Rescan command.
authorFlorian Pose <fp@igh-essen.com>
Thu, 16 Sep 2010 09:08:11 +0200
changeset 1961 48f536aefc18
parent 1960 6c4269dca1c2
child 1963 6aaf77798445
Rescan command.
TODO
master/cdev.c
master/fsm_master.c
master/fsm_master.h
master/ioctl.h
tool/CommandRescan.cpp
tool/CommandRescan.h
tool/Makefile.am
tool/MasterDevice.cpp
tool/MasterDevice.h
tool/main.cpp
--- a/TODO	Thu Sep 16 08:41:19 2010 +0200
+++ b/TODO	Thu Sep 16 09:08:11 2010 +0200
@@ -13,7 +13,6 @@
 * Ethernet drivers:
     - Fix link detection in generic driver.
     - Add native drivers from 2.6.24 up to 2.6.31.
-* Rescan command.
 * Change SDO index at runtime for SDO request.
 * Output skipped datagrams again.
 * Output warning when send_ext() is called in illegal context.
--- a/master/cdev.c	Thu Sep 16 08:41:19 2010 +0200
+++ b/master/cdev.c	Thu Sep 16 09:08:11 2010 +0200
@@ -659,6 +659,19 @@
 
 /*****************************************************************************/
 
+/** Issue a bus scan.
+ */
+int ec_cdev_ioctl_master_rescan(
+        ec_master_t *master, /**< EtherCAT master. */
+        unsigned long arg /**< ioctl() argument. */
+        )
+{
+    master->fsm.rescan_required = 1;
+    return 0;
+}
+
+/*****************************************************************************/
+
 /** Set slave state.
  */
 int ec_cdev_ioctl_slave_state(
@@ -3579,6 +3592,10 @@
             if (!(filp->f_mode & FMODE_WRITE))
                 return -EPERM;
             return ec_cdev_ioctl_master_debug(master, arg);
+        case EC_IOCTL_MASTER_RESCAN:
+            if (!(filp->f_mode & FMODE_WRITE))
+                return -EPERM;
+            return ec_cdev_ioctl_master_rescan(master, arg);
         case EC_IOCTL_SLAVE_STATE:
             if (!(filp->f_mode & FMODE_WRITE))
                 return -EPERM;
--- a/master/fsm_master.c	Thu Sep 16 08:41:19 2010 +0200
+++ b/master/fsm_master.c	Thu Sep 16 09:08:11 2010 +0200
@@ -85,7 +85,7 @@
     fsm->idle = 0;
     fsm->link_state = 0;
     fsm->slaves_responding = 0;
-    fsm->topology_change_pending = 0;
+    fsm->rescan_required = 0;
     fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
 
     // init sub-state-machines
@@ -201,7 +201,7 @@
 
     // bus topology change?
     if (datagram->working_counter != fsm->slaves_responding) {
-        fsm->topology_change_pending = 1;
+        fsm->rescan_required = 1;
         fsm->slaves_responding = datagram->working_counter;
         EC_MASTER_INFO(master, "%u slave(s) responding.\n",
                 fsm->slaves_responding);
@@ -237,7 +237,7 @@
         fsm->slave_states = 0x00;
     }
 
-    if (fsm->topology_change_pending) {
+    if (fsm->rescan_required) {
         down(&master->scan_sem);
         if (!master->allow_scan) {
             up(&master->scan_sem);
@@ -245,9 +245,8 @@
             master->scan_busy = 1;
             up(&master->scan_sem);
 
-            // topology change when scan is allowed:
             // clear all slaves and scan the bus
-            fsm->topology_change_pending = 0;
+            fsm->rescan_required = 0;
             fsm->idle = 0;
             fsm->scan_jiffies = jiffies;
 
@@ -630,7 +629,7 @@
             slave->error_flag = 1;
             EC_SLAVE_DBG(slave, 1, "Slave did not respond to state query.\n");
         }
-        fsm->topology_change_pending = 1;
+        fsm->rescan_required = 1;
         ec_fsm_master_restart(fsm);
         return;
     }
--- a/master/fsm_master.h	Thu Sep 16 08:41:19 2010 +0200
+++ b/master/fsm_master.h	Thu Sep 16 09:08:11 2010 +0200
@@ -119,7 +119,7 @@
     unsigned long scan_jiffies; /**< beginning of slave scanning */
     uint8_t link_state; /**< Last main device link state. */
     unsigned int slaves_responding; /**< number of responding slaves */
-    unsigned int topology_change_pending; /**< bus topology changed */
+    unsigned int rescan_required; /**< A bus rescan is required. */
     ec_slave_state_t slave_states; /**< states of responding slaves */
     ec_slave_t *slave; /**< current slave */
     ec_sii_write_request_t *sii_request; /**< SII write request */
--- a/master/ioctl.h	Thu Sep 16 08:41:19 2010 +0200
+++ b/master/ioctl.h	Thu Sep 16 09:08:11 2010 +0200
@@ -56,7 +56,7 @@
  *
  * Increment this when changing the ioctl interface!
  */
-#define EC_IOCTL_VERSION_MAGIC 6
+#define EC_IOCTL_VERSION_MAGIC 7
 
