# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1216736240 0
# Node ID b09fd81894cbdd47a9f2ec6d22a725164d295cf5
# Parent  9976f7b9fe663d4a0b7215946ab9d98734651290
Moved every command into a separate file.

diff -r 9976f7b9fe66 -r b09fd81894cb tool/Makefile.am
--- a/tool/Makefile.am	Tue Jul 22 11:38:21 2008 +0000
+++ b/tool/Makefile.am	Tue Jul 22 14:17:20 2008 +0000
@@ -35,8 +35,23 @@
 
 ethercat_SOURCES = \
     MasterDevice.cpp MasterDevice.h \
+	coe_datatypes.cpp \
+	sii_crc.cpp \
     cmd_alias.cpp \
     cmd_config.cpp \
+    cmd_data.cpp \
+    cmd_debug.cpp \
+	cmd_domain.cpp \
+	cmd_master.cpp \
+	cmd_pdos.cpp \
+	cmd_sdos.cpp \
+	cmd_sdo_download.cpp \
+	cmd_sdo_upload.cpp \
+	cmd_slaves.cpp \
+	cmd_sii_read.cpp \
+	cmd_sii_write.cpp \
+	cmd_states.cpp \
+	cmd_xml.cpp \
     main.cpp
 
 ethercat_CXXFLAGS = -I../master -Wall
diff -r 9976f7b9fe66 -r b09fd81894cb tool/MasterDevice.cpp
--- a/tool/MasterDevice.cpp	Tue Jul 22 11:38:21 2008 +0000
+++ b/tool/MasterDevice.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -10,65 +10,13 @@
 #include <sys/ioctl.h>
 
 #include <sstream>
+#include <iomanip>
 using namespace std;
 
-#if 0
-#include <iostream>
-#include <fstream>
-#include <cctype> // toupper()
-#include <list>
-#endif
-
 #include "MasterDevice.h"
 
 /****************************************************************************/
 
-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;
-}
-
-/****************************************************************************/
-
 MasterDevice::MasterDevice()
 {
     index = 0;
@@ -89,848 +37,22 @@
     index = i;
 }
 
-#if 0
-/*****************************************************************************/
-
-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 MasterDeviceException(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 MasterDeviceException(err.str());
-    }
-
-    open(ReadWrite);
-
-    if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
-        stringstream err;
-        err << "Failed to set debug level: " << strerror(errno);
-        throw MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(err.str());
-    }
-    data.slave_position = slavePosition;
-
-    if (commandArgs.size() != 3) {
-        err << "'sdo_download' takes 3 arguments!";
-        throw MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(err.str());
-    }
-    data.sdo_entry_subindex = number;
-
-    if (dataTypeStr != "") { // data type specified
-        if (!(dataType = findDataType(dataTypeStr))) {
-            err << "Invalid data type '" << dataTypeStr << "'!";
-            throw MasterDeviceException(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 (MasterDeviceException &e) {
-            err << "Failed to determine Sdo entry data type. "
-                << "Please specify --type.";
-            throw MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(err.str());
-        }
-    } catch (ios::failure &e) {
-        delete [] data.data;
-        err << "Invalid value argument '" << commandArgs[2]
-            << "' for type '" << dataType->name << "'!";
-        throw MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(err.str());
-    }
-    data.slave_position = slavePosition;
-
-    if (commandArgs.size() != 2) {
-        stringstream err;
-        err << "'sdo_upload' takes two arguments!";
-        throw MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(err.str());
-    }
-    data.sdo_entry_subindex = uval;
-
-    if (dataTypeStr != "") { // data type specified
-        if (!(dataType = findDataType(dataTypeStr))) {
-            stringstream err;
-            err << "Invalid data type '" << dataTypeStr << "'!";
-            throw MasterDeviceException(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 (MasterDeviceException &e) {
-            stringstream err;
-            err << "Failed to determine Sdo entry data type. "
-                << "Please specify --type.";
-            throw MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(err.str());
-    }
-    data.slave_position = slavePosition;
-
-    if (commandArgs.size() != 1) {
-        err << "'ssi_write' takes exactly one argument!";
-        throw MasterDeviceException(err.str());
-    }
-
-    file.open(commandArgs[0].c_str(), ifstream::in | ifstream::binary);
-    if (file.fail()) {
-        err << "Failed to open '" << commandArgs[0] << "'!";
-        throw MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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);
-    }
-}
-
-#endif
 /****************************************************************************/
 
 void MasterDevice::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 MasterDeviceException(err.str());
+    if (fd == -1) { // not already open
+		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 MasterDeviceException(err.str());
+		}
     }
 }
 
