merge.

.hgignore

@@ -7,6 +7,7 @@ syntax: glob
 **.o
 **.o.cmd
 **.swp
+**/.tmp_*.gcno
 **~
 .tmp_versions
 ChangeLog

NEWS

@@ -27,9 +27,11 @@ Changes since 1.4.0:
     - Added e100 driver for 2.6.29, thanks to Andre Puschmann.
     - Added e100 driver for 2.6.31.
 * Added 8139too driver for kernels 2.6.25 (F. Pose), 2.6.26 (M. Luescher),
-  2.6.27, 2.6.28 and 2.6.29 (M. Goetze).
+  2.6.27, 2.6.28, 2.6.29 (M. Goetze), 2.6.31 (F. Pose) and 2.6.34 (Malcolm
+  Lewis).
 * Added e1000 driver for 2.6.26 (M. Luescher) and 2.6.27.
-* Added r8169 driver for 2.6.24, 2.6.27, 2.6.28, 2.6.29 and 2.6.31.
+* Added r8169 driver for 2.6.24, 2.6.27, 2.6.28, 2.6.29, 2.6.31 and 2.6.32
+  (latter thanks to Robbie K).
 * Debug interfaces are created with the Ethernet addresses of the attached
   physical device.
 * Improved error case return codes of many functions.

TODO

@@ -13,23 +13,15 @@ Version 1.5.0:
 * Ethernet drivers:
     - Fix link detection in generic driver.
     - Add native drivers from 2.6.24 up to 2.6.31.
-* ethercat tool:
-    - Output error after usage.
-* Fix casting away constness during expected WC calculation.
-* Include SoE drive_no in ethercat tool.
 
 Future issues:
 
 * Remove allow_scanning flag.
-* Output skipped datagrams again.
 * Check for Enable SDO Complete Access flag.
 * Do not output 'SDO does not exist' when querying data type.
-* Always write down PDO assignment/mapping in doubt? If not, add an interface
-  for enforcing this.
 * Read AL status code on spontaneous state change.
 * recompile tool/CommandVersion.cpp if revision changes.
 * Log SoE IDNs with real name ([SP]-x-yyyy).
-* Output SoE IDN configurations in 'ethercat config'.
 * Only output watchdog config if not default.
 * Implement CompleteAccess for SDO uploads.
 * Output warning when send_ext() is called in illegal context.
@@ -73,9 +65,12 @@ Future issues:
     - Implement indent in 'ethercat ma'
     - Implement 0xXXXX:YY format for specifying SDOs.
     - Implement reading from stream for soe_write.
+    - Output error after usage.
 * Simplify master fsm by introducing a common request state to handle external
   requests (replace write_sii, sdo_request, etc).
 * Remove stdio uses in userspace library?
+* Fix casting away constness during expected WC calculation.
+* Fix bus scan hang when calling ecrt_master_deactivate().
 
 Smaller issues:
 

devices/Makefile.am

@@ -59,6 +59,8 @@ noinst_HEADERS = \
 	8139too-2.6.29-orig.c \
 	8139too-2.6.31-ethercat.c \
 	8139too-2.6.31-orig.c \
+	8139too-2.6.34-ethercat.c \
+	8139too-2.6.34-orig.c \
 	e100-2.6.20-ethercat.c \
 	e100-2.6.20-orig.c \
 	e100-2.6.24-ethercat.c \

examples/dc_user/Makefile.am

@@ -33,6 +33,6 @@ noinst_PROGRAMS = ec_dc_user_example
 
 ec_dc_user_example_SOURCES = main.c
 ec_dc_user_example_CFLAGS = -I$(top_srcdir)/include
-ec_dc_user_example_LDFLAGS = -L$(top_builddir)/lib/.libs -lethercat
+ec_dc_user_example_LDFLAGS = -L$(top_builddir)/lib/.libs -lethercat -lrt
 
 #------------------------------------------------------------------------------

examples/dc_user/main.c

@@ -35,6 +35,9 @@
 #include <sys/time.h>
 #include <sys/types.h>
 #include <unistd.h>
+#include <time.h>
+#include <sys/mman.h>
+#include <malloc.h>
 
 /****************************************************************************/
 
@@ -43,12 +46,20 @@
 /****************************************************************************/
 
 // Application parameters
-#define FREQUENCY 100
+#define FREQUENCY 1000
-#define PRIORITY 1
+#define CLOCK_TO_USE CLOCK_REALTIME
+#define MEASURE_TIMING
 
-// Optional features
+/****************************************************************************/
-#define CONFIGURE_PDOS  1
 
+#define NSEC_PER_SEC (1000000000L)
+#define PERIOD_NS (NSEC_PER_SEC / FREQUENCY)
+
+#define DIFF_NS(A, B) (((B).tv_sec - (A).tv_sec) * NSEC_PER_SEC + \
+	(B).tv_nsec - (A).tv_nsec)
+
+#define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NSEC_PER_SEC + (T).tv_nsec)
+  
 /****************************************************************************/
 
 // EtherCAT
@@ -58,10 +69,6 @@ static ec_master_state_t master_state = {};
 static ec_domain_t *domain1 = NULL;
 static ec_domain_state_t domain1_state = {};
 
-// Timer
-static unsigned int sig_alarms = 0;
-static unsigned int user_alarms = 0;
-
 /****************************************************************************/
 
 // process data
@@ -81,10 +88,26 @@ static int off_counter_in;
 static int off_counter_out;
 
 static unsigned int counter = 0;
-static unsigned int blink_counter = 0;
 static unsigned int blink = 0;
 static unsigned int sync_ref_counter = 0;
-struct timeval app_time;
+const struct timespec cycletime = {0, PERIOD_NS};
+
+/*****************************************************************************/
+
+struct timespec timespec_add(struct timespec time1, struct timespec time2)
+{
+	struct timespec result;
+
+	if ((time1.tv_nsec + time2.tv_nsec) >= NSEC_PER_SEC) {
+		result.tv_sec = time1.tv_sec + time2.tv_sec + 1;
+		result.tv_nsec = time1.tv_nsec + time2.tv_nsec - NSEC_PER_SEC;
+	} else {
+		result.tv_sec = time1.tv_sec + time2.tv_sec;
+		result.tv_nsec = time1.tv_nsec + time2.tv_nsec;
+	}
+
+	return result;
+}
 
 /*****************************************************************************/
 
@@ -110,7 +133,7 @@ void check_master_state(void)
 
     ecrt_master_state(master, &ms);
 
-    if (ms.slaves_responding != master_state.slaves_responding)
+	if (ms.slaves_responding != master_state.slaves_responding)
         printf("%u slave(s).\n", ms.slaves_responding);
     if (ms.al_states != master_state.al_states)
         printf("AL states: 0x%02X.\n", ms.al_states);
@@ -124,68 +147,108 @@ void check_master_state(void)
 
 void cyclic_task()
 {
-    int i;
+    struct timespec wakeupTime, time;
+#ifdef MEASURE_TIMING
+    struct timespec startTime, endTime, lastStartTime = {};
+    uint32_t period_ns = 0, exec_ns = 0, latency_ns = 0,
+             latency_min_ns = 0, latency_max_ns = 0,
+             period_min_ns = 0, period_max_ns = 0,
+             exec_min_ns = 0, exec_max_ns = 0;
+#endif
 