 // Command-line tool
 #define EC_IOCTL_MODULE                EC_IOR(0x00, ec_ioctl_module_t)
@@ -69,71 +69,72 @@
 #define EC_IOCTL_DOMAIN_FMMU          EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)
 #define EC_IOCTL_DOMAIN_DATA          EC_IOWR(0x08, ec_ioctl_domain_data_t)
 #define EC_IOCTL_MASTER_DEBUG           EC_IO(0x09)
-#define EC_IOCTL_SLAVE_STATE           EC_IOW(0x0a, ec_ioctl_slave_state_t)
-#define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0b, ec_ioctl_slave_sdo_t)
-#define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0c, ec_ioctl_slave_sdo_entry_t)
-#define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0d, ec_ioctl_slave_sdo_upload_t)
-#define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0e, ec_ioctl_slave_sdo_download_t)
-#define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x0f, ec_ioctl_slave_sii_t)
-#define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x10, ec_ioctl_slave_sii_t)
-#define EC_IOCTL_SLAVE_REG_READ       EC_IOWR(0x11, ec_ioctl_slave_reg_t)
-#define EC_IOCTL_SLAVE_REG_WRITE       EC_IOW(0x12, ec_ioctl_slave_reg_t)
-#define EC_IOCTL_SLAVE_FOE_READ       EC_IOWR(0x13, ec_ioctl_slave_foe_t)
-#define EC_IOCTL_SLAVE_FOE_WRITE       EC_IOW(0x14, ec_ioctl_slave_foe_t)
-#define EC_IOCTL_SLAVE_SOE_READ       EC_IOWR(0x15, ec_ioctl_slave_soe_read_t)
-#define EC_IOCTL_SLAVE_SOE_WRITE      EC_IOWR(0x16, ec_ioctl_slave_soe_write_t)
-#define EC_IOCTL_CONFIG               EC_IOWR(0x17, ec_ioctl_config_t)
-#define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x18, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x19, ec_ioctl_config_pdo_entry_t)
-#define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x1a, ec_ioctl_config_sdo_t)
+#define EC_IOCTL_MASTER_RESCAN          EC_IO(0x0a)
+#define EC_IOCTL_SLAVE_STATE           EC_IOW(0x0b, ec_ioctl_slave_state_t)
+#define EC_IOCTL_SLAVE_SDO            EC_IOWR(0x0c, ec_ioctl_slave_sdo_t)
+#define EC_IOCTL_SLAVE_SDO_ENTRY      EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t)
+#define EC_IOCTL_SLAVE_SDO_UPLOAD     EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t)
+#define EC_IOCTL_SLAVE_SDO_DOWNLOAD   EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t)
+#define EC_IOCTL_SLAVE_SII_READ       EC_IOWR(0x10, ec_ioctl_slave_sii_t)
+#define EC_IOCTL_SLAVE_SII_WRITE       EC_IOW(0x11, ec_ioctl_slave_sii_t)
+#define EC_IOCTL_SLAVE_REG_READ       EC_IOWR(0x12, ec_ioctl_slave_reg_t)
+#define EC_IOCTL_SLAVE_REG_WRITE       EC_IOW(0x13, ec_ioctl_slave_reg_t)
+#define EC_IOCTL_SLAVE_FOE_READ       EC_IOWR(0x14, ec_ioctl_slave_foe_t)
+#define EC_IOCTL_SLAVE_FOE_WRITE       EC_IOW(0x15, ec_ioctl_slave_foe_t)
+#define EC_IOCTL_SLAVE_SOE_READ       EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)
+#define EC_IOCTL_SLAVE_SOE_WRITE      EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)
+#define EC_IOCTL_CONFIG               EC_IOWR(0x18, ec_ioctl_config_t)
+#define EC_IOCTL_CONFIG_PDO           EC_IOWR(0x19, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_CONFIG_PDO_ENTRY     EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t)
+#define EC_IOCTL_CONFIG_SDO           EC_IOWR(0x1b, ec_ioctl_config_sdo_t)
 #ifdef EC_EOE
-#define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x1b, ec_ioctl_eoe_handler_t)
+#define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x1c, ec_ioctl_eoe_handler_t)
 #endif
 
