diff -r 0642492db0fc -r 0ae26760c12d tool/Master.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/Master.cpp	Mon Jul 21 19:29:34 2008 +0000
@@ -0,0 +1,2175 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <sys/ioctl.h>
+
+#include <iostream>
+#include <iomanip>
+#include <sstream>
+#include <fstream>
+#include <cctype> // toupper()
+#include <list>
+using namespace std;
+
+#include "Master.h"
+
+#define swap16(x) \
+        ((uint16_t)( \
+        (((uint16_t)(x) & 0x00ffU) << 8) | \
+        (((uint16_t)(x) & 0xff00U) >> 8) ))
+#define swap32(x) \
+        ((uint32_t)( \
+        (((uint32_t)(x) & 0x000000ffUL) << 24) | \
+        (((uint32_t)(x) & 0x0000ff00UL) <<  8) | \
+        (((uint32_t)(x) & 0x00ff0000UL) >>  8) | \
+        (((uint32_t)(x) & 0xff000000UL) >> 24) ))
+
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+
+#define le16tocpu(x) x
+#define le32tocpu(x) x
+
+#define cputole16(x) x
+#define cputole32(x) x
+
+#elif __BYTE_ORDER == __BIG_ENDIAN
+
+#define le16tocpu(x) swap16(x)
+#define le32tocpu(x) swap32(x)
+
+#define cputole16(x) swap16(x)
+#define cputole32(x) swap32(x)
+
+#endif
+
+/****************************************************************************/
+
+struct CoEDataType {
+    const char *name;
+    uint16_t coeCode;
+    unsigned int byteSize;
+};
+
+static const CoEDataType dataTypes[] = {
+    {"int8",   0x0002, 1},
+    {"int16",  0x0003, 2},
+    {"int32",  0x0004, 4},
+    {"uint8",  0x0005, 1},
+    {"uint16", 0x0006, 2},
+    {"uint32", 0x0007, 4},
+    {"string", 0x0009, 0},
+    {"raw",    0xffff, 0},
+    {}
+};
+
+/****************************************************************************/
+
+const CoEDataType *findDataType(const string &str)
+{
+    const CoEDataType *d;
+    
+    for (d = dataTypes; d->name; d++)
+        if (str == d->name)
+            return d;
+
+    return NULL;
+}
+
+/****************************************************************************/
+
+const CoEDataType *findDataType(uint16_t code)
+{
+    const CoEDataType *d;
+    
+    for (d = dataTypes; d->name; d++)
+        if (code == d->coeCode)
+            return d;
+
+    return NULL;
+}
+
+/****************************************************************************/
+
+Master::Master()
+{
+    index = 0;
+    verbosity = Normal;
+    fd = -1;
+}
+
+/****************************************************************************/
+
+Master::~Master()
+{
+    close();
+}
+
+/****************************************************************************/
+
+void Master::setIndex(unsigned int i)
+{
+    index = i;
+}
+
+/****************************************************************************/
+
+void Master::setVerbosity(Verbosity v)
+{
+    verbosity = v;
+}
+
+/*****************************************************************************/
+
+/**
+ * Writes the Secondary slave address (alias) to the slave's SII.
+ */
+void Master::writeAlias(
+        int slavePosition,
+        bool force,
+        const vector<string> &commandArgs
+        )
+{
+    uint16_t alias;
+    stringstream err, strAlias;
+    int number;
+
+    if (commandArgs.size() != 1) {
+        stringstream err;
+        err << "'alias' takes exactly one argument!";
+        throw MasterException(err.str());
+    }
+
+    strAlias << commandArgs[0];
+    strAlias
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> number;
+    if (strAlias.fail() || number < 0x0000 || number > 0xffff) {
+        err << "Invalid alias '" << commandArgs[0] << "'!";
+        throw MasterException(err.str());
+    }
+    alias = number;
+
+    if (slavePosition == -1) {
+        unsigned int numSlaves, i;
+
+        if (!force) {
+            err << "This will write the alias addresses of all slaves to "
+                << alias << "! Please specify --force to proceed.";
+            throw MasterException(err.str());
+        }
+
+        open(ReadWrite);
+        numSlaves = slaveCount();
+
+        for (i = 0; i < numSlaves; i++) {
+            writeSlaveAlias(i, alias);
+        }
+    } else {
+        open(ReadWrite);
+        writeSlaveAlias(slavePosition, alias);
+    }
+}
+
+/*****************************************************************************/
+
+bool operator<(const ec_ioctl_config_t &a, const ec_ioctl_config_t &b)
+{
+    return a.alias < b.alias
+        || (a.alias == b.alias && a.position < b.position);
+}
+
+/** Lists the bus configuration.
+ */
+void Master::showConfigs()
+{
+    ec_ioctl_master_t master;
+    unsigned int i;
+    ec_ioctl_config_t config;
+    ConfigList configList;
+
+    open(Read);
+    getMaster(&master);
+
+    for (i = 0; i < master.config_count; i++) {
+        getConfig(&config, i);
+        configList.push_back(config);
+    }
+
+    configList.sort();
+
+    if (verbosity == Verbose) {
+        showDetailedConfigs(configList);
+    } else {
+        listConfigs(configList);
+    }
+}
+
+/****************************************************************************/
+
+void Master::outputData(int domainIndex)
+{
+    open(Read);
+
+    if (domainIndex == -1) {
+        unsigned int i;
+        ec_ioctl_master_t master;
+
+        getMaster(&master);
+
+        for (i = 0; i < master.domain_count; i++) {
+            outputDomainData(i);
+        }
+    } else {
+        outputDomainData(domainIndex);
+    }
+}
+
+/****************************************************************************/
+
+void Master::setDebug(const vector<string> &commandArgs)
+{
+    stringstream str;
+    int debugLevel;
+    
+    if (commandArgs.size() != 1) {
+        stringstream err;
+        err << "'debug' takes exactly one argument!";
+        throw MasterException(err.str());
+    }
+
+    str << commandArgs[0];
+    str >> resetiosflags(ios::basefield) // guess base from prefix
+        >> debugLevel;
+
+    if (str.fail()) {
+        stringstream err;
+        err << "Invalid debug level '" << commandArgs[0] << "'!";
+        throw MasterException(err.str());
+    }
+
+    open(ReadWrite);
+
+    if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
+        stringstream err;
+        err << "Failed to set debug level: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::showDomains(int domainIndex)
+{
+    open(Read);
+
+    if (domainIndex == -1) {
+        unsigned int i;
+        ec_ioctl_master_t master;
+
+        getMaster(&master);
+
+        for (i = 0; i < master.domain_count; i++) {
+            showDomain(i);
+        }
+    } else {
+        showDomain(domainIndex);
+    }
+}
+
+/****************************************************************************/
+
+void Master::showMaster()
+{
+    ec_ioctl_master_t data;
+    stringstream err;
+    unsigned int i;
+    
+    open(Read);
+    getMaster(&data);
+
+    cout
+        << "Master" << index << endl
+        << "  Phase: ";
+
+    switch (data.phase) {
+        case 0: cout << "Waiting for device..."; break;
+        case 1: cout << "Idle"; break;
+        case 2: cout << "Operation"; break;
+        default:
+                err << "Invalid master phase " << data.phase;
+                throw MasterException(err.str());
+    }
+
+    cout << endl
+        << "  Slaves: " << data.slave_count << endl;
+
+    for (i = 0; i < 2; i++) {
+        cout << "  Device" << i << ": ";
+        if (data.devices[i].address[0] == 0x00
+                && data.devices[i].address[1] == 0x00
+                && data.devices[i].address[2] == 0x00
+                && data.devices[i].address[3] == 0x00
+                && data.devices[i].address[4] == 0x00
+                && data.devices[i].address[5] == 0x00) {
+            cout << "None.";
+        } else {
+            cout << hex << setfill('0')
+                << setw(2) << (unsigned int) data.devices[i].address[0] << ":"
+                << setw(2) << (unsigned int) data.devices[i].address[1] << ":"
+                << setw(2) << (unsigned int) data.devices[i].address[2] << ":"
+                << setw(2) << (unsigned int) data.devices[i].address[3] << ":"
+                << setw(2) << (unsigned int) data.devices[i].address[4] << ":"
+                << setw(2) << (unsigned int) data.devices[i].address[5] << " ("
+                << (data.devices[i].attached ? "attached" : "waiting...")
