diff -r 0d3e4246e790 -r d83d92e1a919 master/fsm_slave_config.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave_config.c	Tue Feb 26 13:20:32 2008 +0000
@@ -0,0 +1,824 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU General Public License
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  The right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT slave configuration state machine.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "slave_config.h"
+#include "fsm_slave_config.h"
+
+/*****************************************************************************/
+
+void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_mapping(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
+
+void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_mapping(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
+
+void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_slave_config_init(ec_fsm_slave_config_t *fsm, /**< slave state machine */
+        ec_datagram_t *datagram /**< datagram structure to use */
+        )
+{
+    fsm->datagram = datagram;
+
+    // init sub state machines
+    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
+    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+    ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_map, &fsm->fsm_coe);
+    ec_fsm_pdo_config_init(&fsm->fsm_pdo_conf, &fsm->fsm_coe);
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    // clear sub state machines
+    ec_fsm_change_clear(&fsm->fsm_change);
+    ec_fsm_coe_clear(&fsm->fsm_coe);
+    ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_map);
+    ec_fsm_pdo_config_clear(&fsm->fsm_pdo_conf);
+}
+
+/*****************************************************************************/
+
+/**
+ * Start slave configuration state machine.
+ */
+
+void ec_fsm_slave_config_start(ec_fsm_slave_config_t *fsm, /**< slave state machine */
+        ec_slave_t *slave /**< slave to configure */
+        )
+{
+    fsm->slave = slave;
+    fsm->state = ec_fsm_slave_config_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+   \return false, if state machine has terminated
+*/
+
+int ec_fsm_slave_config_running(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    return fsm->state != ec_fsm_slave_config_state_end
+        && fsm->state != ec_fsm_slave_config_state_error;
+}
+
+/*****************************************************************************/
+
+/**
+   Executes the current state of the state machine.
+   If the state machine's datagram is not sent or received yet, the execution
+   of the state machine is delayed to the next cycle.
+   \return false, if state machine has terminated
+*/
+
+int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    if (fsm->datagram->state == EC_DATAGRAM_SENT
+        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
+        // datagram was not sent or received yet.
+        return ec_fsm_slave_config_running(fsm);
+    }
+
+    fsm->state(fsm);
+    return ec_fsm_slave_config_running(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+   \return true, if the state machine terminated gracefully
+*/
+
+int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    return fsm->state == ec_fsm_slave_config_state_end;
+}
+
+/******************************************************************************
+ * Slave configuration state machine
+ *****************************************************************************/
+
+/**
+   Slave configuration state: START.
+*/
+
+void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    if (fsm->slave->master->debug_level) {
+        EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position);
+    }
+
+    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
+    ec_fsm_change_exec(&fsm->fsm_change);
+    fsm->state = ec_fsm_slave_config_state_init;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: INIT.
+*/
+
+void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    ec_master_t *master = fsm->slave->master;
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+    if (!ec_fsm_change_success(&fsm->fsm_change)) {
+        if (!fsm->fsm_change.spontaneous_change)
+            slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        return;
+    }
+
+    slave->self_configured = 1;
+
+    if (master->debug_level) {
+        EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
+    }
+
+    // check and reset CRC fault counters
+    //ec_slave_check_crc(slave);
+    // TODO: Implement state machine for CRC checking.
+
+    if (!slave->base_fmmu_count) { // skip FMMU configuration
+        ec_fsm_slave_config_enter_mbox_sync(fsm);
+        return;
+    }
+
+    if (master->debug_level)
+        EC_DBG("Clearing FMMU configurations of slave %i...\n",
+               slave->ring_position);
+
+    // clear FMMU configurations
+    ec_datagram_fpwr(datagram, slave->station_address,
+            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+    memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_config_state_clear_fmmus;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: CLEAR FMMU.
+*/
+
+void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *fsm
+                                        /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+        return;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_config_state_error;
+        EC_ERR("Failed receive FMMU clearing datagram for slave %i.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        EC_ERR("Failed to clear FMMUs of slave %i: ",
+               fsm->slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        return;
+    }
+
+    ec_fsm_slave_config_enter_mbox_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for mailbox sync managers to be configured.
