--- a/TODO Fri Feb 22 11:04:49 2008 +0000
+++ b/TODO Fri Feb 22 11:33:49 2008 +0000
@@ -24,7 +24,6 @@
* Support slaves, that don't support the LRW datagram, only LRD/LWR.
* Implement all EtherCAT datagram types.
* Rename all occurrences of PDO to Pdo.
-* Rename SAVEOP to SAFEOP?
Future issues:
--- a/documentation/ethercat_doc.tex Fri Feb 22 11:04:49 2008 +0000
+++ b/documentation/ethercat_doc.tex Fri Feb 22 11:33:49 2008 +0000
@@ -2827,7 +2827,7 @@
slave configuration state machine code:
\begin{lstlisting}[language=C,numbers=left]
- void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm)
+ void ec_fsm_slaveconf_safeop(ec_fsm_t *fsm)
{
fsm->change_state(fsm); // execute state change
// sub state machine
@@ -3191,8 +3191,8 @@
sending the first SDO. $\rightarrow$~SDO\_CONF
If no SDO configurations are provided, the slave can now directly be
- brought into the SAVEOP state and the state change state machine is
- started again. $\rightarrow$~SAVEOP
+ brought into the SAFEOP state and the state change state machine is
+ started again. $\rightarrow$~SAFEOP
Otherwise, all supported FMMUs are configured according to the PDOs
requested via the master's realtime interface. The appropriate
@@ -3202,9 +3202,9 @@
has SDOs to configure, it is begun with sending the first SDO.
$\rightarrow$~SDO\_CONF
- Otherwise, the slave can now be brought into the SAVEOP state. The
+ Otherwise, the slave can now be brought into the SAFEOP state. The
state change state machine is started.
- $\rightarrow$~SAVEOP
+ $\rightarrow$~SAFEOP
\item[SDO\_CONF] The CoE state machine is executed until termination.
$\rightarrow$~SDO\_CONF
@@ -3212,17 +3212,17 @@
If another SDO has to be configured, a new SDO download sequence is
begun. $\rightarrow$~SDO\_CONF
- Otherwise, the slave can now be brought into the SAVEOP state. The
+ Otherwise, the slave can now be brought into the SAFEOP state. The
state change state machine is started.
- $\rightarrow$~SAVEOP
-
-\item[SAVEOP] The state change state machine is executed until
- termination. $\rightarrow$~SAVEOP
+ $\rightarrow$~SAFEOP
+
+\item[SAFEOP] The state change state machine is executed until
+ termination. $\rightarrow$~SAFEOP
If the state change failed, the configuration has to be aborted.
$\rightarrow$~END
- If the SAVEOP state was the target state, the configuration is
+ If the SAFEOP state was the target state, the configuration is
finished. $\rightarrow$~END
The slave can now directly be brought into the OP state and the
@@ -3631,10 +3631,10 @@
The best time to apply SDO configurations is during the slave's PREOP
state, because mailbox communication is already possible and slave's
application will start with updating input data in the succeeding
-SAVEOP state. Therefore the SDO configuration has to be part of the
+SAFEOP state. Therefore the SDO configuration has to be part of the
slave configuration state machine (see section~\ref{sec:fsm-conf}): It
is implemented via an SDO download state machine, that is executed
-just before entering the slave's SAVEOP state. In this way, it is
+just before entering the slave's SAFEOP state. In this way, it is
guaranteed that the SDO configurations are applied each time, the
slave is reconfigured.
@@ -3890,15 +3890,15 @@
\begin{lstlisting}[gobble=4]
# `\textbf{cat /sys/ethercat0/slave003/state}`
OP
- # `\textbf{echo SAVEOP > /sys/ethercat0/slave003/state}`
+ # `\textbf{echo SAFEOP > /sys/ethercat0/slave003/state}`
\end{lstlisting}
This command should also be receipted with a syslog message:
\begin{lstlisting}[gobble=4]
- EtherCAT: Accepted new state SAVEOP for slave 3.
- EtherCAT: Changing state of slave 3 from OP to SAVEOP.
- EtherCAT: Slave states: INIT, SAVEOP, OP.
+ EtherCAT: Accepted new state SAFEOP for slave 3.
+ EtherCAT: Changing state of slave 3 from OP to SAFEOP.
+ EtherCAT: Slave states: INIT, SAFEOP, OP.
