--- a/Doxyfile Tue Feb 13 13:42:37 2007 +0000
+++ b/Doxyfile Tue Feb 13 13:45:36 2007 +0000
@@ -23,7 +23,7 @@
# This could be handy for archiving the generated documentation or
# if some version control system is used.
-PROJECT_NUMBER = 1.1.1
+PROJECT_NUMBER = 1.2
# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
# base path where the generated documentation will be put.
--- a/NEWS Tue Feb 13 13:42:37 2007 +0000
+++ b/NEWS Tue Feb 13 13:45:36 2007 +0000
@@ -6,6 +6,8 @@
Changes in version 1.2.0:
+* Serveral fixes of bugs and stability issues. Master should now run fine
+ with kernels 2.6.17 to 2.6.19.
* Realtime interface changes:
- Re-introduced ecrt_domain_queue() to allow datagram queuing apart
from datagram processing. The queuing of a domain's datagrams is not
--- a/TODO Tue Feb 13 13:42:37 2007 +0000
+++ b/TODO Tue Feb 13 13:45:36 2007 +0000
@@ -28,7 +28,6 @@
* Smaller changes:
- Simplify FSMs with <state>_enter() functions.
- - Rename "sysconfig" file to "sysconfig/ethercat".
- Dynamic creation of EoE handlers.
- Output intermediate results during lsec.
- State change FSM: Follow spontaneous state changes.
--- a/configure.ac Tue Feb 13 13:42:37 2007 +0000
+++ b/configure.ac Tue Feb 13 13:45:36 2007 +0000
@@ -3,7 +3,7 @@
#------------------------------------------------------------------------------
AC_PREREQ(2.59)
-AC_INIT([ethercat],[1.2.0-rc2],[fp@igh-essen.com])
+AC_INIT([ethercat],[1.2.0],[fp@igh-essen.com])
AC_CONFIG_AUX_DIR([autoconf])
AM_INIT_AUTOMAKE([-Wall -Werror dist-bzip2])
AC_PREFIX_DEFAULT([/opt/etherlab])
@@ -211,6 +211,8 @@
master/Makefile
devices/Makefile
script/Makefile
+ script/init.d/Makefile
+ script/sysconfig/Makefile
include/Makefile
examples/Makefile
examples/mini/Makefile
--- a/script/Makefile.am Tue Feb 13 13:42:37 2007 +0000
+++ b/script/Makefile.am Tue Feb 13 13:45:36 2007 +0000
@@ -35,19 +35,10 @@
#
#------------------------------------------------------------------------------
-initdir = $(sysconfdir)/init.d
-sysdir = $(sysconfdir)/sysconfig
+SUBDIRS = init.d sysconfig
bin_SCRIPTS = lsec
-init_SCRIPTS = ethercat
-sys_DATA = sysconfig
-EXTRA_DIST = lsec.pl ethercat.sh sysconfig
-
-lsec: lsec.pl
- cp $(srcdir)/lsec.pl lsec
-
-ethercat: ethercat.sh
- cp $(srcdir)/ethercat.sh ethercat
+EXTRA_DIST = lsec
#------------------------------------------------------------------------------
--- a/script/ethercat.sh Tue Feb 13 13:42:37 2007 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,264 +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: IgH EtherCAT master modules
-# Description:
-### END INIT INFO
-
-#------------------------------------------------------------------------------
-
-IFCONFIG=ifconfig
-BRCTL=brctl
-ROUTE=route
-
-#------------------------------------------------------------------------------
-
-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
-
-. $ETHERCAT_CONFIG
-
-#------------------------------------------------------------------------------
-
-#
-# Function for setting up the EoE bridge
-#
-build_eoe_bridge()
