# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1285162903 -7200
# Node ID c6e6ec6ba5d85338e5e3c3585601dcf38f24ed1e
# Parent  9327c261056fd8b52ee8ed405c958acdd9138532# Parent  7dceb43bd855f88f1cdea34ac0a93d125455f58f
merge.

diff -r 7dceb43bd855 -r c6e6ec6ba5d8 TODO
--- a/TODO	Wed Sep 22 12:28:36 2010 +0200
+++ b/TODO	Wed Sep 22 15:41:43 2010 +0200
@@ -13,9 +13,6 @@
 * Ethernet drivers:
     - Fix link detection in generic driver.
     - Add native drivers from 2.6.24 up to 2.6.31.
-* Finish library implementation.
-  - Remove stdio uses?
-* Rescan command.
 * ethercat tool:
     - Output error after usage.
     - Implement ranges for slaves and domains.
@@ -79,7 +76,7 @@
     - Implement reading from stream for soe_write.
 * Simplify master fsm by introducing a common request state to handle external
   requests (replace write_sii, sdo_request, etc).
-* Write PDO mapping/assignment by default?
+* Remove stdio uses in userspace library?
 
 Smaller issues:
 
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/common.c
--- a/lib/common.c	Wed Sep 22 12:28:36 2010 +0200
+++ b/lib/common.c	Wed Sep 22 15:41:43 2010 +0200
@@ -55,9 +55,9 @@
     ec_master_t *master = ecrt_open_master(master_index);
     if (master) {
         if (ecrt_master_reserve(master) < 0) {
-            close(master->fd);
+            ec_master_clear(master);
             free(master);
-            master = 0;
+            master = NULL;
         }
     }
 
@@ -82,19 +82,21 @@
 
     master->process_data = NULL;
     master->process_data_size = 0;
+    master->first_domain = NULL;
+    master->first_config = NULL;
 
     snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);
 
     master->fd = open(path, O_RDWR);
     if (master->fd == -1) {
         fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno));
-        goto out_free;
+        goto out_clear;
     }
 
     if (ioctl(master->fd, EC_IOCTL_MODULE, &module_data) < 0) {
         fprintf(stderr, "Failed to get module information from %s: %s\n",
                 path, strerror(errno));
-        goto out_close;
+        goto out_clear;
     }
 
     if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) {
@@ -102,14 +104,13 @@
                 " %s: %u, libethercat: %u.\n",
                 path, module_data.ioctl_version_magic,
                 EC_IOCTL_VERSION_MAGIC);
-        goto out_close;
+        goto out_clear;
     }
 
     return master;
 
-out_close:
-    close(master->fd);
-out_free:
+out_clear:
+    ec_master_clear(master);
     free(master);
     return 0;
 }
@@ -118,11 +119,7 @@
 
 void ecrt_release_master(ec_master_t *master)
 {
-    if (master->process_data)  {
-        munmap(master->process_data, master->process_data_size);
-    }
-
-    close(master->fd);
+    ec_master_clear(master);
     free(master);
 }
 
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/domain.c
--- a/lib/domain.c	Wed Sep 22 12:28:36 2010 +0200
+++ b/lib/domain.c	Wed Sep 22 15:41:43 2010 +0200
@@ -47,6 +47,13 @@
 
 /*****************************************************************************/
 
+void ec_domain_clear(ec_domain_t *domain)
+{
+    // nothing to do
+}
+
+/*****************************************************************************/
+
 int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
         const ec_pdo_entry_reg_t *regs)
 {
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/domain.h
--- a/lib/domain.h	Wed Sep 22 12:28:36 2010 +0200
+++ b/lib/domain.h	Wed Sep 22 15:41:43 2010 +0200
@@ -33,9 +33,14 @@
 /*****************************************************************************/
 
 struct ec_domain {
+    ec_domain_t *next;
     unsigned int index;
     ec_master_t *master;
     uint8_t *process_data;
 };
 
 /*****************************************************************************/
+
+void ec_domain_clear(ec_domain_t *);
+
+/*****************************************************************************/
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/master.c
--- a/lib/master.c	Wed Sep 22 12:28:36 2010 +0200
+++ b/lib/master.c	Wed Sep 22 15:41:43 2010 +0200
@@ -53,6 +53,60 @@
 