@@ -938,710 +60,12 @@
 
 void MasterDevice::close()
 {
-    if (fd == -1)
-        return;
-
-    ::close(fd);
-    fd = -1;
-}
-
-#if 0
-
-/*****************************************************************************/
-
-/** 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 (MasterDeviceException &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 (MasterDeviceException &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 MasterDeviceException(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;
-}
-#endif
+    if (fd != -1) {
+		::close(fd);
+		fd = -1;
+	}
+}
+
 /****************************************************************************/
 
 unsigned int MasterDevice::slaveCount()
@@ -1755,8 +179,8 @@
 
 /****************************************************************************/
 
-void MasterDevice::getData(ec_ioctl_domain_data_t *data, unsigned int domainIndex,
-        unsigned int dataSize, unsigned char *mem)
+void MasterDevice::getData(ec_ioctl_domain_data_t *data,
+        unsigned int domainIndex, unsigned int dataSize, unsigned char *mem)
 {
     data->domain_index = domainIndex;
     data->data_size = dataSize;
@@ -1799,13 +223,7 @@
 
     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);
+        err << "Failed to get domain FMMU: " << strerror(errno);
         throw MasterDeviceException(err.str());
     }
 }
@@ -1823,13 +241,7 @@
 
     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);
+        err << "Failed to get sync manager: " << strerror(errno);
         throw MasterDeviceException(err.str());
     }
 }
@@ -1849,15 +261,7 @@
 
     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);
+        err << "Failed to get Pdo: " << strerror(errno);
         throw MasterDeviceException(err.str());
     }
 }
@@ -1879,17 +283,7 @@
 
     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);
+        err << "Failed to get Pdo entry: " << strerror(errno);
         throw MasterDeviceException(err.str());
     }
 }
@@ -1907,13 +301,7 @@
 
     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);
+        err << "Failed to get Sdo: " << strerror(errno);
         throw MasterDeviceException(err.str());
     }
 }
@@ -1933,8 +321,7 @@
 
     if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
         stringstream err;
-        err << "Failed to get Sdo entry: ";
-        err << strerror(errno);
+        err << "Failed to get Sdo entry: " << strerror(errno);
         throw MasterDeviceException(err.str());
     }
 }
@@ -1967,7 +354,51 @@
 
 /****************************************************************************/
 
-#if 0
+void MasterDevice::setDebug(unsigned int debugLevel)
+{
+    if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
+        stringstream err;
+        err << "Failed to set debug level: " << strerror(errno);
+        throw MasterDeviceException(err.str());
+	}
+}
+
+/****************************************************************************/
+
+void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data)
+{
+    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);
+        }
+        throw MasterDeviceException(err.str());
+	}
+}
+
+/****************************************************************************/
+
+void MasterDevice::sdoUpload(ec_ioctl_slave_sdo_upload_t *data)
+{
+    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);
+        }
+        throw MasterDeviceException(err.str());
+    }
+}
+
+/****************************************************************************/
+
 void MasterDevice::requestState(
         uint16_t slavePosition,
         uint8_t state
@@ -1989,33 +420,4 @@
     }
 }
 
-/****************************************************************************/
-
-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;
-}
-
-#endif
 /*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/MasterDevice.h
--- a/tool/MasterDevice.h	Tue Jul 22 11:38:21 2008 +0000
+++ b/tool/MasterDevice.h	Tue Jul 22 14:17:20 2008 +0000
@@ -8,9 +8,6 @@
 #define __EC_MASTER_H__
 
 #include <stdexcept>
-#include <string>
-#include <vector>
-#include <list>
 using namespace std;
 
 #include "../include/ecrt.h"
@@ -64,27 +61,12 @@
         void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);
         void readSii(ec_ioctl_slave_sii_t *);
         void writeSii(ec_ioctl_slave_sii_t *);
+		void setDebug(unsigned int);
+		void sdoDownload(ec_ioctl_slave_sdo_download_t *);
+		void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
+		void requestState(uint16_t, uint8_t);
 
