--- a/TODO Fri Aug 01 10:10:55 2008 +0000
+++ b/TODO Fri Aug 01 11:09:39 2008 +0000
@@ -8,8 +8,6 @@
Version 1.4.0:
-* Abort code messages in userspace.
-* Repair rcethercat status.
* Attach Pdo names from SII or Coe dictionary to Pdos read via CoE.
* Update documentation.
* Check for possible race condition in jiffy-based frame timeout calculation.
@@ -17,10 +15,10 @@
Future issues:
* Distributed clocks.
-* Allow master requesting when in ORPHANED phase
+* Implement user space realtime interface via cdev.
* Move master threads, slave handlers and state machines into a user
space daemon.
-* Implement user space realtime interface via cdev.
+* Allow master requesting when in ORPHANED phase
* Mailbox protocol handlers.
* Mailbox state machine using toggle bits.
* Mailbox gateway.
--- a/configure.ac Fri Aug 01 10:10:55 2008 +0000
+++ b/configure.ac Fri Aug 01 11:09:39 2008 +0000
@@ -503,6 +503,7 @@
master/Makefile
script/Makefile
script/init.d/Makefile
+ script/init.d/ethercat
script/sysconfig/Makefile
tool/Makefile
])
--- a/script/init.d/Makefile.am Fri Aug 01 10:10:55 2008 +0000
+++ b/script/init.d/Makefile.am Fri Aug 01 11:09:39 2008 +0000
@@ -35,6 +35,8 @@
init_SCRIPTS = ethercat
-EXTRA_DIST = ethercat
+EXTRA_DIST = ethercat.in
+
+BUILT_SOURCES = ethercat
#------------------------------------------------------------------------------
--- a/script/init.d/ethercat Fri Aug 01 10:10:55 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,263 +0,0 @@
-#!/bin/sh
-
-#------------------------------------------------------------------------------
-#
-# Init script for EtherCAT
-#
-# $Id$
-#
-# Copyright (C) 2006 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
-# as published by the Free Software Foundation; either version 2 of the
-# License, or (at your option) any later version.
-#
-# 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 right to use EtherCAT Technology is granted and comes free of
-# charge under condition of compatibility of product made by
-# Licensee. People intending to distribute/sell products based on the
-# code, have to sign an agreement to guarantee that products using
-# software based on IgH EtherCAT master stay compatible with the actual
-# EtherCAT specification (which are released themselves as an open
-# standard) as the (only) precondition to have the right to use EtherCAT
-# Technology, IP and trade marks.
-#
-#------------------------------------------------------------------------------
-
-### BEGIN INIT INFO
-# Provides: ethercat
-# Required-Start: $local_fs $syslog $network
-# Should-Start: $time ntp
-# Required-Stop: $local_fs $syslog $network
-# Should-Stop: $time ntp
-# Default-Start: 3 5
-# Default-Stop: 0 1 2 6
-# Short-Description: EtherCAT Master
-# Description:
-### END INIT INFO
-
-#------------------------------------------------------------------------------
-
-MODPROBE=/sbin/modprobe
-RMMOD=/sbin/rmmod
-MODINFO=/sbin/modinfo
-
-#------------------------------------------------------------------------------
-
-ETHERCAT_CONFIG=/etc/sysconfig/ethercat
-
-if [ ! -r ${ETHERCAT_CONFIG} ]; then
- echo ${ETHERCAT_CONFIG} not existing;
- if [ "${1}" = "stop" ]; then
- exit 0
- else
- exit 6
- fi
-fi
-
-. ${ETHERCAT_CONFIG}
-
-#------------------------------------------------------------------------------
-
-function exit_success()
-{
- if [ -r /etc/rc.status ]; then
- rc_reset
- rc_status -v
- rc_exit
- else
- echo " done"
- exit 0
- fi
-}
-
-#------------------------------------------------------------------------------
-
-function exit_running()
-{
- if [ -r /etc/rc.status ]; then
- rc_reset
- rc_status -v
- rc_exit
- else
- echo " running"
- exit 0
- fi
-}
-
-#------------------------------------------------------------------------------
-
-function exit_fail()
-{
- if [ -r /etc/rc.status ]; then
- rc_failed
- rc_status -v
- rc_exit
- else
- echo " failed"
- exit 1
- fi
-}
-
-#------------------------------------------------------------------------------
-
-function exit_dead()
-{
- if [ -r /etc/rc.status ]; then
- rc_failed
- rc_status -v
- rc_exit
- else
- echo " dead"
- exit 1
- fi
-}
-
-#------------------------------------------------------------------------------
-
-function parse_mac_address()
-{
- if [ -z "${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 ${ETHERCAT_CONFIG}
- exit_fail
- fi
-}
-
-#------------------------------------------------------------------------------
-
-if [ -r /etc/rc.status ]; then
- . /etc/rc.status
- rc_reset
-fi
-
-case "${1}" in
-
-start)
- echo -n "Starting EtherCAT master "
-
- # 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_fail
- fi
-
- # check for modules to replace
- for MODULE in ${DEVICE_MODULES}; do
- ECMODULE=ec_${MODULE}
- if ! ${MODINFO} ${ECMODULE} > /dev/null; then
- continue # ec_* module not found
- fi
- if lsmod | grep "^${MODULE} " > /dev/null; then
- if ! ${RMMOD} ${MODULE}; then
- exit_fail
- fi
- fi
- if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then
- ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore module
- exit_fail
- fi
- done
-
- exit_success
- ;;
-
-stop)
- echo -n "Shutting down EtherCAT master "
-
- # 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_fail
- fi;
- done
-
- sleep 1
-
- # reload previous modules
- for MODULE in ${DEVICE_MODULES}; do
- if ! ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}; then
- echo Warning: Failed to restore ${MODULE}.
