fp@220: /****************************************************************************** fp@220: * fp@220: * $Id$ fp@220: * fp@1326: * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH fp@220: * fp@220: * This file is part of the IgH EtherCAT Master. fp@220: * fp@1326: * The IgH EtherCAT Master is free software; you can redistribute it and/or fp@1326: * modify it under the terms of the GNU General Public License version 2, as fp@1326: * published by the Free Software Foundation. fp@1326: * fp@1326: * The IgH EtherCAT Master is distributed in the hope that it will be useful, fp@1326: * but WITHOUT ANY WARRANTY; without even the implied warranty of fp@1326: * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General fp@1326: * Public License for more details. fp@1326: * fp@1326: * You should have received a copy of the GNU General Public License along fp@1326: * with the IgH EtherCAT Master; if not, write to the Free Software fp@220: * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA fp@220: * fp@1363: * --- fp@1363: * fp@1363: * The license mentioned above concerns the source code only. Using the fp@1363: * EtherCAT technology and brand is only permitted in compliance with the fp@1363: * industrial property and similar rights of Beckhoff Automation GmbH. fp@246: * fp@220: *****************************************************************************/ fp@220: fp@1501: #include fp@220: #include fp@220: #include fp@220: #include fp@1239: #include fp@220: fp@1501: #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27) fp@1501: #include fp@1501: #else fp@1501: #include fp@1501: #endif fp@1501: fp@223: #include "../../include/ecrt.h" // EtherCAT realtime interface fp@1573: #include "../../include/ectty.h" // EtherCAT TTY interface fp@220: fp@820: /*****************************************************************************/ fp@820: fp@858: // Module parameters fp@220: #define FREQUENCY 100 fp@858: fp@1171: // Optional features fp@1567: fp@1567: #define PFX "ec_tty_example: " fp@820: fp@820: /*****************************************************************************/ fp@220: fp@220: // EtherCAT fp@612: static ec_master_t *master = NULL; fp@818: static ec_master_state_t master_state = {}; fp@1500: struct semaphore master_sem; fp@818: fp@612: static ec_domain_t *domain1 = NULL; fp@818: static ec_domain_state_t domain1_state = {}; fp@818: fp@1080: // Timer fp@820: static struct timer_list timer; fp@820: fp@820: /*****************************************************************************/ fp@820: fp@820: // process data fp@820: static uint8_t *domain1_pd; // process data memory fp@820: fp@1567: #define BusCouplerPos 0, 0 fp@1567: #define SerialPos 0, 1 fp@1567: fp@1567: #define Beckhoff_EK1100 0x00000002, 0x044c2c52 fp@1567: #define Beckhoff_EL6002 0x00000002, 0x17723052 fp@1179: fp@1327: // offsets for PDO entries fp@1567: static unsigned int off_ctrl; fp@1567: static unsigned int off_tx; fp@1567: static unsigned int off_status; fp@1567: static unsigned int off_rx; fp@820: fp@1080: const static ec_pdo_entry_reg_t domain1_regs[] = { fp@1567: {SerialPos, Beckhoff_EL6002, 0x7001, 0x01, &off_ctrl}, fp@1567: {SerialPos, Beckhoff_EL6002, 0x7000, 0x11, &off_tx}, fp@1567: {SerialPos, Beckhoff_EL6002, 0x6001, 0x01, &off_status}, fp@1567: {SerialPos, Beckhoff_EL6002, 0x6000, 0x11, &off_rx}, fp@1080: {} fp@1080: }; fp@1080: fp@1080: static unsigned int counter = 0; fp@1567: fp@1567: typedef enum { fp@1567: SER_REQUEST_INIT, fp@1567: SER_WAIT_FOR_INIT_RESPONSE, fp@1567: SER_READY fp@1567: } serial_state_t; fp@1567: fp@1567: typedef struct { fp@1567: size_t max_tx_data_size; fp@1567: size_t max_rx_data_size; fp@1567: fp@1567: uint8_t *tx_data; fp@1567: uint8_t tx_data_size; fp@1567: fp@1567: serial_state_t state; fp@1567: fp@1567: uint8_t tx_request_toggle; fp@1567: uint8_t tx_accepted_toggle; fp@1567: fp@1567: uint8_t rx_request_toggle; fp@1567: uint8_t rx_accepted_toggle; fp@1567: fp@1567: uint16_t control; fp@1567: } serial_device_t; fp@1567: fp@1567: static serial_device_t *ser = NULL; fp@1573: static ec_tty_t *tty = NULL; fp@1567: fp@1567: /*****************************************************************************/ fp@1567: fp@1567: /* Slave 1, "EL6002" fp@1567: * Vendor ID: 0x00000002 fp@1567: * Product code: 0x17723052 fp@1567: * Revision number: 0x00100000 fp@1567: */ fp@1567: fp@1567: ec_pdo_entry_info_t slave_1_pdo_entries[] = { fp@1567: {0x7001, 0x01, 16}, /* Ctrl */ fp@1567: {0x7000, 0x11, 8}, /* Data Out 0 */ fp@1567: {0x7000, 0x12, 8}, /* Data Out 1 */ fp@1567: {0x7000, 0x13, 8}, /* Data Out 2 */ fp@1567: {0x7000, 0x14, 8}, /* Data Out 3 */ fp@1567: {0x7000, 0x15, 8}, /* Data Out 4 */ fp@1567: {0x7000, 0x16, 8}, /* Data Out 5 */ fp@1567: {0x7000, 0x17, 8}, /* Data Out 6 */ fp@1567: {0x7000, 0x18, 8}, /* Data Out 7 */ fp@1567: {0x7000, 0x19, 8}, /* Data Out 8 */ fp@1567: {0x7000, 0x1a, 8}, /* Data Out 9 */ fp@1567: {0x7000, 0x1b, 8}, /* Data Out 10 */ fp@1567: {0x7000, 0x1c, 8}, /* Data Out 11 */ fp@1567: {0x7000, 0x1d, 8}, /* Data Out 12 */ fp@1567: {0x7000, 0x1e, 8}, /* Data Out 13 */ fp@1567: {0x7000, 0x1f, 8}, /* Data Out 14 */ fp@1567: {0x7000, 0x20, 8}, /* Data Out 15 */ fp@1567: {0x7000, 0x21, 8}, /* Data Out 16 */ fp@1567: {0x7000, 0x22, 8}, /* Data Out 17 */ fp@1567: {0x7000, 0x23, 8}, /* Data Out 18 */ fp@1567: {0x7000, 0x24, 8}, /* Data Out 19 */ fp@1567: {0x7000, 0x25, 8}, /* Data Out 20 */ fp@1567: {0x7000, 0x26, 8}, /* Data Out 21 */ fp@1567: {0x7011, 0x01, 16}, /* Ctrl */ fp@1567: {0x7010, 0x11, 8}, /* Data Out 0 */ fp@1567: {0x7010, 0x12, 8}, /* Data Out 1 */ fp@1567: {0x7010, 0x13, 8}, /* Data Out 2 */ fp@1567: {0x7010, 0x14, 8}, /* Data Out 3 */ fp@1567: {0x7010, 0x15, 8}, /* Data Out 4 */ fp@1567: {0x7010, 0x16, 8}, /* Data Out 5 */ fp@1567: {0x7010, 0x17, 8}, /* Data Out 6 */ fp@1567: {0x7010, 0x18, 8}, /* Data Out 7 */ fp@1567: {0x7010, 0x19, 8}, /* Data Out 8 */ fp@1567: {0x7010, 0x1a, 8}, /* Data Out 9 */ fp@1567: {0x7010, 0x1b, 8}, /* Data Out 10 */ fp@1567: {0x7010, 0x1c, 8}, /* Data Out 11 */ fp@1567: {0x7010, 0x1d, 8}, /* Data Out 12 */ fp@1567: {0x7010, 0x1e, 8}, /* Data Out 13 */ fp@1567: {0x7010, 0x1f, 8}, /* Data Out 14 */ fp@1567: {0x7010, 0x20, 8}, /* Data Out 15 */ fp@1567: {0x7010, 0x21, 8}, /* Data Out 16 */ fp@1567: {0x7010, 0x22, 8}, /* Data Out 17 */ fp@1567: {0x7010, 0x23, 8}, /* Data Out 18 */ fp@1567: {0x7010, 0x24, 8}, /* Data Out 19 */ fp@1567: {0x7010, 0x25, 