 /*****************************************************************************/
 
+void ec_master_clear_config(ec_master_t *master)
+{
+    ec_domain_t *d, *next_d;
+    ec_slave_config_t *c, *next_c;
+
+    d = master->first_domain;
+    while (d) {
+        next_d = d->next;
+        ec_domain_clear(d);
+        d = next_d;
+    }
+    master->first_domain = NULL;
+
+    c = master->first_config;
+    while (c) {
+        next_c = c->next;
+        ec_slave_config_clear(c);
+        c = next_c;
+    }
+    master->first_config = NULL;
+}
+
+/*****************************************************************************/
+
+void ec_master_clear(ec_master_t *master)
+{
+    if (master->process_data)  {
+        munmap(master->process_data, master->process_data_size);
+    }
+
+    ec_master_clear_config(master);
+
+    if (master->fd != -1) {
+        close(master->fd);
+    }
+}
+
+/*****************************************************************************/
+
+void ec_master_add_domain(ec_master_t *master, ec_domain_t *domain)
+{
+    if (master->first_domain) {
+        ec_domain_t *d = master->first_domain;
+        while (d->next) {
+            d = d->next;
+        }
+        d->next = domain;
+    } else {
+        master->first_domain = domain;
+    }
+}
+
+/*****************************************************************************/
+
 ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
 {
     ec_domain_t *domain;
@@ -71,14 +125,33 @@
         return 0; 
     }
 
+    domain->next = NULL;
     domain->index = (unsigned int) index;
     domain->master = master;
     domain->process_data = NULL;
+
+    ec_master_add_domain(master, domain);
+
     return domain;
 }
 
 /*****************************************************************************/
 
+void ec_master_add_slave_config(ec_master_t *master, ec_slave_config_t *sc)
+{
+    if (master->first_config) {
+        ec_slave_config_t *c = master->first_config;
+        while (c->next) {
+            c = c->next;
+        }
+        c->next = sc;
+    } else {
+        master->first_config = sc;
+    }
+}
+
+/*****************************************************************************/
+
 ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
         uint16_t alias, uint16_t position, uint32_t vendor_id,
         uint32_t product_code)
@@ -105,10 +178,16 @@
         return 0; 
     }
 
+    sc->next = NULL;
     sc->master = master;
     sc->index = data.config_index;
     sc->alias = alias;
     sc->position = position;
+    sc->first_sdo_request = NULL;
+    sc->first_voe_handler = NULL;
+
+    ec_master_add_slave_config(master, sc);
+
     return sc;
 }
 
@@ -389,8 +468,9 @@
         fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno));
         return;
     }
-}
-
+
+    ec_master_clear_config(master);
+}
 
 /*****************************************************************************/
 
@@ -405,7 +485,6 @@
     return 0;
 }
 
-
 /*****************************************************************************/
 
 void ecrt_master_send(ec_master_t *master)
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/master.h
--- a/lib/master.h	Wed Sep 22 12:28:36 2010 +0200
+++ b/lib/master.h	Wed Sep 22 15:41:43 2010 +0200
@@ -36,6 +36,13 @@
     int fd;
     uint8_t *process_data;
     size_t process_data_size;
+
+    ec_domain_t *first_domain;
+    ec_slave_config_t *first_config;
 };
 
 /*****************************************************************************/
+
+void ec_master_clear(ec_master_t *);
+
+/*****************************************************************************/
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/sdo_request.c
--- a/lib/sdo_request.c	Wed Sep 22 12:28:36 2010 +0200
+++ b/lib/sdo_request.c	Wed Sep 22 15:41:43 2010 +0200
@@ -43,8 +43,17 @@
 #include "slave_config.h"
 #include "master.h"
 
+/*****************************************************************************/
+
+void ec_sdo_request_clear(ec_sdo_request_t *req)
+{
+    if (req->data) {
+        free(req->data);
+    }
+}
+
 /*****************************************************************************
- * Realtime interface.
+ * Application interface.
  ****************************************************************************/
 
 void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/sdo_request.h
--- a/lib/sdo_request.h	Wed Sep 22 12:28:36 2010 +0200
+++ b/lib/sdo_request.h	Wed Sep 22 15:41:43 2010 +0200
@@ -33,6 +33,7 @@
 /*****************************************************************************/
 
 struct ec_sdo_request {
+    ec_sdo_request_t *next; /**< List header. */
     ec_slave_config_t *config; /**< Parent slave configuration. */
     unsigned int index; /**< Request index (identifier). */
     uint16_t sdo_index; /**< SDO index. */
@@ -43,3 +44,7 @@
 };
 
 /*****************************************************************************/
+
+void ec_sdo_request_clear(ec_sdo_request_t *);
+
+/*****************************************************************************/
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/slave_config.c
--- a/lib/slave_config.c	Wed Sep 22 12:28:36 2010 +0200
+++ b/lib/slave_config.c	Wed Sep 22 15:41:43 2010 +0200
@@ -43,6 +43,29 @@
 
 /*****************************************************************************/
 
+void ec_slave_config_clear(ec_slave_config_t *sc)
+{
+    ec_sdo_request_t *r, *next_r;
+    ec_voe_handler_t *v, *next_v;
+
+    r = sc->first_sdo_request;
+    while (r) {
+        next_r = r->next;
+        ec_sdo_request_clear(r);
+        r = next_r;
+    }
+
+
+    v = sc->first_voe_handler;
+    while (v) {
+        next_v = v->next;
+        ec_voe_handler_clear(v);
+        v = next_v;
+    }
+}
+
+/*****************************************************************************/
+
 int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
         ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
 {
@@ -361,6 +384,22 @@
 
