lib/ioctl.h
author Florian Pose
Tue, 13 Feb 2018 17:16:01 +0100
branchstable-1.5
changeset 2698 9e65f782e8a1
parent 2433 3bdd7a747fae
child 2703 045624f7f4c3
permissions -rw-r--r--
Fixed scheduler settings in dc_user example; use CLOCK_MONOTONIC.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     5
 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
 *
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT master userspace library.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     8
 *
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     9
 *  The IgH EtherCAT master userspace library is free software; you can
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    10
 *  redistribute it and/or modify it under the terms of the GNU Lesser General
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    11
 *  Public License as published by the Free Software Foundation; version 2.1
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    12
 *  of the License.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    13
 *
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    14
 *  The IgH EtherCAT master userspace library is distributed in the hope that
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    15
 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    16
 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    17
 *  GNU Lesser General Public License for more details.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    18
 *
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    19
 *  You should have received a copy of the GNU Lesser General Public License
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    20
 *  along with the IgH EtherCAT master userspace library. If not, see
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    21
 *  <http://www.gnu.org/licenses/>.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    22
 *
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    23
 *  ---
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    24
 *
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    25
 *  The license mentioned above concerns the source code only. Using the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    26
 *  EtherCAT technology and brand is only permitted in compliance with the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
 *  industrial property and similar rights of Beckhoff Automation GmbH.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 *
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
 *****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    31
#ifndef __EC_LIB_IOCTL_H__
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
#define __EC_LIB_IOCTL_H__
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
#ifdef USE_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
#include <rtdm/rtdm.h>
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
#else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
#include <sys/ioctl.h>
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
#include "master/ioctl.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    45
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    46
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    48
#ifdef USE_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    49
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    50
#define ioctl rt_dev_ioctl
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    51
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    52
/* rt_dev_ioctl() returns negative error code */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    53
#define EC_IOCTL_IS_ERROR(X) ((X) < 0)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    54
#define EC_IOCTL_ERRNO(X) (-(X))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    55
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    56
#else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    57
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    58
#define ioctl ioctl
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    59
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    60
/* libc's ioctl() always returns -1 on error and sets errno */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    61
#define EC_IOCTL_IS_ERROR(X) ((X) == -1)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    62
#define EC_IOCTL_ERRNO(X) (errno)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    63
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    64
#include <errno.h>
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    65
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    66
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    67
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    68
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    69
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    70
#endif /* __EC_LIB_IOCTL_H__ */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    71
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    72
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    73