--- a/master/Kbuild.in	Tue Feb 26 10:25:52 2008 +0000
+++ b/master/Kbuild.in	Tue Feb 26 13:20:32 2008 +0000
@@ -36,7 +36,8 @@
 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_pdo_mapping.o fsm_pdo_config.o fsm_slave.o fsm_master.o xmldev.o
+    fsm_pdo_mapping.o fsm_pdo_config.o fsm_slave_scan.o fsm_slave_config.o \
+    fsm_master.o xmldev.o
 
 ifeq (@ENABLE_EOE@,1)
 	ec_master-objs += ethernet.o

--- a/master/Makefile.am	Tue Feb 26 10:25:52 2008 +0000
+++ b/master/Makefile.am	Tue Feb 26 13:20:32 2008 +0000
@@ -49,7 +49,8 @@
 	fsm_coe_map.c fsm_coe_map.h \
 	fsm_pdo_mapping.c fsm_pdo_mapping.h \
 	fsm_pdo_config.c fsm_pdo_config.h \
-	fsm_slave.c fsm_slave.h \
+	fsm_slave_scan.c fsm_slave_scan.h \
+	fsm_slave_config.c fsm_slave_config.h \
 	fsm_master.c fsm_master.h \
 	globals.h \
 	mailbox.c mailbox.h \

--- a/master/fsm_master.c	Tue Feb 26 10:25:52 2008 +0000
+++ b/master/fsm_master.c	Tue Feb 26 13:20:32 2008 +0000
@@ -87,7 +87,8 @@
     fsm->tainted = 0;
 
     // init sub-state-machines
-    ec_fsm_slave_init(&fsm->fsm_slave, fsm->datagram);
+    ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram);
+    ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram);
     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);
@@ -103,7 +104,8 @@
 void ec_fsm_master_clear(ec_fsm_master_t *fsm /**< master state machine */)
 {
     // clear sub-state machines
-    ec_fsm_slave_clear(&fsm->fsm_slave);
+    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
+    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
     ec_fsm_sii_clear(&fsm->fsm_sii);
     ec_fsm_change_clear(&fsm->fsm_change);
     ec_fsm_coe_clear(&fsm->fsm_coe);
@@ -453,8 +455,8 @@
         fsm->idle = 0;
         fsm->slave = slave;
         fsm->state = ec_fsm_master_state_configure_slave;
-        ec_fsm_slave_start_conf(&fsm->fsm_slave, slave);
-        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+        ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
+        ec_fsm_slave_config_exec(&fsm->fsm_slave_config); // execute immediately
         return 1;
     }
 
@@ -864,8 +866,8 @@
     // begin scanning of slaves
     fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
     fsm->state = ec_fsm_master_state_scan_slaves;
-    ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
-    ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+    ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
+    ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
 }
 
 /*****************************************************************************/
@@ -882,7 +884,7 @@
     ec_master_t *master = fsm->master;
     ec_slave_t *slave = fsm->slave;
 
-    if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave state machine
+    if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan)) // execute slave state machine
         return;
 
 #ifdef EC_EOE
@@ -907,8 +909,8 @@
     // another slave to fetch?
     if (slave->list.next != &master->slaves) {
         fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
-        ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
-        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+        ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
+        ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
         return;
     }
 
@@ -940,10 +942,10 @@
                                    /**< master state machine */
                                    )
 {
-    if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave's state machine
-        return;
-
-    if (!ec_fsm_slave_success(&fsm->fsm_slave))
+    if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config)) // execute slave's state machine
+        return;
+
+    if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config))
         fsm->config_error = 1;
 
     // configure next slave, if necessary

--- a/master/fsm_master.h	Tue Feb 26 10:25:52 2008 +0000
+++ b/master/fsm_master.h	Tue Feb 26 13:20:32 2008 +0000
@@ -33,7 +33,7 @@
 
 /**
    \file
-   EtherCAT finite state machines.
+   EtherCAT master state machine.
 */
 
 /*****************************************************************************/
@@ -41,42 +41,35 @@
 #ifndef __EC_FSM_MASTER__
 #define __EC_FSM_MASTER__
 
