00640     // inputs
00641     uint32_t config_index;
00642     uint16_t index;
00643     uint8_t subindex;
00644     const uint8_t *data;
00645     size_t size;
00646     uint8_t complete_access;
00647 } ec_ioctl_sc_sdo_t;
00648 
00649 /*****************************************************************************/
00650 
00651 typedef struct {
00652     // inputs
00653     uint32_t config_index;
00654     size_t size;
00655     uint8_t *target;
00656 
00657     // outputs
00658     int32_t overruns;
00659 } ec_ioctl_sc_emerg_t;
00660 
00661 /*****************************************************************************/
00662 
00663 typedef struct {
00664     // inputs
00665     uint32_t config_index;
00666 
00667     // outputs
00668     ec_slave_config_state_t *state;
00669 } ec_ioctl_sc_state_t;
00670 
00671 /*****************************************************************************/
00672 
00673 typedef struct {
00674     // inputs
00675     uint32_t config_index;
00676     uint8_t drive_no;
00677     uint16_t idn;
00678     ec_al_state_t al_state;
00679     const uint8_t *data;
00680     size_t size;
00681 } ec_ioctl_sc_idn_t;
00682 
00683 /*****************************************************************************/
00684 
00685 typedef struct {
00686     // inputs
00687     uint32_t domain_index;
00688 
00689     // outputs
00690     ec_domain_state_t *state;
00691 } ec_ioctl_domain_state_t;
00692 
00693 /*****************************************************************************/
00694 
00695 typedef struct {
00696     // inputs
00697     uint32_t config_index;
00698 
00699     // inputs/outputs
00700     uint32_t request_index;
00701     uint16_t sdo_index;
00702     uint8_t sdo_subindex;
00703     size_t size;
00704     uint8_t *data;
00705     uint32_t timeout;
00706     ec_request_state_t state;
00707 } ec_ioctl_sdo_request_t;
00708 
00709 /*****************************************************************************/
00710 
00711 typedef struct {
00712     // inputs
00713     uint32_t config_index;
00714     size_t mem_size;
00715 
00716     // inputs/outputs
00717     uint32_t request_index;
00718     uint8_t *data;
00719     ec_request_state_t state;
00720     uint8_t new_data;
00721     uint16_t address;
00722     size_t transfer_size;
00723 } ec_ioctl_reg_request_t;
00724 
00725 /*****************************************************************************/
00726 
00727 typedef struct {
00728     // inputs
00729     uint32_t config_index;
00730 
00731     // inputs/outputs
00732     uint32_t voe_index;
00733     uint32_t *vendor_id;
00734     uint16_t *vendor_type;
00735     size_t size;
00736     uint8_t *data;
00737     ec_request_state_t state;
00738 } ec_ioctl_voe_t;
00739 
00740 /*****************************************************************************/
00741 
00742 typedef struct {
00743     // inputs
00744     uint32_t dev_idx;
00745 
00746     // outputs
00747     ec_master_link_state_t *state;
00748 } ec_ioctl_link_state_t;
00749 
00750 /*****************************************************************************/
00751 
00752 typedef struct {
00753     // inputs
00754     uint64_t app_time;
00755 } ec_ioctl_app_time_t;
00756 
00757 /*****************************************************************************/
00758 
00759 #ifdef __KERNEL__
00760 
00763 typedef struct {
00764     unsigned int writable; 
00765     unsigned int requested; 
00766     uint8_t *process_data; 
00767     size_t process_data_size; 
00768 } ec_ioctl_context_t;
00769 
00770 long ec_ioctl(ec_master_t *, ec_ioctl_context_t *, unsigned int,
00771         void __user *);
00772 
00773 #ifdef EC_RTDM
00774 
00775 long ec_ioctl_rtdm(ec_master_t *, ec_ioctl_context_t *, unsigned int,
00776         void __user *);
00777 int ec_rtdm_mmap(ec_ioctl_context_t *, void **);
00778 
00779 #endif
00780 
00781 #endif
00782 
00783 /*****************************************************************************/
00784 
00787 #endif