+                << ")" << endl << dec
+                << "    Tx count: " << data.devices[i].tx_count << endl
+                << "    Rx count: " << data.devices[i].rx_count;
+        }
+        cout << endl;
+    }
+}
+
+/****************************************************************************/
+
+void Master::listPdos(int slavePosition)
+{
+    open(Read);
+
+    if (slavePosition == -1) {
+        unsigned int numSlaves = slaveCount(), i;
+
+        for (i = 0; i < numSlaves; i++) {
+            listSlavePdos(i, true);
+        }
+    } else {
+        listSlavePdos(slavePosition, false);
+    }
+}
+
+/****************************************************************************/
+
+void Master::listSdos(int slavePosition)
+{
+    open(Read);
+
+    if (slavePosition == -1) {
+        unsigned int numSlaves = slaveCount(), i;
+
+        for (i = 0; i < numSlaves; i++) {
+            listSlaveSdos(i, true);
+        }
+    } else {
+        listSlaveSdos(slavePosition, false);
+    }
+}
+
+/****************************************************************************/
+
+void Master::sdoDownload(
+        int slavePosition,
+        const string &dataTypeStr,
+        const vector<string> &commandArgs
+        )
+{
+    stringstream strIndex, strSubIndex, strValue, err;
+    ec_ioctl_slave_sdo_download_t data;
+    unsigned int number;
+    const CoEDataType *dataType = NULL;
+
+    if (slavePosition < 0) {
+        err << "'sdo_download' requires a slave! Please specify --slave.";
+        throw MasterException(err.str());
+    }
+    data.slave_position = slavePosition;
+
+    if (commandArgs.size() != 3) {
+        err << "'sdo_download' takes 3 arguments!";
+        throw MasterException(err.str());
+    }
+
+    strIndex << commandArgs[0];
+    strIndex
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> data.sdo_index;
+    if (strIndex.fail()) {
+        err << "Invalid Sdo index '" << commandArgs[0] << "'!";
+        throw MasterException(err.str());
+    }
+
+    strSubIndex << commandArgs[1];
+    strSubIndex
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> number;
+    if (strSubIndex.fail() || number > 0xff) {
+        err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
+        throw MasterException(err.str());
+    }
+    data.sdo_entry_subindex = number;
+
+    if (dataTypeStr != "") { // data type specified
+        if (!(dataType = findDataType(dataTypeStr))) {
+            err << "Invalid data type '" << dataTypeStr << "'!";
+            throw MasterException(err.str());
+        }
+    } else { // no data type specified: fetch from dictionary
+        ec_ioctl_slave_sdo_entry_t entry;
+
+        open(ReadWrite);
+
+        try {
+            getSdoEntry(&entry, slavePosition,
+                    data.sdo_index, data.sdo_entry_subindex);
+        } catch (MasterException &e) {
+            err << "Failed to determine Sdo entry data type. "
+                << "Please specify --type.";
+            throw MasterException(err.str());
+        }
+        if (!(dataType = findDataType(entry.data_type))) {
+            err << "Pdo entry has unknown data type 0x"
+                << hex << setfill('0') << setw(4) << entry.data_type << "!"
+                << " Please specify --type.";
+            throw MasterException(err.str());
+        }
+    }
+
+    if (dataType->byteSize) {
+        data.data_size = dataType->byteSize;
+    } else {
+        data.data_size = DefaultBufferSize;
+    }
+
+    data.data = new uint8_t[data.data_size + 1];
+
+    strValue << commandArgs[2];
+    strValue >> resetiosflags(ios::basefield); // guess base from prefix
+    strValue.exceptions(ios::failbit);
+
+    try {
+        switch (dataType->coeCode) {
+            case 0x0002: // int8
+                {
+                    int16_t val; // uint8_t is interpreted as char
+                    strValue >> val;
+                    if (val > 127 || val < -128)
+                        throw ios::failure("Value out of range");
+                    *data.data = val;
+                    break;
+                }
+            case 0x0003: // int16
+                {
+                    int16_t val;
+                    strValue >> val;
+                    *(int16_t *) data.data = cputole16(val);
+                    break;
+                }
+            case 0x0004: // int32
+                {
+                    int32_t val;
+                    strValue >> val;
+                    *(int32_t *) data.data = cputole32(val);
+                    break;
+                }
+            case 0x0005: // uint8
+                {
+                    uint16_t val; // uint8_t is interpreted as char
+                    strValue >> val;
+                    if (val > 0xff)
+                        throw ios::failure("Value out of range");
+                    *data.data = val;
+                    break;
+                }
+            case 0x0006: // uint16
+                {
+                    uint16_t val;
+                    strValue >> val;
+                    *(uint16_t *) data.data = cputole16(val);
+                    break;
+                }
+            case 0x0007: // uint32
+                {
+                    uint32_t val;
+                    strValue >> val;
+                    *(uint32_t *) data.data = cputole32(val);
+                    break;
+                }
+            case 0x0009: // string
+                if (strValue.str().size() >= data.data_size) {
+                    err << "String too large";
+                    throw MasterException(err.str());
+                }
+                data.data_size = strValue.str().size();
+                strValue >> (char *) data.data;
+                break;
+
+            default:
+                delete [] data.data;
+                err << "Unknown data type 0x" << hex << dataType->coeCode;
+                throw MasterException(err.str());
+        }
+    } catch (ios::failure &e) {
+        delete [] data.data;
+        err << "Invalid value argument '" << commandArgs[2]
+            << "' for type '" << dataType->name << "'!";
+        throw MasterException(err.str());
+    }
+
+    open(ReadWrite);
+
+    if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &data) < 0) {
+        stringstream err;
+        err << "Failed to download Sdo: ";
+        if (errno == EIO && data.abort_code) {
+            err << "Abort code 0x" << hex << setfill('0')
+                << setw(8) << data.abort_code;
+        } else {
+            err << strerror(errno);
+        }
+        delete [] data.data;
+        throw MasterException(err.str());
+    }
+
+    delete [] data.data;
+}
+
+/****************************************************************************/
+
+void Master::sdoUpload(
+        int slavePosition,
+        const string &dataTypeStr,
+        const vector<string> &commandArgs
+        )
+{
+    stringstream strIndex, strSubIndex;
+    int sval;
+    ec_ioctl_slave_sdo_upload_t data;
+    unsigned int uval;
+    const CoEDataType *dataType = NULL;
+
+    if (slavePosition < 0) {
+        stringstream err;
+        err << "'sdo_upload' requires a slave! Please specify --slave.";
+        throw MasterException(err.str());
+    }
+    data.slave_position = slavePosition;
+
+    if (commandArgs.size() != 2) {
+        stringstream err;
+        err << "'sdo_upload' takes two arguments!";
+        throw MasterException(err.str());
+    }
+
+    strIndex << commandArgs[0];
+    strIndex
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> data.sdo_index;
+    if (strIndex.fail()) {
+        stringstream err;
+        err << "Invalid Sdo index '" << commandArgs[0] << "'!";
+        throw MasterException(err.str());
+    }
+
+    strSubIndex << commandArgs[1];
+    strSubIndex
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> uval;
+    if (strSubIndex.fail() || uval > 0xff) {
+        stringstream err;
+        err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
+        throw MasterException(err.str());
+    }
+    data.sdo_entry_subindex = uval;
+
+    if (dataTypeStr != "") { // data type specified
+        if (!(dataType = findDataType(dataTypeStr))) {
+            stringstream err;
+            err << "Invalid data type '" << dataTypeStr << "'!";
+            throw MasterException(err.str());
+        }
+    } else { // no data type specified: fetch from dictionary
+        ec_ioctl_slave_sdo_entry_t entry;
+
+        open(Read);
+
+        try {
+            getSdoEntry(&entry, slavePosition,
+                    data.sdo_index, data.sdo_entry_subindex);
+        } catch (MasterException &e) {
+            stringstream err;
+            err << "Failed to determine Sdo entry data type. "
+                << "Please specify --type.";
+            throw MasterException(err.str());
+        }
+        if (!(dataType = findDataType(entry.data_type))) {
+            stringstream err;
+            err << "Pdo entry has unknown data type 0x"
+                << hex << setfill('0') << setw(4) << entry.data_type << "!"