 // Application interface
-#define EC_IOCTL_REQUEST                EC_IO(0x1c)
-#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x1d)
-#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x1e, ec_ioctl_config_t)
-#define EC_IOCTL_ACTIVATE              EC_IOR(0x1f, size_t)
-#define EC_IOCTL_DEACTIVATE             EC_IO(0x20)
-#define EC_IOCTL_SEND                   EC_IO(0x21)
-#define EC_IOCTL_RECEIVE                EC_IO(0x22)
-#define EC_IOCTL_MASTER_STATE          EC_IOR(0x23, ec_master_state_t)
-#define EC_IOCTL_APP_TIME              EC_IOW(0x24, ec_ioctl_app_time_t)
-#define EC_IOCTL_SYNC_REF               EC_IO(0x25)
-#define EC_IOCTL_SYNC_SLAVES            EC_IO(0x26)
-#define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x27)
-#define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x28, uint32_t)
-#define EC_IOCTL_SC_SYNC               EC_IOW(0x29, ec_ioctl_config_t)
-#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x2a, ec_ioctl_config_t)
-#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x2b, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x2c, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x2d, ec_ioctl_add_pdo_entry_t)
-#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x2e, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x2f, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_DC                 EC_IOW(0x20, ec_ioctl_config_t)
-#define EC_IOCTL_SC_SDO                EC_IOW(0x31, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x32, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SC_VOE               EC_IOWR(0x33, ec_ioctl_voe_t)
-#define EC_IOCTL_SC_STATE             EC_IOWR(0x34, ec_ioctl_sc_state_t)
-#define EC_IOCTL_SC_IDN                EC_IOW(0x35, ec_ioctl_sc_idn_t)
-#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x36)
-#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x37)
-#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x38)
-#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x39, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x3f, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x40, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ              EC_IOW(0x41, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x42, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x43, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x44, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA             EC_IOWR(0x45, ec_ioctl_voe_t)
-#define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x46, size_t)
+#define EC_IOCTL_REQUEST                EC_IO(0x1d)
+#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x1e)
+#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x1f, ec_ioctl_config_t)
+#define EC_IOCTL_ACTIVATE              EC_IOR(0x20, size_t)
+#define EC_IOCTL_DEACTIVATE             EC_IO(0x21)
+#define EC_IOCTL_SEND                   EC_IO(0x22)
+#define EC_IOCTL_RECEIVE                EC_IO(0x23)
+#define EC_IOCTL_MASTER_STATE          EC_IOR(0x24, ec_master_state_t)
+#define EC_IOCTL_APP_TIME              EC_IOW(0x25, ec_ioctl_app_time_t)
+#define EC_IOCTL_SYNC_REF               EC_IO(0x26)
+#define EC_IOCTL_SYNC_SLAVES            EC_IO(0x27)
+#define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x28)
+#define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x29, uint32_t)
+#define EC_IOCTL_SC_SYNC               EC_IOW(0x2a, ec_ioctl_config_t)
+#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x2b, ec_ioctl_config_t)
+#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x2c, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x2d, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x2e, ec_ioctl_add_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x2f, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_DC                 EC_IOW(0x31, ec_ioctl_config_t)
+#define EC_IOCTL_SC_SDO                EC_IOW(0x32, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x33, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SC_VOE               EC_IOWR(0x34, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_STATE             EC_IOWR(0x35, ec_ioctl_sc_state_t)
+#define EC_IOCTL_SC_IDN                EC_IOW(0x36, ec_ioctl_sc_idn_t)
+#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x37)
+#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x38)
+#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x39)
+#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x3a, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x40, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x41, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ              EC_IOW(0x42, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x43, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x44, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x45, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA             EC_IOWR(0x46, ec_ioctl_voe_t)
+#define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x47, size_t)
 
