262 lines
7.3 KiB
C
262 lines
7.3 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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#include <linux/module.h>
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#include <linux/timer.h>
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#include <linux/spinlock.h>
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#include <linux/interrupt.h>
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#include "../../include/ecrt.h" // EtherCAT realtime interface
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#include "../../include/ecdb.h" // EtherCAT slave database
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#define PFX "ec_mini: "
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#define FREQUENCY 100
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//#define KBUS
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#define PDOS
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#define MAPPING
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/*****************************************************************************/
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static struct timer_list timer;
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_domain_t *domain1 = NULL;
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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static ec_master_state_t master_state, old_state = {};
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// data fields
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#ifdef KBUS
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static void *r_inputs;
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static void *r_outputs;
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#endif
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#ifdef MAPPING
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const ec_pdo_entry_info_t el3162_channel1[] = {
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{0x3101, 1, 8}, // status
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{0x3101, 2, 16} // value
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};
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const ec_pdo_entry_info_t el3162_channel2[] = {
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{0x3102, 1, 8}, // status
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{0x3102, 2, 16} // value
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};
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const ec_pdo_info_t mapping[] = {
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{EC_DIR_INPUT, 0x1A00, 2, el3162_channel1},
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{EC_DIR_INPUT, 0x1A01, 2, el3162_channel2},
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};
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#endif
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#ifdef PDOS
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static uint8_t off_ana_in;
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static uint8_t off_ana_out;
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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{0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
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//{0, 2, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
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{}
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};
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#endif
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/*****************************************************************************/
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void run(unsigned long data)
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{
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static unsigned int counter = 0;
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static unsigned int blink = 0;
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// receive
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spin_lock(&master_lock);
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ecrt_master_receive(master);
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ecrt_domain_process(domain1);
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spin_unlock(&master_lock);
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// process data
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// k_pos = EC_READ_U32(r_ssi);
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//EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00);
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if (counter) {
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counter--;
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}
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else {
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counter = FREQUENCY;
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blink = !blink;
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spin_lock(&master_lock);
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ecrt_master_state(master, &master_state);
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spin_unlock(&master_lock);
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if (master_state.bus_state != old_state.bus_state) {
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printk(KERN_INFO PFX "bus state changed to %i.\n",
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master_state.bus_state);
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}
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if (master_state.bus_tainted != old_state.bus_tainted) {
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printk(KERN_INFO PFX "tainted flag changed to %u.\n",
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master_state.bus_tainted);
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}
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if (master_state.slaves_responding !=
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old_state.slaves_responding) {
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printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
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master_state.slaves_responding);
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}
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old_state = master_state;
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}
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#ifdef KBUS
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EC_WRITE_U8(r_outputs + 2, blink ? 0xFF : 0x00);
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#endif
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// send
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spin_lock(&master_lock);
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ecrt_domain_queue(domain1);
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spin_unlock(&master_lock);
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spin_lock(&master_lock);
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ecrt_master_send(master);
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spin_unlock(&master_lock);
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// restart timer
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timer.expires += HZ / FREQUENCY;
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add_timer(&timer);
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}
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/*****************************************************************************/
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int request_lock(void *data)
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{
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spin_lock(&master_lock);
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return 0; // access allowed
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}
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/*****************************************************************************/
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void release_lock(void *data)
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{
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spin_unlock(&master_lock);
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}
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/*****************************************************************************/
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int __init init_mini_module(void)
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{
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#ifdef MAPPING
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ec_slave_config_t *sc;
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#endif
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printk(KERN_INFO PFX "Starting...\n");
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if (!(master = ecrt_request_master(0))) {
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printk(KERN_ERR PFX "Requesting master 0 failed!\n");
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goto out_return;
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}
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ecrt_master_callbacks(master, request_lock, release_lock, NULL);
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printk(KERN_INFO PFX "Registering domain...\n");
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if (!(domain1 = ecrt_master_create_domain(master))) {
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printk(KERN_ERR PFX "Domain creation failed!\n");
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goto out_release_master;
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}
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#ifdef MAPPING
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printk(KERN_INFO PFX "Configuring Pdo mapping...\n");
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if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) {
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printk(KERN_ERR PFX "Failed to get slave configuration.\n");
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goto out_release_master;
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}
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if (ecrt_slave_config_mapping(sc, 2, mapping)) {
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printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n");
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goto out_release_master;
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}
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#endif
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printk(KERN_INFO PFX "Registering PDO entries...\n");
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#ifdef PDOS
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if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
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printk(KERN_ERR PFX "PDO entry registration failed!\n");
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goto out_release_master;
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}
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#endif
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printk(KERN_INFO PFX "Activating master...\n");
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if (ecrt_master_activate(master)) {
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printk(KERN_ERR PFX "Failed to activate master!\n");
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goto out_release_master;
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}
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printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
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init_timer(&timer);
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timer.function = run;
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timer.expires = jiffies + 10;
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add_timer(&timer);
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printk(KERN_INFO PFX "Started.\n");
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return 0;
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out_release_master:
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printk(KERN_ERR PFX "Releasing master...\n");
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ecrt_release_master(master);
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out_return:
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printk(KERN_ERR PFX "Failed to load. Aborting.\n");
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return -1;
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}
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/*****************************************************************************/
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void __exit cleanup_mini_module(void)
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{
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printk(KERN_INFO PFX "Stopping...\n");
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del_timer_sync(&timer);
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printk(KERN_INFO PFX "Releasing master...\n");
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ecrt_release_master(master);
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printk(KERN_INFO PFX "Unloading.\n");
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}
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/*****************************************************************************/
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
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MODULE_DESCRIPTION("EtherCAT minimal test environment");
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module_init(init_mini_module);
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module_exit(cleanup_mini_module);
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/*****************************************************************************/
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