8}, /* Data Out 20 */ fp@1567: {0x7010, 0x26, 8}, /* Data Out 21 */ fp@1567: {0x6001, 0x01, 16}, /* Status */ fp@1567: {0x6000, 0x11, 8}, /* Data In 0 */ fp@1567: {0x6000, 0x12, 8}, /* Data In 1 */ fp@1567: {0x6000, 0x13, 8}, /* Data In 2 */ fp@1567: {0x6000, 0x14, 8}, /* Data In 3 */ fp@1567: {0x6000, 0x15, 8}, /* Data In 4 */ fp@1567: {0x6000, 0x16, 8}, /* Data In 5 */ fp@1567: {0x6000, 0x17, 8}, /* Data In 6 */ fp@1567: {0x6000, 0x18, 8}, /* Data In 7 */ fp@1567: {0x6000, 0x19, 8}, /* Data In 8 */ fp@1567: {0x6000, 0x1a, 8}, /* Data In 9 */ fp@1567: {0x6000, 0x1b, 8}, /* Data In 10 */ fp@1567: {0x6000, 0x1c, 8}, /* Data In 11 */ fp@1567: {0x6000, 0x1d, 8}, /* Data In 12 */ fp@1567: {0x6000, 0x1e, 8}, /* Data In 13 */ fp@1567: {0x6000, 0x1f, 8}, /* Data In 14 */ fp@1567: {0x6000, 0x20, 8}, /* Data In 15 */ fp@1567: {0x6000, 0x21, 8}, /* Data In 16 */ fp@1567: {0x6000, 0x22, 8}, /* Data In 17 */ fp@1567: {0x6000, 0x23, 8}, /* Data In 18 */ fp@1567: {0x6000, 0x24, 8}, /* Data In 19 */ fp@1567: {0x6000, 0x25, 8}, /* Data In 20 */ fp@1567: {0x6000, 0x26, 8}, /* Data In 21 */ fp@1567: {0x6011, 0x01, 16}, /* Status */ fp@1567: {0x6010, 0x11, 8}, /* Data In 0 */ fp@1567: {0x6010, 0x12, 8}, /* Data In 1 */ fp@1567: {0x6010, 0x13, 8}, /* Data In 2 */ fp@1567: {0x6010, 0x14, 8}, /* Data In 3 */ fp@1567: {0x6010, 0x15, 8}, /* Data In 4 */ fp@1567: {0x6010, 0x16, 8}, /* Data In 5 */ fp@1567: {0x6010, 0x17, 8}, /* Data In 6 */ fp@1567: {0x6010, 0x18, 8}, /* Data In 7 */ fp@1567: {0x6010, 0x19, 8}, /* Data In 8 */ fp@1567: {0x6010, 0x1a, 8}, /* Data In 9 */ fp@1567: {0x6010, 0x1b, 8}, /* Data In 10 */ fp@1567: {0x6010, 0x1c, 8}, /* Data In 11 */ fp@1567: {0x6010, 0x1d, 8}, /* Data In 12 */ fp@1567: {0x6010, 0x1e, 8}, /* Data In 13 */ fp@1567: {0x6010, 0x1f, 8}, /* Data In 14 */ fp@1567: {0x6010, 0x20, 8}, /* Data In 15 */ fp@1567: {0x6010, 0x21, 8}, /* Data In 16 */ fp@1567: {0x6010, 0x22, 8}, /* Data In 17 */ fp@1567: {0x6010, 0x23, 8}, /* Data In 18 */ fp@1567: {0x6010, 0x24, 8}, /* Data In 19 */ fp@1567: {0x6010, 0x25, 8}, /* Data In 20 */ fp@1567: {0x6010, 0x26, 8}, /* Data In 21 */ fp@1171: }; fp@1171: fp@1567: ec_pdo_info_t slave_1_pdos[] = { fp@1567: {0x1604, 23, slave_1_pdo_entries + 0}, /* COM RxPDO-Map Outputs Ch.1 */ fp@1567: {0x1605, 23, slave_1_pdo_entries + 23}, /* COM RxPDO-Map Outputs Ch.2 */ fp@1567: {0x1a04, 23, slave_1_pdo_entries + 46}, /* COM TxPDO-Map Inputs Ch.1 */ fp@1567: {0x1a05, 23, slave_1_pdo_entries + 69}, /* COM TxPDO-Map Inputs Ch.2 */ fp@1179: }; fp@1179: fp@1567: ec_sync_info_t slave_1_syncs[] = { fp@1567: {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, fp@1567: {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, fp@1567: {2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE}, fp@1567: {3, EC_DIR_INPUT, 2, slave_1_pdos + 2, EC_WD_DISABLE}, fp@1567: {0xff} fp@1171: }; fp@1567: fp@1567: /****************************************************************************/ fp@1567: fp@1567: int serial_init(serial_device_t *ser, size_t max_tx, size_t max_rx) fp@1567: { fp@1567: ser->max_tx_data_size = max_tx; fp@1567: ser->max_rx_data_size = max_rx; fp@1567: ser->tx_data = NULL; fp@1567: ser->tx_data_size = 0; fp@1567: ser->state = SER_REQUEST_INIT; fp@1567: ser->tx_request_toggle = 0; fp@1567: ser->rx_accepted_toggle = 0; fp@1567: ser->control = 0x0000; fp@1567: fp@1567: if (max_tx > 0) { fp@1567: ser->tx_data = kmalloc(max_tx, GFP_KERNEL); fp@1567: if (ser->tx_data == NULL) { fp@1567: return -ENOMEM; fp@1567: } fp@1567: } fp@1567: fp@1567: return 0; fp@1567: } fp@1567: fp@1567: /****************************************************************************/ fp@1567: fp@1567: void serial_clear(serial_device_t *ser) fp@1567: { fp@1567: if (ser->tx_data) { fp@1567: kfree(ser->tx_data); fp@1567: } fp@1567: } fp@1567: fp@1567: /****************************************************************************/ fp@1567: fp@1567: void serial_run(serial_device_t *ser, uint16_t status, uint8_t *rx_data) fp@1567: { fp@1567: uint8_t tx_accepted_toggle, rx_request_toggle; fp@1567: fp@1567: switch (ser->state) { fp@1567: case SER_READY: fp@1567: fp@1567: /* Send data */ fp@1567: fp@1567: tx_accepted_toggle = status & 0x0001; fp@1567: if (tx_accepted_toggle != ser->tx_accepted_toggle) { // ready fp@1575: ser->tx_data_size = fp@1575: ectty_tx_data(tty, ser->tx_data, ser->max_tx_data_size); fp@1575: if (ser->tx_data_size) { fp@1567: printk(KERN_INFO PFX "Sending %u bytes.\n", ser->tx_data_size); fp@1567: ser->tx_request_toggle = !ser->tx_request_toggle; fp@1567: ser->tx_accepted_toggle = tx_accepted_toggle; fp@1567: } fp@1567: } fp@1567: fp@1567: /* Receive data */ fp@1567: fp@1567: rx_request_toggle = status & 0x0002; fp@1567: if (rx_request_toggle != ser->rx_request_toggle) { fp@1577: uint8_t rx_data_size = status >> 8; fp@1567: ser->rx_request_toggle = rx_request_toggle; fp@1577: printk(KERN_INFO PFX "Received %u bytes.\n", rx_data_size); fp@1577: ectty_rx_data(tty, rx_data, rx_data_size); fp@1567: ser->rx_accepted_toggle = !ser->rx_accepted_toggle; fp@1567: } fp@1567: fp@1567: ser->control = fp@1567: ser->tx_request_toggle | fp@1567: ser->rx_accepted_toggle << 1 | fp@1567: ser->tx_data_size << 8; fp@1567: break; fp@1567: fp@1567: case SER_REQUEST_INIT: fp@1567: if (status & (1 << 2)) { fp@1567: ser->control = 0x0000; fp@1567: ser->state = SER_WAIT_FOR_INIT_RESPONSE; fp@1567: } else { fp@1567: ser->control = 1 << 2; // CW.2, request initialization fp@1567: } fp@1567: break; fp@1567: fp@1567: case SER_WAIT_FOR_INIT_RESPONSE: fp@1567: if (!(status & (1 << 2))) { fp@1567: printk(KERN_INFO PFX "Init successful.\n"); fp@1567: ser->tx_accepted_toggle = 1; fp@1567: ser->control = 0x0000; fp@1567: ser->state = SER_READY; fp@1567: } fp@1567: break; fp@1567: } fp@1567: fp@1567: } fp@1209: fp@858: /*****************************************************************************/ fp@858: fp@818: void check_domain1_state(void) fp@818: { fp@818: ec_domain_state_t ds; fp@818: fp@1500: down(&master_sem); fp@818: ecrt_domain_state(domain1, &ds); fp@1500: up(&master_sem); fp@1022: fp@818: if (ds.working_counter != domain1_state.working_counter) fp@1022: printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter); fp@818: if (ds.wc_state != domain1_state.wc_state) fp@1022: printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state); fp@818: fp@818: domain1_state = ds; fp@818: } fp@818: fp@818: /*****************************************************************************/ fp@818: fp@818: void check_master_state(void) fp@818: { fp@818: ec_master_state_t ms; fp@818: fp@1500: down(&master_sem); fp@818: ecrt_master_state(master, &ms); fp@1500: up(&master_sem); fp@818: fp@1022: if (ms.slaves_responding != master_state.slaves_responding) fp@1022: printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding); fp@1022: if (ms.al_states != master_state.al_states) fp@1022: printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states); fp@1022: if (ms.link_up != master_state.link_up) fp@1022: printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down"); fp@818: fp@818: master_state = ms; fp@818: } fp@220: fp@220: /*****************************************************************************/ fp@220: fp@820: void cyclic_task(unsigned long data) fp@820: { fp@818: // receive process data fp@1500: down(&master_sem); fp@325: ecrt_master_receive(master); fp@220: ecrt_domain_process(domain1); fp@1500: up(&master_sem); fp@220: fp@818: // check process data state (optional) fp@818: check_domain1_state(); fp@512: fp@512: if (counter) { fp@512: counter--; fp@858: } else { // do this at 1 Hz fp@512: counter = FREQUENCY; fp@818: fp@818: // check for master state (optional) fp@818: check_master_state(); fp@1567: } fp@1567: fp@1567: serial_run(ser, EC_READ_U16(domain1_pd + off_status), domain1_pd + off_rx); fp@1567: EC_WRITE_U16(domain1_pd + off_ctrl, ser->control); fp@1567: memcpy(domain1_pd + off_tx, ser->tx_data, 22); fp@818: fp@818: // send process data fp@1500: down(&master_sem); fp@509: ecrt_domain_queue(domain1); fp@325: ecrt_master_send(master); fp@1500: up(&master_sem); fp@220: fp@220: // restart timer fp@220: timer.expires += HZ / FREQUENCY; fp@220: add_timer(&timer); fp@220: } fp@220: fp@220: /*****************************************************************************/ fp@220: fp@1513: void send_callback(void *cb_data) fp@1513: { fp@1513: ec_master_t *m = (ec_master_t *) cb_data; fp@1513: down(&master_sem); fp@1513: ecrt_master_send_ext(m); fp@1513: up(&master_sem); fp@1513: } fp@1513: fp@1513: /*****************************************************************************/ fp@1513: fp@1513: void receive_callback(void *cb_data) fp@1513: { fp@1513: ec_master_t *m = (ec_master_t *) cb_data; fp@1513: down(&master_sem); fp@1513: ecrt_master_receive(m); fp@1500: up(&master_sem); fp@220: } fp@220: fp@220: /*****************************************************************************/ fp@220: fp@220: int __init init_mini_module(void) fp@220: { fp@1239: int ret = -1; fp@792: ec_slave_config_t *sc; fp@792: fp@612: printk(KERN_INFO PFX "Starting...\n"); fp@220: fp@1567: ser = kmalloc(sizeof(*ser), GFP_KERNEL); fp@1573: if (!ser) { fp@1567: printk(KERN_ERR PFX "Failed to allocate serial device object.\n"); fp@1573: ret = -ENOMEM; fp@1573: goto out_return; fp@1573: } fp@1573: fp@1567: ret = serial_init(ser, 22, 22); fp@1567: if (ret) { fp@1567: printk(KERN_ERR PFX "Failed to init serial device object.\n"); fp@1573: goto out_free_serial; fp@1573: } fp@1573: fp@1573: tty = ectty_create(); fp@1573: if (IS_ERR(tty)) { fp@1573: printk(KERN_ERR PFX "Failed to create tty.