--- a/NEWS	Tue Feb 19 14:05:59 2008 +0000
+++ b/NEWS	Tue Feb 19 14:06:50 2008 +0000
@@ -40,6 +40,7 @@
     - Removed ecrt_domain_register_pdo_range(), because it's functionality can
       be reached by specifying an explicit Pdo mapping and registering those
       Pdo entries.
+* Pdo configuration is now supported.
 * Added 8139too driver for kernel 2.6.22, thanks to Erwin Burgstaller.
 * Added e1000 driver for kernel 2.6.22.
 * Allow gaps in PDO mapping read from CoE.

--- a/TODO	Tue Feb 19 14:05:59 2008 +0000
+++ b/TODO	Tue Feb 19 14:06:50 2008 +0000
@@ -9,7 +9,6 @@
 Version 1.4.0:
 
 * Realtime interface changes:
-    - PDO configuration.
     - SDO access.
     - External memory for domains.
 * Mailbox handler

--- a/documentation/graphs/fsm_slave_conf.dot	Tue Feb 19 14:05:59 2008 +0000
+++ b/documentation/graphs/fsm_slave_conf.dot	Tue Feb 19 14:06:50 2008 +0000
@@ -34,11 +34,13 @@
     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
+    enter_mapping -> mapping [weight=10]
     mapping -> mapping
     mapping -> error
-    mapping -> enter_pdo_sync [weight=10]
+    mapping -> pdo_conf [weight=10]
+    pdo_conf -> pdo_conf
+    pdo_conf -> error
+    pdo_conf -> enter_pdo_sync [weight=10]
     enter_pdo_sync -> pdo_sync [label="PDO SMs", weight=10]
     enter_pdo_sync -> enter_fmmu
     pdo_sync -> pdo_sync

--- a/examples/mini/mini.c	Tue Feb 19 14:05:59 2008 +0000
+++ b/examples/mini/mini.c	Tue Feb 19 14:06:50 2008 +0000
@@ -82,7 +82,7 @@
 
 #ifdef PDOS
 static uint8_t off_ana_in;
-static uint8_t off_ana_out;
+//static uint8_t off_ana_out;
 
 const static ec_pdo_entry_reg_t domain1_regs[] = {
     {0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},

--- a/master/Kbuild.in	Tue Feb 19 14:05:59 2008 +0000
+++ b/master/Kbuild.in	Tue Feb 19 14:06:50 2008 +0000
@@ -36,7 +36,7 @@
 ec_master-objs := module.o master.o device.o pdo.o sync.o fmmu_config.o \
     slave.o slave_config.o pdo_mapping.o datagram.o domain.o mailbox.o \
     canopen.o fsm_sii.o fsm_change.o fsm_coe.o fsm_coe_map.o fsm_mapping.o \
-    fsm_slave.o fsm_master.o xmldev.o
+    fsm_pdo_config.o fsm_slave.o fsm_master.o xmldev.o
 
 ifeq (@ENABLE_EOE@,1)
 	ec_master-objs += ethernet.o

--- a/master/Makefile.am	Tue Feb 19 14:05:59 2008 +0000
+++ b/master/Makefile.am	Tue Feb 19 14:06:50 2008 +0000
@@ -48,6 +48,7 @@
 	fsm_coe.c fsm_coe.h \
 	fsm_coe_map.c fsm_coe_map.h \
 	fsm_mapping.c fsm_mapping.h \
+	fsm_pdo_config.c fsm_pdo_config.h \
 	fsm_slave.c fsm_slave.h \
 	fsm_master.c fsm_master.h \
 	globals.h \

