MSR example: Replaced msr_load and msr_unload with init script, removed msr_param.h
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Florian Pose
parent
68998a19a6
commit
e00d3c9449
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#------------------------------------------------------------------------------
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#
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# Makefile.am
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#
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# IgH EtherCAT master module
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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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#!/bin/sh
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#------------------------------------------------------------------------------
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#
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# MSR Init Script
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#
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# $Id$
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#
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#------------------------------------------------------------------------------
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### BEGIN INIT INFO
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# Provides: msr
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# Required-Start: $local_fs $syslog $network
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# Should-Start: $time ntp ethercat
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# Required-Stop: $local_fs $syslog $network
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# Should-Stop: $time ntp ethercat
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# Default-Start: 3 5
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# Default-Stop: 0 1 2 6
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# Short-Description: MSR module
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# Description:
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### END INIT INFO
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#------------------------------------------------------------------------------
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# <Customizing>
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NAME="MSR EtherCAT sample"
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BASE=/opt/etherlab
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MSR_SERVER=$BASE/bin/msrserv.pl
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MODULE=ec_msr_sample
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RTAI_PATH=/usr/realtime
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RTAI_MODULES="hal up" # sem math
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DEVICE=msr
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DEVMASK=664
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GROUP=users
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# </Customizing>
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#------------------------------------------------------------------------------
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. /etc/rc.status
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rc_reset
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#------------------------------------------------------------------------------
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case "$1" in
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start)
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echo -n Starting $NAME" "
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# Insert RTAI modules
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for mod in $RTAI_MODULES; do
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if ! lsmod | grep -q "^rtai_$mod"; then
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if ! insmod $RTAI_PATH/modules/rtai_$mod.ko; then
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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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fi
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done
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# Insert realtime module
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if ! modprobe $MODULE; then
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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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#sleep 2
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# Create MSR device
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MAJOR=`cat /proc/devices | awk "\\$2==\"$DEVICE\" {print \\$1}"`
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rm -f /dev/${DEVICE}
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mknod /dev/${DEVICE} c $MAJOR 0
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chgrp $GROUP /dev/${DEVICE}
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chmod $DEVMASK /dev/${DEVICE}
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#sleep 1
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# Start MSR-Server
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startproc $MSR_SERVER 1>/dev/null 2>/dev/null
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rc_status -v
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;;
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stop)
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echo -n Shutting down $NAME" "
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if ! killproc $MSR_SERVER; then
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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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if ! /sbin/rmmod $MODULE; then
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/bin/false
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rc_status -v
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rc_exit
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fi
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# Remove stale nodes
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rm -f /dev/${DEVICE} /dev/${DEVICE}0
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rc_status -v
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;;
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restart)
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$0 stop || exit 1
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sleep 1
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$0 start
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rc_status
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;;
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status)
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echo -n "Checking for MSR module: "
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/sbin/lsmod | grep -q "^$MODULE"
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rc_status -v
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echo -n "Checking for MSR server: "
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checkproc $MSR_SERVER
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rc_status -v
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;;
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*)
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echo "Usage: $0 {start|stop|status|restart}"
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exit 1
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;;
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esac
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rc_exit
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@ -1,36 +0,0 @@
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#!/bin/sh
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module="ec_msr_sample"
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device="msr"
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mode="664"
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# Group: since distributions do it differently, look for wheel or use staff
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if grep '^staff:' /etc/group > /dev/null; then
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group="staff"
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else
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group="wheel"
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fi
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# invoke insmod with all arguments we got
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# and use a pathname, as newer modutils don't look in . by default
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/sbin/insmod -f ./$module.ko $* || exit 1
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major=`cat /proc/devices | awk "\\$2==\"$device\" {print \\$1}"`
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echo $major
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# Remove stale nodes and replace them, then give gid and perms
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# Usually the script is shorter, it's scull that has several devices in it.
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rm -f /dev/${device}
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mknod /dev/${device} c $major 0
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# ln -sf ${device}0 /dev/${device}
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chgrp users /dev/${device}
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chmod $mode /dev/${device}
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@ -1,41 +0,0 @@
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/******************************************************************************
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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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#ifndef _MSR_PARAM_H_
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#define _MSR_PARAM_H_
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#define MSR_ABTASTFREQUENZ 1000
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#endif
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/*****************************************************************************/
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@ -44,12 +44,13 @@
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#include <msr_main.h>
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#include <msr_reg.h>
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#include <msr_time.h>
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#include "msr_param.h"
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// EtherCAT
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#include "../../include/ecrt.h"
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#include "../../include/ecdb.h"
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#define MSR_ABTASTFREQUENZ 1000
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#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
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#define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ)
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#!/bin/sh
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module="ec_msr_sample"
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device="msr"
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# invoke rmmod with all arguments we got
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/sbin/rmmod $module $* || exit 1
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# Remove stale nodes
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rm -f /dev/${device} /dev/${device}0
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