+#include "../include/ecrt.h"
+
 #include "globals.h"
-#include "../include/ecrt.h"
 #include "datagram.h"
-//#include "slave.h"
 #include "canopen.h"
-
-#include "fsm_slave.h"
+#include "fsm_slave_config.h"
+#include "fsm_slave_scan.h"
 #include "fsm_coe_map.h"
 
 /*****************************************************************************/
 
-/**
- * EEPROM write request.
+/** EEPROM write request.
  */
-
-typedef struct
-{
+typedef struct {
     struct list_head list; /**< list head */
     ec_slave_t *slave; /**< EtherCAT slave */
     off_t word_offset; /**< SII address in words */
     size_t word_size; /**< data size in words */
     const uint8_t *data; /**< pointer to the data */
     ec_request_state_t state; /**< state of the request */
-}
-ec_eeprom_write_request_t;
+} ec_eeprom_write_request_t;
 
 /*****************************************************************************/
 
 typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
 
-/**
-   Finite state machine of an EtherCAT master.
-*/
-
-struct ec_fsm_master
-{
+/** Finite state machine of an EtherCAT master.
+ */
+struct ec_fsm_master {
     ec_master_t *master; /**< master the FSM runs on */
     ec_datagram_t *datagram; /**< datagram used in the state machine */
     unsigned int retries; /**< retries on datagram timeout. */
@@ -96,7 +89,8 @@
     off_t eeprom_index; /**< index to EEPROM write request data */
     ec_sdo_request_t *sdo_request; /**< Sdo request to process */
 
-    ec_fsm_slave_t fsm_slave; /**< slave state machine */
+    ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
+    ec_fsm_slave_scan_t fsm_slave_scan; /**< slave 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 */