 /*****************************************************************************/
 
+void ec_slave_config_add_sdo_request(ec_slave_config_t *sc,
+        ec_sdo_request_t *req)
+{
+    if (sc->first_sdo_request) {
+        ec_sdo_request_t *r = sc->first_sdo_request;
+        while (r->next) {
+            r = r->next;
+        }
+        r->next = req;
+    } else {
+        sc->first_sdo_request = req;
+    }
+}
+
+/*****************************************************************************/
+
 ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
         uint16_t index, uint8_t subindex, size_t size)
 {
@@ -393,23 +432,42 @@
     if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data) == -1) {
         fprintf(stderr, "Failed to create SDO request: %s\n",
                 strerror(errno));
-        if (req->data)
-            free(req->data);
+        ec_sdo_request_clear(req);
         free(req);
         return NULL; 
     }
 
+    req->next = NULL;
     req->config = sc;
     req->index = data.request_index;
     req->sdo_index = data.sdo_index;
     req->sdo_subindex = data.sdo_subindex;
     req->data_size = size;
     req->mem_size = size;
+
+    ec_slave_config_add_sdo_request(sc, req);
+
     return req;
 }
 
 /*****************************************************************************/
 
+void ec_slave_config_add_voe_handler(ec_slave_config_t *sc,
+        ec_voe_handler_t *voe)
+{
+    if (sc->first_voe_handler) {
+        ec_voe_handler_t *v = sc->first_voe_handler;
+        while (v->next) {
+            v = v->next;
+        }
+        v->next = voe;
+    } else {
+        sc->first_voe_handler = voe;
+    }
+}
+
+/*****************************************************************************/
+
 ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,
         size_t size)
 {
@@ -441,16 +499,19 @@
     if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) {
         fprintf(stderr, "Failed to create VoE handler: %s\n",
                 strerror(errno));
-        if (voe->data)
-            free(voe->data);
+        ec_voe_handler_clear(voe);
         free(voe);
         return NULL; 
     }
 
+    voe->next = NULL;
     voe->config = sc;
     voe->index = data.voe_index;
     voe->data_size = size;
     voe->mem_size = size;
+
+    ec_slave_config_add_voe_handler(sc, voe);
+
     return voe;
 }
 
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/slave_config.h
--- a/lib/slave_config.h	Wed Sep 22 12:28:36 2010 +0200
+++ b/lib/slave_config.h	Wed Sep 22 15:41:43 2010 +0200
@@ -33,10 +33,17 @@
 /*****************************************************************************/
 
 struct ec_slave_config {
+    ec_slave_config_t *next;
     ec_master_t *master;
     unsigned int index;
     uint16_t alias;
     uint16_t position;
+    ec_sdo_request_t *first_sdo_request;
+    ec_voe_handler_t *first_voe_handler;
 };
 
 /*****************************************************************************/
+
+void ec_slave_config_clear(ec_slave_config_t *);
+
+/*****************************************************************************/
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/voe_handler.c
--- a/lib/voe_handler.c	Wed Sep 22 12:28:36 2010 +0200
+++ b/lib/voe_handler.c	Wed Sep 22 15:41:43 2010 +0200
@@ -47,6 +47,14 @@
 
 /*****************************************************************************/
 
+void ec_voe_handler_clear(ec_voe_handler_t *voe)
+{
+    if (voe->data)
+        free(voe->data);
+}
+
+/*****************************************************************************/
+
 void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,
         uint16_t vendor_type)
 {
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/voe_handler.h
--- a/lib/voe_handler.h	Wed Sep 22 12:28:36 2010 +0200
+++ b/lib/voe_handler.h	Wed Sep 22 15:41:43 2010 +0200
@@ -33,6 +33,7 @@
 /*****************************************************************************/
 
 struct ec_voe_handler {
+    ec_voe_handler_t *next;
     ec_slave_config_t *config;
     unsigned int index;
     size_t data_size;
@@ -41,3 +42,7 @@
 };
 
 /*****************************************************************************/
+
+void ec_voe_handler_clear(ec_voe_handler_t *);
+
+/*****************************************************************************/
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/cdev.c
--- a/master/cdev.c	Wed Sep 22 12:28:36 2010 +0200
+++ b/master/cdev.c	Wed Sep 22 15:41:43 2010 +0200
@@ -659,6 +659,19 @@
 
