all: update to master code 1.6.1

.github/workflows/build.yml

@@ -40,7 +40,7 @@ jobs:
         run: |
           git clone https://gitlab.com/etherlab.org/ethercat ethercat-git
           cd ethercat-git
-          git checkout stable-1.5
+          git checkout stable-1.6
           ./bootstrap
           ./configure --disable-8139too
 

CHANGELOG.md

@@ -1,5 +1,10 @@
 # Changelog
 
+## Unreleased
+
+- Update to stable-1.6 branch of master code (#48)
+- Update `pregenerated-bindings` to tag 1.6.1 of the master code
+
 ## v0.3.1 (2023-10-14)
 
 - Bump MSRV to 1.63.0

README.md

@@ -24,11 +24,11 @@ environment variable `ETHERCAT_PATH` to the location of a checkout of the IgH
 Etherlab repository, *after running `configure` there*.
 
 The IgH repository is located at <https://gitlab.com/etherlab.org/ethercat>.
-Please switch to the ``stable-1.5`` branch in the checkout.
+Please switch to the ``stable-1.6`` branch in the checkout.
 
-Bindings have been pregenerated for revision `c022ddbcf254` - if you activate
-the feature `pregenerated-bindings`, you don't need the master code to build,
-but the kernel modules must match that revision.
+Bindings have been pregenerated for the tag `1.6.1` - if you activate the
+feature `pregenerated-bindings`, you don't need the master code to build, but
+the kernel modules must match that revision.
 
 The minimum tested Rust version is 1.63.0.
 

ethercat-sys/Cargo.toml

@@ -12,7 +12,7 @@ edition = "2018"
 ioctl-sys = "0.5.2"
 
 [build-dependencies]
-bindgen = "0.63.0"
+bindgen = "0.69.0"
 regex = "=1.9.6"
 # for 1.63 compatibility
 home = "=0.5.5"

ethercat-sys/src/bindings-v1.5-c022ddbcf254.rs → ethercat-sys/src/bindings-v1.6.1.rs

@@ -1,4 +1,4 @@
-/* automatically generated by rust-bindgen 0.63.0 */
+/* automatically generated by rust-bindgen 0.69.4 */
 
