examples/msr/msr_sample.c
author Florian Pose <fp@igh-essen.com>
Tue, 06 Jun 2006 09:54:32 +0000
changeset 270 f6ba0b288657
parent 246 0bf7c769de06
child 325 7833cf70c4f2
permissions -rw-r--r--
Added FEATURES file.
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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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#define ASYNC
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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_ssi;
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void *r_ssi_st;
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// Channels
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uint32_t k_ssi;
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uint32_t k_ssi_st;
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ec_field_init_t domain1_fields[] = {
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    {&r_ssi,    "0:3", "Beckhoff", "EL5001", "InputValue", 0},
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    {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status",     0},
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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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#ifdef ASYNC
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    // Empfangen
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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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    // Senden und empfangen
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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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    // Prozessdaten verarbeiten
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    k_ssi    = EC_READ_U32(r_ssi);
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    k_ssi_st = EC_READ_U8 (r_ssi_st);
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#ifdef ASYNC
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    // Senden
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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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    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("/ssi_position", "", &k_ssi,    TUINT);
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    msr_reg_kanal("/ssi_status",   "", &k_ssi_st, TUINT);
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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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   154
f6594a07cdda MSR example finished.
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parents:
diff changeset
   155
/*****************************************************************************/
f6594a07cdda MSR example finished.
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parents:
diff changeset
   156
f6594a07cdda MSR example finished.
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parents:
diff changeset
   157
int __init init_mod(void)
f6594a07cdda MSR example finished.
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parents:
diff changeset
   158
{
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   159
    RTIME ticks;
f6594a07cdda MSR example finished.
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parents:
diff changeset
   160
#if 0
f6594a07cdda MSR example finished.
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parents:
diff changeset
   161
    ec_slave_t *slave;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   162
#endif
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   163
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   164
    printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n");
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
    rt_sem_init(&master_sem, 1);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   167
    t_critical = cpu_khz * 800 / MSR_ABTASTFREQUENZ; // ticks for 80%
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   168
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   169
    if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_reg) < 0) {
f6594a07cdda MSR example finished.
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parents:
diff changeset
   170
        printk(KERN_ERR "Failed to initialize rtlib!\n");
f6594a07cdda MSR example finished.
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parents:
diff changeset
   171
        goto out_return;
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
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   174
    if ((master = ecrt_request_master(0)) == NULL) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   175
        printk(KERN_ERR "Failed to request master 0!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   176
        goto out_msr_cleanup;
f6594a07cdda MSR example finished.
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parents:
diff changeset
   177
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   178
f6594a07cdda MSR example finished.
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parents:
diff changeset
   179
    ecrt_master_callbacks(master, request_lock, release_lock, NULL);
f6594a07cdda MSR example finished.
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parents:
diff changeset
   180
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   181
    printk(KERN_INFO "Creating domains...\n");
f6594a07cdda MSR example finished.
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parents:
diff changeset
   182
    if (!(domain1 = ecrt_master_create_domain(master))) {
f6594a07cdda MSR example finished.
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parents:
diff changeset
   183
        printk(KERN_ERR "Failed to create domains!\n");
f6594a07cdda MSR example finished.
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parents:
diff changeset
   184
        goto out_release_master;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   185
    }
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
    printk(KERN_INFO "Registering domain fields...\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   188
    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   189
        printk(KERN_ERR "Failed to register domain fields.\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   190
        goto out_release_master;
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
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   193
    printk(KERN_INFO "Activating master...\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   194
    if (ecrt_master_activate(master)) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   195
        printk(KERN_ERR "Could not activate master!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   196
        goto out_release_master;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   197
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   198
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   199
#if 0
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   200
    if (ecrt_master_fetch_sdo_lists(master)) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   201
        printk(KERN_ERR "Failed to fetch SDO lists!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   202
        goto out_deactivate;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   203
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   204
    ecrt_master_print(master, 2);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   205
#else
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   206
    ecrt_master_print(master, 0);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   207
#endif
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
#if 0
f6594a07cdda MSR example finished.
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parents:
diff changeset
   210
    if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   211
        printk(KERN_ERR "Failed to get slave!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   212
        goto out_deactivate;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   213
    }
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
    if (
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   216
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  1) || // disable frame error bit
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   217
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  0) || // power failure bit
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   218
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) || // inhibit time
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   219
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 4,  0) || // test mode
240
e55b0572933c SSI sensor changes in MSR example
Florian Pose <fp@igh-essen.com>
parents: 234
diff changeset
   220
        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  0) || // graycode
232
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   221
        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  5) || // 125kbaud
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   222
        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) || // single-turn
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   223
        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   224
        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
240
e55b0572933c SSI sensor changes in MSR example
Florian Pose <fp@igh-essen.com>
parents: 234
diff changeset
   225
        ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 50) // inhibit time in us
232
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
        printk(KERN_ERR "Failed to configure SSI slave!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   228
        goto out_deactivate;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   229
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   230
#endif
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   231
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   232
#if 0
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   233
    if (!(slave = ecrt_master_get_slave(master, "1:0"))) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   234
        printk(KERN_ERR "Failed to get slave!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   235
        goto out_deactivate;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   236
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   237
    if (ecrt_slave_write_alias(slave, 0x5678)) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   238
        printk(KERN_ERR "Failed to write alias!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
        goto out_deactivate;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   240
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   241
#endif
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   242
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   243
#ifdef ASYNC
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   244
    // Einmal senden und warten...
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   245
    ecrt_master_prepare_async_io(master);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   246
#endif
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   247
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   248
    if (ecrt_master_start_eoe(master)) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   249
        printk(KERN_ERR "Failed to start EoE processing!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   250
        goto out_deactivate;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   251
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   252
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   253
    printk("Starting cyclic sample thread...\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   254
    ticks = start_rt_timer(nano2count(TIMERTICKS));
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   255
    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
   256
        printk(KERN_ERR "Failed to init RTAI task!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   257
        goto out_stop_timer;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   258
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   259
    if (rt_task_make_periodic(&task, rt_get_time() + ticks, ticks)) {
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   260
        printk(KERN_ERR "Failed to run RTAI task!\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   261
        goto out_stop_task;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   262
    }
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   263
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   264
    printk(KERN_INFO "=== EtherCAT RTAI MSR sample module started. ===\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   265
    return 0;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   266
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   267
 out_stop_task:
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   268
    rt_task_delete(&task);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   269
 out_stop_timer:
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   270
    stop_rt_timer();
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   271
 out_deactivate:
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   272
    ecrt_master_deactivate(master);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   273
 out_release_master:
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   274
    ecrt_release_master(master);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   275
 out_msr_cleanup:
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   276
    msr_rtlib_cleanup();
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   277
 out_return:
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   278
    rt_sem_delete(&master_sem);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   279
    return -1;
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   280
}
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   281
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   282
/*****************************************************************************/
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   283
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   284
void __exit cleanup_mod(void)
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
{
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   286
    printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   287
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   288
    rt_task_delete(&task);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   289
    stop_rt_timer();
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
    ecrt_master_deactivate(master);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   291
    ecrt_release_master(master);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
    rt_sem_delete(&master_sem);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   293
    msr_rtlib_cleanup();
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   295
    printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
}
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   297
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   298
/*****************************************************************************/
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   299
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   300
MODULE_LICENSE("GPL");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   301
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   302
MODULE_DESCRIPTION ("EtherCAT RTAI MSR sample module");
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   304
module_init(init_mod);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   305
module_exit(cleanup_mod);
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
f6594a07cdda MSR example finished.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
/*****************************************************************************/