200 {

   200 {

   201     printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n");

   201     printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n");

   202 

   202 

   203     rt_task_delete(&task);

   203     rt_task_delete(&task);

   204     stop_rt_timer();

   204     stop_rt_timer();

   206     ecrt_release_master(master);

   205     ecrt_release_master(master);

   207     rt_sem_delete(&master_sem);

   206     rt_sem_delete(&master_sem);

   208 

   207 

   209     printk(KERN_INFO "=== EtherCAT RTAI sample module stopped. ===\n");

   208     printk(KERN_INFO "=== EtherCAT RTAI sample module stopped. ===\n");

   210 }

   209 }