--- a/master/fsm_slave.c	Tue Feb 26 10:25:52 2008 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1272 +0,0 @@
-/******************************************************************************
- *
- *  $Id$
- *
- *  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 "slave_config.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_mbox_sync(ec_fsm_slave_t *);
-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_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 *);
-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_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 *);
-
-/*****************************************************************************/
-
-/** 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);
-    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_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);
-    ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_map);
-    ec_fsm_pdo_config_clear(&fsm->fsm_pdo_conf);
-}
-
-/*****************************************************************************/
-
-/**
- * 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);
-    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--)
-        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"
-                " (datagram state %i)\n",
-                fsm->slave->ring_position, datagram->state);
-        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 on slave %i: ",
-               fsm->slave->ring_position);
-        ec_datagram_print_wc_error(datagram);
-        return;
-    }
-
-    // Read AL state
-    ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0130, 2);
-    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--)
-        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"
-                " (datagram state %i).\n",
-               fsm->slave->ring_position, datagram->state);
-        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 of slave %i: ",
-               fsm->slave->ring_position);
-        ec_datagram_print_wc_error(datagram);
-        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_fprd(datagram, fsm->slave->station_address, 0x0000, 6);
-    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--)
-        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"
-                " (datagram state %i).\n",
-               slave->ring_position, datagram->state);
-        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 from slave %i: ",
-               slave->ring_position);
-        ec_datagram_print_wc_error(datagram);
-        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);
-
-    if (slave->base_fmmu_count > EC_MAX_FMMUS) {
-        EC_WARN("Slave %u has more FMMUs (%u) than the master can"
-                " handle (%u).\n", slave->ring_position,
-                slave->base_fmmu_count, EC_MAX_FMMUS);
-        slave->base_fmmu_count = EC_MAX_FMMUS;
-    }
-
-    // read data link status
-    ec_datagram_fprd(datagram, slave->station_address, 0x0110, 2);
-    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--)
-        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"
-                " (datagram state %i).\n",
-               slave->ring_position, datagram->state);
-        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 from slave %i: ",
-               slave->ring_position);
-        ec_datagram_print_wc_error(datagram);
-        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 = EC_FIRST_EEPROM_CATEGORY_OFFSET; // first category header
-    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
-            EC_FSM_SII_USE_CONFIGURED_ADDRESS);
-    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
-        off_t next_offset = 2UL + fsm->sii_offset + cat_size;
-        if (next_offset >= EC_MAX_EEPROM_SIZE) {
-            EC_WARN("EEPROM size of slave %i exceeds"
-                    " %u words (0xffff limiter missing?).\n",
-                    slave->ring_position, EC_MAX_EEPROM_SIZE);
-            // cut off category data...
-            slave->eeprom_size = EC_FIRST_EEPROM_CATEGORY_OFFSET * 2;
-            goto alloc_eeprom;
-        }
-        fsm->sii_offset = next_offset;
-        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
-                        EC_FSM_SII_USE_CONFIGURED_ADDRESS);
-        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
-        return;
-    }
-
-    slave->eeprom_size = (fsm->sii_offset + 1) * 2;
-
-alloc_eeprom:
-    if (slave->eeprom_data) {
-        EC_WARN("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))) {
-        EC_ERR("Failed to allocate %u bytes of EEPROM data for slave %u.\n",
-               slave->eeprom_size, slave->ring_position);
-        slave->eeprom_size = 0;
-        slave->error_flag = 1;
-        fsm->state = ec_fsm_slave_state_error;
-        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_USE_CONFIGURED_ADDRESS);
-    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, eeprom_word_size = slave->eeprom_size / 2;
-
-    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 <= eeprom_word_size) { // 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 < eeprom_word_size) {
-        // fetch the next 2 words
-        fsm->sii_offset += 2;
-        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
-                        EC_FSM_SII_USE_CONFIGURED_ADDRESS);
-        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);
-
-    if (eeprom_word_size == EC_FIRST_EEPROM_CATEGORY_OFFSET) {
-        // eeprom does not contain category data
-        fsm->state = ec_fsm_slave_state_end;
-        return;
-    }
-
-    if (eeprom_word_size < EC_FIRST_EEPROM_CATEGORY_OFFSET + 1) {
-        EC_ERR("Unexpected end of EEPROM data in slave %u:"
-                " First category header missing.\n",
-                slave->ring_position);
-        goto end;
-    }
-
-    // evaluate category data
-    cat_word =
-        (uint16_t *) slave->eeprom_data + EC_FIRST_EEPROM_CATEGORY_OFFSET;
-    while (EC_READ_U16(cat_word) != 0xFFFF) {
-
-        // type and size words must fit
-        if (cat_word + 2 - (uint16_t *) slave->eeprom_data
-                > eeprom_word_size) {
-            EC_ERR("Unexpected end of EEPROM data in slave %u:"
-                    " Category header incomplete.\n",
-                    slave->ring_position);
-            goto end;
-        }
-
-        cat_type = EC_READ_U16(cat_word) & 0x7FFF;
-        cat_size = EC_READ_U16(cat_word + 1);
-        cat_word += 2;
-
-        if (cat_word + cat_size - (uint16_t *) slave->eeprom_data
-                > eeprom_word_size) {
-            EC_WARN("Unexpected end of EEPROM data in slave %u:"
-                    " Category data incomplete.\n",
-                    slave->ring_position);
-            goto end;
-        }
-
-        switch (cat_type) {
-            case 0x000A:
-                if (ec_slave_fetch_sii_strings(slave, (uint8_t *) cat_word,