-{
- if [ -z "$EOE_BRIDGE" ]; then return; fi
-
- EOEIF=`$IFCONFIG -a | grep -o -E "^eoe[0-9]+ "`
-
- # add bridge, if it does not already exist
- if ! $BRCTL show | grep -E -q "^$EOE_BRIDGE"; then
- if ! $BRCTL addbr $EOE_BRIDGE; then
- /bin/false
- rc_status -v
- rc_exit
- fi
- fi
-
- # check if specified interfaces are bridged
- for interf in $EOEIF $EOE_EXTRA_INTERFACES; do
- # interface is already part of the bridge (FIXME->show $EOE_BRIDGE)
- if $BRCTL show | grep -E -q $interf
- then continue
- fi
- # clear IP address and open interface
- if ! $IFCONFIG $interf 0.0.0.0 up; then
- /bin/false
- rc_status -v
- rc_exit
- fi
- # add interface to the bridge
- if ! $BRCTL addif $EOE_BRIDGE $interf; then
- /bin/false
- rc_status -v
- rc_exit
- fi
- done
-
- # configure IP on bridge
- if [ -n "$EOE_IP_ADDRESS" -a -n "$EOE_IP_NETMASK" ]; then
- if ! $IFCONFIG $EOE_BRIDGE $EOE_IP_ADDRESS \
- netmask $EOE_IP_NETMASK; then
- /bin/false
- rc_status -v
- rc_exit
- fi
- fi
-
- # open bridge
- if ! $IFCONFIG $EOE_BRIDGE up; then
- /bin/false
- rc_status -v
- rc_exit
- fi
-
- # install new default gateway
- if [ -n "$EOE_GATEWAY" ]; then
- while $ROUTE -n | grep -E -q "^0.0.0.0"; do
- if ! $ROUTE del default; then
- echo "Failed to remove route!" 1>&2
- /bin/false
- rc_status -v
- rc_exit
- fi
- done
- if ! $ROUTE add default gw $EOE_GATEWAY; then
- /bin/false
- rc_status -v
- rc_exit
- fi
- fi
-}
-
-#------------------------------------------------------------------------------
-
-. /etc/rc.status
-rc_reset
-
-case "$1" in
-
- start)
- echo -n "Starting EtherCAT master "
-
- if [ -z "$DEVICE_INDEX" ]; then
- echo "ERROR: DEVICE_INDEX not set!"
- /bin/false
- rc_status -v
- rc_exit
- fi
-
- if [ -z "$EOE_INTERFACES" ]; then
- if [ -n "$EOE_DEVICES" ]; then # support legacy sysconfig files
- EOE_INTERFACES=$EOE_DEVICES
- else
- EOE_INTERFACES=0
- fi
- fi
-
- # unload conflicting modules at first
- for mod in 8139too; do
- if lsmod | grep "^$mod " > /dev/null; then
- if ! rmmod $mod; then
- /bin/false
- rc_status -v
- rc_exit
- fi
- fi
- done
-
- # load master module
- if ! modprobe ec_master ec_eoeif_count=$EOE_INTERFACES; then
- modprobe 8139too
- /bin/false
- rc_status -v
- rc_exit
- fi
-
- # load device module
- if ! modprobe ec_8139too ec_device_index=$DEVICE_INDEX; then
- rmmod ec_master
- modprobe 8139too
- /bin/false
- rc_status -v
- rc_exit
- fi
-
- # build EoE bridge
- build_eoe_bridge
-
- rc_status -v
- ;;
-
- stop)
- echo -n "Shutting down EtherCAT master "
-
- # unload modules
- for mod in ec_8139too ec_master; do
- if lsmod | grep "^$mod " > /dev/null; then
- if ! rmmod $mod; then
- /bin/false
- rc_status -v
- rc_exit
- fi;
- fi;
- done
-
- sleep 1
-
- # reload previous modules
- if ! modprobe 8139too; then
- echo "Warning: Failed to restore 8139too module."
- fi
-
- rc_status -v
- ;;
-
- restart)
- $0 stop || exit 1
- sleep 1
- $0 start
- rc_status
- ;;
-
- status)
- echo -n "Checking for EtherCAT "
-
- lsmod | grep "^ec_master " > /dev/null
- master_running=$?
