/****************************************************************************** * * $Id$ * * 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 master character device IOCTL commands. */ /*****************************************************************************/ #ifndef __EC_IOCTL_H__ #define __EC_IOCTL_H__ #include #include "globals.h" /*****************************************************************************/ /** \cond */ #define EC_IOCTL_TYPE 0xa4 #define EC_IO(nr) _IO(EC_IOCTL_TYPE, nr) #define EC_IOR(nr, type) _IOR(EC_IOCTL_TYPE, nr, type) #define EC_IOW(nr, type) _IOW(EC_IOCTL_TYPE, nr, type) #define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type) /** EtherCAT master ioctl() version magic. * * Increment this when changing the ioctl interface! */ #define EC_IOCTL_VERSION_MAGIC 30 // Command-line tool #define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t) #define EC_IOCTL_MASTER EC_IOR(0x01, ec_ioctl_master_t) #define EC_IOCTL_SLAVE EC_IOWR(0x02, ec_ioctl_slave_t) #define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x03, ec_ioctl_slave_sync_t) #define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_t) #define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x05, ec_ioctl_slave_sync_pdo_entry_t) #define EC_IOCTL_DOMAIN EC_IOWR(0x06, ec_ioctl_domain_t) #define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x07, ec_ioctl_domain_fmmu_t) #define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x08, ec_ioctl_domain_data_t) #define EC_IOCTL_MASTER_DEBUG EC_IO(0x09) #define EC_IOCTL_MASTER_RESCAN EC_IO(0x0a) #define EC_IOCTL_SLAVE_STATE EC_IOW(0x0b, ec_ioctl_slave_state_t) #define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0c, ec_ioctl_slave_sdo_t) #define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t) #define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t) #define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t) #define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x10, ec_ioctl_slave_sii_t) #define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x11, ec_ioctl_slave_sii_t) #define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x12, ec_ioctl_slave_reg_t) #define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x13, ec_ioctl_slave_reg_t) #define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x14, ec_ioctl_slave_foe_t) #define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x15, ec_ioctl_slave_foe_t) #define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x16, ec_ioctl_slave_soe_read_t) #define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x17, ec_ioctl_slave_soe_write_t) #define EC_IOCTL_CONFIG EC_IOWR(0x18, ec_ioctl_config_t) #define EC_IOCTL_CONFIG_PDO EC_IOWR(0x19, ec_ioctl_config_pdo_t) #define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t) #define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1b, ec_ioctl_config_sdo_t) #define EC_IOCTL_CONFIG_IDN EC_IOWR(0x1c, ec_ioctl_config_idn_t) #ifdef EC_EOE #define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1d, ec_ioctl_eoe_handler_t) #endif // Application interface #define EC_IOCTL_REQUEST EC_IO(0x1e) #define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1f) #define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x20, ec_ioctl_config_t) #define EC_IOCTL_SELECT_REF_CLOCK EC_IOW(0x21, uint32_t) #define EC_IOCTL_ACTIVATE EC_IOR(0x22, ec_ioctl_master_activate_t) #define EC_IOCTL_DEACTIVATE EC_IO(0x23) #define EC_IOCTL_SEND EC_IO(0x24) #define EC_IOCTL_RECEIVE EC_IO(0x25) #define EC_IOCTL_MASTER_STATE EC_IOR(0x26, ec_master_state_t) #define EC_IOCTL_MASTER_LINK_STATE EC_IOWR(0x27, ec_ioctl_link_state_t) #define EC_IOCTL_APP_TIME EC_IOW(0x28, uint64_t) #define EC_IOCTL_SYNC_REF EC_IO(0x29) #define EC_IOCTL_SYNC_REF_TO EC_IOW(0x2a, uint64_t) #define EC_IOCTL_SYNC_SLAVES EC_IO(0x2b) #define EC_IOCTL_REF_CLOCK_TIME EC_IOR(0x2c, uint32_t) #define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x2d) #define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2e, uint32_t) #define EC_IOCTL_RESET EC_IO(0x2f) #define EC_IOCTL_SC_SYNC EC_IOW(0x30, ec_ioctl_config_t) #define EC_IOCTL_SC_WATCHDOG EC_IOW(0x31, ec_ioctl_config_t) #define EC_IOCTL_SC_ADD_PDO EC_IOW(0x32, ec_ioctl_config_pdo_t) #define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x33, ec_ioctl_config_pdo_t) #define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x34, ec_ioctl_add_pdo_entry_t) #define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x35, ec_ioctl_config_pdo_t) #define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x36, ec_ioctl_reg_pdo_entry_t) #define EC_IOCTL_SC_REG_PDO_POS