--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/script/lsec.pl	Wed Aug 02 12:25:25 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;
+}
+
+#------------------------------------------------------------------------------