EtherCAT master character device. More...

Macros
#define	DEBUG_LATENCY 0
	Set to 1 to enable ioctl() latency tracing. More...

#define	ATTRIBUTES
	Optional compiler attributes fo ioctl() functions.

#define	ec_ioctl_lock(lock) rt_mutex_lock(lock)

#define	ec_ioctl_unlock(lock) rt_mutex_unlock(lock)

#define	ec_ioctl_lock_interruptible(lock) rt_mutex_lock_interruptible(lock)

#define	ec_copy_to_user(to, from, n, ctx) copy_to_user(to, from, n)

#define	ec_copy_from_user(to, from, n, ctx) copy_from_user(to, from, n)

Functions
static void	ec_ioctl_strcpy (char target, const char source)
	Copies a string to an ioctl structure. More...

static ATTRIBUTES int	ec_ioctl_module (void arg, ec_ioctl_context_t ctx)
	Get module information. More...

static ATTRIBUTES int	ec_ioctl_master (ec_master_t master, void arg)
	Get master information. More...

static ATTRIBUTES int	ec_ioctl_slave (ec_master_t master, void arg)
	Get slave information. More...

static ATTRIBUTES int	ec_ioctl_slave_sync (ec_master_t master, void arg)
	Get slave sync manager information. More...

static ATTRIBUTES int	ec_ioctl_slave_sync_pdo (ec_master_t master, void arg)
	Get slave sync manager PDO information. More...

static ATTRIBUTES int	ec_ioctl_slave_sync_pdo_entry (ec_master_t master, void arg)
	Get slave sync manager PDO entry information. More...

static ATTRIBUTES int	ec_ioctl_domain (ec_master_t master, void arg)
	Get domain information. More...

static ATTRIBUTES int	ec_ioctl_domain_fmmu (ec_master_t master, void arg)
	Get domain FMMU information. More...

static ATTRIBUTES int	ec_ioctl_domain_data (ec_master_t master, void arg)
	Get domain data. More...

static ATTRIBUTES int	ec_ioctl_master_debug (ec_master_t master, void arg)
	Set master debug level. More...

static ATTRIBUTES int	ec_ioctl_master_rescan (ec_master_t master, void arg)
	Issue a bus scan. More...

static ATTRIBUTES int	ec_ioctl_slave_state (ec_master_t master, void arg)
	Set slave state. More...

static ATTRIBUTES int	ec_ioctl_slave_sdo (ec_master_t master, void arg)
	Get slave SDO information. More...

static ATTRIBUTES int	ec_ioctl_slave_sdo_entry (ec_master_t master, void arg)
	Get slave SDO entry information. More...

static ATTRIBUTES int	ec_ioctl_slave_sdo_upload (ec_master_t master, void arg)
	Upload SDO. More...

static ATTRIBUTES int	ec_ioctl_slave_sdo_download (ec_master_t master, void arg)
	Download SDO. More...

static ATTRIBUTES int	ec_ioctl_slave_sii_read (ec_master_t master, void arg)
	Read a slave's SII. More...

static ATTRIBUTES int	ec_ioctl_slave_sii_write (ec_master_t master, void arg)
	Write a slave's SII. More...

static ATTRIBUTES int	ec_ioctl_slave_reg_read (ec_master_t master, void arg)
	Read a slave's registers. More...

static ATTRIBUTES int	ec_ioctl_slave_reg_write (ec_master_t master, void arg)
	Write a slave's registers. More...

static ATTRIBUTES int	ec_ioctl_config (ec_master_t master, void arg)
	Get slave configuration information. More...

static ATTRIBUTES int	ec_ioctl_config_pdo (ec_master_t master, void arg)
	Get slave configuration PDO information. More...

static ATTRIBUTES int	ec_ioctl_config_pdo_entry (ec_master_t master, void arg)
	Get slave configuration PDO entry information. More...

static ATTRIBUTES int	ec_ioctl_config_sdo (ec_master_t master, void arg)
	Get slave configuration SDO information. More...

static ATTRIBUTES int	ec_ioctl_config_idn (ec_master_t master, void arg)
	Get slave configuration IDN information. More...

static ATTRIBUTES int	ec_ioctl_config_flag (ec_master_t master, void arg)
	Get slave configuration feature flag information. More...

static ATTRIBUTES int	ec_ioctl_config_ip (ec_master_t master, void arg)
	Get configured EoE IP parameters for a given slave configuration. More...

static ATTRIBUTES int	ec_ioctl_eoe_handler (ec_master_t master, void arg)
	Get EoE handler information. More...