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_pdo_config.c	Tue Feb 19 14:06:50 2008 +0000
@@ -0,0 +1,369 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 Pdo configuration state machine.
+ */
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "slave_config.h"
+
+#include "fsm_pdo_config.h"
+
+/*****************************************************************************/
+
+void ec_fsm_pdo_config_state_start(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_zero_count(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_add_entry(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_entry_count(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_end(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_error(ec_fsm_pdo_config_t *);
+
+void ec_fsm_pdo_config_next_pdo(ec_fsm_pdo_config_t *);
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_pdo_config_init(
+        ec_fsm_pdo_config_t *fsm, /**< pdo_config state machine */
+        ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
+        )
+{
+    fsm->fsm_coe = fsm_coe;
+    fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+void ec_fsm_pdo_config_clear(
+        ec_fsm_pdo_config_t *fsm /**< pdo_config state machine */
+        )
+{
+}
+
+/*****************************************************************************/
+
+/** Start Pdo configuration state machine.
+ */
+void ec_fsm_pdo_config_start(
+        ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
+        ec_slave_t *slave /**< slave to configure */
+        )
+{
+    fsm->slave = slave;
+    fsm->state = ec_fsm_pdo_config_state_start;
+}
+
+/*****************************************************************************/
+
+/** Get running state.
+ *
+ * \return false, if state machine has terminated
+ */
+int ec_fsm_pdo_config_running(
+        const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    return fsm->state != ec_fsm_pdo_config_state_end
+        && fsm->state != ec_fsm_pdo_config_state_error;
+}
+
+/*****************************************************************************/
+
+/** Executes the current state.
+ *
+ * \return false, if state machine has terminated
+ */
+int ec_fsm_pdo_config_exec(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    fsm->state(fsm);
+    return ec_fsm_pdo_config_running(fsm);
+}
+
+/*****************************************************************************/
+
+/** Get execution result.
+ *
+ * \return true, if the state machine terminated gracefully
+ */
+int ec_fsm_pdo_config_success(
+        const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    return fsm->state == ec_fsm_pdo_config_state_end;
+}
+
+/******************************************************************************
+ * State functions.
+ *****************************************************************************/
+
+/** Start Pdo configuration.
+ */
+void ec_fsm_pdo_config_state_start(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    if (!fsm->slave->config) {
+        fsm->state = ec_fsm_pdo_config_state_end;
+        return;
+    }
+
+    fsm->pdo = NULL;
+    ec_fsm_pdo_config_next_pdo(fsm);
+}
+
+/*****************************************************************************/
+
+/** Process configuration of next Pdo.
+ */
+void ec_fsm_pdo_config_next_pdo(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    ec_direction_t dir;
+    const ec_pdo_mapping_t *map;
+    const ec_pdo_t *pdo, *mapped_pdo;
+    
+    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
+        map = &fsm->slave->config->mapping[dir];
+
+        list_for_each_entry(pdo, &map->pdos, list) {
+            if (fsm->pdo) {
+                if (pdo == fsm->pdo)
+                    fsm->pdo = NULL;
+            } else {
+                if ((mapped_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
+                    if (ec_pdo_equal_entries(pdo, mapped_pdo))
+                        continue; // Pdo configured correctly
+
+                fsm->pdo = pdo;
+                goto configure;
+            }
+        }
+    }
+
+    if (fsm->slave->master->debug_level) {
+        EC_DBG("No more Pdos to configure for slave %u.\n",
+                fsm->slave->ring_position);
+    }
+    fsm->state = ec_fsm_pdo_config_state_end;
+    return;
+
+configure:
+    if (fsm->slave->master->debug_level) {
+        EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n",
+                fsm->pdo->index, fsm->slave->ring_position);
+    }
+
+    // set mapped PDO count to zero
+    fsm->sdodata.index = fsm->pdo->index;
+    fsm->sdodata.subindex = 0; // number of configured entries
+    EC_WRITE_U8(&fsm->sdo_value, 0);
+    fsm->sdodata.size = 1;
+    if (fsm->slave->master->debug_level)
+        EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
+                fsm->pdo->index);
+
+    fsm->state = ec_fsm_pdo_config_state_zero_count;
+    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** Process next Pdo entry.
+ */
+ec_pdo_entry_t *ec_fsm_pdo_config_next_entry(
+        const ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
+        const struct list_head *list /**< current entry list item */
+        )
+{
+    list = list->next; 
+    if (list == &fsm->pdo->entries)
+        return NULL; // no next entry
+    return list_entry(list, ec_pdo_entry_t, list);
+}
+