 #[repr(C)]
 #[derive(Copy, Clone, Debug, Default, Eq, Hash, Ord, PartialEq, PartialOrd)]
@@ -86,12 +86,19 @@ pub const EC_MAX_STRING_LENGTH: u32 = 64;
 pub const EC_MAX_PORTS: u32 = 4;
 pub const EC_MAX_SII_SIZE: u32 = 4096;
 pub const EC_MAX_FMMUS: u32 = 16;
+pub const EC_MAX_HOSTNAME_SIZE: u32 = 32;
 pub const EC_IOCTL_TYPE: u32 = 164;
-pub const EC_IOCTL_VERSION_MAGIC: u32 = 31;
+pub const EC_IOCTL_VERSION_MAGIC: u32 = 37;
 pub const EC_IOCTL_STRING_SIZE: u32 = 64;
 pub const EC_MAX_SDO_DATA_SIZE: u32 = 1024;
 pub const EC_MAX_IDN_DATA_SIZE: u32 = 1024;
 pub const EC_MAX_FLAG_KEY_SIZE: u32 = 128;
+pub type in_addr_t = u32;
+#[repr(C)]
+#[derive(Default, Copy, Clone)]
+pub struct in_addr {
+    pub s_addr: in_addr_t,
+}
 #[doc = " Master state.\n\n This is used for the output parameter of ecrt_master_state().\n\n \\see ecrt_master_state()."]
 #[repr(C)]
 #[derive(Default, Copy, Clone)]
@@ -345,7 +352,7 @@ pub const EC_AL_STATE_OP: ec_al_state_t = 8;
 #[doc = " Application-layer state."]
 pub type ec_al_state_t = ::std::os::raw::c_uint;
 #[doc = " Slave information interface CANopen over EtherCAT details flags."]
-#[repr(C, packed)]
+#[repr(C)]
 #[derive(Default, Copy, Clone)]
 pub struct ec_sii_coe_details_t {
     pub _bitfield_align_1: [u8; 0],
@@ -459,7 +466,7 @@ impl ec_sii_coe_details_t {
     }
 }
 #[doc = " Slave information interface general flags."]
-#[repr(C, packed)]
+#[repr(C)]
 #[derive(Default, Copy, Clone)]
 pub struct ec_sii_general_flags_t {
     pub _bitfield_align_1: [u8; 0],
@@ -529,6 +536,7 @@ pub struct ec_ioctl_module_t {
 #[derive(Default, Copy, Clone)]
 pub struct ec_ioctl_master_t {
     pub slave_count: u32,
+    pub scan_index: u32,
     pub config_count: u32,
     pub domain_count: u32,
     pub eoe_handler_count: u32,
@@ -1066,6 +1074,25 @@ pub struct ec_ioctl_eoe_handler_t {
     pub tx_queue_size: u32,
 }
 #[repr(C)]
+#[derive(Default, Copy, Clone)]
+pub struct ec_ioctl_eoe_ip_t {
+    pub slave_position: u16,
+    pub config_index: u16,
+    pub mac_address_included: u8,
+    pub ip_address_included: u8,
+    pub subnet_mask_included: u8,
+    pub gateway_included: u8,
+    pub dns_included: u8,
+    pub name_included: u8,
+    pub mac_address: [::std::os::raw::c_uchar; 6usize],
+    pub ip_address: in_addr,
+    pub subnet_mask: in_addr,
+    pub gateway: in_addr,
+    pub dns: in_addr,
+    pub name: [::std::os::raw::c_char; 32usize],
+    pub result: u16,
+}
+#[repr(C)]
 #[derive(Copy, Clone)]
 pub struct ec_ioctl_master_activate_t {
     pub process_data: *mut ::std::os::raw::c_void,
@@ -1197,6 +1224,23 @@ impl Default for ec_ioctl_sc_flag_t {
 }
 #[repr(C)]
 #[derive(Copy, Clone)]
+pub struct ec_ioctl_sc_state_timeout_t {
+    pub config_index: u32,
+    pub from_state: ec_al_state_t,
+    pub to_state: ec_al_state_t,
+    pub timeout_ms: u32,
+}
+impl Default for ec_ioctl_sc_state_timeout_t {
+    fn default() -> Self {
+        let mut s = ::std::mem::MaybeUninit::<Self>::uninit();
+        unsafe {
+            ::std::ptr::write_bytes(s.as_mut_ptr(), 0, 1);
+            s.assume_init()
+        }
+    }
+}
+#[repr(C)]
+#[derive(Copy, Clone)]
 pub struct ec_ioctl_domain_state_t {
     pub domain_index: u32,
     pub state: *mut ec_domain_state_t,
@@ -1233,6 +1277,27 @@ impl Default for ec_ioctl_sdo_request_t {
 }
 #[repr(C)]
 #[derive(Copy, Clone)]
+pub struct ec_ioctl_soe_request_t {
+    pub config_index: u32,
+    pub request_index: u32,
+    pub drive_no: u8,
+    pub idn: u16,
+    pub size: usize,
+    pub data: *mut u8,
+    pub timeout: u32,
+    pub state: ec_request_state_t,
+}
+impl Default for ec_ioctl_soe_request_t {
+    fn default() -> Self {
+        let mut s = ::std::mem::MaybeUninit::<Self>::uninit();
+        unsafe {
+            ::std::ptr::write_bytes(s.as_mut_ptr(), 0, 1);
+            s.assume_init()
+        }
+    }
+}
+#[repr(C)]
+#[derive(Copy, Clone)]
 pub struct ec_ioctl_reg_request_t {
     pub config_index: u32,
     pub mem_size: usize,