\end{lstlisting}
After the new requested state was accepted from user space, the
@@ -3996,7 +3996,7 @@
0 1:0 OP EK1100 Ethernet Kopplerklemme (2A E-Bus)
1 1:1 INIT EL4132 2K. Ana. Ausgang +/-10V
2 1:2 INIT EL4132 2K. Ana. Ausgang +/-10V
- 3 1:3 SAVEOP EL4132 2K. Ana. Ausgang +/-10V
+ 3 1:3 SAFEOP EL4132 2K. Ana. Ausgang +/-10V
4 1:4 INIT EL5101 Incremental Encoder Interface
5 1:5 INIT EL1014 4K. Dig. Eingang 24V, 10s
6 1:6 OP EL6601 1 Port Switch (Ethernet, CoE)
--- a/documentation/graphs/fsm_slave_conf.dot Fri Feb 22 11:04:49 2008 +0000
+++ b/documentation/graphs/fsm_slave_conf.dot Fri Feb 22 11:33:49 2008 +0000
@@ -11,7 +11,7 @@
enter_sdo_conf [shape=point,label=""]
enter_mapping [shape=point,label=""]
enter_pdo_sync [shape=point,label=""]
- enter_saveop [shape=point,label=""]
+ enter_safeop [shape=point,label=""]
start -> init [weight=10]
init -> init
@@ -31,7 +31,7 @@
preop -> error
preop -> end [label="PREOP req."]
preop -> enter_sdo_conf [weight=10]
- enter_sdo_conf -> enter_saveop [label="No configuration"]
+ enter_sdo_conf -> enter_safeop [label="No configuration"]
enter_sdo_conf -> enter_mapping [label="No SDO configs"]
enter_sdo_conf -> sdo_conf [label="SDO configs", weight=10]
sdo_conf -> sdo_conf
@@ -49,16 +49,16 @@
pdo_sync -> pdo_sync
pdo_sync -> error
pdo_sync -> enter_fmmu [weight=10]
- enter_fmmu -> enter_saveop
+ enter_fmmu -> enter_safeop
enter_fmmu -> fmmu [label="FMMUs to configure", weight=10]
fmmu -> fmmu
fmmu -> error
- fmmu -> enter_saveop [weight=10]
- enter_saveop -> saveop
- saveop -> saveop
- saveop -> error
- saveop -> end [label="SAVEOP req."]
- saveop -> op [weight=10]
+ fmmu -> enter_safeop [weight=10]
+ enter_safeop -> safeop
+ safeop -> safeop
+ safeop -> error
+ safeop -> end [label="SAFEOP req."]
+ safeop -> op [weight=10]
op -> op
op -> error
op -> end [weight=10]
--- a/documentation/images/fsm-slaveconf.eps Fri Feb 22 11:04:49 2008 +0000
+++ b/documentation/images/fsm-slaveconf.eps Fri Feb 22 11:33:49 2008 +0000
@@ -1,8 +1,8 @@
%!PS-Adobe-2.0 EPSF-2.0
%%Title: fsm-slaveconf.fig
%%Creator: fig2dev Version 3.2 Patchlevel 4
-%%CreationDate: Sat Aug 5 09:10:48 2006
-%%For: fp@jupiter (Florian Pose)
+%%CreationDate: Fri Feb 22 12:24:01 2008
+%%For: fp@fetlas (Florian Pose)
%%BoundingBox: 0 0 316 492
%%Magnification: 1.0000
%%EndComments
@@ -142,7 +142,7 @@
/Helvetica ff 180.00 scf sf
4275 6923 m
-gs 1 -1 sc (SAVEOP) dup sw pop 2 div neg 0 rm col0 sh gr
+gs 1 -1 sc (SAFEOP) dup sw pop 2 div neg 0 rm col0 sh gr
% Ellipse
n 4275 8003 855 360 0 360 DrawEllipse gs col0 s gr
--- a/documentation/images/fsm-slaveconf.fig Fri Feb 22 11:04:49 2008 +0000
+++ b/documentation/images/fsm-slaveconf.fig Fri Feb 22 11:33:49 2008 +0000
@@ -10,36 +10,36 @@
0 32 #8e8e8e
6 3413 893 5137 1627
1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 1260 855 360 3420 900 5130 1620
-4 1 0 50 -1 16 12 0.0000 4 120 585 4275 1305 INIT\001
+4 1 0 50 -1 16 12 0.0000 4 135 330 4275 1305 INIT\001
-6
6 3413 2011 5137 2745
1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 2378 855 360 3420 2018 5130 2738
-4 1 0 50 -1 16 12 0.0000 4 120 930 4275 2423 SYNC\001
+4 1 0 50 -1 16 12 0.0000 4 135 525 4275 2423 SYNC\001
-6
6 3413 3136 5137 3870
1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 3503 855 360 3420 3143 5130 3863
-4 1 0 50 -1 16 12 0.0000 4 120 1170 4275 3548 PREOP\001
+4 1 0 50 -1 16 12 0.0000 4 135 630 4275 3548 PREOP\001
-6
6 3413 4261 5137 4995
1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 4628 855 360 3420 4268 5130 4988
