equal
deleted
inserted
replaced
397 #endif |
397 #endif |
398 |
398 |
399 msr_jitter_init(); |
399 msr_jitter_init(); |
400 printk(KERN_INFO "=== Starting EtherCAT environment... ===\n"); |
400 printk(KERN_INFO "=== Starting EtherCAT environment... ===\n"); |
401 |
401 |
402 if ((ecat_master = EtherCAT_master(0)) == NULL) |
402 if ((ecat_master = EtherCAT_request(0)) == NULL) |
403 { |
403 { |
404 printk(KERN_ERR "No EtherCAT master available!\n"); |
404 printk(KERN_ERR "EtherCAT master 0 not available!\n"); |
405 msr_rtlib_cleanup(); |
405 msr_rtlib_cleanup(); |
406 return -1; |
406 return -1; |
407 } |
407 } |
408 |
408 |
409 printk("Checking EtherCAT slaves.\n"); |
409 printk("Checking EtherCAT slaves.\n"); |
467 if (ecat_master) |
467 if (ecat_master) |
468 { |
468 { |
469 EtherCAT_clear_process_data(ecat_master); |
469 EtherCAT_clear_process_data(ecat_master); |
470 printk(KERN_INFO "Deactivating slaves.\n"); |
470 printk(KERN_INFO "Deactivating slaves.\n"); |
471 EtherCAT_deactivate_all_slaves(ecat_master); |
471 EtherCAT_deactivate_all_slaves(ecat_master); |
|
472 |
|
473 EtherCAT_release(ecat_master); |
472 } |
474 } |
473 |
475 |
474 printk(KERN_INFO "=== EtherCAT environment stopped. ===\n"); |
476 printk(KERN_INFO "=== EtherCAT environment stopped. ===\n"); |
475 |
477 |
476 // msr_controller_cleanup(); |
478 // msr_controller_cleanup(); |