equal
deleted
inserted
replaced
228 |
228 |
229 int __init init_module() |
229 int __init init_module() |
230 { |
230 { |
231 printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); |
231 printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); |
232 |
232 |
233 if ((ecat_master = EtherCAT_master(0)) == NULL) |
233 if ((ecat_master = EtherCAT_request(0)) == NULL) |
234 { |
234 { |
235 printk(KERN_ERR "No EtherCAT master available!\n"); |
235 printk(KERN_ERR "EtherCAT master 0 not available!\n"); |
236 return -1; |
236 return -1; |
237 } |
237 } |
238 |
238 |
239 printk("Checking EtherCAT slaves.\n"); |
239 printk("Checking EtherCAT slaves.\n"); |
240 |
240 |
288 EtherCAT_clear_process_data(ecat_master); |
288 EtherCAT_clear_process_data(ecat_master); |
289 #endif // ECAT_CYCLIC_DATA |
289 #endif // ECAT_CYCLIC_DATA |
290 |
290 |
291 printk(KERN_INFO "Deactivating slaves.\n"); |
291 printk(KERN_INFO "Deactivating slaves.\n"); |
292 EtherCAT_deactivate_all_slaves(ecat_master); |
292 EtherCAT_deactivate_all_slaves(ecat_master); |
|
293 |
|
294 EtherCAT_release(ecat_master); |
293 } |
295 } |
294 |
296 |
295 printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n"); |
297 printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n"); |
296 } |
298 } |
297 |
299 |