-    protected:
-#if 0
-        void outputDomainData(unsigned int);
-        enum {BreakAfterBytes = 16};
-        void showDomain(unsigned int);
-        void listSlavePdos(uint16_t, bool = false);
-        void listSlaveSdos(uint16_t, bool = false);
-        void listSlaves(int);
-        void showSlave(uint16_t);
-        void generateSlaveXml(uint16_t);
-        void requestState(uint16_t, uint8_t);
-
-        static string slaveState(uint8_t);
-        static void printRawData(const uint8_t *, unsigned int);
-        static uint8_t calcSiiCrc(const uint8_t *, unsigned int);
-#endif
-        
     private:
-        //enum {DefaultBufferSize = 1024};
-
         unsigned int index;
         int fd;
 };
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_alias.cpp
--- a/tool/cmd_alias.cpp	Tue Jul 22 11:38:21 2008 +0000
+++ b/tool/cmd_alias.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -10,6 +10,7 @@
 using namespace std;
 
 #include "globals.h"
+#include "sii_crc.h"
 
 /*****************************************************************************/
 
@@ -82,47 +83,6 @@
 
 /*****************************************************************************/
 
-/** 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 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;
-}
-
-/*****************************************************************************/
-
 /** Writes the Secondary slave address (alias) to the slave's SII.
  */
 void writeSlaveAlias(
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_data.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_data.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,78 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+using namespace std;
+
+#include "globals.h"
+
+/*****************************************************************************/
+
+const char *help_data =
+    "[OPTIONS]\n"
+    "\n"
+    "Output binary domain data.\n"
+    "\n"
+    "Command-specific options:\n"
+    "  --domain -d <index> Positive numerical domain index. If this option\n"
+    "                      is not specified, data of all domains are\n"
+    "                      output.\n";
+
+/****************************************************************************/
+
+void outputDomainData(unsigned int);
+
+/****************************************************************************/
+
+void command_data()
+{
+    masterDev.open(MasterDevice::Read);
+
+    if (domainIndex == -1) {
+        unsigned int i;
+        ec_ioctl_master_t master;
+
+        masterDev.getMaster(&master);
+
+        for (i = 0; i < master.domain_count; i++) {
+            outputDomainData(i);
+        }
+    } else {
+        outputDomainData(domainIndex);
+    }
+}
+
+/****************************************************************************/
+
+void outputDomainData(unsigned int domainIndex)
+{
+    ec_ioctl_domain_t domain;
+    ec_ioctl_domain_data_t data;
+    unsigned char *processData;
+    unsigned int i;
+    
+    masterDev.getDomain(&domain, domainIndex);
+
+    if (!domain.data_size)
+        return;
+
+    processData = new unsigned char[domain.data_size];
+
+    try {
+        masterDev.getData(&data, domainIndex, domain.data_size, processData);
+    } catch (MasterDeviceException &e) {
+        delete [] processData;
+        throw e;
+    }
+
+    for (i = 0; i < data.data_size; i++)
+        cout << processData[i];
+    cout.flush();
+
+    delete [] processData;
+}
+
+/****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_debug.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_debug.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,48 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <sstream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+
+/*****************************************************************************/
+
+const char *help_debug =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+void command_debug(void)
+{
+    stringstream str;
+    int debugLevel;
+    
+    if (commandArgs.size() != 1) {
+        stringstream err;
+        err << "'debug' takes exactly one argument!";
+        throw MasterDeviceException(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 MasterDeviceException(err.str());
+    }
+
+    masterDev.open(MasterDevice::ReadWrite);
+    masterDev.setDebug(debugLevel);
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_domain.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_domain.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,115 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+
+/*****************************************************************************/
+
+const char *help_domains =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+void showDomain(unsigned int);
+
+/****************************************************************************/
+
+void command_domains(void)
+{
+    masterDev.open(MasterDevice::Read);
+
+    if (domainIndex == -1) {
+        unsigned int i;
+        ec_ioctl_master_t master;
+
+        masterDev.getMaster(&master);
+
+        for (i = 0; i < master.domain_count; i++) {
+            showDomain(i);
+        }
+    } else {
+        showDomain(domainIndex);
+    }
+}
+
+/****************************************************************************/
+
+void 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;
+    
+    masterDev.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 {
+        masterDev.getData(&data, domainIndex, domain.data_size, processData);
+    } catch (MasterDeviceException &e) {
+        delete [] processData;
+        throw e;
+    }
+
+    for (i = 0; i < domain.fmmu_count; i++) {
+        masterDev.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 MasterDeviceException(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;
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_master.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_master.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,74 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+
