EtherCAT master character device. More...

Macros
#define	DEBUG_LATENCY 0
	Set to 1 to enable ioctl() latency tracing. More...

#define	ATTRIBUTES
	Optional compiler attributes fo ioctl() functions.

#define	EC_IOCTL ec_ioctl
	ioctl() function to use.

Functions
static void	ec_ioctl_strcpy (char target, const char source)
	Copies a string to an ioctl structure. More...

static ATTRIBUTES int	ec_ioctl_module (void *arg)
	Get module information. More...

static ATTRIBUTES int	ec_ioctl_master (ec_master_t master, void arg)
	Get master information. More...

static ATTRIBUTES int	ec_ioctl_slave (ec_master_t master, void arg)
	Get slave information. More...

static ATTRIBUTES int	ec_ioctl_slave_sync (ec_master_t master, void arg)
	Get slave sync manager information. More...

static ATTRIBUTES int	ec_ioctl_slave_sync_pdo (ec_master_t master, void arg)
	Get slave sync manager PDO information. More...

static ATTRIBUTES int	ec_ioctl_slave_sync_pdo_entry (ec_master_t master, void arg)
	Get slave sync manager PDO entry information. More...

static ATTRIBUTES int	ec_ioctl_domain (ec_master_t master, void arg)
	Get domain information. More...

static ATTRIBUTES int	ec_ioctl_domain_fmmu (ec_master_t master, void arg)
	Get domain FMMU information. More...

static ATTRIBUTES int	ec_ioctl_domain_data (ec_master_t master, void arg)
	Get domain data. More...

static ATTRIBUTES int	ec_ioctl_master_debug (ec_master_t master, void arg)
	Set master debug level. More...

static ATTRIBUTES int	ec_ioctl_master_rescan (ec_master_t master, void arg)
	Issue a bus scan. More...

static ATTRIBUTES int	ec_ioctl_slave_state (ec_master_t master, void arg)
	Set slave state. More...

static ATTRIBUTES int	ec_ioctl_slave_sdo (ec_master_t master, void arg)
	Get slave SDO information. More...

static ATTRIBUTES int	ec_ioctl_slave_sdo_entry (ec_master_t master, void arg)
	Get slave SDO entry information. More...

static ATTRIBUTES int	ec_ioctl_slave_sdo_upload (ec_master_t master, void arg)
	Upload SDO. More...

static ATTRIBUTES int	ec_ioctl_slave_sdo_download (ec_master_t master, void arg)
	Download SDO. More...

static ATTRIBUTES int	ec_ioctl_slave_sii_read (ec_master_t master, void arg)
	Read a slave's SII. More...

static ATTRIBUTES int	ec_ioctl_slave_sii_write (ec_master_t master, void arg)
	Write a slave's SII. More...

static ATTRIBUTES int	ec_ioctl_slave_reg_read (ec_master_t master, void arg)
	Read a slave's registers. More...

static ATTRIBUTES int	ec_ioctl_slave_reg_write (ec_master_t master, void arg)
	Write a slave's registers. More...

static ATTRIBUTES int	ec_ioctl_config (ec_master_t master, void arg)
	Get slave configuration information. More...

static ATTRIBUTES int	ec_ioctl_config_pdo (ec_master_t master, void arg)
	Get slave configuration PDO information. More...

static ATTRIBUTES int	ec_ioctl_config_pdo_entry (ec_master_t master, void arg)
	Get slave configuration PDO entry information. More...

static ATTRIBUTES int	ec_ioctl_config_sdo (ec_master_t master, void arg)
	Get slave configuration SDO information. More...

static ATTRIBUTES int	ec_ioctl_config_idn (ec_master_t master, void arg)
	Get slave configuration IDN information. More...

static ATTRIBUTES int	ec_ioctl_eoe_handler (ec_master_t master, void arg)
	Get EoE handler information. More...

static ATTRIBUTES int	ec_ioctl_request (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Request the master from userspace. More...

static ATTRIBUTES int	ec_ioctl_create_domain (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Create a domain. More...

static ATTRIBUTES int	ec_ioctl_create_slave_config (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Create a slave configuration. More...

static ATTRIBUTES int	ec_ioctl_select_ref_clock (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Select the DC reference clock. More...

static ATTRIBUTES int	ec_ioctl_activate (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Activates the master. More...

static ATTRIBUTES int	ec_ioctl_deactivate (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Deactivates the master. More...

static ATTRIBUTES int	ec_ioctl_set_send_interval (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Set max. More...

static ATTRIBUTES int	ec_ioctl_send (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Send frames. More...

