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1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * ec_rtdm.h Copyright (C) 2009-2010 Moehwald GmbH B.Benner |
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6 * 2011 IgH Andreas Stewering-Bone |
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7 * |
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8 * This file is part of the IgH EtherCAT master |
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9 * |
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10 * The IgH EtherCAT master is free software; you can |
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11 * redistribute it and/or modify it under the terms of the GNU Lesser General |
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12 * Public License as published by the Free Software Foundation; version 2.1 |
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13 * of the License. |
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14 * |
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15 * The IgH EtherCAT master userspace library is distributed in the hope that |
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16 * it will be useful, but WITHOUT ANY WARRANTY; without even the implied |
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17 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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18 * GNU Lesser General Public License for more details. |
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19 * |
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20 * You should have received a copy of the GNU Lesser General Public License |
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21 * along with the IgH EtherCAT master userspace library. If not, see |
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22 * <http://www.gnu.org/licenses/>. |
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23 * |
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24 * The license mentioned above concerns the source code only. Using the |
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25 * EtherCAT technology and brand is only permitted in compliance with the |
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26 * industrial property and similar rights of Beckhoff Automation GmbH. |
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27 * |
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28 *****************************************************************************/ |
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29 #ifndef __ECRT_RTDM_H |
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30 #define __ECRT_RTDM_H |
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31 |
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32 |
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33 // |
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34 // Basefilename of RTDM device |
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35 // |
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36 #define EC_RTDM_DEV_FILE_NAME "ec_rtdm" |
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37 |
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38 // |
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39 // IOCTRL Values for RTDM_EXTENSION |
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40 // |
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41 // Realtime IOCTRL function |
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42 #define EC_RTDM_MSTRATTACH 1 // attach to a running master |
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43 #define EC_RTDM_MSTRGETMUTNAME 2 // return the mutexname |
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44 #define EC_RTDM_MASTER_RECEIVE 3 // call the master receive |
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45 #define EC_RTDM_DOMAIN_PROCESS 4 // process domain data |
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46 #define EC_RTDM_DOMAIN_QUEQUE 5 // prepare domain data |
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47 #define EC_RTDM_MASTER_SEND 6 // call the master send |
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48 #define EC_RTDM_DOMAINSTATE 7 // get domain state |
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49 #define EC_RTDM_MASTERSTATE 8 // get master state |
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50 #define EC_RTDM_MASTER_APP_TIME 9 // set app time |
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51 #define EC_RTDM_SYNC_REF_CLOCK 10 // sync ref clock |
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52 #define EC_RTDM_SYNC_SLAVE_CLOCK 11 // sync slave clocks |
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53 #define EC_RTDM_MASTER_SYNC_MONITOR_QUEQUE 12 // prepare DC sync information |
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54 #define EC_RTDM_MASTER_SYNC_MONITOR_PROCESS 13 // get DC sync information |
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55 |
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56 typedef struct _CstructMstrAttach |
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57 { |
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58 unsigned int domainindex; |
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59 unsigned int masterindex; |
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60 } CstructMstrAttach; |
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61 |
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62 |
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63 #define ecrt_rtdm_master_attach(X,Y) rt_dev_ioctl(X, EC_RTDM_MSTRATTACH, Y) |
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64 #define ecrt_rtdm_master_recieve(X) rt_dev_ioctl(X, EC_RTDM_MASTER_RECEIVE) |
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65 #define ecrt_rtdm_domain_process(X) rt_dev_ioctl(X, EC_RTDM_DOMAIN_PROCESS) |
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66 #define ecrt_rtdm_domain_queque(X) rt_dev_ioctl(X, EC_RTDM_DOMAIN_QUEQUE) |
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67 #define ecrt_rtdm_master_send(X) rt_dev_ioctl(X, EC_RTDM_MASTER_SEND) |
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68 #define ecrt_rtdm_domain_state(X,Y) rt_dev_ioctl(X, EC_RTDM_DOMAINSTATE, Y) |
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69 #define ecrt_rtdm_master_state(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTERSTATE, Y) |
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70 #define ecrt_rtdm_master_application_time(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTER_APP_TIME, Y) |
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71 #define ecrt_rtdm_master_sync_reference_clock(X) rt_dev_ioctl(X, EC_RTDM_SYNC_REF_CLOCK) |
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72 #define ecrt_rtdm_master_sync_slave_clocks(X) rt_dev_ioctl(X, EC_RTDM_SYNC_SLAVE_CLOCK) |
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73 #define ecrt_rtdm_master_sync_monitor_queque(X) rt_dev_ioctl(X, EC_RTDM_MASTER_MONITOR_QUEQUE) |
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74 #define ecrt_rtdm_master_sync_monitor_process(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTER_MONITOR_PROCESS,Y) |
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75 |
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76 #endif |
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77 |
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78 |