ethercat-sys/src/ioctls-v1.6.1.rs

@@ -0,0 +1,103 @@
+ioctl!(read       MODULE               with EC, 0x00; ec_ioctl_module_t);
+ioctl!(read       MASTER               with EC, 0x01; ec_ioctl_master_t);
+ioctl!(readwrite  SLAVE                with EC, 0x02; ec_ioctl_slave_t);
+ioctl!(readwrite  SLAVE_SYNC           with EC, 0x03; ec_ioctl_slave_sync_t);
+ioctl!(readwrite  SLAVE_SYNC_PDO       with EC, 0x04; ec_ioctl_slave_sync_pdo_t);
+ioctl!(readwrite  SLAVE_SYNC_PDO_ENTRY with EC, 0x05; ec_ioctl_slave_sync_pdo_entry_t);
+ioctl!(readwrite  DOMAIN               with EC, 0x06; ec_ioctl_domain_t);
+ioctl!(readwrite  DOMAIN_FMMU          with EC, 0x07; ec_ioctl_domain_fmmu_t);
+ioctl!(readwrite  DOMAIN_DATA          with EC, 0x08; ec_ioctl_domain_data_t);
+ioctl!(none       MASTER_DEBUG         with EC, 0x09);
+ioctl!(none       MASTER_RESCAN        with EC, 0x0a);
+ioctl!(write      SLAVE_STATE          with EC, 0x0b; ec_ioctl_slave_state_t);
+ioctl!(readwrite  SLAVE_SDO            with EC, 0x0c; ec_ioctl_slave_sdo_t);
+ioctl!(readwrite  SLAVE_SDO_ENTRY      with EC, 0x0d; ec_ioctl_slave_sdo_entry_t);
+ioctl!(readwrite  SLAVE_SDO_UPLOAD     with EC, 0x0e; ec_ioctl_slave_sdo_upload_t);
+ioctl!(readwrite  SLAVE_SDO_DOWNLOAD   with EC, 0x0f; ec_ioctl_slave_sdo_download_t);
+ioctl!(readwrite  SLAVE_SII_READ       with EC, 0x10; ec_ioctl_slave_sii_t);
+ioctl!(write      SLAVE_SII_WRITE      with EC, 0x11; ec_ioctl_slave_sii_t);
+ioctl!(readwrite  SLAVE_REG_READ       with EC, 0x12; ec_ioctl_slave_reg_t);
+ioctl!(write      SLAVE_REG_WRITE      with EC, 0x13; ec_ioctl_slave_reg_t);
+ioctl!(readwrite  SLAVE_FOE_READ       with EC, 0x14; ec_ioctl_slave_foe_t);
+ioctl!(write      SLAVE_FOE_WRITE      with EC, 0x15; ec_ioctl_slave_foe_t);
+ioctl!(readwrite  SLAVE_SOE_READ       with EC, 0x16; ec_ioctl_slave_soe_read_t);
+ioctl!(readwrite  SLAVE_SOE_WRITE      with EC, 0x17; ec_ioctl_slave_soe_write_t);
+ioctl!(write      SLAVE_EOE_IP_PARAM   with EC, 0x18; ec_ioctl_eoe_ip_t);
+ioctl!(readwrite  CONFIG               with EC, 0x19; ec_ioctl_config_t);
+ioctl!(readwrite  CONFIG_PDO           with EC, 0x1a; ec_ioctl_config_pdo_t);
+ioctl!(readwrite  CONFIG_PDO_ENTRY     with EC, 0x1b; ec_ioctl_config_pdo_entry_t);
+ioctl!(readwrite  CONFIG_SDO           with EC, 0x1c; ec_ioctl_config_sdo_t);
+ioctl!(readwrite  CONFIG_IDN           with EC, 0x1d; ec_ioctl_config_idn_t);
+ioctl!(readwrite  CONFIG_FLAG          with EC, 0x1e; ec_ioctl_config_flag_t);
+ioctl!(readwrite  CONFIG_EOE_IP_PARAM  with EC, 0x1f; ec_ioctl_eoe_ip_t);