+                << " Please specify --type.";
+            throw MasterException(err.str());
+        }
+    }
+
+    if (dataType->byteSize) {
+        data.target_size = dataType->byteSize;
+    } else {
+        data.target_size = DefaultBufferSize;
+    }
+
+    data.target = new uint8_t[data.target_size + 1];
+
+    open(Read);
+
+    if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &data) < 0) {
+        stringstream err;
+        err << "Failed to upload Sdo: ";
+        if (errno == EIO && data.abort_code) {
+            err << "Abort code 0x" << hex << setfill('0')
+                << setw(8) << data.abort_code;
+        } else {
+            err << strerror(errno);
+        }
+        delete [] data.target;
+        close();
+        throw MasterException(err.str());
+    }
+
+    close();
+
+    if (dataType->byteSize && data.data_size != dataType->byteSize) {
+        stringstream err;
+        err << "Data type mismatch. Expected " << dataType->name
+            << " with " << dataType->byteSize << " byte, but got "
+            << data.data_size << " byte.";
+        throw MasterException(err.str());
+    }
+
+    cout << setfill('0');
+    switch (dataType->coeCode) {
+        case 0x0002: // int8
+            sval = *(int8_t *) data.target;
+            cout << sval << " 0x" << hex << setw(2) << sval << endl;
+            break;
+        case 0x0003: // int16
+            sval = le16tocpu(*(int16_t *) data.target);
+            cout << sval << " 0x" << hex << setw(4) << sval << endl;
+            break;
+        case 0x0004: // int32
+            sval = le32tocpu(*(int32_t *) data.target);
+            cout << sval << " 0x" << hex << setw(8) << sval << endl;
+            break;
+        case 0x0005: // uint8
+            uval = (unsigned int) *(uint8_t *) data.target;
+            cout << uval << " 0x" << hex << setw(2) << uval << endl;
+            break;
+        case 0x0006: // uint16
+            uval = le16tocpu(*(uint16_t *) data.target);
+            cout << uval << " 0x" << hex << setw(4) << uval << endl;
+            break;
+        case 0x0007: // uint32
+            uval = le32tocpu(*(uint32_t *) data.target);
+            cout << uval << " 0x" << hex << setw(8) << uval << endl;
+            break;
+        case 0x0009: // string
+            cout << string((const char *) data.target, data.data_size)
+                << endl;
+            break;
+        default:
+            printRawData(data.target, data.data_size);
+            break;
+    }
+
+    delete [] data.target;
+}
+
+/****************************************************************************/
+
+void Master::showSlaves(int slavePosition)
+{
+    open(Read);
+
+    if (verbosity == Verbose) {
+        if (slavePosition == -1) {
+            unsigned int numSlaves = slaveCount(), i;
+
+            for (i = 0; i < numSlaves; i++) {
+                showSlave(i);
+            }
+        } else {
+            showSlave(slavePosition);
+        }
+    } else {
+        listSlaves(slavePosition);
+    }
+}
+
+/****************************************************************************/
+
+struct CategoryName {
+    uint16_t type;
+    const char *name;
+};
+
+static const CategoryName categoryNames[] = {
+    {0x000a, "STRINGS"},
+    {0x0014, "DataTypes"},
+    {0x001e, "General"},
+    {0x0028, "FMMU"},
+    {0x0029, "SyncM"},
+    {0x0032, "TXPDO"},
+    {0x0033, "RXPDO"},
+    {0x003c, "DC"},
+    {}
+};
+
+const char *getCategoryName(uint16_t type)
+{
+    const CategoryName *cn = categoryNames;
+
+    while (cn->type) {
+        if (cn->type == type) {
+            return cn->name;
+        }
+        cn++;
+    }
+
+    return "unknown";
+}
+
+void Master::siiRead(int slavePosition)
+{
+    ec_ioctl_slave_sii_t data;
+    ec_ioctl_slave_t slave;
+    unsigned int i;
+    const uint16_t *categoryHeader;
+    uint16_t categoryType, categorySize;
+    stringstream err;
+
+    if (slavePosition < 0) {
+        stringstream err;
+        err << "'sii_read' requires a slave! Please specify --slave.";
+        throw MasterException(err.str());
+    }
+    data.slave_position = slavePosition;
+
+    open(Read);
+
+    getSlave(&slave, slavePosition);
+
+    if (!slave.sii_nwords)
+        return;
+
+    data.offset = 0;
+    data.nwords = slave.sii_nwords;
+    data.words = new uint16_t[data.nwords];
+
+    if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) {
+        stringstream err;
+        delete [] data.words;
+        err << "Failed to read SII: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+
+    if (verbosity == Verbose) {
+        cout << "SII Area:" << hex << setfill('0');
+        for (i = 0; i < min(data.nwords, 0x0040U) * 2; i++) {
+            if (i % BreakAfterBytes) {
+                cout << " ";
+            } else {
+                cout << endl << "  ";
+            }
+            cout << setw(2) << (unsigned int) *((uint8_t *) data.words + i);
+        }
+        cout << endl;
+
+        if (data.nwords > 0x0040U) {
+            // cycle through categories
+            categoryHeader = data.words + 0x0040U;
+            categoryType = le16tocpu(*categoryHeader);
+            while (categoryType != 0xffff) {
+                cout << "SII Category 0x" << hex
+                    << setw(4) << categoryType
+                    << " (" << getCategoryName(categoryType) << ")" << flush;
+
+                if (categoryHeader + 1 > data.words + data.nwords) {
+                    err << "SII data seem to be corrupted!";
+                    throw MasterException(err.str());
+                }
+                categorySize = le16tocpu(*(categoryHeader + 1));
+                cout << ", " << dec << categorySize << " words" << flush;
+
+                if (categoryHeader + 2 + categorySize
+                        > data.words + data.nwords) {
+                    err << "SII data seem to be corrupted!";
+                    throw MasterException(err.str());
+                }
+
+                cout << hex;
+                for (i = 0; i < categorySize * 2U; i++) {
+                    if (i % BreakAfterBytes) {
+                        cout << " ";
+                    } else {
+                        cout << endl << "  ";
+                    }
+                    cout << setw(2) << (unsigned int)
+                        *((uint8_t *) (categoryHeader + 2) + i);
+                }
+                cout << endl;
+
+                if (categoryHeader + 2 + categorySize + 1
+                        > data.words + data.nwords) {
+                    err << "SII data seem to be corrupted!"; 
+                    throw MasterException(err.str());
+                }
+                categoryHeader += 2 + categorySize;
+                categoryType = le16tocpu(*categoryHeader);
+            }
+        }
+    } else {
+        for (i = 0; i < data.nwords; i++) {
+            uint16_t *w = data.words + i;
+            cout << *(uint8_t *) w << *((uint8_t *) w + 1);
+        }
+    }
+
+    delete [] data.words;
+}
+
+/****************************************************************************/