-                            cat_size * 2))
-                    goto end;
-                break;
-            case 0x001E:
-                if (ec_slave_fetch_sii_general(slave, (uint8_t *) cat_word,
-                            cat_size * 2))
-                    goto end;
-                break;
-            case 0x0028:
-                break;
-            case 0x0029:
-                if (ec_slave_fetch_sii_syncs(slave, (uint8_t *) cat_word,
-                            cat_size * 2))
-                    goto end;
-                break;
-            case 0x0032:
-                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
-                            cat_size * 2, EC_DIR_INPUT)) // TxPdo
-                    goto end;
-                break;
-            case 0x0033:
-                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
-                            cat_size * 2, EC_DIR_OUTPUT)) // RxPdo
-                    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;
-        if (cat_word - (uint16_t *) slave->eeprom_data >= eeprom_word_size) {
-            EC_WARN("Unexpected end of EEPROM data in slave %u:"
-                    " Next category header missing.\n",
-                    slave->ring_position);
-            goto end;
-        }
-    }
-
-    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)) {
-        if (!fsm->fsm_change.spontaneous_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_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_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--)
-        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 of slave %i: ",
-               fsm->slave->ring_position);
-        ec_datagram_print_wc_error(datagram);
-        return;
-    }
-
-    ec_fsm_slave_conf_enter_mbox_sync(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Check for mailbox sync managers to be configured.
- */
-
-void ec_fsm_slave_conf_enter_mbox_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;
-    unsigned int i;
-
-    // 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->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_conf_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_conf_state_mbox_sync;
-}
-
-/*****************************************************************************/
-
-/**
-   Slave configuration state: SYNC.
-*/
-
-void ec_fsm_slave_conf_state_mbox_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--)
-        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 (datagram state %i).\n",
-               slave->ring_position, datagram->state);
-        return;
-    }
-
-    if (datagram->working_counter != 1) {
-        slave->error_flag = 1;
-        fsm->state = ec_fsm_slave_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_conf_enter_preop(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Request PREOP state.
- */
-
-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)) {
-        if (!fsm->fsm_change.spontaneous_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_sdo_conf(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Check for Sdo configurations to be applied.
- */
-
-void ec_fsm_slave_conf_enter_sdo_conf(ec_fsm_slave_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_conf_enter_safeop(fsm);
-        return;
-    }
-
-    // No CoE configuration to be applied?
-    if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
-        ec_fsm_slave_conf_enter_mapping(fsm);
-        return;
-    }
-
-    // start Sdo configuration
-    fsm->state = ec_fsm_slave_conf_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_conf_state_sdo_conf(
-        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)) {
-        EC_ERR("Sdo configuration failed for slave %u.\n",
-                fsm->slave->ring_position);
-        fsm->slave->error_flag = 1;
-        fsm->state = ec_fsm_slave_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_conf_enter_mapping(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Check for Pdo mappings to be applied.
- */
-
-void ec_fsm_slave_conf_enter_mapping(
-        ec_fsm_slave_t *fsm /**< slave state machine */
-        )
-{
-    // start configuring Pdo mapping
-    fsm->state = ec_fsm_slave_conf_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_conf_state_mapping(
-        ec_fsm_slave_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_state_error;
-        return;
-    }
-
-    // Start Pdo configuration
-    fsm->state = ec_fsm_slave_conf_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_conf_state_pdo_conf(
-        ec_fsm_slave_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_state_error;
-        return;
-    }
-
-    ec_fsm_slave_conf_enter_pdo_sync(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Check for Pdo sync managers to be configured.
- */
-
-void ec_fsm_slave_conf_enter_pdo_sync(
-        ec_fsm_slave_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_conf_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_conf_state_pdo_sync;
-}
-
-/*****************************************************************************/
-
-/**
- * Configure Pdo sync managers.
- */
-
-void ec_fsm_slave_conf_state_pdo_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--)
-        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 (datagram state %i).\n",
-               slave->ring_position, datagram->state);
-        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 of slave %i: ",
-                slave->ring_position);
-        ec_datagram_print_wc_error(datagram);
-        return;
-    }
-
-    ec_fsm_slave_conf_enter_fmmu(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Check for FMMUs to be configured.
- */
-
-void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_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_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_conf_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_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_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--)
-        return;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) {
-        fsm->state = ec_fsm_slave_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_state_error;
-        EC_ERR("Failed to set FMMUs of slave %i: ",
-               slave->ring_position);
-        ec_datagram_print_wc_error(datagram);
-        return;
-    }
-
-    ec_fsm_slave_conf_enter_safeop(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Request SAFEOP state.
- */
-
-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: 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;
-
-    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_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_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)) {
-        if (!fsm->fsm_change.spontaneous_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 */)
-{
-}
-
-/*****************************************************************************/

