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) 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 register request structure.
*/
/*****************************************************************************/
#ifndef __EC_REG_REQUEST_H__
#define __EC_REG_REQUEST_H__
#include <linux/list.h>
#include "globals.h"
/*****************************************************************************/
/** Register request.
*/
struct ec_reg_request {
struct list_head list; /**< List item. */
size_t mem_size; /**< Size of data memory. */
uint8_t *data; /**< Pointer to data memory. */
ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means writing to the
slave, EC_DIR_INPUT means reading from the slave. */
uint16_t address; /**< Register address. */
size_t transfer_size; /**< Size of the data to transfer. */
ec_internal_request_state_t state; /**< Request state. */
uint16_t ring_position; /**< Ring position for emergency requests. */
};
/*****************************************************************************/
int ec_reg_request_init(ec_reg_request_t *, size_t);
void ec_reg_request_clear(ec_reg_request_t *);
/*****************************************************************************/
#endif