+/*****************************************************************************/
+
+/** Starts to add a Pdo entry.
+ */
+void ec_fsm_pdo_config_add_entry(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine. */
+        )
+{
+    uint32_t value;
+
+    fsm->sdodata.subindex = fsm->entry_count;
+    value = fsm->entry->index << 16
+        | fsm->entry->subindex << 8 | fsm->entry->bit_length;
+    EC_WRITE_U32(&fsm->sdo_value, value);
+    fsm->sdodata.size = 4;
+
+    if (fsm->slave->master->debug_level)
+        EC_DBG("Configuring Pdo entry %08X at position %u.\n",
+                value, fsm->entry_count);
+    
+    fsm->state = ec_fsm_pdo_config_state_add_entry;
+    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** Set the number of configured entries to zero.
+ */
+void ec_fsm_pdo_config_state_zero_count(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+        EC_ERR("Failed to clear Pdo configuration for slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_pdo_config_state_error;
+        return;
+    }
+
+    // find first entry
+    if (!(fsm->entry =
+                ec_fsm_pdo_config_next_entry(fsm, &fsm->pdo->entries))) {
+        if (fsm->slave->master->debug_level)
+            EC_DBG("No entries to configure for Pdo 0x%04X of slave %u.\n",
+                    fsm->pdo->index, fsm->slave->ring_position);
+        ec_fsm_pdo_config_next_pdo(fsm);
+        return;
+    }
+
+    // add first entry
+    fsm->entry_count = 1;
+    ec_fsm_pdo_config_add_entry(fsm);
+}
+
+/*****************************************************************************/
+
+/** Add a Pdo entry.
+ */
+void ec_fsm_pdo_config_state_add_entry(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+        EC_ERR("Failed to add entry 0x%04X:%u for slave %u.\n",
+                fsm->entry->index, fsm->entry->subindex,
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_pdo_config_state_error;
+        return;
+    }
+
+    // find next entry
+    if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {
+        // No more entries to add. Write entry count.
+        fsm->sdodata.subindex = 0;
+        EC_WRITE_U8(&fsm->sdo_value, fsm->entry_count);
+        fsm->sdodata.size = 1;
+
+        if (fsm->slave->master->debug_level)
+            EC_DBG("Setting number of Pdo entries to %u.\n",
+                    fsm->entry_count);
+        
+        fsm->state = ec_fsm_pdo_config_state_entry_count;
+        ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+        return;
+    }
+
+    // add next entry
+    fsm->entry_count++;
+    ec_fsm_pdo_config_add_entry(fsm);
+}
+
+/*****************************************************************************/
+
+/** Set the number of entries.
+ */
+void ec_fsm_pdo_config_state_entry_count(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+        EC_ERR("Failed to set number of entries for slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_pdo_config_state_error;
+        return;
+    }
+
+    if (fsm->slave->master->debug_level)
+        EC_DBG("Successfully configured Pdo 0x%04X on slave %u.\n",
+                fsm->pdo->index, fsm->slave->ring_position);
+
+    ec_fsm_pdo_config_next_pdo(fsm);
+}
+
+/******************************************************************************
+ * Common state functions
+ *****************************************************************************/
+
+/** State: ERROR.
+ */
+void ec_fsm_pdo_config_state_error(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+}
+
+/*****************************************************************************/
+
+/** State: END.
+ */
+void ec_fsm_pdo_config_state_end(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+}
+
+/*****************************************************************************/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_pdo_config.h	Tue Feb 19 14:06:50 2008 +0000
@@ -0,0 +1,83 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 PDO configuration state machine structures.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_PDO_CONFIG__
+#define __EC_FSM_PDO_CONFIG__
+
+#include "globals.h"
+#include "../include/ecrt.h"
+#include "datagram.h"
+#include "fsm_coe.h"
+
+/*****************************************************************************/
+
+/**
+ * \see ec_fsm_pdo_config
+ */
+typedef struct ec_fsm_pdo_config ec_fsm_pdo_config_t;
+
+/** Pdo configuration state machine.
+ */
+struct ec_fsm_pdo_config
+{
+    void (*state)(ec_fsm_pdo_config_t *); /**< state function */
+    ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
+    ec_slave_t *slave; /**< Slave the FSM runs on. */
+
+    const ec_pdo_t *pdo; /**< Current PDO to configure. */
+
+    const ec_pdo_entry_t *entry; /**< Current entry. */
+    ec_sdo_data_t sdodata; /**< SDO configuration data. */
+    uint16_t sdo_value; /**< SDO value. */
+    unsigned int entry_count; /**< Number of configured entries. */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_pdo_config_init(ec_fsm_pdo_config_t *, ec_fsm_coe_t *);
+void ec_fsm_pdo_config_clear(ec_fsm_pdo_config_t *);
+
+void ec_fsm_pdo_config_start(ec_fsm_pdo_config_t *, ec_slave_t *);
+int ec_fsm_pdo_config_exec(ec_fsm_pdo_config_t *);
+int ec_fsm_pdo_config_success(const ec_fsm_pdo_config_t *);
+
+/*****************************************************************************/
+
+#endif

