diff -r cceb9aacf4a6 -r 3417bbc4ad2f rtdm/module.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtdm/module.c	Wed Mar 16 22:12:23 2011 +0100
@@ -0,0 +1,719 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  ec_rtdm.c	Copyright (C) 2009-2010  Moehwald GmbH B.Benner
+ *                            2011       IgH Andreas Stewering-Bone
+ *								  
+ *  This file is used for Prisma RT to interface to EtherCAT devices
+ *								  
+ *  This file is part of ethercatrtdm interface to IgH EtherCAT master 
+ *  
+ *  The Moehwald ec_rtdm interface is free software; you can
+ *  redistribute it and/or modify it under the terms of the GNU Lesser General
+ *  Public License as published by the Free Software Foundation; version 2.1
+ *  of the License.
+ *
+ *  The IgH EtherCAT master userspace library is distributed in the hope that
+ *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public License
+ *  along with the IgH EtherCAT master userspace library. If not, see
+ *  <http://www.gnu.org/licenses/>.
+ *  
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+#include <linux/module.h>
+#include <linux/mman.h>
+#include <rtdm/rtdm_driver.h>
+#include <native/task.h>
+#include <native/sem.h>
+#include <native/mutex.h>
+#include <native/timer.h>
+
+#include "../include/ecrt.h"
+#include "../include/ec_rtdm.h"
+
+#define EC_RTDM_MAX_MASTERS 5 /**< Maximum number of masters. */
+
+#define EC_RTDM_GINFO(fmt, args...) \
+    printk(KERN_INFO "EtherCATrtdm: " fmt,  ##args)
+
+#define EC_RTDM_GERR(fmt, args...) \
+    printk(KERN_ERR "EtherCATrtdm ERROR: " fmt, ##args)
+
+#define EC_RTDM_GWARN(fmt, args...) \
+    printk(KERN_WARNING "EtherCATrtdm WARNING: " fmt, ##args)
+
+
+#define EC_RTDM_INFO(devno, fmt, args...) \
+    printk(KERN_INFO "EtherCATrtdm %u: " fmt, devno, ##args)
+
+#define EC_RTDM_ERR(devno, fmt, args...) \
+    printk(KERN_ERR "EtherCATrtdm %u ERROR: " fmt, devno, ##args)
+
+#define EC_RTDM_WARN(devno, fmt, args...) \
+    printk(KERN_WARNING "EtherCATrtdm %u WARNING: " fmt, devno, ##args)
+
+
+
+
+typedef struct _EC_RTDM_DRV_STRUCT {
+    unsigned int	    isattached;
+    ec_master_t *	    master;
+    ec_domain_t *	    domain;				   
+    RT_MUTEX                masterlock;
+    unsigned int	    sendcnt;
+    unsigned int	    reccnt;
+    unsigned int	    sendcntlv;
+    unsigned int	    reccntlv;
+    char                    mutexname[64];
+    unsigned int            masterno;
+} EC_RTDM_DRV_STRUCT;
+
+
+static EC_RTDM_DRV_STRUCT ec_rtdm_masterintf[EC_RTDM_MAX_MASTERS];
+
+
+/* import from ethercat */
+ec_master_t *ecrt_attach_master(unsigned int master_index /**< Index of the master to request. */
+        );
+
+// driver context struct: used for storing various information
+typedef struct _EC_RTDM_DRV_CONTEXT {
+    int                       dev_id;
+    EC_RTDM_DRV_STRUCT*  pdrvstruc;
+} EC_RTDM_DRV_CONTEXT;
+
+
+
+/**********************************************************/
+/*            Utilities                                   */
+/**********************************************************/
+
+static int _atoi(const char* text)
+{
+  char  b;
+  int wd=-1;
+  int nfak=1;
+
+  wd=0;
+
+  while ((*text==' ') || (*text=='\t')) text++;
+  if (*text=='-') 
+    {
+      nfak=-1;
+	  text++;
+    }
+  if (*text=='+') 
+    {
+      text++;
+    }
+  while (*text!=0)
+    {
+ 	  b = *text;
+
+	  if ( (b>='0') && (b<='9') )
+		{
+		   b=b-'0';
+		   wd=wd*10+b;
+		}
+	  text++;
+	}
+  return (nfak*wd);
+}
+
+
+/**********************************************************/
+/*            DRIVER sendcallback                         */
+/**********************************************************/
+void send_callback(void *cb_data)
+{
+    EC_RTDM_DRV_STRUCT * pdrvstruc;
+    
+    pdrvstruc = (EC_RTDM_DRV_STRUCT*)cb_data;
+    if (pdrvstruc->master)
+        {
+            rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+            ecrt_master_send_ext(pdrvstruc->master);
+            rt_mutex_release(&pdrvstruc->masterlock);
+      }
+}
+
+/*****************************************************************************/
+