+
+void Master::siiWrite(
+        int slavePosition,
+        bool force,
+        const vector<string> &commandArgs
+        )
+{
+    stringstream err;
+    ec_ioctl_slave_sii_t data;
+    ifstream file;
+    unsigned int byte_size;
+    const uint16_t *categoryHeader;
+    uint16_t categoryType, categorySize;
+    uint8_t crc;
+
+    if (slavePosition < 0) {
+        err << "'sii_write' requires a slave! Please specify --slave.";
+        throw MasterException(err.str());
+    }
+    data.slave_position = slavePosition;
+
+    if (commandArgs.size() != 1) {
+        err << "'ssi_write' takes exactly one argument!";
+        throw MasterException(err.str());
+    }
+
+    file.open(commandArgs[0].c_str(), ifstream::in | ifstream::binary);
+    if (file.fail()) {
+        err << "Failed to open '" << commandArgs[0] << "'!";
+        throw MasterException(err.str());
+    }
+
+    // get length of file
+    file.seekg(0, ios::end);
+    byte_size = file.tellg();
+    file.seekg(0, ios::beg);
+
+    if (!byte_size || byte_size % 2) {
+        stringstream err;
+        err << "Invalid file size! Must be non-zero and even.";
+        throw MasterException(err.str());
+    }
+
+    data.nwords = byte_size / 2;
+    if (data.nwords < 0x0041 && !force) {
+        err << "SII data too short (" << data.nwords << " words)! Mimimum is"
+                " 40 fixed words + 1 delimiter. Use --force to write anyway.";
+        throw MasterException(err.str());
+    }
+
+    // allocate buffer and read file into buffer
+    data.words = new uint16_t[data.nwords];
+    file.read((char *) data.words, byte_size);
+    file.close();
+
+    if (!force) {
+        // calculate checksum over words 0 to 6
+        crc = calcSiiCrc((const uint8_t *) data.words, 14);
+        if (crc != ((const uint8_t *) data.words)[14]) {
+            err << "CRC incorrect. Must be 0x"
+                << hex << setfill('0') << setw(2) << (unsigned int) crc
+                << ". Use --force to write anyway.";
+            throw MasterException(err.str());
+        }
+
+        // cycle through categories to detect corruption
+        categoryHeader = data.words + 0x0040U;
+        categoryType = le16tocpu(*categoryHeader);
+        while (categoryType != 0xffff) {
+            if (categoryHeader + 1 > data.words + data.nwords) {
+                err << "SII data seem to be corrupted! "
+                    << "Use --force to write anyway.";
+                throw MasterException(err.str());
+            }
+            categorySize = le16tocpu(*(categoryHeader + 1));
+            if (categoryHeader + 2 + categorySize + 1
+                    > data.words + data.nwords) {
+                err << "SII data seem to be corrupted! "
+                    "Use --force to write anyway.";
+                throw MasterException(err.str());
+            }
+            categoryHeader += 2 + categorySize;
+            categoryType = le16tocpu(*categoryHeader);
+        }
+    }
+
+    // send data to master
+    open(ReadWrite);
+    data.offset = 0;
+    if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
+        stringstream err;
+        err << "Failed to write SII: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::requestStates(
+        int slavePosition,
+        const vector<string> &commandArgs
+        )
+{
+    string stateStr;
+    uint8_t state;
+    
+    if (commandArgs.size() != 1) {
+        stringstream err;
+        err << "'state' takes exactly one argument!";
+        throw MasterException(err.str());
+    }
+
+    stateStr = commandArgs[0];
+    transform(stateStr.begin(), stateStr.end(),
+            stateStr.begin(), (int (*) (int)) std::toupper);
+
+    if (stateStr == "INIT") {
+        state = 0x01;
+    } else if (stateStr == "PREOP") {
+        state = 0x02;
+    } else if (stateStr == "SAFEOP") {
+        state = 0x04;
+    } else if (stateStr == "OP") {
+        state = 0x08;
+    } else {
+        stringstream err;
+        err << "Invalid state '" << commandArgs[0] << "'!";
+        throw MasterException(err.str());
+    }
+
+    open(ReadWrite);
+
+    if (slavePosition == -1) {
+        unsigned int i, numSlaves = slaveCount();
+        for (i = 0; i < numSlaves; i++)
+            requestState(i, state);
+    } else {
+        requestState(slavePosition, state);
+    }
+}
+
+/****************************************************************************/
+
+void Master::generateXml(int slavePosition)
+{
+    open(Read);
+
+    if (slavePosition == -1) {
+        unsigned int numSlaves = slaveCount(), i;
+
+        for (i = 0; i < numSlaves; i++) {
+            generateSlaveXml(i);
+        }
+    } else {
+        generateSlaveXml(slavePosition);
+    }
+}
+
+/****************************************************************************/
+
+void Master::open(Permissions perm)
+{
+    stringstream deviceName;
+
+    if (fd != -1) { // already open
+        return;
+    }
+    
+    deviceName << "/dev/EtherCAT" << index;
+    
+    if ((fd = ::open(deviceName.str().c_str(),
+                    perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
+        stringstream err;
+        err << "Failed to open master device " << deviceName.str() << ": "
+            << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::close()
+{
+    if (fd == -1)
+        return;
+
+    ::close(fd);
+    fd = -1;
+}
+
+/*****************************************************************************/
+
+/**
+ * Writes the Secondary slave address (alias) to the slave's SII.
+ */
+void Master::writeSlaveAlias(
+        uint16_t slavePosition,
+        uint16_t alias
+        )
+{
+    ec_ioctl_slave_sii_t data;
+    ec_ioctl_slave_t slave;
+    stringstream err;
+    uint8_t crc;
+
+    open(ReadWrite);
+
+    getSlave(&slave, slavePosition);
+
+    if (slave.sii_nwords < 8) {
+        err << "Current SII contents are too small to set an alias "
+            << "(" << slave.sii_nwords << " words)!";
+        throw MasterException(err.str());
+    }
+
+    data.slave_position = slavePosition;
+    data.offset = 0;
+    data.nwords = 8;
+    data.words = new uint16_t[data.nwords];
+
+    // read first 8 SII words
+    if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) {
+        delete [] data.words;
+        err << "Failed to read SII: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+
+    // write new alias address in word 4
+    data.words[4] = cputole16(alias);
+
+    // calculate checksum over words 0 to 6
+    crc = calcSiiCrc((const uint8_t *) data.words, 14);
+
+    // write new checksum into first byte of word 7
+    *(uint8_t *) (data.words + 7) = crc;
+
+    // write first 8 words with new alias and checksum
+    if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
+        delete [] data.words;
+        err << "Failed to write SII: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+
+    delete [] data.words;
+}
+
+/*****************************************************************************/
+
+/** Lists the complete bus configuration.
