fp@563: #!/bin/sh
fp@563: 
fp@563: #------------------------------------------------------------------------------
fp@563: #
fp@563: #  Init script for EtherCAT
fp@563: #
fp@563: #  $Id$
fp@563: #
fp@563: #  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@563: #
fp@563: #  This file is part of the IgH EtherCAT Master.
fp@563: #
fp@563: #  The IgH EtherCAT Master is free software; you can redistribute it
fp@563: #  and/or modify it under the terms of the GNU General Public License
fp@563: #  as published by the Free Software Foundation; either version 2 of the
fp@563: #  License, or (at your option) any later version.
fp@563: #
fp@563: #  The IgH EtherCAT Master is distributed in the hope that it will be
fp@563: #  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@563: #  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@563: #  GNU General Public License for more details.
fp@563: #
fp@563: #  You should have received a copy of the GNU General Public License
fp@563: #  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@563: #  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@563: #
fp@563: #  The right to use EtherCAT Technology is granted and comes free of
fp@563: #  charge under condition of compatibility of product made by
fp@563: #  Licensee. People intending to distribute/sell products based on the
fp@563: #  code, have to sign an agreement to guarantee that products using
fp@563: #  software based on IgH EtherCAT master stay compatible with the actual
fp@563: #  EtherCAT specification (which are released themselves as an open
fp@563: #  standard) as the (only) precondition to have the right to use EtherCAT
fp@563: #  Technology, IP and trade marks.
fp@563: #
fp@563: #------------------------------------------------------------------------------
fp@563: 
fp@563: ### BEGIN INIT INFO
fp@563: # Provides:          ethercat
fp@563: # Required-Start:    $local_fs $syslog $network
fp@563: # Should-Start:      $time ntp
fp@563: # Required-Stop:     $local_fs $syslog $network
fp@563: # Should-Stop:       $time ntp
fp@563: # Default-Start:     3 5
fp@563: # Default-Stop:      0 1 2 6
fp@563: # Short-Description: IgH EtherCAT master modules
fp@563: # Description:
fp@563: ### END INIT INFO
fp@563: 
fp@563: #------------------------------------------------------------------------------
fp@563: 
fp@573: XMLDEVICE='ecxml'
fp@698: MODPROBE=/sbin/modprobe
fp@698: RMMOD=/sbin/rmmod
fp@698: MODINFO=/sbin/modinfo
fp@563: 
fp@563: #------------------------------------------------------------------------------
fp@563: 
fp@563: ETHERCAT_CONFIG=/etc/sysconfig/ethercat
fp@563: 
fp@573: if [ ! -r ${ETHERCAT_CONFIG} ]; then
fp@588:     echo ${ETHERCAT_CONFIG} not existing;
fp@573:     if [ "${1}" = "stop" ]; then
fp@563: 	exit 0
fp@563:     else
fp@563: 	exit 6
fp@563:     fi
fp@563: fi
fp@563: 
fp@573: . ${ETHERCAT_CONFIG}
fp@573: 
fp@573: #------------------------------------------------------------------------------
fp@573: 
fp@698: function exit_success()
fp@698: {
fp@698:     if [ -r /etc/rc.status ]; then
fp@698:         rc_reset
fp@698:         rc_status -v
fp@698:         rc_exit
fp@698:     else
fp@698:         echo " done"
fp@698:         exit 0
fp@698:     fi
fp@698: }
fp@698: 
fp@698: #------------------------------------------------------------------------------
fp@698: 
fp@698: function exit_running()
fp@698: {
fp@698:     if [ -r /etc/rc.status ]; then
fp@698:         rc_reset
fp@698:         rc_status -v
fp@698:         rc_exit
fp@698:     else
fp@698:         echo " running"
fp@698:         exit 0
fp@698:     fi
fp@698: }
fp@698: 
fp@698: #------------------------------------------------------------------------------
fp@698: 
fp@698: function exit_fail()
fp@698: {
fp@698:     if [ -r /etc/rc.status ]; then
fp@698:         rc_failed
fp@698:         rc_exit
fp@698:     else
fp@698:         echo " failed"
fp@698:         exit 1
fp@698:     fi
fp@698: }
fp@698: 
fp@698: #------------------------------------------------------------------------------
fp@698: 
fp@639: function parse_mac_address()
fp@563: {
fp@573:     if [ -z "${1}" ]; then
fp@639:         MAC=""
fp@573:     elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then
fp@639:         MAC=${1}
