Accidentally deleted all my music

I accidentally deleted all my music out of my iTunes library. It's all on my iPod though, is there any way to get it from my iPod back onto my computer? Not of it was purchased from iTunes, it's all stuff I ripped from my CD's so no DRM.

How does it work? It doesn't seem to recognize my iPod. Under source it only has iTunes.

iPodDisk is another you could try if Senuti's not working out for you.