examples/mini/mini.c
author Florian Pose <fp@igh-essen.com>
Wed, 10 May 2006 11:33:10 +0000
changeset 225 9e8150db6fc8
parent 223 daa5e5656b35
child 226 07247920a7ba
permissions -rw-r--r--
Applied RTAI interface to RTAI example.
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/******************************************************************************
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 *
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 *  m i n i . c
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 *
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 *  Minimal module for EtherCAT.
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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; version 2 of the License.
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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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 *****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.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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#define ASYNC
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#define FREQUENCY 100
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/*****************************************************************************/
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struct timer_list timer;
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// EtherCAT
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ec_master_t *master = NULL;
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ec_domain_t *domain1 = NULL;
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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// data fields
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//void *r_ssi_input, *r_ssi_status, *r_4102[3];
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// channels
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uint32_t k_pos;
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uint8_t k_stat;
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ec_field_init_t domain1_fields[] = {
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    {NULL, "3", "Beckhoff", "EL5001", "InputValue",   0},
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    {NULL, "2", "Beckhoff", "EL4132", "OutputValue",  0},
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    {}
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};
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/*****************************************************************************/
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void run(unsigned long data)
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{
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    static unsigned int counter = 0;
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    spin_lock(&master_lock);
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#ifdef ASYNC
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    // receive
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    ecrt_master_async_receive(master);
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    ecrt_domain_process(domain1);
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#else
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    // send and receive
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    ecrt_domain_queue(domain1);
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    ecrt_master_run(master);
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    ecrt_master_sync_io(master);
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    ecrt_domain_process(domain1);
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#endif
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    // process data
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    //k_pos = EC_READ_U32(r_ssi);
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#ifdef ASYNC
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    // send
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    ecrt_domain_queue(domain1);
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    ecrt_master_run(master);
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    ecrt_master_async_send(master);
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#endif
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    spin_unlock(&master_lock);
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    if (counter) {
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        counter--;
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    }
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    else {
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        counter = FREQUENCY;
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        //printk(KERN_INFO "k_pos    = %i\n", k_pos);
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        //printk(KERN_INFO "k_stat   = 0x%02X\n", k_stat);
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    }
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    // restart timer
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    timer.expires += HZ / FREQUENCY;
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    add_timer(&timer);
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}
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/*****************************************************************************/
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int request_lock(void *data)
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{
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    unsigned int tries = 0;
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    while (1) {
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        if (spin_trylock(&master_lock)) {
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            if (tries) printk(KERN_INFO "lock: %i tries needed.\n", tries);
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            return 1;
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        }
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        tries++;
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    }
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}
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/*****************************************************************************/
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void release_lock(void *data)
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{
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    spin_unlock(&master_lock);
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}
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/*****************************************************************************/
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int __init init_mini_module(void)
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{
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    printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
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    if ((master = ecrt_request_master(0)) == NULL) {
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        printk(KERN_ERR "Requesting master 0 failed!\n");
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        goto out_return;
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    }
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    ecrt_master_callbacks(master, request_lock, release_lock, NULL);
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    printk(KERN_INFO "Registering domain...\n");
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    if (!(domain1 = ecrt_master_create_domain(master)))
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    {
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        printk(KERN_ERR "Domain creation failed!\n");
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        goto out_release_master;
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    }
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    printk(KERN_INFO "Registering domain fields...\n");
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    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
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        printk(KERN_ERR "Field registration failed!\n");
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        goto out_release_master;
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    }
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    printk(KERN_INFO "Activating master...\n");
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    if (ecrt_master_activate(master)) {
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        printk(KERN_ERR "Failed to activate master!\n");
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        goto out_release_master;
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    }
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#if 0
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    if (ecrt_master_fetch_sdo_lists(master)) {
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        printk(KERN_ERR "Failed to fetch SDO lists!\n");
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        goto out_deactivate;
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    }
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    ecrt_master_print(master, 2);
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#else
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    ecrt_master_print(master, 0);
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#endif
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#if 0
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    if (!(slave = ecrt_master_get_slave(master, "5"))) {
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        printk(KERN_ERR "Failed to get slave 5!\n");
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        goto out_deactivate;
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    }
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    if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  0) ||
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        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  1) ||
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        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) ||
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        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  0) ||
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        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  4) ||
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        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) ||
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        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
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        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
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        ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
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        printk(KERN_ERR "Failed to configure SSI slave!\n");
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        goto out_deactivate;
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    }
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#endif
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#if 0
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    printk(KERN_INFO "Writing alias...\n");
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    if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
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        printk(KERN_ERR "Failed to write alias!\n");
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        goto out_deactivate;
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    }
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#endif
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#ifdef ASYNC
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    // send once and wait...
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    ecrt_master_prepare_async_io(master);
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#endif
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#if 1
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    if (ecrt_master_start_eoe(master)) {
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        printk(KERN_ERR "Failed to start EoE processing!\n");
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        goto out_deactivate;
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    }
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#endif
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    printk("Starting cyclic sample thread.\n");
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    init_timer(&timer);
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    timer.function = run;
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    timer.expires = jiffies + 10;
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    add_timer(&timer);
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    printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
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    return 0;
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#if 1
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 out_deactivate:
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    ecrt_master_deactivate(master);
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#endif
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 out_release_master:
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    ecrt_release_master(master);
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 out_return:
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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 "=== Stopping Minimal EtherCAT environment... ===\n");
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    if (master) {
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        del_timer_sync(&timer);
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        printk(KERN_INFO "Deactivating master...\n");
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        ecrt_master_deactivate(master);
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        ecrt_release_master(master);
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    }
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    printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\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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/*****************************************************************************/
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