static ATTRIBUTES int	ec_ioctl_slave_eoe_ip_param (ec_master_t master, void arg)
	Request EoE IP parameter setting. More...

static ATTRIBUTES int	ec_ioctl_request (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Request the master from userspace. More...

static ATTRIBUTES int	ec_ioctl_create_domain (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Create a domain. More...

static ATTRIBUTES int	ec_ioctl_create_slave_config (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Create a slave configuration. More...

static ATTRIBUTES int	ec_ioctl_select_ref_clock (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Select the DC reference clock. More...

static ATTRIBUTES int	ec_ioctl_activate (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Activates the master. More...

static ATTRIBUTES int	ec_ioctl_deactivate (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Deactivates the master. More...

static ATTRIBUTES int	ec_ioctl_set_send_interval (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Set max. More...

static ATTRIBUTES int	ec_ioctl_send (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Send frames. More...

static ATTRIBUTES int	ec_ioctl_receive (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Receive frames. More...

static ATTRIBUTES int	ec_ioctl_master_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the master state. More...

static ATTRIBUTES int	ec_ioctl_master_link_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the link state. More...

static ATTRIBUTES int	ec_ioctl_app_time (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Set the master DC application time. More...

static ATTRIBUTES int	ec_ioctl_sync_ref (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sync the reference clock. More...

static ATTRIBUTES int	ec_ioctl_sync_ref_to (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sync the reference clock. More...

static ATTRIBUTES int	ec_ioctl_sync_slaves (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sync the slave clocks. More...

static ATTRIBUTES int	ec_ioctl_ref_clock_time (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the system time of the reference clock. More...

static ATTRIBUTES int	ec_ioctl_sync_mon_queue (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Queue the sync monitoring datagram. More...

static ATTRIBUTES int	ec_ioctl_sync_mon_process (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Processes the sync monitoring datagram. More...

static ATTRIBUTES int	ec_ioctl_reset (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Reset configuration. More...

static ATTRIBUTES int	ec_ioctl_sc_sync (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Configure a sync manager. More...

static ATTRIBUTES int	ec_ioctl_sc_watchdog (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Configure a slave's watchdogs. More...

static ATTRIBUTES int	ec_ioctl_sc_add_pdo (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Add a PDO to the assignment. More...

static ATTRIBUTES int	ec_ioctl_sc_clear_pdos (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Clears the PDO assignment. More...

static ATTRIBUTES int	ec_ioctl_sc_add_entry (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Add an entry to a PDO's mapping. More...

static ATTRIBUTES int	ec_ioctl_sc_clear_entries (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Clears the mapping of a PDO. More...

static ATTRIBUTES int	ec_ioctl_sc_reg_pdo_entry (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Registers a PDO entry. More...

static ATTRIBUTES int	ec_ioctl_sc_reg_pdo_pos (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Registers a PDO entry by its position. More...

static ATTRIBUTES int	ec_ioctl_sc_dc (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sets the DC AssignActivate word and the sync signal times. More...

static ATTRIBUTES int	ec_ioctl_sc_sdo (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Configures an SDO. More...

static ATTRIBUTES int	ec_ioctl_sc_emerg_size (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Set the emergency ring buffer size. More...

static ATTRIBUTES int	ec_ioctl_sc_emerg_pop (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get an emergency message from the ring. More...

static ATTRIBUTES int	ec_ioctl_sc_emerg_clear (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Clear the emergency ring. More...

static ATTRIBUTES int	ec_ioctl_sc_emerg_overruns (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the number of emergency overruns. More...

static ATTRIBUTES int	ec_ioctl_sc_create_sdo_request (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Create an SDO request. More...

static ATTRIBUTES int	ec_ioctl_sc_create_soe_request (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Create an SoE request. More...

static ATTRIBUTES int	ec_ioctl_sc_create_reg_request (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Create a register request. More...

static ATTRIBUTES int	ec_ioctl_sc_create_voe_handler (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Create a VoE handler. More...

static ATTRIBUTES int	ec_ioctl_sc_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the slave configuration's state. More...

static ATTRIBUTES int	ec_ioctl_sc_idn (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Configures an IDN. More...

static ATTRIBUTES int	ec_ioctl_sc_flag (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Configures a feature flag. More...

static ATTRIBUTES int	ec_ioctl_sc_state_timeout (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sets an AL state transition timeout. More...

static ATTRIBUTES int	ec_ioctl_sc_ip (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Configures EoE IP parameters. More...

static ATTRIBUTES int	ec_ioctl_domain_size (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Gets the domain's data size. More...

static ATTRIBUTES int	ec_ioctl_domain_offset (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Gets the domain's offset in the total process data. More...

