diff --git a/TODO b/TODO
index 3a14d4042a89a777b6cda2a3ed71c4a17d773426..45d53cf27ce818446eb116bcd0d5b8182a9eee30 100644
--- a/TODO
+++ b/TODO
@@ -14,7 +14,6 @@ Version 1.4.0:
* Get original driver for r8169.
* Race in jiffies frame timeout?
* ethercat tool:
- - Add help pages for each command.
- Add -a and -p switches for config command.
- Show attached slave position.
- Show Pdos in 'ethercat slave -v'.
diff --git a/tool/cmd_alias.cpp b/tool/cmd_alias.cpp
index b6e15bbeebb54a5382ace76a373719f165543cf9..24556bb91faac7624b1653d36230ada6b0173eec 100644
--- a/tool/cmd_alias.cpp
+++ b/tool/cmd_alias.cpp
@@ -21,16 +21,16 @@ const char *help_alias =
"one or for multiple slaves.\n"
"\n"
"Arguments:\n"
- " ALIAS must be a 16 bit unsigned integer, specified\n"
- " either in decimal (no prefix), octal (prefix '0')\n"
- " or hexadecimal (prefix '0x').\n"
+ " ALIAS must be an unsigned 16 bit number. Zero means no alias.\n"
"\n"
"Command-specific options:\n"
- " -s <SLAVE> Write the alias of the slave with the given\n"
- " ring position. If this option is not\n"
- " specified, the alias of all slaves is set.\n"
- " The --force option is required in this\n"
- " case.\n";
+ " --slave -s <index> Positive numerical ring position, or 'all' for\n"
+ " all slaves (default). The --force option is\n"
+ " required in this case.\n"
+ " --force Acknowledge writing aliases of all slaves.\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/*****************************************************************************/
diff --git a/tool/cmd_data.cpp b/tool/cmd_data.cpp
index 64222279359c201591e168d5d000c46d58e22e70..ac241a08a1cfb158c5d63ac35cd36ede86820536 100644
--- a/tool/cmd_data.cpp
+++ b/tool/cmd_data.cpp
@@ -19,7 +19,10 @@ const char *help_data =
"Command-specific options:\n"
" --domain -d <index> Positive numerical domain index, or 'all' for\n"
" all domains (default). In this case, data of all\n"
- " domains are concatenated.\n";
+ " domains are concatenated.\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/****************************************************************************/
diff --git a/tool/cmd_debug.cpp b/tool/cmd_debug.cpp
index 528d2f61c4489e18b0aea034d006f110c25e5fef..e866e7d2d9a085e7cdd108c9dc54095d2e9f0bfa 100644
--- a/tool/cmd_debug.cpp
+++ b/tool/cmd_debug.cpp
@@ -20,12 +20,13 @@ const char *help_debug =
"Debug messages are printed to syslog.\n"
"\n"
"Arguments:\n"
- " LEVEL must be an unsigned integer, specified\n"
- " either in decimal (no prefix), octal (prefix '0')\n"
- " or hexadecimal (prefix '0x').\n"
- " 0 stands for no debugging output,\n"
- " 1 means some debug messages, and\n"
- " 2 outputs all frame data (use with caution!).\n";
+ " LEVEL can have one of the following values:\n"
+ " 0 for no debugging output,\n"
+ " 1 for some debug messages, or\n"
+ " 2 for printing all frame contents (use with caution!).\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/****************************************************************************/
diff --git a/tool/cmd_domain.cpp b/tool/cmd_domain.cpp
index ac80fe6d02d558c08b52d79e118e0e73092ff8ed..c3c2010d6bdb0666edce732ed4c869ffbc277ba4 100644
--- a/tool/cmd_domain.cpp
+++ b/tool/cmd_domain.cpp
@@ -17,7 +17,7 @@ const char *help_domains =
"\n"
"Show information about the application's configured domains.\n"
"\n"
- "Without the --verbose option, one domain is displayed per line.\n"
+ "Without the --verbose option, the domains are displayed one-per-line.\n"
"Example:\n"
"\n"
"Domain0: LogBaseAddr 0x00000000, Size 6, WorkingCounter 0/1\n"