 /*****************************************************************************/
 
+/** Issue a bus scan.
+ */
+int ec_cdev_ioctl_master_rescan(
+        ec_master_t *master, /**< EtherCAT master. */
+        unsigned long arg /**< ioctl() argument. */
+        )
+{
+    master->fsm.rescan_required = 1;
+    return 0;
+}
+
+/*****************************************************************************/
+
 /** Set slave state.
  */
 int ec_cdev_ioctl_slave_state(
@@ -3501,6 +3514,10 @@
             if (!(filp->f_mode & FMODE_WRITE))
                 return -EPERM;
             return ec_cdev_ioctl_master_debug(master, arg);
+        case EC_IOCTL_MASTER_RESCAN:
+            if (!(filp->f_mode & FMODE_WRITE))
+                return -EPERM;
+            return ec_cdev_ioctl_master_rescan(master, arg);
         case EC_IOCTL_SLAVE_STATE:
             if (!(filp->f_mode & FMODE_WRITE))
                 return -EPERM;
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/fsm_master.c
--- a/master/fsm_master.c	Wed Sep 22 12:28:36 2010 +0200
+++ b/master/fsm_master.c	Wed Sep 22 15:41:43 2010 +0200
@@ -85,7 +85,7 @@
     fsm->idle = 0;
     fsm->link_state = 0;
     fsm->slaves_responding = 0;
-    fsm->topology_change_pending = 0;
+    fsm->rescan_required = 0;
     fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
 
     // init sub-state-machines
@@ -201,7 +201,7 @@
 
     // bus topology change?
     if (datagram->working_counter != fsm->slaves_responding) {
-        fsm->topology_change_pending = 1;
+        fsm->rescan_required = 1;
         fsm->slaves_responding = datagram->working_counter;
         EC_MASTER_INFO(master, "%u slave(s) responding.\n",
                 fsm->slaves_responding);
@@ -237,7 +237,7 @@
         fsm->slave_states = 0x00;
     }
 
-    if (fsm->topology_change_pending) {
+    if (fsm->rescan_required) {
         down(&master->scan_sem);
         if (!master->allow_scan) {
             up(&master->scan_sem);
@@ -245,9 +245,8 @@
             master->scan_busy = 1;
             up(&master->scan_sem);
 
-            // topology change when scan is allowed:
             // clear all slaves and scan the bus
-            fsm->topology_change_pending = 0;
+            fsm->rescan_required = 0;
             fsm->idle = 0;
             fsm->scan_jiffies = jiffies;
 
@@ -630,7 +629,7 @@
             slave->error_flag = 1;
             EC_SLAVE_DBG(slave, 1, "Slave did not respond to state query.\n");
         }
-        fsm->topology_change_pending = 1;
+        fsm->rescan_required = 1;
         ec_fsm_master_restart(fsm);
         return;
     }
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/fsm_master.h
--- a/master/fsm_master.h	Wed Sep 22 12:28:36 2010 +0200
+++ b/master/fsm_master.h	Wed Sep 22 15:41:43 2010 +0200
@@ -119,7 +119,7 @@
     unsigned long scan_jiffies; /**< beginning of slave scanning */
     uint8_t link_state; /**< Last main device link state. */
     unsigned int slaves_responding; /**< number of responding slaves */
-    unsigned int topology_change_pending; /**< bus topology changed */
+    unsigned int rescan_required; /**< A bus rescan is required. */
     ec_slave_state_t slave_states; /**< states of responding slaves */
     ec_slave_t *slave; /**< current slave */
     ec_sii_write_request_t *sii_request; /**< SII write request */
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/fsm_pdo.c
--- a/master/fsm_pdo.c	Wed Sep 22 12:28:36 2010 +0200
+++ b/master/fsm_pdo.c	Wed Sep 22 15:41:43 2010 +0200
@@ -376,7 +376,7 @@
         return;
     }
 
-    fsm->sync_index = 0xff; // next is zero
+    fsm->sync_index = 1; // next is 2
     ec_fsm_pdo_conf_action_next_sync(fsm);
 }
 
@@ -429,7 +429,8 @@
         }
 
         // get first configured PDO
-        if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
+        if (!(fsm->pdo =
+                    ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
             // no pdos configured
             ec_fsm_pdo_conf_action_check_assignment(fsm);
             return;
@@ -506,17 +507,30 @@
         ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
-    if (ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
-        EC_SLAVE_DBG(fsm->slave, 1, "Mapping of PDO 0x%04X"
-                " is already configured correctly.\n", fsm->pdo->index);
-        ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
-        return;
-    }
-
-    ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
-            fsm->pdo, &fsm->slave_pdo);
-    fsm->state = ec_fsm_pdo_conf_state_mapping;
-    fsm->state(fsm); // execure immediately
+    // check, if slave supports PDO configuration
+    if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
+            && fsm->slave->sii.has_general
+            && fsm->slave->sii.coe_details.enable_pdo_configuration) {
+
+        // always write PDO mapping
+        ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
+                fsm->pdo, &fsm->slave_pdo);
+        fsm->state = ec_fsm_pdo_conf_state_mapping;
+        fsm->state(fsm); // execure immediately
+        return;
+    }
+    else if (!ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
+        EC_SLAVE_WARN(fsm->slave, "Slave does not support"
+                " changing the PDO mapping!\n");
+        EC_SLAVE_WARN(fsm->slave, "");
+        printk("Currently mapped PDO entries: ");
+        ec_pdo_print_entries(&fsm->slave_pdo);
+        printk(". Entries to map: ");
+        ec_pdo_print_entries(fsm->pdo);
+        printk("\n");
+    }
+
+    ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
 }
 