+/****************************************************************************/
+
+const char *help_master =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+void command_master(void)
+{
+    ec_ioctl_master_t data;
+    stringstream err;
+    unsigned int i;
+    
+    masterDev.open(MasterDevice::Read);
+    masterDev.getMaster(&data);
+
+    cout
+        << "Master" << masterIndex << 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 MasterDeviceException(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;
+    }
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_pdos.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_pdos.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,98 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+
+/****************************************************************************/
+
+const char *help_pdos =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+	
+void listSlavePdos(uint16_t, bool);
+
+/****************************************************************************/
+
+void command_pdos(void)
+{
+    masterDev.open(MasterDevice::Read);
+
+    if (slavePosition == -1) {
+        unsigned int numSlaves = masterDev.slaveCount(), i;
+
+        for (i = 0; i < numSlaves; i++) {
+            listSlavePdos(i, true);
+        }
+    } else {
+        listSlavePdos(slavePosition, false);
+    }
+}
+
+/****************************************************************************/
+
+void listSlavePdos(uint16_t slavePosition, bool withHeader)
+{
+    ec_ioctl_slave_t slave;
+    ec_ioctl_slave_sync_t sync;
+    ec_ioctl_slave_sync_pdo_t pdo;
+    ec_ioctl_slave_sync_pdo_entry_t entry;
+    unsigned int i, j, k;
+    
+    masterDev.getSlave(&slave, slavePosition);
+
+    if (withHeader)
+        cout << "=== Slave " << slavePosition << " ===" << endl;
+
+    for (i = 0; i < slave.sync_count; i++) {
+        masterDev.getSync(&sync, slavePosition, i);
+
+        cout << "SM" << i << ":"
+            << " PhysAddr 0x"
+            << hex << setfill('0')
+            << setw(4) << sync.physical_start_address
+            << ", DefaultSize "
+            << dec << setfill(' ') << setw(4) << sync.default_size
+            << ", ControlRegister 0x"
+            << hex << setfill('0') << setw(2)
+            << (unsigned int) sync.control_register
+            << ", Enable " << dec << (unsigned int) sync.enable
+            << endl;
+
+        for (j = 0; j < sync.pdo_count; j++) {
+            masterDev.getPdo(&pdo, slavePosition, i, j);
+
+            cout << "  " << (sync.control_register & 0x04 ? "R" : "T")
+                << "xPdo 0x"
+                << hex << setfill('0')
+                << setw(4) << pdo.index
+                << " \"" << pdo.name << "\"" << endl;
+
+            if (verbosity == Quiet)
+                continue;
+
+            for (k = 0; k < pdo.entry_count; k++) {
+                masterDev.getPdoEntry(&entry, slavePosition, i, j, k);
+
+                cout << "    Pdo entry 0x"
+                    << hex << setfill('0')
+                    << setw(4) << entry.index
+                    << ":" << setw(2) << (unsigned int) entry.subindex
+                    << ", " << dec << (unsigned int) entry.bit_length
+                    << " bit, \"" << entry.name << "\"" << endl;
+            }
+        }
+    }
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_sdo_download.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_sdo_download.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,180 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+#include "coe_datatypes.h"
+
+/****************************************************************************/
+
+const char *help_sdo_download =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+void command_sdo_download(void)
+{
+    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 MasterDeviceException(err.str());
+    }
+    data.slave_position = slavePosition;
+
+    if (commandArgs.size() != 3) {
+        err << "'sdo_download' takes 3 arguments!";
+        throw MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(err.str());
+    }
+    data.sdo_entry_subindex = number;
+
+    if (dataTypeStr != "") { // data type specified
+        if (!(dataType = findDataType(dataTypeStr))) {
+            err << "Invalid data type '" << dataTypeStr << "'!";
+            throw MasterDeviceException(err.str());
+        }
+    } else { // no data type specified: fetch from dictionary
+        ec_ioctl_slave_sdo_entry_t entry;
+
+        masterDev.open(MasterDevice::ReadWrite);
+
+        try {
+            masterDev.getSdoEntry(&entry, slavePosition,
+                    data.sdo_index, data.sdo_entry_subindex);
+        } catch (MasterDeviceException &e) {
+            err << "Failed to determine Sdo entry data type. "
+                << "Please specify --type.";
+            throw ExecutionFailureException(err);
+        }
+        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 ExecutionFailureException(err);
+        }
+    }
+
+    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 MasterDeviceException(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 MasterDeviceException(err.str());
+        }
+    } catch (ios::failure &e) {
+        delete [] data.data;
+        err << "Invalid value argument '" << commandArgs[2]
+            << "' for type '" << dataType->name << "'!";
+        throw MasterDeviceException(err.str());
+    }
+
+    masterDev.open(MasterDevice::ReadWrite);
+
+	try {
+		masterDev.sdoDownload(&data);
+	} catch(MasterDeviceException &e) {
+        delete [] data.data;
+        throw e;
+    }
+
+    delete [] data.data;
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_sdo_upload.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_sdo_upload.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,160 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+#include "coe_datatypes.h"
