--- a/include/ec_rtdm.h Wed Mar 16 22:12:23 2011 +0100
+++ b/include/ec_rtdm.h Thu Mar 17 21:13:36 2011 +0100
@@ -5,11 +5,9 @@
* 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
+ * This file is part of the IgH EtherCAT master
*
- * The Moehwald ethercatrtdm interface is free software; you can
+ * The IgH EtherCAT master 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.
@@ -41,15 +39,19 @@
// 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
+#define EC_RTDM_MSTRATTACH 1 // attach to a running master
+#define EC_RTDM_MSTRGETMUTNAME 2 // return the mutexname
+#define EC_RTDM_MASTER_RECEIVE 3 // call the master receive
+#define EC_RTDM_DOMAIN_PROCESS 4 // process domain data
+#define EC_RTDM_DOMAIN_QUEQUE 5 // prepare domain data
+#define EC_RTDM_MASTER_SEND 6 // call the master send
+#define EC_RTDM_DOMAINSTATE 7 // get domain state
+#define EC_RTDM_MASTERSTATE 8 // get master state
+#define EC_RTDM_MASTER_APP_TIME 9 // set app time
+#define EC_RTDM_SYNC_REF_CLOCK 10 // sync ref clock
+#define EC_RTDM_SYNC_SLAVE_CLOCK 11 // sync slave clocks
+#define EC_RTDM_MASTER_SYNC_MONITOR_QUEQUE 12 // prepare DC sync information
+#define EC_RTDM_MASTER_SYNC_MONITOR_PROCESS 13 // get DC sync information
typedef struct _CstructMstrAttach
{
@@ -58,14 +60,18 @@
} 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);
+#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_MASTER_RECEIVE)
+#define ecrt_rtdm_domain_process(X) rt_dev_ioctl(X, EC_RTDM_DOMAIN_PROCESS)
+#define ecrt_rtdm_domain_queque(X) rt_dev_ioctl(X, EC_RTDM_DOMAIN_QUEQUE)
+#define ecrt_rtdm_master_send(X) rt_dev_ioctl(X, EC_RTDM_MASTER_SEND)
+#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)
+#define ecrt_rtdm_master_sync_monitor_queque(X) rt_dev_ioctl(X, EC_RTDM_MASTER_MONITOR_QUEQUE)
+#define ecrt_rtdm_master_sync_monitor_process(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTER_MONITOR_PROCESS,Y)
#endif