From 0b0805302e28409760465c285dd1551e160a2d09 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 16 Dec 2005 15:25:13 +0000
Subject: [PATCH] EtherCAT_release() im Fehlerfall beim Laden von Modulen mini
und rt.
--HG--
branch : kernel2.6
---
mini/ec_mini.c | 70 +++++++++++++++++---------------
rt/msr_module.c | 104 ++++++++++++++++++++----------------------------
2 files changed, 81 insertions(+), 93 deletions(-)
diff --git a/mini/ec_mini.c b/mini/ec_mini.c
index 378e6935..f462c202 100644
--- a/mini/ec_mini.c
+++ b/mini/ec_mini.c
@@ -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;
+
+ out_release_master:
+ EtherCAT_release(ecat_master);
- return 0;
+ 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");
diff --git a/rt/msr_module.c b/rt/msr_module.c
index f71bf328..5ab28856 100755
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -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◯ckgabe:
-*
+* R◯ckgabe:
+*
* 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);
-
+
--
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