diff --git a/configure.ac b/configure.ac
index ffd5bc57..05e0c664 100644
--- a/configure.ac
+++ b/configure.ac
@@ -745,6 +745,7 @@ else
         xeno_rtdm_ldflags=`$xenomaidir/bin/xeno-config --skin rtdm --auto-init-solib --ldflags`
         xeno_v3=1
         xeno=0
+        AC_DEFINE([EC_RTDM_OPS_HAS_MMAP], [1], [RTDM device operations has mmap handler])
     else
         xeno_native_cflags=`$xenomaidir/bin/xeno-config --skin native --cflags`
         xeno_native_ldflags=`$xenomaidir/bin/xeno-config --skin native --ldflags`
diff --git a/lib/Makefile.am b/lib/Makefile.am
index af2af89e..f1caaa2d 100644
--- a/lib/Makefile.am
+++ b/lib/Makefile.am
@@ -104,7 +104,7 @@ endif
 if ENABLE_XENOMAI_V3
 libethercat_rtdm_la_CFLAGS += $(XENOMAI_RTDM_CFLAGS)
 libethercat_rtdm_la_LDFLAGS += $(XENOMAI_RTDM_LDFLAGS)
-libethercat_rtdm_la_CFLAGS += -DUSE_RTDM_XENOMAI_V3
+libethercat_rtdm_la_CFLAGS += -DUSE_RTDM_XENOMAI_V3 -DEC_RTDM_OPS_HAS_MMAP
 else
 libethercat_rtdm_la_CFLAGS += -DUSE_RTDM
 endif
diff --git a/lib/master.c b/lib/master.c
index 9ea1b457..0b984873 100644
--- a/lib/master.c
+++ b/lib/master.c
@@ -564,7 +564,7 @@ int ecrt_master_activate(ec_master_t *master)
     master->process_data_size = io.process_data_size;
 
     if (master->process_data_size) {
-#if defined(USE_RTDM) || defined(USE_RTDM_XENOMAI_V3)
+#if defined(USE_RTDM) || !defined(EC_RTDM_OPS_HAS_MMAP)
         /* memory-mapping was already done in kernel. The user-space addess is
          * provided in the ioctl data.
          */
diff --git a/master/ioctl.c b/master/ioctl.c
index 042e9d2a..fe1eb27f 100644
--- a/master/ioctl.c
+++ b/master/ioctl.c
@@ -1893,7 +1893,7 @@ static ATTRIBUTES int ec_ioctl_activate(
             offset += ecrt_domain_size(domain);
         }
 
-#ifdef EC_IOCTL_RTDM
+#if defined(EC_IOCTL_RTDM) && !defined(EC_RTDM_OPS_HAS_MMAP)
         /* RTDM uses a different approach for memory-mapping, which has to be
          * initiated by the kernel.
          */
diff --git a/master/ioctl.h b/master/ioctl.h
index 61c8354f..6442852c 100644
--- a/master/ioctl.h
+++ b/master/ioctl.h
@@ -845,7 +845,10 @@ long ec_ioctl(ec_master_t *, ec_ioctl_context_t *, unsigned int,
 
 long ec_ioctl_rtdm(ec_master_t *, ec_ioctl_context_t *, unsigned int,
         void __user *);
+
+#ifndef EC_RTDM_OPS_HAS_MMAP
 int ec_rtdm_mmap(ec_ioctl_context_t *, void **);
+#endif
 
 #endif
 
diff --git a/master/rtdm_xenomai_v3.c b/master/rtdm_xenomai_v3.c
index 54ff066a..29db6bc9 100644
--- a/master/rtdm_xenomai_v3.c
+++ b/master/rtdm_xenomai_v3.c
@@ -273,6 +273,12 @@ static int ec_rtdm_ioctl(struct rtdm_fd *fd, unsigned int request,
 	return ec_ioctl_rtdm(rtdm_dev->master, &ctx->ioctl_ctx, request, arg);
 }
 
+static int ec_rtdm_mmap(struct rtdm_fd *fd, struct vm_area_struct *vma)
+{
+	struct ec_rtdm_context *ctx = (struct ec_rtdm_context *) rtdm_fd_to_private(fd);
+	return rtdm_mmap_kmem(vma, (void *)ctx->ioctl_ctx.process_data);
+}
+
 static struct rtdm_driver ec_rtdm_driver = {
 	.profile_info		= RTDM_PROFILE_INFO(ec_rtdm,
 						    RTDM_CLASS_EXPERIMENTAL,
@@ -286,6 +292,7 @@ static struct rtdm_driver ec_rtdm_driver = {
 		.close		= ec_rtdm_close,
 		.ioctl_rt	= ec_rtdm_ioctl_rt,
 		.ioctl_nrt	= ec_rtdm_ioctl,
+		.mmap		= ec_rtdm_mmap,
 	},
 };
 
@@ -331,20 +338,3 @@ void ec_rtdm_dev_clear(ec_rtdm_dev_t *rtdm_dev)
 
 	kfree(rtdm_dev->dev);
 }
-
-int ec_rtdm_mmap(ec_ioctl_context_t *ioctl_ctx, void **user_address)
-{
-	struct ec_rtdm_context *ctx =
-		container_of(ioctl_ctx, struct ec_rtdm_context, ioctl_ctx);
-	int ret;
-
-	ret = rtdm_mmap_to_user(ctx->fd,
-			ioctl_ctx->process_data, ioctl_ctx->process_data_size,
-			PROT_READ | PROT_WRITE,
-			user_address,
-			NULL, NULL);
-	if (ret < 0)
-		return ret;
-
-	return 0;
-}