static ATTRIBUTES int	ec_ioctl_domain_process (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Process the domain. More...

static ATTRIBUTES int	ec_ioctl_domain_queue (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Queue the domain. More...

static ATTRIBUTES int	ec_ioctl_domain_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the domain state. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_index (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sets an SDO request's SDO index and subindex. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_timeout (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sets an SDO request's timeout. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Gets an SDO request's state. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_read (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts an SDO read operation. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_write (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts an SDO write operation. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_data (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Read SDO data. More...

static ATTRIBUTES int	ec_ioctl_soe_request_index (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sets an SoE request's drive number and IDN. More...

static ATTRIBUTES int	ec_ioctl_soe_request_timeout (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sets an CoE request's timeout. More...

static ATTRIBUTES int	ec_ioctl_soe_request_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Gets an SoE request's state. More...

static ATTRIBUTES int	ec_ioctl_soe_request_read (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts an SoE IDN read operation. More...

static ATTRIBUTES int	ec_ioctl_soe_request_write (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts an SoE IDN write operation. More...

static ATTRIBUTES int	ec_ioctl_soe_request_data (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Read SoE IDN data. More...

static ATTRIBUTES int	ec_ioctl_reg_request_data (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Read register data. More...

static ATTRIBUTES int	ec_ioctl_reg_request_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Gets an register request's state. More...

static ATTRIBUTES int	ec_ioctl_reg_request_write (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts an register write operation. More...

static ATTRIBUTES int	ec_ioctl_reg_request_read (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts an register read operation. More...

static ATTRIBUTES int	ec_ioctl_voe_send_header (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sets the VoE send header. More...

static ATTRIBUTES int	ec_ioctl_voe_rec_header (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Gets the received VoE header. More...

static ATTRIBUTES int	ec_ioctl_voe_read (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts a VoE read operation. More...

static ATTRIBUTES int	ec_ioctl_voe_read_nosync (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts a VoE read operation without sending a sync message first. More...

static ATTRIBUTES int	ec_ioctl_voe_write (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts a VoE write operation. More...

static ATTRIBUTES int	ec_ioctl_voe_exec (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Executes the VoE state machine. More...

static ATTRIBUTES int	ec_ioctl_voe_data (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Reads the received VoE data. More...

static ATTRIBUTES int	ec_ioctl_slave_foe_read (ec_master_t master, void arg)
	Read a file from a slave via FoE. More...

static ATTRIBUTES int	ec_ioctl_slave_foe_write (ec_master_t master, void arg)
	Write a file to a slave via FoE. More...

static ATTRIBUTES int	ec_ioctl_slave_soe_read (ec_master_t master, void arg)
	Read an SoE IDN. More...

static ATTRIBUTES int	ec_ioctl_slave_soe_write (ec_master_t master, void arg)
	Write an IDN to a slave via SoE. More...

static long	ec_ioctl_nrt (ec_master_t master, ec_ioctl_context_t ctx, unsigned int cmd, void *arg)
	ioctl() function to use. More...

static long	ec_ioctl_both (ec_master_t master, ec_ioctl_context_t ctx, unsigned int cmd, void *arg)
	Called when an ioctl() command is issued. More...

long	ec_ioctl (ec_master_t master, ec_ioctl_context_t ctx, unsigned int cmd, void *arg)
	Called when an ioctl() command is issued. More...

Detailed Description

EtherCAT master character device.

Definition in file rtdm-ioctl.c.

Macro Definition Documentation

◆ DEBUG_LATENCY

#define DEBUG_LATENCY 0

Set to 1 to enable ioctl() latency tracing.

Requires CPU timestamp counter!

Definition at line 41 of file rtdm-ioctl.c.

Function Documentation

◆ ec_ioctl_strcpy()

static void ec_ioctl_strcpy	(	char *	target,
		const char *	source
	)

static

Copies a string to an ioctl structure.

Parameters

target	Target.
source	Source.

Definition at line 82 of file rtdm-ioctl.c.

◆ ec_ioctl_module()

static ATTRIBUTES int ec_ioctl_module	(	void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get module information.

Returns: Zero on success, otherwise a negative error code.

Parameters

arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 101 of file rtdm-ioctl.c.

◆ ec_ioctl_master()

static ATTRIBUTES int ec_ioctl_master	(	ec_master_t *	master,
		void *	arg
	)

static

Get master information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 123 of file rtdm-ioctl.c.

