--- a/Makefile Thu May 18 17:49:52 2006 +0000
+++ b/Makefile Fri May 19 09:56:55 2006 +0000
@@ -33,34 +33,32 @@
#
#------------------------------------------------------------------------------
-ifneq ($(KERNELRELEASE),)
-
#------------------------------------------------------------------------------
# kbuild section
+ifneq ($(KERNELRELEASE),)
+
obj-m := master/ devices/
#------------------------------------------------------------------------------
+# default section
else
-#------------------------------------------------------------------------------
-# default section
-
ifneq ($(wildcard ethercat.conf),)
include ethercat.conf
else
-KERNEL := `uname -r`
-DEVICEINDEX := 99
+KERNEL := $(shell uname -r)
endif
-KERNELDIR := /lib/modules/$(KERNEL)/build
+KERNEL_DIR := /lib/modules/$(KERNEL)/build
+CURRENT_DIR := $(shell pwd)
modules:
- $(MAKE) -C $(KERNELDIR) M=`pwd`
+ $(MAKE) -C $(KERNEL_DIR) M=$(CURRENT_DIR)
clean: cleandoc
- $(MAKE) -C $(KERNELDIR) M=`pwd` clean
+ $(MAKE) -C $(KERNEL_DIR) M=$(CURRENT_DIR) clean
doc:
doxygen Doxyfile
@@ -69,7 +67,7 @@
@rm -rf doc
install:
- @./install.sh $(KERNEL) $(DEVICEINDEX)
+ @script/install.sh $(KERNEL)
#------------------------------------------------------------------------------
--- a/ethercat.conf.tmpl Thu May 18 17:49:52 2006 +0000
+++ b/ethercat.conf.tmpl Fri May 19 09:56:55 2006 +0000
@@ -9,10 +9,9 @@
#
#------------------------------------------------------------------------------
+#
# The kernel to compile the EtherCAT sources against
+#
KERNEL := `uname -r`
-# PCI index of the EtherCAT device
-DEVICEINDEX := 99
-
#------------------------------------------------------------------------------
--- a/ethercat.sh Thu May 18 17:49:52 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,125 +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
-# Required-Stop: $local_fs $syslog $network
-# Should-Stop: $time
-# Default-Start: 3 5
-# Default-Stop: 0 1 2 6
-# Short-Description: IgH EtherCAT master modules
-# Description:
-### END INIT INFO
-
-#------------------------------------------------------------------------------
-
-ETHERCAT_CONFIG=/etc/sysconfig/ethercat
-
-test -r $ETHERCAT_CONFIG || { echo "$ETHERCAT_CONFIG not existing";
- if [ "$1" = "stop" ]; then exit 0;
- else exit 6; fi; }
-
-. $ETHERCAT_CONFIG
-
-#------------------------------------------------------------------------------
-
-. /etc/rc.status
-rc_reset
-
-case "$1" in
- start)
- echo -n "Starting EtherCAT master... "
-
- for mod in 8139too 8139cp; do
- if lsmod | grep "^$mod " > /dev/null; then
- if ! rmmod $mod; then
- /bin/false
- rc_status -v
- rc_exit
- fi;
- fi;
- done
-
- modprobe ec_8139too ec_device_index=$DEVICEINDEX
-
- rc_status -v
- ;;
-
- stop)
- echo -n "Shutting down EtherCAT master... "
-
- 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
-
- if ! modprobe 8139too; then
- echo "Warning: Failed to restore 8139too module."
- fi
-
- rc_status -v
- ;;
-
- restart)
- $0 stop
- $0 start
-
- rc_status
- ;;
-
- status)
- echo -n "Checking for EtherCAT... "
-
- lsmod | grep "^ec_master " > /dev/null
- master_running=$?
- lsmod | grep "^ec_8139too " > /dev/null
- device_running=$?
- test $master_running -eq 0 -a $device_running -eq 0
-
- rc_status -v
- ;;
-esac
-rc_exit
-
-#------------------------------------------------------------------------------
--- a/install.sh Thu May 18 17:49:52 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,105 +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.