EC_IOWR(0x37, ec_ioctl_reg_pdo_pos_t) #define EC_IOCTL_SC_DC EC_IOW(0x38, ec_ioctl_config_t) #define EC_IOCTL_SC_SDO EC_IOW(0x39, ec_ioctl_sc_sdo_t) #define EC_IOCTL_SC_EMERG_SIZE EC_IOW(0x3a, ec_ioctl_sc_emerg_t) #define EC_IOCTL_SC_EMERG_POP EC_IOWR(0x3b, ec_ioctl_sc_emerg_t) #define EC_IOCTL_SC_EMERG_CLEAR EC_IOW(0x3c, ec_ioctl_sc_emerg_t) #define EC_IOCTL_SC_EMERG_OVERRUNS EC_IOWR(0x3d, ec_ioctl_sc_emerg_t) #define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x3e, ec_ioctl_sdo_request_t) #define EC_IOCTL_SC_REG_REQUEST EC_IOWR(0x3f, ec_ioctl_reg_request_t) #define EC_IOCTL_SC_VOE EC_IOWR(0x40, ec_ioctl_voe_t) #define EC_IOCTL_SC_STATE EC_IOWR(0x41, ec_ioctl_sc_state_t) #define EC_IOCTL_SC_IDN EC_IOW(0x42, ec_ioctl_sc_idn_t) #define EC_IOCTL_DOMAIN_SIZE EC_IO(0x43) #define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x44) #define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x45) #define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x46) #define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x47, ec_ioctl_domain_state_t) #define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x48, ec_ioctl_sdo_request_t) #define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x49, ec_ioctl_sdo_request_t) #define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x4a, ec_ioctl_sdo_request_t) #define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x4b, ec_ioctl_sdo_request_t) #define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x4c, ec_ioctl_sdo_request_t) #define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x4d, ec_ioctl_sdo_request_t) #define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x4e, ec_ioctl_reg_request_t) #define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x4f, ec_ioctl_reg_request_t) #define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x50, ec_ioctl_reg_request_t) #define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x51, ec_ioctl_reg_request_t) #define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x52, ec_ioctl_voe_t) #define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x53, ec_ioctl_voe_t) #define EC_IOCTL_VOE_READ EC_IOW(0x54, ec_ioctl_voe_t) #define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x55, ec_ioctl_voe_t) #define EC_IOCTL_VOE_WRITE EC_IOWR(0x56, ec_ioctl_voe_t) #define EC_IOCTL_VOE_EXEC EC_IOWR(0x57, ec_ioctl_voe_t) #define EC_IOCTL_VOE_DATA EC_IOWR(0x58, ec_ioctl_voe_t) #define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x59, size_t) /*****************************************************************************/ #define EC_IOCTL_STRING_SIZE 64 /*****************************************************************************/ typedef struct { uint32_t ioctl_version_magic; uint32_t master_count; } ec_ioctl_module_t; /*****************************************************************************/ typedef struct { uint32_t slave_count; uint32_t config_count; uint32_t domain_count; #ifdef EC_EOE uint32_t eoe_handler_count; #endif uint8_t phase; uint8_t active; uint8_t scan_busy; struct ec_ioctl_device { uint8_t address[6]; uint8_t attached; uint8_t link_state; uint64_t tx_count; uint64_t rx_count; uint64_t tx_bytes; uint64_t rx_bytes; uint64_t tx_errors; int32_t tx_frame_rates[EC_RATE_COUNT]; int32_t rx_frame_rates[EC_RATE_COUNT]; int32_t tx_byte_rates[EC_RATE_COUNT]; int32_t rx_byte_rates[EC_RATE_COUNT]; } devices[EC_MAX_NUM_DEVICES]; uint32_t num_devices; uint64_t tx_count; uint64_t rx_count; uint64_t tx_bytes; uint64_t rx_bytes; int32_t tx_frame_rates[EC_RATE_COUNT]; int32_t rx_frame_rates[EC_RATE_COUNT]; int32_t tx_byte_rates[EC_RATE_COUNT]; int32_t rx_byte_rates[EC_RATE_COUNT]; int32_t loss_rates[EC_RATE_COUNT]; uint64_t app_time; uint64_t dc_ref_time; uint16_t ref_clock; } ec_ioctl_master_t; /*****************************************************************************/ typedef struct { // input uint16_t position; // outputs unsigned int device_index; uint32_t vendor_id; uint32_t product_code; uint32_t revision_number; uint32_t serial_number; uint16_t alias; uint16_t boot_rx_mailbox_offset; uint16_t boot_rx_mailbox_size; uint16_t boot_tx_mailbox_offset; uint16_t boot_tx_mailbox_size; uint16_t std_rx_mailbox_offset; uint16_t std_rx_mailbox_size; uint16_t std_tx_mailbox_offset; uint16_t std_tx_mailbox_size; uint16_t mailbox_protocols; uint8_t has_general_category; ec_sii_coe_details_t coe_details; ec_sii_general_flags_t general_flags; int16_t current_on_ebus; struct { ec_slave_port_desc_t desc; ec_slave_port_link_t link; uint32_t receive_time; uint16_t next_slave; uint32_t delay_to_next_dc; } ports[EC_MAX_PORTS]; uint8_t fmmu_bit; uint8_t dc_supported; ec_slave_dc_range_t