◆ ec_ioctl_slave()

static ATTRIBUTES int ec_ioctl_slave	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 222 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_sync()

static ATTRIBUTES int ec_ioctl_slave_sync	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave sync manager information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 309 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_sync_pdo()

static ATTRIBUTES int ec_ioctl_slave_sync_pdo	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave sync manager PDO information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 362 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_sync_pdo_entry()

static ATTRIBUTES int ec_ioctl_slave_sync_pdo_entry	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave sync manager PDO entry information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 421 of file rtdm-ioctl.c.

◆ ec_ioctl_domain()

static ATTRIBUTES int ec_ioctl_domain	(	ec_master_t *	master,
		void *	arg
	)

static

Get domain information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 490 of file rtdm-ioctl.c.

◆ ec_ioctl_domain_fmmu()

static ATTRIBUTES int ec_ioctl_domain_fmmu	(	ec_master_t *	master,
		void *	arg
	)

static

Get domain FMMU information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 535 of file rtdm-ioctl.c.

◆ ec_ioctl_domain_data()

static ATTRIBUTES int ec_ioctl_domain_data	(	ec_master_t *	master,
		void *	arg
	)

static

Get domain data.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 587 of file rtdm-ioctl.c.

◆ ec_ioctl_master_debug()

static ATTRIBUTES int ec_ioctl_master_debug	(	ec_master_t *	master,
		void *	arg
	)

static

Set master debug level.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 632 of file rtdm-ioctl.c.

◆ ec_ioctl_master_rescan()

static ATTRIBUTES int ec_ioctl_master_rescan	(	ec_master_t *	master,
		void *	arg
	)

static

Issue a bus scan.

Returns: Always zero (success).

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 646 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_state()

static ATTRIBUTES int ec_ioctl_slave_state	(	ec_master_t *	master,
		void *	arg
	)

static

Set slave state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 663 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_sdo()

static ATTRIBUTES int ec_ioctl_slave_sdo	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave SDO information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 698 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_sdo_entry()

static ATTRIBUTES int ec_ioctl_slave_sdo_entry	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave SDO entry information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 747 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_sdo_upload()

static ATTRIBUTES int ec_ioctl_slave_sdo_upload	(	ec_master_t *	master,
		void *	arg
	)

static

Upload SDO.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 827 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_sdo_download()

static ATTRIBUTES int ec_ioctl_slave_sdo_download	(	ec_master_t *	master,
		void *	arg
	)

static

Download SDO.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 873 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_sii_read()

static ATTRIBUTES int ec_ioctl_slave_sii_read	(	ec_master_t *	master,
		void *	arg
	)

static

Read a slave's SII.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 922 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_sii_write()

static ATTRIBUTES int ec_ioctl_slave_sii_write	(	ec_master_t *	master,
		void *	arg
	)

static

Write a slave's SII.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 970 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_reg_read()

static ATTRIBUTES int ec_ioctl_slave_reg_read	(	ec_master_t *	master,
		void *	arg
	)

static

Read a slave's registers.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1058 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_reg_write()

static ATTRIBUTES int ec_ioctl_slave_reg_write	(	ec_master_t *	master,
		void *	arg
	)

static

Write a slave's registers.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1140 of file rtdm-ioctl.c.

◆ ec_ioctl_config()

static ATTRIBUTES int ec_ioctl_config	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave configuration information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1228 of file rtdm-ioctl.c.

◆ ec_ioctl_config_pdo()

static ATTRIBUTES int ec_ioctl_config_pdo	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave configuration PDO information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1287 of file rtdm-ioctl.c.

◆ ec_ioctl_config_pdo_entry()

static ATTRIBUTES int ec_ioctl_config_pdo_entry	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave configuration PDO entry information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1343 of file rtdm-ioctl.c.

◆ ec_ioctl_config_sdo()

static ATTRIBUTES int ec_ioctl_config_sdo	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave configuration SDO information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1408 of file rtdm-ioctl.c.

◆ ec_ioctl_config_idn()

static ATTRIBUTES int ec_ioctl_config_idn	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave configuration IDN information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1472 of file rtdm-ioctl.c.

◆ ec_ioctl_config_flag()

static ATTRIBUTES int ec_ioctl_config_flag	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave configuration feature flag information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1536 of file rtdm-ioctl.c.

◆ ec_ioctl_config_ip()

static ATTRIBUTES int ec_ioctl_config_ip	(	ec_master_t *	master,
		void *	arg
	)

static

Get configured EoE IP parameters for a given slave configuration.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1601 of file rtdm-ioctl.c.

