--- a/install.sh Tue Apr 11 12:51:20 2006 +0000
+++ b/install.sh Tue Apr 11 12:54:01 2006 +0000
@@ -63,6 +63,11 @@
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
+
# Finish
echo "EtherCAT installer done."
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tools/ec_list.pl Tue Apr 11 12:54:01 2006 +0000
@@ -0,0 +1,162 @@
+#!/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 $
+#
+#------------------------------------------------------------------------------
+
+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;
+
+ 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");
+ $slave->{'station_address'} =
+ &read_integer("$slave_dir/station_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;
+
+ my $coupler_index = -1;
+ my $slave_index = 0;
+ my $abs;
+ my $rel;
+ print "EtherCAT bus listing for master $master_index:\n";
+ for $slave (@slaves) {
+ if ($slave->{'type'} eq "coupler") {
+ print "--------------------------------------------------------\n";
+ $coupler_index++;
+ $slave_index = 0;
+ }
+
+ $abs = sprintf "%i", $slave->{'ring_position'};
+ $rel = sprintf "%i:%i", $coupler_index, $slave_index;
+ printf("%4s %6s %-15s %-15s %-15s\n", $abs, $rel,
+ $slave->{'vendor_name'}, $slave->{'product_name'},
+ $slave->{'product_desc'});
+
+ if ($slave->{'type'} eq "coupler") {
+ print "--------------------------------------------------------\n";
+ }
+
+ $slave_index++;
+ }
+ print "--------------------------------------------------------\n";
+}
+
+#------------------------------------------------------------------------------
+
+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;
+}
+
+#------------------------------------------------------------------------------