+ */
+void Master::showDetailedConfigs(const ConfigList &configList)
+{
+    ConfigList::const_iterator configIter;
+    unsigned int j, k, l;
+    ec_ioctl_config_pdo_t pdo;
+    ec_ioctl_config_pdo_entry_t entry;
+    ec_ioctl_config_sdo_t sdo;
+
+    for (configIter = configList.begin();
+            configIter != configList.end();
+            configIter++) {
+
+        cout << "Alias: "
+            << dec << configIter->alias << endl
+            << "Position: " << configIter->position << endl
+            << "Vendor Id: 0x"
+            << hex << setfill('0')
+            << setw(8) << configIter->vendor_id << endl
+            << "Product code: 0x"
+            << setw(8) << configIter->product_code << endl
+            << "Attached: " << (configIter->attached ? "yes" : "no") << endl
+            << "Operational: " << (configIter->operational ? "yes" : "no") << endl;
+
+        for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
+            if (configIter->syncs[j].pdo_count) {
+                cout << "SM" << dec << j << " ("
+                    << (configIter->syncs[j].dir == EC_DIR_INPUT
+                            ? "Input" : "Output") << ")" << endl;
+                for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
+                    getConfigPdo(&pdo, configIter->config_index, j, k);
+
+                    cout << "  Pdo 0x" << hex
+                        << setw(4) << pdo.index
+                        << " \"" << pdo.name << "\"" << endl;
+
+                    for (l = 0; l < pdo.entry_count; l++) {
+                        getConfigPdoEntry(&entry, configIter->config_index, j, k, l);
+
+                        cout << "    Pdo entry 0x" << hex
+                            << setw(4) << entry.index << ":"
+                            << setw(2) << (unsigned int) entry.subindex
+                            << ", " << dec << (unsigned int) entry.bit_length
+                            << " bit, \"" << entry.name << "\"" << endl;
+                    }
+                }
+            }
+        }
+
+        cout << "Sdo configuration:" << endl;
+        if (configIter->sdo_count) {
+            for (j = 0; j < configIter->sdo_count; j++) {
+                getConfigSdo(&sdo, configIter->config_index, j);
+
+                cout << "  0x"
+                    << hex << setfill('0')
+                    << setw(4) << sdo.index << ":"
+                    << setw(2) << (unsigned int) sdo.subindex
+                    << ", " << dec << sdo.size << " byte: " << hex;
+
+                switch (sdo.size) {
+                    case 1:
+                        cout << "0x" << setw(2)
+                            << (unsigned int) *(uint8_t *) &sdo.data;
+                        break;
+                    case 2:
+                        cout << "0x" << setw(4)
+                            << le16tocpu(*(uint16_t *) &sdo.data);
+                        break;
+                    case 4:
+                        cout << "0x" << setw(8)
+                            << le32tocpu(*(uint32_t *) &sdo.data);
+                        break;
+                    default:
+                        cout << "???";
+                }
+
+                cout << endl;
+            }
+        } else {
+            cout << "  None." << endl;
+        }
+
+        cout << endl;
+    }
+}
+
+/*****************************************************************************/
+
+struct ConfigInfo {
+    string alias;
+    string pos;
+    string ident;
+    string att;
+    string op;
+};
+
+/** Lists the bus configuration.
+ */
+void Master::listConfigs(const ConfigList &configList)
+{
+    ConfigList::const_iterator configIter;
+    stringstream str;
+    ConfigInfo info;
+    typedef list<ConfigInfo> ConfigInfoList;
+    ConfigInfoList list;
+    ConfigInfoList::const_iterator iter;
+    unsigned int maxAliasWidth = 0, maxPosWidth = 0,
+                 maxAttWidth = 0, maxOpWidth = 0;
+
+    for (configIter = configList.begin();
+            configIter != configList.end();
+            configIter++) {
+
+        str << dec << configIter->alias;
+        info.alias = str.str();
+        str.clear();
+        str.str("");
+
+        str << configIter->position;
+        info.pos = str.str();
+        str.clear();
+        str.str("");
+
+        str << hex << setfill('0')
+            << "0x" << setw(8) << configIter->vendor_id
+            << "/0x" << setw(8) << configIter->product_code;
+        info.ident = str.str();
+        str.clear();
+        str.str("");
+
+        str << (configIter->attached ? "attached" : "-");
+        info.att = str.str();
+        str.clear();
+        str.str("");
+
+        str << (configIter->operational ? "operational" : "-");
+        info.op = str.str();
+        str.clear();
+        str.str("");
+
+        list.push_back(info);
+
+        if (info.alias.length() > maxAliasWidth)
+            maxAliasWidth = info.alias.length();
+        if (info.pos.length() > maxPosWidth)
+            maxPosWidth = info.pos.length();
+        if (info.att.length() > maxAttWidth)
+            maxAttWidth = info.att.length();
+        if (info.op.length() > maxOpWidth)
+            maxOpWidth = info.op.length();
+    }
+
+    for (iter = list.begin(); iter != list.end(); iter++) {
+        cout << setfill(' ') << right
+            << setw(maxAliasWidth) << iter->alias
+            << ":" << left
+            << setw(maxPosWidth) << iter->pos
+            << "  "
+            << iter->ident
+            << "  "
+            << setw(maxAttWidth) << iter->att << "  "
+            << setw(maxOpWidth) << iter->op << "  "
+            << endl;
+    }
+}
+
+/****************************************************************************/
+
+void Master::outputDomainData(unsigned int domainIndex)
+{
+    ec_ioctl_domain_t domain;
+    ec_ioctl_domain_data_t data;
+    unsigned char *processData;
+    unsigned int i;
+    
+    getDomain(&domain, domainIndex);
+
+    if (!domain.data_size)
+        return;
+
+    processData = new unsigned char[domain.data_size];
+
+    try {
+        getData(&data, domainIndex, domain.data_size, processData);
+    } catch (MasterException &e) {
+        delete [] processData;
+        throw e;
+    }
+
+    for (i = 0; i < data.data_size; i++)
+        cout << processData[i];
+    cout.flush();
+
+    delete [] processData;
+}
+
+/****************************************************************************/
+
+void Master::showDomain(unsigned int domainIndex)
+{
+    ec_ioctl_domain_t domain;
+    unsigned char *processData;
+    ec_ioctl_domain_data_t data;
+    unsigned int i, j;
+    ec_ioctl_domain_fmmu_t fmmu;
+    unsigned int dataOffset;
+    
+    getDomain(&domain, domainIndex);
+
+	cout << "Domain" << dec << domainIndex << ":"
+		<< " LogBaseAddr 0x"
+		<< hex << setfill('0')
+        << setw(8) << domain.logical_base_address
+		<< ", Size " << dec << setfill(' ')
+        << setw(3) << domain.data_size
+		<< ", WorkingCounter "
+		<< domain.working_counter << "/"
+        << domain.expected_working_counter << endl;
+
+    if (!domain.data_size || verbosity != Verbose)
+        return;
+
+    processData = new unsigned char[domain.data_size];
+
+    try {
+        getData(&data, domainIndex, domain.data_size, processData);
+    } catch (MasterException &e) {
+        delete [] processData;
+        throw e;
+    }
+
+    for (i = 0; i < domain.fmmu_count; i++) {
+        getFmmu(&fmmu, domainIndex, i);
+
+        cout << "  SlaveConfig "
+            << dec << fmmu.slave_config_alias
+            << ":" << fmmu.slave_config_position
+            << ", SM" << (unsigned int) fmmu.sync_index << " ("
+            << setfill(' ') << setw(6)
+            << (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output")
+            << "), LogAddr 0x"
+            << hex << setfill('0')
+            << setw(8) << fmmu.logical_address