--- a/master/fsm_slave.h	Tue Feb 26 10:25:52 2008 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,90 +0,0 @@
-/******************************************************************************
- *
- *  $Id$
- *
- *  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 finite state machines.
-*/
-
-/*****************************************************************************/
-
-#ifndef __EC_FSM_SLAVE__
-#define __EC_FSM_SLAVE__
-
-#include "globals.h"
-#include "../include/ecrt.h"
-#include "datagram.h"
-#include "slave.h"
-#include "fsm_sii.h"
-#include "fsm_change.h"
-#include "fsm_coe.h"
-#include "fsm_pdo_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.
- */
-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. */
-
-    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_pdo_mapping_t fsm_pdo_map; /**< Pdo mapping state machine. */
-    ec_fsm_pdo_config_t fsm_pdo_conf; /**< Pdo configuration state machine. */
-};
-
-/*****************************************************************************/
-
-void ec_fsm_slave_init(ec_fsm_slave_t *, ec_datagram_t *);
-void ec_fsm_slave_clear(ec_fsm_slave_t *);
-
-void ec_fsm_slave_start_scan(ec_fsm_slave_t *, ec_slave_t *);
-void ec_fsm_slave_start_conf(ec_fsm_slave_t *, ec_slave_t *);
-
-int ec_fsm_slave_exec(ec_fsm_slave_t *);
-int ec_fsm_slave_success(const ec_fsm_slave_t *);
-
-/*****************************************************************************/
-
-#endif