--- a/master/fsm_slave.c	Tue Feb 19 14:05:59 2008 +0000
+++ b/master/fsm_slave.c	Tue Feb 19 14:06:50 2008 +0000
@@ -41,7 +41,6 @@
 #include "globals.h"
 #include "master.h"
 #include "mailbox.h"
-#include "fsm_mapping.h"
 #include "slave_config.h"
 #include "fsm_slave.h"
 
@@ -62,6 +61,7 @@
 void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *);
 void ec_fsm_slave_conf_state_sdo_conf(ec_fsm_slave_t *);
 void ec_fsm_slave_conf_state_mapping(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_pdo_conf(ec_fsm_slave_t *);
 void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *);
 void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *);
 void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *);
@@ -69,10 +69,10 @@
 
 void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *);
 void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_sdo_conf(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_mapping(ec_fsm_slave_t *);
 void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *);
 void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_enter_sdo_conf(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_enter_mapping(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 *);
@@ -80,10 +80,8 @@
 
 /*****************************************************************************/
 
-/**
-   Constructor.
-*/
-
+/** Constructor.
+ */
 void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */
         ec_datagram_t *datagram /**< datagram structure to use */
         )
@@ -95,14 +93,13 @@
     ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
     ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
     ec_fsm_mapping_init(&fsm->fsm_map, &fsm->fsm_coe);
-}
-
-/*****************************************************************************/
-
-/**
-   Destructor.
-*/
-
+    ec_fsm_pdo_config_init(&fsm->fsm_pdo, &fsm->fsm_coe);
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
 void ec_fsm_slave_clear(ec_fsm_slave_t *fsm /**< slave state machine */)
 {
     // clear sub state machines
@@ -110,6 +107,7 @@
     ec_fsm_change_clear(&fsm->fsm_change);
     ec_fsm_coe_clear(&fsm->fsm_coe);
     ec_fsm_mapping_clear(&fsm->fsm_map);
+    ec_fsm_pdo_config_clear(&fsm->fsm_pdo);
 }
 
 /*****************************************************************************/
@@ -884,7 +882,7 @@
         return;
     }
 
-    // No CoE configuration to be applied? FIXME
+    // No CoE configuration to be applied?
     if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
         ec_fsm_slave_conf_enter_mapping(fsm);
         return;
@@ -941,14 +939,6 @@
         ec_fsm_slave_t *fsm /**< slave state machine */
         )
 {
-    ec_slave_t *slave = fsm->slave;
-
-    if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
-        // Slave does not support CoE: no configuration of PDO mapping.
-        ec_fsm_slave_conf_enter_pdo_sync(fsm);
-        return;
-    }
-
     // start configuring PDO mapping
     fsm->state = ec_fsm_slave_conf_state_mapping;
     ec_fsm_mapping_start(&fsm->fsm_map, fsm->slave);
@@ -975,6 +965,32 @@
         return;
     }
 
+    // Start Pdo configuration
+    fsm->state = ec_fsm_slave_conf_state_pdo_conf;
+    ec_fsm_pdo_config_start(&fsm->fsm_pdo, fsm->slave);
+    ec_fsm_pdo_config_exec(&fsm->fsm_pdo); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: PDO_CONF.
+*/
+
+void ec_fsm_slave_conf_state_pdo_conf(
+        ec_fsm_slave_t *fsm /**< slave state machine */
+        )
+{
+    if (ec_fsm_pdo_config_exec(&fsm->fsm_pdo)) return;
+
+    if (!ec_fsm_pdo_config_success(&fsm->fsm_pdo)) {
+        EC_ERR("Pdo configuration failed for slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        return;
+    }
+
     ec_fsm_slave_conf_enter_pdo_sync(fsm);
 }
 

