--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/ec_rtdm.h	Wed Mar 16 22:12:23 2011 +0100
@@ -0,0 +1,72 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  ec_rtdm.h	Copyright (C) 2009-2010  Moehwald GmbH B.Benner
+ *			                      2011       IgH Andreas Stewering-Bone
+ *
+ *  This file is used for Prisma RT to interface to EtherCAT devices
+ *								  
+ *  This file is part of ethercatrtdm interface to IgH EtherCAT master 
+ *  
+ *  The Moehwald ethercatrtdm interface is free software; you can
+ *  redistribute it and/or modify it under the terms of the GNU Lesser General
+ *  Public License as published by the Free Software Foundation; version 2.1
+ *  of the License.
+ *
+ *  The IgH EtherCAT master userspace library is distributed in the hope that
+ *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public License
+ *  along with the IgH EtherCAT master userspace library. If not, see
+ *  <http://www.gnu.org/licenses/>.
+ *  
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+#ifndef __ECRT_RTDM_H
+#define __ECRT_RTDM_H
+
+
+//
+// Basefilename of RTDM device
+//
+#define EC_RTDM_DEV_FILE_NAME  "ec_rtdm"
+
+//
+// IOCTRL Values for RTDM_EXTENSION
+//
+// Realtime IOCTRL function
+#define EC_RTDM_MSTRATTACH       1   // attach to a running master
+#define EC_RTDM_MSTRGETMUTNAME   2   // return the mutexname
+#define EC_RTDM_MSTRRECEIVE      3   // call the master receive
+#define EC_RTDM_MSTRSEND         4   // call the master send
+#define EC_RTDM_DOMAINSTATE	     5   // get domain state
+#define EC_RTDM_MASTERSTATE	     6   // get master state
+#define EC_RTDM_MASTER_APP_TIME  7	
+#define EC_RTDM_SYNC_REF_CLOCK   8
+#define EC_RTDM_SYNC_SLAVE_CLOCK 9
+
+typedef struct _CstructMstrAttach
+{
+  unsigned int        domainindex;
+  unsigned int        masterindex;
+} CstructMstrAttach;
+
+
+#define ecrt_rtdm_master_attach(X,Y)             rt_dev_ioctl(X, EC_RTDM_MSTRATTACH, Y)
+#define ecrt_rtdm_master_recieve(X)              rt_dev_ioctl(X, EC_RTDM_MSTRRECEIVE)
+#define ecrt_rtdm_master_send(X)                 rt_dev_ioctl(X, EC_RTDM_MSTRSEND)
+#define ecrt_rtdm_domain_state(X,Y)              rt_dev_ioctl(X, EC_RTDM_DOMAINSTATE, Y)
+#define ecrt_rtdm_master_state(X,Y)              rt_dev_ioctl(X, EC_RTDM_MASTERSTATE, Y)
+#define ecrt_rtdm_master_application_time(X,Y)   rt_dev_ioctl(X, EC_RTDM_MASTER_APP_TIME, Y)
+#define ecrt_rtdm_master_sync_reference_clock(X) rt_dev_ioctl(X, EC_RTDM_SYNC_REF_CLOCK)
+#define ecrt_rtdm_master_sync_slave_clocks(X)    rt_dev_ioctl(X, EC_RTDM_SYNC_SLAVE_CLOCK);
+
+#endif
+
+