+ioctl!(readwrite  EOE_HANDLER          with EC, 0x20; ec_ioctl_eoe_handler_t);
+ioctl!(none       REQUEST              with EC, 0x21);
+ioctl!(none       CREATE_DOMAIN        with EC, 0x22);
+ioctl!(readwrite  CREATE_SLAVE_CONFIG  with EC, 0x23; ec_ioctl_config_t);
+ioctl!(write      SELECT_REF_CLOCK     with EC, 0x24; u32);
+ioctl!(read       ACTIVATE             with EC, 0x25; ec_ioctl_master_activate_t);
+ioctl!(none       DEACTIVATE           with EC, 0x26);
+ioctl!(arg        SEND                 with EC, 0x27);
+ioctl!(none       RECEIVE              with EC, 0x28);
+ioctl!(read       MASTER_STATE         with EC, 0x29; ec_master_state_t);
+ioctl!(readwrite  MASTER_LINK_STATE    with EC, 0x2a; ec_ioctl_link_state_t);
+ioctl!(write      APP_TIME             with EC, 0x2b; u64);
+ioctl!(none       SYNC_REF             with EC, 0x2c);
+ioctl!(write      SYNC_REF_TO          with EC, 0x2d; u64);
+ioctl!(none       SYNC_SLAVES          with EC, 0x2e);
+ioctl!(read       REF_CLOCK_TIME       with EC, 0x2f; u32);
+ioctl!(none       SYNC_MON_QUEUE       with EC, 0x30);
+ioctl!(read       SYNC_MON_PROCESS     with EC, 0x31; u32);
+ioctl!(none       RESET                with EC, 0x32);
+ioctl!(write      SC_SYNC              with EC, 0x33; ec_ioctl_config_t);
+ioctl!(write      SC_WATCHDOG          with EC, 0x34; ec_ioctl_config_t);
+ioctl!(write      SC_ADD_PDO           with EC, 0x35; ec_ioctl_config_pdo_t);
+ioctl!(write      SC_CLEAR_PDOS        with EC, 0x36; ec_ioctl_config_pdo_t);
+ioctl!(write      SC_ADD_ENTRY         with EC, 0x37; ec_ioctl_add_pdo_entry_t);
+ioctl!(write      SC_CLEAR_ENTRIES     with EC, 0x38; ec_ioctl_config_pdo_t);
+ioctl!(readwrite  SC_REG_PDO_ENTRY     with EC, 0x39; ec_ioctl_reg_pdo_entry_t);
+ioctl!(readwrite  SC_REG_PDO_POS       with EC, 0x3a; ec_ioctl_reg_pdo_pos_t);
+ioctl!(write      SC_DC                with EC, 0x3b; ec_ioctl_config_t);
+ioctl!(write      SC_SDO               with EC, 0x3c; ec_ioctl_sc_sdo_t);
+ioctl!(write      SC_EMERG_SIZE        with EC, 0x3d; ec_ioctl_sc_emerg_t);
+ioctl!(readwrite  SC_EMERG_POP         with EC, 0x3e; ec_ioctl_sc_emerg_t);
+ioctl!(write      SC_EMERG_CLEAR       with EC, 0x3f; ec_ioctl_sc_emerg_t);
+ioctl!(readwrite  SC_EMERG_OVERRUNS    with EC, 0x40; ec_ioctl_sc_emerg_t);
+ioctl!(readwrite  SC_SDO_REQUEST       with EC, 0x41; ec_ioctl_sdo_request_t);
+ioctl!(readwrite  SC_SOE_REQUEST       with EC, 0x42; ec_ioctl_soe_request_t);
+ioctl!(readwrite  SC_REG_REQUEST       with EC, 0x43; ec_ioctl_reg_request_t);
+ioctl!(readwrite  SC_VOE               with EC, 0x44; ec_ioctl_voe_t);
