diff -r 3eea08638522 -r f789bdd78b54 master/fsm_slave.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave.c	Wed Jan 10 16:32:06 2007 +0000
@@ -0,0 +1,1101 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "fsm_slave.h"
+
+/*****************************************************************************/
+
+void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *);
+
+void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_sync(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_sync2(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *);
+
+void ec_fsm_slave_conf_enter_sync(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_sync2(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *);
+
+void ec_fsm_slave_state_end(ec_fsm_slave_t *);
+void ec_fsm_slave_state_error(ec_fsm_slave_t *);
+
+/*****************************************************************************/
+
+/**
+   Constructor.
+*/
+
+void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */
+        ec_datagram_t *datagram /**< datagram structure to use */
+        )
+{
+    fsm->datagram = datagram;
+
+    // init sub state machines
+    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
+    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
+    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+}
+
+/*****************************************************************************/
+
+/**
+   Destructor.
+*/
+
+void ec_fsm_slave_clear(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    // clear sub state machines
+    ec_fsm_sii_clear(&fsm->fsm_sii);
+    ec_fsm_change_clear(&fsm->fsm_change);
+    ec_fsm_coe_clear(&fsm->fsm_coe);
+}
+
+/*****************************************************************************/
+
+/**
+ * Start slave scan state machine.
+ */
+
+void ec_fsm_slave_start_scan(ec_fsm_slave_t *fsm, /**< slave state machine */
+        ec_slave_t *slave /**< slave to configure */
+        )
+{
+    fsm->slave = slave;
+    fsm->state = ec_fsm_slave_scan_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+ * Start slave configuration state machine.
+ */
+
+void ec_fsm_slave_start_conf(ec_fsm_slave_t *fsm, /**< slave state machine */
+        ec_slave_t *slave /**< slave to configure */
+        )
+{
+    fsm->slave = slave;
+    fsm->state = ec_fsm_slave_conf_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+   \return false, if state machine has terminated
+*/
+
+int ec_fsm_slave_running(const ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    return fsm->state != ec_fsm_slave_state_end
+        && fsm->state != ec_fsm_slave_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_exec(ec_fsm_slave_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_running(fsm);
+    }
+
+    fsm->state(fsm);
+    return ec_fsm_slave_running(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+   \return true, if the state machine terminated gracefully
+*/
+
+int ec_fsm_slave_success(const ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    return fsm->state == ec_fsm_slave_state_end;
+}
+
+/******************************************************************************
+ *  slave scan state machine
+ *****************************************************************************/
+
+/**
+   Slave scan state: START.
+   First state of the slave state machine. Writes the station address to the
+   slave, according to its ring position.
+*/
+
+void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    // write station address
+    ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2);
+    EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address);
+    ec_master_queue_datagram(fsm->slave->master, fsm->datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_scan_state_address;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: ADDRESS.
+*/
+
+void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->slave->master, fsm->datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive station address 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_state_error;
+        EC_ERR("Failed to write station address - slave %i did not respond.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    // Read AL state
+    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_scan_state_state;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: STATE.
+*/
+
+void ec_fsm_slave_scan_state_state(ec_fsm_slave_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--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive AL state datagram from slave %i.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to read AL state - slave %i did not respond.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    slave->current_state = EC_READ_U8(datagram->data);
+    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+        char state_str[EC_STATE_STRING_SIZE];
+        ec_state_string(slave->current_state, state_str);
+        EC_WARN("Slave %i has state error bit set (%s)!\n",
+                slave->ring_position, state_str);
+    }
+
+    // read base data
+    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_scan_state_base;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: BASE.
+*/
+
+void ec_fsm_slave_scan_state_base(ec_fsm_slave_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--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive base data datagram for slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to read base data - slave %i did not respond.\n",
+               slave->ring_position);
+        return;
+    }
+
+    slave->base_type       = EC_READ_U8 (datagram->data);
+    slave->base_revision   = EC_READ_U8 (datagram->data + 1);
+    slave->base_build      = EC_READ_U16(datagram->data + 2);
+    slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
+    slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
+
+    if (slave->base_fmmu_count > EC_MAX_FMMUS)
+        slave->base_fmmu_count = EC_MAX_FMMUS;
+
+    // read data link status
+    ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
+    ec_master_queue_datagram(slave->master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_scan_state_datalink;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: DATALINK.