+void receive_callback(void *cb_data)
+{
+    EC_RTDM_DRV_STRUCT * pdrvstruc;
+
+    pdrvstruc = (EC_RTDM_DRV_STRUCT*)cb_data;
+    if (pdrvstruc->master)
+      {
+          rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+          ecrt_master_receive(pdrvstruc->master);
+          rt_mutex_release(&pdrvstruc->masterlock);      
+    }
+}
+
+void receive_process(EC_RTDM_DRV_STRUCT * pdrvstruc)
+{
+    if (pdrvstruc->master)
+        {
+            rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+            ecrt_master_receive(pdrvstruc->master);
+            ecrt_domain_process(pdrvstruc->domain);
+            pdrvstruc->reccnt++;
+            rt_mutex_release(&pdrvstruc->masterlock);
+      }
+}
+
+void send_process(EC_RTDM_DRV_STRUCT * pdrvstruc)
+{
+  if (pdrvstruc->master)
+      {
+         rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+         ecrt_domain_queue(pdrvstruc->domain);
+         ecrt_master_send(pdrvstruc->master);
+         pdrvstruc->sendcnt++;
+         rt_mutex_release(&pdrvstruc->masterlock);
+      }
+}  
+
+void detach_master(EC_RTDM_DRV_STRUCT * pdrvstruc)
+{
+
+  if (pdrvstruc->isattached)
+      {
+          EC_RTDM_INFO(pdrvstruc->masterno,"reseting callbacks!\n");
+          ecrt_master_callbacks(pdrvstruc->master,NULL,NULL,NULL);
+          EC_RTDM_INFO(pdrvstruc->masterno,"deleting mutex!\n");
+          rt_mutex_delete(&pdrvstruc->masterlock);
+          pdrvstruc->master = NULL;
+          pdrvstruc->isattached=0;
+          EC_RTDM_INFO(pdrvstruc->masterno,"master detach done!\n");
+      }
+}
+
+
+
+
+/**********************************************************/
+/*            DRIVER OPEN                                 */
+/**********************************************************/
+int ec_rtdm_open_rt(struct rtdm_dev_context    *context,
+                 rtdm_user_info_t           *user_info,
+                 int                        oflags)
+{
+    EC_RTDM_DRV_CONTEXT* my_context;
+    EC_RTDM_DRV_STRUCT * pdrvstruc;
+    const char * p;
+    int dev_no;
+    unsigned int namelen;
+
+    //int ret;
+    int dev_id;
+
+    // get the context for our driver - used to store driver info
+    my_context = (EC_RTDM_DRV_CONTEXT*)context->dev_private;
+
+    dev_no = -1;
+    namelen   = strlen(context->device->driver_name);
+    p = &context->device->driver_name[namelen-1];
+    if (p!=&context->device->driver_name[0])
+      {
+	  while ((*p>='0') && (*p<='9')) 
+	    {
+	       p--;
+	       if (p==&context->device->driver_name[0]) break;
+   	    }
+	  dev_no=_atoi(p);
+	  if  ((dev_no!=-1) && (dev_no<EC_RTDM_MAX_MASTERS))
+	    { 
+		dev_id    = context->device->device_id;
+    		pdrvstruc = (EC_RTDM_DRV_STRUCT*)&ec_rtdm_masterintf[dev_no];
+
+    		my_context->dev_id         = dev_id;
+    		my_context->pdrvstruc      = pdrvstruc;
+		 
+    		// enable interrupt in RTDM
+    		return 0;	
+	    }	
+      }
+   EC_RTDM_GERR("open - Cannot detect master device no\n");
+   return -EFAULT;
+}
+
+/**********************************************************/
+/*            DRIVER CLOSE                                */
+/**********************************************************/
+int ec_rtdm_close_rt(struct rtdm_dev_context   *context,
+                  rtdm_user_info_t          *user_info)
+{
+    EC_RTDM_DRV_CONTEXT* my_context;
+    EC_RTDM_DRV_STRUCT * pdrvstruc;
+
+    // get the context
+    my_context = (EC_RTDM_DRV_CONTEXT*)context->dev_private;
+
+    pdrvstruc =  my_context->pdrvstruc;
+    EC_RTDM_INFO(pdrvstruc->masterno,"close called!\n");
+    detach_master(pdrvstruc);
+    return 0;
+	
+}
+
+/**********************************************************/
+/*            DRIVER IOCTL                                */
+/**********************************************************/
+int ec_rtdm_ioctl_rt(struct rtdm_dev_context   *context,
+                  rtdm_user_info_t          *user_info,
+                  int                       request,
+                  void                      *arg)
+{
+    EC_RTDM_DRV_CONTEXT* my_context;
+    EC_RTDM_DRV_STRUCT * pdrvstruc;
+    int ret;