- fi
- done
-
- exit_success
- ;;
-
-restart)
- $0 stop || exit 1
- sleep 1
- $0 start
- ;;
-
-status)
- echo -n "Checking for EtherCAT "
-
- lsmod | grep -q "^ec_master "
- MASTERS_RUNNING=$?
-
- ! grep -q "(WAITING)" /sys/ethercat/master*/info
- MASTERS_IDLE=$?
-
- # master module loaded and masters not waiting for devices?
- if [ ${MASTERS_RUNNING} -eq 0 -a ${MASTERS_IDLE} -eq 0 ]; then
- exit_running
- else
- exit_dead
- fi
- ;;
-
-*)
- echo "USAGE: $0 {start|stop|restart|status}"
- ;;
-
-esac
-
-if [ -r /etc/rc.status ]; then
- rc_exit
-else
- exit 1
-fi
-
-#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/init.d/ethercat.in Fri Aug 01 11:09:39 2008 +0000
@@ -0,0 +1,275 @@
+#!/bin/sh
+
+#------------------------------------------------------------------------------
+#
+# Init script for EtherCAT
+#
+# $Id$
+#
+# Copyright (C) 2006 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
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
+#
+# 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 right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
+#------------------------------------------------------------------------------
+
+### BEGIN INIT INFO
+# Provides: ethercat
+# Required-Start: $local_fs $syslog $network
+# Should-Start: $time ntp
+# Required-Stop: $local_fs $syslog $network
+# Should-Stop: $time ntp
+# Default-Start: 3 5
+# Default-Stop: 0 1 2 6
+# Short-Description: EtherCAT master
+# Description: EtherCAT master @VERSION@
+### END INIT INFO
+
+#------------------------------------------------------------------------------
+
+MODPROBE=/sbin/modprobe
+RMMOD=/sbin/rmmod
+MODINFO=/sbin/modinfo
+ETHERCAT=@prefix@/bin/ethercat
+
+#------------------------------------------------------------------------------
+
+ETHERCAT_CONFIG=/etc/sysconfig/ethercat
+
+if [ ! -r ${ETHERCAT_CONFIG} ]; then
+ echo ${ETHERCAT_CONFIG} not existing;
+ if [ "${1}" = "stop" ]; then
+ exit 0
+ else
+ exit 6
+ fi
+fi
+
+. ${ETHERCAT_CONFIG}
+
+#------------------------------------------------------------------------------
+
+function exit_success()
+{
+ if [ -r /etc/rc.status ]; then
+ rc_reset
+ rc_status -v
+ rc_exit
+ else
+ echo " done"
+ exit 0
+ fi
+}
+
+#------------------------------------------------------------------------------
+
+function exit_fail()
+{
+ if [ -r /etc/rc.status ]; then
+ rc_failed
+ rc_status -v
+ rc_exit
+ else
+ echo " failed"
+ exit 1
+ fi
+}
+
+#------------------------------------------------------------------------------
+
+function print_running()
+{
+ if [ -r /etc/rc.status ]; then
+ rc_reset
+ rc_status -v
+ else
+ echo " running"
+ fi
+}
+
+#------------------------------------------------------------------------------
+
+function print_dead()
+{
+ if [ -r /etc/rc.status ]; then
+ rc_failed
+ rc_status -v
+ else
+ echo " dead"
+ fi
+}
+
+#------------------------------------------------------------------------------
+
+function parse_mac_address()
+{
+ if [ -z "${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 ${ETHERCAT_CONFIG}
+ exit_fail
+ fi
+}
+
+#------------------------------------------------------------------------------
+
+if [ -r /etc/rc.status ]; then
+ . /etc/rc.status
+ rc_reset
+fi
+
+case "${1}" in
+
+start)
+ echo -n "Starting EtherCAT master @VERSION@"
+
+ # 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_fail
+ fi
+
+ # check for modules to replace
+ for MODULE in ${DEVICE_MODULES}; do
+ ECMODULE=ec_${MODULE}
+ if ! ${MODINFO} ${ECMODULE} > /dev/null; then
+ continue # ec_* module not found
+ fi
+ if lsmod | grep "^${MODULE} " > /dev/null; then
+ if ! ${RMMOD} ${MODULE}; then
+ exit_fail
+ fi
+ fi
+ if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then
+ ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore module
+ exit_fail
+ fi
+ done
+
+ exit_success
+ ;;
+
+stop)
+ echo -n "Shutting down EtherCAT master @VERSION@"
+
+ # 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_fail
+ fi;
+ done
+
+ sleep 1
+
+ # reload previous modules
+ for MODULE in ${DEVICE_MODULES}; do
+ if ! ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}; then
+ echo Warning: Failed to restore ${MODULE}.
+ fi
+ done
+
+ exit_success
+ ;;
+
+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
+ print_running
+ else
+ print_dead
+ RESULT=1
+ fi
+ done
+
+ exit ${RESULT}
+ ;;
+
+*)
+ echo "USAGE: $0 {start|stop|restart|status}"
+ ;;
+
+esac
+
+if [ -r /etc/rc.status ]; then
+ rc_exit
+else
+ exit 1
+fi
+
+#------------------------------------------------------------------------------