Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
authorFlorian Pose <fp@igh-essen.com>
Wed, 10 Jan 2007 16:32:06 +0000
changeset 528 f789bdd78b54
parent 527 3eea08638522
child 529 fdd5cc30441b
Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
master/Kbuild
master/Makefile.am
master/fsm.c
master/fsm.h
master/fsm_master.c
master/fsm_master.h
master/fsm_slave.c
master/fsm_slave.h
master/master.c
master/master.h
--- a/master/Kbuild	Wed Jan 10 10:58:49 2007 +0000
+++ b/master/Kbuild	Wed Jan 10 16:32:06 2007 +0000
@@ -36,8 +36,9 @@
 obj-m := ec_master.o
 
 ec_master-objs := module.o master.o device.o slave.o datagram.o \
-		domain.o mailbox.o canopen.o ethernet.o \
-                fsm_sii.o fsm_change.o fsm_coe.o fsm.o xmldev.o
+    domain.o mailbox.o canopen.o ethernet.o \
+    fsm_sii.o fsm_change.o fsm_coe.o fsm_slave.o fsm_master.o \
+    xmldev.o
 
 ifeq ($(EC_DBG_IF),1)
 	ec_master-objs += debug.o
--- a/master/Makefile.am	Wed Jan 10 10:58:49 2007 +0000
+++ b/master/Makefile.am	Wed Jan 10 16:32:06 2007 +0000
@@ -43,7 +43,8 @@
 	fsm_sii.c fsm_sii.h \
 	fsm_change.c fsm_change.h \
 	fsm_coe.c fsm_coe.h \
-	fsm.c fsm.h \
+	fsm_slave.c fsm_slave.h \
+	fsm_master.c fsm_master.h \
 	globals.h \
 	mailbox.c mailbox.h \
 	master.c master.h \
--- a/master/fsm.c	Wed Jan 10 10:58:49 2007 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1831 +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.
-*/
-
-/*****************************************************************************/
-
-#include "globals.h"
-#include "fsm.h"
-#include "master.h"
-#include "mailbox.h"
-
-/*****************************************************************************/
-
-void ec_fsm_master_start(ec_fsm_t *);
-void ec_fsm_master_broadcast(ec_fsm_t *);
-void ec_fsm_master_read_states(ec_fsm_t *);
-void ec_fsm_master_acknowledge(ec_fsm_t *);
-void ec_fsm_master_validate_vendor(ec_fsm_t *);
-void ec_fsm_master_validate_product(ec_fsm_t *);
-void ec_fsm_master_rewrite_addresses(ec_fsm_t *);
-void ec_fsm_master_configure_slave(ec_fsm_t *);
-void ec_fsm_master_scan_slaves(ec_fsm_t *);
-void ec_fsm_master_write_eeprom(ec_fsm_t *);
-void ec_fsm_master_sdodict(ec_fsm_t *);
-void ec_fsm_master_sdo_request(ec_fsm_t *);
-void ec_fsm_master_end(ec_fsm_t *);
-void ec_fsm_master_error(ec_fsm_t *);
-
-void ec_fsm_slavescan_start(ec_fsm_t *);
-void ec_fsm_slavescan_address(ec_fsm_t *);
-void ec_fsm_slavescan_state(ec_fsm_t *);
-void ec_fsm_slavescan_base(ec_fsm_t *);
-void ec_fsm_slavescan_datalink(ec_fsm_t *);
-void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);
-void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);
-
-void ec_fsm_slaveconf_state_start(ec_fsm_t *);
-void ec_fsm_slaveconf_state_init(ec_fsm_t *);
-void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *);
-void ec_fsm_slaveconf_state_sync(ec_fsm_t *);
-void ec_fsm_slaveconf_state_preop(ec_fsm_t *);
-void ec_fsm_slaveconf_state_sync2(ec_fsm_t *);
-void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *);
-void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *);
-void ec_fsm_slaveconf_state_saveop(ec_fsm_t *);
-void ec_fsm_slaveconf_state_op(ec_fsm_t *);
-
-void ec_fsm_slaveconf_enter_sync(ec_fsm_t *);
-void ec_fsm_slaveconf_enter_preop(ec_fsm_t *);
-void ec_fsm_slaveconf_enter_sync2(ec_fsm_t *);
-void ec_fsm_slaveconf_enter_fmmu(ec_fsm_t *);
-void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *);
-void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *);
-
-void ec_fsm_slave_state_end(ec_fsm_t *);
-void ec_fsm_slave_state_error(ec_fsm_t *);
-
-/*****************************************************************************/
-
-/**
-   Constructor.