- lsmod | grep "^ec_8139too " > /dev/null
- device_running=$?
-
- # master module and device module loaded?
- test $master_running -eq 0 -a $device_running -eq 0
-
- rc_status -v
- ;;
-
- bridge)
- echo -n "Building EoE bridge "
- build_eoe_bridge
- rc_status -v
- ;;
-
- *)
- echo "USAGE: $0 {start|stop|restart|status|bridge}"
- ;;
-
-esac
-
-rc_exit
-
-#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/init.d/Makefile.am Tue Feb 13 13:45:36 2007 +0000
@@ -0,0 +1,40 @@
+#------------------------------------------------------------------------------
+#
+# $Id$
+#
+# 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.
+#
+#------------------------------------------------------------------------------
+
+initdir = $(sysconfdir)/init.d
+
+init_SCRIPTS = ethercat
+
+EXTRA_DIST = ethercat
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/init.d/ethercat Tue Feb 13 13:45:36 2007 +0000
@@ -0,0 +1,279 @@
+#!/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: IgH EtherCAT master modules
+# Description:
+### END INIT INFO
+
+#------------------------------------------------------------------------------
+
+device="ecxml"
+
+IFCONFIG=ifconfig
+BRCTL=brctl
+ROUTE=route
+
+#------------------------------------------------------------------------------
+
+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
+
+. $ETHERCAT_CONFIG
+
+#------------------------------------------------------------------------------
+
+#
+# Function for setting up the EoE bridge
+#
+build_eoe_bridge()
+{
+ if [ -z "$EOE_BRIDGE" ]; then return; fi
+
+ EOEIF=`$IFCONFIG -a | grep -o -E "^eoe[0-9]+ "`
+
+ # add bridge, if it does not already exist
+ if ! $BRCTL show | grep -E -q "^$EOE_BRIDGE"; then
+ if ! $BRCTL addbr $EOE_BRIDGE; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+ fi
+
+ # check if specified interfaces are bridged
+ for interf in $EOEIF $EOE_EXTRA_INTERFACES; do
+ # interface is already part of the bridge (FIXME->show $EOE_BRIDGE)
+ if $BRCTL show | grep -E -q $interf
+ then continue
+ fi
+ # clear IP address and open interface
+ if ! $IFCONFIG $interf 0.0.0.0 up; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+ # add interface to the bridge
+ if ! $BRCTL addif $EOE_BRIDGE $interf; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+ done
+
+ # configure IP on bridge
+ if [ -n "$EOE_IP_ADDRESS" -a -n "$EOE_IP_NETMASK" ]; then
+ if ! $IFCONFIG $EOE_BRIDGE $EOE_IP_ADDRESS \
+ netmask $EOE_IP_NETMASK; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+ fi
+
+ # open bridge
+ if ! $IFCONFIG $EOE_BRIDGE up; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+
+ # install new default gateway
+ if [ -n "$EOE_GATEWAY" ]; then
+ while $ROUTE -n | grep -E -q "^0.0.0.0"; do
+ if ! $ROUTE del default; then
+ echo "Failed to remove route!" 1>&2
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+ done
+ if ! $ROUTE add default gw $EOE_GATEWAY; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+ fi
+}
+
+#------------------------------------------------------------------------------
+
+. /etc/rc.status
+rc_reset
+
+case "$1" in
+
+ start)
+ echo -n "Starting EtherCAT master "
+
+ if [ -z "$DEVICE_INDEX" ]; then
+ echo "ERROR: DEVICE_INDEX not set!"