◆ ec_ioctl_eoe_handler()

static ATTRIBUTES int ec_ioctl_eoe_handler	(	ec_master_t *	master,
		void *	arg
	)

static

Get EoE handler information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1669 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_eoe_ip_param()

static ATTRIBUTES int ec_ioctl_slave_eoe_ip_param	(	ec_master_t *	master,
		void *	arg
	)

static

Request EoE IP parameter setting.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1722 of file rtdm-ioctl.c.

◆ ec_ioctl_request()

static ATTRIBUTES int ec_ioctl_request	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Request the master from userspace.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1806 of file rtdm-ioctl.c.

◆ ec_ioctl_create_domain()

static ATTRIBUTES int ec_ioctl_create_domain	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Create a domain.

Returns: Domain index on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1831 of file rtdm-ioctl.c.

◆ ec_ioctl_create_slave_config()

static ATTRIBUTES int ec_ioctl_create_slave_config	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Create a slave configuration.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1855 of file rtdm-ioctl.c.

◆ ec_ioctl_select_ref_clock()

static ATTRIBUTES int ec_ioctl_select_ref_clock	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Select the DC reference clock.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1901 of file rtdm-ioctl.c.

◆ ec_ioctl_activate()

static ATTRIBUTES int ec_ioctl_activate	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Activates the master.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1942 of file rtdm-ioctl.c.

◆ ec_ioctl_deactivate()

static ATTRIBUTES int ec_ioctl_deactivate	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Deactivates the master.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2026 of file rtdm-ioctl.c.

◆ ec_ioctl_set_send_interval()

static ATTRIBUTES int ec_ioctl_set_send_interval	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Set max.

number of databytes in a cycle

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2044 of file rtdm-ioctl.c.

◆ ec_ioctl_send()

static ATTRIBUTES int ec_ioctl_send	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Send frames.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2076 of file rtdm-ioctl.c.

◆ ec_ioctl_receive()

static ATTRIBUTES int ec_ioctl_receive	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Receive frames.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2102 of file rtdm-ioctl.c.

◆ ec_ioctl_master_state()

static ATTRIBUTES int ec_ioctl_master_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the master state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2128 of file rtdm-ioctl.c.

◆ ec_ioctl_master_link_state()

static ATTRIBUTES int ec_ioctl_master_link_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the link state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2153 of file rtdm-ioctl.c.

◆ ec_ioctl_app_time()

static ATTRIBUTES int ec_ioctl_app_time	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Set the master DC application time.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2186 of file rtdm-ioctl.c.

◆ ec_ioctl_sync_ref()

static ATTRIBUTES int ec_ioctl_sync_ref	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sync the reference clock.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2210 of file rtdm-ioctl.c.

◆ ec_ioctl_sync_ref_to()

static ATTRIBUTES int ec_ioctl_sync_ref_to	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sync the reference clock.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2236 of file rtdm-ioctl.c.

◆ ec_ioctl_sync_slaves()

static ATTRIBUTES int ec_ioctl_sync_slaves	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sync the slave clocks.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2266 of file rtdm-ioctl.c.

◆ ec_ioctl_ref_clock_time()

static ATTRIBUTES int ec_ioctl_ref_clock_time	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the system time of the reference clock.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2292 of file rtdm-ioctl.c.

◆ ec_ioctl_sync_mon_queue()

static ATTRIBUTES int ec_ioctl_sync_mon_queue	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Queue the sync monitoring datagram.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2323 of file rtdm-ioctl.c.

◆ ec_ioctl_sync_mon_process()

static ATTRIBUTES int ec_ioctl_sync_mon_process	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Processes the sync monitoring datagram.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2349 of file rtdm-ioctl.c.

◆ ec_ioctl_reset()

static ATTRIBUTES int ec_ioctl_reset	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Reset configuration.

Returns: Always zero (success).

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2375 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_sync()

static ATTRIBUTES int ec_ioctl_sc_sync	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Configure a sync manager.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2396 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_watchdog()

static ATTRIBUTES int ec_ioctl_sc_watchdog	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Configure a slave's watchdogs.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2449 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_add_pdo()

static ATTRIBUTES int ec_ioctl_sc_add_pdo	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Add a PDO to the assignment.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2494 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_clear_pdos()

static ATTRIBUTES int ec_ioctl_sc_clear_pdos	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Clears the PDO assignment.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2528 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_add_entry()

static ATTRIBUTES int ec_ioctl_sc_add_entry	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Add an entry to a PDO's mapping.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2562 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_clear_entries()

static ATTRIBUTES int ec_ioctl_sc_clear_entries	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Clears the mapping of a PDO.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2597 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_reg_pdo_entry()

static ATTRIBUTES int ec_ioctl_sc_reg_pdo_entry	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Registers a PDO entry.