dc_range; uint8_t has_dc_system_time; uint32_t transmission_delay; uint8_t al_state; uint8_t error_flag; uint8_t sync_count; uint16_t sdo_count; uint32_t sii_nwords; char group[EC_IOCTL_STRING_SIZE]; char image[EC_IOCTL_STRING_SIZE]; char order[EC_IOCTL_STRING_SIZE]; char name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_slave_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint32_t sync_index; // outputs uint16_t physical_start_address; uint16_t default_size; uint8_t control_register; uint8_t enable; uint8_t pdo_count; } ec_ioctl_slave_sync_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint32_t sync_index; uint32_t pdo_pos; // outputs uint16_t index; uint8_t entry_count; int8_t name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_slave_sync_pdo_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint32_t sync_index; uint32_t pdo_pos; uint32_t entry_pos; // outputs uint16_t index; uint8_t subindex; uint8_t bit_length; int8_t name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_slave_sync_pdo_entry_t; /*****************************************************************************/ typedef struct { // inputs uint32_t index; // outputs uint32_t data_size; uint32_t logical_base_address; uint16_t working_counter[EC_MAX_NUM_DEVICES]; uint16_t expected_working_counter; uint32_t fmmu_count; } ec_ioctl_domain_t; /*****************************************************************************/ typedef struct { // inputs uint32_t domain_index; uint32_t fmmu_index; // outputs uint16_t slave_config_alias; uint16_t slave_config_position; uint8_t sync_index; ec_direction_t dir; uint32_t logical_address; uint32_t data_size; } ec_ioctl_domain_fmmu_t; /*****************************************************************************/ typedef struct { // inputs uint32_t domain_index; uint32_t data_size; uint8_t *target; } ec_ioctl_domain_data_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint8_t al_state; } ec_ioctl_slave_state_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint16_t sdo_position; // outputs uint16_t sdo_index; uint8_t max_subindex; int8_t name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_slave_sdo_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; int sdo_spec; // positive: index, negative: list position uint8_t sdo_entry_subindex; // outputs uint16_t data_type; uint16_t bit_length; uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT]; uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT]; int8_t description[EC_IOCTL_STRING_SIZE]; } ec_ioctl_slave_sdo_entry_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint16_t sdo_index; uint8_t sdo_entry_subindex; size_t target_size; uint8_t *target; // outputs size_t data_size; uint32_t abort_code; } ec_ioctl_slave_sdo_upload_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint16_t sdo_index; uint8_t sdo_entry_subindex; uint8_t complete_access; size_t data_size; uint8_t *data; // outputs uint32_t abort_code; } ec_ioctl_slave_sdo_download_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint16_t offset; uint32_t nwords; uint16_t *words; } ec_ioctl_slave_sii_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint8_t emergency; uint16_t address; size_t size; uint8_t *data; } ec_ioctl_slave_reg_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint16_t offset; size_t buffer_size; uint8_t *buffer; // outputs size_t data_size; uint32_t result; uint32_t error_code; char file_name[32]; } ec_ioctl_slave_foe_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint8_t drive_no; uint16_t idn; size_t mem_size; uint8_t *data; // outputs size_t data_size; uint16_t error_code; } ec_ioctl_slave_soe_read_t; /*****************************************************************************/ typedef struct { // inputs uint16_t slave_position; uint8_t drive_no; uint16_t idn; size_t data_size; uint8_t *data; // outputs uint16_t error_code; } ec_ioctl_slave_soe_write_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; // outputs uint16_t alias; uint16_t position; uint32_t vendor_id; uint32_t product_code; struct { ec_direction_t dir; ec_watchdog_mode_t watchdog_mode; uint32_t pdo_count; uint8_t config_this; } syncs[EC_MAX_SYNC_MANAGERS]; uint16_t watchdog_divider; uint16_t watchdog_intervals; uint32_t sdo_count; uint32_t idn_count; int32_t slave_position; uint16_t dc_assign_activate; ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]; } ec_ioctl_config_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint8_t sync_index; uint16_t pdo_pos; // outputs uint16_t index; uint8_t entry_count; int8_t name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_config_pdo_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint8_t