 /*****************************************************************************/
@@ -564,46 +578,42 @@
         ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
-    // check if assignment has to be re-configured
-    if (ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
-        EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment for SM%u"
-                " is already configured correctly.\n", fsm->sync_index);
-        ec_fsm_pdo_conf_action_next_sync(fsm);
-        return;
-    }
-
-    if (fsm->slave->master->debug_level) {
-        EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment of SM%u differs:\n",
-                fsm->sync_index);
-        EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
-    }
-
-    // PDO assignment has to be changed. Does the slave support this?
-    if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
-            || (fsm->slave->sii.has_general
-                && !fsm->slave->sii.coe_details.enable_pdo_assign)) {
+    if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
+            && fsm->slave->sii.has_general
+            && fsm->slave->sii.coe_details.enable_pdo_assign) {
+
+        // always write PDO assignment
+        if (fsm->slave->master->debug_level) {
+            EC_SLAVE_DBG(fsm->slave, 1, "Setting PDO assignment of SM%u:\n",
+                    fsm->sync_index);
+            EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
+        }
+
+        if (ec_sdo_request_alloc(&fsm->request, 2)) {
+            fsm->state = ec_fsm_pdo_state_error;
+            return;
+        }
+
+        // set mapped PDO count to zero
+        EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
+        fsm->request.data_size = 1;
+        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
+        ecrt_sdo_request_write(&fsm->request);
+
+        EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned"
+                " PDOs to zero.\n");
+
+        fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
+        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
+        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+        return;
+    }
+    else if (!ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
         EC_SLAVE_WARN(fsm->slave, "Slave does not support assigning PDOs!\n");
         EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
-        ec_fsm_pdo_conf_action_next_sync(fsm);
-        return;
-    }
-
-    if (ec_sdo_request_alloc(&fsm->request, 2)) {
-        fsm->state = ec_fsm_pdo_state_error;
-        return;
-    }
-
-    // set mapped PDO count to zero
-    EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
-    fsm->request.data_size = 1;
-    ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
-    ecrt_sdo_request_write(&fsm->request);
-
-    EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned PDOs to zero.\n");
-
-    fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
-    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+    }
+
+    ec_fsm_pdo_conf_action_next_sync(fsm);
 }
 
 /*****************************************************************************/
@@ -621,7 +631,7 @@
         EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO assignment of SM%u.\n",
                 fsm->sync_index);
         EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
-        fsm->state = ec_fsm_pdo_state_error;
+        ec_fsm_pdo_conf_action_next_sync(fsm);
         return;
     }
 
@@ -632,7 +642,6 @@
     
     // find first PDO
     if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
-        EC_SLAVE_DBG(fsm->slave, 1, "No PDOs to assign.\n");
 
         // check for mapping to be altered
         ec_fsm_pdo_conf_action_next_sync(fsm);
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/fsm_pdo_entry.c
--- a/master/fsm_pdo_entry.c	Wed Sep 22 12:28:36 2010 +0200
+++ b/master/fsm_pdo_entry.c	Wed Sep 22 15:41:43 2010 +0200
@@ -328,17 +328,6 @@
         ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
-    // PDO mapping has to be changed. Does the slave support this?
-    if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
-            || (fsm->slave->sii.has_general
-                && !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
-            EC_SLAVE_WARN(fsm->slave, "Slave does not support"
-                    " changing the PDO mapping!\n");
-        EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
-        fsm->state = ec_fsm_pdo_entry_state_error;
-        return;
-    }
-
     if (ec_sdo_request_alloc(&fsm->request, 4)) {
         fsm->state = ec_fsm_pdo_entry_state_error;
         return;
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/ioctl.h
--- a/master/ioctl.h	Wed Sep 22 12:28:36 2010 +0200
+++ b/master/ioctl.h	Wed Sep 22 15:41:43 2010 +0200
@@ -56,7 +56,7 @@
  *
  * Increment this when changing the ioctl interface!
  */
-#define EC_IOCTL_VERSION_MAGIC 7
+#define EC_IOCTL_VERSION_MAGIC 8
 