Returns: Process data offset on success, otherwise a negative error code.

Todo:: sc or domain could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2631 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_reg_pdo_pos()

static ATTRIBUTES int ec_ioctl_sc_reg_pdo_pos	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Registers a PDO entry by its position.

Returns: Process data offset on success, otherwise a negative error code.

Todo:: sc or domain could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2678 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_dc()

static ATTRIBUTES int ec_ioctl_sc_dc	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sets the DC AssignActivate word and the sync signal times.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2728 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_sdo()

static ATTRIBUTES int ec_ioctl_sc_sdo	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Configures an SDO.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2769 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_emerg_size()

static ATTRIBUTES int ec_ioctl_sc_emerg_size	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Set the emergency ring buffer size.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2828 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_emerg_pop()

static ATTRIBUTES int ec_ioctl_sc_emerg_pop	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get an emergency message from the ring.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2866 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_emerg_clear()

static ATTRIBUTES int ec_ioctl_sc_emerg_clear	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Clear the emergency ring.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2910 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_emerg_overruns()

static ATTRIBUTES int ec_ioctl_sc_emerg_overruns	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the number of emergency overruns.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2943 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_create_sdo_request()

static ATTRIBUTES int ec_ioctl_sc_create_sdo_request	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Create an SDO request.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2988 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_create_soe_request()

static ATTRIBUTES int ec_ioctl_sc_create_soe_request	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Create an SoE request.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3039 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_create_reg_request()

static ATTRIBUTES int ec_ioctl_sc_create_reg_request	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Create a register request.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3092 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_create_voe_handler()

static ATTRIBUTES int ec_ioctl_sc_create_voe_handler	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Create a VoE handler.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3146 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_state()

static ATTRIBUTES int ec_ioctl_sc_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the slave configuration's state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3196 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_idn()

static ATTRIBUTES int ec_ioctl_sc_idn	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Configures an IDN.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3238 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_flag()

static ATTRIBUTES int ec_ioctl_sc_flag	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Configures a feature flag.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3292 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_state_timeout()

static ATTRIBUTES int ec_ioctl_sc_state_timeout	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sets an AL state transition timeout.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3349 of file rtdm-ioctl.c.

◆ ec_ioctl_sc_ip()

static ATTRIBUTES int ec_ioctl_sc_ip	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Configures EoE IP parameters.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3391 of file rtdm-ioctl.c.

◆ ec_ioctl_domain_size()

static ATTRIBUTES int ec_ioctl_domain_size	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Gets the domain's data size.

Returns: Domain size, or a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3450 of file rtdm-ioctl.c.

◆ ec_ioctl_domain_offset()

static ATTRIBUTES int ec_ioctl_domain_offset	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Gets the domain's offset in the total process data.

Returns: Domain offset, or a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3484 of file rtdm-ioctl.c.

◆ ec_ioctl_domain_process()

static ATTRIBUTES int ec_ioctl_domain_process	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Process the domain.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3518 of file rtdm-ioctl.c.

◆ ec_ioctl_domain_queue()

static ATTRIBUTES int ec_ioctl_domain_queue	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Queue the domain.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3545 of file rtdm-ioctl.c.

◆ ec_ioctl_domain_state()

static ATTRIBUTES int ec_ioctl_domain_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the domain state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3578 of file rtdm-ioctl.c.

◆ ec_ioctl_sdo_request_index()

static ATTRIBUTES int ec_ioctl_sdo_request_index	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sets an SDO request's SDO index and subindex.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3620 of file rtdm-ioctl.c.

◆ ec_ioctl_sdo_request_timeout()

static ATTRIBUTES int ec_ioctl_sdo_request_timeout	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sets an SDO request's timeout.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3656 of file rtdm-ioctl.c.

◆ ec_ioctl_sdo_request_state()

static ATTRIBUTES int ec_ioctl_sdo_request_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Gets an SDO request's state.

Also pre-fetches the size of incoming data.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3694 of file rtdm-ioctl.c.

◆ ec_ioctl_sdo_request_read()

static ATTRIBUTES int ec_ioctl_sdo_request_read	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts an SDO read operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3739 of file rtdm-ioctl.c.

◆ ec_ioctl_sdo_request_write()

static ATTRIBUTES int ec_ioctl_sdo_request_write	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts an SDO write operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3775 of file rtdm-ioctl.c.

◆ ec_ioctl_sdo_request_data()

static ATTRIBUTES int ec_ioctl_sdo_request_data	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Read SDO data.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3824 of file rtdm-ioctl.c.