static ATTRIBUTES int	ec_ioctl_receive (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Receive frames. More...

static ATTRIBUTES int	ec_ioctl_master_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the master state. More...

static ATTRIBUTES int	ec_ioctl_master_link_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the link state. More...

static ATTRIBUTES int	ec_ioctl_app_time (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Set the master DC application time. More...

static ATTRIBUTES int	ec_ioctl_sync_ref (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sync the reference clock. More...

static ATTRIBUTES int	ec_ioctl_sync_slaves (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sync the slave clocks. More...

static ATTRIBUTES int	ec_ioctl_ref_clock_time (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the system time of the reference clock. More...

static ATTRIBUTES int	ec_ioctl_sync_mon_queue (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Queue the sync monitoring datagram. More...

static ATTRIBUTES int	ec_ioctl_sync_mon_process (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Processes the sync monitoring datagram. More...

static ATTRIBUTES int	ec_ioctl_reset (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Reset configuration. More...

static ATTRIBUTES int	ec_ioctl_sc_sync (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Configure a sync manager. More...

static ATTRIBUTES int	ec_ioctl_sc_watchdog (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Configure a slave's watchdogs. More...

static ATTRIBUTES int	ec_ioctl_sc_add_pdo (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Add a PDO to the assignment. More...

static ATTRIBUTES int	ec_ioctl_sc_clear_pdos (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Clears the PDO assignment. More...

static ATTRIBUTES int	ec_ioctl_sc_add_entry (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Add an entry to a PDO's mapping. More...

static ATTRIBUTES int	ec_ioctl_sc_clear_entries (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Clears the mapping of a PDO. More...

static ATTRIBUTES int	ec_ioctl_sc_reg_pdo_entry (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Registers a PDO entry. More...

static ATTRIBUTES int	ec_ioctl_sc_reg_pdo_pos (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Registers a PDO entry by its position. More...

static ATTRIBUTES int	ec_ioctl_sc_dc (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sets the DC AssignActivate word and the sync signal times. More...

static ATTRIBUTES int	ec_ioctl_sc_sdo (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Configures an SDO. More...

static ATTRIBUTES int	ec_ioctl_sc_emerg_size (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Set the emergency ring buffer size. More...

static ATTRIBUTES int	ec_ioctl_sc_emerg_pop (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get an emergency message from the ring. More...

static ATTRIBUTES int	ec_ioctl_sc_emerg_clear (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Clear the emergency ring. More...

static ATTRIBUTES int	ec_ioctl_sc_emerg_overruns (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the number of emergency overruns. More...

static ATTRIBUTES int	ec_ioctl_sc_create_sdo_request (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Create an SDO request. More...

static ATTRIBUTES int	ec_ioctl_sc_create_reg_request (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Create a register request. More...

static ATTRIBUTES int	ec_ioctl_sc_create_voe_handler (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Create a VoE handler. More...

static ATTRIBUTES int	ec_ioctl_sc_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the slave configuration's state. More...

static ATTRIBUTES int	ec_ioctl_sc_idn (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Configures an IDN. More...

static ATTRIBUTES int	ec_ioctl_domain_size (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Gets the domain's data size. More...

static ATTRIBUTES int	ec_ioctl_domain_offset (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Gets the domain's offset in the total process data. More...

static ATTRIBUTES int	ec_ioctl_domain_process (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Process the domain. More...

static ATTRIBUTES int	ec_ioctl_domain_queue (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Queue the domain. More...

static ATTRIBUTES int	ec_ioctl_domain_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Get the domain state. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_index (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sets an SDO request's SDO index and subindex. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_timeout (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sets an SDO request's timeout. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Gets an SDO request's state. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_read (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts an SDO read operation. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_write (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts an SDO write operation. More...

static ATTRIBUTES int	ec_ioctl_sdo_request_data (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Read SDO data. More...

static ATTRIBUTES int	ec_ioctl_reg_request_data (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Read register data. More...

static ATTRIBUTES int	ec_ioctl_reg_request_state (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Gets an register request's state. More...

static ATTRIBUTES int	ec_ioctl_reg_request_write (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts an register write operation. More...

static ATTRIBUTES int	ec_ioctl_reg_request_read (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts an register read operation. More...

static ATTRIBUTES int	ec_ioctl_voe_send_header (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Sets the VoE send header. More...

static ATTRIBUTES int	ec_ioctl_voe_rec_header (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Gets the received VoE header. More...

static ATTRIBUTES int	ec_ioctl_voe_read (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts a VoE read operation. More...

static ATTRIBUTES int	ec_ioctl_voe_read_nosync (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts a VoE read operation without sending a sync message first. More...

