# HG changeset patch # User Florian Pose # Date 1325696436 -3600 # Node ID 1c7c546ac08c1efff01e7a7b5711284050cc663e # Parent 54cda823743ae7d0843aa11187560bde87402c01 Added first systemd support. diff -r 54cda823743a -r 1c7c546ac08c .hgignore --- a/.hgignore Wed Jan 04 15:57:10 2012 +0100 +++ b/.hgignore Wed Jan 04 18:00:36 2012 +0100 @@ -125,6 +125,8 @@ modules.order script/Makefile script/Makefile.in +script/ethercat.service +script/ethercatctl script/init.d/Makefile script/init.d/Makefile.in script/init.d/ethercat diff -r 54cda823743a -r 1c7c546ac08c NEWS --- a/NEWS Wed Jan 04 15:57:10 2012 +0100 +++ b/NEWS Wed Jan 04 18:00:36 2012 +0100 @@ -74,6 +74,7 @@ * A sync manager is always enabled, if it contains registered process data. * Added a configuration switch --enable-wildcards to use 0xffffffff as a * wildcard for vendor ID and product code. +* Added support for systemd. Changes in 1.4.0: diff -r 54cda823743a -r 1c7c546ac08c configure.ac --- a/configure.ac Wed Jan 04 15:57:10 2012 +0100 +++ b/configure.ac Wed Jan 04 18:00:36 2012 +0100 @@ -657,6 +657,8 @@ master/Kbuild master/Makefile script/Makefile + script/ethercat.service + script/ethercatctl script/init.d/Makefile script/init.d/ethercat script/sysconfig/Makefile diff -r 54cda823743a -r 1c7c546ac08c script/Makefile.am --- a/script/Makefile.am Wed Jan 04 15:57:10 2012 +0100 +++ b/script/Makefile.am Wed Jan 04 18:00:36 2012 +0100 @@ -24,15 +24,29 @@ # Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA # # --- -# -# The license mentioned above concerns the source code only. Using the EtherCAT -# technology and brand is only permitted in compliance with the industrial -# property and similar rights of Beckhoff Automation GmbH. +# +# The license mentioned above concerns the source code only. Using the +# EtherCAT technology and brand is only permitted in compliance with the +# industrial property and similar rights of Beckhoff Automation GmbH. # #------------------------------------------------------------------------------ SUBDIRS = init.d sysconfig -EXTRA_DIST = ifup-eoe.sh +sbin_SCRIPTS = ethercatctl + +systemddir = $(libdir)/systemd/system +systemd_DATA = ethercat.service + +sysconf_DATA = ethercat.conf + +EXTRA_DIST = \ + ethercatctl.in \ + ethercat.service.in \ + ifup-eoe.sh + +BUILT_SOURCES = \ + ethercatctl \ + ethercat.service #------------------------------------------------------------------------------ diff -r 54cda823743a -r 1c7c546ac08c script/ethercat.conf --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/script/ethercat.conf Wed Jan 04 18:00:36 2012 +0100 @@ -0,0 +1,55 @@ +#------------------------------------------------------------------------------ +# +# EtherCAT master configuration file for use with ethercatctl. +# +# $Id$ +# +#------------------------------------------------------------------------------ + +# +# Master devices. +# +# The MASTER_DEVICE variable specifies the Ethernet device for a master +# with index 'X'. +# +# Specify the MAC address (hexadecimal with colons) of the Ethernet device to +# use. Example: "00:00:08:44:ab:66" +# +# The broadcast address "ff:ff:ff:ff:ff:ff" has a special meaning: It tells +# the master to accept the first device offered by any Ethernet driver. +# +# The MASTER_DEVICE variables also determine, how many masters will be +# created: A non-empty variable MASTER0_DEVICE will create one master, adding a +# non-empty variable MASTER1_DEVICE will create a second master, and so on. +# +MASTER0_DEVICE="" +#MASTER1_DEVICE="" + +# +# Ethernet driver modules to use for EtherCAT operation. +# +# Specify a non-empty list of Ethernet drivers, that shall be used for EtherCAT +# operation. +# +# Except for the generic Ethernet driver module, the init script will try to +# unload the usual Ethernet driver modules in the list and replace them with +# the EtherCAT-capable ones. If a certain (EtherCAT-capable) driver is not +# found, a warning will appear. +# +# Possible values: 8139too, e100, e1000, e1000e, r8169, generic. Separate +# multiple drivers with spaces. +# +# Note: The e100, e1000, e1000e, r8169 and generic drivers are not built by +# default. Enable them with the --enable- configure switches. +# +DEVICE_MODULES="" + +# +# Flags for loading kernel modules. +# +# This can usually be left empty. Adjust this variable, if you have problems +# with module loading. +# +#MODPROBE_FLAGS="-b" + +#------------------------------------------------------------------------------ diff -r 54cda823743a -r 1c7c546ac08c script/ethercat.service.in --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/script/ethercat.service.in Wed Jan 04 18:00:36 2012 +0100 @@ -0,0 +1,12 @@ +# +# EtherCAT Master Kernel Modules +# + +[Unit] +Description=EtherCAT Master Kernel Modules + +[Service] +Type=oneshot +RemainAfterExit=yes +ExecStart=@prefix@/sbin/ethercatctl start +ExecStop=@prefix@/sbin/ethercatctl stop diff -r 54cda823743a -r 1c7c546ac08c script/ethercatctl.in --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/script/ethercatctl.in Wed Jan 04 18:00:36 2012 +0100 @@ -0,0 +1,211 @@ +#!