-    // receive process data
+    // get current time
-    ecrt_master_receive(master);
+    clock_gettime(CLOCK_TO_USE, &wakeupTime);
-    ecrt_domain_process(domain1);
 
-    // check process data state (optional)
+	while(1) {
-    check_domain1_state();
+		wakeupTime = timespec_add(wakeupTime, cycletime);
+        clock_nanosleep(CLOCK_TO_USE, TIMER_ABSTIME, &wakeupTime, NULL);
 
-    if (counter) {
+#ifdef MEASURE_TIMING
-        counter--;
+        clock_gettime(CLOCK_TO_USE, &startTime);
-    } else { // do this at 1 Hz
+        latency_ns = DIFF_NS(wakeupTime, startTime);
-        counter = FREQUENCY;
+        period_ns = DIFF_NS(lastStartTime, startTime);
+        exec_ns = DIFF_NS(lastStartTime, endTime);
+        lastStartTime = startTime;
 
-        // calculate new process data
+        if (latency_ns > latency_max_ns) {
-        blink = !blink;
+            latency_max_ns = latency_ns;
+        }
+        if (latency_ns < latency_min_ns) {
+            latency_min_ns = latency_ns;
+        }
+        if (period_ns > period_max_ns) {
+            period_max_ns = period_ns;
+        }
+        if (period_ns < period_min_ns) {
+            period_min_ns = period_ns;
+        }
+        if (exec_ns > exec_max_ns) {
+            exec_max_ns = exec_ns;
+        }
+        if (exec_ns < exec_min_ns) {
+            exec_min_ns = exec_ns;
+        }
+#endif
 
-        // check for master state (optional)
+		// receive process data
-        check_master_state();
+		ecrt_master_receive(master);
-    }
+		ecrt_domain_process(domain1);
 
-    if (blink_counter) {
+		// check process data state (optional)
-        blink_counter--;
+		check_domain1_state();
-    } else {
-        blink_counter = 9;
 
-        // calculate new process data
+		if (counter) {
-        blink = !blink;
+			counter--;
-    }
+		} else { // do this at 1 Hz
+			counter = FREQUENCY;
 
-    // write process data
+			// check for master state (optional)
-    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
+			check_master_state();
-    EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
 
-    app_time.tv_usec += 1000000 / FREQUENCY;
+#ifdef MEASURE_TIMING
-    if (app_time.tv_usec >= 1000000)  {
+            // output timing stats
-        app_time.tv_usec -= 1000000;
+            printf("period     %10u ... %10u\n",
-        app_time.tv_sec++;
+                    period_min_ns, period_max_ns); 
-    }
+            printf("exec       %10u ... %10u\n",
-    ecrt_master_application_time(master, EC_TIMEVAL2NANO(app_time));
+                    exec_min_ns, exec_max_ns); 
+            printf("latency    %10u ... %10u\n",
+                    latency_min_ns, latency_max_ns); 
+            period_max_ns = 0;
+            period_min_ns = 0xffffffff;
+            exec_max_ns = 0;
+            exec_min_ns = 0xffffffff;
+            latency_max_ns = 0;
+            latency_min_ns = 0xffffffff;
+#endif
 
-    if (sync_ref_counter) {
+			// calculate new process data
-        sync_ref_counter--;
+			blink = !blink;
-    } else {
+		}
-        sync_ref_counter = 9;
-        ecrt_master_sync_reference_clock(master);
-    }
-    ecrt_master_sync_slave_clocks(master);
 
-    // send process data
+		// write process data
-    ecrt_domain_queue(domain1);
+		EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
-    ecrt_master_send(master);
+		EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
-}
 
-/****************************************************************************/
+		// write application time to master
+		clock_gettime(CLOCK_TO_USE, &time);
+		ecrt_master_application_time(master, TIMESPEC2NS(time));
 
-void signal_handler(int signum) {
+		if (sync_ref_counter) {
-    switch (signum) {
+			sync_ref_counter--;
-        case SIGALRM:
+		} else {
-            sig_alarms++;
+			sync_ref_counter = 1; // sync every cycle
-            break;
+			ecrt_master_sync_reference_clock(master);
-    }
+		}
+		ecrt_master_sync_slave_clocks(master);
+
+		// send process data
+		ecrt_domain_queue(domain1);
+		ecrt_master_send(master);
+
+#ifdef MEASURE_TIMING
+        clock_gettime(CLOCK_TO_USE, &endTime);
+#endif
+	}
 }
 
 /****************************************************************************/
@@ -193,8 +256,11 @@ void signal_handler(int signum) {
 int main(int argc, char **argv)
 {
     ec_slave_config_t *sc;
-    struct sigaction sa;
+
-    struct itimerval tv;
+	if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
+		perror("mlockall failed");
+		return -1;
+	}
     
     master = ecrt_request_master(0);
     if (!master)
@@ -237,7 +303,7 @@ int main(int argc, char **argv)
         return -1;
 
     // configure SYNC signals for this slave
-	ecrt_slave_config_dc(sc, 0x0700, 10000000, 4400000, 0, 0);
+	ecrt_slave_config_dc(sc, 0x0700, PERIOD_NS, 4400000, 0, 0);
 
     printf("Activating master...\n");
     if (ecrt_master_activate(master))
@@ -247,50 +313,15 @@ int main(int argc, char **argv)
         return -1;
     }
 
-#if PRIORITY
     pid_t pid = getpid();
     if (setpriority(PRIO_PROCESS, pid, -19))
         fprintf(stderr, "Warning: Failed to set priority: %s\n",
                 strerror(errno));
-#endif
 
-    sa.sa_handler = signal_handler;
+	printf("Starting cyclic function.\n");
-    sigemptyset(&sa.sa_mask);
+    cyclic_task();
-    sa.sa_flags = 0;
+    
-    if (sigaction(SIGALRM, &sa, 0)) {
+    return 0;
-        fprintf(stderr, "Failed to install signal handler!\n");
-        return -1;
-    }
-
-    printf("Starting timer...\n");
-    tv.it_interval.tv_sec = 0;
-    tv.it_interval.tv_usec = 1000000 / FREQUENCY;
-    tv.it_value.tv_sec = 0;
-    tv.it_value.tv_usec = 1000;
-    if (setitimer(ITIMER_REAL, &tv, NULL)) {
-        fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
-        return 1;
-    }
-
-    gettimeofday(&app_time, NULL);
-
-    printf("Started.\n");
-	while (1) {
-        pause();
-
-#if 0
-        struct timeval t;
-        gettimeofday(&t, NULL);
-        printf("%u.%06u\n", t.tv_sec, t.tv_usec);
-#endif
-
-        while (sig_alarms != user_alarms) {
-            cyclic_task();
-            user_alarms++;
-        }
-	}
-
-	return 0;
 }
 
