author | Florian Pose <fp@igh-essen.com> |
Mon, 12 Mar 2007 08:42:02 +0000 | |
changeset 647 | dc556a8c8fed |
parent 639 | aa23c48dca2d |
child 698 | 6693ea7c9047 |
permissions | -rwxr-xr-x |
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1 |
#!/bin/sh |
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|
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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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|
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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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. ${ETHERCAT_CONFIG} |
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#------------------------------------------------------------------------------ |
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function parse_mac_address() |
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{ |
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if [ -z "${1}" ]; then |
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MAC="" |
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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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MAC=${1} |
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else |
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echo Invalid MAC address \"${1}\" 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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if [ ${MASTER_INDEX} -gt 0 ]; then |
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DEVICES=${DEVICES}, |
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BACKUPS=${BACKUPS}, |
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fi |
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108 |
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parse_mac_address ${DEVICE} |
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DEVICES=${DEVICES}${MAC} |
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parse_mac_address ${BACKUP} |
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BACKUPS=${BACKUPS}${MAC} |
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MASTER_INDEX=$(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=${BACKUPS}; then |
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modprobe 8139too |
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/bin/false |
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rc_status -v |
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|
123 |
rc_exit |
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|
124 |
fi |
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|
125 |
|
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|
126 |
# remove stale device node |
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|
127 |
rm -f /dev/${XMLDEVICE}0 |
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|
128 |
|
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|
129 |
# get dynamic major number |
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|
130 |
MAJOR=$(awk "\$2==\"EtherCAT\" {print \$1}" /proc/devices) |
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|
131 |
|
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|
132 |
# create character device |
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|
133 |
mknod /dev/${XMLDEVICE}0 c ${MAJOR} 0 |
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|
134 |
|
588
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|
135 |
# check for modules to replace |
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|
136 |
for MODULE in ${DEVICE_MODULES}; do |
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|
137 |
ECMODULE=ec_${MODULE} |
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|
138 |
if ! modinfo ${ECMODULE} > /dev/null; then |
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|
139 |
continue |
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|
140 |
fi |
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|
141 |
if lsmod | grep "^${MODULE} " > /dev/null; then |
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|
142 |
if ! rmmod ${MODULE}; then |
573
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|
143 |
/bin/false |
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|
144 |
rc_status -v |
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|
145 |
rc_exit |
588
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|
146 |
fi |
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|
147 |
fi |
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|
148 |
if ! modprobe ${ECMODULE}; then |
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|
149 |
modprobe ${MODULE} # try to restore module |
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|
150 |
/bin/false |
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|
151 |
rc_status -v |
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|
152 |
rc_exit |
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|
153 |
fi |
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|
154 |
done |
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|
155 |
|
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|
156 |
rc_status -v |
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|
157 |
;; |
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|
158 |
|
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|
159 |
stop) |
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|
160 |
echo -n "Shutting down EtherCAT master " |
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|
161 |
|
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|
162 |
# unload EtherCAT device modules |
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|
163 |
for MODULE in ${DEVICE_MODULES} master; do |
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|
164 |
ECMODULE=ec_${MODULE} |
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|
165 |
if ! lsmod | grep -q "^${ECMODULE} "; then |
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|
166 |
continue |
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|
167 |
fi |
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changeset
|
168 |
if ! rmmod ${ECMODULE}; then |
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|
169 |
/bin/false |
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|
170 |
rc_status -v |
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|
171 |
rc_exit |
573
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|
172 |
fi; |
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|
