digraph slaveconf {
    size="7,9"
    center=1
	ratio=fill

    enter_mbox_sync [shape=point,label=""]
    enter_fmmu [shape=point,label=""]
    enter_sdo_conf [shape=point,label=""]
    enter_mapping [shape=point,label=""]
    enter_pdo_sync [shape=point,label=""]
    enter_saveop [shape=point,label=""]

    start -> init [weight=10]
    init -> init
    init -> error
    init -> enter_mbox_sync
    init -> clear_fmmus [label="Has FMMUs", weight=10]
    clear_fmmus -> clear_fmmus
    clear_fmmus -> error
    clear_fmmus -> enter_mbox_sync [weight=10]
    enter_mbox_sync -> end [label="INIT req."]
    enter_mbox_sync -> preop [label="No mailboxes"]
    enter_mbox_sync -> mbox_sync [label="Has mailboxes", weight=10]
    mbox_sync -> mbox_sync
    mbox_sync -> error
    mbox_sync -> preop [weight=10]
    preop -> preop
    preop -> error
    preop -> end [label="PREOP req."]
    preop -> enter_sdo_conf [weight=10]
    enter_sdo_conf -> enter_saveop [label="No configuration"]
    enter_sdo_conf -> enter_mapping [label="No SDO configs"]
    enter_sdo_conf -> sdo_conf [label="SDO configs", weight=10]
    sdo_conf -> sdo_conf
    sdo_conf -> error
    sdo_conf -> enter_mapping [weight=10]
    enter_mapping -> mapping [label="CoE supported", weight=10]
    enter_mapping -> enter_pdo_sync
    mapping -> mapping
    mapping -> error
    mapping -> enter_pdo_sync [weight=10]
    enter_pdo_sync -> pdo_sync [label="PDO SMs", weight=10]
    enter_pdo_sync -> enter_fmmu
    pdo_sync -> pdo_sync
    pdo_sync -> error
    pdo_sync -> enter_fmmu [weight=10]
    enter_fmmu -> enter_saveop
    enter_fmmu -> fmmu [label="FMMUs to configure", weight=10]
    fmmu -> fmmu
    fmmu -> error
    fmmu -> enter_saveop [weight=10]
    enter_saveop -> saveop
    saveop -> saveop
    saveop -> error
    saveop -> end [label="SAVEOP req."]
    saveop -> op [weight=10]
    op -> op
    op -> error
    op -> end [weight=10]
}