 /****************************************************************************/

examples/mini/mini.c

@@ -33,6 +33,10 @@
 #include <linux/interrupt.h>
 #include <linux/err.h>
 
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 34)
+#include <linux/slab.h>
+#endif
+
 #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
 #include <linux/semaphore.h>
 #else

examples/tty/serial.c

@@ -30,6 +30,7 @@
 #include <linux/module.h>
 #include <linux/err.h>
 #include <linux/termios.h>
+#include <linux/slab.h>
 
 #include "../../include/ecrt.h" // EtherCAT realtime interface
 #include "../../include/ectty.h" // EtherCAT TTY interface

include/ecrt.h

@@ -78,6 +78,7 @@
  * - Added ecrt_slave_config_idn() method for storing SoE IDN configurations,
  *   and ecrt_master_read_idn() and ecrt_master_write_idn() to read/write IDNs
  *   ad-hoc via the user-space library.
+ * - Added ecrt_master_reset() to initiate retrying to configure slaves.
  *
  * @{
  */
@@ -859,6 +860,17 @@ uint32_t ecrt_master_sync_monitor_process(
         ec_master_t *master /**< EtherCAT master. */
         );
 
+/** Retry configuring slaves.
+ *
+ * Via this method, the application can tell the master to bring all slaves to
+ * OP state. In general, this is not necessary, because it is automatically
+ * done by the master. But with special slaves, that can be reconfigured by
+ * the vendor during runtime, it can be useful.
+ */
+void ecrt_master_reset(
+        ec_master_t *master /**< EtherCAT master. */
+        );
+
 /******************************************************************************
  * Slave configuration methods
  *****************************************************************************/

lib/Makefile.am

@@ -35,7 +35,7 @@ lib_LTLIBRARIES = libethercat.la
 #------------------------------------------------------------------------------
 
 libethercat_la_LDFLAGS = -version-info 1:0:0
-libethercat_la_CFLAGS = -I$(srcdir)/..
+libethercat_la_CFLAGS = -I$(srcdir)/.. -fno-strict-aliasing
 libethercat_la_SOURCES = \
 	common.c \
 	domain.c \

lib/common.c

@@ -37,6 +37,8 @@
 #include <string.h>
 #include <sys/ioctl.h>
 #include <sys/mman.h>
+#include <unistd.h>
+#include <sys/socket.h>
 
 #include "master.h"
 #include "master/ioctl.h"

lib/master.c

@@ -49,6 +49,7 @@ int ecrt_master_reserve(ec_master_t *master)
                 strerror(errno));
         return -1;
     }
+    return 0;
 }
 
 /*****************************************************************************/
@@ -571,3 +572,12 @@ uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
 }
 
 /*****************************************************************************/
+
+void ecrt_master_reset(ec_master_t *master)
+{
+    if (ioctl(master->fd, EC_IOCTL_RESET, NULL) == -1) {
+        fprintf(stderr, "Failed to reset master: %s\n", strerror(errno));
+    }
+}
+
+/*****************************************************************************/

master/cdev.c

@@ -1349,6 +1349,7 @@ int ec_cdev_ioctl_config(
     data.watchdog_divider = sc->watchdog_divider;
     data.watchdog_intervals = sc->watchdog_intervals;
     data.sdo_count = ec_slave_config_sdo_count(sc);
+    data.idn_count = ec_slave_config_idn_count(sc);
     data.slave_position = sc->slave ? sc->slave->ring_position : -1;
     data.dc_assign_activate = sc->dc_assign_activate;
     for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
@@ -1531,6 +1532,56 @@ int ec_cdev_ioctl_config_sdo(
 
 /*****************************************************************************/
 
+/** Get slave configuration IDN information.
+ */
+int ec_cdev_ioctl_config_idn(
+        ec_master_t *master, /**< EtherCAT master. */
+        unsigned long arg /**< ioctl() argument. */
+        )
+{
+    ec_ioctl_config_idn_t data;
+    const ec_slave_config_t *sc;
+    const ec_soe_request_t *req;
+
+    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+        return -EFAULT;
+    }
+
+    if (down_interruptible(&master->master_sem))
+        return -EINTR;
+
+    if (!(sc = ec_master_get_config_const(
+                    master, data.config_index))) {
+        up(&master->master_sem);
+        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
+                data.config_index);
+        return -EINVAL;
+    }
+
+    if (!(req = ec_slave_config_get_idn_by_pos_const(
+                    sc, data.idn_pos))) {
+        up(&master->master_sem);
+        EC_MASTER_ERR(master, "Invalid IDN position!\n");
+        return -EINVAL;
+    }
+
+    data.drive_no = req->drive_no;
+    data.idn = req->idn;
+    data.state = req->state;
+    data.size = req->data_size;
+    memcpy(&data.data, req->data,
+            min((u32) data.size, (u32) EC_MAX_IDN_DATA_SIZE));
+
+    up(&master->master_sem);
+
+    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
+        return -EFAULT;
+
+    return 0;
+}
+
+/*****************************************************************************/
+
 #ifdef EC_EOE
 
 /** Get EoE handler information.
@@ -1941,6 +1992,25 @@ int ec_cdev_ioctl_sync_mon_process(
 
 /*****************************************************************************/
 
+/** Reset configuration.
+ */
+int ec_cdev_ioctl_reset(
+        ec_master_t *master, /**< EtherCAT master. */
+        unsigned long arg, /**< ioctl() argument. */
+        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+        )
+{
+    if (unlikely(!priv->requested))
+        return -EPERM;
+
+    down(&master->master_sem);
+    ecrt_master_reset(master);
+    up(&master->master_sem);
+    return 0;
+}
+
+/*****************************************************************************/
+
 /** Configure a sync manager.
  */
 int ec_cdev_ioctl_sc_sync(
@@ -3398,7 +3468,7 @@ int ec_cdev_ioctl_slave_soe_write(
 
     data = kmalloc(ioctl.data_size, GFP_KERNEL);
     if (!data) {
-        EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n",
+        EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n",
                 ioctl.data_size);
         return -ENOMEM;
     }
@@ -3564,6 +3634,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
             return ec_cdev_ioctl_config_pdo_entry(master, arg);
         case EC_IOCTL_CONFIG_SDO:
             return ec_cdev_ioctl_config_sdo(master, arg);
+        case EC_IOCTL_CONFIG_IDN:
+            return ec_cdev_ioctl_config_idn(master, arg);
 #ifdef EC_EOE
         case EC_IOCTL_EOE_HANDLER:
             return ec_cdev_ioctl_eoe_handler(master, arg);
@@ -3618,6 +3690,10 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
             if (!(filp->f_mode & FMODE_WRITE))
                 return -EPERM;
             return ec_cdev_ioctl_sync_mon_process(master, arg, priv);
+        case EC_IOCTL_RESET:
+            if (!(filp->f_mode & FMODE_WRITE))
+                return -EPERM;
+            return ec_cdev_ioctl_reset(master, arg, priv);
         case EC_IOCTL_SC_SYNC:
             if (!(filp->f_mode & FMODE_WRITE))
                 return -EPERM;

master/ethernet.h

@@ -39,6 +39,7 @@
 
 #include <linux/list.h>
 #include <linux/netdevice.h>
+#include <linux/semaphore.h>
 
