examples/msr/msr_sample.c
author Florian Pose <fp@igh-essen.com>
Fri, 20 Oct 2006 12:45:06 +0000
changeset 425 d36808888817
parent 325 7833cf70c4f2
child 449 3caf8ff4d8a2
child 1732 1cc865ba17c2
permissions -rw-r--r--
Better debugging output for SDO dictionaries.
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/******************************************************************************
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 *
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 *  Sample module for use with IgH MSR library.
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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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// Linux
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#include <linux/module.h>
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// RTAI
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#include "rtai_sched.h"
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#include "rtai_sem.h"
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// RT_lib
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#include <msr_main.h>
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#include <msr_reg.h>
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#include <msr_time.h>
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#include "msr_param.h"
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// EtherCAT
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#include "../../include/ecrt.h"
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#include "../../include/ecdb.h"
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#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
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#define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ)
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/*****************************************************************************/
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// RTAI
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RT_TASK task;
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SEM master_sem;
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cycles_t t_start = 0, t_critical;
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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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// raw process data
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void *r_ana_out;
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// Channels
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double k_ana_out;
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ec_pdo_reg_t domain1_pdos[] = {
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    {"3", Beckhoff_EL4132_Output1, &r_ana_out},
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    {}
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};
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/*****************************************************************************/
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void msr_controller_run(void)
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{
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    rt_sem_wait(&master_sem);
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    // receive
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    ecrt_master_receive(master);
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    ecrt_domain_process(domain1);
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    // Process data
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    EC_WRITE_S16(r_ana_out, k_ana_out / 10.0 * 0x7FFF);
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    // Send
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    ecrt_master_run(master);
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    ecrt_master_send(master);
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    rt_sem_signal(&master_sem);
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    msr_write_kanal_list();
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}
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/*****************************************************************************/
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void msr_run(long data)
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{
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    while (1) {
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        t_start = get_cycles();
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        MSR_RTAITHREAD_CODE(msr_controller_run(););
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        rt_task_wait_period();
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    }
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}
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/*****************************************************************************/
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int msr_reg(void)
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{
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    msr_reg_kanal("/ana_out", "", &k_ana_out, TDBL);
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    return 0;
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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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    // too close to the next RT cycle: deny access...
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    if (get_cycles() - t_start > t_critical) return -1;
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    // allow access
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    rt_sem_wait(&master_sem);
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    return 0;
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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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    rt_sem_signal(&master_sem);
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}
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/*****************************************************************************/
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int __init init_mod(void)
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{
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    RTIME ticks;
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    printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n");
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    rt_sem_init(&master_sem, 1);
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    t_critical = cpu_khz * 800 / MSR_ABTASTFREQUENZ; // ticks for 80%
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    if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_reg) < 0) {
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        printk(KERN_ERR "Failed to initialize rtlib!\n");
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   151
        goto out_return;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   152
    }
f6594a07cdda MSR example finished.
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parents:
diff changeset
   153
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   154
    if (!(master = ecrt_request_master(0))) {
232
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   155
        printk(KERN_ERR "Failed to request master 0!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   156
        goto out_msr_cleanup;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   157
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   158
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   159
    ecrt_master_callbacks(master, request_lock, release_lock, NULL);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   160
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   161
    printk(KERN_INFO "Creating domains...\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   162
    if (!(domain1 = ecrt_master_create_domain(master))) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   163
        printk(KERN_ERR "Failed to create domains!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   164
        goto out_release_master;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   165
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   166
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   167
    printk(KERN_INFO "Registering PDOs...\n");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   168
    if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   169
        printk(KERN_ERR "Failed to register PDOs.\n");
232
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   170
        goto out_release_master;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   171
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   172
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   173
    printk(KERN_INFO "Activating master...\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   174
    if (ecrt_master_activate(master)) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   175
        printk(KERN_ERR "Could not activate master!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   176
        goto out_release_master;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   177
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   178
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   179
    ecrt_master_prepare(master);
232
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   180
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   181
    printk("Starting cyclic sample thread...\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   182
    ticks = start_rt_timer(nano2count(TIMERTICKS));
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   183
    if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   184
        printk(KERN_ERR "Failed to init RTAI task!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   185
        goto out_stop_timer;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   186
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   187
    if (rt_task_make_periodic(&task, rt_get_time() + ticks, ticks)) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   188
        printk(KERN_ERR "Failed to run RTAI task!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   189
        goto out_stop_task;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   190
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   191
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   192
    printk(KERN_INFO "=== EtherCAT RTAI MSR sample module started. ===\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   193
    return 0;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   194
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   195
 out_stop_task:
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   196
    rt_task_delete(&task);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   197
 out_stop_timer:
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   198
    stop_rt_timer();
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   199
    ecrt_master_deactivate(master);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   200
 out_release_master:
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   201
    ecrt_release_master(master);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   202
 out_msr_cleanup:
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   203
    msr_rtlib_cleanup();
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   204
 out_return:
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   205
    rt_sem_delete(&master_sem);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   206
    return -1;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   207
}
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   208
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   209
/*****************************************************************************/
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   210
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   211
void __exit cleanup_mod(void)
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   212
{
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   213
    printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   214
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   215
    rt_task_delete(&task);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   216
    stop_rt_timer();
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   217
    ecrt_master_deactivate(master);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   218
    ecrt_release_master(master);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   219
    rt_sem_delete(&master_sem);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   220
    msr_rtlib_cleanup();
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   221
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   222
    printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   223
}
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   224
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   225
/*****************************************************************************/
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   226
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   227
MODULE_LICENSE("GPL");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   228
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   229
MODULE_DESCRIPTION ("EtherCAT RTAI MSR sample module");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   230
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   231
module_init(init_mod);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   232
module_exit(cleanup_mod);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   233
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   234
/*****************************************************************************/