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+
+ if [ -z "$EOE_INTERFACES" ]; then
+ # support legacy sysconfig files
+ if [ -n "$EOE_DEVICES" ]; then
+ EOE_INTERFACES=$EOE_DEVICES
+ else
+ EOE_INTERFACES=0
+ fi
+ fi
+
+ # unload conflicting modules at first
+ for mod in 8139too; do
+ if lsmod | grep "^$mod " > /dev/null; then
+ if ! rmmod $mod; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+ fi
+ done
+
+ # load master module
+ if ! modprobe ec_master ec_eoeif_count=$EOE_INTERFACES; then
+ modprobe 8139too
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+
+ # remove stale device node
+ rm -f /dev/${device}0
+
+ # get dynamic major number
+ major=$(awk "\$2==\"EtherCAT\" {print \$1}" /proc/devices)
+
+ # create character device
+ mknod /dev/${device}0 c $major 0
+
+ # load device module
+ if ! modprobe ec_8139too ec_device_index=$DEVICE_INDEX; then
+ rmmod ec_master
+ modprobe 8139too
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+
+ # build EoE bridge
+ build_eoe_bridge
+
+ rc_status -v
+ ;;
+
+ stop)
+ echo -n "Shutting down EtherCAT master "
+
+ # unload modules
+ for mod in ec_8139too ec_master; do
+ if lsmod | grep "^$mod " > /dev/null; then
+ if ! rmmod $mod; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi;
+ fi;
+ done
+
+ # remove device node
+ rm -f /dev/${device}0
+
+ sleep 1
+
+ # reload previous modules
+ if ! modprobe 8139too; then
+ echo "Warning: Failed to restore 8139too module."
+ fi
+
+ rc_status -v
+ ;;
+
+ restart)
+ $0 stop || exit 1
+ sleep 1
+ $0 start
+ rc_status
+ ;;
+
+ status)
+ echo -n "Checking for EtherCAT "
+
+ lsmod | grep "^ec_master " > /dev/null
+ master_running=$?
+ lsmod | grep "^ec_8139too " > /dev/null
+ device_running=$?
+
+ # master module and device module loaded?
+ test $master_running -eq 0 -a $device_running -eq 0
+
+ rc_status -v
+ ;;
+
+ bridge)
+ echo -n "Building EoE bridge "
+ build_eoe_bridge
+ rc_status -v
+ ;;
+
+ *)
+ echo "USAGE: $0 {start|stop|restart|status|bridge}"
+ ;;
+
+esac
+
+rc_exit
+
+#------------------------------------------------------------------------------
--- a/script/install.sh Tue Feb 13 13:42:37 2007 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,101 +0,0 @@
-#!/bin/sh
-
-#------------------------------------------------------------------------------
-#
-# EtherCAT install script
-#
-# $Id$
-#
-# 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.
-#
-#------------------------------------------------------------------------------
-
-# Fetch parameters
-
-if [ $# -ne 1 ]; then
- echo "This script is called by \"make\". Run \"make install\" instead."
- exit 1
-fi
-
-KERNEL=$1
-
-if [ ! -d /lib/modules/$KERNEL ]; then
- echo "Kernel \"$KERNEL\" does not exist in /lib/modules!"
- exit 1
-fi
-
-echo "EtherCAT installer - Kernel: $KERNEL"
-
-#------------------------------------------------------------------------------
-
-# Update module dependencies
-
-echo " Building module dependencies"
-/sbin/depmod
-
-#------------------------------------------------------------------------------
-
-# Create configuration file
-
-CONFIGFILE=/etc/sysconfig/ethercat
-
-if [ -s $CONFIGFILE ]; then
- echo " Note: Using existing configuration file."
-else
- echo " Creating $CONFIGFILE"
- cp script/sysconfig $CONFIGFILE || exit 1
- echo " Note: Please edit DEVICE_INDEX in $CONFIGFILE!"