 #include "globals.h"
 #include "slave.h"

master/foe_request.c

@@ -35,6 +35,7 @@
 
 #include <linux/module.h>
 #include <linux/jiffies.h>
+#include <linux/slab.h>
 
 #include "foe_request.h"
 #include "foe.h"

master/fsm_change.c

@@ -42,7 +42,7 @@
 
 /** Timeout while waiting for AL state change [s].
  */
-#define EC_AL_STATE_CHANGE_TIMEOUT 2
+#define EC_AL_STATE_CHANGE_TIMEOUT 5
 
 /*****************************************************************************/
 

master/fsm_sii.c

@@ -184,7 +184,8 @@ void ec_fsm_sii_state_start_reading(
     EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
 
 #ifdef SII_DEBUG
-    EC_SLAVE_DBG(slave, 0, "reading SII data:\n");
+    EC_SLAVE_DBG(fsm->slave, 0, "reading SII data, word %u:\n",
+            fsm->word_offset);
     ec_print_data(datagram->data, 4);
 #endif
 

master/fsm_slave_scan.c

@@ -505,8 +505,10 @@ void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *fsm /**< slave state
         fsm->slave->error_flag = 1;
         fsm->state = ec_fsm_slave_scan_state_error;
         EC_SLAVE_ERR(slave, "Failed to determine SII content size:"
-                " Reading word offset 0x%04x failed.\n", fsm->sii_offset);
+                " Reading word offset 0x%04x failed. Assuming %u words.\n",
-        return;
+                fsm->sii_offset, EC_FIRST_SII_CATEGORY_OFFSET);
+        slave->sii_nwords = EC_FIRST_SII_CATEGORY_OFFSET;
+        goto alloc_sii;
     }
 
     cat_type = EC_READ_U16(fsm->fsm_sii.value);

master/ioctl.h

@@ -56,7 +56,7 @@
  *
  * Increment this when changing the ioctl interface!
  */
-#define EC_IOCTL_VERSION_MAGIC 8
+#define EC_IOCTL_VERSION_MAGIC 11
 
 // Command-line tool
 #define EC_IOCTL_MODULE                EC_IOR(0x00, ec_ioctl_module_t)
@@ -87,54 +87,56 @@
 #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)
+#define EC_IOCTL_CONFIG_IDN           EC_IOWR(0x1c, ec_ioctl_config_idn_t)
 #ifdef EC_EOE
-#define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x1c, ec_ioctl_eoe_handler_t)
+#define EC_IOCTL_EOE_HANDLER          EC_IOWR(0x1d, ec_ioctl_eoe_handler_t)
 #endif
 
 // Application interface
-#define EC_IOCTL_REQUEST                EC_IO(0x1d)
+#define EC_IOCTL_REQUEST                EC_IO(0x1e)
-#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x1e)
+#define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x1f)
-#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x1f, ec_ioctl_config_t)
+#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x20, ec_ioctl_config_t)
-#define EC_IOCTL_ACTIVATE              EC_IOR(0x20, size_t)
+#define EC_IOCTL_ACTIVATE              EC_IOR(0x21, size_t)
-#define EC_IOCTL_DEACTIVATE             EC_IO(0x21)
+#define EC_IOCTL_DEACTIVATE             EC_IO(0x22)
-#define EC_IOCTL_SEND                   EC_IO(0x22)
+#define EC_IOCTL_SEND                   EC_IO(0x23)
-#define EC_IOCTL_RECEIVE                EC_IO(0x23)
+#define EC_IOCTL_RECEIVE                EC_IO(0x24)
-#define EC_IOCTL_MASTER_STATE          EC_IOR(0x24, ec_master_state_t)
+#define EC_IOCTL_MASTER_STATE          EC_IOR(0x25, ec_master_state_t)
-#define EC_IOCTL_APP_TIME              EC_IOW(0x25, ec_ioctl_app_time_t)
+#define EC_IOCTL_APP_TIME              EC_IOW(0x26, ec_ioctl_app_time_t)
-#define EC_IOCTL_SYNC_REF               EC_IO(0x26)
+#define EC_IOCTL_SYNC_REF               EC_IO(0x27)
-#define EC_IOCTL_SYNC_SLAVES            EC_IO(0x27)
+#define EC_IOCTL_SYNC_SLAVES            EC_IO(0x28)
-#define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x28)
+#define EC_IOCTL_SYNC_MON_QUEUE         EC_IO(0x29)
-#define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x29, uint32_t)
+#define EC_IOCTL_SYNC_MON_PROCESS      EC_IOR(0x2a, uint32_t)
-#define EC_IOCTL_SC_SYNC               EC_IOW(0x2a, ec_ioctl_config_t)
+#define EC_IOCTL_RESET                  EC_IO(0x2b)
-#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x2b, ec_ioctl_config_t)
+#define EC_IOCTL_SC_SYNC               EC_IOW(0x2c, ec_ioctl_config_t)
-#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x2c, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x2d, ec_ioctl_config_t)
-#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x2d, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x2e, 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_PDOS         EC_IOW(0x2f, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x2f, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x30, ec_ioctl_add_pdo_entry_t)
-#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x31, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_DC                 EC_IOW(0x31, ec_ioctl_config_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x32, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_SDO                EC_IOW(0x32, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_SC_DC                 EC_IOW(0x33, ec_ioctl_config_t)
-#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x33, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SC_SDO                EC_IOW(0x34, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_SC_VOE               EC_IOWR(0x34, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x35, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SC_STATE             EC_IOWR(0x35, ec_ioctl_sc_state_t)
+#define EC_IOCTL_SC_VOE               EC_IOWR(0x36, ec_ioctl_voe_t)
-#define EC_IOCTL_SC_IDN                EC_IOW(0x36, ec_ioctl_sc_idn_t)
+#define EC_IOCTL_SC_STATE             EC_IOWR(0x37, ec_ioctl_sc_state_t)
-#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x37)
+#define EC_IOCTL_SC_IDN                EC_IOW(0x38, ec_ioctl_sc_idn_t)
-#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x38)
+#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x39)
-#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x39)
+#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x3a)
-#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x3a, ec_ioctl_domain_state_t)
+#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x3b)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x3c, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x40, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x40, ec_ioctl_voe_t)
+#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x41, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x41, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x42, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ              EC_IOW(0x42, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x43, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x43, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ              EC_IOW(0x44, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x44, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x45, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x45, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x46, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA             EC_IOWR(0x46, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x47, ec_ioctl_voe_t)
-#define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x47, size_t)
+#define EC_IOCTL_VOE_DATA             EC_IOWR(0x48, ec_ioctl_voe_t)
+#define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x49, size_t)
 
 /*****************************************************************************/
 
@@ -420,7 +422,7 @@ typedef struct {
     uint8_t *data;
 
     // outputs
-    uint32_t data_size;
+    size_t data_size;
     uint16_t error_code;
 } ec_ioctl_slave_soe_read_t;
 
@@ -431,7 +433,7 @@ typedef struct {
     uint16_t slave_position;
     uint8_t drive_no;
     uint16_t idn;
-    uint32_t data_size;
+    size_t data_size;
     uint8_t *data;
 