sync_index; uint16_t pdo_pos; uint8_t entry_pos; // outputs uint16_t index; uint8_t subindex; uint8_t bit_length; int8_t name[EC_IOCTL_STRING_SIZE]; } ec_ioctl_config_pdo_entry_t; /*****************************************************************************/ /** Maximum size for displayed SDO data. * \todo Make this dynamic. */ #define EC_MAX_SDO_DATA_SIZE 1024 typedef struct { // inputs uint32_t config_index; uint32_t sdo_pos; // outputs uint16_t index; uint8_t subindex; size_t size; uint8_t data[EC_MAX_SDO_DATA_SIZE]; uint8_t complete_access; } ec_ioctl_config_sdo_t; /*****************************************************************************/ /** Maximum size for displayed IDN data. * \todo Make this dynamic. */ #define EC_MAX_IDN_DATA_SIZE 1024 typedef struct { // inputs uint32_t config_index; uint32_t idn_pos; // outputs uint8_t drive_no; uint16_t idn; ec_al_state_t state; size_t size; uint8_t data[EC_MAX_IDN_DATA_SIZE]; } ec_ioctl_config_idn_t; /*****************************************************************************/ #ifdef EC_EOE typedef struct { // input uint16_t eoe_index; // outputs char name[EC_DATAGRAM_NAME_SIZE]; uint16_t slave_position; uint8_t open; uint32_t rx_bytes; uint32_t rx_rate; uint32_t tx_bytes; uint32_t tx_rate; uint32_t tx_queued_frames; uint32_t tx_queue_size; } ec_ioctl_eoe_handler_t; #endif /*****************************************************************************/ typedef struct { // outputs void *process_data; size_t process_data_size; } ec_ioctl_master_activate_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint16_t pdo_index; uint16_t entry_index; uint8_t entry_subindex; uint8_t entry_bit_length; } ec_ioctl_add_pdo_entry_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint16_t entry_index; uint8_t entry_subindex; uint32_t domain_index; // outputs unsigned int bit_position; } ec_ioctl_reg_pdo_entry_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint32_t sync_index; uint32_t pdo_pos; uint32_t entry_pos; uint32_t domain_index; // outputs unsigned int bit_position; } ec_ioctl_reg_pdo_pos_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint16_t index; uint8_t subindex; const uint8_t *data; size_t size; uint8_t complete_access; } ec_ioctl_sc_sdo_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; size_t size; uint8_t *target; // outputs int32_t overruns; } ec_ioctl_sc_emerg_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; // outputs ec_slave_config_state_t *state; } ec_ioctl_sc_state_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; uint8_t drive_no; uint16_t idn; ec_al_state_t al_state; const uint8_t *data; size_t size; } ec_ioctl_sc_idn_t; /*****************************************************************************/ typedef struct { // inputs uint32_t domain_index; // outputs ec_domain_state_t *state; } ec_ioctl_domain_state_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; // inputs/outputs uint32_t request_index; uint16_t sdo_index; uint8_t sdo_subindex; size_t size; uint8_t *data; uint32_t timeout; ec_request_state_t state; } ec_ioctl_sdo_request_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; size_t mem_size; // inputs/outputs uint32_t request_index; uint8_t *data; ec_request_state_t state; uint8_t new_data; uint16_t address; size_t transfer_size; } ec_ioctl_reg_request_t; /*****************************************************************************/ typedef struct { // inputs uint32_t config_index; // inputs/outputs uint32_t voe_index; uint32_t *vendor_id; uint16_t *vendor_type; size_t size; uint8_t *data; ec_request_state_t state; } ec_ioctl_voe_t; /*****************************************************************************/ typedef struct { // inputs uint32_t dev_idx; // outputs ec_master_link_state_t *state; } ec_ioctl_link_state_t; /*****************************************************************************/ #ifdef __KERNEL__ /** Context data structure for file handles. */ typedef struct { unsigned int writable; /**< Device was opened with write permission. */ unsigned int requested; /**< Master was requested via this file handle. */ uint8_t *process_data; /**< Total process data area. */ size_t process_data_size; /**< Size of the \a process_data. */ } ec_ioctl_context_t; long ec_ioctl(ec_master_t *, ec_ioctl_context_t *, unsigned int, void __user *); #ifdef EC_RTDM long ec_ioctl_rtdm(ec_master_t *, ec_ioctl_context_t *, unsigned int, void __user *); int ec_rtdm_mmap(ec_ioctl_context_t *, void **); #endif #endif /*****************************************************************************/ /** \endcond */ #endif