@@ -36,12 +36,15 @@ const char *help_domains =
" SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6\n"
" 00 00 00 00 00 00\n"
"\n"
- "The process data are displayed as raw hexadecimal bytes.\n"
+ "The process data are displayed as hexadecimal bytes.\n"
"\n"
"Command-specific options:\n"
" --domain -d <index> Positive numerical domain index, or 'all'\n"
" for all domains (default).\n"
- " --verbose -v Show FMMUs and process data additionally.\n";
+ " --verbose -v Show FMMUs and process data additionally.\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/****************************************************************************/
diff --git a/tool/cmd_download.cpp b/tool/cmd_download.cpp
index f56b7c154877bf01bff601367b42804c9a020120..de6c3c7be8c18120e41f870a079a74177d0d4fc2 100644
--- a/tool/cmd_download.cpp
+++ b/tool/cmd_download.cpp
@@ -13,12 +13,33 @@ using namespace std;
/****************************************************************************/
-// FIXME
const char *help_download =
- "[OPTIONS]\n"
+ "[OPTIONS] <INDEX> <SUBINDEX> <VALUE>\n"
"\n"
+ "Download an Sdo entry to a slave.\n"
"\n"
- "Command-specific options:\n";
+ "The data type of the Sdo entry is taken from the Sdo dictionary by\n"
+ "default. It can be overridden with the --type option. If the slave\n"
+ "does not support the Sdo information service or the Sdo is not in the\n"
+ "dictionary, the --type option is mandatory.\n"
+ "\n"
+ "These are the valid Sdo entry data types:\n"
+ " int8, int16, int32, uint8, uint16, uint32, string.\n"
+ "\n"
+ "Arguments:\n"
+ " INDEX is the Sdo index and must be an unsigned 16 bit number.\n"
+ " SUBINDEX is the Sdo entry subindex and must be an unsigned 8 bit\n"
+ " number.\n"
+ " VALUE is the value to download and must correspond to the Sdo\n"
+ " entry datatype (see above).\n"
+ "\n"
+ "Command-specific options:\n"
+ " --slave -s <index> Positive numerical ring position (mandatory).\n"
+ " --type -t <type> Forced Sdo entry data type (see above).\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
+
/****************************************************************************/
diff --git a/tool/cmd_master.cpp b/tool/cmd_master.cpp
index dc3dbad363e7dd77a32bb09e41e55d22358b52fa..37f46d573fe79f9b94a01dfb12c1a169597d5c91 100644
--- a/tool/cmd_master.cpp
+++ b/tool/cmd_master.cpp
@@ -18,7 +18,10 @@ const char *help_master =
"Show master and Ethernet device information.\n"
"\n"
"Command-specific options:\n"
- " --master -m <master> Index of the master to use. Default: 0\n";
+ " --master -m <index> Index of the master to use. Default: 0.\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/****************************************************************************/
diff --git a/tool/cmd_pdos.cpp b/tool/cmd_pdos.cpp
index a64e27e2632f01dc0c0202a34814616346d0cd3e..33f2ed116922ebb80c9848f76241b27115e7f8bc 100644
--- a/tool/cmd_pdos.cpp
+++ b/tool/cmd_pdos.cpp
@@ -12,12 +12,40 @@ using namespace std;
/****************************************************************************/
-// FIXME
const char *help_pdos =
"[OPTIONS]\n"
"\n"
+ "Displays sync managers, assigned Pdos and mapped Pdo entries.\n"
"\n"
- "Command-specific options:\n";
+ "The information is displayed in three layers, which are indented\n"
+ "accordingly:\n"
+ "\n"
+ "1) Sync managers - Contains the sync manager information from the\n"
+ " SII: Index, physical start address, default size (raw value from\n"
+ " the SII), control register and enable word. Example:\n"
+ "\n"
+ " SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, Enable 1\n"
+ "\n"