/bin/sh + +#------------------------------------------------------------------------------ +# +# Start script for EtherCAT to use with systemd +# +# $Id$ +# +# Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH +# +# This file is part of the IgH EtherCAT Master. +# +# The IgH EtherCAT Master is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License version 2, as +# published by the Free Software Foundation. +# +# The IgH EtherCAT Master is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General +# Public License for more details. +# +# You should have received a copy of the GNU General Public License along +# with the IgH EtherCAT Master; if not, write to the Free Software +# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +# +# --- +# +# The license mentioned above concerns the source code only. Using the +# EtherCAT technology and brand is only permitted in compliance with the +# industrial property and similar rights of Beckhoff Automation GmbH. +# +# vim: expandtab sw=4 tw=78 +# +#------------------------------------------------------------------------------ + +MODPROBE=/sbin/modprobe +RMMOD=/sbin/rmmod +MODINFO=/sbin/modinfo + +ETHERCAT=@prefix@/bin/ethercat + +#------------------------------------------------------------------------------ + +ETHERCAT_CONFIG=/etc/ethercat.conf + +if [ ! -r ${ETHERCAT_CONFIG} ]; then + echo ${ETHERCAT_CONFIG} not existing; + exit 6 +fi + +. ${ETHERCAT_CONFIG} + +#------------------------------------------------------------------------------ + +parse_mac_address() { + if [ -z "${1}" ]; then + MAC="" + elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then + MAC=${1} + else + echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG} + exit 1 + fi +} + +#------------------------------------------------------------------------------ + +case "${1}" in + +start) + # construct DEVICES and BACKUPS from configuration variables + DEVICES="" + BACKUPS="" + MASTER_INDEX=0 + + while true; do + DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}") + BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}") + if [ -z "${DEVICE}" ]; then break; fi + + if [ ${MASTER_INDEX} -gt 0 ]; then + DEVICES=${DEVICES}, + BACKUPS=${BACKUPS}, + fi + + parse_mac_address ${DEVICE} + DEVICES=${DEVICES}${MAC} + + parse_mac_address ${BACKUP} + BACKUPS=${BACKUPS}${MAC} + + MASTER_INDEX=$(expr ${MASTER_INDEX} + 1) + done + + # load master module + if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master \ + main_devices=${DEVICES} backup_devices=${BACKUPS}; then + exit 1 + fi + + LOADED_MODULES=ec_master + + # check for modules to replace + for MODULE in ${DEVICE_MODULES}; do + ECMODULE=ec_${MODULE} + if ! ${MODINFO} ${ECMODULE} > /dev/null; then + continue # ec_* module not found + fi + + if [ ${MODULE} != "generic" ]; then + # try to unload standard module + if lsmod | grep "^${MODULE} " > /dev/null; then + if ! ${RMMOD} ${MODULE}; then + ${RMMOD} ${LOADED_MODULES} + exit 1 + fi + fi + fi + + if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then + if [ ${MODULE} != "generic" ]; then + ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore + fi + ${RMMOD} ${LOADED_MODULES} + exit 1 + fi + + LOADED_MODULES=${ECMODULE} ${LOADED_MODULES} + done + + exit 0 + ;; + +#------------------------------------------------------------------------------ + +stop) + # unload EtherCAT device modules + for MODULE in ${DEVICE_MODULES} master; do + ECMODULE=ec_${MODULE} + if ! lsmod | grep -q "^${ECMODULE} "; then + continue # ec_* module not loaded + fi + if ! ${RMMOD} ${ECMODULE}; then + exit 1 + fi; + done + + sleep 1 + + # load standard modules again + for MODULE in ${DEVICE_MODULES}; do + if [ ${MODULE} == "generic" ]; then + continue + fi + ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} + done + + exit 0 + ;; + +#------------------------------------------------------------------------------ + +restart) + $0 stop || exit 1 + sleep 1 + $0 start + ;; + +#------------------------------------------------------------------------------ + +status) + echo "Checking for EtherCAT master @VERSION@ " + + # count masters in configuration file + MASTER_COUNT=0 + while true; do + DEVICE=$(eval echo "\${MASTER${MASTER_COUNT}_DEVICE}") + if [ -z "${DEVICE}" ]; then break; fi + MASTER_COUNT=$(expr ${MASTER_COUNT} + 1) + done + + RESULT=0 + + for i in `seq 0 $(expr ${MASTER_COUNT} - 1)`; do + echo -n "Master${i} " + + # Check if the master is in idle or operation phase + ${ETHERCAT} master --master ${i} 2>/dev/null | \ + grep -qE 'Phase:[[:space:]]*Idle|Phase:[[:space:]]*Operation' + EXITCODE=$? + + if [ ${EXITCODE} -eq 0 ]; then + echo " running" + else + echo " dead" + RESULT=1 + fi + done + + exit ${RESULT} + ;; + +#------------------------------------------------------------------------------ + +*) + echo "USAGE: $0 {start|stop|restart|status}" + exit 1 + ;; +esac + +#------------------------------------------------------------------------------