+    unsigned int l_ioctlvalue[]={0,0,0,0,0,0,0,0};
+    ec_domain_state_t ds;
+    ec_master_state_t ms;
+    uint64_t app_time;
+
+
+    ret = 0;
+
+    // get the context
+    my_context = (EC_RTDM_DRV_CONTEXT*)context->dev_private;
+    pdrvstruc =  my_context->pdrvstruc;
+    
+    switch (request) {
+    case EC_RTDM_MASTERSTATE:
+    {
+		if (!pdrvstruc->isattached)
+            {
+                return -EFAULT;
+            }
+		if (pdrvstruc->master)
+            {
+                rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+                
+                ecrt_master_state(pdrvstruc->master, &ms);
+                
+                rt_mutex_release(&pdrvstruc->masterlock);
+                
+            }
+        if  (rtdm_rw_user_ok(user_info, arg, sizeof(ms)))
+            {
+                // copy data to user
+                if (rtdm_copy_to_user(user_info, arg, &ms,sizeof(ms)))
+                    {
+                        return -EFAULT;
+                    }
+            }
+        
+    }
+    break;
+    case EC_RTDM_DOMAINSTATE:
+    {
+		if (!pdrvstruc->isattached)
+            {
+                return -EFAULT;
+            }
+	   	if (pdrvstruc->domain)
+            {
+                rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+                
+                ecrt_domain_state(pdrvstruc->domain, &ds);
+                
+                rt_mutex_release(&pdrvstruc->masterlock);
+            }
+        if  (rtdm_rw_user_ok(user_info, arg, sizeof(ds)))
+            {
+                // copy data to user
+                if (rtdm_copy_to_user(user_info, arg, &ds,sizeof(ds)))
+                    {
+                        return -EFAULT;
+                    }
+            }
+    }
+    break;
+    
+    case EC_RTDM_MSTRRECEIVE:
+    {	       
+        if (pdrvstruc->isattached)
+            {
+                receive_process(pdrvstruc);
+            }
+    }
+    break;
+    case EC_RTDM_MSTRSEND:
+    {
+        
+        if (pdrvstruc->isattached)
+            {
+                send_process(pdrvstruc);
+            }
+    }
+    break;
+    case EC_RTDM_MASTER_APP_TIME:
+    {
+		if (!pdrvstruc->isattached)
+            {
+                return -EFAULT;
+            }
+        if  (rtdm_rw_user_ok(user_info, arg, sizeof(app_time)))
+            {
+                // copy data from user
+                if (rtdm_copy_from_user(user_info, &app_time, arg, sizeof(app_time)))
+                    {
+                        return -EFAULT;
+                    }
+                if (pdrvstruc->master)
+                    {
+                        rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+                        
+                        ecrt_master_application_time(pdrvstruc->master, app_time);
+                        
+                        rt_mutex_release(&pdrvstruc->masterlock);
+                        
+                    }
+            }
+    }
+    break;
+    case EC_RTDM_SYNC_REF_CLOCK:
+    {
+		if (!pdrvstruc->isattached)
+            {
+                return -EFAULT;
+            }
+        if (pdrvstruc->master)
+            {
+                rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+                
+                ecrt_master_sync_reference_clock(pdrvstruc->master);
+                
+                rt_mutex_release(&pdrvstruc->masterlock);
+                
+            }
+    }
+    break;
+    case EC_RTDM_SYNC_SLAVE_CLOCK:
+    {
+		if (!pdrvstruc->isattached)
+            {
+                return -EFAULT;
+            }
+        if (pdrvstruc->master)
+            {
+                rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+                
+                ecrt_master_sync_slave_clocks(pdrvstruc->master);
+                
+                rt_mutex_release(&pdrvstruc->masterlock);
+                
+            }
+    }
+    break;
+    case EC_RTDM_MSTRATTACH:
+    {
+        unsigned int mstridx;
+        
+        mstridx = 0;
+        ret = 0;
+        
+        EC_RTDM_INFO(pdrvstruc->masterno,"Master attach start!\n");