+            << ", Size " << dec << fmmu.data_size << endl;
+
+        dataOffset = fmmu.logical_address - domain.logical_base_address;
+        if (dataOffset + fmmu.data_size > domain.data_size) {
+            stringstream err;
+            err << "Fmmu information corrupted!";
+            delete [] processData;
+            throw MasterException(err.str());
+        }
+
+        cout << "    " << hex << setfill('0');
+        for (j = 0; j < fmmu.data_size; j++) {
+            if (j && !(j % BreakAfterBytes))
+                cout << endl << "    ";
+            cout << setw(2)
+                << (unsigned int) *(processData + dataOffset + j) << " ";
+        }
+        cout << endl;
+    }
+
+    delete [] processData;
+}
+
+/****************************************************************************/
+
+void Master::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;
+    
+    getSlave(&slave, slavePosition);
+
+    if (withHeader)
+        cout << "=== Slave " << slavePosition << " ===" << endl;
+
+    for (i = 0; i < slave.sync_count; i++) {
+        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++) {
+            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++) {
+                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;
+            }
+        }
+    }
+}
+
+/****************************************************************************/
+
+void Master::listSlaveSdos(
+        uint16_t slavePosition,
+        bool withHeader
+        )
+{
+    ec_ioctl_slave_t slave;
+    ec_ioctl_slave_sdo_t sdo;
+    ec_ioctl_slave_sdo_entry_t entry;
+    unsigned int i, j;
+    const CoEDataType *d;
+    
+    getSlave(&slave, slavePosition);
+
+    if (withHeader)
+        cout << "=== Slave " << slavePosition << " ===" << endl;
+
+    for (i = 0; i < slave.sdo_count; i++) {
+        getSdo(&sdo, slavePosition, i);
+
+        cout << "Sdo 0x"
+            << hex << setfill('0')
+            << setw(4) << sdo.sdo_index
+            << ", \"" << sdo.name << "\"" << endl;
+
+        if (verbosity == Quiet)
+            continue;
+
+        for (j = 0; j <= sdo.max_subindex; j++) {
+            getSdoEntry(&entry, slavePosition, -i, j);
+
+            cout << "  0x" << hex << setfill('0')
+                << setw(4) << sdo.sdo_index << ":"
+                << setw(2) << (unsigned int) entry.sdo_entry_subindex
+                << ", ";
+
+            if ((d = findDataType(entry.data_type))) {
+                cout << d->name;
+            } else {
+                cout << "type " << setw(4) << entry.data_type;
+            }
+
+            cout << ", " << dec << entry.bit_length << " bit, \""
+                << entry.description << "\"" << endl;
+        }
+    }
+}
+
+/****************************************************************************/
+
+struct SlaveInfo {
+    string pos;
+    string alias;
+    string relPos;
+    string state;
+    string flag;
+    string name;
+};
+
+void Master::listSlaves(int slavePosition)
+{
+    unsigned int numSlaves, i;
+    ec_ioctl_slave_t slave;
+    uint16_t lastAlias, aliasIndex;
+    SlaveInfo slaveInfo;
+    typedef list<SlaveInfo> SlaveInfoList;
+    SlaveInfoList slaveInfoList;
+    SlaveInfoList::const_iterator iter;
+    stringstream str;
+    unsigned int maxPosWidth = 0, maxAliasWidth = 0,
+                 maxRelPosWidth = 0, maxStateWidth = 0;
+    
+    open(Read);
+
+    numSlaves = slaveCount();
+
+    lastAlias = 0;
+    aliasIndex = 0;
+    for (i = 0; i < numSlaves; i++) {
+        getSlave(&slave, i);
+        
+        if (slave.alias) {
+            lastAlias = slave.alias;
+            aliasIndex = 0;
+        }
+
+        if (slavePosition == -1 || i == (unsigned int) slavePosition) {
+            str << dec << i;
+            slaveInfo.pos = str.str();
+            str.clear();
+            str.str("");
+
+            str << lastAlias;
+            slaveInfo.alias = str.str();
+            str.str("");
+
+            str << aliasIndex;
+            slaveInfo.relPos = str.str();
+            str.str("");
+
+            slaveInfo.state = slaveState(slave.state);
+            slaveInfo.flag = (slave.error_flag ? 'E' : '+');
+
+            if (strlen(slave.name)) {
+                slaveInfo.name = slave.name;
+            } else {
+                str << "0x" << hex << setfill('0')
+                    << setw(8) << slave.vendor_id << ":0x"
+                    << setw(8) << slave.product_code;
+                slaveInfo.name = str.str();
+                str.str("");
+            }
+
+
+            slaveInfoList.push_back(slaveInfo);
+
+            if (slaveInfo.pos.length() > maxPosWidth)
+                maxPosWidth = slaveInfo.pos.length();
+            if (slaveInfo.alias.length() > maxAliasWidth)
+                maxAliasWidth = slaveInfo.alias.length();
+            if (slaveInfo.relPos.length() > maxRelPosWidth)
+                maxRelPosWidth = slaveInfo.relPos.length();
+            if (slaveInfo.state.length() > maxStateWidth)
+                maxStateWidth = slaveInfo.state.length();
+        }
+
+        aliasIndex++;
+    }
+
+    for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
+        cout << setfill(' ') << right
+            << setw(maxPosWidth) << iter->pos << "  "
+            << setw(maxAliasWidth) << iter->alias
+            << ":" << left
+            << setw(maxRelPosWidth) << iter->relPos << "  "
+            << setw(maxStateWidth) << iter->state << "  "
+            << iter->flag << "  "
+            << iter->name << endl;
+    }
+}
+
+/****************************************************************************/
+
+void Master::showSlave(uint16_t slavePosition)
+{
+    ec_ioctl_slave_t slave;
+    list<string> protoList;
+    list<string>::const_iterator protoIter;
+    
+    getSlave(&slave, slavePosition);
+        
+    cout << "=== Slave " << dec << slavePosition << " ===" << endl;
+    
+    if (slave.alias)
+        cout << "Alias: " << slave.alias << endl;
+
+    cout
+        << "State: " << slaveState(slave.state) << endl
+        << "Flag: " << (slave.error_flag ? 'E' : '+') << endl
+        << "Identity:" << endl
+        << "  Vendor Id:       0x"
+        << hex << setfill('0')
+        << setw(8) << slave.vendor_id << endl
+        << "  Product code:    0x"
+        << setw(8) << slave.product_code << endl
+        << "  Revision number: 0x"
+        << setw(8) << slave.revision_number << endl
+        << "  Serial number:   0x"
+        << setw(8) << slave.serial_number << endl;
+
+    if (slave.mailbox_protocols) {
+        cout << "Mailboxes:" << endl
+        << "  RX: 0x"
+        << hex << setw(4) << slave.rx_mailbox_offset << "/"
+        << dec << slave.rx_mailbox_size
+        << ", TX: 0x"
+        << hex << setw(4) << slave.tx_mailbox_offset << "/"
+        << dec << slave.tx_mailbox_size << endl
+        << "  Supported protocols: ";
+
+        if (slave.mailbox_protocols & EC_MBOX_AOE) {
+            protoList.push_back("AoE");
+        }
+        if (slave.mailbox_protocols & EC_MBOX_EOE) {
+            protoList.push_back("EoE");
+        }
+        if (slave.mailbox_protocols & EC_MBOX_COE) {
+            protoList.push_back("CoE");
+        }
+        if (slave.mailbox_protocols & EC_MBOX_FOE) {
+            protoList.push_back("FoE");
+        }
+        if (slave.mailbox_protocols & EC_MBOX_SOE) {
+            protoList.push_back("SoE");
+        }
+        if (slave.mailbox_protocols & EC_MBOX_VOE) {
+            protoList.push_back("VoE");
+        }
+
+        for (protoIter = protoList.begin(); protoIter != protoList.end();
+                protoIter++) {
+            if (protoIter != protoList.begin())
+                cout << ", ";
+            cout << *protoIter;
+        }
+        cout << endl;
+    }
+
+    if (slave.has_general_category) {
+        cout << "General:" << endl