◆ ec_ioctl_soe_request_index()

static ATTRIBUTES int ec_ioctl_soe_request_index	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sets an SoE request's drive number and IDN.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3864 of file rtdm-ioctl.c.

◆ ec_ioctl_soe_request_timeout()

static ATTRIBUTES int ec_ioctl_soe_request_timeout	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sets an CoE request's timeout.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3900 of file rtdm-ioctl.c.

◆ ec_ioctl_soe_request_state()

static ATTRIBUTES int ec_ioctl_soe_request_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Gets an SoE request's state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3936 of file rtdm-ioctl.c.

◆ ec_ioctl_soe_request_read()

static ATTRIBUTES int ec_ioctl_soe_request_read	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts an SoE IDN read operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3983 of file rtdm-ioctl.c.

◆ ec_ioctl_soe_request_write()

static ATTRIBUTES int ec_ioctl_soe_request_write	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts an SoE IDN write operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4019 of file rtdm-ioctl.c.

◆ ec_ioctl_soe_request_data()

static ATTRIBUTES int ec_ioctl_soe_request_data	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Read SoE IDN data.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4068 of file rtdm-ioctl.c.

◆ ec_ioctl_reg_request_data()

static ATTRIBUTES int ec_ioctl_reg_request_data	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Read register data.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4108 of file rtdm-ioctl.c.

◆ ec_ioctl_reg_request_state()

static ATTRIBUTES int ec_ioctl_reg_request_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Gets an register request's state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4155 of file rtdm-ioctl.c.

◆ ec_ioctl_reg_request_write()

static ATTRIBUTES int ec_ioctl_reg_request_write	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts an register write operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4200 of file rtdm-ioctl.c.

◆ ec_ioctl_reg_request_read()

static ATTRIBUTES int ec_ioctl_reg_request_read	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts an register read operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4247 of file rtdm-ioctl.c.

◆ ec_ioctl_voe_send_header()

static ATTRIBUTES int ec_ioctl_voe_send_header	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sets the VoE send header.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4289 of file rtdm-ioctl.c.

◆ ec_ioctl_voe_rec_header()

static ATTRIBUTES int ec_ioctl_voe_rec_header	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Gets the received VoE header.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4334 of file rtdm-ioctl.c.

◆ ec_ioctl_voe_read()

static ATTRIBUTES int ec_ioctl_voe_read	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts a VoE read operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4387 of file rtdm-ioctl.c.

◆ ec_ioctl_voe_read_nosync()

static ATTRIBUTES int ec_ioctl_voe_read_nosync	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts a VoE read operation without sending a sync message first.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4423 of file rtdm-ioctl.c.

◆ ec_ioctl_voe_write()

static ATTRIBUTES int ec_ioctl_voe_write	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts a VoE write operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4459 of file rtdm-ioctl.c.

◆ ec_ioctl_voe_exec()

static ATTRIBUTES int ec_ioctl_voe_exec	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Executes the VoE state machine.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4504 of file rtdm-ioctl.c.

◆ ec_ioctl_voe_data()

static ATTRIBUTES int ec_ioctl_voe_data	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Reads the received VoE data.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 4553 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_foe_read()

static ATTRIBUTES int ec_ioctl_slave_foe_read	(	ec_master_t *	master,
		void *	arg
	)

static

Read a file from a slave via FoE.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 4593 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_foe_write()

static ATTRIBUTES int ec_ioctl_slave_foe_write	(	ec_master_t *	master,
		void *	arg
	)

static

Write a file to a slave via FoE.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 4689 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_soe_read()

static ATTRIBUTES int ec_ioctl_slave_soe_read	(	ec_master_t *	master,
		void *	arg
	)

static

Read an SoE IDN.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 4777 of file rtdm-ioctl.c.

◆ ec_ioctl_slave_soe_write()

static ATTRIBUTES int ec_ioctl_slave_soe_write	(	ec_master_t *	master,
		void *	arg
	)

static

Write an IDN to a slave via SoE.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 4826 of file rtdm-ioctl.c.

◆ ec_ioctl_nrt()

static long ec_ioctl_nrt	(	ec_master_t *	master,
		ec_ioctl_context_t *	ctx,
		unsigned int	cmd,
		void *	arg
	)

static

ioctl() function to use.

Called when an ioctl() command is issued.

For RTDM, there will be ec_ioctl_rtdm_rt and ec_ioctl_rtdm_nrt. For "normal" cdev, there will be ec_ioctl_rt only.

nRT context only.

Returns: ioctl() return code.

Parameters

master	EtherCAT master.
ctx	Device context.
cmd	ioctl() command identifier.
arg	ioctl() argument.

