equal
deleted
inserted
replaced
397 |
397 |
398 printk("Activating all EtherCAT slaves.\n"); |
398 printk("Activating all EtherCAT slaves.\n"); |
399 |
399 |
400 for (i = 0; i < ECAT_SLAVES_COUNT; i++) { |
400 for (i = 0; i < ECAT_SLAVES_COUNT; i++) { |
401 if (EtherCAT_activate_slave(ecat_master, ecat_slaves + i) < 0) { |
401 if (EtherCAT_activate_slave(ecat_master, ecat_slaves + i) < 0) { |
|
402 printk(KERN_ERR "EtherCAT: Could not activate slave %i!\n", i); |
402 goto out_release_master; |
403 goto out_release_master; |
403 } |
404 } |
404 } |
405 } |
405 |
406 |
406 do_gettimeofday(&process_time); |
407 do_gettimeofday(&process_time); |
434 msr_print_info("msk_modul: unloading..."); |
435 msr_print_info("msk_modul: unloading..."); |
435 |
436 |
436 ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen |
437 ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen |
437 ipipe_unregister_domain(&this_domain); |
438 ipipe_unregister_domain(&this_domain); |
438 |
439 |
439 printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n"); |
|
440 |
|
441 if (ecat_master) |
440 if (ecat_master) |
442 { |
441 { |
|
442 printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n"); |
|
443 |
443 printk(KERN_INFO "Deactivating slaves.\n"); |
444 printk(KERN_INFO "Deactivating slaves.\n"); |
444 |
445 |
445 for (i = 0; i < ECAT_SLAVES_COUNT; i++) { |
446 for (i = 0; i < ECAT_SLAVES_COUNT; i++) { |
446 if (EtherCAT_deactivate_slave(ecat_master, ecat_slaves + i) < 0) { |
447 if (EtherCAT_deactivate_slave(ecat_master, ecat_slaves + i) < 0) { |
447 printk(KERN_WARNING "Warning - Could not deactivate slave!\n"); |
448 printk(KERN_WARNING "Warning - Could not deactivate slave!\n"); |
448 } |
449 } |
449 } |
450 } |
450 |
451 |
451 EtherCAT_release(ecat_master); |
452 EtherCAT_release(ecat_master); |
452 } |
453 |
453 |
454 printk(KERN_INFO "=== EtherCAT environment stopped. ===\n"); |
454 printk(KERN_INFO "=== EtherCAT environment stopped. ===\n"); |
455 } |
455 |
456 |
456 #ifdef USE_MSR_LIB |
457 #ifdef USE_MSR_LIB |
457 msr_rtlib_cleanup(); |
458 msr_rtlib_cleanup(); |
458 #endif |
459 #endif |
459 } |
460 } |