-fi
-
-#------------------------------------------------------------------------------
-
-# Install rc script
-
-echo " Installing startup script"
-cp script/ethercat.sh /etc/init.d/ethercat || exit 1
-chmod +x /etc/init.d/ethercat || exit 1
-if [ ! -L /usr/sbin/rcethercat ]; then
- ln -s /etc/init.d/ethercat /usr/sbin/rcethercat || exit 1
-fi
-
-#------------------------------------------------------------------------------
-
-# Install tools
-
-echo " Installing tools"
-cp script/lsec.pl /usr/local/bin/lsec || exit 1
-chmod +x /usr/local/bin/lsec || exit 1
-
-#------------------------------------------------------------------------------
-
-# Finish
-
-echo "Done"
-exit 0
-
-#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/lsec Tue Feb 13 13:45:36 2007 +0000
@@ -0,0 +1,211 @@
+#!/usr/bin/perl
+
+#------------------------------------------------------------------------------
+#
+# l s e c - List EtherCAT
+#
+# Userspace tool for listing EtherCAT slaves.
+#
+# $Id$
+#
+# 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.
+#
+#------------------------------------------------------------------------------
+
+require 'sys/ioctl.ph';
+
+use strict;
+use Getopt::Std;
+
+my %opt;
+my $master_index;
+my $master_dir;
+my $term_width;
+
+#------------------------------------------------------------------------------
+
+$term_width = &get_terminal_width;
+&get_options;
+&query_master;
+exit 0;
+
+#------------------------------------------------------------------------------
+
+sub query_master
+{
+ $master_dir = "/sys/ethercat" . $master_index;
+ &query_slaves;
+}
+
+#------------------------------------------------------------------------------
+
+sub query_slaves
+{
+ my $dirhandle;
+ my $entry;
+ my @slaves;
+ my $slave;
+ my $abs;
+ my $line;
+ my $ring_cols;
+ my $adv_cols;
+ my $fmt;
+ my $cols;
+
+ unless (opendir $dirhandle, $master_dir) {
+ print "Failed to open directory \"$master_dir\".\n";
+ exit 1;
+ }
+
+ while ($entry = readdir $dirhandle) {
+ next unless $entry =~ /^slave(\d+)$/;
+
+ $slave = {};
+
+ open INFO, "$master_dir/$entry/info" or die
+ "ERROR: Failed to open $master_dir/$entry/info";
+
+ while ($line = <INFO>) {
+ if ($line =~ /^Name: (.*)$/) {
+ $slave->{'name'} = $1;
+ }
+ elsif ($line =~ /^Ring position: (\d+)$/) {
+ $slave->{'ring_position'} = $1;
+ }
+ elsif ($line =~ /^Advanced position: (\d+:\d+)$/) {
+ $slave->{'advanced_position'} = $1;
+ }
+ elsif ($line =~ /^State: (.+) /) {
+ $slave->{'state'} = $1;
+ }
+ elsif ($line =~ /^Coupler: ([a-z]+)$/) {
+ $slave->{'coupler'} = $1;
+ }
+ elsif ($line =~ /^Current consumption: (-?\d+) mA$/) {
+ $slave->{'current'} = $1;
+ }
+ }
+
+ close INFO;
+
+ push @slaves, $slave;
+ }
+ closedir $dirhandle;
+
+ @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves;
+
+ $ring_cols = 0;
+ $adv_cols = 0;
+ for $slave (@slaves) {
+ $cols = length $slave->{'ring_position'};
+ $ring_cols = $cols if ($cols > $ring_cols);
+ $cols = length $slave->{'advanced_position'};
+ $adv_cols = $cols if ($cols > $adv_cols);
+ }
+
+ if (defined $opt{'c'}) { # display power consumtion
+ $fmt = sprintf " %%%is %%-%is %%6i %%6i %%s\n",
+ $ring_cols, $adv_cols;
+
+ my $current_sum = 0;
+ for $slave (@slaves) {
+ if ($slave->{'coupler'} eq "yes") {
+ &print_line if !defined $opt{n};
+ $current_sum = 0; # reset current sum
+ }
+ $current_sum -= $slave->{'current'};