-4 1 0 50 -1 16 12 0.0000 4 120 945 4275 4673 FMMU\001
+4 1 0 50 -1 16 12 0.0000 4 135 570 4275 4673 FMMU\001
-6
6 3360 5386 5190 6120
1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 5753 855 360 3420 5393 5130 6113
-4 1 0 50 -1 16 12 0.0000 4 150 1830 4275 5798 SDO_CONF\001
+4 1 0 50 -1 16 12 0.0000 4 165 1050 4275 5798 SDO_CONF\001
-6
-6 3413 6511 5137 7245
+6 3375 6480 5175 7245
1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 6878 855 360 3420 6518 5130 7238
-4 1 0 50 -1 16 12 0.0000 4 120 1380 4275 6923 SAVEOP\001
+4 1 0 50 -1 16 12 0.0000 4 135 765 4275 6923 SAFEOP\001
-6
6 3413 7636 5137 8370
1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 8003 855 360 3420 7643 5130 8363
-4 1 0 50 -1 16 12 0.0000 4 120 480 4275 8048 OP\001
+4 1 0 50 -1 16 12 0.0000 4 135 270 4275 8048 OP\001
-6
6 6075 4230 7830 4995
1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 6968 4628 855 360 6113 4268 7823 4988
1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 6968 4635 748 315 6220 4320 7716 4950
-4 1 0 50 -1 16 12 0.0000 4 120 705 6968 4673 END\001
+4 1 0 50 -1 16 12 0.0000 4 135 390 6968 4673 END\001
-6
1 3 0 1 0 0 50 -1 20 0.000 1 0.0000 3510 675 101 101 3510 675 3600 720
3 2 0 1 0 0 50 -1 20 0.000 0 1 0 2
--- a/documentation/images/uml-fsm.eps Fri Feb 22 11:04:49 2008 +0000
+++ b/documentation/images/uml-fsm.eps Fri Feb 22 11:33:49 2008 +0000
@@ -1,9 +1,9 @@
%!PS-Adobe-2.0 EPSF-2.0
%%Title: uml-fsm.fig
%%Creator: fig2dev Version 3.2 Patchlevel 4
-%%CreationDate: Mon Aug 7 19:25:18 2006
-%%For: fp@jupiter (Florian Pose)
-%%BoundingBox: 0 0 500 461
+%%CreationDate: Fri Feb 22 12:25:41 2008
+%%For: fp@fetlas (Florian Pose)
+%%BoundingBox: 0 0 498 461
%%Magnification: 1.0000
%%EndComments
/$F2psDict 200 dict def
@@ -46,7 +46,7 @@
end
save
-newpath 0 461 moveto 0 0 lineto 600 0 lineto 600 461 lineto closepath clip newpath
+newpath 0 461 moveto 0 0 lineto 498 0 lineto 498 461 lineto closepath clip newpath
-27.6 488.3 translate
1 -1 scale
@@ -282,7 +282,7 @@
gs 1 -1 sc (- ec_fsm_slaveconf_sdoconf\(\)) col0 sh gr
/Helvetica-iso ff 180.00 scf sf
4725 4005 m
-gs 1 -1 sc (- ec_fsm_slaveconf_saveop\(\)) col0 sh gr
+gs 1 -1 sc (- ec_fsm_slaveconf_safeop\(\)) col0 sh gr
/Helvetica-iso ff 180.00 scf sf
4725 4185 m
gs 1 -1 sc (- ec_fsm_slaveconf_op\(\)) col0 sh gr
--- a/documentation/images/uml-fsm.fig Fri Feb 22 11:04:49 2008 +0000
+++ b/documentation/images/uml-fsm.fig Fri Feb 22 11:33:49 2008 +0000
@@ -16,78 +16,78 @@
4635 450 4635 7740 8325 7740 8325 450
2 1 0 1 0 7 110 -1 20 0.000 0 0 -1 0 0 4
450 7695 450 450 4140 450 4140 7740
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-4 0 0 100 -1 16 12 0.0000 4 150 5475 540 1890 master_slave_states: ec_slave_state_t\001
-4 0 0 100 -1 16 12 0.0000 4 165 4380 540 2070 master_validation: unsigned int\001
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+4 0 0 50 -1 16 12 0.0000 4 180 2115 4725 4725 - ec_fsm_sii_read_fetch()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2220 4725 4905 - ec_fsm_sii_start_writing()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2235 4725 5085 - ec_fsm_sii_write_check()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2340 4725 5265 - ec_fsm_sii_write_check2()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2025 4725 5445 - ec_fsm_change_start()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2190 4725 5625 - ec_fsm_change_check()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2160 4725 5805 - ec_fsm_change_status()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2100 4725 5985 - ec_fsm_change_code()\001