+*/
+
+void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    uint16_t dl_status;
+    unsigned int i;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive DL status datagram from slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to read DL status - slave %i did not respond.\n",
+               slave->ring_position);
+        return;
+    }
+
+    dl_status = EC_READ_U16(datagram->data);
+    for (i = 0; i < 4; i++) {
+        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
+        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
+        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
+    }
+
+    // Start fetching EEPROM size
+
+    fsm->sii_offset = 0x0040; // first category header
+    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
+    fsm->state = ec_fsm_slave_scan_state_eeprom_size;
+    fsm->state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: EEPROM SIZE.
+*/
+
+void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    uint16_t cat_type, cat_size;
+
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+
+    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to read EEPROM size of slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    cat_type = EC_READ_U16(fsm->fsm_sii.value);
+    cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
+
+    if (cat_type != 0xFFFF) { // not the last category
+        fsm->sii_offset += cat_size + 2;
+        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+                        EC_FSM_SII_NODE);
+        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+        return;
+    }
+
+    slave->eeprom_size = (fsm->sii_offset + 1) * 2;
+
+    if (slave->eeprom_data) {
+        EC_INFO("Freeing old EEPROM data on slave %i...\n",
+                slave->ring_position);
+        kfree(slave->eeprom_data);
+    }
+
+    if (!(slave->eeprom_data =
+          (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    // Start fetching EEPROM contents
+
+    fsm->state = ec_fsm_slave_scan_state_eeprom_data;
+    fsm->sii_offset = 0x0000;
+    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
+    ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: EEPROM DATA.
+*/
+
+void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    uint16_t *cat_word, cat_type, cat_size;
+
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+
+    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    // 2 words fetched
+
+    if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
+        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+               fsm->fsm_sii.value, 4);
+    }
+    else { // copy the last word
+        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+               fsm->fsm_sii.value, 2);
+    }
+
+    if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
+        // fetch the next 2 words
+        fsm->sii_offset += 2;
+        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+                        EC_FSM_SII_NODE);
+        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+        return;
+    }
+
+    // Evaluate EEPROM contents
+
+    slave->sii_alias =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
+    slave->sii_vendor_id =
+        EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
+    slave->sii_product_code =
+        EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
+    slave->sii_revision_number =
+        EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
+    slave->sii_serial_number =
+        EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
+    slave->sii_rx_mailbox_offset =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
+    slave->sii_rx_mailbox_size =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
+    slave->sii_tx_mailbox_offset =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
+    slave->sii_tx_mailbox_size =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
+    slave->sii_mailbox_protocols =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
+
+    // evaluate category data
+    cat_word = (uint16_t *) slave->eeprom_data + 0x0040;
+    while (EC_READ_U16(cat_word) != 0xFFFF) {
+        cat_type = EC_READ_U16(cat_word) & 0x7FFF;
+        cat_size = EC_READ_U16(cat_word + 1);
+
+        switch (cat_type) {
+            case 0x000A:
+                if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
+                    goto end;
+                break;
+            case 0x001E:
+                ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2));
+                break;
+            case 0x0028:
+                break;
+            case 0x0029:
+                if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
+                                        cat_size))
+                    goto end;
+                break;
+            case 0x0032:
+                if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
+                                       cat_size, EC_TX_PDO))
+                    goto end;
+                break;
+            case 0x0033:
+                if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
+                                       cat_size, EC_RX_PDO))
+                    goto end;
+                break;
+            default:
+                if (fsm->slave->master->debug_level)
+                    EC_WARN("Unknown category type 0x%04X in slave %i.\n",
+                            cat_type, slave->ring_position);
+        }
+
+        cat_word += cat_size + 2;
+    }
+
+    fsm->state = ec_fsm_slave_state_end;
+    return;
+
+end:
+    EC_ERR("Failed to analyze category data.\n");
+    fsm->slave->error_flag = 1;
+    fsm->state = ec_fsm_slave_state_error;
+}
+
+/******************************************************************************
+ *  slave configuration state machine
+ *****************************************************************************/
+
+/**
+   Slave configuration state: START.