-*/
-
-int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */
-                ec_master_t *master /**< EtherCAT master */
-                )
-{
-    fsm->master = master;
-    fsm->master_state = ec_fsm_master_start;
-    fsm->master_slaves_responding = 0;
-    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
-    fsm->master_validation = 0;
-
-    ec_datagram_init(&fsm->datagram);
-    if (ec_datagram_prealloc(&fsm->datagram, EC_MAX_DATA_SIZE)) {
-        EC_ERR("Failed to allocate FSM datagram.\n");
-        return -1;
-    }
-
-    // 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);
-
-    return 0;
-}
-
-/*****************************************************************************/
-
-/**
-   Destructor.
-*/
-
-void ec_fsm_clear(ec_fsm_t *fsm /**< finite 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_datagram_clear(&fsm->datagram);
-}
-
-/*****************************************************************************/
-
-/**
-   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_exec(ec_fsm_t *fsm /**< finite 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_running(fsm);
-    }
-
-    fsm->master_state(fsm);
-    return ec_fsm_running(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-   \return false, if state machine has terminated
-*/
-
-int ec_fsm_running(ec_fsm_t *fsm /**< finite state machine */)
-{
-    return fsm->master_state != ec_fsm_master_end
-        && fsm->master_state != ec_fsm_master_error;
-}
-
-/*****************************************************************************/
-
-/**
-   \return true, if the master state machine terminated gracefully
-*/
-
-int ec_fsm_success(ec_fsm_t *fsm /**< finite state machine */)
-{
-    return fsm->master_state == ec_fsm_master_end;
-}
-
-/******************************************************************************
- *  operation/idle state machine
- *****************************************************************************/
-
-/**
-   Master state: START.
-   Starts with getting slave count and slave states.
-*/
-
-void ec_fsm_master_start(ec_fsm_t *fsm)
-{
-    ec_datagram_brd(&fsm->datagram, 0x0130, 2);
-    ec_master_queue_datagram(fsm->master, &fsm->datagram);
-    fsm->master_state = ec_fsm_master_broadcast;
-}
-
-/*****************************************************************************/
-
-/**
-   Master state: BROADCAST.
-   Processes the broadcast read slave count and slaves states.
-*/
-
-void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    unsigned int topology_change, states_change, i;
-    ec_slave_t *slave;
-    ec_master_t *master = fsm->master;
-
-    if (datagram->state == EC_DATAGRAM_TIMED_OUT) {
-        // always retry
-        ec_master_queue_datagram(fsm->master, &fsm->datagram);
-        return;
-    }
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) { // EC_DATAGRAM_ERROR
-        // link is down
-        fsm->master_slaves_responding = 0;
-        list_for_each_entry(slave, &master->slaves, list) {
-            slave->online = 0;
-        }
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    topology_change = (datagram->working_counter !=
-                       fsm->master_slaves_responding);
-    states_change = (EC_READ_U8(datagram->data) != fsm->master_slave_states);
-
-    fsm->master_slave_states = EC_READ_U8(datagram->data);
-    fsm->master_slaves_responding = datagram->working_counter;
-
-    if (topology_change) {
-        EC_INFO("%i slave%s responding.\n",
-                fsm->master_slaves_responding,
-                fsm->master_slaves_responding == 1 ? "" : "s");
-
-        if (master->mode == EC_MASTER_MODE_OPERATION) {
-            if (fsm->master_slaves_responding == master->slave_count) {
-                fsm->master_validation = 1; // start validation later
-            }
-            else {
-                EC_WARN("Invalid slave count. Bus in tainted state.\n");
-            }
-        }
-    }
-
-    if (states_change) {
-        char states[EC_STATE_STRING_SIZE];
-        ec_state_string(fsm->master_slave_states, states);
-        EC_INFO("Slave states: %s.\n", states);
-    }
-
-    // topology change in idle mode: clear all slaves and scan the bus
-    if (topology_change && master->mode == EC_MASTER_MODE_IDLE) {
-
-        ec_master_eoe_stop(master);
-        ec_master_destroy_slaves(master);
-
-        master->slave_count = datagram->working_counter;
-
-        if (!master->slave_count) {
-            // no slaves present -> finish state machine.
