examples/mini/mini.c
author Florian Pose <fp@igh-essen.com>
Thu, 28 Feb 2008 11:23:34 +0000
changeset 838 3cb5769059f4
parent 820 f8e6f5966cce
child 846 19248bbf9308
permissions -rw-r--r--
Renamed ec_pdo_mapping_add_pdo() to ec_pdo_mapping_add_pdo_copy().
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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#include <linux/module.h>
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#include <linux/timer.h>
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#include <linux/spinlock.h>
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#include <linux/interrupt.h>
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#include "../../include/ecrt.h" // EtherCAT realtime interface
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#include "../../include/ecdb.h" // EtherCAT slave database
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/*****************************************************************************/
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// module parameters
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#define FREQUENCY 100
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#define CONFIGURE_MAPPING
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#define EXTERNAL_MEMORY
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#define PFX "ec_mini: "
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/*****************************************************************************/
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_master_state_t master_state = {};
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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static ec_domain_t *domain1 = NULL;
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static ec_domain_state_t domain1_state = {};
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static struct timer_list timer;
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static unsigned int counter = 0;
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/*****************************************************************************/
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// process data
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static uint8_t *domain1_pd; // process data memory
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static unsigned int off_ana_in; // offsets for Pdo entries
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static unsigned int off_dig_out;
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static unsigned int blink = 0;
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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    {0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
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    {0, 3, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
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    {}
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};
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/*****************************************************************************/
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#ifdef CONFIGURE_MAPPING
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const ec_pdo_entry_info_t el3162_channel1[] = {
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    {0x3101, 1,  8}, // status
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    {0x3101, 2, 16}  // value
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};
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const ec_pdo_entry_info_t el3162_channel2[] = {
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    {0x3102, 1,  8}, // status
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    {0x3102, 2, 16}  // value
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};
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const ec_pdo_info_t el3162_mapping[] = {
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    {EC_DIR_INPUT, 0x1A00, 2, el3162_channel1},
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    {EC_DIR_INPUT, 0x1A01, 2, el3162_channel2},
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};
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const ec_pdo_entry_info_t el2004_channels[] = {
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    {0x3001, 1, 1}, // Value 1
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    {0x3001, 2, 1}, // Value 2
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    {0x3001, 3, 1}, // Value 3
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    {0x3001, 4, 1}  // Value 4
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};
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const ec_pdo_info_t el2004_mapping[] = {
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    {EC_DIR_OUTPUT, 0x1600, 1, &el2004_channels[0]},
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    {EC_DIR_OUTPUT, 0x1601, 1, &el2004_channels[1]},
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    {EC_DIR_OUTPUT, 0x1602, 1, &el2004_channels[2]},
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    {EC_DIR_OUTPUT, 0x1603, 1, &el2004_channels[3]},
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};
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#endif
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/*****************************************************************************/
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void check_domain1_state(void)
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{
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    ec_domain_state_t ds;
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    ecrt_domain_state(domain1, &ds);
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    if (ds.working_counter != domain1_state.working_counter)
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        printk(KERN_INFO PFX "domain1 working_counter changed to %u.\n",
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                ds.working_counter);
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    if (ds.wc_state != domain1_state.wc_state)
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        printk(KERN_INFO PFX "domain1 wc_state changed to %u.\n",
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                ds.wc_state);
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    domain1_state = ds;
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}
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/*****************************************************************************/
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void check_master_state(void)
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{
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    ec_master_state_t ms;
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    spin_lock(&master_lock);
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    ecrt_master_state(master, &ms);
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    spin_unlock(&master_lock);
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    if (ms.bus_state != master_state.bus_state) {
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        printk(KERN_INFO PFX "bus state changed to %i.\n", ms.bus_state);
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    }
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   144
    if (ms.bus_tainted != master_state.bus_tainted) {
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diff changeset
   145
        printk(KERN_INFO PFX "tainted flag changed to %u.\n",
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diff changeset
   146
                ms.bus_tainted);
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diff changeset
   147
    }
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   148
    if (ms.slaves_responding != master_state.slaves_responding) {
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diff changeset
   149
        printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
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   150
                ms.slaves_responding);
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diff changeset
   151
    }
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   152
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   153
    master_state = ms;
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   154
}
220
342ad851ec78 Added examples directory.
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   155
342ad851ec78 Added examples directory.
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   156
/*****************************************************************************/
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   157
820
f8e6f5966cce Cleaned up mini module.
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   158
void cyclic_task(unsigned long data)
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   159
{
818
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   160
    // receive process data
220
342ad851ec78 Added examples directory.
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   161
    spin_lock(&master_lock);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   162
    ecrt_master_receive(master);
220
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diff changeset
   163
    ecrt_domain_process(domain1);
512
24292123d174 Shorter critical sections in examples.
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   164
    spin_unlock(&master_lock);
220
342ad851ec78 Added examples directory.
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diff changeset
   165
818
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   166
    // check process data state (optional)
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   167
    check_domain1_state();
512
24292123d174 Shorter critical sections in examples.
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diff changeset
   168
24292123d174 Shorter critical sections in examples.
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diff changeset
   169
    if (counter) {
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diff changeset
   170
        counter--;
818
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   171
    } else { // do this at FREQUENCY
512
24292123d174 Shorter critical sections in examples.
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diff changeset
   172
        counter = FREQUENCY;
818
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   173
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   174
        // calculate new process data
512
24292123d174 Shorter critical sections in examples.