 // Command-line tool
 #define EC_IOCTL_MODULE                EC_IOR(0x00, ec_ioctl_module_t)
@@ -69,71 +69,72 @@
 #define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)
 #define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x08, ec_ioctl_domain_data_t)
 #define EC_IOCTL_MASTER_DEBUG           EC_IO(0x09)
-#define EC_IOCTL_SLAVE_STATE           EC_IOW(0x0a, ec_ioctl_slave_state_t)
-#define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0b, ec_ioctl_slave_sdo_t)
-#define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0c, ec_ioctl_slave_sdo_entry_t)
-#define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0d, ec_ioctl_slave_sdo_upload_t)
-#define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0e, ec_ioctl_slave_sdo_download_t)
-#define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x0f, ec_ioctl_slave_sii_t)
-#define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x10, ec_ioctl_slave_sii_t)
-#define EC_IOCTL_SLAVE_REG_READ       EC_IOWR(0x11, ec_ioctl_slave_reg_t)
-#define EC_IOCTL_SLAVE_REG_WRITE       EC_IOW(0x12, ec_ioctl_slave_reg_t)
-#define EC_IOCTL_SLAVE_FOE_READ       EC_IOWR(0x13, ec_ioctl_slave_foe_t)
-#define EC_IOCTL_SLAVE_FOE_WRITE       EC_IOW(0x14, ec_ioctl_slave_foe_t)
-#define EC_IOCTL_SLAVE_SOE_READ       EC_IOWR(0x15, ec_ioctl_slave_soe_read_t)
-#define EC_IOCTL_SLAVE_SOE_WRITE      EC_IOWR(0x16, ec_ioctl_slave_soe_write_t)
-#define EC_IOCTL_CONFIG               EC_IOWR(0x17, ec_ioctl_config_t)
-#define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x18, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x19, ec_ioctl_config_pdo_entry_t)
-#define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x1a, ec_ioctl_config_sdo_t)
+#define EC_IOCTL_MASTER_RESCAN          EC_IO(0x0a)
+#define EC_IOCTL_SLAVE_STATE           EC_IOW(0x0b, ec_ioctl_slave_state_t)
+#define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0c, ec_ioctl_slave_sdo_t)
+#define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t)
+#define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t)
+#define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t)
+#define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x10, ec_ioctl_slave_sii_t)
+#define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x11, ec_ioctl_slave_sii_t)
+#define EC_IOCTL_SLAVE_REG_READ       EC_IOWR(0x12, ec_ioctl_slave_reg_t)
+#define EC_IOCTL_SLAVE_REG_WRITE       EC_IOW(0x13, ec_ioctl_slave_reg_t)
+#define EC_IOCTL_SLAVE_FOE_READ       EC_IOWR(0x14, ec_ioctl_slave_foe_t)
+#define EC_IOCTL_SLAVE_FOE_WRITE       EC_IOW(0x15, ec_ioctl_slave_foe_t)
+#define EC_IOCTL_SLAVE_SOE_READ       EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)
+#define EC_IOCTL_SLAVE_SOE_WRITE      EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)
+#define EC_IOCTL_CONFIG               EC_IOWR(0x18, ec_ioctl_config_t)
+#define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x19, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t)
+#define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x1b, ec_ioctl_config_sdo_t)
 #ifdef EC_EOE
-#define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x1b, ec_ioctl_eoe_handler_t)
+#define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x1c, ec_ioctl_eoe_handler_t)
 #endif
 