-            fsm->master_state = ec_fsm_master_end;
-            return;
-        }
-
-        // init slaves
-        for (i = 0; i < master->slave_count; i++) {
-            if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
-                                                 GFP_ATOMIC))) {
-                EC_ERR("Failed to allocate slave %i!\n", i);
-                ec_master_destroy_slaves(master);
-                fsm->master_state = ec_fsm_master_error;
-                return;
-            }
-
-            if (ec_slave_init(slave, master, i, i + 1)) {
-                // freeing of "slave" already done
-                ec_master_destroy_slaves(master);
-                fsm->master_state = ec_fsm_master_error;
-                return;
-            }
-
-            list_add_tail(&slave->list, &master->slaves);
-        }
-
-        EC_INFO("Scanning bus.\n");
-
-        // begin scanning of slaves
-        fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
-        fsm->slave_state = ec_fsm_slavescan_start;
-        fsm->master_state = ec_fsm_master_scan_slaves;
-        fsm->master_state(fsm); // execute immediately
-        return;
-    }
-
-    // fetch state from each slave
-    fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
-    ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);
-    ec_master_queue_datagram(master, &fsm->datagram);
-    fsm->retries = EC_FSM_RETRIES;
-    fsm->master_state = ec_fsm_master_read_states;
-}
-
-/*****************************************************************************/
-
-/**
-   Master action: PROC_STATES.
-   Processes the slave states.
-*/
-
-void ec_fsm_master_action_process_states(ec_fsm_t *fsm
-                                         /**< finite state machine */
-                                         )
-{
-    ec_master_t *master = fsm->master;
-    ec_slave_t *slave;
-    char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
-
-    // check if any slaves are not in the state, they're supposed to be
-    list_for_each_entry(slave, &master->slaves, list) {
-        if (slave->error_flag
-            || !slave->online
-            || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
-            || (slave->current_state == slave->requested_state
-                && slave->self_configured)) continue;
-
-        if (master->debug_level) {
-            ec_state_string(slave->current_state, old_state);
-            if (slave->current_state != slave->requested_state) {
-                ec_state_string(slave->requested_state, new_state);
-                EC_DBG("Changing state of slave %i (%s -> %s).\n",
-                       slave->ring_position, old_state, new_state);
-            }
-            else if (!slave->self_configured) {
-                EC_DBG("Reconfiguring slave %i (%s).\n",
-                       slave->ring_position, old_state);
-            }
-        }
-
-        fsm->master_state = ec_fsm_master_configure_slave;
-        fsm->slave = slave;
-        fsm->slave_state = ec_fsm_slaveconf_state_start;
-        fsm->slave_state(fsm); // execute immediately
-        return;
-    }
-
-    // Check, if EoE processing has to be started
-    ec_master_eoe_start(master);
-
-    if (master->mode == EC_MASTER_MODE_IDLE) {
-
-        // Check for a pending SDO request
-        if (master->sdo_seq_master != master->sdo_seq_user) {
-            if (master->debug_level)
-                EC_DBG("Processing SDO request...\n");
-            slave = master->sdo_request->sdo->slave;
-            if (slave->current_state == EC_SLAVE_STATE_INIT
-                || !slave->online) {
-                EC_ERR("Failed to process SDO request, slave %i not ready.\n",
-                       slave->ring_position);
-                master->sdo_request->return_code = -1;
-                master->sdo_seq_master++;
-            }
-            else {
-                // start uploading SDO
-                fsm->slave = slave;
-                fsm->master_state = ec_fsm_master_sdo_request;
-                fsm->sdo_request = master->sdo_request;
-                ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
-                ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
-                return;
-            }
-        }
-
-        // check, if slaves have an SDO dictionary to read out.
-        list_for_each_entry(slave, &master->slaves, list) {
-            if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
-                || slave->sdo_dictionary_fetched
-                || slave->current_state == EC_SLAVE_STATE_INIT
-                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
-                || !slave->online
-                || slave->error_flag) continue;
-
-            if (master->debug_level) {
-                EC_DBG("Fetching SDO dictionary from slave %i.\n",
-                       slave->ring_position);
-            }
-
-            slave->sdo_dictionary_fetched = 1;
-
-            // start fetching SDO dictionary
-            fsm->slave = slave;
-            fsm->master_state = ec_fsm_master_sdodict;
-            ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
-            ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
-            return;
-        }
-
-        // check for pending EEPROM write operations.
-        list_for_each_entry(slave, &master->slaves, list) {
-            if (!slave->new_eeprom_data) continue;
-
-            if (!slave->online || slave->error_flag) {
-                kfree(slave->new_eeprom_data);
-                slave->new_eeprom_data = NULL;
-                EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
-                       slave->ring_position);
-                continue;
-            }
-
-            // found pending EEPROM write operation. execute it!
-            EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
-            fsm->slave = slave;
-            fsm->sii_offset = 0x0000;
-            ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
-                             slave->new_eeprom_data, EC_FSM_SII_NODE);
-            fsm->master_state = ec_fsm_master_write_eeprom;
-            fsm->master_state(fsm); // execute immediately
-            return;
-        }
-    }
-
-    fsm->master_state = ec_fsm_master_end;
-}
-
-/*****************************************************************************/
-
-/**
-   Master action: Get state of next slave.
