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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<title>Xenomai API: Real-Time Driver Model</title>
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<h1>Real-Time Driver Model</h1>
<p>
<div class="dynheader">
Collaboration diagram for Real-Time Driver Model:</div>
<div class="dynsection">
<center><table><tr><td><img src="group__rtdm.png" border="0" alt="" usemap="#group____rtdm_map">
<map name="group____rtdm_map">
<area shape="rect" href="group__profiles.html" title="Device Profiles" alt="" coords="251,5,365,32"><area shape="rect" href="group__userapi.html" title="User API" alt="" coords="271,56,345,83"><area shape="rect" href="group__driverapi.html" title="Driver Development API" alt="" coords="221,107,395,133"></map></td></tr></table></center>
</div>
<hr><a name="_details"></a><h2>Detailed Description</h2>
The Real-Time Driver Model (RTDM) provides a unified interface to both users and developers of real-time device drivers. Specifically, it addresses the constraints of mixed RT/non-RT systems like Xenomai. RTDM conforms to POSIX semantics (IEEE Std 1003.1) where available and applicable.<p>
<b>API</b> <b>Revision:</b> 8
<p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td></td></tr>
<tr><td colspan="2"><br><h2>Modules</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__userapi.html">User API</a></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__driverapi.html">Driver Development API</a></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__profiles.html">Device Profiles</a></td></tr>
<tr><td colspan="2"><br><h2>API Versioning</h2></td></tr>
<tr><td colspan="2"><a class="anchor" name="api_versioning"></a> <br><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gdd2020d36782ebb916b065d6554f2631"></a><!-- doxytag: member="rtdm::RTDM_API_VER" ref="gdd2020d36782ebb916b065d6554f2631" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__rtdm.html#gdd2020d36782ebb916b065d6554f2631">RTDM_API_VER</a> 8</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Common user and driver API version. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g29d0fb2c233815a4a1d99f6a19f50b97"></a><!-- doxytag: member="rtdm::RTDM_API_MIN_COMPAT_VER" ref="g29d0fb2c233815a4a1d99f6a19f50b97" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__rtdm.html#g29d0fb2c233815a4a1d99f6a19f50b97">RTDM_API_MIN_COMPAT_VER</a> 6</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Minimum API revision compatible with the current release. <br></td></tr>
<tr><td colspan="2"><br><h2>RTDM_TIMEOUT_xxx</h2></td></tr>
<tr><td colspan="2"><a class="anchor" name="RTDM_TIMEOUT_xxx"></a> Special timeout values <br><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__rtdm.html#gbdd7dfed8d8c38213f7edff5dc8b85a9">RTDM_TIMEOUT_INFINITE</a> 0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Block forever. <a href="#gbdd7dfed8d8c38213f7edff5dc8b85a9"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__rtdm.html#g9d1d1557083c4b10226f360bea137fde">RTDM_TIMEOUT_NONE</a> (-1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Any negative timeout means non-blocking. <a href="#g9d1d1557083c4b10226f360bea137fde"></a><br></td></tr>
<tr><td colspan="2"><br><h2>Typedefs</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">typedef uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__rtdm.html#gd3b24c25feabadba465f8797d8c7fe27">nanosecs_abs_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">RTDM type for representing absolute dates. <a href="#gd3b24c25feabadba465f8797d8c7fe27"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">typedef int64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__rtdm.html#gededf91e760e3268235351dcc9d9dcda">nanosecs_rel_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">RTDM type for representing relative intervals. <a href="#gededf91e760e3268235351dcc9d9dcda"></a><br></td></tr>
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<hr><h2>Define Documentation</h2>
<a class="anchor" name="gbdd7dfed8d8c38213f7edff5dc8b85a9"></a><!-- doxytag: member="rtdm.h::RTDM_TIMEOUT_INFINITE" ref="gbdd7dfed8d8c38213f7edff5dc8b85a9" args="" -->
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<td class="memname">#define RTDM_TIMEOUT_INFINITE 0 </td>
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<p>
Block forever.
<p>
</div>
</div><p>
<a class="anchor" name="g9d1d1557083c4b10226f360bea137fde"></a><!-- doxytag: member="rtdm.h::RTDM_TIMEOUT_NONE" ref="g9d1d1557083c4b10226f360bea137fde" args="" -->
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<td class="memname">#define RTDM_TIMEOUT_NONE (-1) </td>
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<div class="memdoc">
<p>
Any negative timeout means non-blocking.
<p>
</div>
</div><p>
<hr><h2>Typedef Documentation</h2>
<a class="anchor" name="gd3b24c25feabadba465f8797d8c7fe27"></a><!-- doxytag: member="rtdm.h::nanosecs_abs_t" ref="gd3b24c25feabadba465f8797d8c7fe27" args="" -->
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<td class="memname">typedef uint64_t <a class="el" href="group__rtdm.html#gd3b24c25feabadba465f8797d8c7fe27">nanosecs_abs_t</a> </td>
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<p>
RTDM type for representing absolute dates.
<p>
Its base type is a 64 bit unsigned integer. The unit is 1 nanosecond. <dl compact><dt><b>Examples: </b></dt><dd>
<a class="el" href="rtcanrecv_8c-example.html#a6">rtcanrecv.c</a>.</dl>
</div>
</div><p>
<a class="anchor" name="gededf91e760e3268235351dcc9d9dcda"></a><!-- doxytag: member="rtdm.h::nanosecs_rel_t" ref="gededf91e760e3268235351dcc9d9dcda" args="" -->
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<div class="memproto">
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<td class="memname">typedef int64_t <a class="el" href="group__rtdm.html#gededf91e760e3268235351dcc9d9dcda">nanosecs_rel_t</a> </td>
</tr>
</table>
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<div class="memdoc">
<p>
RTDM type for representing relative intervals.
<p>
Its base type is a 64 bit signed integer. The unit is 1 nanosecond. Relative intervals can also encode the special timeouts "infinite" and "non-blocking", see <a class="el" href="group__rtdm.html#RTDM_TIMEOUT_xxx">RTDM_TIMEOUT_xxx</a>. <dl compact><dt><b>Examples: </b></dt><dd>
<a class="el" href="rtcanrecv_8c-example.html#a0">rtcanrecv.c</a>, and <a class="el" href="rtcansend_8c-example.html#a0">rtcansend.c</a>.</dl>
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