+ "2) Assigned Pdos - Pdo direction, hexadecimal index and -if available-\n"
+ " the Pdo name. Example:\n"
+ "\n"
+ " TxPdo 0x1a00 \"Channel1\"\n"
+ "\n"
+ "3) Mapped Pdo entries - Pdo entry index and subindex (both\n"
+ " hexadecimal), the length in bit and -if available- the\n"
+ " description. Example:\n"
+ "\n"
+ " Pdo entry 0x3101:01, 8 bit, \"Status\"\n"
+ "\n"
+ "Note, that the displayed Pdo assignment and Pdo mapping information\n"
+ "can either originate from the SII or from the CoE communication area.\n"
+ "\n"
+ "Command-specific options:\n"
+ " --slave -s <index> Positive numerical ring position, or 'all' for\n"
+ " all slaves (default).\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/****************************************************************************/
diff --git a/tool/cmd_sdos.cpp b/tool/cmd_sdos.cpp
index 8d7d0bc3217e0bb59d07ad8c5055ba99dd1ce406..6341d398a660899197557e9b57dc841f59afa139 100644
--- a/tool/cmd_sdos.cpp
+++ b/tool/cmd_sdos.cpp
@@ -13,12 +13,33 @@ using namespace std;
/****************************************************************************/
-// FIXME
const char *help_sdos =
"[OPTIONS]\n"
"\n"
+ "Displays the Sdo dictionary with Sdos and Sdo entries.\n"
"\n"
- "Command-specific options:\n";
+ "Sdo dictionary information is displayed in two layers, with are\n"
+ "indented accordingly:\n"
+ "\n"
+ "1) Sdos - Hexadecimal Sdo index and the name. Example:\n"
+ "\n"
+ " Sdo 0x1018, \"Identity object\"\n"
+ "\n"
+ "2) Sdo entries - Sdo index and Sdo entry subindex (both hexadecimal)\n"
+ " followed by the data type, the length in bit, and the description.\n"
+ " Example:\n"
+ "\n"
+ " 0x1018:01, uint32, 32 bit, \"Vendor id\"\n"
+ "\n"
+ "If the --quiet option is given, only the Sdos are printed.\n"
+ "\n"
+ "Command-specific options:\n"
+ " --slave -s <index> Positive numerical ring position, or 'all' for\n"
+ " all slaves (default).\n"
+ " --quiet -q Print only Sdos (without Sdo entries).\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/****************************************************************************/
diff --git a/tool/cmd_sii_read.cpp b/tool/cmd_sii_read.cpp
index 0a59eeac2dc5ae4036b44949689d90db81f94b58..cac53b92fb334496821173465fd3abe6caf222af 100644
--- a/tool/cmd_sii_read.cpp
+++ b/tool/cmd_sii_read.cpp
@@ -12,12 +12,25 @@ using namespace std;
/****************************************************************************/
-// FIXME
const char *help_sii_read =
"[OPTIONS]\n"
"\n"
+ "Outputs the SII (EEPROM) contents of a slave.\n"
"\n"
- "Command-specific options:\n";
+ "Without the --verbose option, binary SII contents are output. They can\n"
+ "be piped to a tool like hexdump, for example:\n"
+ "\n"
+ " ethercat sii_read -s2 | hexdump -C\n"
+ "\n"
+ "With the --verbose option given, a textual representation of the data\n"
+ "is output, that is separated by SII category names.\n"
+ "\n"
+ "Command-specific options:\n"
+ " --slave -s <index> Positive numerical ring position (mandatory).\n"
+ " --verbose -v Output textual data with category names.\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/****************************************************************************/
diff --git a/tool/cmd_sii_write.cpp b/tool/cmd_sii_write.cpp
index e64c90258e47458fbf269fbc86cdff4e37db6a0a..b4ae6f52889ea8f6a20875b81e6c569f4f23315d 100644
--- a/tool/cmd_sii_write.cpp
+++ b/tool/cmd_sii_write.cpp
@@ -14,12 +14,24 @@ using namespace std;
/****************************************************************************/
-// FIXME
const char *help_sii_write =
