Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively."
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master 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 General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* 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.
*
*****************************************************************************/
/**
\file
EtherCAT datagram pair structure.
*/
/*****************************************************************************/
#ifndef __EC_DATAGRAM_PAIR_H__
#define __EC_DATAGRAM_PAIR_H__
#include <linux/list.h>
#include "globals.h"
#include "datagram.h"
/*****************************************************************************/
/** Domain datagram pair.
*/
typedef struct {
struct list_head list; /**< List header. */
ec_domain_t *domain; /**< Parent domain. */
ec_datagram_t datagrams[EC_MAX_NUM_DEVICES]; /**< Datagrams. */
#if EC_MAX_NUM_DEVICES > 1
uint8_t *send_buffer;
#endif
unsigned int expected_working_counter; /**< Expectord working conter. */
} ec_datagram_pair_t;
/*****************************************************************************/
int ec_datagram_pair_init(ec_datagram_pair_t *, ec_domain_t *, uint32_t,
uint8_t *, size_t, const unsigned int []);
void ec_datagram_pair_clear(ec_datagram_pair_t *);
uint16_t ec_datagram_pair_process(ec_datagram_pair_t *, uint16_t[]);
/*****************************************************************************/
#endif