+ */
+
+void ec_fsm_slave_config_enter_mbox_sync(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    ec_master_t *master = fsm->slave->master;
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+    unsigned int i;
+
+    // slave is now in INIT
+    if (slave->current_state == slave->requested_state) {
+        fsm->state = ec_fsm_slave_config_state_end; // successful
+        if (master->debug_level) {
+            EC_DBG("Finished configuration of slave %i.\n",
+                   slave->ring_position);
+        }
+        return;
+    }
+
+    if (!slave->sii_mailbox_protocols) {
+        // no mailbox protocols supported
+        if (master->debug_level)
+            EC_DBG("Slave %u does not support mailbox communication.\n",
+                    slave->ring_position);
+        ec_fsm_slave_config_enter_preop(fsm);
+        return;
+    }
+
+    if (master->debug_level) {
+        EC_DBG("Configuring mailbox sync managers of slave %i.\n",
+               slave->ring_position);
+    }
+
+    if (slave->sii_sync_count >= 2) { // mailbox configuration provided
+        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
+                EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
+        memset(datagram->data, 0x00,
+                EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
+
+        for (i = 0; i < 2; i++) {
+            ec_sync_config(&slave->sii_syncs[i], slave->sii_syncs[i].length,
+                    datagram->data + EC_SYNC_PAGE_SIZE * i);
+        }
+    } else { // no mailbox sync manager configurations provided
+        ec_sync_t sync;
+
+        if (master->debug_level)
+            EC_DBG("Slave %u does not provide"
+                    " mailbox sync manager configurations.\n",
+                    slave->ring_position);
+
+        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
+                EC_SYNC_PAGE_SIZE * 2);
+        memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
+
+        ec_sync_init(&sync, slave, 0);
+        sync.physical_start_address = slave->sii_rx_mailbox_offset;
+        sync.control_register = 0x26;
+        sync.enable = 1;
+        ec_sync_config(&sync, slave->sii_rx_mailbox_size,
+                datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
+
+        ec_sync_init(&sync, slave, 1);
+        sync.physical_start_address = slave->sii_tx_mailbox_offset;
+        sync.control_register = 0x22;
+        sync.enable = 1;
+        ec_sync_config(&sync, slave->sii_tx_mailbox_size,
+                datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
+    }
+
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_config_state_mbox_sync;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: SYNC.
+*/
+
+void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+        return;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_config_state_error;
+        EC_ERR("Failed to receive sync manager configuration datagram for"
+               " slave %i (datagram state %i).\n",
+               slave->ring_position, datagram->state);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        EC_ERR("Failed to set sync managers of slave %i: ",
+               slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        return;
+    }
+
+    ec_fsm_slave_config_enter_preop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Request PREOP state.
+ */
+
+void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    fsm->state = ec_fsm_slave_config_state_preop;
+    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
+    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: PREOP.
+*/
+
+void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_master_t *master = fsm->slave->master;
+
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+    if (!ec_fsm_change_success(&fsm->fsm_change)) {
+        if (!fsm->fsm_change.spontaneous_change)
+            slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        return;
+    }
+
+    // slave is now in PREOP
+    slave->jiffies_preop = fsm->datagram->jiffies_received;
+
+    if (master->debug_level) {
+        EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
+    }
+
+    if (slave->current_state == slave->requested_state) {
+        fsm->state = ec_fsm_slave_config_state_end; // successful
+        if (master->debug_level) {
+            EC_DBG("Finished configuration of slave %i.\n",
+                   slave->ring_position);
+        }
+        return;
+    }
+
+    ec_fsm_slave_config_enter_sdo_conf(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for Sdo configurations to be applied.
+ */
+
+void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+
+    if (!slave->config) {
+        EC_DBG("Slave %u is not configured.\n", slave->ring_position);
+        ec_fsm_slave_config_enter_safeop(fsm);
+        return;
+    }
+
+    // No CoE configuration to be applied?
+    if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
+        ec_fsm_slave_config_enter_mapping(fsm);
+        return;
+    }
+
+    // start Sdo configuration
+    fsm->state = ec_fsm_slave_config_state_sdo_conf;
+    fsm->sdodata =
+        list_entry(fsm->slave->config->sdo_configs.next, ec_sdo_data_t, list);
+    ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+    ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: SDO_CONF.
+*/
+
+void ec_fsm_slave_config_state_sdo_conf(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+        EC_ERR("Sdo configuration failed for slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        return;
+    }
+
+    // Another Sdo to configure?
+    if (fsm->sdodata->list.next != &fsm->slave->config->sdo_configs) {
+        fsm->sdodata =
+            list_entry(fsm->sdodata->list.next, ec_sdo_data_t, list);
+        ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+        return;
+    }
+
+    // All Sdos are now configured.
+    ec_fsm_slave_config_enter_mapping(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for Pdo mappings to be applied.
+ */
+
+void ec_fsm_slave_config_enter_mapping(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    // start configuring Pdo mapping
+    fsm->state = ec_fsm_slave_config_state_mapping;
+    ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_map, fsm->slave);
+    ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: MAPPING.
+*/
+
+void ec_fsm_slave_config_state_mapping(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map)) return;
+
+    if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_map)) {
+        EC_ERR("Pdo mapping configuration failed for slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        return;
+    }
+
+    // Start Pdo configuration
+    fsm->state = ec_fsm_slave_config_state_pdo_conf;
+    ec_fsm_pdo_config_start(&fsm->fsm_pdo_conf, fsm->slave);
+    ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: PDO_CONF.
+*/
+
+void ec_fsm_slave_config_state_pdo_conf(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    if (ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf)) return;
+
+    if (!ec_fsm_pdo_config_success(&fsm->fsm_pdo_conf)) {
+        EC_ERR("Pdo configuration failed for slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        return;
+    }
+
+    ec_fsm_slave_config_enter_pdo_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for Pdo sync managers to be configured.