+ printf($fmt, $slave->{'ring_position'},
+ $slave->{'advanced_position'}, $slave->{'current'},
+ $current_sum, $slave->{'name'});
+ }
+ }
+ else {
+ $fmt = sprintf " %%%is %%-%is %%-6s %%s\n", $ring_cols, $adv_cols;
+
+ for $slave (@slaves) {
+ &print_line if $slave->{'coupler'} eq "yes" and !defined $opt{n};
+ printf($fmt, $slave->{'ring_position'},
+ $slave->{'advanced_position'}, $slave->{'state'},
+ $slave->{'name'});
+ }
+ }
+}
+
+#------------------------------------------------------------------------------
+
+sub get_options
+{
+ my $optret = getopts "m:cnh", \%opt;
+
+ &print_usage if defined $opt{h} or $#ARGV > -1 or !$optret;
+
+ if (defined $opt{m}) {
+ $master_index = $opt{m};
+ }
+ else {
+ $master_index = 0;
+ }
+}
+
+#------------------------------------------------------------------------------
+
+sub print_usage
+{
+ my $cmd = `basename $0`;
+ chomp $cmd;
+ print "Usage: $cmd [OPTIONS]\n";
+ print " -m <IDX> Query master <IDX>.\n";
+ print " -c Display current [mA] ";
+ print "(3: consumption, 4: remaining).\n";
+ print " -n Display no coupler lines.\n";
+ print " -h Show this help.\n";
+ exit 0;
+}
+
+#------------------------------------------------------------------------------
+
+sub get_terminal_width
+{
+ my $winsize;
+ die "no TIOCGWINSZ " unless defined &TIOCGWINSZ;
+ open(TTY, "+</dev/tty") or die "No tty: $!";
+ unless (ioctl(TTY, &TIOCGWINSZ, $winsize='')) {
+ die sprintf "$0: ioctl TIOCGWINSZ (%08x: $!)\n", &TIOCGWINSZ;
+ }
+ (my $row, my $col, my $xpixel, my $ypixel) = unpack('S4', $winsize);
+ return $col;
+}
+#------------------------------------------------------------------------------
+
+sub print_line
+{
+ for (my $i = 0; $i < $term_width; $i++) {print "-";}
+ print "\n";
+}
+
+#------------------------------------------------------------------------------
--- a/script/lsec.pl Tue Feb 13 13:42:37 2007 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,211 +0,0 @@
-#!/usr/bin/perl
-
-#------------------------------------------------------------------------------
-#
-# l s e c - List EtherCAT
-#
-# Userspace tool for listing EtherCAT slaves.
-#
-# $Id$
-#
-# 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.
-#
-#------------------------------------------------------------------------------
-
-require 'sys/ioctl.ph';
-
-use strict;
-use Getopt::Std;
-
-my %opt;
-my $master_index;
-my $master_dir;
-my $term_width;
-
-#------------------------------------------------------------------------------
-
-$term_width = &get_terminal_width;
-&get_options;
-&query_master;
-exit 0;
-
-#------------------------------------------------------------------------------
-
-sub query_master
-{
- $master_dir = "/sys/ethercat" . $master_index;
- &query_slaves;
-}
-
-#------------------------------------------------------------------------------
-
-sub query_slaves
-{
- my $dirhandle;
- my $entry;
- my @slaves;
- my $slave;
- my $abs;
- my $line;
- my $ring_cols;
- my $adv_cols;
- my $fmt;
- my $cols;
-
- unless (opendir $dirhandle, $master_dir) {
- print "Failed to open directory \"$master_dir\".\n";
- exit 1;
- }
-
- while ($entry = readdir $dirhandle) {
- next unless $entry =~ /^slave(\d+)$/;
-
- $slave = {};
-
- open INFO, "$master_dir/$entry/info" or die
- "ERROR: Failed to open $master_dir/$entry/info";
-
- while ($line = <INFO>) {
- if ($line =~ /^Name: (.*)$/) {
- $slave->{'name'} = $1;
- }