+            << "  Group: " << slave.group << endl
+            << "  Image name: " << slave.image << endl
+            << "  Order number: " << slave.order << endl
+            << "  Device name: " << slave.name << endl;
+
+        if (slave.mailbox_protocols & EC_MBOX_COE) {
+            cout << "  CoE details:" << endl
+                << "    Enable Sdo: "
+                << (slave.coe_details.enable_sdo ? "yes" : "no") << endl
+                << "    Enable Sdo Info: "
+                << (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl
+                << "    Enable Pdo Assign: "
+                << (slave.coe_details.enable_pdo_assign
+                        ? "yes" : "no") << endl
+                << "    Enable Pdo Configuration: "
+                << (slave.coe_details.enable_pdo_configuration
+                        ? "yes" : "no") << endl
+                << "    Enable Upload at startup: "
+                << (slave.coe_details.enable_upload_at_startup
+                        ? "yes" : "no") << endl
+                << "    Enable Sdo complete access: "
+                << (slave.coe_details.enable_sdo_complete_access
+                        ? "yes" : "no") << endl;
+        }
+
+        cout << "  Flags:" << endl
+            << "    Enable SafeOp: "
+            << (slave.general_flags.enable_safeop ? "yes" : "no") << endl
+            << "    Enable notLRW: "
+            << (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl
+            << "  Current consumption: "
+            << dec << slave.current_on_ebus << " mA" << endl;
+    }
+}
+
+/****************************************************************************/
+
+void Master::generateSlaveXml(uint16_t slavePosition)
+{
+    ec_ioctl_slave_t slave;
+    ec_ioctl_slave_sync_t sync;
+    ec_ioctl_slave_sync_pdo_t pdo;
+    string pdoType;
+    ec_ioctl_slave_sync_pdo_entry_t entry;
+    unsigned int i, j, k;
+    
+    getSlave(&slave, slavePosition);
+
+    cout
+        << "<?xml version=\"1.0\" ?>" << endl
+        << "  <EtherCATInfo>" << endl
+        << "    <!-- Slave " << slave.position << " -->" << endl
+        << "    <Vendor>" << endl
+        << "      <Id>" << slave.vendor_id << "</Id>" << endl
+        << "    </Vendor>" << endl
+        << "    <Descriptions>" << endl
+        << "      <Devices>" << endl
+        << "        <Device>" << endl
+        << "          <Type ProductCode=\"#x"
+        << hex << setfill('0') << setw(8) << slave.product_code
+        << "\" RevisionNo=\"#x"
+        << hex << setfill('0') << setw(8) << slave.revision_number
+        << "\">" << slave.order << "</Type>" << endl;
+
+    if (strlen(slave.name)) {
+        cout
+            << "          <Name><![CDATA["
+            << slave.name
+            << "]]></Name>" << endl;
+    }
+
+    for (i = 0; i < slave.sync_count; i++) {
+        getSync(&sync, slavePosition, i);
+
+        cout
+            << "          <Sm Enable=\"" << dec << (unsigned int) sync.enable
+            << "\" StartAddress=\"" << sync.physical_start_address
+            << "\" ControlByte=\"" << (unsigned int) sync.control_register
+            << "\" DefaultSize=\"" << sync.default_size
+            << "\" />" << endl;
+    }
+
+    for (i = 0; i < slave.sync_count; i++) {
+        getSync(&sync, slavePosition, i);
+
+        for (j = 0; j < sync.pdo_count; j++) {
+            getPdo(&pdo, slavePosition, i, j);
+            pdoType = (sync.control_register & 0x04 ? "R" : "T");
+            pdoType += "xPdo";
+
+            cout
+                << "          <" << pdoType
+                << " Sm=\"" << i << "\" Fixed=\"1\" Mandatory=\"1\">" << endl
+                << "            <Index>#x"
+                << hex << setfill('0') << setw(4) << pdo.index
+                << "</Index>" << endl
+                << "            <Name>" << pdo.name << "</Name>" << endl;
+
+            for (k = 0; k < pdo.entry_count; k++) {
+                getPdoEntry(&entry, slavePosition, i, j, k);
+
+                cout
+                    << "            <Entry>" << endl
+                    << "              <Index>#x"
+                    << hex << setfill('0') << setw(4) << entry.index
+                    << "</Index>" << endl;
+                if (entry.index)
+                    cout
+                        << "              <SubIndex>"
+                        << dec << (unsigned int) entry.subindex
+                        << "</SubIndex>" << endl;
+                
+                cout
+                    << "              <BitLen>"
+                    << dec << (unsigned int) entry.bit_length
+                    << "</BitLen>" << endl;
+
+                if (entry.index) {
+                    cout
+                        << "              <Name>" << entry.name
+                        << "</Name>" << endl
+                        << "              <DataType>";
+
+                    if (entry.bit_length == 1) {
+                        cout << "BOOL";
+                    } else if (!(entry.bit_length % 8)) {
+                        if (entry.bit_length <= 64)
+                            cout << "UINT" << (unsigned int) entry.bit_length;
+                        else
+                            cout << "STRING("
+                                << (unsigned int) (entry.bit_length / 8)
+                                << ")";
+                    } else {
+                        cerr << "Invalid bit length "
+                            << (unsigned int) entry.bit_length << endl;
+                    }
+
+                        cout << "</DataType>" << endl;
+                }
+
+                cout << "            </Entry>" << endl;
+            }
+
+            cout
+                << "          </" << pdoType << ">" << endl;
+        }
+    }
+
+    cout
+        << "        </Device>" << endl
+        << "     </Devices>" << endl
+        << "  </Descriptions>" << endl
+        << "</EtherCATInfo>" << endl;
+}
+
+/****************************************************************************/
+
+unsigned int Master::slaveCount()
+{
+    ec_ioctl_master_t data;
+
+    getMaster(&data);
+    return data.slave_count;
+}
+
+/****************************************************************************/
+
+void Master::getMaster(ec_ioctl_master_t *data)
+{
+    if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {
+        stringstream err;
+        err << "Failed to get master information: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getConfig(ec_ioctl_config_t *data, unsigned int index)
+{
+    data->config_index = index;
+
+    if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
+        stringstream err;
+        err << "Failed to get slave configuration: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getConfigPdo(
+        ec_ioctl_config_pdo_t *data,
+        unsigned int index,
+        uint8_t sync_index,
+        uint16_t pdo_pos
+        )
+{
+    data->config_index = index;
+    data->sync_index = sync_index;
+    data->pdo_pos = pdo_pos;
+
+    if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
+        stringstream err;
+        err << "Failed to get slave config Pdo: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getConfigPdoEntry(
+        ec_ioctl_config_pdo_entry_t *data,
+        unsigned int index,
+        uint8_t sync_index,
+        uint16_t pdo_pos,
+        uint8_t entry_pos
+        )
+{
+    data->config_index = index;
+    data->sync_index = sync_index;
+    data->pdo_pos = pdo_pos;
+    data->entry_pos = entry_pos;
+
+    if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
+        stringstream err;
+        err << "Failed to get slave config Pdo entry: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getConfigSdo(
+        ec_ioctl_config_sdo_t *data,
+        unsigned int index,
+        unsigned int sdo_pos
+        )
+{
+    data->config_index = index;