\n"); fp@1573: ret = PTR_ERR(tty); fp@1573: goto out_serial; fp@1567: } fp@1567: fp@1239: master = ecrt_request_master(0); fp@1378: if (!master) { fp@1378: ret = -EBUSY; fp@1239: printk(KERN_ERR PFX "Requesting master 0 failed.\n"); fp@1573: goto out_tty; fp@220: } fp@220: martin@1579: sema_init(&master_sem, 1); fp@1513: ecrt_master_callbacks(master, send_callback, receive_callback, master); fp@220: fp@612: printk(KERN_INFO PFX "Registering domain...\n"); fp@509: if (!(domain1 = ecrt_master_create_domain(master))) { fp@612: printk(KERN_ERR PFX "Domain creation failed!\n"); fp@612: goto out_release_master; fp@612: } fp@612: fp@1567: // Create configuration for bus coupler fp@1567: sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); fp@1567: if (!sc) fp@1567: return -1; fp@1567: fp@1567: if (!(sc = ecrt_master_slave_config( fp@1567: master, SerialPos, Beckhoff_EL6002))) { fp@1022: printk(KERN_ERR PFX "Failed to get slave configuration.\n"); fp@1567: return -1; fp@1567: } fp@1567: fp@1567: printk("Configuring PDOs...\n"); fp@1567: if (ecrt_slave_config_pdos(sc, EC_END, slave_1_syncs)) { fp@1327: printk(KERN_ERR PFX "Failed to configure PDOs.\n"); fp@1567: return -1; fp@1567: } fp@1567: fp@792: if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { fp@1327: printk(KERN_ERR PFX "PDO entry registration failed!\n"); fp@1567: return -1; fp@1567: } fp@809: fp@612: printk(KERN_INFO PFX "Activating master...\n"); fp@220: if (ecrt_master_activate(master)) { fp@612: printk(KERN_ERR PFX "Failed to activate master!\n"); fp@809: goto out_release_master; fp@1567: } fp@1567: fp@809: // Get internal process data for domain fp@820: domain1_pd = ecrt_domain_data(domain1); fp@612: fp@612: printk(KERN_INFO PFX "Starting cyclic sample thread.\n"); fp@220: init_timer(&timer); fp@820: timer.function = cyclic_task; fp@220: timer.expires = jiffies + 10; fp@220: add_timer(&timer); fp@220: fp@612: printk(KERN_INFO PFX "Started.\n"); fp@220: return 0; fp@220: fp@809: out_release_master: fp@654: printk(KERN_ERR PFX "Releasing master...\n"); fp@220: ecrt_release_master(master); fp@1573: out_tty: fp@1573: ectty_free(tty); fp@1573: out_serial: fp@1573: serial_clear(ser); fp@1573: out_free_serial: fp@1573: kfree(ser); fp@809: out_return: fp@654: printk(KERN_ERR PFX "Failed to load. Aborting.\n"); fp@1239: return ret; fp@220: } fp@220: fp@220: /*****************************************************************************/ fp@220: fp@220: void __exit cleanup_mini_module(void) fp@220: { fp@612: printk(KERN_INFO PFX "Stopping...\n"); fp@220: fp@449: del_timer_sync(&timer); fp@809: fp@612: printk(KERN_INFO PFX "Releasing master...\n"); fp@449: ecrt_release_master(master); fp@220: fp@1573: ectty_free(tty); fp@1573: serial_clear(ser); fp@1573: kfree(ser); fp@1573: fp@654: printk(KERN_INFO PFX "Unloading.\n"); fp@220: } fp@220: fp@220: /*****************************************************************************/ fp@220: fp@220: MODULE_LICENSE("GPL"); fp@512: MODULE_AUTHOR("Florian Pose "); fp@512: MODULE_DESCRIPTION("EtherCAT minimal test environment"); fp@220: fp@220: module_init(init_mini_module); fp@220: module_exit(cleanup_mini_module); fp@220: fp@220: /*****************************************************************************/