+4 0 0 50 -1 16 12 0.0000 4 180 1980 4725 6165 - ec_fsm_change_ack()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2595 4725 6345 - ec_fsm_change_check_ack()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2265 4725 6525 - ec_fsm_coe_down_start()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2535 4725 6705 - ec_fsm_coe_down_request()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2430 4725 6885 - ec_fsm_coe_down_check()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2685 4725 7065 - ec_fsm_coe_down_response()\001
+4 0 0 50 -1 16 12 0.0000 4 180 1260 4725 7245 - ec_fsm_end()\001
+4 0 0 50 -1 16 12 0.0000 4 180 1335 4725 7425 - ec_fsm_error()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2700 4725 765 - ec_fsm_master_write_eeprom()\001
+4 0 0 50 -1 16 12 0.0000 4 180 1950 4725 945 - ec_fsm_startup_start()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2430 4725 1125 - ec_fsm_startup_broadcast()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2010 4725 1305 - ec_fsm_startup_scan()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2475 4725 1485 - ec_fsm_configuration_start()\001
+4 0 0 100 -1 16 12 0.0000 4 180 3150 540 6210 + ec_fsm_configuration_success(): int\001
+4 0 0 50 -1 16 12 0.0000 4 180 1935 540 6390 - ec_fsm_master_start()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2415 540 6570 - ec_fsm_master_broadcast()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2550 540 6750 - ec_fsm_master_read_states()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2940 540 6930 - ec_fsm_master_validate_vendor()\001
+4 0 0 50 -1 16 12 0.0000 4 180 2985 540 7110 - ec_fsm_master_validate_product()\001
+4 0 0 50 -1 16 12 0.0000 4 180 3105 540 7290 - ec_fsm_master_rewrite_addresses()\001
+4 0 0 50 -1 16 12 0.0000 4 180 3015 540 7470 - ec_fsm_master_configure_slaves()\001
--- a/master/fsm_change.c Fri Feb 22 11:04:49 2008 +0000
+++ b/master/fsm_change.c Fri Feb 22 11:33:49 2008 +0000
@@ -348,7 +348,7 @@
{0x0020, "Slave needs cold start"},
{0x0021, "Slave needs INIT"},
{0x0022, "Slave needs PREOP"},
- {0x0023, "Slave needs SAVEOP"},
+ {0x0023, "Slave needs SAFEOP"},
{0x0030, "Invalid DC SYNCH configuration"},
{0x0031, "Invalid DC latch configuration"},
{0x0032, "PLL error"},
--- a/master/fsm_slave.c Fri Feb 22 11:04:49 2008 +0000
+++ b/master/fsm_slave.c Fri Feb 22 11:33:49 2008 +0000
@@ -64,7 +64,7 @@
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 *);
+void ec_fsm_slave_conf_state_safeop(ec_fsm_slave_t *);
void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *);
void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *);
@@ -73,7 +73,7 @@
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_saveop(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_safeop(ec_fsm_slave_t *);
void ec_fsm_slave_state_end(ec_fsm_slave_t *);
void ec_fsm_slave_state_error(ec_fsm_slave_t *);
@@ -878,7 +878,7 @@
if (!slave->config) {
EC_DBG("Slave %u is not configured.\n", slave->ring_position);
- ec_fsm_slave_conf_enter_saveop(fsm);
+ ec_fsm_slave_conf_enter_safeop(fsm);
return;
}
@@ -1089,7 +1089,7 @@
const ec_sync_t *sync;
if (!slave->base_fmmu_count) { // skip FMMU configuration
- ec_fsm_slave_conf_enter_saveop(fsm);
+ ec_fsm_slave_conf_enter_safeop(fsm);
return;
}
@@ -1144,29 +1144,29 @@
return;
}
- ec_fsm_slave_conf_enter_saveop(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Request SAVEOP state.