+*/
+
+void ec_fsm_slave_conf_state_start(ec_fsm_slave_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_conf_state_init;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: INIT.
+*/
+
+void ec_fsm_slave_conf_state_init(ec_fsm_slave_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)) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_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_conf_enter_sync(fsm);
+        return;
+    }
+
+    if (master->debug_level)
+        EC_DBG("Clearing FMMU configurations of slave %i...\n",
+               slave->ring_position);
+
+    // clear FMMU configurations
+    ec_datagram_npwr(datagram, slave->station_address,
+                     0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+    memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+    ec_master_queue_datagram(master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_conf_state_clear_fmmus;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: CLEAR FMMU.
+*/
+
+void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *fsm
+                                        /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_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_state_error;
+        EC_ERR("Failed to clear FMMUs - slave %i did not respond.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    ec_fsm_slave_conf_enter_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+*/
+
+void ec_fsm_slave_conf_enter_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_master_t *master = fsm->slave->master;
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+    const ec_sii_sync_t *sync;
+    ec_sii_sync_t mbox_sync;
+
+    // slave is now in INIT
+    if (slave->current_state == slave->requested_state) {
+        fsm->state = ec_fsm_slave_state_end; // successful
+        if (master->debug_level) {
+            EC_DBG("Finished configuration of slave %i.\n",
+                   slave->ring_position);
+        }
+        return;
+    }
+
+    if (!slave->base_sync_count) { // no sync managers
+        ec_fsm_slave_conf_enter_preop(fsm);
+        return;
+    }
+
+    if (master->debug_level) {
+        EC_DBG("Configuring sync managers of slave %i.\n",
+               slave->ring_position);
+    }
+
+    // configure sync managers
+    ec_datagram_npwr(datagram, slave->station_address, 0x0800,
+                     EC_SYNC_SIZE * slave->base_sync_count);
+    memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
+
+    if (list_empty(&slave->sii_syncs)) {
+        if (slave->sii_rx_mailbox_offset && slave->sii_tx_mailbox_offset) {
+            if (slave->master->debug_level)
+                EC_DBG("Guessing sync manager settings for slave %i.\n",
+                       slave->ring_position);
+            mbox_sync.index = 0;
+            mbox_sync.physical_start_address = slave->sii_tx_mailbox_offset;
+            mbox_sync.length = slave->sii_tx_mailbox_size;
+            mbox_sync.control_register = 0x26;
+            mbox_sync.enable = 0x01;
+            mbox_sync.est_length = 0;
+            ec_sync_config(&mbox_sync, slave,
+                           datagram->data + EC_SYNC_SIZE * mbox_sync.index);
+            mbox_sync.index = 1;
+            mbox_sync.physical_start_address = slave->sii_rx_mailbox_offset;
+            mbox_sync.length = slave->sii_rx_mailbox_size;
+            mbox_sync.control_register = 0x22;
+            mbox_sync.enable = 0x01;
+            mbox_sync.est_length = 0;
+            ec_sync_config(&mbox_sync, slave,
+                           datagram->data + EC_SYNC_SIZE * mbox_sync.index);
+        }
+    }
+    else if (slave->sii_mailbox_protocols) { // mailboxes present
+        list_for_each_entry(sync, &slave->sii_syncs, list) {
+            // only configure mailbox sync-managers
+            if (sync->index != 0 && sync->index != 1) continue;
+            ec_sync_config(sync, slave,
+                           datagram->data + EC_SYNC_SIZE * sync->index);
+        }
+    }
+
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_conf_state_sync;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: SYNC.