static ATTRIBUTES int	ec_ioctl_voe_write (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Starts a VoE write operation. More...

static ATTRIBUTES int	ec_ioctl_voe_exec (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Executes the VoE state machine. More...

static ATTRIBUTES int	ec_ioctl_voe_data (ec_master_t master, void arg, ec_ioctl_context_t *ctx)
	Reads the received VoE data. More...

static ATTRIBUTES int	ec_ioctl_slave_foe_read (ec_master_t master, void arg)
	Read a file from a slave via FoE. More...

static ATTRIBUTES int	ec_ioctl_slave_foe_write (ec_master_t master, void arg)
	Write a file to a slave via FoE. More...

static ATTRIBUTES int	ec_ioctl_slave_soe_read (ec_master_t master, void arg)
	Read an SoE IDN. More...

static ATTRIBUTES int	ec_ioctl_slave_soe_write (ec_master_t master, void arg)
	Write an IDN to a slave via SoE. More...

long	EC_IOCTL (ec_master_t master, ec_ioctl_context_t ctx, unsigned int cmd, void *arg)
	Called when an ioctl() command is issued. More...

Detailed Description

EtherCAT master character device.

Definition in file rtdm-ioctl.c.

Macro Definition Documentation

#define DEBUG_LATENCY 0

Set to 1 to enable ioctl() latency tracing.

Requires CPU timestamp counter!

Definition at line 50 of file rtdm-ioctl.c.

Function Documentation

static void ec_ioctl_strcpy	(	char *	target,
		const char *	source
	)

static

Copies a string to an ioctl structure.

Parameters

target	Target.
source	Source.

Definition at line 64 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_module ( void * arg )

static

Get module information.

Returns: Zero on success, otherwise a negative error code.

Parameters

arg	Userspace address to store the results.

Definition at line 83 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_master	(	ec_master_t *	master,
		void *	arg
	)

static

Get master information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 104 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 199 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_sync	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave sync manager information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 286 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_sync_pdo	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave sync manager PDO information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 339 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_sync_pdo_entry	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave sync manager PDO entry information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 398 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_domain	(	ec_master_t *	master,
		void *	arg
	)

static

Get domain information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 467 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_domain_fmmu	(	ec_master_t *	master,
		void *	arg
	)

static

Get domain FMMU information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 512 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_domain_data	(	ec_master_t *	master,
		void *	arg
	)

static

Get domain data.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	Userspace address to store the results.

Definition at line 564 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_master_debug	(	ec_master_t *	master,
		void *	arg
	)

static

Set master debug level.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 609 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_master_rescan	(	ec_master_t *	master,
		void *	arg
	)

static

Issue a bus scan.

Returns: Always zero (success).

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 623 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_state	(	ec_master_t *	master,
		void *	arg
	)

static

Set slave state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 638 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_sdo	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave SDO information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 673 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_sdo_entry	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave SDO entry information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 722 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_sdo_upload	(	ec_master_t *	master,
		void *	arg
	)

static

Upload SDO.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 802 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_sdo_download	(	ec_master_t *	master,
		void *	arg
	)

static

Download SDO.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 848 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_sii_read	(	ec_master_t *	master,
		void *	arg
	)

static

Read a slave's SII.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 896 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_sii_write	(	ec_master_t *	master,
		void *	arg
	)

static

Write a slave's SII.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 944 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_reg_read	(	ec_master_t *	master,
		void *	arg
	)

static

Read a slave's registers.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1032 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_reg_write	(	ec_master_t *	master,
		void *	arg
	)

static

Write a slave's registers.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1111 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_config	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave configuration information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1196 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_config_pdo	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave configuration PDO information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1254 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_config_pdo_entry	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave configuration PDO entry information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1310 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_config_sdo	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave configuration SDO information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1375 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_config_idn	(	ec_master_t *	master,
		void *	arg
	)

static

Get slave configuration IDN information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1439 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_eoe_handler	(	ec_master_t *	master,
		void *	arg
	)

static

Get EoE handler information.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 1505 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_request	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Request the master from userspace.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1557 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_create_domain	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Create a domain.