- "[OPTIONS]\n"
+ "[OPTIONS] <FILENAME>\n"
"\n"
+ "Writes SII contents from a local file to a slave.\n"
"\n"
- "Command-specific options:\n";
+ "The file contents are checked for validity and integrity. These checks\n"
+ "can be overridden with the --force option.\n"
+ "\n"
+ "Arguments:\n"
+ " FILENAME must be a path to a file that contains a positive number\n"
+ " of words.\n"
+ "\n"
+ "Command-specific options:\n"
+ " --slave -s <index> Positive numerical ring position (mandatory).\n"
+ " --force Override validity checks.\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/****************************************************************************/
diff --git a/tool/cmd_slaves.cpp b/tool/cmd_slaves.cpp
index b9a0c4f776a7a94004ce3b446d1b97b1a721521e..addeff2ea645e155a518db170766dfcf3294fff2 100644
--- a/tool/cmd_slaves.cpp
+++ b/tool/cmd_slaves.cpp
@@ -13,12 +13,40 @@ using namespace std;
/****************************************************************************/
-// FIXME
const char *help_slaves =
"[OPTIONS]\n"
"\n"
+ "Display slaves on the bus.\n"
"\n"
- "Command-specific options:\n";
+ "If the --verbose option is not given, the slaves are displayed\n"
+ "one-per-line. Example:\n"
+ "\n"
+ "1 5555:0 PREOP + EL3162 2C. Ana. Input 0-10V\n"
+ "| | | | | |\n"
+ "| | | | | \\- Name from SII if avaliable, otherwise\n"
+ "| | | | | hexadecimal vendor ID and product code\n"
+ "| | | | | separated by a colon.\n"
+ "| | | | \\- Error flag. '+' means no error, 'E' means,\n"
+ "| | | | that scanning or configuration failed.\n"
+ "| | | \\- Current slave state.\n"
+ "| | \\- Relative position (decimal) after the last slave with an\n"
+ "| | alias address set.\n"
+ "| \\- Alias address of the slave (if set to non-zero), or the alias\n"
+ "| of the last slave with an alias set, or zero if there is none.\n"
+ "\\- Ring position (use this with any --slave option).\n"
+ "\n"
+ "If the --verbose option is given, a detailed (multi-line) description\n"
+ "is output for each slave.\n"
+ "\n"
+ "Command-specific options:\n"
+ " --slave -s <index> Positive numerical ring position, or 'all' for\n"
+ " all slaves (default).\n"
+ " --verbose -v Show detailed slave information.\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
+
+/****************************************************************************/
void listSlaves(int);
void showSlave(uint16_t);
diff --git a/tool/cmd_states.cpp b/tool/cmd_states.cpp
index adc52eba9635b759e8063e7fbbdd4268bab1a65c..b572a9112c4d9241d0357dc0d494c7430d578af5 100644
--- a/tool/cmd_states.cpp
+++ b/tool/cmd_states.cpp
@@ -11,12 +11,20 @@ using namespace std;
/****************************************************************************/
-// FIXME
const char *help_states =
- "[OPTIONS]\n"
+ "[OPTIONS] <STATE>\n"
"\n"
+ "Request an application-layer state change for the specified slaves.\n"
"\n"
- "Command-specific options:\n";
+ "Arguments:\n"
+ " STATE can be 'INIT', 'PREOP', 'SAFEOP', or 'OP'\n"
+ "\n"
+ "Command-specific options:\n"
+ " --slave -s <index> Positive numerical ring position, or 'all' for\n"
+ " all slaves (default).\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/****************************************************************************/
diff --git a/tool/cmd_upload.cpp b/tool/cmd_upload.cpp
index e9421d320b680498f4cf6970176b27ab3c3d6e66..2b6fed1c806f0144aa32c52c1e9be432b71a2ca9 100644
--- a/tool/cmd_upload.cpp
+++ b/tool/cmd_upload.cpp
@@ -13,12 +13,30 @@ using namespace std;
/****************************************************************************/
-// FIXME