+    data->sdo_pos = sdo_pos;
+
+    if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
+        stringstream err;
+        err << "Failed to get slave config Sdo: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getDomain(ec_ioctl_domain_t *data, unsigned int index)
+{
+    data->index = index;
+
+    if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
+        stringstream err;
+        err << "Failed to get domain: ";
+        if (errno == EINVAL)
+            err << "Domain " << index << " does not exist!";
+        else
+            err << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getData(ec_ioctl_domain_data_t *data, unsigned int domainIndex,
+        unsigned int dataSize, unsigned char *mem)
+{
+    data->domain_index = domainIndex;
+    data->data_size = dataSize;
+    data->target = mem;
+
+    if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {
+        stringstream err;
+        err << "Failed to get domain data: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
+{
+    slave->position = slaveIndex;
+
+    if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
+        stringstream err;
+        err << "Failed to get slave: ";
+        if (errno == EINVAL)
+            err << "Slave " << slaveIndex << " does not exist!";
+        else
+            err << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getFmmu(
+        ec_ioctl_domain_fmmu_t *fmmu,
+        unsigned int domainIndex,
+        unsigned int fmmuIndex
+        )
+{
+    fmmu->domain_index = domainIndex;
+    fmmu->fmmu_index = fmmuIndex;
+
+    if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {
+        stringstream err;
+        err << "Failed to get domain FMMU: ";
+        if (errno == EINVAL)
+            err << "Either domain " << domainIndex << " does not exist, "
+                << "or it contains less than " << (unsigned int) fmmuIndex + 1
+                << " FMMus!";
+        else
+            err << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getSync(
+        ec_ioctl_slave_sync_t *sync,
+        uint16_t slaveIndex,
+        uint8_t syncIndex
+        )
+{
+    sync->slave_position = slaveIndex;
+    sync->sync_index = syncIndex;
+
+    if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) {
+        stringstream err;
+        err << "Failed to get sync manager: ";
+        if (errno == EINVAL)
+            err << "Either slave " << slaveIndex << " does not exist, "
+                << "or it contains less than " << (unsigned int) syncIndex + 1
+                << " sync managers!";
+        else
+            err << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getPdo(
+        ec_ioctl_slave_sync_pdo_t *pdo,
+        uint16_t slaveIndex,
+        uint8_t syncIndex,
+        uint8_t pdoPos
+        )
+{
+    pdo->slave_position = slaveIndex;
+    pdo->sync_index = syncIndex;
+    pdo->pdo_pos = pdoPos;
+
+    if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {
+        stringstream err;
+        err << "Failed to get Pdo: ";
+        if (errno == EINVAL)
+            err << "Either slave " << slaveIndex << " does not exist, "
+                << "or it contains less than " << (unsigned int) syncIndex + 1
+                << " sync managers, or sync manager "
+                << (unsigned int) syncIndex << " contains less than "
+                << pdoPos + 1 << " Pdos!" << endl;
+        else
+            err << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getPdoEntry(
+        ec_ioctl_slave_sync_pdo_entry_t *entry,
+        uint16_t slaveIndex,
+        uint8_t syncIndex,
+        uint8_t pdoPos,
+        uint8_t entryPos
+        )
+{
+    entry->slave_position = slaveIndex;
+    entry->sync_index = syncIndex;
+    entry->pdo_pos = pdoPos;
+    entry->entry_pos = entryPos;
+
+    if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {
+        stringstream err;
+        err << "Failed to get Pdo entry: ";
+        if (errno == EINVAL)
+            err << "Either slave " << slaveIndex << " does not exist, "
+                << "or it contains less than " << (unsigned int) syncIndex + 1
+                << " sync managers, or sync manager "
+                << (unsigned int) syncIndex << " contains less than "
+                << pdoPos + 1 << " Pdos, or the Pdo at position " << pdoPos
+                << " contains less than " << (unsigned int) entryPos + 1
+                << " entries!" << endl;
+        else
+            err << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getSdo(
+        ec_ioctl_slave_sdo_t *sdo,
+        uint16_t slaveIndex,
+        uint16_t sdoPosition
+        )
+{
+    sdo->slave_position = slaveIndex;
+    sdo->sdo_position = sdoPosition;
+
+    if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {
+        stringstream err;
+        err << "Failed to get Sdo: ";
+        if (errno == EINVAL)
+            err << "Either slave " << slaveIndex << " does not exist, "
+                << "or it contains less than " << sdoPosition + 1 << " Sdos!"
+                << endl;
+        else
+            err << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::getSdoEntry(
+        ec_ioctl_slave_sdo_entry_t *entry,
+        uint16_t slaveIndex,
+        int sdoSpec,
+        uint8_t entrySubindex
+        )
+{
+    entry->slave_position = slaveIndex;
+    entry->sdo_spec = sdoSpec;
+    entry->sdo_entry_subindex = entrySubindex;
+
+    if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
+        stringstream err;
+        err << "Failed to get Sdo entry: ";
+        err << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::requestState(
+        uint16_t slavePosition,
+        uint8_t state
+        )
+{
+    ec_ioctl_slave_state_t data;
+
+    data.slave_position = slavePosition;
+    data.requested_state = state;
+    
+    if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) {
+        stringstream err;
+        err << "Failed to request slave state: ";
+        if (errno == EINVAL)
+            err << "Slave " << slavePosition << " does not exist!";
+        else
+            err << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+string Master::slaveState(uint8_t state)
+{
+    switch (state) {
+        case 1: return "INIT";
+        case 2: return "PREOP";
+        case 4: return "SAFEOP";
+        case 8: return "OP";
+        default: return "???";
+    }
+}
+
+/****************************************************************************/
+
+void Master::printRawData(
+        const uint8_t *data,
+        unsigned int size)
+{
+    cout << hex << setfill('0');
+    while (size--) {
+        cout << "0x" << setw(2) << (unsigned int) *data++;
+        if (size)
+            cout << " ";
+    }
+    cout << endl;
+}
+
+/*****************************************************************************/
+
+/**
+ * Calculates the SII checksum field.
+ *
+ * The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
+ * initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
+ *
+ * The below code was originally generated with PYCRC
+ * http://www.tty1.net/pycrc
+ *
+ * ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
+ *   --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
+ *
+ * \return CRC8
+ */
+uint8_t Master::calcSiiCrc(
+        const uint8_t *data, /**< pointer to data */
+        size_t length /**< number of bytes in \a data */
+        )
+{
+    unsigned int i;
+    uint8_t bit, byte, crc = 0x48;
+
+    while (length--) {
+        byte = *data++;
+        for (i = 0; i < 8; i++) {
+            bit = crc & 0x80;
+            crc = (crc << 1) | ((byte >> (7 - i)) & 0x01);
+            if (bit) crc ^= 0x07;
+        }
+    }
+
+    for (i = 0; i < 8; i++) {
+        bit = crc & 0x80;
+        crc <<= 1;
+        if (bit) crc ^= 0x07;
+    }
+
+    return crc;
+}
+
+/*****************************************************************************/