Returns: Domain index on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1582 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_create_slave_config	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Create a slave configuration.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1606 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_select_ref_clock	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Select the DC reference clock.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1652 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_activate	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Activates the master.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1693 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_deactivate	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Deactivates the master.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1776 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_set_send_interval	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Set max.

number of databytes in a cycle

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1795 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_send	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Send frames.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1827 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_receive	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Receive frames.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1847 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_master_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the master state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1867 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_master_link_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the link state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1889 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_app_time	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Set the master DC application time.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1921 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sync_ref	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sync the reference clock.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1946 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sync_slaves	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sync the slave clocks.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1966 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_ref_clock_time	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the system time of the reference clock.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 1986 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sync_mon_queue	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Queue the sync monitoring datagram.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2017 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sync_mon_process	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Processes the sync monitoring datagram.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2037 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_reset	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Reset configuration.

Returns: Always zero (success).

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2062 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_sync	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Configure a sync manager.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2080 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_watchdog	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Configure a slave's watchdogs.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2133 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_add_pdo	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Add a PDO to the assignment.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2178 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_clear_pdos	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Clears the PDO assignment.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2212 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_add_entry	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Add an entry to a PDO's mapping.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2247 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_clear_entries	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Clears the mapping of a PDO.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2282 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_reg_pdo_entry	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Registers a PDO entry.

Returns: Process data offset on success, otherwise a negative error code.

Todo:: sc or domain could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2317 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_reg_pdo_pos	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Registers a PDO entry by its position.

Returns: Process data offset on success, otherwise a negative error code.

Todo:: sc or domain could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2364 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_dc	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sets the DC AssignActivate word and the sync signal times.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2414 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_sdo	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Configures an SDO.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2454 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_emerg_size	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Set the emergency ring buffer size.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2513 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_emerg_pop	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get an emergency message from the ring.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2551 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_emerg_clear	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Clear the emergency ring.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2595 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_emerg_overruns	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the number of emergency overruns.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2628 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_create_sdo_request	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Create an SDO request.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2673 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_create_reg_request	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Create a register request.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2724 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_create_voe_handler	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Create a VoE handler.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2778 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the slave configuration's state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2828 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sc_idn	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Configures an IDN.

Returns: Zero on success, otherwise a negative error code.

Todo:: sc could be invalidated

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2866 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_domain_size	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Gets the domain's data size.

Returns: Domain size, or a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2920 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_domain_offset	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Gets the domain's offset in the total process data.

Returns: Domain offset, or a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2954 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_domain_process	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Process the domain.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 2988 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_domain_queue	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Queue the domain.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3016 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_domain_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Get the domain state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3044 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sdo_request_index	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sets an SDO request's SDO index and subindex.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3082 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sdo_request_timeout	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sets an SDO request's timeout.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3119 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sdo_request_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Gets an SDO request's state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3156 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sdo_request_read	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts an SDO read operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3201 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sdo_request_write	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts an SDO write operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3238 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_sdo_request_data	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Read SDO data.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3289 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_reg_request_data	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Read register data.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3329 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_reg_request_state	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Gets an register request's state.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3376 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_reg_request_write	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts an register write operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3421 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_reg_request_read	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts an register read operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3469 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_voe_send_header	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Sets the VoE send header.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3512 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_voe_rec_header	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Gets the received VoE header.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3557 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_voe_read	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts a VoE read operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3605 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_voe_read_nosync	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts a VoE read operation without sending a sync message first.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3642 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_voe_write	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Starts a VoE write operation.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3679 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_voe_exec	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Executes the VoE state machine.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3725 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_voe_data	(	ec_master_t *	master,
		void *	arg,
		ec_ioctl_context_t *	ctx
	)

static

Reads the received VoE data.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.
ctx	Private data structure of file handle.

Definition at line 3770 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_foe_read	(	ec_master_t *	master,
		void *	arg
	)

static

Read a file from a slave via FoE.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 3810 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_foe_write	(	ec_master_t *	master,
		void *	arg
	)

static

Write a file to a slave via FoE.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 3906 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_soe_read	(	ec_master_t *	master,
		void *	arg
	)

static

Read an SoE IDN.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 3994 of file rtdm-ioctl.c.

static ATTRIBUTES int ec_ioctl_slave_soe_write	(	ec_master_t *	master,
		void *	arg
	)

static

Write an IDN to a slave via SoE.

Returns: Zero on success, otherwise a negative error code.

Parameters

master	EtherCAT master.
arg	ioctl() argument.

Definition at line 4043 of file rtdm-ioctl.c.

long EC_IOCTL	(	ec_master_t *	master,
		ec_ioctl_context_t *	ctx,
		unsigned int	cmd,
		void *	arg
	)

Called when an ioctl() command is issued.

Returns: ioctl() return code.

Parameters

master	EtherCAT master.
ctx	Device context.
cmd	ioctl() command identifier.
arg	ioctl() argument.

Definition at line 4097 of file rtdm-ioctl.c.

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