     // outputs
@@ -458,6 +460,7 @@ typedef struct {
     uint16_t watchdog_divider;
     uint16_t watchdog_intervals;
     uint32_t sdo_count;
+    uint32_t idn_count;
     int32_t slave_position;
     uint16_t dc_assign_activate;
     ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT];
@@ -514,6 +517,26 @@ typedef struct {
 
 /*****************************************************************************/
 
+/** Maximum size for displayed IDN data.
+ * \todo Make this dynamic.
+ */
+#define EC_MAX_IDN_DATA_SIZE 1024
+
+typedef struct {
+    // inputs
+    uint32_t config_index;
+    uint32_t idn_pos;
+
+    // outputs
+    uint8_t drive_no;
+    uint16_t idn;
+    ec_al_state_t state;
+    size_t size;
+    uint8_t data[EC_MAX_IDN_DATA_SIZE];
+} ec_ioctl_config_idn_t;
+
+/*****************************************************************************/
+
 #ifdef EC_EOE
 
 typedef struct {

master/master.c

@@ -2501,6 +2501,19 @@ int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
 
 /*****************************************************************************/
 
+void ecrt_master_reset(ec_master_t *master)
+{
+    ec_slave_config_t *sc;
+
+    list_for_each_entry(sc, &master->configs, list) {
+        if (sc->slave) {
+            ec_slave_request_state(sc->slave, EC_SLAVE_STATE_OP);
+        }
+    }
+}
+
+/*****************************************************************************/
+
 /** \cond */
 
 EXPORT_SYMBOL(ecrt_master_create_domain);
@@ -2521,6 +2534,7 @@ EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
 EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
 EXPORT_SYMBOL(ecrt_master_write_idn);
 EXPORT_SYMBOL(ecrt_master_read_idn);
+EXPORT_SYMBOL(ecrt_master_reset);
 
 /** \endcond */
 

master/sdo_request.c

@@ -35,6 +35,7 @@
 
 #include <linux/module.h>
 #include <linux/jiffies.h>
+#include <linux/slab.h>
 
 #include "sdo_request.h"
 

master/slave_config.c

@@ -371,6 +371,48 @@ const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
 
 /*****************************************************************************/
 
+/** Get the number of IDN configurations.
+ *
+ * \return Number of SDO configurations.
+ */
+unsigned int ec_slave_config_idn_count(
+        const ec_slave_config_t *sc /**< Slave configuration. */
+        )
+{
+    const ec_soe_request_t *req;
+    unsigned int count = 0;
+
+    list_for_each_entry(req, &sc->soe_configs, list) {
+        count++;
+    }
+
+    return count;
+}
+
+/*****************************************************************************/
+
+/** Finds an IDN configuration via its position in the list.
+ *
+ * Const version.
+ */
+const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
+        const ec_slave_config_t *sc, /**< Slave configuration. */
+        unsigned int pos /**< Position in the list. */
+        )
+{
+    const ec_soe_request_t *req;
+
+    list_for_each_entry(req, &sc->soe_configs, list) {
+        if (pos--)
+            continue;
+        return req;
+    }
+
+    return NULL;
+}
+
+/*****************************************************************************/
+
 /** Finds a VoE handler via its position in the list.
  */
 ec_sdo_request_t *ec_slave_config_find_sdo_request(
@@ -951,7 +993,8 @@ int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
             __func__, sc, drive_no, idn, state, data, size);
 
     if (drive_no > 7) {
-        EC_CONFIG_ERR(sc, "Invalid drive number!\n");
+        EC_CONFIG_ERR(sc, "Invalid drive number %u!\n",
+                (unsigned int) drive_no);
         return -EINVAL;
     }
 

master/slave_config.h

@@ -160,6 +160,9 @@ void ec_slave_config_load_default_sync_config(ec_slave_config_t *);
 unsigned int ec_slave_config_sdo_count(const ec_slave_config_t *);
 const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
         const ec_slave_config_t *, unsigned int);
+unsigned int ec_slave_config_idn_count(const ec_slave_config_t *);
+const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
+        const ec_slave_config_t *, unsigned int);
 ec_sdo_request_t *ec_slave_config_find_sdo_request(ec_slave_config_t *,
         unsigned int);
 ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,

master/soe_request.c

@@ -35,6 +35,7 @@
 
 #include <linux/module.h>
 #include <linux/jiffies.h>
+#include <linux/slab.h>
 
 #include "soe_request.h"
 

tool/Command.h

@@ -116,7 +116,7 @@ class Command
         bool matchesSubstr(const string &) const;
         bool matchesAbbrev(const string &) const;
 
-        virtual string helpString() const = 0;
+        virtual string helpString(const string &) const = 0;
 
         typedef vector<string> StringVector;
         virtual void execute(const StringVector &) = 0;

tool/CommandAlias.cpp

@@ -45,11 +45,11 @@ CommandAlias::CommandAlias():
 
 /*****************************************************************************/
 
-string CommandAlias::helpString() const
+string CommandAlias::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS] <ALIAS>" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS] <ALIAS>" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandAlias.h

@@ -40,7 +40,7 @@ class CommandAlias:
     public:
         CommandAlias();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandCStruct.cpp

@@ -46,11 +46,11 @@ CommandCStruct::CommandCStruct():
 
 /*****************************************************************************/
 
-string CommandCStruct::helpString() const
+string CommandCStruct::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandCStruct.h

@@ -40,7 +40,7 @@ class CommandCStruct:
     public:
         CommandCStruct();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandConfig.cpp

@@ -47,11 +47,11 @@ CommandConfig::CommandConfig():
 
 /*****************************************************************************/
 
-string CommandConfig::helpString() const
+string CommandConfig::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl
         << endl
@@ -153,6 +153,7 @@ void CommandConfig::showDetailedConfigs(
     ec_ioctl_config_pdo_t pdo;
     ec_ioctl_config_pdo_entry_t entry;
     ec_ioctl_config_sdo_t sdo;
+    ec_ioctl_config_idn_t idn;
     string indent(doIndent ? "  " : "");
 
     for (configIter = configList.begin();
@@ -259,6 +260,34 @@ void CommandConfig::showDetailedConfigs(
             cout << indent << "  None." << endl;
         }
 
+        cout << indent << "IDN configuration:" << endl;
+        if (configIter->idn_count) {
+            for (j = 0; j < configIter->idn_count; j++) {
+                m.getConfigIdn(&idn, configIter->config_index, j);
+
+                cout << indent << "  Drive " << (unsigned int) idn.drive_no
+                    << ", " << outputIdn(idn.idn)
+                    << ", " << dec << idn.size << " byte" << endl;
+
+                cout << indent << "    " << hex << setfill('0');
+                for (i = 0; i < min((uint32_t) idn.size,
+                            (uint32_t) EC_MAX_IDN_DATA_SIZE); i++) {
+                    cout << setw(2) << (unsigned int) idn.data[i];
+                    if ((i + 1) % 16 == 0 && i < idn.size - 1) {
+                        cout << endl << indent << "    ";
+                    } else {
+                        cout << " ";
+                    }
+                }
+
+                cout << endl;
+                if (idn.size > EC_MAX_IDN_DATA_SIZE) {
+                    cout << indent << "    ..." << endl;
+                }
+            }
+        } else {
+            cout << indent << "  None." << endl;
+        }
         if (configIter->dc_assign_activate) {
             int i;
 

tool/CommandConfig.h

@@ -34,16 +34,18 @@
 using namespace std;
 
