212 {

   212 {

   213     printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n");

   213     printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n");

   214 

   214 

   215     rt_task_delete(&task);

   215     rt_task_delete(&task);

   216     stop_rt_timer();

   216     stop_rt_timer();

   218     ecrt_release_master(master);

   217     ecrt_release_master(master);

   219     rt_sem_delete(&master_sem);

   218     rt_sem_delete(&master_sem);

   220     msr_rtlib_cleanup();

   219     msr_rtlib_cleanup();

   221 

   220 

   222     printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n");

   221     printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n");