+
+/****************************************************************************/
+
+const char *help_sdo_upload =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+void command_sdo_upload(void)
+{
+    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 MasterDeviceException(err.str());
+    }
+    data.slave_position = slavePosition;
+
+    if (commandArgs.size() != 2) {
+        stringstream err;
+        err << "'sdo_upload' takes two arguments!";
+        throw MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(err.str());
+    }
+    data.sdo_entry_subindex = uval;
+
+    if (dataTypeStr != "") { // data type specified
+        if (!(dataType = findDataType(dataTypeStr))) {
+            stringstream err;
+            err << "Invalid data type '" << dataTypeStr << "'!";
+            throw MasterDeviceException(err.str());
+        }
+    } else { // no data type specified: fetch from dictionary
+        ec_ioctl_slave_sdo_entry_t entry;
+
+        masterDev.open(MasterDevice::Read);
+
+        try {
+            masterDev.getSdoEntry(&entry, slavePosition,
+                    data.sdo_index, data.sdo_entry_subindex);
+        } catch (MasterDeviceException &e) {
+            stringstream err;
+            err << "Failed to determine Sdo entry data type. "
+                << "Please specify --type.";
+            throw ExecutionFailureException(err);
+        }
+        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 ExecutionFailureException(err);
+        }
+    }
+
+    if (dataType->byteSize) {
+        data.target_size = dataType->byteSize;
+    } else {
+        data.target_size = DefaultBufferSize;
+    }
+
+    data.target = new uint8_t[data.target_size + 1];
+
+    masterDev.open(MasterDevice::Read);
+
+	try {
+		masterDev.sdoUpload(&data);
+	} catch (MasterDeviceException &e) {
+        delete [] data.target;
+        throw e;
+    }
+
+    masterDev.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 MasterDeviceException(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;
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_sdos.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_sdos.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,92 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+#include "coe_datatypes.h"
+
+/****************************************************************************/
+
+const char *help_sdos =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+void listSlaveSdos(uint16_t, bool);
+
+/****************************************************************************/
+
+void command_sdos(void)
+{
+    masterDev.open(MasterDevice::Read);
+
+    if (slavePosition == -1) {
+        unsigned int numSlaves = masterDev.slaveCount(), i;
+
+        for (i = 0; i < numSlaves; i++) {
+            listSlaveSdos(i, true);
+        }
+    } else {
+        listSlaveSdos(slavePosition, false);
+    }
+}
+
+/****************************************************************************/
+
+void 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;
+    
+    masterDev.getSlave(&slave, slavePosition);
+
+    if (withHeader)
+        cout << "=== Slave " << slavePosition << " ===" << endl;
+
+    for (i = 0; i < slave.sdo_count; i++) {
+        masterDev.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++) {
+            masterDev.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;
+        }
+    }
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_sii_read.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_sii_read.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,157 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+
+/****************************************************************************/
+
+const char *help_sii_read =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+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 command_sii_read(void)
+{
+    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 MasterDeviceException(err.str());
+    }
+    data.slave_position = slavePosition;
+
+    masterDev.open(MasterDevice::Read);
+
+    masterDev.getSlave(&slave, slavePosition);
+
+    if (!slave.sii_nwords)
+        return;
+
+    data.offset = 0;
+    data.nwords = slave.sii_nwords;
+    data.words = new uint16_t[data.nwords];
+
+	try {
+		masterDev.readSii(&data);
+	} catch (MasterDeviceException &e) {
+        delete [] data.words;
+		throw e;
+	}
+
+    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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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;
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_sii_write.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_sii_write.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,112 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+#include <fstream>
+using namespace std;
+
+#include "globals.h"
+#include "sii_crc.h"
+
+/****************************************************************************/
+
+const char *help_sii_write =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+void command_sii_write(void)
+{
+    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 MasterDeviceException(err.str());
+    }
+    data.slave_position = slavePosition;
+
+    if (commandArgs.size() != 1) {
+        err << "'ssi_write' takes exactly one argument!";
+        throw MasterDeviceException(err.str());
+    }
+
+    file.open(commandArgs[0].c_str(), ifstream::in | ifstream::binary);
+    if (file.fail()) {
+        err << "Failed to open '" << commandArgs[0] << "'!";
+        throw MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(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 MasterDeviceException(err.str());
+            }
+            categoryHeader += 2 + categorySize;
+            categoryType = le16tocpu(*categoryHeader);