 #include "Command.h"
+#include "SoeCommand.h"
 
 /****************************************************************************/
 
 class CommandConfig:
-    public Command
+    public Command,
+    public SoeCommand
 {
     public:
         CommandConfig();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandData.cpp

@@ -44,11 +44,11 @@ CommandData::CommandData():
 
 /*****************************************************************************/
 
-string CommandData::helpString() const
+string CommandData::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandData.h

@@ -40,7 +40,7 @@ class CommandData:
     public:
         CommandData();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandDebug.cpp

@@ -45,11 +45,11 @@ CommandDebug::CommandDebug():
 
 /*****************************************************************************/
 
-string CommandDebug::helpString() const
+string CommandDebug::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " <LEVEL>" << endl
+    str << binaryBaseName << " " << getName() << " <LEVEL>" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandDebug.h

@@ -40,7 +40,7 @@ class CommandDebug:
     public:
         CommandDebug();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 };
 

tool/CommandDomains.cpp

@@ -43,11 +43,11 @@ CommandDomains::CommandDomains():
 
 /*****************************************************************************/
 
-string CommandDomains::helpString() const
+string CommandDomains::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandDomains.h

@@ -40,7 +40,7 @@ class CommandDomains:
     public:
         CommandDomains();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandDownload.cpp

@@ -43,11 +43,12 @@ CommandDownload::CommandDownload():
 
 /*****************************************************************************/
 
-string CommandDownload::helpString() const
+string CommandDownload::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
+    str << binaryBaseName << " " << getName()
+        << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandDownload.h

@@ -40,7 +40,7 @@ class CommandDownload:
     public:
         CommandDownload();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandEoe.cpp

@@ -45,11 +45,11 @@ CommandEoe::CommandEoe():
 
 /*****************************************************************************/
 
-string CommandEoe::helpString() const
+string CommandEoe::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << endl
+    str << binaryBaseName << " " << getName() << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandEoe.h

@@ -40,7 +40,7 @@ class CommandEoe:
     public:
         CommandEoe();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 };
 

tool/CommandFoeRead.cpp

@@ -46,11 +46,12 @@ CommandFoeRead::CommandFoeRead():
 
 /*****************************************************************************/
 
-string CommandFoeRead::helpString() const
+string CommandFoeRead::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS] <SOURCEFILE>" << endl
+    str << binaryBaseName << " " << getName()
+        << " [OPTIONS] <SOURCEFILE>" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandFoeRead.h

@@ -40,7 +40,7 @@ class CommandFoeRead:
     public:
         CommandFoeRead();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 };
 

tool/CommandFoeWrite.cpp

@@ -48,11 +48,12 @@ CommandFoeWrite::CommandFoeWrite():
 
 /*****************************************************************************/
 
-string CommandFoeWrite::helpString() const
+string CommandFoeWrite::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS] <FILENAME>" << endl
+    str << binaryBaseName << " " << getName()
+        << " [OPTIONS] <FILENAME>" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandFoeWrite.h

@@ -40,7 +40,7 @@ class CommandFoeWrite:
     public:
         CommandFoeWrite();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandGraph.cpp

@@ -43,11 +43,11 @@ CommandGraph::CommandGraph():
 
 /*****************************************************************************/
 
-string CommandGraph::helpString() const
+string CommandGraph::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandGraph.h

@@ -40,7 +40,7 @@ class CommandGraph:
     public:
         CommandGraph();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 };
 

tool/CommandMaster.cpp

@@ -45,11 +45,11 @@ CommandMaster::CommandMaster():
 
 /****************************************************************************/
 
-string CommandMaster::helpString() const
+string CommandMaster::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandMaster.h

@@ -40,7 +40,7 @@ class CommandMaster:
     public:
         CommandMaster();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     private:

tool/CommandPdos.cpp

@@ -43,11 +43,11 @@ CommandPdos::CommandPdos():
 
 /*****************************************************************************/
 
-string CommandPdos::helpString() const
+string CommandPdos::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandPdos.h

@@ -40,7 +40,7 @@ class CommandPdos:
     public:
         CommandPdos();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandRegRead.cpp

@@ -43,11 +43,12 @@ CommandRegRead::CommandRegRead():
 
 /*****************************************************************************/
 
-string CommandRegRead::helpString() const
+string CommandRegRead::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS] <OFFSET> [LENGTH]" << endl
+    str << binaryBaseName << " " << getName()
+        << " [OPTIONS] <OFFSET> [LENGTH]" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandRegRead.h

@@ -42,7 +42,7 @@ class CommandRegRead:
     public:
         CommandRegRead();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 };
 

tool/CommandRegWrite.cpp

@@ -45,11 +45,12 @@ CommandRegWrite::CommandRegWrite():
 
 /*****************************************************************************/
 
-string CommandRegWrite::helpString() const
+string CommandRegWrite::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS] <OFFSET> <DATA>" << endl
+    str << binaryBaseName << " " << getName()
+        << " [OPTIONS] <OFFSET> <DATA>" << endl
         << endl 
         << getBriefDescription() << endl
         << endl

tool/CommandRegWrite.h

@@ -42,7 +42,7 @@ class CommandRegWrite:
     public:
         CommandRegWrite();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     private:

tool/CommandRescan.cpp

@@ -45,11 +45,11 @@ CommandRescan::CommandRescan():
 
 /*****************************************************************************/
 
-string CommandRescan::helpString() const
+string CommandRescan::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << endl
+    str << binaryBaseName << " " << getName() << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandRescan.h

@@ -40,7 +40,7 @@ class CommandRescan:
     public:
         CommandRescan();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 };
 

tool/CommandSdos.cpp

@@ -43,11 +43,11 @@ CommandSdos::CommandSdos():
 
 /*****************************************************************************/
 
-string CommandSdos::helpString() const
+string CommandSdos::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandSdos.h

@@ -40,7 +40,7 @@ class CommandSdos:
     public:
         CommandSdos();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandSiiRead.cpp

@@ -43,11 +43,11 @@ CommandSiiRead::CommandSiiRead():
 
 /*****************************************************************************/
 
-string CommandSiiRead::helpString() const
+string CommandSiiRead::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandSiiRead.h

@@ -40,7 +40,7 @@ class CommandSiiRead:
     public:
         CommandSiiRead();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandSiiWrite.cpp

@@ -45,11 +45,12 @@ CommandSiiWrite::CommandSiiWrite():
 
 /*****************************************************************************/
 
-string CommandSiiWrite::helpString() const
+string CommandSiiWrite::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS] <FILENAME>" << endl
+    str << binaryBaseName << " " << getName()
+        << " [OPTIONS] <FILENAME>" << endl
         << endl 
         << getBriefDescription() << endl
         << endl

tool/CommandSiiWrite.h

@@ -40,7 +40,7 @@ class CommandSiiWrite:
     public:
         CommandSiiWrite();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandSlaves.cpp