const char *help_upload =
- "[OPTIONS]\n"
+ "[OPTIONS] <INDEX> <SUBINDEX>\n"
"\n"
+ "Upload an Sdo entry from a slave.\n"
"\n"
- "Command-specific options:\n";
+ "The data type of the Sdo entry is taken from the Sdo dictionary by\n"
+ "default. It can be overridden with the --type option. If the slave\n"
+ "does not support the Sdo information service or the Sdo is not in the\n"
+ "dictionary, the --type option is mandatory.\n"
+ "\n"
+ "These are the valid Sdo entry data types:\n"
+ " int8, int16, int32, uint8, uint16, uint32, string.\n"
+ "\n"
+ "Arguments:\n"
+ " INDEX is the Sdo index and must be an unsigned 16 bit number.\n"
+ " SUBINDEX is the Sdo entry subindex and must be an unsigned 8 bit\n"
+ " number.\n"
+ "\n"
+ "Command-specific options:\n"
+ " --slave -s <index> Positive numerical ring position (mandatory).\n"
+ " --type -t <type> Forced Sdo entry data type (see above).\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/****************************************************************************/
diff --git a/tool/cmd_xml.cpp b/tool/cmd_xml.cpp
index 8c3e841bea0daf835caf664c90e3291d98807f83..3578c730473450968dc9d0e5e62485f6a347dc55 100644
--- a/tool/cmd_xml.cpp
+++ b/tool/cmd_xml.cpp
@@ -12,12 +12,21 @@ using namespace std;
/****************************************************************************/
-// FIXME
const char *help_xml =
"[OPTIONS]\n"
"\n"
+ "Generate slave description XMLs from the master's slave information.\n"
"\n"
- "Command-specific options:\n";
+ "Note that the Pdo information can either originate from the SII or\n"
+ "from the CoE communication area. For some slaves, this is dependant on\n"
+ "the last slave configuration.\n"
+ "\n"
+ "Command-specific options:\n"
+ " --slave -s <index> Positive numerical ring position, or 'all' for\n"
+ " all slaves (default).\n"
+ "\n"
+ "Numerical values can be specified either with decimal (no prefix),\n"
+ "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
/****************************************************************************/
diff --git a/tool/main.cpp b/tool/main.cpp
index dd5f2e0ca1c8184d58888bde91c08b7566f8c87b..1b5e297d0f55de8174eb1bca2cdd260b029ab434 100644
--- a/tool/main.cpp
+++ b/tool/main.cpp
@@ -103,8 +103,9 @@ void printUsage()
}
cerr
- << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS]" << endl
- << "Commands:" << endl;
+ << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS] [ARGUMENTS]"
+ << endl << endl
+ << "Commands (can be abbreviated):" << endl;
cerr << left;
for (cmd = commands; cmd < cmdEnd; cmd++) {
@@ -113,21 +114,22 @@ void printUsage()
}
cerr
- << "Commands can be abbreviated." << endl
+ << endl
<< "Global options:" << endl
- << " --master -m <master> Index of the master to use. Default: 0"
+ << " --master -m <master> Index of the master to use. Default: 0."
<< endl
- << " --slave -s <index> Positive numerical ring position,"
- << endl
- << " or 'all' for all slaves (default)."
- << endl
- << " --type -t <type> Forced Sdo data type." << endl
- << " --force -f Force action." << endl
+ << " --force -f Force a command." << endl
<< " --quiet -q Output less information." << endl
<< " --verbose -v Output more information." << endl
<< " --help -h Show this help." << endl
+ << endl
+ << "Numerical values can be specified either with decimal "
+ << "(no prefix)," << endl
+ << "octal (prefix '0') or hexadecimal (prefix '0x') base." << endl
+ << endl
<< "Call '" << binaryBaseName
<< " <COMMAND> --help' for command-specific help." << endl
+ << endl
<< "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
}