 // Application interface
-#define EC_IOCTL_REQUEST                EC_IO(0x1c)
-#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x1d)
-#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x1e, ec_ioctl_config_t)
-#define EC_IOCTL_ACTIVATE              EC_IOR(0x1f, size_t)
-#define EC_IOCTL_DEACTIVATE             EC_IO(0x20)
-#define EC_IOCTL_SEND                   EC_IO(0x21)
-#define EC_IOCTL_RECEIVE                EC_IO(0x22)
-#define EC_IOCTL_MASTER_STATE          EC_IOR(0x23, ec_master_state_t)
-#define EC_IOCTL_APP_TIME              EC_IOW(0x24, ec_ioctl_app_time_t)
-#define EC_IOCTL_SYNC_REF               EC_IO(0x25)
-#define EC_IOCTL_SYNC_SLAVES            EC_IO(0x26)
-#define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x27)
-#define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x28, uint32_t)
-#define EC_IOCTL_SC_SYNC               EC_IOW(0x29, ec_ioctl_config_t)
-#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x2a, ec_ioctl_config_t)
-#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x2b, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x2c, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x2d, ec_ioctl_add_pdo_entry_t)
-#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x2e, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x2f, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_DC                 EC_IOW(0x20, ec_ioctl_config_t)
-#define EC_IOCTL_SC_SDO                EC_IOW(0x31, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x32, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SC_VOE               EC_IOWR(0x33, ec_ioctl_voe_t)
-#define EC_IOCTL_SC_STATE             EC_IOWR(0x34, ec_ioctl_sc_state_t)
-#define EC_IOCTL_SC_IDN                EC_IOW(0x35, ec_ioctl_sc_idn_t)
-#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x36)
-#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x37)
-#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x38)
-#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x39, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x3f, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x40, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ              EC_IOW(0x41, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x42, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x43, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x44, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA             EC_IOWR(0x45, ec_ioctl_voe_t)
-#define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x46, size_t)
+#define EC_IOCTL_REQUEST                EC_IO(0x1d)
+#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x1e)
+#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x1f, ec_ioctl_config_t)
+#define EC_IOCTL_ACTIVATE              EC_IOR(0x20, size_t)
+#define EC_IOCTL_DEACTIVATE             EC_IO(0x21)
+#define EC_IOCTL_SEND                   EC_IO(0x22)
+#define EC_IOCTL_RECEIVE                EC_IO(0x23)
+#define EC_IOCTL_MASTER_STATE          EC_IOR(0x24, ec_master_state_t)
+#define EC_IOCTL_APP_TIME              EC_IOW(0x25, ec_ioctl_app_time_t)
+#define EC_IOCTL_SYNC_REF               EC_IO(0x26)
+#define EC_IOCTL_SYNC_SLAVES            EC_IO(0x27)
+#define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x28)
+#define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x29, uint32_t)
+#define EC_IOCTL_SC_SYNC               EC_IOW(0x2a, ec_ioctl_config_t)
+#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x2b, ec_ioctl_config_t)
+#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x2c, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x2d, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x2e, ec_ioctl_add_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x2f, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_DC                 EC_IOW(0x31, ec_ioctl_config_t)
+#define EC_IOCTL_SC_SDO                EC_IOW(0x32, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x33, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SC_VOE               EC_IOWR(0x34, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_STATE             EC_IOWR(0x35, ec_ioctl_sc_state_t)
+#define EC_IOCTL_SC_IDN                EC_IOW(0x36, ec_ioctl_sc_idn_t)
+#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x37)
+#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x38)
+#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x39)
+#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x3a, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x40, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x41, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ              EC_IOW(0x42, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x43, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x44, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x45, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA             EC_IOWR(0x46, ec_ioctl_voe_t)
+#define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x47, size_t)
 
 /*****************************************************************************/
 
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/CommandMaster.cpp
--- a/tool/CommandMaster.cpp	Wed Sep 22 12:28:36 2010 +0200
+++ b/tool/CommandMaster.cpp	Wed Sep 22 15:41:43 2010 +0200
@@ -149,8 +149,8 @@
                     << "      Tx frame rate [1/s]: "
                     << setfill(' ') << setprecision(0) << fixed;
                 for (j = 0; j < EC_RATE_COUNT; j++) {
-                    cout <<
-                        setw(5) << data.devices[i].tx_frame_rates[j] / 1000.0;
+                    cout << setw(ColWidth)
+                        << data.devices[i].tx_frame_rates[j] / 1000.0;
                     if (j < EC_RATE_COUNT - 1) {
                         cout << " ";
                     }
@@ -159,7 +159,7 @@
                     << "      Tx rate [KByte/s]:   "
                     << setprecision(1) << fixed;
                 for (j = 0; j < EC_RATE_COUNT; j++) {
-                    cout << setw(5)
+                    cout << setw(ColWidth)
                         << data.devices[i].tx_byte_rates[j] / 1024.0;
                     if (j < EC_RATE_COUNT - 1) {
                         cout << " ";
@@ -169,7 +169,8 @@
                     << "      Loss rate [1/s]:     "
                     << setprecision(0) << fixed;
                 for (j = 0; j < EC_RATE_COUNT; j++) {
-                    cout << setw(5) << data.devices[i].loss_rates[j] / 1000.0;
+                    cout << setw(ColWidth)
+                        << data.devices[i].loss_rates[j] / 1000.0;
                     if (j < EC_RATE_COUNT - 1) {
                         cout << " ";
                     }
@@ -183,7 +184,7 @@
                         perc = 100.0 * data.devices[i].loss_rates[j] /
                             data.devices[i].tx_frame_rates[j];
                     }
-                    cout << setw(5) << perc;
+                    cout << setw(ColWidth) << perc;
                     if (j < EC_RATE_COUNT - 1) {
                         cout << " ";
                     }
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/CommandMaster.h
--- a/tool/CommandMaster.h	Wed Sep 22 12:28:36 2010 +0200
+++ b/tool/CommandMaster.h	Wed Sep 22 15:41:43 2010 +0200
@@ -42,6 +42,9 @@
 
         string helpString() const;
         void execute(const StringVector &);
+
+    private:
+        enum {ColWidth = 6};
 };
 
