script/init.d/ethercat
author Florian Pose <fp@igh-essen.com>
Fri, 02 Mar 2007 07:37:34 +0000
changeset 602 0c58446dec3c
parent 588 ba69f7f34fbf
child 639 aa23c48dca2d
permissions -rwxr-xr-x
Updated TODO.
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#!/bin/sh
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#------------------------------------------------------------------------------
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#
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#  Init script for EtherCAT
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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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### BEGIN INIT INFO
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# Provides:          ethercat
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# Required-Start:    $local_fs $syslog $network
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# Should-Start:      $time ntp
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# Required-Stop:     $local_fs $syslog $network
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# Should-Stop:       $time ntp
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# Default-Start:     3 5
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# Default-Stop:      0 1 2 6
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# Short-Description: IgH EtherCAT master modules
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# Description:
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### END INIT INFO
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#------------------------------------------------------------------------------
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XMLDEVICE='ecxml'
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#------------------------------------------------------------------------------
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ETHERCAT_CONFIG=/etc/sysconfig/ethercat
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if [ ! -r ${ETHERCAT_CONFIG} ]; then
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    echo ${ETHERCAT_CONFIG} not existing;
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    if [ "${1}" = "stop" ]; then
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	exit 0
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    else
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	exit 6
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    fi
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fi
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. ${ETHERCAT_CONFIG}
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#------------------------------------------------------------------------------
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function make_device_id()
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{
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    if [ -z "${1}" ]; then
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        DEVICE_ID=";"
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    elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then
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        DEVICE_ID="M${1};"
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    elif echo ${1} | grep -qE '^[^:]+:[0-9]+$'; then
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        DEVICE_ID="D${1};"
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    else
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        echo Invalid device ID syntax in ${ETHERCAT_CONFIG}
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        /bin/false
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        rc_status -v
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        rc_exit
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    fi 
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}
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#------------------------------------------------------------------------------
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. /etc/rc.status
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rc_reset
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case "${1}" in
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start)
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    echo -n "Starting EtherCAT master "
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    # construct DEVICES and BACKUPS from configuration variables
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    DEVICES=""
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    BACKUPS=""
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    MASTER_INDEX=0
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    while true; do
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        DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}")
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        BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}")
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        if [ -z "${DEVICE}" ]; then break; fi
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        make_device_id ${DEVICE}
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        DEVICES=${DEVICES}${DEVICE_ID}
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        make_device_id ${BACKUP}
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        BACKUPS=${BACKUPS}${DEVICE_ID}
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        MASTER_INDEX=$(expr ${MASTER_INDEX} + 1)
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    done
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    # load master module
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    if ! modprobe ec_master main=${DEVICES} backup=${BACKUPS}; then
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        modprobe 8139too
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        /bin/false
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        rc_status -v
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        rc_exit
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    fi
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    # remove stale device node
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    rm -f /dev/${XMLDEVICE}0
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    # get dynamic major number
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    MAJOR=$(awk "\$2==\"EtherCAT\" {print \$1}" /proc/devices)
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    # create character device
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    mknod /dev/${XMLDEVICE}0 c ${MAJOR} 0
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    # check for modules to replace
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    for MODULE in ${DEVICE_MODULES}; do
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        ECMODULE=ec_${MODULE}
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        if ! modinfo ${ECMODULE} > /dev/null; then
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            continue
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        fi
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        if lsmod | grep "^${MODULE} " > /dev/null; then
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            if ! rmmod ${MODULE}; then
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                /bin/false
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                rc_status -v
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                rc_exit
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            fi
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        fi
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        if ! modprobe ${ECMODULE}; then
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            modprobe ${MODULE} # try to restore module
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            /bin/false
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            rc_status -v
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            rc_exit
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        fi
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    done
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    rc_status -v
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    ;;
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stop)
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    echo -n "Shutting down EtherCAT master "
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    # unload EtherCAT device modules
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    for MODULE in ${DEVICE_MODULES} master; do
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        ECMODULE=ec_${MODULE}
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        if ! lsmod | grep -q "^${ECMODULE} "; then
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            continue
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        fi
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        if ! rmmod ${ECMODULE}; then
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            /bin/false
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            rc_status -v
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            rc_exit
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        fi;
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    done
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    # remove device node
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    rm -f /dev/${XMLDEVICE}0
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    sleep 1
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    # reload previous modules
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    for MODULE in ${DEVICE_MODULES}; do
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        if ! modprobe ${MODULE}; then
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            echo Warning: Failed to restore ${MODULE}.
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        fi
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    done
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    rc_status -v
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    ;;
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restart)
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    $0 stop || exit 1
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    sleep 1
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    $0 start
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    rc_status
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    ;;
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status)
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    echo -n "Checking for EtherCAT "
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    lsmod | grep -q "^ec_master "
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    MASTERS_RUNNING=$?
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    ! grep -q "(WAITING)" /sys/ethercat/master*/info
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    MASTERS_IDLE=$?
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    # master module loaded and masters not waiting for devices?
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    test ${MASTERS_RUNNING} -eq 0 -a ${MASTERS_IDLE} -eq 0
573
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    rc_status -v
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    ;;
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*)
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    echo "USAGE: $0 {start|stop|restart|status}"
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    ;;
563
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esac
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rc_exit
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#------------------------------------------------------------------------------