+        }
+    }
+
+    // send data to master
+    masterDev.open(MasterDevice::ReadWrite);
+    data.offset = 0;
+	masterDev.writeSii(&data);
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_slaves.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_slaves.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,254 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+#include <list>
+using namespace std;
+
+#include "globals.h"
+
+/****************************************************************************/
+
+const char *help_slaves =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+void listSlaves(int);
+void showSlave(uint16_t);
+
+/****************************************************************************/
+
+void command_slaves()
+{
+    masterDev.open(MasterDevice::Read);
+
+    if (verbosity == Verbose) {
+        if (slavePosition == -1) {
+            unsigned int numSlaves = masterDev.slaveCount(), i;
+
+            for (i = 0; i < numSlaves; i++) {
+                showSlave(i);
+            }
+        } else {
+            showSlave(slavePosition);
+        }
+    } else {
+        listSlaves(slavePosition);
+    }
+}
+
+/****************************************************************************/
+
+string slaveState(uint8_t state)
+{
+    switch (state) {
+        case 1: return "INIT";
+        case 2: return "PREOP";
+        case 4: return "SAFEOP";
+        case 8: return "OP";
+        default: return "???";
+    }
+}
+
+/****************************************************************************/
+
+struct SlaveInfo {
+    string pos;
+    string alias;
+    string relPos;
+    string state;
+    string flag;
+    string name;
+};
+
+void 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;
+    
+    numSlaves = masterDev.slaveCount();
+
+    lastAlias = 0;
+    aliasIndex = 0;
+    for (i = 0; i < numSlaves; i++) {
+        masterDev.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 showSlave(uint16_t slavePosition)
+{
+    ec_ioctl_slave_t slave;
+    list<string> protoList;
+    list<string>::const_iterator protoIter;
+    
+    masterDev.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;
+    }
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_states.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_states.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,62 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+using namespace std;
+
+#include "globals.h"
+
+/****************************************************************************/
+
+const char *help_states =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+void command_states(void)
+{
+    string stateStr;
+    uint8_t state;
+    
+    if (commandArgs.size() != 1) {
+        stringstream err;
+        err << "'state' takes exactly one argument!";
+        throw MasterDeviceException(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 MasterDeviceException(err.str());
+    }
+
+    masterDev.open(MasterDevice::ReadWrite);
+
+    if (slavePosition == -1) {
+        unsigned int i, numSlaves = masterDev.slaveCount();
+        for (i = 0; i < numSlaves; i++)
+            masterDev.requestState(i, state);
+    } else {
+        masterDev.requestState(slavePosition, state);
+    }
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/cmd_xml.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_xml.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,161 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+
+/****************************************************************************/
+
+const char *help_xml =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+void generateSlaveXml(uint16_t);
+
+/****************************************************************************/
+
+void command_xml(void)
+{
+    masterDev.open(MasterDevice::Read);
+
+    if (slavePosition == -1) {
+        unsigned int numSlaves = masterDev.slaveCount(), i;
+
+        for (i = 0; i < numSlaves; i++) {
+            generateSlaveXml(i);
+        }
+    } else {
+        generateSlaveXml(slavePosition);
+    }
+}
+
+/****************************************************************************/
+
+void 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;
+    
+    masterDev.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++) {
+        masterDev.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++) {
+        masterDev.getSync(&sync, slavePosition, i);
+
+        for (j = 0; j < sync.pdo_count; j++) {
+            masterDev.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++) {
+                masterDev.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;
+}
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/coe_datatypes.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/coe_datatypes.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,49 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include "coe_datatypes.h"
+
+/****************************************************************************/
+
+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;
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/coe_datatypes.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/coe_datatypes.h	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,25 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <inttypes.h>
+
+#include <string>
+using namespace std;
+
+/****************************************************************************/
+
+struct CoEDataType {
+    const char *name;
+    uint16_t coeCode;
+    unsigned int byteSize;
+};
+
+/****************************************************************************/
+
+const CoEDataType *findDataType(const string &);
+const CoEDataType *findDataType(uint16_t);
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/globals.h
--- a/tool/globals.h	Tue Jul 22 11:38:21 2008 +0000
+++ b/tool/globals.h	Tue Jul 22 14:17:20 2008 +0000
@@ -22,6 +22,7 @@
 };
 