@@ -45,11 +45,11 @@ CommandSlaves::CommandSlaves():
 
 /*****************************************************************************/
 
-string CommandSlaves::helpString() const
+string CommandSlaves::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandSlaves.h

@@ -40,7 +40,7 @@ class CommandSlaves:
     public:
         CommandSlaves();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandSoeRead.cpp

@@ -28,6 +28,7 @@
  ****************************************************************************/
 
 #include <iostream>
+#include <iomanip>
 using namespace std;
 
 #include "CommandSoeRead.h"
@@ -36,23 +37,28 @@ using namespace std;
 /*****************************************************************************/
 
 CommandSoeRead::CommandSoeRead():
-    SoeCommand("soe_read", "Read an SoE IDN from a slave.")
+    Command("soe_read", "Read an SoE IDN from a slave.")
 {
 }
 
 /*****************************************************************************/
 
-string CommandSoeRead::helpString() const
+string CommandSoeRead::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS] <IDN>" << endl
+    str << binaryBaseName << " " << getName()
+        << " [OPTIONS] <IDN>" << endl
+        << binaryBaseName << " " << getName()
+        << " [OPTIONS] <DRIVE> <IDN>" << endl
         << endl
         << getBriefDescription() << endl
         << endl
         << "This command requires a single slave to be selected." << endl
         << endl
         << "Arguments:" << endl
+        << "  DRIVE    is the drive number (0 - 7). If omitted, 0 is assumed."
+        << endl
         << "  IDN      is the IDN and must be either an unsigned" << endl
         << "           16 bit number acc. to IEC 61800-7-204:" << endl
         << "             Bit 15: (0) Standard data, (1) Product data" << endl
@@ -84,18 +90,38 @@ void CommandSoeRead::execute(const StringVector &args)
     stringstream err;
     const DataType *dataType = NULL;
     ec_ioctl_slave_soe_read_t ioctl;
+    int driveArgIndex = -1, idnArgIndex = -1;
 
-    if (args.size() != 1) {
+    if (args.size() == 1) {
-        err << "'" << getName() << "' takes one argument!";
+        idnArgIndex = 0;
+    } else if (args.size() == 2) {
+        driveArgIndex = 0;
+        idnArgIndex = 1;
+    } else {
+        err << "'" << getName() << "' takes eiter 1 or 2 arguments!";
         throwInvalidUsageException(err);
     }
 
-    ioctl.drive_no = 0; // FIXME
+    if (driveArgIndex >= 0) {
+        stringstream str;
+        unsigned int number;
+        str << args[driveArgIndex];
+        str
+            >> resetiosflags(ios::basefield) // guess base from prefix
+            >> number;
+        if (str.fail() || number > 7) {
+            err << "Invalid drive number '" << args[driveArgIndex] << "'!";
+            throwInvalidUsageException(err);
+        }
+        ioctl.drive_no = number;
+    } else {
+        ioctl.drive_no = 0;
+    }
 
     try {
-        ioctl.idn = parseIdn(args[0]);
+        ioctl.idn = parseIdn(args[idnArgIndex]);
     } catch (runtime_error &e) {
-        err << "Invalid IDN '" << args[0] << "': " << e.what();
+        err << "Invalid IDN '" << args[idnArgIndex] << "': " << e.what();
         throwInvalidUsageException(err);
     }
 

tool/CommandSoeRead.h

@@ -35,12 +35,14 @@
 /****************************************************************************/
 
 class CommandSoeRead:
+    public Command,
+    public DataTypeHandler,
     public SoeCommand
 {
     public:
         CommandSoeRead();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 };
 

tool/CommandSoeWrite.cpp

@@ -28,6 +28,7 @@
  ****************************************************************************/
 
 #include <iostream>
+#include <iomanip>
 using namespace std;
 
 #include "CommandSoeWrite.h"
@@ -36,23 +37,28 @@ using namespace std;
 /*****************************************************************************/
 
 CommandSoeWrite::CommandSoeWrite():
-    SoeCommand("soe_write", "Write an SoE IDN to a slave.")
+    Command("soe_write", "Write an SoE IDN to a slave.")
 {
 }
 
 /*****************************************************************************/
 
-string CommandSoeWrite::helpString() const
+string CommandSoeWrite::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS] <IDN> <VALUE>" << endl
+    str << binaryBaseName << " " << getName()
+        << " [OPTIONS] <IDN> <VALUE>" << endl
+        << binaryBaseName << " " << getName()
+        << " [OPTIONS] <DRIVE> <IDN> <VALUE>" << endl
         << endl
         << getBriefDescription() << endl
         << endl
         << "This command requires a single slave to be selected." << endl
         << endl
         << "Arguments:" << endl
+        << "  DRIVE    is the drive number (0 - 7). If omitted, 0 is assumed."
+        << endl
         << "  IDN      is the IDN and must be either an unsigned" << endl
         << "           16 bit number acc. to IEC 61800-7-204:" << endl
         << "             Bit 15: (0) Standard data, (1) Product data" << endl
@@ -81,23 +87,45 @@ string CommandSoeWrite::helpString() const
 
 void CommandSoeWrite::execute(const StringVector &args)
 {
-    stringstream strIdn, err;
+    stringstream err;
     const DataType *dataType = NULL;
     ec_ioctl_slave_soe_write_t ioctl;
     SlaveList slaves;
     size_t memSize;
+    int driveArgIndex = -1, idnArgIndex = -1, valueArgIndex = -1;
 
-    if (args.size() != 2) {
+    if (args.size() == 2) {
-        err << "'" << getName() << "' takes 2 arguments!";
+        idnArgIndex = 0;
+        valueArgIndex = 1;
+    } else if (args.size() == 3) {
+        driveArgIndex = 0;
+        idnArgIndex = 1;
+        valueArgIndex = 2;
+    } else {
+        err << "'" << getName() << "' takes eiter 2 or 3 arguments!";
         throwInvalidUsageException(err);
     }
 
-    ioctl.drive_no = 0; // FIXME
+    if (driveArgIndex >= 0) {
+        stringstream str;
+        unsigned int number;
+        str << args[driveArgIndex];
+        str
+            >> resetiosflags(ios::basefield) // guess base from prefix
+            >> number;
+        if (str.fail() || number > 7) {
+            err << "Invalid drive number '" << args[driveArgIndex] << "'!";
+            throwInvalidUsageException(err);
+        }
+        ioctl.drive_no = number;
+    } else {
+        ioctl.drive_no = 0;
+    }
 
     try {
-        ioctl.idn = parseIdn(args[0]);
+        ioctl.idn = parseIdn(args[idnArgIndex]);
     } catch (runtime_error &e) {
-        err << "Invalid IDN '" << args[0] << "': " << e.what();
+        err << "Invalid IDN '" << args[idnArgIndex] << "': " << e.what();
         throwInvalidUsageException(err);
     }
 