-*/
-
-void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
-                                           /**< finite state machine */)
-{
-    ec_master_t *master = fsm->master;
-    ec_slave_t *slave = fsm->slave;
-
-    // is there another slave to query?
-    if (slave->list.next != &master->slaves) {
-        // process next slave
-        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
-        ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,
-                         0x0130, 2);
-        ec_master_queue_datagram(master, &fsm->datagram);
-        fsm->retries = EC_FSM_RETRIES;
-        fsm->master_state = ec_fsm_master_read_states;
-        return;
-    }
-
-    // all slave states read
-
-    // check, if a bus validation has to be done
-    if (fsm->master_validation) {
-        fsm->master_validation = 0;
-        list_for_each_entry(slave, &master->slaves, list) {
-            if (slave->online) continue;
-
-            // At least one slave is offline. validate!
-            EC_INFO("Validating bus.\n");
-            fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
-            fsm->master_state = ec_fsm_master_validate_vendor;
-            ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
-            ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
-            return;
-        }
-    }
-
-    ec_fsm_master_action_process_states(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-   Master state: READ STATES.
-   Fetches the AL- and online state of a slave.
-*/
-
-void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_slave_t *slave = fsm->slave;
-    ec_datagram_t *datagram = &fsm->datagram;
-    uint8_t new_state;
-
-    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
-        ec_master_queue_datagram(fsm->master, &fsm->datagram);
-        return;
-    }
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) {
-        EC_ERR("Failed to receive AL state datagram for slave %i!\n",
-               slave->ring_position);
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    // did the slave not respond to its station address?
-    if (datagram->working_counter != 1) {
-        if (slave->online) {
-            slave->online = 0;
-            if (slave->master->debug_level)
-                EC_DBG("Slave %i: offline.\n", slave->ring_position);
-        }
-        ec_fsm_master_action_next_slave_state(fsm);
-        return;
-    }
-
-    // slave responded
-    new_state = EC_READ_U8(datagram->data);
-    if (!slave->online) { // slave was offline before
-        slave->online = 1;
-        slave->error_flag = 0; // clear error flag
-        slave->current_state = new_state;
-        if (slave->master->debug_level) {
-            char cur_state[EC_STATE_STRING_SIZE];
-            ec_state_string(slave->current_state, cur_state);
-            EC_DBG("Slave %i: online (%s).\n",
-                   slave->ring_position, cur_state);
-        }
-    }
-    else if (new_state != slave->current_state) {
-        if (slave->master->debug_level) {
-            char old_state[EC_STATE_STRING_SIZE],
-                cur_state[EC_STATE_STRING_SIZE];
-            ec_state_string(slave->current_state, old_state);
-            ec_state_string(new_state, cur_state);
-            EC_DBG("Slave %i: %s -> %s.\n",
-                   slave->ring_position, old_state, cur_state);
-        }
-        slave->current_state = new_state;
-    }
-
-    // check, if new slave state has to be acknowledged
-    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
-        ec_fsm_change_ack(&fsm->fsm_change, slave);
-        ec_fsm_change_exec(&fsm->fsm_change);
-        fsm->master_state = ec_fsm_master_acknowledge;
-        return;
-    }
-
-    ec_fsm_master_action_next_slave_state(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-   Master state: ACKNOWLEDGE
-*/
-
-void ec_fsm_master_acknowledge(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_slave_t *slave = fsm->slave;
-
-    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-
-    if (!ec_fsm_change_success(&fsm->fsm_change)) {
-        fsm->slave->error_flag = 1;
-        EC_ERR("Failed to acknowledge state change on slave %i.\n",
-               slave->ring_position);
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    ec_fsm_master_action_next_slave_state(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-   Master state: VALIDATE_VENDOR.
-   Validates the vendor ID of a slave.
-*/
-
-void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_slave_t *slave = fsm->slave;
-
-    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-
-    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
-        fsm->slave->error_flag = 1;
-        EC_ERR("Failed to validate vendor ID of slave %i.\n",
-               slave->ring_position);
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_vendor_id) {
-        EC_ERR("Slave %i has an invalid vendor ID!\n", slave->ring_position);
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    // vendor ID is ok. check product code.
-    fsm->master_state = ec_fsm_master_validate_product;
-    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION);
-    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
-   Master action: ADDRESS.
-   Looks for slave, that have lost their configuration and writes
-   their station address, so that they can be reconfigured later.