- elsif ($line =~ /^Ring position: (\d+)$/) {
- $slave->{'ring_position'} = $1;
- }
- elsif ($line =~ /^Advanced position: (\d+:\d+)$/) {
- $slave->{'advanced_position'} = $1;
- }
- elsif ($line =~ /^State: (.+) /) {
- $slave->{'state'} = $1;
- }
- elsif ($line =~ /^Coupler: ([a-z]+)$/) {
- $slave->{'coupler'} = $1;
- }
- elsif ($line =~ /^Current consumption: (-?\d+) mA$/) {
- $slave->{'current'} = $1;
- }
- }
-
- close INFO;
-
- push @slaves, $slave;
- }
- closedir $dirhandle;
-
- @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves;
-
- $ring_cols = 0;
- $adv_cols = 0;
- for $slave (@slaves) {
- $cols = length $slave->{'ring_position'};
- $ring_cols = $cols if ($cols > $ring_cols);
- $cols = length $slave->{'advanced_position'};
- $adv_cols = $cols if ($cols > $adv_cols);
- }
-
- if (defined $opt{'c'}) { # display power consumtion
- $fmt = sprintf " %%%is %%-%is %%6i %%6i %%s\n",
- $ring_cols, $adv_cols;
-
- my $current_sum = 0;
- for $slave (@slaves) {
- if ($slave->{'coupler'} eq "yes") {
- &print_line if !defined $opt{n};
- $current_sum = 0; # reset current sum
- }
- $current_sum -= $slave->{'current'};
- printf($fmt, $slave->{'ring_position'},
- $slave->{'advanced_position'}, $slave->{'current'},
- $current_sum, $slave->{'name'});
- }
- }
- else {
- $fmt = sprintf " %%%is %%-%is %%-6s %%s\n", $ring_cols, $adv_cols;
-
- for $slave (@slaves) {
- &print_line if $slave->{'coupler'} eq "yes" and !defined $opt{n};
- printf($fmt, $slave->{'ring_position'},
- $slave->{'advanced_position'}, $slave->{'state'},
- $slave->{'name'});
- }
- }
-}
-
-#------------------------------------------------------------------------------
-
-sub get_options
-{
- my $optret = getopts "m:cnh", \%opt;
-
- &print_usage if defined $opt{h} or $#ARGV > -1 or !$optret;
-
- if (defined $opt{m}) {
- $master_index = $opt{m};
- }
- else {
- $master_index = 0;
- }
-}
-
-#------------------------------------------------------------------------------
-
-sub print_usage
-{
- my $cmd = `basename $0`;
- chomp $cmd;
- print "Usage: $cmd [OPTIONS]\n";
- print " -m <IDX> Query master <IDX>.\n";
- print " -c Display current [mA] ";
- print "(3: consumption, 4: remaining).\n";
- print " -n Display no coupler lines.\n";
- print " -h Show this help.\n";
- exit 0;
-}
-
-#------------------------------------------------------------------------------
-
-sub get_terminal_width
-{
- my $winsize;
- die "no TIOCGWINSZ " unless defined &TIOCGWINSZ;
- open(TTY, "+</dev/tty") or die "No tty: $!";
- unless (ioctl(TTY, &TIOCGWINSZ, $winsize='')) {
- die sprintf "$0: ioctl TIOCGWINSZ (%08x: $!)\n", &TIOCGWINSZ;
- }
- (my $row, my $col, my $xpixel, my $ypixel) = unpack('S4', $winsize);
- return $col;
-}
-#------------------------------------------------------------------------------
-
-sub print_line
-{
- for (my $i = 0; $i < $term_width; $i++) {print "-";}
- print "\n";
-}
-
-#------------------------------------------------------------------------------
--- a/script/sysconfig-file Tue Feb 13 13:42:37 2007 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,58 +0,0 @@
-#------------------------------------------------------------------------------
-#
-# EtherCAT sysconfig file
-#
-# $Id$
-#
-#------------------------------------------------------------------------------
-
-#
-# PCI index of the (RTL8139-)EtherCAT device
-# Setting this is mandatory for the EtherCAT init script!