-#
-#------------------------------------------------------------------------------
-
-CONFIGFILE=/etc/sysconfig/ethercat
-
-#------------------------------------------------------------------------------
-
-# install function
-
-install()
-{
- echo " $1"
- if ! cp $1 $INSTALLDIR; then exit 1; fi
-}
-
-#------------------------------------------------------------------------------
-
-# Fetch parameter
-
-if [ $# -ne 2 ]; then
- echo "This script is called by \"make\". Run \"make install\" instead."
- exit 1
-fi
-
-KERNEL=$1
-DEVICEINDEX=$2
-
-INSTALLDIR=/lib/modules/$KERNEL/kernel/drivers/net
-echo "EtherCAT installer - Kernel: $KERNEL"
-
-# Copy files
-
-echo " installing modules..."
-install master/ec_master.ko
-install devices/ec_8139too.ko
-
-# Update dependencies
-
-echo " building module dependencies..."
-depmod
-
-# Create configuration file
-
-if [ -f $CONFIGFILE ]; then
- echo " notice: using existing configuration file."
-else
- echo " creating $CONFIGFILE..."
- echo "DEVICEINDEX=$DEVICEINDEX" > $CONFIGFILE || exit 1
-fi
-
-# Install rc script
-
-echo " installing startup script..."
-cp 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 tools/ec_list.pl /usr/local/bin/ec_list || exit 1
-chmod +x /usr/local/bin/ec_list || exit 1
-
-# Finish
-
-echo "EtherCAT installer done."
-exit 0
-
-#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/ec_list.pl Fri May 19 09:56:55 2006 +0000
@@ -0,0 +1,176 @@
+#!/usr/bin/perl
+
+#------------------------------------------------------------------------------
+#
+# e c _ l i s t . p l
+#
+# Userspace tool for listing EtherCAT slaves.
+#
+# $Id: slave.c 340 2006-04-11 10:17:30Z fp $
+#
+# 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;
+
+#------------------------------------------------------------------------------
+
+&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");
+ $slave->{'coupler_address'} =
+ &read_string("$slave_dir/coupler_address");
+ $slave->{'vendor_name'} =
+ &read_string("$slave_dir/vendor_name");
+ $slave->{'product_name'} =
+ &read_string("$slave_dir/product_name");
+ $slave->{'product_desc'} =
+ &read_string("$slave_dir/product_desc");
+ $slave->{'type'} =
+ &read_string("$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 %-12s %-10s %s\n", $abs,
+ $slave->{'coupler_address'}, $slave->{'vendor_name'},
+ $slave->{'product_name'}, $slave->{'product_desc'});
+ }
+}
+
+#------------------------------------------------------------------------------
+
+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:h", \%opt;
+
+ &print_usage if defined $opt{'h'} or $#ARGV > -1;
+
+ if (defined $opt{'m'}) {
+ $master_index = $opt{'m'};
+ }
+ else {
+ $master_index = 0;
+ }
+}
+
+#------------------------------------------------------------------------------
+
+sub print_usage
+{
+ print "Usage: ec_list [OPTIONS]\n";
+ print " -m <IDX> Query master IDX.\n";
+ print " -h Show this help.\n";
+ exit 0;
+}
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/ethercat.sh Fri May 19 09:56:55 2006 +0000
@@ -0,0 +1,132 @@
+#!/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
+# Required-Stop: $local_fs $syslog $network
+# Should-Stop: $time
+# Default-Start: 3 5
+# Default-Stop: 0 1 2 6
+# Short-Description: IgH EtherCAT master modules
+# Description:
+### END INIT INFO
+
+#------------------------------------------------------------------------------
+
+ETHERCAT_CONFIG=/etc/sysconfig/ethercat
+
+test -r $ETHERCAT_CONFIG || { echo "$ETHERCAT_CONFIG not existing";
+ if [ "$1" = "stop" ]; then exit 0;
+ else exit 6; fi; }
+
+. $ETHERCAT_CONFIG
+
+#------------------------------------------------------------------------------
+
+. /etc/rc.status
+rc_reset
+
+case "$1" in
+ start)
+ echo -n "Starting EtherCAT master "
+
+ if [ ! $DEVICE_INDEX ]; then
+ echo "ERROR: DEVICE_INDEX not set!"