+        if (user_info) 
+            {
+                if (rtdm_read_user_ok(user_info, arg, sizeof(unsigned int)))
+                    {
+                        if (rtdm_copy_from_user(user_info, &l_ioctlvalue[0], arg,sizeof(unsigned int))==0)
+                            {
+                                pdrvstruc->domain = (ec_domain_t*)l_ioctlvalue[0];
+                            }
+                        else
+                            {
+                                EC_RTDM_ERR(pdrvstruc->masterno,"copy user param failed!\n");
+                                ret=-EFAULT;
+                            }		
+                    }
+                else
+                    { 
+                        EC_RTDM_ERR(pdrvstruc->masterno,"user parameter domain missing!\n");
+                        ret=-EFAULT;
+                    }	
+            }
+		if (ret!=0) 
+            {
+                return ret;
+            }
+        
+		if ( (pdrvstruc->master) && (pdrvstruc->isattached))
+            // master is allready attached
+            {
+                // master is allready attached
+                EC_RTDM_ERR(pdrvstruc->masterno,"Master is allready attached!\n");
+                ret = -EFAULT;
+            }
+	    else
+            {
+                //mstr=ecrt_request_master(0);
+                mstridx = pdrvstruc->masterno;
+	        	
+                pdrvstruc->master=ecrt_attach_master(mstridx);
+                
+                if (pdrvstruc->master)
+                    {
+                        // Ok
+                        EC_RTDM_INFO(pdrvstruc->masterno,"Master searching for domain!\n");
+                        pdrvstruc->domain = ecrt_master_find_domain(pdrvstruc->master,l_ioctlvalue[0]);
+                        if (!pdrvstruc->domain)
+                            {
+                                //
+                                EC_RTDM_ERR(pdrvstruc->masterno,"Cannot find domain from index %u!\n",l_ioctlvalue[0]);
+                                ret = -EFAULT;
+                            }
+                        else
+                            {
+                                
+                                // set device name
+                                snprintf(&pdrvstruc->mutexname[0],sizeof(pdrvstruc->mutexname)-1,"ETHrtdmLOCK%d",pdrvstruc->masterno);
+                                EC_RTDM_INFO(pdrvstruc->masterno,"Creating Master mutex %s!\n",&pdrvstruc->mutexname[0]);
+                                rt_mutex_create(&pdrvstruc->masterlock,&pdrvstruc->mutexname[0]);
+                                //ecrt_release_master(mstr);
+                                ecrt_master_callbacks(pdrvstruc->master, send_callback, receive_callback, pdrvstruc);
+                                EC_RTDM_INFO(pdrvstruc->masterno,"MSTR ATTACH done domain=%u!\n",(unsigned int)pdrvstruc->domain);
+                                pdrvstruc->isattached=1;
+                                ret = 0;
+                            }
+                        
+                    }
+                else
+                    {
+                        EC_RTDM_ERR(pdrvstruc->masterno,"Master attach failed!\n");
+                        pdrvstruc->master = NULL;
+                        ret = -EFAULT;
+                    }
+            }
+    }
+    break;
+    default:
+        ret = -ENOTTY;
+    }
+    return ret;
+}
+
+
+/**********************************************************/
+/*            DRIVER READ                                 */
+/**********************************************************/
+int ec_rtdm_read_rt(struct rtdm_dev_context *context,
+                    rtdm_user_info_t *user_info, void *buf, size_t nbyte)
+{
+    int                     ret;
+#if defined(USE_THIS)
+    EC_RTDM_DRV_CONTEXT* my_context;
+    char                    *out_pos;
+    int                     dev_id;
+    rtdm_toseq_t            timeout_seq;
+    int                     ret;
+
+    out_pos = (char *)buf;
+    
+    my_context = (EC_RTDM_DRV_CONTEXT*)context->dev_private;
+    
+    // zero bytes requested ? return!