+ ec_fsm_slave_conf_enter_safeop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Request SAFEOP state.
*/
-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);
+void ec_fsm_slave_conf_enter_safeop(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ fsm->state = ec_fsm_slave_conf_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: SAVEOP.
-*/
-
-void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
+ Slave configuration state: SAFEOP.
+*/
+
+void ec_fsm_slave_conf_state_safeop(ec_fsm_slave_t *fsm /**< slave state machine */)
{
ec_master_t *master = fsm->slave->master;
ec_slave_t *slave = fsm->slave;
@@ -1180,10 +1180,10 @@
return;
}
- // slave is now in SAVEOP
+ // slave is now in SAFEOP
if (master->debug_level) {
- EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
+ EC_DBG("Slave %i is now in SAFEOP.\n", slave->ring_position);
}
if (fsm->slave->current_state == fsm->slave->requested_state) {
--- a/master/module.c Fri Feb 22 11:04:49 2008 +0000
+++ b/master/module.c Fri Feb 22 11:33:49 2008 +0000
@@ -383,9 +383,9 @@
off += sprintf(buffer + off, "PREOP");
first = 0;
}
- if (states & EC_SLAVE_STATE_SAVEOP) {
+ if (states & EC_SLAVE_STATE_SAFEOP) {
if (!first) off += sprintf(buffer + off, ", ");
- off += sprintf(buffer + off, "SAVEOP");
+ off += sprintf(buffer + off, "SAFEOP");
first = 0;
}
if (states & EC_SLAVE_STATE_OP) {
--- a/master/slave.c Fri Feb 22 11:04:49 2008 +0000
+++ b/master/slave.c Fri Feb 22 11:33:49 2008 +0000
@@ -1035,8 +1035,8 @@
return sprintf(buffer, "INIT\n");
case EC_SLAVE_STATE_PREOP:
return sprintf(buffer, "PREOP\n");
- case EC_SLAVE_STATE_SAVEOP:
- return sprintf(buffer, "SAVEOP\n");
+ case EC_SLAVE_STATE_SAFEOP:
+ return sprintf(buffer, "SAFEOP\n");
case EC_SLAVE_STATE_OP:
return sprintf(buffer, "OP\n");
default:
@@ -1084,8 +1084,8 @@
ec_slave_request_state(slave, EC_SLAVE_STATE_INIT);
else if (!strcmp(buffer, "PREOP\n"))
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
- else if (!strcmp(buffer, "SAVEOP\n"))
- ec_slave_request_state(slave, EC_SLAVE_STATE_SAVEOP);
+ else if (!strcmp(buffer, "SAFEOP\n"))
+ ec_slave_request_state(slave, EC_SLAVE_STATE_SAFEOP);
else if (!strcmp(buffer, "OP\n"))
ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
else {
--- a/master/slave.h Fri Feb 22 11:04:49 2008 +0000
+++ b/master/slave.h Fri Feb 22 11:33:49 2008 +0000
@@ -62,8 +62,8 @@
/**< INIT state (no mailbox communication, no IO) */
EC_SLAVE_STATE_PREOP = 0x02,
/**< PREOP state (mailbox communication, no IO) */
- EC_SLAVE_STATE_SAVEOP = 0x04,
- /**< SAVEOP (mailbox communication and input update) */
+ EC_SLAVE_STATE_SAFEOP = 0x04,
+ /**< SAFEOP (mailbox communication and input update) */
EC_SLAVE_STATE_OP = 0x08,
/**< OP (mailbox communication and input/output update) */
EC_SLAVE_STATE_ACK_ERR = 0x10