-*/
-
-void ec_fsm_master_action_addresses(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-
-    while (fsm->slave->online) {
-        if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
-            fsm->master_state = ec_fsm_master_start;
-            fsm->master_state(fsm); // execute immediately
-            return;
-        }
-        // check next slave
-        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
-    }
-
-    if (fsm->master->debug_level)
-        EC_DBG("Reinitializing slave %i.\n", fsm->slave->ring_position);
-
-    // write station address
-    ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
-    EC_WRITE_U16(datagram->data, fsm->slave->station_address);
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->retries = EC_FSM_RETRIES;
-    fsm->master_state = ec_fsm_master_rewrite_addresses;
-}
-
-/*****************************************************************************/
-
-/**
-   Master state: VALIDATE_PRODUCT.
-   Validates the product ID of a slave.
-*/
-
-void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_slave_t *slave = fsm->slave;
-
-    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-
-    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
-        fsm->slave->error_flag = 1;
-        EC_ERR("Failed to validate product code of slave %i.\n",
-               slave->ring_position);
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_product_code) {
-        EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
-        EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
-               EC_READ_U32(fsm->fsm_sii.value));
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    // have all states been validated?
-    if (slave->list.next == &fsm->master->slaves) {
-        fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
-        // start writing addresses to offline slaves
-        ec_fsm_master_action_addresses(fsm);
-        return;
-    }
-
-    // validate next slave
-    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
-    fsm->master_state = ec_fsm_master_validate_vendor;
-    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
-    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
-   Master state: REWRITE ADDRESS.
-   Checks, if the new station address has been written to the slave.
-*/
-
-void ec_fsm_master_rewrite_addresses(ec_fsm_t *fsm
-                                     /**< finite state machine */
-                                     )
-{
-    ec_slave_t *slave = fsm->slave;
-    ec_datagram_t *datagram = &fsm->datagram;
-
-    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
-        ec_master_queue_datagram(fsm->master, &fsm->datagram);
-        return;
-    }
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) {
-        EC_ERR("Failed to receive address datagram for slave %i.\n",
-               slave->ring_position);
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    if (datagram->working_counter != 1) {
-        EC_ERR("Failed to write station address - slave %i did not respond.\n",
-               slave->ring_position);
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
-        fsm->master_state = ec_fsm_master_start;
-        fsm->master_state(fsm); // execute immediately
-        return;
-    }
-
-    // check next slave
-    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
-    // Write new station address to slave
-    ec_fsm_master_action_addresses(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-   Master state: SCAN SLAVES.
-   Executes the sub-statemachine for the scanning of a slave.
-*/
-
-void ec_fsm_master_scan_slaves(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_master_t *master = fsm->master;
-    ec_slave_t *slave = fsm->slave;
-
-    fsm->slave_state(fsm); // execute slave state machine
-
-    if (fsm->slave_state != ec_fsm_slave_state_end
-        && fsm->slave_state != ec_fsm_slave_state_error) return;
-
-    // another slave to fetch?
-    if (slave->list.next != &master->slaves) {
-        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
-        fsm->slave_state = ec_fsm_slavescan_start;
-        fsm->slave_state(fsm); // execute immediately
-        return;
-    }
-
-    EC_INFO("Bus scanning completed.\n");
-
-    ec_master_calc_addressing(master);
-
-    // set initial states of all slaves to PREOP to make mailbox
-    // communication possible
-    list_for_each_entry(slave, &master->slaves, list) {
-        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
-    }
-
-    fsm->master_state = ec_fsm_master_end;
-}
-
-/*****************************************************************************/
-
-/**
-   Master state: CONFIGURE SLAVES.
-   Starts configuring a slave.
-*/
-
-void ec_fsm_master_configure_slave(ec_fsm_t *fsm
-                                   /**< finite state machine */
-                                   )
-{
-    fsm->slave_state(fsm); // execute slave's state machine
-
-    if (fsm->slave_state != ec_fsm_slave_state_end
-        && fsm->slave_state != ec_fsm_slave_state_error) return;
-
-    ec_fsm_master_action_process_states(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-   Master state: WRITE EEPROM.
-*/
-
-void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_slave_t *slave = fsm->slave;
-
-    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-
-    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
-        fsm->slave->error_flag = 1;
-        EC_ERR("Failed to write EEPROM contents to slave %i.\n",
-               slave->ring_position);
-        kfree(slave->new_eeprom_data);
-        slave->new_eeprom_data = NULL;
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    fsm->sii_offset++;
-    if (fsm->sii_offset < slave->new_eeprom_size) {
-        ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
-                         slave->new_eeprom_data + fsm->sii_offset,
-                         EC_FSM_SII_NODE);
-        ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
-        return;
-    }
-
-    // finished writing EEPROM
-    EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
-    kfree(slave->new_eeprom_data);
-    slave->new_eeprom_data = NULL;
-
-    // TODO: Evaluate new EEPROM contents!
