73 lines
2.9 KiB
C
73 lines
2.9 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* ec_rtdm.h Copyright (C) 2009-2010 Moehwald GmbH B.Benner
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* 2011 IgH Andreas Stewering-Bone
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*
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* This file is used for Prisma RT to interface to EtherCAT devices
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*
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* This file is part of ethercatrtdm interface to IgH EtherCAT master
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*
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* The Moehwald ethercatrtdm interface is free software; you can
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* redistribute it and/or modify it under the terms of the GNU Lesser General
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* Public License as published by the Free Software Foundation; version 2.1
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* of the License.
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*
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* The IgH EtherCAT master userspace library is distributed in the hope that
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with the IgH EtherCAT master userspace library. If not, see
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* <http://www.gnu.org/licenses/>.
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*
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* The license mentioned above concerns the source code only. Using the
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* EtherCAT technology and brand is only permitted in compliance with the
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* industrial property and similar rights of Beckhoff Automation GmbH.
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*
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*****************************************************************************/
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#ifndef __ECRT_RTDM_H
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#define __ECRT_RTDM_H
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//
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// Basefilename of RTDM device
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//
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#define EC_RTDM_DEV_FILE_NAME "ec_rtdm"
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//
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// IOCTRL Values for RTDM_EXTENSION
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//
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// Realtime IOCTRL function
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#define EC_RTDM_MSTRATTACH 1 // attach to a running master
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#define EC_RTDM_MSTRGETMUTNAME 2 // return the mutexname
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#define EC_RTDM_MSTRRECEIVE 3 // call the master receive
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#define EC_RTDM_MSTRSEND 4 // call the master send
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#define EC_RTDM_DOMAINSTATE 5 // get domain state
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#define EC_RTDM_MASTERSTATE 6 // get master state
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#define EC_RTDM_MASTER_APP_TIME 7
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#define EC_RTDM_SYNC_REF_CLOCK 8
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#define EC_RTDM_SYNC_SLAVE_CLOCK 9
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typedef struct _CstructMstrAttach
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{
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unsigned int domainindex;
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unsigned int masterindex;
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} CstructMstrAttach;
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#define ecrt_rtdm_master_attach(X,Y) rt_dev_ioctl(X, EC_RTDM_MSTRATTACH, Y)
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#define ecrt_rtdm_master_recieve(X) rt_dev_ioctl(X, EC_RTDM_MSTRRECEIVE)
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#define ecrt_rtdm_master_send(X) rt_dev_ioctl(X, EC_RTDM_MSTRSEND)
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#define ecrt_rtdm_domain_state(X,Y) rt_dev_ioctl(X, EC_RTDM_DOMAINSTATE, Y)
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#define ecrt_rtdm_master_state(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTERSTATE, Y)
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#define ecrt_rtdm_master_application_time(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTER_APP_TIME, Y)
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#define ecrt_rtdm_master_sync_reference_clock(X) rt_dev_ioctl(X, EC_RTDM_SYNC_REF_CLOCK)
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#define ecrt_rtdm_master_sync_slave_clocks(X) rt_dev_ioctl(X, EC_RTDM_SYNC_SLAVE_CLOCK);
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#endif
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