diff --git a/tool/cmd_config.cpp b/tool/cmd_config.cpp
index ff0e6b716872e81bfcd016329c84f7f7a4c39d36..ec060a6cc78aa14d022988767a02517f0b70506f 100644
--- a/tool/cmd_config.cpp
+++ b/tool/cmd_config.cpp
@@ -17,8 +17,25 @@ using namespace std;
const char *help_config =
"[OPTIONS]\n"
"\n"
+ "Output information about the slave configurations supplied by the\n"
+ "application.\n"
"\n"
- "Command-specific options:\n";
+ "Without the --verbose option, each line of output shows one slave\n"
+ "configuration. Example:\n"
+ "\n"
+ "1001:0 0x0000003b/0x02010000 - -\n"
+ "| | | |\n"
+ "| | | \\- Slave is operational.\n"
+ "| | \\- Slave has been found.\n"
+ "| \\- Hexadecimal vendor ID and product code, separated by a\n"
+ "| slash.\n"
+ "\\- Decimal alias and position, separated by a colon.\n"
+ "\n"
+ "With the --verbose option given, the configured Pdos and Sdos are\n"
+ "additionally printed.\n"
+ "\n"
+ "Command-specific options:\n"
+ " --verbose -v Show detailed configurations.\n";
/*****************************************************************************/
diff --git a/tool/cmd_data.cpp b/tool/cmd_data.cpp
index 42e0113f5abba9e798dae271a32483bc10264d7c..f567ef83833f5f36971d8779bf3061c5fe70e43c 100644
--- a/tool/cmd_data.cpp
+++ b/tool/cmd_data.cpp
@@ -19,7 +19,7 @@ const char *help_data =
"Command-specific options:\n"
" --domain -d <index> Positive numerical domain index. If this option\n"
" is not specified, data of all domains are\n"
- " output.\n";
+ " concatenated.\n";
/****************************************************************************/
diff --git a/tool/cmd_debug.cpp b/tool/cmd_debug.cpp
index 7d5277a4bc24843eacfaa0dc660ee570bcbc20a6..fe229e5e837da4f0de53f8ff778905a75cd35310 100644
--- a/tool/cmd_debug.cpp
+++ b/tool/cmd_debug.cpp
@@ -13,10 +13,19 @@ using namespace std;
/*****************************************************************************/
const char *help_debug =
- "[OPTIONS]\n"
+ "<LEVEL>\n"
"\n"
+ "Set the master debug level.\n"
"\n"
- "Command-specific options:\n";
+ "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";
/****************************************************************************/
diff --git a/tool/cmd_domain.cpp b/tool/cmd_domain.cpp
index a1f3c1891e5b2e14424a7486bd54ddad31c6e331..aa559ea022bd731c8830c7a4c328cf0f496ba45d 100644
--- a/tool/cmd_domain.cpp
+++ b/tool/cmd_domain.cpp
@@ -15,8 +15,34 @@ using namespace std;
const char *help_domains =
"[OPTIONS]\n"
"\n"
+ "Show information about the application's configured domains.\n"
"\n"
- "Command-specific options:\n";
+ "Without the --verbose option, one domain is displayed per line.\n"
+ "Example:\n"
+ "\n"
+ "Domain0: LogBaseAddr 0x00000000, Size 6, WorkingCounter 0/1\n"
+ "\n"
+ "The domain's base address for the logical datagram (LRD/LWR/LRW)\n"
+ "is displayed followed by the domain's process data size in byte.\n"
+ "The last values are the current datagram working counter sum and\n"
+ "the expected working counter sum. If the values are equal, all\n"
+ "Pdos are exchanged.\n"
+ "\n"
+ "If the --verbose option is given, the participating slave\n"
+ "configurations/FMMUs and the current process data are additionally\n"
+ "displayed:\n"
+ "\n"
+ "Domain1: LogBaseAddr 0x00000006, Size 6, WorkingCounter 0/1\n"
+ " 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"
+ "\n"
+ "Command-specific options:\n"
+ " --domain -d <index> Positive numerical domain index. If this\n"
+ " option is not specified, all domains are\n"
+ " displayed.\n"
+ " --verbose -v Show FMMUs and process data.\n";
/****************************************************************************/
diff --git a/tool/cmd_master.cpp b/tool/cmd_master.cpp
index e6c650ee0a9f3cdb5fc7108bf3923c5cc385355f..5d40762deab786a9ccf5f3d9834b4a6e2a4996e1 100644
--- a/tool/cmd_master.cpp