@@ -123,7 +151,7 @@ void CommandSoeWrite::execute(const StringVector &args)
         memSize = dataType->byteSize;
     } else {
         // guess string type size
-        memSize = args[1].size() + 1;
+        memSize = args[valueArgIndex].size() + 1;
         if (!memSize) {
             err << "Empty argument not allowed.";
             throwInvalidUsageException(err);
@@ -134,13 +162,13 @@ void CommandSoeWrite::execute(const StringVector &args)
 
     try {
         ioctl.data_size = interpretAsType(
-                dataType, args[1], ioctl.data, memSize);
+                dataType, args[valueArgIndex], ioctl.data, memSize);
     } catch (SizeException &e) {
         delete [] ioctl.data;
         throwCommandException(e.what());
     } catch (ios::failure &e) {
         delete [] ioctl.data;
-        err << "Invalid value argument '" << args[1]
+        err << "Invalid value argument '" << args[valueArgIndex]
             << "' for type '" << dataType->name << "'!";
         throwInvalidUsageException(err);
     }

tool/CommandSoeWrite.h

@@ -35,12 +35,14 @@
 /****************************************************************************/
 
 class CommandSoeWrite:
+    public Command,
+    public DataTypeHandler,
     public SoeCommand
 {
     public:
         CommandSoeWrite();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 };
 

tool/CommandStates.cpp

@@ -43,11 +43,11 @@ CommandStates::CommandStates():
 
 /*****************************************************************************/
 
-string CommandStates::helpString() const
+string CommandStates::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS] <STATE>" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS] <STATE>" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandStates.h

@@ -40,7 +40,7 @@ class CommandStates:
     public:
         CommandStates();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 };
 

tool/CommandUpload.cpp

@@ -43,11 +43,12 @@ CommandUpload::CommandUpload():
 
 /*****************************************************************************/
 
-string CommandUpload::helpString() const
+string CommandUpload::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS] <INDEX> <SUBINDEX>" << endl
+    str << binaryBaseName << " " << getName()
+        << " [OPTIONS] <INDEX> <SUBINDEX>" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandUpload.h

@@ -40,7 +40,7 @@ class CommandUpload:
     public:
         CommandUpload();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/CommandVersion.cpp

@@ -41,11 +41,11 @@ CommandVersion::CommandVersion():
 
 /****************************************************************************/
 
-string CommandVersion::helpString() const
+string CommandVersion::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl;
 

tool/CommandVersion.h

@@ -40,7 +40,7 @@ class CommandVersion:
     public:
         CommandVersion();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 };
 

tool/CommandXml.cpp

@@ -44,11 +44,11 @@ CommandXml::CommandXml():
 
 /*****************************************************************************/
 
-string CommandXml::helpString() const
+string CommandXml::helpString(const string &binaryBaseName) const
 {
     stringstream str;
 
-    str << getName() << " [OPTIONS]" << endl
+    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
         << endl
         << getBriefDescription() << endl
         << endl

tool/CommandXml.h

@@ -40,7 +40,7 @@ class CommandXml:
     public:
         CommandXml();
 
-        string helpString() const;
+        string helpString(const string &) const;
         void execute(const StringVector &);
 
     protected:

tool/Makefile.am

@@ -128,6 +128,7 @@ REV = `if test -s $(top_srcdir)/revision; then \
 ethercat_CXXFLAGS = \
 	-I$(top_srcdir)/include \
 	-I$(top_srcdir)/master \
-	-Wall -DREV=$(REV)
+	-Wall -DREV=$(REV) \
+	-fno-strict-aliasing
 
 #------------------------------------------------------------------------------

tool/MasterDevice.cpp

@@ -200,6 +200,24 @@ void MasterDevice::getConfigSdo(
 
 /****************************************************************************/
 
+void MasterDevice::getConfigIdn(
+        ec_ioctl_config_idn_t *data,
+        unsigned int index,
+        unsigned int pos
+        )
+{
+    data->config_index = index;
+    data->idn_pos = pos;
+
+    if (ioctl(fd, EC_IOCTL_CONFIG_IDN, data) < 0) {
+        stringstream err;
+        err << "Failed to get slave config IDN: " << strerror(errno);
+        throw MasterDeviceException(err);
+    }
+}
+
+/****************************************************************************/
+
 void MasterDevice::getDomain(ec_ioctl_domain_t *data, unsigned int index)
 {
     data->index = index;

tool/MasterDevice.h

@@ -116,6 +116,7 @@ class MasterDevice
         void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,
                 uint8_t, uint16_t, uint8_t);
         void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);
+        void getConfigIdn(ec_ioctl_config_idn_t *, unsigned int, unsigned int);
         void getDomain(ec_ioctl_domain_t *, unsigned int);
         void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);
         void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,

tool/SoeCommand.cpp

@@ -36,13 +36,6 @@ extern const ec_code_msg_t soe_error_codes[];
 
 /*****************************************************************************/
 
-SoeCommand::SoeCommand(const string &name, const string &briefDesc):
-    Command(name, briefDesc)
-{
-}
-
-/*****************************************************************************/
-
 uint16_t SoeCommand::parseIdn(const string &str)
 {
     uint16_t idn = 0x0000;
@@ -109,6 +102,19 @@ uint16_t SoeCommand::parseIdn(const string &str)
 
 /*****************************************************************************/
 
+string SoeCommand::outputIdn(uint16_t idn)
+{
+    stringstream str;
+
+    str << ((idn & 0x8000) ? 'P' : 'S')
+        << "-" << ((idn >> 12) & 0x07)
+        << "-" << setfill('0') << setw(4) << (idn & 0x0fff);
+
+    return str.str();
+}
+
+/*****************************************************************************/
+
 /** Outputs an SoE error code.
 */
 std::string SoeCommand::errorMsg(uint16_t code)

tool/SoeCommand.h

@@ -37,15 +37,11 @@
 
 /****************************************************************************/
 
-class SoeCommand:
+class SoeCommand
-    public Command,
-    public DataTypeHandler
 {
-    public:
-        SoeCommand(const string &, const string &);
-
     protected:
         static uint16_t parseIdn(const string &);
+        static std::string outputIdn(uint16_t);
         static std::string errorMsg(uint16_t);
 };
 

tool/main.cpp

@@ -312,7 +312,7 @@ int main(int argc, char **argv)
                     cmd->execute(commandArgs);
                 } catch (InvalidUsageException &e) {
                     cerr << e.what() << endl << endl;
-                    cerr << binaryBaseName << " " << cmd->helpString();
+                    cerr << cmd->helpString(binaryBaseName);
                     retval = 1;
                 } catch (CommandException &e) {
                     cerr << e.what() << endl;
@@ -322,7 +322,7 @@ int main(int argc, char **argv)
                     retval = 1;
                 }
             } else {
-                cout << binaryBaseName << " " << cmd->helpString();
+                cout << cmd->helpString(binaryBaseName);
             }
         } else {
             cerr << "Ambiguous command abbreviation! Matching:" << endl;

tty/module.c

@@ -43,6 +43,7 @@
 #include <linux/version.h>
 #include <linux/serial.h>
 #include <linux/uaccess.h>
+#include <linux/slab.h>
 
 #include "../master/globals.h"
 #include "../include/ectty.h"