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+
+ for mod in 8139too 8139cp; do
+ if lsmod | grep "^$mod " > /dev/null; then
+ if ! rmmod $mod; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+ fi
+ done
+
+ modprobe ec_8139too ec_device_index=$DEVICE_INDEX
+
+ rc_status -v
+ ;;
+
+ stop)
+ echo -n "Shutting down EtherCAT master "
+
+ 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
+
+ if ! modprobe 8139too; then
+ echo "Warning: Failed to restore 8139too module."
+ fi
+
+ rc_status -v
+ ;;
+
+ restart)
+ $0 stop
+ $0 start
+
+ rc_status
+ ;;
+
+ status)
+ echo -n "Checking for EtherCAT "
+
+ lsmod | grep "^ec_master " > /dev/null
+ master_running=$?
+ lsmod | grep "^ec_8139too " > /dev/null
+ device_running=$?
+ test $master_running -eq 0 -a $device_running -eq 0
+
+ rc_status -v
+ ;;
+esac
+rc_exit
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/install.sh Fri May 19 09:56:55 2006 +0000
@@ -0,0 +1,114 @@
+#!/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 \"$KERNEL\" does not exist in /lib/modules!"
+ exit 1
+fi
+
+#------------------------------------------------------------------------------
+
+# Copy files
+
+INSTALLDIR=/lib/modules/$KERNEL/kernel/drivers/net
+MODULES=(master/ec_master.ko devices/ec_8139too.ko)
+
+echo "EtherCAT installer - Kernel: $KERNEL"
+echo " Installing modules"
+
+for mod in ${MODULES[*]}; do
+ echo " $mod"
+ cp $mod $INSTALLDIR || exit 1
+done
+
+#------------------------------------------------------------------------------
+
+# Update dependencies
+
+echo " Building module dependencies"
+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/ec_list.pl /usr/local/bin/ec_list || exit 1
+chmod +x /usr/local/bin/ec_list || exit 1
+
+#------------------------------------------------------------------------------
+
+# Finish
+
+echo "Done"
+exit 0
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/sysconfig Fri May 19 09:56:55 2006 +0000
@@ -0,0 +1,21 @@
+#------------------------------------------------------------------------------
+#
+# 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 devices the master shall create
+# on startup. Default is 0.
+#
+#EOE_DEVICES=0
+
+#------------------------------------------------------------------------------
--- a/tools/ec_list.pl Thu May 18 17:49:52 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,176 +0,0 @@
-#!/usr/bin/perl
-
-#------------------------------------------------------------------------------
-#
-# e c _ l i s t . p l
-#
-# Userspace tool for listing EtherCAT slaves.
-#
-# $Id: slave.c 340 2006-04-11 10:17:30Z fp $
-#
-# 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;
-
-#------------------------------------------------------------------------------
-
-&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");
- $slave->{'coupler_address'} =
- &read_string("$slave_dir/coupler_address");
- $slave->{'vendor_name'} =
- &read_string("$slave_dir/vendor_name");
- $slave->{'product_name'} =
- &read_string("$slave_dir/product_name");
- $slave->{'product_desc'} =
- &read_string("$slave_dir/product_desc");
- $slave->{'type'} =
- &read_string("$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 %-12s %-10s %s\n", $abs,
- $slave->{'coupler_address'}, $slave->{'vendor_name'},
- $slave->{'product_name'}, $slave->{'product_desc'});
- }
-}
-
-#------------------------------------------------------------------------------
-
-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:h", \%opt;
-
- &print_usage if defined $opt{'h'} or $#ARGV > -1;
-
- if (defined $opt{'m'}) {
- $master_index = $opt{'m'};
- }
- else {
- $master_index = 0;
- }
-}
-
-#------------------------------------------------------------------------------
-
-sub print_usage
-{
- print "Usage: ec_list [OPTIONS]\n";
- print " -m <IDX> Query master IDX.\n";
- print " -h Show this help.\n";
- exit 0;
-}
-
-#------------------------------------------------------------------------------