+++ b/tool/cmd_master.cpp
@@ -15,8 +15,10 @@ using namespace std;
const char *help_master =
"[OPTIONS]\n"
"\n"
+ "Show master and Ethernet device information.\n"
"\n"
- "Command-specific options:\n";
+ "Command-specific options:\n"
+ " --master -m <master> Index of the master to use. Default: 0\n";
/****************************************************************************/
diff --git a/tool/cmd_pdos.cpp b/tool/cmd_pdos.cpp
index f590d4c06f2b9664de748f725f43eabf29a7eaad..a64e27e2632f01dc0c0202a34814616346d0cd3e 100644
--- a/tool/cmd_pdos.cpp
+++ b/tool/cmd_pdos.cpp
@@ -12,6 +12,7 @@ using namespace std;
/****************************************************************************/
+// FIXME
const char *help_pdos =
"[OPTIONS]\n"
"\n"
diff --git a/tool/cmd_sdo_download.cpp b/tool/cmd_sdo_download.cpp
index f8577ae4d5d8f0a50ef673810bb4edf499effdf4..1e606e5e494a1e4e258a340602256043e23237be 100644
--- a/tool/cmd_sdo_download.cpp
+++ b/tool/cmd_sdo_download.cpp
@@ -13,6 +13,7 @@ using namespace std;
/****************************************************************************/
+// FIXME
const char *help_sdo_download =
"[OPTIONS]\n"
"\n"
diff --git a/tool/cmd_sdo_upload.cpp b/tool/cmd_sdo_upload.cpp
index e4baf1ff95ed560131e68822961dbc4dd3a21621..4911c5a1c099ff8a14f14b1dbdf8d34a6dd5d2cd 100644
--- a/tool/cmd_sdo_upload.cpp
+++ b/tool/cmd_sdo_upload.cpp
@@ -13,6 +13,7 @@ using namespace std;
/****************************************************************************/
+// FIXME
const char *help_sdo_upload =
"[OPTIONS]\n"
"\n"
diff --git a/tool/cmd_sdos.cpp b/tool/cmd_sdos.cpp
index d5933230566146ec2ab96f0c859292e61b7b7183..8d7d0bc3217e0bb59d07ad8c5055ba99dd1ce406 100644
--- a/tool/cmd_sdos.cpp
+++ b/tool/cmd_sdos.cpp
@@ -13,6 +13,7 @@ using namespace std;
/****************************************************************************/
+// FIXME
const char *help_sdos =
"[OPTIONS]\n"
"\n"
diff --git a/tool/cmd_sii_read.cpp b/tool/cmd_sii_read.cpp
index db23486deb266b4278ca009dcaa0171189180b05..a0fae1dfe3852ee9c905208cf65babce6adad791 100644
--- a/tool/cmd_sii_read.cpp
+++ b/tool/cmd_sii_read.cpp
@@ -12,6 +12,7 @@ using namespace std;
/****************************************************************************/
+// FIXME
const char *help_sii_read =
"[OPTIONS]\n"
"\n"
diff --git a/tool/cmd_sii_write.cpp b/tool/cmd_sii_write.cpp
index a37315a836153353811ddd2a324345e5ed6a0172..ecfe38ee743fd9eb93a7f63235ec8c1cc5c8a557 100644
--- a/tool/cmd_sii_write.cpp
+++ b/tool/cmd_sii_write.cpp
@@ -14,6 +14,7 @@ using namespace std;
/****************************************************************************/
+// FIXME
const char *help_sii_write =
"[OPTIONS]\n"
"\n"
diff --git a/tool/cmd_slaves.cpp b/tool/cmd_slaves.cpp
index 8ee30bc5096a2df4a9d3d0d94ffe71498dab272a..b9a0c4f776a7a94004ce3b446d1b97b1a721521e 100644
--- a/tool/cmd_slaves.cpp
+++ b/tool/cmd_slaves.cpp
@@ -13,6 +13,7 @@ using namespace std;
/****************************************************************************/
+// FIXME
const char *help_slaves =
"[OPTIONS]\n"
"\n"
diff --git a/tool/cmd_states.cpp b/tool/cmd_states.cpp
index e254acb3ee20e098295be2ab22b8a04f9fca33c7..2810341ca4d0f8211710656e0da16833c183d450 100644
--- a/tool/cmd_states.cpp
+++ b/tool/cmd_states.cpp
@@ -11,6 +11,7 @@ using namespace std;
/****************************************************************************/
+// FIXME
const char *help_states =
"[OPTIONS]\n"
"\n"
diff --git a/tool/cmd_xml.cpp b/tool/cmd_xml.cpp
index 48aa79b15974cc2c2a81a1620b447c47c17f9ca6..8c3e841bea0daf835caf664c90e3291d98807f83 100644
--- a/tool/cmd_xml.cpp
+++ b/tool/cmd_xml.cpp
@@ -12,6 +12,7 @@ using namespace std;
/****************************************************************************/
+// FIXME
const char *help_xml =
"[OPTIONS]\n"
"\n"