+*/
+
+void ec_fsm_slave_conf_state_sync(ec_fsm_slave_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--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive sync manager configuration datagram for"
+               " slave %i.\n", slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to set sync managers - slave %i did not respond.\n",
+               slave->ring_position);
+        return;
+    }
+
+    ec_fsm_slave_conf_enter_preop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    fsm->state = ec_fsm_slave_conf_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_conf_state_preop(ec_fsm_slave_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)) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_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_state_end; // successful
+        if (master->debug_level) {
+            EC_DBG("Finished configuration of slave %i.\n",
+                   slave->ring_position);
+        }
+        return;
+    }
+
+    ec_fsm_slave_conf_enter_sync2(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+*/
+
+void ec_fsm_slave_conf_enter_sync2(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_sii_sync_t *sync;
+
+    if (list_empty(&slave->sii_syncs)) {
+        ec_fsm_slave_conf_enter_fmmu(fsm);
+        return;
+    }
+
+    // configure sync managers for process data
+    ec_datagram_npwr(datagram, slave->station_address, 0x0800,
+                     EC_SYNC_SIZE * slave->base_sync_count);
+    memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
+
+    list_for_each_entry(sync, &slave->sii_syncs, list) {
+        ec_sync_config(sync, slave,
+                       datagram->data + EC_SYNC_SIZE * sync->index);
+    }
+
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_conf_state_sync2;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: SYNC2.
+*/
+
+void ec_fsm_slave_conf_state_sync2(ec_fsm_slave_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--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive process data sync manager configuration"
+               " datagram for slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to set process data sync managers - slave %i did not"
+               " respond.\n", slave->ring_position);
+        return;
+    }
+
+    ec_fsm_slave_conf_enter_fmmu(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+*/
+
+void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_master_t *master = slave->master;
+    ec_datagram_t *datagram = fsm->datagram;
+    unsigned int j;
+
+    if (!slave->base_fmmu_count) { // skip FMMU configuration
+        ec_fsm_slave_conf_enter_sdoconf(fsm);
+        return;
+    }
+
+    // configure FMMUs
+    ec_datagram_npwr(datagram, slave->station_address,
+                     0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+    memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+    for (j = 0; j < slave->fmmu_count; j++) {
+        ec_fmmu_config(&slave->fmmus[j], slave,
+                       datagram->data + EC_FMMU_SIZE * j);
+    }
+
+    ec_master_queue_datagram(master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_conf_state_fmmu;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: FMMU.
+*/
+
+void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_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--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive FMMUs 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_state_error;
+        EC_ERR("Failed to set FMMUs - slave %i did not respond.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    // No CoE configuration to be applied? Jump to SAVEOP state.
+    if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
+        ec_fsm_slave_conf_enter_saveop(fsm);
+        return;
+    }
+
+    ec_fsm_slave_conf_enter_sdoconf(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+
+    if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
+        ec_fsm_slave_conf_enter_saveop(fsm);
+        return;
+    }
+
+    // start SDO configuration
+    fsm->state = ec_fsm_slave_conf_state_sdoconf;
+    fsm->sdodata = list_entry(fsm->slave->sdo_confs.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: SDOCONF.
+*/
+
+void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        return;
+    }
+
+    // Another SDO to configure?
+    if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
+        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.
+
+    // set state to SAVEOP
+    ec_fsm_slave_conf_enter_saveop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    fsm->state = ec_fsm_slave_conf_state_saveop;
+    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
+    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: SAVEOP.
+*/
+
+void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_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)) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        return;
+    }
+
+    // slave is now in SAVEOP
+
+    if (master->debug_level) {
+        EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
+    }
+
+    if (fsm->slave->current_state == fsm->slave->requested_state) {
+        fsm->state = ec_fsm_slave_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_conf_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_conf_state_op(ec_fsm_slave_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)) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_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_state_end; // successful
+}
+
+/******************************************************************************
+ *  Common state functions
+ *****************************************************************************/
+
+/**
+   State: ERROR.
+*/
+
+void ec_fsm_slave_state_error(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+   State: END.
+*/
+
+void ec_fsm_slave_state_end(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+}
+
+/*****************************************************************************/