--- /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 */)
+{
+}
+
+/*****************************************************************************/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave_config.h	Tue Feb 26 13:20:32 2008 +0000
@@ -0,0 +1,87 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_SLAVE_CONFIG__
+#define __EC_FSM_SLAVE_CONFIG__
+
+#include "../include/ecrt.h"
+
+#include "globals.h"
+#include "slave.h"
+#include "datagram.h"
+#include "fsm_change.h"
+#include "fsm_coe.h"
+#include "fsm_pdo_mapping.h"
+#include "fsm_pdo_config.h"
+
+/*****************************************************************************/
+
+/** \see ec_fsm_slave_config */
+typedef struct ec_fsm_slave_config ec_fsm_slave_config_t;
+
+/** Finite state machine to configure an EtherCAT slave.
+ */
+struct ec_fsm_slave_config
+{
+    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_config_t *); /**< State function. */
+    ec_sdo_data_t *sdodata; /**< Sdo configuration data. */
+    ec_fsm_change_t fsm_change; /**< State change state machine. */
+    ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
+    ec_fsm_pdo_mapping_t fsm_pdo_map; /**< Pdo mapping state machine. */
+    ec_fsm_pdo_config_t fsm_pdo_conf; /**< Pdo configuration state machine. */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *);
+void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);
+
+void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);
+
+int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *);
+int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *);
+
+/*****************************************************************************/
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave_scan.c	Tue Feb 26 13:20:32 2008 +0000
@@ -0,0 +1,590 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 "slave_config.h"
+
+#include "fsm_slave_scan.h"
+
+/*****************************************************************************/
+
+void ec_fsm_slave_scan_state_start(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_address(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_state(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_scan_t *);
+
+void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_error(ec_fsm_slave_scan_t *);
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_slave_scan_init(ec_fsm_slave_scan_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);
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+    // clear sub state machines
+    ec_fsm_sii_clear(&fsm->fsm_sii);
+}
+
+/*****************************************************************************/
+
+/**
+ * Start slave scan state machine.
+ */
+
+void ec_fsm_slave_scan_start(
+        ec_fsm_slave_scan_t *fsm, /**< slave state machine */
+        ec_slave_t *slave /**< slave to configure */
+        )
+{
+    fsm->slave = slave;
+    fsm->state = ec_fsm_slave_scan_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+   \return false, if state machine has terminated
+*/
+
+int ec_fsm_slave_scan_running(const ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+    return fsm->state != ec_fsm_slave_scan_state_end
+        && fsm->state != ec_fsm_slave_scan_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_scan_exec(ec_fsm_slave_scan_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_scan_running(fsm);
+    }
+
+    fsm->state(fsm);
+    return ec_fsm_slave_scan_running(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+   \return true, if the state machine terminated gracefully
+*/
+
+int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+    return fsm->state == ec_fsm_slave_scan_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_scan_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);
+    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_scan_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_scan_state_error;
+        EC_ERR("Failed to receive station address datagram for slave %i"
+                " (datagram state %i)\n",
+                fsm->slave->ring_position, datagram->state);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_scan_state_error;
+        EC_ERR("Failed to write station address on slave %i: ",
+               fsm->slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        return;
+    }
+
+    // Read AL state
+    ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0130, 2);
+    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_scan_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_scan_state_error;
+        EC_ERR("Failed to receive AL state datagram from slave %i"
+                " (datagram state %i).\n",
+               fsm->slave->ring_position, datagram->state);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_scan_state_error;
+        EC_ERR("Failed to read AL state of slave %i: ",
+               fsm->slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        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_fprd(datagram, fsm->slave->station_address, 0x0000, 6);
+    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_scan_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_scan_state_error;
+        EC_ERR("Failed to receive base data datagram for slave %i"
+                " (datagram state %i).\n",
+               slave->ring_position, datagram->state);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_scan_state_error;
+        EC_ERR("Failed to read base data from slave %i: ",
+               slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        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);
+
+    if (slave->base_fmmu_count > EC_MAX_FMMUS) {
+        EC_WARN("Slave %u has more FMMUs (%u) than the master can"
+                " handle (%u).\n", slave->ring_position,
+                slave->base_fmmu_count, EC_MAX_FMMUS);
+        slave->base_fmmu_count = EC_MAX_FMMUS;
+    }
+
+    // read data link status
+    ec_datagram_fprd(datagram, slave->station_address, 0x0110, 2);
+    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_scan_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--)
+        return;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_scan_state_error;
+        EC_ERR("Failed to receive DL status datagram from slave %i"
+                " (datagram state %i).\n",
+               slave->ring_position, datagram->state);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_scan_state_error;
+        EC_ERR("Failed to read DL status from slave %i: ",
+               slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        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 = EC_FIRST_EEPROM_CATEGORY_OFFSET; // first category header
+    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+            EC_FSM_SII_USE_CONFIGURED_ADDRESS);
+    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_scan_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_scan_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