-
-    // restart master state machine.
-    fsm->master_state = ec_fsm_master_start;
-    fsm->master_state(fsm); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
-   Master state: SDODICT.
-*/
-
-void ec_fsm_master_sdodict(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_slave_t *slave = fsm->slave;
-    ec_master_t *master = fsm->master;
-
-    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
-
-    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    // SDO dictionary fetching finished
-
-    if (master->debug_level) {
-        unsigned int sdo_count, entry_count;
-        ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
-        EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
-               sdo_count, entry_count, slave->ring_position);
-    }
-
-    // restart master state machine.
-    fsm->master_state = ec_fsm_master_start;
-    fsm->master_state(fsm); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
-   Master state: SDO REQUEST.
-*/
-
-void ec_fsm_master_sdo_request(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_master_t *master = fsm->master;
-    ec_sdo_request_t *request = fsm->sdo_request;
-
-    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
-
-    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
-        request->return_code = -1;
-        master->sdo_seq_master++;
-        fsm->master_state = ec_fsm_master_error;
-        return;
-    }
-
-    // SDO dictionary fetching finished
-
-    request->return_code = 1;
-    master->sdo_seq_master++;
-
-    // restart master state machine.
-    fsm->master_state = ec_fsm_master_start;
-    fsm->master_state(fsm); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
-   State: ERROR.
-*/
-
-void ec_fsm_master_error(ec_fsm_t *fsm /**< finite state machine */)
-{
-    fsm->master_state = ec_fsm_master_start;
-}
-
-/*****************************************************************************/
-
-/**
-   State: END.
-*/
-
-void ec_fsm_master_end(ec_fsm_t *fsm /**< finite state machine */)
-{
-    fsm->master_state = ec_fsm_master_start;
-}
-
-/******************************************************************************
- *  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_slavescan_start(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-
-    // write station address
-    ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
-    EC_WRITE_U16(datagram->data, fsm->slave->station_address);
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->retries = EC_FSM_RETRIES;
-    fsm->slave_state = ec_fsm_slavescan_address;
-}
-
-/*****************************************************************************/
-
-/**
-   Slave scan state: ADDRESS.
-*/
-
-void ec_fsm_slavescan_address(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-
-    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
-        ec_master_queue_datagram(fsm->master, &fsm->datagram);
-        return;
-    }
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) {
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to receive station address datagram for slave %i.\n",
-               fsm->slave->ring_position);
-        return;
-    }
-
-    if (datagram->working_counter != 1) {
-        fsm->slave->error_flag = 1;
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to write station address - slave %i did not respond.\n",
-               fsm->slave->ring_position);
-        return;
-    }
-
-    // Read AL state
-    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->retries = EC_FSM_RETRIES;
-    fsm->slave_state = ec_fsm_slavescan_state;
-}
-
-/*****************************************************************************/
-
-/**
-   Slave scan state: STATE.
-*/
-
-void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) {
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to receive AL state datagram from slave %i.\n",
-               fsm->slave->ring_position);
-        return;
-    }
-
-    if (datagram->working_counter != 1) {
-        fsm->slave->error_flag = 1;
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to read AL state - slave %i did not respond.\n",
-               fsm->slave->ring_position);
-        return;
-    }
-
-    slave->current_state = EC_READ_U8(datagram->data);
-    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
-        char state_str[EC_STATE_STRING_SIZE];
-        ec_state_string(slave->current_state, state_str);
-        EC_WARN("Slave %i has state error bit set (%s)!\n",
-                slave->ring_position, state_str);
-    }
-
-    // read base data
-    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->retries = EC_FSM_RETRIES;
-    fsm->slave_state = ec_fsm_slavescan_base;
-}
-
-/*****************************************************************************/
-
-/**
-   Slave scan state: BASE.
-*/
-
-void ec_fsm_slavescan_base(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) {
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to receive base data datagram for slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    if (datagram->working_counter != 1) {
-        fsm->slave->error_flag = 1;
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to read base data - slave %i did not respond.\n",
-               slave->ring_position);
-        return;
-    }
-
-    slave->base_type       = EC_READ_U8 (datagram->data);
-    slave->base_revision   = EC_READ_U8 (datagram->data + 1);
-    slave->base_build      = EC_READ_U16(datagram->data + 2);
-    slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
-    slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
-
-    if (slave->base_fmmu_count > EC_MAX_FMMUS)
-        slave->base_fmmu_count = EC_MAX_FMMUS;
-
-    // read data link status
-    ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
-    ec_master_queue_datagram(slave->master, datagram);
-    fsm->retries = EC_FSM_RETRIES;
-    fsm->slave_state = ec_fsm_slavescan_datalink;
-}
-
-/*****************************************************************************/
-
-/**
-   Slave scan state: DATALINK.
