diff -r 7ffbca63fc72 -r 59be91dfcbe1 tool/CommandPdos.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandPdos.cpp	Thu Jul 24 13:27:06 2008 +0000
@@ -0,0 +1,142 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "CommandPdos.h"
+
+/*****************************************************************************/
+
+CommandPdos::CommandPdos():
+    Command("pdos", "List Sync managers, Pdo assignment and mapping.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandPdos::helpString() const
+{
+    stringstream str;
+
+    str << getName() << " [OPTIONS]" << endl
+    	<< endl
+    	<< getBriefDescription() << endl
+        << endl
+    	<< "The information is displayed in three layers, which are" << endl
+    	<< "indented accordingly:" << endl
+    	<< endl
+    	<< "1) Sync managers - Contains the sync manager information" << endl
+    	<< "   from the SII: Index, physical start address, default" << endl
+    	<< "   size (value from the SII), control register and enable" << endl
+    	<< "   word. Example:" << endl
+		<< endl
+    	<< "   SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20,"
+		<< "Enable 1" << endl
+    	<< endl
+    	<< "2) Assigned Pdos - Pdo direction, hexadecimal index and" << endl
+		<< "   -if available- the Pdo name. Example:" << endl
+    	<< endl
+    	<< "   TxPdo 0x1a00 \"Channel1\"" << endl
+    	<< endl
+    	<< "3) Mapped Pdo entries - Pdo entry index and subindex (both" << endl
+    	<< "   hexadecimal), the length in bit and -if available- the" << endl
+    	<< "   description. Example:" << endl
+    	<< endl
+    	<< "   Pdo entry 0x3101:01, 8 bit, \"Status\"" << endl
+    	<< endl
+    	<< "Note, that the displayed Pdo assignment and Pdo mapping" << endl
+    	<< "information can either originate from the SII or from the" << endl
+		<< "CoE communication area." << endl
+    	<< endl
+    	<< "Command-specific options:" << endl
+    	<< "  --slave -s <index>  Positive numerical ring position," << endl
+    	<< "                      or 'all' forall slaves (default)." << endl
+    	<< endl
+		<< numericInfo();
+
+	return str.str();
+}
+
+/****************************************************************************/
+
+void CommandPdos::execute(MasterDevice &m, const StringVector &args)
+{
+    m.open(MasterDevice::Read);
+
+    if (slavePosition == -1) {
+        unsigned int numSlaves = m.slaveCount(), i;
+
+        for (i = 0; i < numSlaves; i++) {
+            listSlavePdos(m, i, true);
+        }
+    } else {
+        listSlavePdos(m, slavePosition, false);
+    }
+}
+
+/****************************************************************************/
+
+void CommandPdos::listSlavePdos(
+		MasterDevice &m,
+		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;
+    
+    m.getSlave(&slave, slavePosition);
+
+    if (withHeader)
+        cout << "=== Slave " << slavePosition << " ===" << endl;
+
+    for (i = 0; i < slave.sync_count; i++) {
+        m.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++) {
+            m.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 (getVerbosity() == Quiet)
+                continue;
+
+            for (k = 0; k < pdo.entry_count; k++) {
+                m.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;
+            }
+        }
+    }
+}
+
+/*****************************************************************************/