--- a/master/fsm_slave.h	Tue Feb 19 14:05:59 2008 +0000
+++ b/master/fsm_slave.h	Tue Feb 19 14:06:50 2008 +0000
@@ -49,29 +49,29 @@
 #include "fsm_change.h"
 #include "fsm_coe.h"
 #include "fsm_mapping.h"
+#include "fsm_pdo_config.h"
 
 /*****************************************************************************/
 
 typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
 
-/**
-   Finite state machine of an EtherCAT slave.
-*/
-
+/** Finite state machine of an EtherCAT slave.
+ */
 struct ec_fsm_slave
 {
-    ec_slave_t *slave; /**< slave the FSM runs on */
-    ec_datagram_t *datagram; /**< datagram used in the state machine */
-    unsigned int retries; /**< retries on datagram timeout. */
+    ec_slave_t *slave; /**< Slave the FSM runs on. */
+    ec_datagram_t *datagram; /**< Datagram used in the state machine. */
+    unsigned int retries; /**< Retries on datagram timeout. */
 
-    void (*state)(ec_fsm_slave_t *); /**< state function */
-    ec_sdo_data_t *sdodata; /**< SDO configuration data */
-    uint16_t sii_offset; /**< SII offset in words */
+    void (*state)(ec_fsm_slave_t *); /**< State function. */
+    ec_sdo_data_t *sdodata; /**< SDO configuration data. */
+    uint16_t sii_offset; /**< SII offset in words. */
 
-    ec_fsm_sii_t fsm_sii; /**< SII state machine */
-    ec_fsm_change_t fsm_change; /**< State change state machine */
-    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
-    ec_fsm_mapping_t fsm_map; /**< PDO mapping state machine */
+    ec_fsm_sii_t fsm_sii; /**< SII state machine. */
+    ec_fsm_change_t fsm_change; /**< State change state machine. */
+    ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
+    ec_fsm_mapping_t fsm_map; /**< PDO mapping state machine. */
+    ec_fsm_pdo_config_t fsm_pdo; /**< PDO configuration state machine. */
 };
 
 /*****************************************************************************/

--- a/master/pdo.c	Tue Feb 19 14:05:59 2008 +0000
+++ b/master/pdo.c	Tue Feb 19 14:06:50 2008 +0000
@@ -170,6 +170,42 @@
 
 /*****************************************************************************/
 
+/** Compares the entries of two Pdos.
+ *
+ * \retval 1 The entries of the given Pdos are equal.
+ * \retval 0 The entries of the given Pdos differ.
+ */
+int ec_pdo_equal_entries(
+        const ec_pdo_t *pdo1, /**< First Pdo. */
+        const ec_pdo_t *pdo2 /**< Second Pdo. */
+        )
+{
+    const struct list_head *head1, *head2, *item1, *item2;
+    const ec_pdo_entry_t *entry1, *entry2;
+
+    head1 = item1 = &pdo1->entries;
+    head2 = item2 = &pdo2->entries;
+
+    while (1) {
+        item1 = item1->next;
+        item2 = item2->next;
+
+        if ((item1 == head1) ^ (item2 == head2)) // unequal lengths
+            return 0;
+        if (item1 == head1 && item2 == head2) // both finished
+            break;
+
+        entry1 = list_entry(item1, ec_pdo_entry_t, list);
+        entry2 = list_entry(item2, ec_pdo_entry_t, list);
+        if (!ec_pdo_entry_equal(entry1, entry2))
+            return 0;
+    }
+
+    return 1;
+}
+
+/*****************************************************************************/
+
 /** Pdo entry constructor.
  */
 void ec_pdo_entry_init(
@@ -237,3 +273,20 @@
 }
 
 /*****************************************************************************/
+
+/** Compares two Pdo entries.
+ *
+ * \retval 1 The entries are equal.
+ * \retval 0 The entries differ.
+ */
+int ec_pdo_entry_equal(
+        const ec_pdo_entry_t *entry1, /**< First Pdo entry. */
+        const ec_pdo_entry_t *entry2 /**< Second Pdo entry. */
+        )
+{
+    return entry1->index == entry2->index
+        && entry1->subindex == entry2->subindex
+        && entry1->bit_length == entry2->bit_length;
+}
+
+/*****************************************************************************/

