Improved slave configuration FSM graph.
digraph slaveconf {
size="7,9"
center=1
ratio=fill
enter_sync [shape=point,label=""]
enter_fmmu [shape=point,label=""]
enter_sdoconf [shape=point,label=""]
enter_mapconf [shape=point,label=""]
start -> init [weight=10]
init -> init
init -> error
init -> enter_sync
init -> clear_fmmus [label="has FMMUs", weight=10]
clear_fmmus -> clear_fmmus
clear_fmmus -> error
clear_fmmus -> enter_sync [weight=10]
enter_sync -> end [label="INIT req."]
enter_sync -> preop
enter_sync -> sync [label="SMs to configure", weight=10]
sync -> sync
sync -> error
sync -> preop [weight=10]
preop -> preop
preop -> error
preop -> end [label="PREOP req."]
preop -> enter_fmmu
preop -> sync2 [label="more SMs", weight=10]
sync2 -> sync2
sync2 -> error
sync2 -> enter_fmmu [weight=10]
enter_fmmu -> enter_sdoconf
enter_fmmu -> fmmu [label="FMMUs to configure", weight=10]
fmmu -> fmmu
fmmu -> error
fmmu -> enter_sdoconf [weight=10]
enter_sdoconf -> enter_mapconf
enter_sdoconf -> sdoconf [label="SDOs to configure", weight=10]
sdoconf -> sdoconf
sdoconf -> error
sdoconf -> enter_mapconf [weight=10]
enter_mapconf -> mapconf [label="alternative PDO mapping", weight=10]
enter_mapconf -> saveop
mapconf -> mapconf
mapconf -> error
mapconf -> saveop [weight=10]
saveop -> saveop
saveop -> error
saveop -> end [label="SAVEOP req."]
saveop -> op [weight=10]
op -> op
op -> error
op -> end [weight=10]
}