 /****************************************************************************/
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/CommandRescan.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandRescan.cpp	Wed Sep 22 15:41:43 2010 +0200
@@ -0,0 +1,85 @@
+/*****************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *  vim: expandtab
+ *
+ ****************************************************************************/
+
+#include <sstream>
+#include <iomanip>
+using namespace std;
+
+#include "CommandRescan.h"
+#include "MasterDevice.h"
+
+/*****************************************************************************/
+
+CommandRescan::CommandRescan():
+    Command("rescan", "Rescan the bus.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandRescan::helpString() const
+{
+    stringstream str;
+
+    str << getName() << endl
+        << endl
+        << getBriefDescription() << endl
+        << endl
+        << "Command a bus rescan. Gathered slave information will be" << endl
+        << "forgotten and slaves will be read in again." << endl
+        << endl;
+
+    return str.str();
+}
+
+/****************************************************************************/
+
+void CommandRescan::execute(const StringVector &args)
+{
+	MasterIndexList masterIndices;
+    
+    if (args.size() != 0) {
+        stringstream err;
+        err << "'" << getName() << "' takes no arguments!";
+        throwInvalidUsageException(err);
+    }
+
+	masterIndices = getMasterIndices();
+    MasterIndexList::const_iterator mi;
+    for (mi = masterIndices.begin();
+            mi != masterIndices.end(); mi++) {
+        MasterDevice m(*mi);
+        m.open(MasterDevice::ReadWrite);
+        m.rescan();
+    }
+}
+
+/*****************************************************************************/
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/CommandRescan.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandRescan.h	Wed Sep 22 15:41:43 2010 +0200
@@ -0,0 +1,49 @@
+/*****************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#ifndef __COMMANDRESCAN_H__
+#define __COMMANDRESCAN_H__
+
+#include "Command.h"
+
+/****************************************************************************/
+
+class CommandRescan:
+    public Command
+{
+    public:
+        CommandRescan();
+
+        string helpString() const;
+        void execute(const StringVector &);
+};
+
+/****************************************************************************/
+
+#endif
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/Makefile.am
--- a/tool/Makefile.am	Wed Sep 22 12:28:36 2010 +0200
+++ b/tool/Makefile.am	Wed Sep 22 15:41:43 2010 +0200
@@ -52,6 +52,7 @@
 	CommandPdos.cpp \
 	CommandRegRead.cpp \
 	CommandRegWrite.cpp \
+	CommandRescan.cpp \
 	CommandSdos.cpp \
 	CommandSiiRead.cpp \
 	CommandSiiWrite.cpp \
@@ -93,6 +94,7 @@
 	CommandPdos.h \
 	CommandRegRead.h \
 	CommandRegWrite.h \
+	CommandRescan.h \
 	CommandSdos.h \
 	CommandSiiRead.h \
 	CommandSiiWrite.h \
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/MasterDevice.cpp
--- a/tool/MasterDevice.cpp	Wed Sep 22 12:28:36 2010 +0200
+++ b/tool/MasterDevice.cpp	Wed Sep 22 15:41:43 2010 +0200
@@ -455,6 +455,17 @@
 
 /****************************************************************************/
 
+void MasterDevice::rescan()
+{
+    if (ioctl(fd, EC_IOCTL_MASTER_RESCAN, 0) < 0) {
+        stringstream err;
+        err << "Failed to command rescan: " << strerror(errno);
+        throw MasterDeviceException(err);
+    }
+}
+
+/****************************************************************************/
+
 void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data)
 {
     if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, data) < 0) {
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/MasterDevice.h
--- a/tool/MasterDevice.h	Wed Sep 22 12:28:36 2010 +0200
+++ b/tool/MasterDevice.h	Wed Sep 22 15:41:43 2010 +0200
@@ -132,6 +132,7 @@
         void readReg(ec_ioctl_slave_reg_t *);
         void writeReg(ec_ioctl_slave_reg_t *);
         void setDebug(unsigned int);
+        void rescan();
         void sdoDownload(ec_ioctl_slave_sdo_download_t *);
         void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
         void requestState(uint16_t, uint8_t);
diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/main.cpp
--- a/tool/main.cpp	Wed Sep 22 12:28:36 2010 +0200
+++ b/tool/main.cpp	Wed Sep 22 15:41:43 2010 +0200
@@ -52,6 +52,7 @@
 #include "CommandPdos.h"
 #include "CommandRegRead.h"
 #include "CommandRegWrite.h"
+#include "CommandRescan.h"
 #include "CommandSdos.h"
 #include "CommandSiiRead.h"
 #include "CommandSiiWrite.h"
@@ -307,6 +308,7 @@
     commandList.push_back(new CommandPdos());
     commandList.push_back(new CommandRegRead());
     commandList.push_back(new CommandRegWrite());
+    commandList.push_back(new CommandRescan());
     commandList.push_back(new CommandSdos());
     commandList.push_back(new CommandSiiRead());
     commandList.push_back(new CommandSiiWrite());