-*/
-
-void ec_fsm_slavescan_datalink(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-    uint16_t dl_status;
-    unsigned int i;
-
-    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) {
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to receive DL status datagram from slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    if (datagram->working_counter != 1) {
-        fsm->slave->error_flag = 1;
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to read DL status - slave %i did not respond.\n",
-               slave->ring_position);
-        return;
-    }
-
-    dl_status = EC_READ_U16(datagram->data);
-    for (i = 0; i < 4; i++) {
-        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
-        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
-        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
-    }
-
-    // Start fetching EEPROM size
-
-    fsm->sii_offset = 0x0040; // first category header
-    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
-    fsm->slave_state = ec_fsm_slavescan_eeprom_size;
-    fsm->slave_state(fsm); // execute state immediately
-}
-
-/*****************************************************************************/
-
-/**
-   Slave scan state: EEPROM SIZE.
-*/
-
-void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite 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->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to read EEPROM size of slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    cat_type = EC_READ_U16(fsm->fsm_sii.value);
-    cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
-
-    if (cat_type != 0xFFFF) { // not the last category
-        fsm->sii_offset += cat_size + 2;
-        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
-                        EC_FSM_SII_NODE);
-        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
-        return;
-    }
-
-    slave->eeprom_size = (fsm->sii_offset + 1) * 2;
-
-    if (slave->eeprom_data) {
-        EC_INFO("Freeing old EEPROM data on slave %i...\n",
-                slave->ring_position);
-        kfree(slave->eeprom_data);
-    }
-
-    if (!(slave->eeprom_data =
-          (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
-        fsm->slave->error_flag = 1;
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    // Start fetching EEPROM contents
-
-    fsm->slave_state = ec_fsm_slavescan_eeprom_data;
-    fsm->sii_offset = 0x0000;
-    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
-    ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
-}
-
-/*****************************************************************************/
-
-/**
-   Slave scan state: EEPROM DATA.
-*/
-
-void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_slave_t *slave = fsm->slave;
-    uint16_t *cat_word, cat_type, cat_size;
-
-    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-
-    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
-        fsm->slave->error_flag = 1;
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    // 2 words fetched
-
-    if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
-        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
-               fsm->fsm_sii.value, 4);
-    }
-    else { // copy the last word
-        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
-               fsm->fsm_sii.value, 2);
-    }
-
-    if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
-        // fetch the next 2 words
-        fsm->sii_offset += 2;
-        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
-                        EC_FSM_SII_NODE);
-        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
-        return;
-    }
-
-    // Evaluate EEPROM contents
-
-    slave->sii_alias =
-        EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
-    slave->sii_vendor_id =
-        EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
-    slave->sii_product_code =
-        EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
-    slave->sii_revision_number =
-        EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
-    slave->sii_serial_number =
-        EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
-    slave->sii_rx_mailbox_offset =
-        EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
-    slave->sii_rx_mailbox_size =
-        EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
-    slave->sii_tx_mailbox_offset =
-        EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
-    slave->sii_tx_mailbox_size =
-        EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
-    slave->sii_mailbox_protocols =
-        EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
-
-    // evaluate category data
-    cat_word = (uint16_t *) slave->eeprom_data + 0x0040;
-    while (EC_READ_U16(cat_word) != 0xFFFF) {
-        cat_type = EC_READ_U16(cat_word) & 0x7FFF;
-        cat_size = EC_READ_U16(cat_word + 1);
-
-        switch (cat_type) {
-            case 0x000A:
-                if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
-                    goto end;
-                break;
-            case 0x001E:
-                ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2));
-                break;
-            case 0x0028:
-                break;
-            case 0x0029:
-                if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
-                                        cat_size))
-                    goto end;
-                break;
-            case 0x0032:
-                if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
-                                       cat_size, EC_TX_PDO))
-                    goto end;
-                break;
-            case 0x0033:
-                if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
-                                       cat_size, EC_RX_PDO))
-                    goto end;
-                break;
-            default:
-                if (fsm->master->debug_level)
-                    EC_WARN("Unknown category type 0x%04X in slave %i.\n",
-                            cat_type, slave->ring_position);
-        }
-
-        cat_word += cat_size + 2;
-    }
-
-    fsm->slave_state = ec_fsm_slave_state_end;
-    return;
-
-end:
-    EC_ERR("Failed to analyze category data.\n");
-    fsm->slave->error_flag = 1;
-    fsm->slave_state = ec_fsm_slave_state_error;
-}
-
-/******************************************************************************
- *  slave configuration state machine
- *****************************************************************************/
-
-/**
-   Slave configuration state: START.
