--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/lsec.pl Tue Jul 25 10:08:17 2006 +0000
@@ -0,0 +1,192 @@
+#!/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.
+#
+#------------------------------------------------------------------------------
+
+use strict;
+use Getopt::Std;
+
+my $master_index;
+my $master_dir;
+my $show_sii_naming;
+
+#------------------------------------------------------------------------------
+
+&get_options;
+&query_master;
+exit 0;
+
+#------------------------------------------------------------------------------
+
+sub query_master
+{
+ $master_dir = "/sys/ethercat" . $master_index;
+ &query_slaves;
+}
+
+#------------------------------------------------------------------------------
+
+sub query_slaves
+{
+ my $dirhandle;
+ my $slave_dir;
+ my $entry;
+ my $slave_index;
+ my $file_name;
+ my $vendor_name;
+ my @slaves;
+ my $slave;
+ my $abs;
+
+ 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_dir = $master_dir . "/" . $entry;
+
+ $slave = {};
+ $slave->{'ring_position'} =
+ &read_integer("$slave_dir/ring_position");
+ $slave->{'advanced_position'} =
+ &read_string("$slave_dir/advanced_position");
+ unless ($show_sii_naming) {
+ $slave->{'vendor_name'} =
+ &read_string("$slave_dir/vendor_name");
+ $slave->{'product_name'} =
+ &read_string("$slave_dir/product_name");
+ $slave->{'product_desc'} =
+ &read_string("$slave_dir/product_desc");
+ }
+ else {
+ $slave->{'name'} =
+ &read_string("$slave_dir/name");
+ }
+ $slave->{'type'} =
+ &read_string("$slave_dir/type");
+
+ push @slaves, $slave;
+ }
+ closedir $dirhandle;
+
+ @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves;
+
+ print "EtherCAT bus listing for master $master_index:\n";
+ for $slave (@slaves) {
+ if ($slave->{'type'} eq "coupler") {
+ print "--------------------------------------------------------\n";
+ }
+
+ $abs = sprintf "%i", $slave->{'ring_position'};
+ printf(" %3s %8s ", $abs, $slave->{'advanced_position'});
+ unless ($show_sii_naming) {
+ printf("%-12s %-10s %s\n", $slave->{'vendor_name'},
+ $slave->{'product_name'}, $slave->{'product_desc'});
+ }
+ else {
+ printf("%s\n", $slave->{'name'});
+ }
+ }
+}
+
+#------------------------------------------------------------------------------
+
+sub read_string
+{
+ (my $file_name) = @_;
+ my $data;
+
+ $data = `cat $file_name 2>/dev/null`;
+ if ($?) {
+ print "ERROR: Unable to read string $file_name!\n";
+ exit 1;
+ }
+
+ chomp $data;
+ return $data;
+}
+
+#------------------------------------------------------------------------------
+
+sub read_integer
+{
+ (my $file_name) = @_;
+
+ if (`cat $file_name 2>/dev/null` !~ /^(\d+)$/) {
+ print "ERROR: Unable to read integer $file_name!\n";
+ exit 1;
+ }
+
+ return int $1;
+}
+
+#------------------------------------------------------------------------------
+
+sub get_options
+{
+ my %opt;
+ my $optret;
+
+ $optret = getopts "m:sh", \%opt;
+
+ &print_usage if defined $opt{'h'} or $#ARGV > -1 or !$optret;
+
+ if (defined $opt{'m'}) {
+ $master_index = $opt{'m'};
+ }
+ else {
+ $master_index = 0;
+ }
+
+ $show_sii_naming = defined $opt{'s'};
+}
+
+#------------------------------------------------------------------------------
+
+sub print_usage
+{
+ print "Usage: $0 [OPTIONS]\n";
+ print " -m <IDX> Query master <IDX>.\n";
+ print " -s Show EEPROM name instead of";
+ print " vendor/product/description.\n";
+ print " -h Show this help.\n";
+ exit 0;
+}
+
+#------------------------------------------------------------------------------