--- a/documentation/ethercat_doc.tex	Thu Jul 24 07:40:45 2008 +0000
+++ b/documentation/ethercat_doc.tex	Thu Jul 24 08:11:07 2008 +0000
@@ -301,7 +301,8 @@
 
   \end{itemize}
 
-\item User space command-line-tool ``ethercat``.
+\item User space command-line-tool ``ethercat`` (see
+section~\ref{sec:ethercat})
 
   \begin{itemize}
 
@@ -2692,10 +2693,70 @@
 
 %------------------------------------------------------------------------------
 
-\subsection{Listing the bus}
+\subsection{Setting alias addresses}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_alias}
+
+%------------------------------------------------------------------------------
+
+\subsection{Displaying the bus configuration}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_config}
+
+%------------------------------------------------------------------------------
+
+\subsection{Displaying process data}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_data}
+
+%------------------------------------------------------------------------------
+
+\subsection{Setting a master's debug level}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_debug}
+
+%------------------------------------------------------------------------------
+
+\subsection{Configured domains}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_domains}
+
+%------------------------------------------------------------------------------
+
+\subsection{Master and Ethernet device information}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_master}
+
+%------------------------------------------------------------------------------
+
+\subsection{Showing slaves' sync managers, Pdos and Pdo entries}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_pdos}
+
+%------------------------------------------------------------------------------
+
+\subsection{Displaying the Sdo dictionary}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sdos}
+
+%------------------------------------------------------------------------------
+
+\subsection{Sdo access}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_download}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_upload}
+
+%------------------------------------------------------------------------------
+
+\subsection{Displaying slaves on the bus}
 
 Slave information can be gathered with the subcommand \lstinline+slaves+:
 
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_slaves}
+
+Below is a typical output:
+
 \begin{lstlisting}
 $ `\textbf{ethercat slaves}`
 0     0:0  PREOP  +  EK1100 Ethernet Kopplerklemme (2A E-Bus)
@@ -2704,25 +2765,6 @@
 3  5555:2  PREOP  +  EL2004 4K. Dig. Ausgang 24V, 0,5A
 \end{lstlisting}
 
-Every slave found is displayed as one text row. The columns have the following
-meanings:
-
-\begin{enumerate}
-
-\item Ring position in the bus.
-
-\item Alias and position (see section~\ref{sec:addr}).
-
-\item Application-layer state.
-
-\item Error flag: \lstinline!+! means that the slave is ok, \lstinline+E+
-means that an error has occurred during scanning or configuration.
-
-\item The slave's name, as it appears in the ``general'' SII category. If no
-name is found, the slave's vendor ID and product code are listed.
-
-\end{enumerate}
-
 %------------------------------------------------------------------------------
 
 \subsection{SII Access}
@@ -2746,6 +2788,8 @@
 
 \end{itemize}
 
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sii_read}
+
 Reading out SII data is as easy as other commands. Though the data are in
 binary format, analysis is easier with a tool like \textit{hexdump}:
 
@@ -2766,6 +2810,8 @@
 To download SII contents to a slave, writing access to the master's character
 device is necessary (see section~\ref{sec:cdev}).
 
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sii_write}
+
 \begin{lstlisting}
 # `\textbf{ethercat sii\_write --slave 3 sii-of-slave3.bin}`
 \end{lstlisting}
@@ -2775,6 +2821,18 @@
 
 %------------------------------------------------------------------------------
 
+\subsection{Requesting application-layer states}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_states}
+
+%------------------------------------------------------------------------------
+
+\subsection{Generating slave description XML}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_xml}
+
+%------------------------------------------------------------------------------
+
 \section{System Integration}
 \label{sec:system}