+    if (nbyte == 0)
+        return 0;
+
+    // check if R/W actions to user-space are allowed
+    if (user_info && !rtdm_rw_user_ok(user_info, buf, nbyte))
+        return -EFAULT;
+
+    dev_id = my_context->dev_id;
+
+    // in case we need to check if reading is allowed (locking)
+/*    if (test_and_set_bit(0, &ctx->in_lock))
+        return -EBUSY;
+*/
+/*  // if we need to do some stuff with preemption disabled:
+    rtdm_lock_get_irqsave(&ctx->lock, lock_ctx);
+    // stuff here
+    rtdm_lock_put_irqrestore(&ctx->lock, lock_ctx);
+*/
+
+    // wait: if ctx->timeout = 0, it will block infintely until
+    //       rtdm_event_signal(&ctx->irq_event); is called from our
+    //       interrupt routine
+    //ret = rtdm_event_timedwait(&ctx->irq_event, ctx->timeout, &timeout_seq);
+
+    // now write the requested stuff to user-space
+    if (rtdm_copy_to_user(user_info, out_pos,
+                          dummy_buffer, BUFSIZE) != 0) {
+        ret = -EFAULT;
+    } else {
+        ret = BUFSIZE;
+    }
+#else
+    ret = -EFAULT;
+#endif
+    return ret;
+}
+
+/**********************************************************/
+/*            DRIVER WRITE                                */
+/**********************************************************/
+int ec_rtdm_write_rt(struct rtdm_dev_context *context,
+                   rtdm_user_info_t *user_info,
+                   const void *buf, size_t nbyte)
+{
+    int                     ret;
+
+#if defined(USE_THIS)
+    int                     dev_id;
+    char                    *in_pos = (char *)buf;
+
+    EC_RTDM_DRV_CONTEXT* my_context;
+    
+
+    my_context = (EC_RTDM_DRV_CONTEXT*)context->dev_private;
+    
+
+    if (nbyte == 0)
+        return 0;
+    if (user_info && !rtdm_read_user_ok(user_info, buf, nbyte))
+        return -EFAULT;
+
+    dev_id = my_context->dev_id;
+
+    if (rtdm_copy_from_user(user_info, dummy_buffer,
+                             in_pos, BUFSIZE) != 0) {
+        ret = -EFAULT;
+    } else {
+       ret = BUFSIZE;
+    }
+#else
+    ret = -EFAULT;
+#endif
+    // used when it is atomic
+//   rtdm_mutex_unlock(&ctx->out_lock);
+    return ret;
+}
+
+/**********************************************************/
+/*            DRIVER OPERATIONS                           */
+/**********************************************************/
+
+// Template
+
+static struct rtdm_device ec_rtdm_device_t = {
+    struct_version:     RTDM_DEVICE_STRUCT_VER,
+
+    device_flags:       RTDM_NAMED_DEVICE,
+    context_size:   	sizeof(EC_RTDM_DRV_CONTEXT),
+    device_name:        EC_RTDM_DEV_FILE_NAME,
+
+/* open and close functions are not real-time safe due kmalloc
+   and kfree. If you do not use kmalloc and kfree, and you made
+   sure that there is no syscall in the open/close handler, you
+   can declare the open_rt and close_rt handler.