-#
-#DEVICE_INDEX=99
-
-#
-# Number of Ethernet-over-EtherCAT interfaces every master shall create
-# on startup. Default is 0.
-#
-#EOE_INTERFACES=0
-
-#
-# Bridge all EoE interfaces after master startup
-# This variable shall contain the name of the EoE bridge to set up.
-# If the variable is empty or undefined, no EoE bridge will be built.
-#
-#EOE_BRIDGE=eoebr0
-
-#
-# IP address of the EoE bridge
-# Set both EOE_IP_ADDRESS and EOE_IP_NETMASK to let the local host communicate
-# with devices on the EoE bridge.
-#
-#EOE_IP_ADDRESS=192.168.X.X
-
-#
-# IP netmask of the EoE bridge
-# See EOE_IP_ADDRESS.
-#
-#EOE_IP_NETMASK=255.255.255.0
-
-#
-# Renew default gateway after bridge installation.
-# Set this to the new default gateway, if the default route shall
-# be renewed after the bridge has been installed.
-#
-#EOE_GATEWAY=192.168.X.X
-
-#
-# List of extra interfaces to include in the EoE bridge.
-# Set this to interconnect the EoE bridge with other local interfaces.
-# If EOE_BRIDGE is empty or undefined, setting this variable has no effect.
-# Important: The IP address of these interfaces will be cleared. Set
-# EOE_IP_ADDRESS and EOE_IP_NETMASK accordingly to enable IP traffic to
-# extra interfaces.
-#
-#EOE_EXTRA_INTERFACES=eth0
-
-#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/sysconfig/Makefile.am Tue Feb 13 13:45:36 2007 +0000
@@ -0,0 +1,40 @@
+#------------------------------------------------------------------------------
+#
+# $Id$
+#
+# 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.
+#
+#------------------------------------------------------------------------------
+
+sysdir = $(sysconfdir)/sysconfig
+
+sys_DATA = ethercat
+
+EXTRA_DIST = ethercat
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/sysconfig/ethercat Tue Feb 13 13:45:36 2007 +0000
@@ -0,0 +1,58 @@
+#------------------------------------------------------------------------------
+#
+# EtherCAT sysconfig file
+#
+# $Id$
+#
+#------------------------------------------------------------------------------
+
+#
+# PCI index of the (RTL8139-)EtherCAT device
+# Setting this is mandatory for the EtherCAT init script!
+#
+#DEVICE_INDEX=99
+
+#
+# Number of Ethernet-over-EtherCAT interfaces every master shall create
+# on startup. Default is 0.
+#
+#EOE_INTERFACES=0
+
+#
+# Bridge all EoE interfaces after master startup
+# This variable shall contain the name of the EoE bridge to set up.
+# If the variable is empty or undefined, no EoE bridge will be built.
+#
+#EOE_BRIDGE=eoebr0
+
+#
+# IP address of the EoE bridge
+# Set both EOE_IP_ADDRESS and EOE_IP_NETMASK to let the local host communicate
+# with devices on the EoE bridge.
+#
+#EOE_IP_ADDRESS=192.168.X.X
+
+#
+# IP netmask of the EoE bridge
+# See EOE_IP_ADDRESS.
+#
+#EOE_IP_NETMASK=255.255.255.0
+
+#
+# Renew default gateway after bridge installation.
+# Set this to the new default gateway, if the default route shall
+# be renewed after the bridge has been installed.
+#
+#EOE_GATEWAY=192.168.X.X
+
+#
+# List of extra interfaces to include in the EoE bridge.
+# Set this to interconnect the EoE bridge with other local interfaces.
+# If EOE_BRIDGE is empty or undefined, setting this variable has no effect.
+# Important: The IP address of these interfaces will be cleared. Set
+# EOE_IP_ADDRESS and EOE_IP_NETMASK accordingly to enable IP traffic to
+# extra interfaces.
+#
+#EOE_EXTRA_INTERFACES=eth0
+
+#------------------------------------------------------------------------------