--- a/master/pdo.h	Tue Feb 19 14:05:59 2008 +0000
+++ b/master/pdo.h	Tue Feb 19 14:06:50 2008 +0000
@@ -79,11 +79,13 @@
 void ec_pdo_clear(ec_pdo_t *);
 int ec_pdo_set_name(ec_pdo_t *, const char *);
 int ec_pdo_copy_entries(ec_pdo_t *, const ec_pdo_t *);
+int ec_pdo_equal_entries(const ec_pdo_t *, const ec_pdo_t *);
 
 void ec_pdo_entry_init(ec_pdo_entry_t *);
 int ec_pdo_entry_init_copy(ec_pdo_entry_t *, const ec_pdo_entry_t *);
 void ec_pdo_entry_clear(ec_pdo_entry_t *);
 int ec_pdo_entry_set_name(ec_pdo_entry_t *, const char *);
+int ec_pdo_entry_equal(const ec_pdo_entry_t *, const ec_pdo_entry_t *);
 
 /*****************************************************************************/
 

--- a/master/pdo_mapping.c	Tue Feb 19 14:05:59 2008 +0000
+++ b/master/pdo_mapping.c	Tue Feb 19 14:06:50 2008 +0000
@@ -317,3 +317,23 @@
 }
 
 /*****************************************************************************/
+
+/** Finds a Pdo with the given index.
+ */
+const ec_pdo_t *ec_pdo_mapping_find_pdo(
+        const ec_pdo_mapping_t *pm, /**< Pdo mapping. */
+        uint16_t index /**< Pdo index. */
+        )
+{
+    ec_pdo_t *pdo;
+
+    list_for_each_entry(pdo, &pm->pdos, list) {
+        if (pdo->index != index)
+            continue;
+        return pdo;
+    }
+
+    return NULL;
+}
+
+/*****************************************************************************/

--- a/master/pdo_mapping.h	Tue Feb 19 14:05:59 2008 +0000
+++ b/master/pdo_mapping.h	Tue Feb 19 14:06:50 2008 +0000
@@ -72,6 +72,8 @@
 uint16_t ec_pdo_mapping_total_size(const ec_pdo_mapping_t *);
 int ec_pdo_mapping_equal(const ec_pdo_mapping_t *, const ec_pdo_mapping_t *);
 
+const ec_pdo_t *ec_pdo_mapping_find_pdo(const ec_pdo_mapping_t *, uint16_t);
+
 /*****************************************************************************/
 
 #endif

--- a/master/slave.c	Tue Feb 19 14:05:59 2008 +0000
+++ b/master/slave.c	Tue Feb 19 14:06:50 2008 +0000
@@ -1189,7 +1189,7 @@
 
 /**
  * Get an SDO from the dictionary.
- * \returns The desired SDO, of NULL.
+ * \returns The desired SDO, or NULL.
  */
 
 ec_sdo_t *ec_slave_get_sdo(
@@ -1208,3 +1208,29 @@
 }
 
 /*****************************************************************************/
+
+/** Finds a mapped Pdo.
+ * \returns The desired Pdo object, or NULL.
+ */
+const ec_pdo_t *ec_slave_find_pdo(
+        const ec_slave_t *slave, /**< Slave. */
+        uint16_t index /**< Pdo index to find. */
+        )
+{
+    unsigned int i;
+    const ec_sync_t *sync;
+    const ec_pdo_t *pdo;
+
+    for (i = 0; i < slave->sii_sync_count; i++) {
+        sync = &slave->sii_syncs[i];
+
+        if (!(pdo = ec_pdo_mapping_find_pdo(&sync->mapping, index)))
+            continue;
+
+        return pdo;
+    }
+
+    return NULL;
+}
+
+/*****************************************************************************/

--- a/master/slave.h	Tue Feb 19 14:05:59 2008 +0000
+++ b/master/slave.h	Tue Feb 19 14:06:50 2008 +0000
@@ -183,6 +183,7 @@
 void ec_slave_sdo_dict_info(const ec_slave_t *,
         unsigned int *, unsigned int *);
 ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);
+const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);
 
 /*****************************************************************************/