fp@573:     else
fp@639:         echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG}
fp@698:         exit_fail
fp@573:     fi 
fp@563: }
fp@563: 
fp@563: #------------------------------------------------------------------------------
fp@563: 
fp@698: if [ -r /etc/rc.status ]; then
fp@698:     . /etc/rc.status
fp@698:     rc_reset
fp@698: fi
fp@563: 
fp@573: case "${1}" in
fp@573: 
fp@573: start)
fp@573:     echo -n "Starting EtherCAT master "
fp@573: 
fp@573:     # construct DEVICES and BACKUPS from configuration variables
fp@573:     DEVICES=""
fp@573:     BACKUPS=""
fp@573:     MASTER_INDEX=0
fp@573:     while true; do
fp@573:         DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}")
fp@573:         BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}")
fp@573:         if [ -z "${DEVICE}" ]; then break; fi
fp@573: 
fp@639:         if [ ${MASTER_INDEX} -gt 0 ]; then
fp@639:             DEVICES=${DEVICES},
fp@639:             BACKUPS=${BACKUPS},
fp@639:         fi
fp@639: 
fp@639:         parse_mac_address ${DEVICE}
fp@639:         DEVICES=${DEVICES}${MAC}
fp@639:         
fp@639:         parse_mac_address ${BACKUP}
fp@639:         BACKUPS=${BACKUPS}${MAC}
fp@573: 
fp@573:         MASTER_INDEX=$(expr ${MASTER_INDEX} + 1)
fp@573:     done
fp@573: 
fp@573:     # load master module
fp@698:     if ! ${MODPROBE} ec_master main=${DEVICES} backup=${BACKUPS}; then
fp@698:         exit_fail
fp@573:     fi
fp@573: 
fp@573:     # remove stale device node
fp@573:     rm -f /dev/${XMLDEVICE}0
fp@573: 
fp@573:     # get dynamic major number
fp@573:     MAJOR=$(awk "\$2==\"EtherCAT\" {print \$1}" /proc/devices)
fp@573: 
fp@573:     # create character device
fp@573:     mknod /dev/${XMLDEVICE}0 c ${MAJOR} 0
fp@573: 
fp@588:     # check for modules to replace
fp@588:     for MODULE in ${DEVICE_MODULES}; do
fp@588:         ECMODULE=ec_${MODULE}
fp@698:         if ! ${MODINFO} ${ECMODULE} > /dev/null; then
fp@698:             continue # ec_* module not found
fp@588:         fi
fp@588:         if lsmod | grep "^${MODULE} " > /dev/null; then
fp@698:             if ! ${RMMOD} ${MODULE}; then
fp@698:                 exit_fail
fp@588:             fi
fp@588:         fi
fp@698:         if ! ${MODPROBE} ${ECMODULE}; then
fp@698:             ${MODPROBE} ${MODULE} # try to restore module
fp@698:             exit_fail
fp@698:         fi
fp@698:     done
fp@698: 
fp@698:     exit_success
fp@588:     ;;
fp@588: 
fp@588: stop)
fp@588:     echo -n "Shutting down EtherCAT master "
fp@588: 
fp@588:     # unload EtherCAT device modules
fp@588:     for MODULE in ${DEVICE_MODULES} master; do
fp@588:         ECMODULE=ec_${MODULE}
fp@588:         if ! lsmod | grep -q "^${ECMODULE} "; then
fp@698:             continue # ec_* module not loaded
fp@698:         fi
fp@698:         if ! ${RMMOD} ${ECMODULE}; then
fp@698:             exit_fail
fp@573:         fi;
fp@573:     done
fp@573: 
fp@573:     # remove device node
fp@573:     rm -f /dev/${XMLDEVICE}0
fp@573: 
fp@573:     sleep 1
fp@573: 
fp@573:     # reload previous modules
fp@588:     for MODULE in ${DEVICE_MODULES}; do
fp@698:         if ! ${MODPROBE} ${MODULE}; then
fp@588:             echo Warning: Failed to restore ${MODULE}.
fp@588:         fi
fp@588:     done
fp@573: 
fp@698:     exit_success
fp@573:     ;;
fp@573: 
fp@573: restart)
fp@573:     $0 stop || exit 1
fp@573:     sleep 1
fp@573:     $0 start
fp@573:     ;;
fp@573: 
fp@573: status)
fp@573:     echo -n "Checking for EtherCAT "
fp@573: 
fp@588:     lsmod | grep -q "^ec_master "
fp@588:     MASTERS_RUNNING=$?
fp@588: 
fp@588:     ! grep -q "(WAITING)" /sys/ethercat/master*/info
fp@588:     MASTERS_IDLE=$?
fp@588: 
fp@588:     # master module loaded and masters not waiting for devices?
fp@698:     if [ ${MASTERS_RUNNING} -eq 0 -a ${MASTERS_IDLE} -eq 0 ]; then
fp@698:         exit_running
fp@698:     else
fp@698:         exit_fail
fp@698:     fi
fp@573:     ;;
fp@573: 
fp@573: *)
fp@573:     echo "USAGE: $0 {start|stop|restart|status}"
fp@573:     ;;
fp@563: 
fp@563: esac
fp@563: 
fp@698: if [ -r /etc/rc.status ]; then
fp@698:     rc_exit
fp@698: else
fp@698:     exit 1
fp@698: fi
fp@698: 
fp@698: #------------------------------------------------------------------------------