173 |
done |
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changeset
|
174 |
|
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|
175 |
# remove device node |
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|
176 |
rm -f /dev/${XMLDEVICE}0 |
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changeset
|
177 |
|
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|
178 |
sleep 1 |
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|
179 |
|
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changeset
|
180 |
# reload previous modules |
588
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diff
changeset
|
181 |
for MODULE in ${DEVICE_MODULES}; do |
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Introduced DEVICE_MODULES variable in sysconfig file; enabled init
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diff
changeset
|
182 |
if ! modprobe ${MODULE}; then |
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Introduced DEVICE_MODULES variable in sysconfig file; enabled init
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diff
changeset
|
183 |
echo Warning: Failed to restore ${MODULE}. |
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diff
changeset
|
184 |
fi |
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changeset
|
185 |
done |
573
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changeset
|
186 |
|
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changeset
|
187 |
rc_status -v |
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changeset
|
188 |
;; |
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changeset
|
189 |
|
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diff
changeset
|
190 |
restart) |
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changeset
|
191 |
$0 stop || exit 1 |
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changeset
|
192 |
sleep 1 |
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|
193 |
$0 start |
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changeset
|
194 |
rc_status |
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changeset
|
195 |
;; |
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Introduced device IDs; removed comment lines from 8139too; removed
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changeset
|
196 |
|
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Introduced device IDs; removed comment lines from 8139too; removed
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changeset
|
197 |
status) |
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diff
changeset
|
198 |
echo -n "Checking for EtherCAT " |
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diff
changeset
|
199 |
|
588
ba69f7f34fbf
Introduced DEVICE_MODULES variable in sysconfig file; enabled init
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diff
changeset
|
200 |
lsmod | grep -q "^ec_master " |
ba69f7f34fbf
Introduced DEVICE_MODULES variable in sysconfig file; enabled init
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diff
changeset
|
201 |
MASTERS_RUNNING=$? |
ba69f7f34fbf
Introduced DEVICE_MODULES variable in sysconfig file; enabled init
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diff
changeset
|
202 |
|
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Introduced DEVICE_MODULES variable in sysconfig file; enabled init
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diff
changeset
|
203 |
! grep -q "(WAITING)" /sys/ethercat/master*/info |
ba69f7f34fbf
Introduced DEVICE_MODULES variable in sysconfig file; enabled init
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diff
changeset
|
204 |
MASTERS_IDLE=$? |
ba69f7f34fbf
Introduced DEVICE_MODULES variable in sysconfig file; enabled init
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diff
changeset
|
205 |
|
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Introduced DEVICE_MODULES variable in sysconfig file; enabled init
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diff
changeset
|
206 |
# master module loaded and masters not waiting for devices? |
ba69f7f34fbf
Introduced DEVICE_MODULES variable in sysconfig file; enabled init
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diff
changeset
|
207 |
test ${MASTERS_RUNNING} -eq 0 -a ${MASTERS_IDLE} -eq 0 |
573
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Introduced device IDs; removed comment lines from 8139too; removed
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diff
changeset
|
208 |
|
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Introduced device IDs; removed comment lines from 8139too; removed
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diff
changeset
|
209 |
rc_status -v |
cdee4ea90ce9
Introduced device IDs; removed comment lines from 8139too; removed
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diff
changeset
|
210 |
;; |
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Introduced device IDs; removed comment lines from 8139too; removed
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diff
changeset
|
211 |
|
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Introduced device IDs; removed comment lines from 8139too; removed
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diff
changeset
|
212 |
*) |
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Introduced device IDs; removed comment lines from 8139too; removed
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diff
changeset
|
213 |
echo "USAGE: $0 {start|stop|restart|status}" |
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Introduced device IDs; removed comment lines from 8139too; removed
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diff
changeset
|
214 |
;; |
563
d113b63c55c4
Changed structure of scripts subdirectory.
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parents:
diff
changeset
|
215 |
|
d113b63c55c4
Changed structure of scripts subdirectory.
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parents:
diff
changeset
|
216 |
esac |
d113b63c55c4
Changed structure of scripts subdirectory.
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parents:
diff
changeset
|
217 |
|
d113b63c55c4
Changed structure of scripts subdirectory.
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parents:
diff
changeset
|
218 |
rc_exit |
d113b63c55c4
Changed structure of scripts subdirectory.
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parents:
diff
changeset
|
219 |
|
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
220 |
#------------------------------------------------------------------------------ |