 /*****************************************************************************/
 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandRescan.cpp	Thu Sep 16 09:08:11 2010 +0200
@@ -0,0 +1,85 @@
+/*****************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *  vim: expandtab
+ *
+ ****************************************************************************/
+
+#include <sstream>
+#include <iomanip>
+using namespace std;
+
+#include "CommandRescan.h"
+#include "MasterDevice.h"
+
+/*****************************************************************************/
+
+CommandRescan::CommandRescan():
+    Command("rescan", "Rescan the bus.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandRescan::helpString() const
+{
+    stringstream str;
+
+    str << getName() << endl
+        << endl
+        << getBriefDescription() << endl
+        << endl
+        << "Command a bus rescan. Gathered slave information will be" << endl
+        << "forgotten and slaves will be read in again." << endl
+        << endl;
+
+    return str.str();
+}
+
+/****************************************************************************/
+
+void CommandRescan::execute(const StringVector &args)
+{
+	MasterIndexList masterIndices;
+    
+    if (args.size() != 0) {
+        stringstream err;
+        err << "'" << getName() << "' takes no arguments!";
+        throwInvalidUsageException(err);
+    }
+
+	masterIndices = getMasterIndices();
+    MasterIndexList::const_iterator mi;
+    for (mi = masterIndices.begin();
+            mi != masterIndices.end(); mi++) {
+        MasterDevice m(*mi);
+        m.open(MasterDevice::ReadWrite);
+        m.rescan();
+    }
+}
+
+/*****************************************************************************/
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandRescan.h	Thu Sep 16 09:08:11 2010 +0200
@@ -0,0 +1,49 @@
+/*****************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#ifndef __COMMANDRESCAN_H__
+#define __COMMANDRESCAN_H__
+
+#include "Command.h"
+
+/****************************************************************************/
+
+class CommandRescan:
+    public Command
+{
+    public:
+        CommandRescan();
+
+        string helpString() const;
+        void execute(const StringVector &);
+};
+
+/****************************************************************************/
+
+#endif
--- a/tool/Makefile.am	Thu Sep 16 08:41:19 2010 +0200
+++ b/tool/Makefile.am	Thu Sep 16 09:08:11 2010 +0200
@@ -52,6 +52,7 @@
 	CommandPdos.cpp \
 	CommandRegRead.cpp \
 	CommandRegWrite.cpp \
+	CommandRescan.cpp \
 	CommandSdos.cpp \
 	CommandSiiRead.cpp \
 	CommandSiiWrite.cpp \
@@ -93,6 +94,7 @@
 	CommandPdos.h \
 	CommandRegRead.h \
 	CommandRegWrite.h \
+	CommandRescan.h \
 	CommandSdos.h \
 	CommandSiiRead.h \
 	CommandSiiWrite.h \
--- a/tool/MasterDevice.cpp	Thu Sep 16 08:41:19 2010 +0200
+++ b/tool/MasterDevice.cpp	Thu Sep 16 09:08:11 2010 +0200
@@ -455,6 +455,17 @@
 
 /****************************************************************************/
 
+void MasterDevice::rescan()
+{
+    if (ioctl(fd, EC_IOCTL_MASTER_RESCAN, 0) < 0) {
+        stringstream err;
+        err << "Failed to command rescan: " << strerror(errno);
+        throw MasterDeviceException(err);
+    }
+}
+
+/****************************************************************************/
+
 void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data)
 {
     if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, data) < 0) {
--- a/tool/MasterDevice.h	Thu Sep 16 08:41:19 2010 +0200
+++ b/tool/MasterDevice.h	Thu Sep 16 09:08:11 2010 +0200
@@ -132,6 +132,7 @@
         void readReg(ec_ioctl_slave_reg_t *);
         void writeReg(ec_ioctl_slave_reg_t *);
         void setDebug(unsigned int);
+        void rescan();
         void sdoDownload(ec_ioctl_slave_sdo_download_t *);
         void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
         void requestState(uint16_t, uint8_t);
--- a/tool/main.cpp	Thu Sep 16 08:41:19 2010 +0200
+++ b/tool/main.cpp	Thu Sep 16 09:08:11 2010 +0200
@@ -52,6 +52,7 @@
 #include "CommandPdos.h"
 #include "CommandRegRead.h"
 #include "CommandRegWrite.h"
+#include "CommandRescan.h"
 #include "CommandSdos.h"
 #include "CommandSiiRead.h"
 #include "CommandSiiWrite.h"
@@ -307,6 +308,7 @@
     commandList.push_back(new CommandPdos());
     commandList.push_back(new CommandRegRead());
     commandList.push_back(new CommandRegWrite());
+    commandList.push_back(new CommandRescan());
     commandList.push_back(new CommandSdos());
     commandList.push_back(new CommandSiiRead());
     commandList.push_back(new CommandSiiWrite());