+ */
+
+void ec_fsm_slave_config_enter_pdo_sync(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+    unsigned int i, offset, num_syncs;
+    const ec_sync_t *sync;
+    ec_direction_t dir;
+    uint16_t size;
+
+    if (!slave->sii_sync_count) {
+        ec_fsm_slave_config_enter_fmmu(fsm);
+        return;
+    }
+
+    if (slave->sii_mailbox_protocols) {
+        offset = 2; // slave has mailboxes
+    } else {
+        offset = 0;
+    }
+    num_syncs = slave->sii_sync_count - offset;
+
+    // configure sync managers for process data
+    ec_datagram_fpwr(datagram, slave->station_address,
+            0x0800 + EC_SYNC_PAGE_SIZE * offset,
+            EC_SYNC_PAGE_SIZE * num_syncs);
+    memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_syncs);
+
+    for (i = 0; i < num_syncs; i++) {
+        sync = &slave->sii_syncs[i + offset];
+        dir = ec_sync_direction(sync);
+        size = ec_pdo_mapping_total_size(&slave->config->mapping[dir]);
+        ec_sync_config(sync, size, datagram->data + EC_SYNC_PAGE_SIZE * i);
+    }
+
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_config_state_pdo_sync;
+}
+
+/*****************************************************************************/
+
+/**
+ * Configure Pdo sync managers.
+ */
+
+void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+        return;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_config_state_error;
+        EC_ERR("Failed to receive process data sync manager configuration"
+               " datagram for slave %i (datagram state %i).\n",
+               slave->ring_position, datagram->state);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        EC_ERR("Failed to set process data sync managers of slave %i: ",
+                slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        return;
+    }
+
+    ec_fsm_slave_config_enter_fmmu(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for FMMUs to be configured.
+ */
+
+void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+    unsigned int i;
+    const ec_fmmu_config_t *fmmu;
+    const ec_sync_t *sync;
+
+    if (slave->base_fmmu_count < slave->config->used_fmmus) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
+                slave->ring_position, slave->base_fmmu_count,
+                slave->config->used_fmmus);
+        return;
+    }
+
+    if (!slave->base_fmmu_count) { // skip FMMU configuration
+        ec_fsm_slave_config_enter_safeop(fsm);
+        return;
+    }
+
+    // configure FMMUs
+    ec_datagram_fpwr(datagram, slave->station_address,
+                     0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+    memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+    for (i = 0; i < slave->config->used_fmmus; i++) {
+        fmmu = &slave->config->fmmu_configs[i];
+        if (!(sync = ec_slave_get_pdo_sync(slave, fmmu->dir))) {
+            slave->error_flag = 1;
+            fsm->state = ec_fsm_slave_config_state_error;
+            EC_ERR("Failed to determine Pdo sync manager for FMMU on slave"
+                    " %u!\n", slave->ring_position);
+            return;
+        }
+        ec_fmmu_config_page(fmmu, sync,
+                datagram->data + EC_FMMU_PAGE_SIZE * i);
+    }
+
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_config_state_fmmu;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: FMMU.
+*/
+
+void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+        return;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_config_state_error;
+        EC_ERR("Failed to receive FMMUs datagram for slave %i"
+                " (datagram state %i).\n",
+               slave->ring_position, datagram->state);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        EC_ERR("Failed to set FMMUs of slave %i: ",
+               slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        return;
+    }
+
+    ec_fsm_slave_config_enter_safeop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Request SAFEOP state.
+ */
+
+void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    fsm->state = ec_fsm_slave_config_state_safeop;
+    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
+    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: SAFEOP.
+*/
+
+void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    ec_master_t *master = fsm->slave->master;
+    ec_slave_t *slave = fsm->slave;
+
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+    if (!ec_fsm_change_success(&fsm->fsm_change)) {
+        if (!fsm->fsm_change.spontaneous_change)
+            fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        return;
+    }
+
+    // slave is now in SAFEOP
+
+    if (master->debug_level) {
+        EC_DBG("Slave %i is now in SAFEOP.\n", slave->ring_position);
+    }
+
+    if (fsm->slave->current_state == fsm->slave->requested_state) {
+        fsm->state = ec_fsm_slave_config_state_end; // successful
+        if (master->debug_level) {
+            EC_DBG("Finished configuration of slave %i.\n",
+                   slave->ring_position);
+        }
+        return;
+    }
+
+    // set state to OP
+    fsm->state = ec_fsm_slave_config_state_op;
+    ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
+    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: OP
+*/
+
+void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+    ec_master_t *master = fsm->slave->master;
+    ec_slave_t *slave = fsm->slave;
+
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+    if (!ec_fsm_change_success(&fsm->fsm_change)) {
+        if (!fsm->fsm_change.spontaneous_change)
+            slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        return;
+    }
+
+    // slave is now in OP
+
+    if (master->debug_level) {
+        EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
+        EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
+    }
+
+    fsm->state = ec_fsm_slave_config_state_end; // successful
+}
+
+/******************************************************************************
+ *  Common state functions
+ *****************************************************************************/
+
+/**
+   State: ERROR.
+*/
+
+void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+   State: END.
+*/
+
+void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+}
+
+/*****************************************************************************/