+ioctl!(readwrite  SC_STATE             with EC, 0x45; ec_ioctl_sc_state_t);
+ioctl!(write      SC_IDN               with EC, 0x46; ec_ioctl_sc_idn_t);
+ioctl!(write      SC_FLAG              with EC, 0x47; ec_ioctl_sc_flag_t);
+ioctl!(write      SC_EOE_IP_PARAM      with EC, 0x48; ec_ioctl_eoe_ip_t);
+ioctl!(write      SC_STATE_TIMEOUT     with EC, 0x49; ec_ioctl_sc_state_timeout_t);
+ioctl!(arg        DOMAIN_SIZE          with EC, 0x4a);
+ioctl!(arg        DOMAIN_OFFSET        with EC, 0x4b);
+ioctl!(arg        DOMAIN_PROCESS       with EC, 0x4c);
+ioctl!(arg        DOMAIN_QUEUE         with EC, 0x4d);
+ioctl!(readwrite  DOMAIN_STATE         with EC, 0x4e; ec_ioctl_domain_state_t);
+ioctl!(readwrite  SDO_REQUEST_INDEX    with EC, 0x4f; ec_ioctl_sdo_request_t);
+ioctl!(readwrite  SDO_REQUEST_TIMEOUT  with EC, 0x50; ec_ioctl_sdo_request_t);
+ioctl!(readwrite  SDO_REQUEST_STATE    with EC, 0x51; ec_ioctl_sdo_request_t);
+ioctl!(readwrite  SDO_REQUEST_READ     with EC, 0x52; ec_ioctl_sdo_request_t);
+ioctl!(readwrite  SDO_REQUEST_WRITE    with EC, 0x53; ec_ioctl_sdo_request_t);
+ioctl!(readwrite  SDO_REQUEST_DATA     with EC, 0x54; ec_ioctl_sdo_request_t);
+ioctl!(readwrite  SOE_REQUEST_IDN      with EC, 0x55; ec_ioctl_soe_request_t);
+ioctl!(readwrite  SOE_REQUEST_TIMEOUT  with EC, 0x56; ec_ioctl_soe_request_t);
+ioctl!(readwrite  SOE_REQUEST_STATE    with EC, 0x57; ec_ioctl_soe_request_t);
+ioctl!(readwrite  SOE_REQUEST_READ     with EC, 0x58; ec_ioctl_soe_request_t);
+ioctl!(readwrite  SOE_REQUEST_WRITE    with EC, 0x59; ec_ioctl_soe_request_t);
+ioctl!(readwrite  SOE_REQUEST_DATA     with EC, 0x5a; ec_ioctl_soe_request_t);
+ioctl!(readwrite  REG_REQUEST_DATA     with EC, 0x5b; ec_ioctl_reg_request_t);
+ioctl!(readwrite  REG_REQUEST_STATE    with EC, 0x5c; ec_ioctl_reg_request_t);
+ioctl!(readwrite  REG_REQUEST_WRITE    with EC, 0x5d; ec_ioctl_reg_request_t);
+ioctl!(readwrite  REG_REQUEST_READ     with EC, 0x5e; ec_ioctl_reg_request_t);
+ioctl!(write      VOE_SEND_HEADER      with EC, 0x5f; ec_ioctl_voe_t);
+ioctl!(readwrite  VOE_REC_HEADER       with EC, 0x60; ec_ioctl_voe_t);
+ioctl!(write      VOE_READ             with EC, 0x61; ec_ioctl_voe_t);
+ioctl!(write      VOE_READ_NOSYNC      with EC, 0x62; ec_ioctl_voe_t);
+ioctl!(readwrite  VOE_WRITE            with EC, 0x63; ec_ioctl_voe_t);
+ioctl!(readwrite  VOE_EXEC             with EC, 0x64; ec_ioctl_voe_t);
+ioctl!(readwrite  VOE_DATA             with EC, 0x65; ec_ioctl_voe_t);
+ioctl!(write      SET_SEND_INTERVAL    with EC, 0x66; usize);