This fix a segfault in xenomai_posix example when calling pthread_setschedparam(cyclic_thread, ...) from main thread. As a side effect EL2004 becomes EL2088 - that's what IU have for testing.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 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
Mailbox functionality.
*/
/*****************************************************************************/
#ifndef __EC_MAILBOX_H__
#define __EC_MAILBOX_H__
#include "slave.h"
/*****************************************************************************/
/** Size of the mailbox header.
*/
#define EC_MBOX_HEADER_SIZE 6
/*****************************************************************************/
uint8_t *ec_slave_mbox_prepare_send(const ec_slave_t *, ec_datagram_t *,
uint8_t, size_t);
int ec_slave_mbox_prepare_check(const ec_slave_t *, ec_datagram_t *);
int ec_slave_mbox_check(const ec_datagram_t *);
int ec_slave_mbox_prepare_fetch(const ec_slave_t *, ec_datagram_t *);
uint8_t *ec_slave_mbox_fetch(const ec_slave_t *, const ec_datagram_t *,
uint8_t *, size_t *);
/*****************************************************************************/
#endif