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EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.

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This commit is contained in:
Florian Pose
2005-12-16 15:25:13 +00:00
parent 69e48acaff
commit 4e001f8985
2 changed files with 81 additions and 93 deletions
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70
mini/ec_mini.c
View File

@@ -228,47 +228,51 @@ static void run(unsigned long data)
int __init init_module()
{
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
if ((ecat_master = EtherCAT_request(0)) == NULL)
{
printk(KERN_ERR "EtherCAT master 0 not available!\n");
return -1;
}
if ((ecat_master = EtherCAT_request(0)) == NULL) {
printk(KERN_ERR "EtherCAT master 0 not available!\n");
goto out_return;
}
printk("Checking EtherCAT slaves.\n");
printk("Checking EtherCAT slaves.\n");
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
{
printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
return -1;
}
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) {
printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
goto out_release_master;
}
printk("Activating all EtherCAT slaves.\n");
printk("Activating all EtherCAT slaves.\n");
if (EtherCAT_activate_all_slaves(ecat_master) != 0)
{
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
return -1;
}
if (EtherCAT_activate_all_slaves(ecat_master) != 0)
{
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
goto out_release_master;
}
#ifdef ECAT_CYCLIC_DATA
printk("Starting cyclic sample thread.\n");
printk("Starting cyclic sample thread.\n");
init_timer(&timer);
init_timer(&timer);
timer.function = run;
timer.data = 0;
timer.expires = jiffies+10; // Das erste Mal sofort feuern
last_start_jiffies = timer.expires;
add_timer(&timer);
timer.function = run;
timer.data = 0;
timer.expires = jiffies+10; // Das erste Mal sofort feuern
last_start_jiffies = timer.expires;
add_timer(&timer);
printk("Initialised sample thread.\n");
printk("Initialised sample thread.\n");
#endif
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
return 0;
return 0;
out_release_master:
EtherCAT_release(ecat_master);
out_return:
return -1;
}
/******************************************************************************
@@ -284,14 +288,14 @@ void __exit cleanup_module()
if (ecat_master)
{
#ifdef ECAT_CYCLIC_DATA
del_timer_sync(&timer);
EtherCAT_clear_process_data(ecat_master);
del_timer_sync(&timer);
EtherCAT_clear_process_data(ecat_master);
#endif // ECAT_CYCLIC_DATA
printk(KERN_INFO "Deactivating slaves.\n");
EtherCAT_deactivate_all_slaves(ecat_master);
printk(KERN_INFO "Deactivating slaves.\n");
EtherCAT_deactivate_all_slaves(ecat_master);
EtherCAT_release(ecat_master);
EtherCAT_release(ecat_master);
}
printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");

104
rt/msr_module.c
View File

@@ -31,7 +31,7 @@
* *** empty log message ***
*
*
*
* Hello Emacs: -*- c-basic-offset: 2; -*-
*
**************************************************************************************************/
@@ -163,7 +163,8 @@ static EtherCAT_slave_t ecat_slaves[] =
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102)
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4132)
#endif
@@ -294,8 +295,8 @@ static void msr_controller_run(void)
*
* Parameter: Zeiger auf msr_data
*
* R<>ückgabe:
*
* R<>ückgabe:
*
* Status: exp
*
***************************************************************************************************
@@ -305,10 +306,10 @@ static void msr_controller_run(void)
void msr_run(unsigned irq)
{
static int counter = 0;
static int counter = 0;
#ifdef USE_MSR_LIB
timeval_add(&process_time,&process_time,&msr_time_increment);
timeval_add(&process_time,&process_time,&msr_time_increment);
MSR_ADEOS_INTERRUPT_CODE(
msr_controller_run();
@@ -318,7 +319,7 @@ void msr_run(unsigned irq)
msr_controller_run();
#endif
/* und wieder in die Timerliste eintragen */
/* und neu in die Taskqueue eintragen */
/* und neu in die Taskqueue eintragen */
// timer.expires += 1;
// add_timer(&timer);
@@ -382,52 +383,42 @@ int msr_globals_register(void)
int __init init_module()
{
int result = 0;
struct ipipe_domain_attr attr; //ipipe
//als allererstes die RT-lib initialisieren
// Als allererstes die RT-lib initialisieren
#ifdef USE_MSR_LIB
result = msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register);
if (result < 0) {
if (msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register) < 0) {
msr_print_warn("msr_modul: can't initialize rtlib!");
return result;
goto out_return;
}
#endif
msr_jitter_init();
printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
if ((ecat_master = EtherCAT_request(0)) == NULL)
{
printk(KERN_ERR "EtherCAT master 0 not available!\n");
msr_rtlib_cleanup();
return -1;
}
printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
printk("Checking EtherCAT slaves.\n");
if ((ecat_master = EtherCAT_request(0)) == NULL) {
printk(KERN_ERR "EtherCAT master 0 not available!\n");
goto out_msr_cleanup;
}
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
{
printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
msr_rtlib_cleanup();
return -1;
}
printk("Checking EtherCAT slaves.\n");
printk("Activating all EtherCAT slaves.\n");
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) {
printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
goto out_release_master;
}
if (EtherCAT_activate_all_slaves(ecat_master) != 0)
{
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
msr_rtlib_cleanup();
return -1;
}
printk("Activating all EtherCAT slaves.\n");
if (EtherCAT_activate_all_slaves(ecat_master) != 0) {
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
goto out_release_master;
}
do_gettimeofday(&process_time);
msr_time_increment.tv_sec=0;
msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
do_gettimeofday(&process_time);
msr_time_increment.tv_sec=0;
msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
ipipe_init_attr (&attr);
attr.name = "IPIPE-MSR-MODULE";
@@ -435,16 +426,16 @@ int __init init_module()
attr.entry = &domain_entry;
ipipe_register_domain(&this_domain,&attr);
//den Timertakt
/*
init_timer(&timer);
return 0;
timer.function = msr_run;
timer.data = 0;
timer.expires = jiffies+10; // Das erste Mal sofort feuern
add_timer(&timer);
*/
return 0; /* succeed */
out_release_master:
EtherCAT_release(ecat_master);
out_msr_cleanup:
msr_rtlib_cleanup();
out_return:
return -1;
}
@@ -454,30 +445,23 @@ void __exit cleanup_module()
{
msr_print_info("msk_modul: unloading...");
// del_timer_sync(&timer);
ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen
ipipe_unregister_domain(&this_domain);
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
if (ecat_master)
{
EtherCAT_clear_process_data(ecat_master);
printk(KERN_INFO "Deactivating slaves.\n");
EtherCAT_deactivate_all_slaves(ecat_master);
EtherCAT_release(ecat_master);
EtherCAT_clear_process_data(ecat_master);
printk(KERN_INFO "Deactivating slaves.\n");
EtherCAT_deactivate_all_slaves(ecat_master);
EtherCAT_release(ecat_master);
}
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
// msr_controller_cleanup();
#ifdef USE_MSR_LIB
msr_rtlib_cleanup();
msr_rtlib_cleanup();
#endif
}
@@ -487,7 +471,7 @@ MODULE_DESCRIPTION ("EtherCAT test environment");
module_init(init_module);
module_exit(cleanup_module);