Definition at line 5220 of file rtdm-ioctl.c.

◆ ec_ioctl_both()

static long ec_ioctl_both	(	ec_master_t *	master,
		ec_ioctl_context_t *	ctx,
		unsigned int	cmd,
		void *	arg
	)

static

Called when an ioctl() command is issued.

Both RT and nRT context.

Returns: ioctl() return code.

Parameters

master	EtherCAT master.
ctx	Device context.
cmd	ioctl() command identifier.
arg	ioctl() argument.

Definition at line 4890 of file rtdm-ioctl.c.

◆ ec_ioctl()

long ec_ioctl	(	ec_master_t *	master,
		ec_ioctl_context_t *	ctx,
		unsigned int	cmd,
		void *	arg
	)

Called when an ioctl() command is issued.

RTDM: RT only.

Returns: ioctl() return code.

Parameters

master	EtherCAT master.
ctx	Device context.
cmd	ioctl() command identifier.
arg	ioctl() argument.

Definition at line 4974 of file rtdm-ioctl.c.

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ DEBUG_LATENCY

Function Documentation

◆ ec_ioctl_strcpy()

◆ ec_ioctl_module()

◆ ec_ioctl_master()

◆ ec_ioctl_slave()

◆ ec_ioctl_slave_sync()

◆ ec_ioctl_slave_sync_pdo()

◆ ec_ioctl_slave_sync_pdo_entry()

◆ ec_ioctl_domain()

◆ ec_ioctl_domain_fmmu()

◆ ec_ioctl_domain_data()

◆ ec_ioctl_master_debug()

◆ ec_ioctl_master_rescan()

◆ ec_ioctl_slave_state()

◆ ec_ioctl_slave_sdo()

◆ ec_ioctl_slave_sdo_entry()

◆ ec_ioctl_slave_sdo_upload()

◆ ec_ioctl_slave_sdo_download()

◆ ec_ioctl_slave_sii_read()

◆ ec_ioctl_slave_sii_write()

◆ ec_ioctl_slave_reg_read()

◆ ec_ioctl_slave_reg_write()

◆ ec_ioctl_config()

◆ ec_ioctl_config_pdo()

◆ ec_ioctl_config_pdo_entry()

◆ ec_ioctl_config_sdo()

◆ ec_ioctl_config_idn()

◆ ec_ioctl_config_flag()

◆ ec_ioctl_config_ip()

◆ ec_ioctl_eoe_handler()

◆ ec_ioctl_slave_eoe_ip_param()

◆ ec_ioctl_request()

◆ ec_ioctl_create_domain()

◆ ec_ioctl_create_slave_config()

◆ ec_ioctl_select_ref_clock()

◆ ec_ioctl_activate()

◆ ec_ioctl_deactivate()

◆ ec_ioctl_set_send_interval()

◆ ec_ioctl_send()

◆ ec_ioctl_receive()

◆ ec_ioctl_master_state()

◆ ec_ioctl_master_link_state()

◆ ec_ioctl_app_time()

◆ ec_ioctl_sync_ref()

◆ ec_ioctl_sync_ref_to()

◆ ec_ioctl_sync_slaves()

◆ ec_ioctl_ref_clock_time()

◆ ec_ioctl_sync_mon_queue()

◆ ec_ioctl_sync_mon_process()

◆ ec_ioctl_reset()

◆ ec_ioctl_sc_sync()

◆ ec_ioctl_sc_watchdog()

◆ ec_ioctl_sc_add_pdo()

◆ ec_ioctl_sc_clear_pdos()

◆ ec_ioctl_sc_add_entry()

◆ ec_ioctl_sc_clear_entries()

◆ ec_ioctl_sc_reg_pdo_entry()

◆ ec_ioctl_sc_reg_pdo_pos()

◆ ec_ioctl_sc_dc()

◆ ec_ioctl_sc_sdo()

◆ ec_ioctl_sc_emerg_size()

◆ ec_ioctl_sc_emerg_pop()

◆ ec_ioctl_sc_emerg_clear()

◆ ec_ioctl_sc_emerg_overruns()

◆ ec_ioctl_sc_create_sdo_request()

◆ ec_ioctl_sc_create_soe_request()

◆ ec_ioctl_sc_create_reg_request()

◆ ec_ioctl_sc_create_voe_handler()

◆ ec_ioctl_sc_state()

◆ ec_ioctl_sc_idn()

◆ ec_ioctl_sc_flag()

◆ ec_ioctl_sc_state_timeout()

◆ ec_ioctl_sc_ip()

◆ ec_ioctl_domain_size()

◆ ec_ioctl_domain_offset()