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/******************************************************************************

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 *

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 *  $Id$

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 *

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 *  ec_rtdm.h	Copyright (C) 2009-2010  Moehwald GmbH B.Benner

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 *			                      2011       IgH Andreas Stewering-Bone

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 *

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 *  This file is part of the IgH EtherCAT master 

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 *  

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 *  The IgH EtherCAT master is free software; you can

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 *  redistribute it and/or modify it under the terms of the GNU Lesser General

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 *  Public License as published by the Free Software Foundation; version 2.1

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 *  of the License.

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 *

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 *  The IgH EtherCAT master userspace library is distributed in the hope that

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 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied

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 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU Lesser General Public License for more details.

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 *

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 *  You should have received a copy of the GNU Lesser General Public License

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 *  along with the IgH EtherCAT master userspace library. If not, see

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 *  <http://www.gnu.org/licenses/>.

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 *  

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 *****************************************************************************/

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#ifndef __ECRT_RTDM_H

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#define __ECRT_RTDM_H

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//

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// Basefilename of RTDM device

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//

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#define EC_RTDM_DEV_FILE_NAME  "ec_rtdm"

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//

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// IOCTRL Values for RTDM_EXTENSION

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//

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// Realtime IOCTRL function

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#define EC_RTDM_MSTRATTACH                  1   // attach to a running master

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#define EC_RTDM_MSTRGETMUTNAME              2   // return the mutexname

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#define EC_RTDM_MASTER_RECEIVE              3   // call the master receive

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#define EC_RTDM_DOMAIN_PROCESS              4   // process domain data

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#define EC_RTDM_DOMAIN_QUEQUE               5   // prepare domain data

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#define EC_RTDM_MASTER_SEND                 6   // call the master send

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#define EC_RTDM_DOMAINSTATE	                7   // get domain state

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#define EC_RTDM_MASTERSTATE	                8   // get master state

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#define EC_RTDM_MASTER_APP_TIME             9   // set app time	

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#define EC_RTDM_SYNC_REF_CLOCK              10  // sync ref clock

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#define EC_RTDM_SYNC_SLAVE_CLOCK            11  // sync slave clocks

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#define EC_RTDM_MASTER_SYNC_MONITOR_QUEQUE  12  // prepare DC sync information

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#define EC_RTDM_MASTER_SYNC_MONITOR_PROCESS 13  // get DC sync information

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typedef struct _CstructMstrAttach

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{

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  unsigned int        domainindex;

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  unsigned int        masterindex;

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} CstructMstrAttach;

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#define ecrt_rtdm_master_attach(X,Y)                  rt_dev_ioctl(X, EC_RTDM_MSTRATTACH, Y)

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#define ecrt_rtdm_master_recieve(X)                   rt_dev_ioctl(X, EC_RTDM_MASTER_RECEIVE)

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#define ecrt_rtdm_domain_process(X)                   rt_dev_ioctl(X, EC_RTDM_DOMAIN_PROCESS)

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#define ecrt_rtdm_domain_queque(X)                    rt_dev_ioctl(X, EC_RTDM_DOMAIN_QUEQUE)

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#define ecrt_rtdm_master_send(X)                      rt_dev_ioctl(X, EC_RTDM_MASTER_SEND)

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#define ecrt_rtdm_domain_state(X,Y)                   rt_dev_ioctl(X, EC_RTDM_DOMAINSTATE, Y)

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#define ecrt_rtdm_master_state(X,Y)                   rt_dev_ioctl(X, EC_RTDM_MASTERSTATE, Y)

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#define ecrt_rtdm_master_application_time(X,Y)        rt_dev_ioctl(X, EC_RTDM_MASTER_APP_TIME, Y)

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#define ecrt_rtdm_master_sync_reference_clock(X)      rt_dev_ioctl(X, EC_RTDM_SYNC_REF_CLOCK)

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#define ecrt_rtdm_master_sync_slave_clocks(X)         rt_dev_ioctl(X, EC_RTDM_SYNC_SLAVE_CLOCK)

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#define ecrt_rtdm_master_sync_monitor_queque(X)       rt_dev_ioctl(X, EC_RTDM_MASTER_MONITOR_QUEQUE)

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#define ecrt_rtdm_master_sync_monitor_process(X,Y)    rt_dev_ioctl(X, EC_RTDM_MASTER_MONITOR_PROCESS,Y)

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#endif

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