+*/
+    open_rt:            NULL,
+    open_nrt:           ec_rtdm_open_rt,
+
+    ops: {
+        close_rt:       NULL,
+        close_nrt:      ec_rtdm_close_rt,
+
+        ioctl_rt:       ec_rtdm_ioctl_rt,
+        ioctl_nrt:      ec_rtdm_ioctl_rt, // rtdm_mmap_to_user is not RT safe
+
+        read_rt:        ec_rtdm_read_rt,
+        read_nrt:       NULL,
+
+        write_rt:       ec_rtdm_write_rt,
+        write_nrt:      NULL,
+
+        recvmsg_rt:     NULL,
+        recvmsg_nrt:    NULL,
+
+        sendmsg_rt:     NULL,
+        sendmsg_nrt:    NULL,
+    },
+
+    device_class:       RTDM_CLASS_EXPERIMENTAL,
+    device_sub_class:   222,
+    driver_name:        EC_RTDM_DEV_FILE_NAME,
+    driver_version:     RTDM_DRIVER_VER(1,0,1),
+    peripheral_name:    EC_RTDM_DEV_FILE_NAME,
+    provider_name:      "Moehwald GmbH - Bosch Group",
+//    proc_name:          ethcatrtdm_device.device_name,
+};
+
+
+static struct rtdm_device ec_rtdm_devices[EC_RTDM_MAX_MASTERS];
+
+
+/**********************************************************/
+/*            INIT DRIVER                                 */
+/**********************************************************/
+int init_module(void)
+{
+	unsigned int i;
+    int ret;
+
+    ret = 0; 	
+    
+    EC_RTDM_GINFO("Initlializing EtherCAT RTDM Interface to Igh EtherCAT Master\n");
+    memset(&ec_rtdm_masterintf[0],0,sizeof(ec_rtdm_masterintf));
+    for (i=0;( (i<EC_RTDM_MAX_MASTERS) && (ret==0) ) ;i++)
+      {	 
+    	// master no to struct
+    	ec_rtdm_masterintf[i].masterno = i;
+        // copy from template
+        memcpy(&ec_rtdm_devices[i],&ec_rtdm_device_t,sizeof(ec_rtdm_devices[0]));
+
+        // set device name
+        snprintf(&ec_rtdm_devices[i].device_name[0],RTDM_MAX_DEVNAME_LEN,"%s%d",EC_RTDM_DEV_FILE_NAME,i);
+        // set proc_name
+	    ec_rtdm_devices[i].proc_name = &ec_rtdm_devices[i].device_name[0];
+	    ec_rtdm_devices[i].driver_name = &ec_rtdm_devices[i].device_name[0];
+		ec_rtdm_devices[i].peripheral_name = &ec_rtdm_devices[i].device_name[0];
+	
+		EC_RTDM_GINFO("Registering device %s!\n",ec_rtdm_devices[i].driver_name);
+		ret = rtdm_dev_register(&ec_rtdm_devices[i]);
+
+      }	
+    if (ret!=0)
+      {	
+    	// register m
+        EC_RTDM_GERR("Initialization of EtherCAT RTDM Interface failed\n");
+      }		
+    return ret;
+}
+
+/**********************************************************/
+/*            CLEANUP DRIVER                              */
+/**********************************************************/
+void cleanup_module(void)
+{
+    unsigned int i;
+
+    EC_RTDM_GINFO("Cleanup EtherCAT RTDM Interface to Igh EtherCAT Master - Moehwald GmbH\n");
+    for (i=0;i<EC_RTDM_MAX_MASTERS;i++)
+      {
+         if (ec_rtdm_masterintf[i].isattached)
+           {
+	          detach_master(&ec_rtdm_masterintf[i]);
+	       }
+ 		 EC_RTDM_GINFO("Unregistering device %s!\n",ec_rtdm_devices[i].driver_name);
+         rtdm_dev_unregister(&ec_rtdm_devices[i],1000);
+    }
+}
+
+MODULE_LICENSE("GPL");
+MODULE_DESCRIPTION("EtherCAT RTDM Interface to Igh EtherCAT Master");