 extern string commandName;
+extern unsigned int masterIndex;
 extern int slavePosition;
 extern int domainIndex;
 extern vector<string> commandArgs;
@@ -87,3 +88,10 @@
 #endif
 
 /****************************************************************************/
+
+enum {BreakAfterBytes = 16};
+enum {DefaultBufferSize = 1024};
+
+void printRawData(const uint8_t *, unsigned int);
+
+/****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/main.cpp
--- a/tool/main.cpp	Tue Jul 22 11:38:21 2008 +0000
+++ b/tool/main.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -8,8 +8,10 @@
 #include <libgen.h> // basename()
 
 #include <iostream>
+#include <iomanip>
 #include <string>
 #include <vector>
+#include <list>
 using namespace std;
 
 #include "globals.h"
@@ -36,6 +38,7 @@
     const char *name;
     void (*func)(void);
     const char *helpString;
+    const char *briefDesc;
 
     int execute(void) const;
     void displayHelp(void) const;
@@ -43,72 +46,73 @@
 
 /*****************************************************************************/
 
-#define COMMAND(name) \
+#define DEFINE_EXTERN_COMMAND(name) \
     void command_##name(void); \
     extern const char *help_##name
 
-#define INIT_COMMAND(name) {#name, command_##name, help_##name}
-
-COMMAND(alias);
-COMMAND(config);
+#define INIT_COMMAND(name, desc) \
+    {#name, command_##name, help_##name, desc}
+
+DEFINE_EXTERN_COMMAND(alias);
+DEFINE_EXTERN_COMMAND(config);
+DEFINE_EXTERN_COMMAND(data);
+DEFINE_EXTERN_COMMAND(debug);
+DEFINE_EXTERN_COMMAND(domains);
+DEFINE_EXTERN_COMMAND(master);
+DEFINE_EXTERN_COMMAND(pdos);
+DEFINE_EXTERN_COMMAND(sdos);
+DEFINE_EXTERN_COMMAND(sdo_download);
+DEFINE_EXTERN_COMMAND(sdo_upload);
+DEFINE_EXTERN_COMMAND(slaves);
+DEFINE_EXTERN_COMMAND(sii_read);
+DEFINE_EXTERN_COMMAND(sii_write);
+DEFINE_EXTERN_COMMAND(states);
+DEFINE_EXTERN_COMMAND(xml);
 
 static const Command commands[] = {
-    INIT_COMMAND(alias),
-    INIT_COMMAND(config),
+    INIT_COMMAND(alias, "Write alias addresses."),
+    INIT_COMMAND(config, "Show bus configuration."),
+    INIT_COMMAND(data, "Output binary domain process data."),
+    INIT_COMMAND(debug, "Set the master's debug level."),
+    INIT_COMMAND(domains, "Show domain information."),
+    INIT_COMMAND(master, "Show master information."),
+    INIT_COMMAND(pdos, "List Pdo assignment/mapping."),
+    INIT_COMMAND(sdos, "List Sdo dictionaries."),
+    INIT_COMMAND(sdo_download, "Write an Sdo entry."),
+    INIT_COMMAND(sdo_upload, "Read an Sdo entry."),
+    INIT_COMMAND(slaves, "Show slaves."),
+    INIT_COMMAND(sii_read, "Output a slave's SII contents."),
+    INIT_COMMAND(sii_write, "Write slave's SII contents."),
+    INIT_COMMAND(states, "Request slave states."),
+    INIT_COMMAND(xml, "Generate slave information xmls."),
 };
 
