--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_pdos.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,98 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+
+/****************************************************************************/
+
+const char *help_pdos =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+	
+void listSlavePdos(uint16_t, bool);
+
+/****************************************************************************/
+
+void command_pdos(void)
+{
+    masterDev.open(MasterDevice::Read);
+
+    if (slavePosition == -1) {
+        unsigned int numSlaves = masterDev.slaveCount(), i;
+
+        for (i = 0; i < numSlaves; i++) {
+            listSlavePdos(i, true);
+        }
+    } else {
+        listSlavePdos(slavePosition, false);
+    }
+}
+
+/****************************************************************************/
+
+void listSlavePdos(uint16_t slavePosition, bool withHeader)
+{
+    ec_ioctl_slave_t slave;
+    ec_ioctl_slave_sync_t sync;
+    ec_ioctl_slave_sync_pdo_t pdo;
+    ec_ioctl_slave_sync_pdo_entry_t entry;
+    unsigned int i, j, k;
+    
+    masterDev.getSlave(&slave, slavePosition);
+
+    if (withHeader)
+        cout << "=== Slave " << slavePosition << " ===" << endl;
+
+    for (i = 0; i < slave.sync_count; i++) {
+        masterDev.getSync(&sync, slavePosition, i);
+
+        cout << "SM" << i << ":"
+            << " PhysAddr 0x"
+            << hex << setfill('0')
+            << setw(4) << sync.physical_start_address
+            << ", DefaultSize "
+            << dec << setfill(' ') << setw(4) << sync.default_size
+            << ", ControlRegister 0x"
+            << hex << setfill('0') << setw(2)
+            << (unsigned int) sync.control_register
+            << ", Enable " << dec << (unsigned int) sync.enable
+            << endl;
+
+        for (j = 0; j < sync.pdo_count; j++) {
+            masterDev.getPdo(&pdo, slavePosition, i, j);
+
+            cout << "  " << (sync.control_register & 0x04 ? "R" : "T")
+                << "xPdo 0x"
+                << hex << setfill('0')
+                << setw(4) << pdo.index
+                << " \"" << pdo.name << "\"" << endl;
+
+            if (verbosity == Quiet)
+                continue;
+
+            for (k = 0; k < pdo.entry_count; k++) {
+                masterDev.getPdoEntry(&entry, slavePosition, i, j, k);
+
+                cout << "    Pdo entry 0x"
+                    << hex << setfill('0')
+                    << setw(4) << entry.index
+                    << ":" << setw(2) << (unsigned int) entry.subindex
+                    << ", " << dec << (unsigned int) entry.bit_length
+                    << " bit, \"" << entry.name << "\"" << endl;
+            }
+        }
+    }
+}
+
+/*****************************************************************************/