+        off_t next_offset = 2UL + fsm->sii_offset + cat_size;
+        if (next_offset >= EC_MAX_EEPROM_SIZE) {
+            EC_WARN("EEPROM size of slave %i exceeds"
+                    " %u words (0xffff limiter missing?).\n",
+                    slave->ring_position, EC_MAX_EEPROM_SIZE);
+            // cut off category data...
+            slave->eeprom_size = EC_FIRST_EEPROM_CATEGORY_OFFSET * 2;
+            goto alloc_eeprom;
+        }
+        fsm->sii_offset = next_offset;
+        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+                        EC_FSM_SII_USE_CONFIGURED_ADDRESS);
+        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+        return;
+    }
+
+    slave->eeprom_size = (fsm->sii_offset + 1) * 2;
+
+alloc_eeprom:
+    if (slave->eeprom_data) {
+        EC_WARN("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))) {
+        EC_ERR("Failed to allocate %u bytes of EEPROM data for slave %u.\n",
+               slave->eeprom_size, slave->ring_position);
+        slave->eeprom_size = 0;
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_scan_state_error;
+        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_USE_CONFIGURED_ADDRESS);
+    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_scan_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    uint16_t *cat_word, cat_type, cat_size, eeprom_word_size = slave->eeprom_size / 2;
+
+    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_scan_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 <= eeprom_word_size) { // 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 < eeprom_word_size) {
+        // fetch the next 2 words
+        fsm->sii_offset += 2;
+        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+                        EC_FSM_SII_USE_CONFIGURED_ADDRESS);
+        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);
+
+    if (eeprom_word_size == EC_FIRST_EEPROM_CATEGORY_OFFSET) {
+        // eeprom does not contain category data
+        fsm->state = ec_fsm_slave_scan_state_end;
+        return;
+    }
+
+    if (eeprom_word_size < EC_FIRST_EEPROM_CATEGORY_OFFSET + 1) {
+        EC_ERR("Unexpected end of EEPROM data in slave %u:"
+                " First category header missing.\n",
+                slave->ring_position);
+        goto end;
+    }
+
+    // evaluate category data
+    cat_word =
+        (uint16_t *) slave->eeprom_data + EC_FIRST_EEPROM_CATEGORY_OFFSET;
+    while (EC_READ_U16(cat_word) != 0xFFFF) {
+
+        // type and size words must fit
+        if (cat_word + 2 - (uint16_t *) slave->eeprom_data
+                > eeprom_word_size) {
+            EC_ERR("Unexpected end of EEPROM data in slave %u:"
+                    " Category header incomplete.\n",
+                    slave->ring_position);
+            goto end;
+        }
+
+        cat_type = EC_READ_U16(cat_word) & 0x7FFF;
+        cat_size = EC_READ_U16(cat_word + 1);
+        cat_word += 2;
+
+        if (cat_word + cat_size - (uint16_t *) slave->eeprom_data
+                > eeprom_word_size) {
+            EC_WARN("Unexpected end of EEPROM data in slave %u:"
+                    " Category data incomplete.\n",
+                    slave->ring_position);
+            goto end;
+        }
+
+        switch (cat_type) {
+            case 0x000A:
+                if (ec_slave_fetch_sii_strings(slave, (uint8_t *) cat_word,
+                            cat_size * 2))
+                    goto end;
+                break;
+            case 0x001E:
+                if (ec_slave_fetch_sii_general(slave, (uint8_t *) cat_word,
+                            cat_size * 2))
+                    goto end;
+                break;
+            case 0x0028:
+                break;
+            case 0x0029:
+                if (ec_slave_fetch_sii_syncs(slave, (uint8_t *) cat_word,
+                            cat_size * 2))
+                    goto end;
+                break;
+            case 0x0032:
+                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
+                            cat_size * 2, EC_DIR_INPUT)) // TxPdo
+                    goto end;
+                break;
+            case 0x0033:
+                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
+                            cat_size * 2, EC_DIR_OUTPUT)) // RxPdo
+                    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;
+        if (cat_word - (uint16_t *) slave->eeprom_data >= eeprom_word_size) {
+            EC_WARN("Unexpected end of EEPROM data in slave %u:"
+                    " Next category header missing.\n",
+                    slave->ring_position);
+            goto end;
+        }
+    }
+
+    fsm->state = ec_fsm_slave_scan_state_end;
+    return;
+
+end:
+    EC_ERR("Failed to analyze category data.\n");
+    fsm->slave->error_flag = 1;
+    fsm->state = ec_fsm_slave_scan_state_error;
+}
+
+/******************************************************************************
+ * Common state functions
+ *****************************************************************************/
+
+/** State: ERROR.
+ */
+void ec_fsm_slave_scan_state_error(
+        ec_fsm_slave_scan_t *fsm /**< slave state machine */
+        )
+{
+}
+
+/*****************************************************************************/
+
+/** State: END.
+ */
+void ec_fsm_slave_scan_state_end(
+        ec_fsm_slave_scan_t *fsm /**< slave state machine */
+        )
+{
+}
+
+/*****************************************************************************/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave_scan.h	Tue Feb 26 13:20:32 2008 +0000
@@ -0,0 +1,86 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 scanning state machine.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_SLAVE_SCAN__
+#define __EC_FSM_SLAVE_SCAN__
+
+#include "../include/ecrt.h"
+
+#include "globals.h"
+#include "datagram.h"
+#include "slave.h"
+#include "fsm_sii.h"
+#include "fsm_change.h"
+#include "fsm_coe.h"
+#include "fsm_pdo_mapping.h"
+#include "fsm_pdo_config.h"
+
+/*****************************************************************************/
+
+/** \see ec_fsm_slave_scan */
+typedef struct ec_fsm_slave_scan ec_fsm_slave_scan_t;
+
+/** Finite state machine for scanning an EtherCAT slave.
+ */
+struct ec_fsm_slave_scan
+{
+    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_scan_t *); /**< State function. */
+    uint16_t sii_offset; /**< SII offset in words. */
+
+    ec_fsm_sii_t fsm_sii; /**< SII state machine. */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_slave_scan_init(ec_fsm_slave_scan_t *, ec_datagram_t *);
+void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *);
+
+void ec_fsm_slave_scan_start(ec_fsm_slave_scan_t *, ec_slave_t *);
+
+int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *);
+int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *);
+
+/*****************************************************************************/
+
+#endif