-#if 0
-        } else if (command == "data") {
-            master.outputData(domainIndex);
-        } else if (command == "debug") {
-            master.setDebug(commandArgs);
-        } else if (command == "domain") {
-            master.showDomains(domainIndex);
-		} else if (command == "master") {
-            master.showMaster();
-        } else if (command == "pdos") {
-            master.listPdos(slavePosition);
-        } else if (command == "sdos") {
-            master.listSdos(slavePosition);
-        } else if (command == "sdo_download" || command == "sd") {
-            master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
-        } else if (command == "sdo_upload" || command == "su") {
-            master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
-		} else if (command == "slave" || command == "slaves"
-                || command == "list" || command == "ls") {
-            master.showSlaves(slavePosition);
-        } else if (command == "sii_read" || command == "sr") {
-            master.siiRead(slavePosition);
-        } else if (command == "sii_write" || command == "sw") {
-            master.siiWrite(slavePosition, force, commandArgs);
-        } else if (command == "state") {
-            master.requestStates(slavePosition, commandArgs);
-        } else if (command == "xml") {
-            master.generateXml(slavePosition);
-#endif
+static const Command *cmdEnd = commands + sizeof(commands) / sizeof(Command);
 
 /*****************************************************************************/
 
 void printUsage()
 {
+    const Command *cmd;
+    size_t maxWidth = 0;
+
+    for (cmd = commands; cmd < cmdEnd; cmd++) {
+        if (strlen(cmd->name) > maxWidth) {
+            maxWidth = strlen(cmd->name);
+        }
+    }
+
     cerr
         << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS]" << endl
-		<< "Commands:" << endl
-        << "  alias         Write alias addresses." << endl
-        << "  config        Show bus configuration." << endl
-        << "  data          Output binary domain process data." << endl
-        << "  debug         Set the master's debug level." << endl
-        << "  domain        Show domain information." << endl
-        << "  master        Show master information." << endl
-        << "  pdos          List Pdo assignment/mapping." << endl
-        << "  sdo_download  Write an Sdo entry." << endl
-        << "  sdos          List Sdo dictionaries." << endl
-        << "  sdo_upload    Read an Sdo entry." << endl
-        << "  sii_read      Output a slave's SII contents." << endl
-        << "  sii_write     Write slave's SII contents." << endl
-        << "  slaves        Show slaves." << endl
-        << "  state         Request slave states." << endl
-        << "  xml           Generate slave information xmls." << endl
+		<< "Commands:" << endl;
+
+    cerr << left;
+    for (cmd = commands; cmd < cmdEnd; cmd++) {
+        cerr << "  " << setw(maxWidth) << cmd->name
+            << " " << cmd->briefDesc << endl;
+    }
+
+    cerr
         << "Commands can be generously abbreviated." << endl
 		<< "Global options:" << endl
         << "  --master  -m <master>  Index of the master to use. Default: 0"
@@ -117,8 +121,6 @@
         << endl
         << "                         or 'all' for all slaves (default)."
         << endl
-        << "  --domain  -d <index>   Positive numerical index,"
-        << endl
         << "                         or 'all' for all domains (default)."
         << endl
         << "  --type    -t <type>    Forced Sdo data type." << endl
@@ -289,12 +291,11 @@
 
 list<const Command *> getMatchingCommands(const string &cmdStr)
 {
-    const Command *cmd, *endCmd =
-        commands + sizeof(commands) / sizeof(Command);
+    const Command *cmd;
     list<const Command *> res;
 
     // find matching commands
-    for (cmd = commands; cmd < endCmd; cmd++) {
+    for (cmd = commands; cmd < cmdEnd; cmd++) {
         if (abbrevMatch(cmdStr, cmd->name)) {
             res.push_back(cmd);
         }
@@ -345,3 +346,19 @@
 }
 
 /****************************************************************************/
+
+void 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;
+}
+
+/****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/sii_crc.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/sii_crc.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,50 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include "sii_crc.h"
+
+/*****************************************************************************/
+
+/** 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 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;
+}
+
+/*****************************************************************************/
diff -r 9976f7b9fe66 -r b09fd81894cb tool/sii_crc.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/sii_crc.h	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,11 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+
+uint8_t calcSiiCrc(const uint8_t *, size_t);
+
+/*****************************************************************************/