214  out_stop_task:

   214  out_stop_task:

   215     rt_task_delete(&task);

   215     rt_task_delete(&task);

   216  out_stop_timer:

   216  out_stop_timer:

   217     stop_rt_timer();

   217     stop_rt_timer();

   218  out_release_master:

   218  out_release_master:

   219     ecrt_release_master(master);

   220     ecrt_release_master(master);

   220  out_return:

   221  out_return:

   221     rt_sem_delete(&master_sem);

   222     rt_sem_delete(&master_sem);

   222     return -1;

   224     return -1;

   223 }

   225 }

   224 

   226 

   225 /*****************************************************************************/

   227 /*****************************************************************************/

   226 

   228 

   227 void __exit cleanup_mod(void)

   229 void __exit cleanup_mod(void)

   228 {

   230 {

   230 

   232 

   231     rt_task_delete(&task);

   233     rt_task_delete(&task);

   232     stop_rt_timer();

   234     stop_rt_timer();

   233     ecrt_release_master(master);

   235     ecrt_release_master(master);

   234     rt_sem_delete(&master_sem);

   236     rt_sem_delete(&master_sem);

   235 

   237 

   237 }

   239 }

   238 

   240 

   239 /*****************************************************************************/

   241 /*****************************************************************************/

   240 

   242 

   241 MODULE_LICENSE("GPL");

   243 MODULE_LICENSE("GPL");