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1 /****************************************************************************** |
1 /****************************************************************************** |
2 * |
|
3 * Sample module for use with IgH MSR library. |
|
4 * |
2 * |
5 * $Id$ |
3 * $Id$ |
6 * |
4 * |
7 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
8 * |
6 * |
42 |
40 |
43 // RT_lib |
41 // RT_lib |
44 #include <msr_main.h> |
42 #include <msr_main.h> |
45 #include <msr_reg.h> |
43 #include <msr_reg.h> |
46 #include <msr_time.h> |
44 #include <msr_time.h> |
47 #include "msr_param.h" |
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48 |
45 |
49 // EtherCAT |
46 // EtherCAT |
50 #include "../../include/ecrt.h" |
47 #include "../../include/ecrt.h" |
51 #include "../../include/ecdb.h" |
48 #include "../../include/ecdb.h" |
|
49 |
|
50 #define MSR_ABTASTFREQUENZ 1000 |
52 |
51 |
53 #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) |
52 #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) |
54 #define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ) |
53 #define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ) |
55 |
54 |
56 /*****************************************************************************/ |
55 /*****************************************************************************/ |
212 { |
211 { |
213 printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n"); |
212 printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n"); |
214 |
213 |
215 rt_task_delete(&task); |
214 rt_task_delete(&task); |
216 stop_rt_timer(); |
215 stop_rt_timer(); |
217 ecrt_master_deactivate(master); |
|
218 ecrt_release_master(master); |
216 ecrt_release_master(master); |
219 rt_sem_delete(&master_sem); |
217 rt_sem_delete(&master_sem); |
220 msr_rtlib_cleanup(); |
218 msr_rtlib_cleanup(); |
221 |
219 |
222 printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n"); |
220 printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n"); |