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diff changeset
   175
        blink = !blink;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   176
818
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   177
        // check for master state (optional)
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   178
        check_master_state();
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diff changeset
   179
    }
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   180
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   181
    // write process data
820
f8e6f5966cce Cleaned up mini module.
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diff changeset
   182
    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x0F : 0x00);
818
b6c87ae254c9 Calculate expected working counter for domains.
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diff changeset
   183
b6c87ae254c9 Calculate expected working counter for domains.
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diff changeset
   184
    // send process data
512
24292123d174 Shorter critical sections in examples.
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parents: 509
diff changeset
   185
    spin_lock(&master_lock);
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   186
    ecrt_domain_queue(domain1);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 280
diff changeset
   187
    ecrt_master_send(master);
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   188
    spin_unlock(&master_lock);
342ad851ec78 Added examples directory.
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parents:
diff changeset
   189
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   190
    // restart timer
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   191
    timer.expires += HZ / FREQUENCY;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   192
    add_timer(&timer);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   193
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   194
342ad851ec78 Added examples directory.
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parents:
diff changeset
   195
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   196
342ad851ec78 Added examples directory.
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parents:
diff changeset
   197
int request_lock(void *data)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   198
{
516
f703e33ee395 Adjusted examples to EtherLab starter kit hardware.
Florian Pose <fp@igh-essen.com>
parents: 513
diff changeset
   199
    spin_lock(&master_lock);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   200
    return 0; // access allowed
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   201
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   202
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   203
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   204
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   205
void release_lock(void *data)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   206
{
516
f703e33ee395 Adjusted examples to EtherLab starter kit hardware.
Florian Pose <fp@igh-essen.com>
parents: 513
diff changeset
   207
    spin_unlock(&master_lock);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   208
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   209
342ad851ec78 Added examples directory.
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parents:
diff changeset
   210
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   211
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   212
int __init init_mini_module(void)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   213
{
818
b6c87ae254c9 Calculate expected working counter for domains.
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diff changeset
   214
#ifdef CONFIGURE_MAPPING
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   215
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   216
#endif
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   217
#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   218
    unsigned int size;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   219
#endif
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   220
    
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   221
    printk(KERN_INFO PFX "Starting...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   222
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   223
    if (!(master = ecrt_request_master(0))) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   224
        printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   225
        goto out_return;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   226
    }
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   227
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   228
    ecrt_master_callbacks(master, request_lock, release_lock, NULL);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   229
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   230
    printk(KERN_INFO PFX "Registering domain...\n");
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   231
    if (!(domain1 = ecrt_master_create_domain(master))) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   232
        printk(KERN_ERR PFX "Domain creation failed!\n");
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   233
        goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   234
    }
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   235
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   236
#ifdef CONFIGURE_MAPPING
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   237
    printk(KERN_INFO PFX "Configuring Pdo mapping...\n");
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   238
    if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   239
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   240
        goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   241
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   242
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   243
    if (ecrt_slave_config_mapping(sc, 2, el3162_mapping)) {
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   244
        printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n");
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   245
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   246
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   247
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   248
    if (!(sc = ecrt_master_slave_config(master, 0, 3, Beckhoff_EL2004))) {
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   249
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   250
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   251
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   252
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   253
    if (ecrt_slave_config_mapping(sc, 4, el2004_mapping)) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   254
        printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n");
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   255
        goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   256
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   257
#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   258
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   259
    printk(KERN_INFO PFX "Registering Pdo entries...\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   260
    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   261
        printk(KERN_ERR PFX "Pdo entry registration failed!\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   262
        goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   263
    }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   264
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   265
#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   266
    if ((size = ecrt_domain_size(domain1))) {
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   267
        if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   268
            printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   269
                    " memory!\n", size);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   270
            goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   271
        }
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   272
        ecrt_domain_external_memory(domain1, domain1_pd);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   273
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   274
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   275
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   276
    printk(KERN_INFO PFX "Activating master...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   277
    if (ecrt_master_activate(master)) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   278
        printk(KERN_ERR PFX "Failed to activate master!\n");
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   279
#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   280
        goto out_free_process_data;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   281
#else
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   282
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   283
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   284
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   285
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   286
#ifndef EXTERNAL_MEMORY
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   287
    // Get internal process data for domain
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   288
    domain1_pd = ecrt_domain_data(domain1);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   289
#endif
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
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    printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
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    init_timer(&timer);
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    timer.function = cyclic_task;
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    timer.expires = jiffies + 10;
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    add_timer(&timer);
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    printk(KERN_INFO PFX "Started.\n");
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    return 0;
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#ifdef EXTERNAL_MEMORY
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out_free_process_data:
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    kfree(domain1_pd);
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#endif
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out_release_master:
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    printk(KERN_ERR PFX "Releasing master...\n");
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    ecrt_release_master(master);
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out_return:
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    printk(KERN_ERR PFX "Failed to load. Aborting.\n");
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    return -1;
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}
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/*****************************************************************************/
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void __exit cleanup_mini_module(void)
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{
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    printk(KERN_INFO PFX "Stopping...\n");
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    del_timer_sync(&timer);
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#ifdef EXTERNAL_MEMORY
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    kfree(domain1_pd);
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#endif
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    printk(KERN_INFO PFX "Releasing master...\n");
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    ecrt_release_master(master);
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    printk(KERN_INFO PFX "Unloading.\n");
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}
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/*****************************************************************************/
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
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MODULE_DESCRIPTION("EtherCAT minimal test environment");
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module_init(init_mini_module);
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module_exit(cleanup_mini_module);
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/*****************************************************************************/