-*/
-
-void ec_fsm_slaveconf_state_start(ec_fsm_t *fsm /**< finite state machine */)
-{
-    if (fsm->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->slave_state = ec_fsm_slaveconf_state_init;
-}
-
-/*****************************************************************************/
-
-/**
-   Slave configuration state: INIT.
-*/
-
-void ec_fsm_slaveconf_state_init(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_master_t *master = fsm->master;
-    ec_slave_t *slave = fsm->slave;
-    ec_datagram_t *datagram = &fsm->datagram;
-
-    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-
-    if (!ec_fsm_change_success(&fsm->fsm_change)) {
-        slave->error_flag = 1;
-        fsm->slave_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_slaveconf_enter_sync(fsm);
-        return;
-    }
-
-    if (master->debug_level)
-        EC_DBG("Clearing FMMU configurations of slave %i...\n",
-               slave->ring_position);
-
-    // clear FMMU configurations
-    ec_datagram_npwr(datagram, slave->station_address,
-                     0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
-    memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
-    ec_master_queue_datagram(master, datagram);
-    fsm->retries = EC_FSM_RETRIES;
-    fsm->slave_state = ec_fsm_slaveconf_state_clear_fmmus;
-}
-
-/*****************************************************************************/
-
-/**
-   Slave configuration state: CLEAR FMMU.
-*/
-
-void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *fsm
-                                        /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-
-    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) {
-        fsm->slave_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->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to clear FMMUs - slave %i did not respond.\n",
-               fsm->slave->ring_position);
-        return;
-    }
-
-    ec_fsm_slaveconf_enter_sync(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-*/
-
-void ec_fsm_slaveconf_enter_sync(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_master_t *master = fsm->master;
-    ec_slave_t *slave = fsm->slave;
-    ec_datagram_t *datagram = &fsm->datagram;
-    const ec_sii_sync_t *sync;
-    ec_sii_sync_t mbox_sync;
-
-    // slave is now in INIT
-    if (slave->current_state == slave->requested_state) {
-        fsm->slave_state = ec_fsm_slave_state_end; // successful
-        if (master->debug_level) {
-            EC_DBG("Finished configuration of slave %i.\n",
-                   slave->ring_position);
-        }
-        return;
-    }
-
-    if (!slave->base_sync_count) { // no sync managers
-        ec_fsm_slaveconf_enter_preop(fsm);
-        return;
-    }
-
-    if (master->debug_level) {
-        EC_DBG("Configuring sync managers of slave %i.\n",
-               slave->ring_position);
-    }
-
-    // configure sync managers
-    ec_datagram_npwr(datagram, slave->station_address, 0x0800,
-                     EC_SYNC_SIZE * slave->base_sync_count);
-    memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
-
-    if (list_empty(&slave->sii_syncs)) {
-        if (slave->sii_rx_mailbox_offset && slave->sii_tx_mailbox_offset) {
-            if (slave->master->debug_level)
-                EC_DBG("Guessing sync manager settings for slave %i.\n",
-                       slave->ring_position);
-            mbox_sync.index = 0;
-            mbox_sync.physical_start_address = slave->sii_tx_mailbox_offset;
-            mbox_sync.length = slave->sii_tx_mailbox_size;
-            mbox_sync.control_register = 0x26;
-            mbox_sync.enable = 0x01;
-            mbox_sync.est_length = 0;
-            ec_sync_config(&mbox_sync, slave,
-                           datagram->data + EC_SYNC_SIZE * mbox_sync.index);
-            mbox_sync.index = 1;
-            mbox_sync.physical_start_address = slave->sii_rx_mailbox_offset;
-            mbox_sync.length = slave->sii_rx_mailbox_size;
-            mbox_sync.control_register = 0x22;
-            mbox_sync.enable = 0x01;
-            mbox_sync.est_length = 0;
-            ec_sync_config(&mbox_sync, slave,
-                           datagram->data + EC_SYNC_SIZE * mbox_sync.index);
-        }
-    }
-    else if (slave->sii_mailbox_protocols) { // mailboxes present
-        list_for_each_entry(sync, &slave->sii_syncs, list) {
-            // only configure mailbox sync-managers
-            if (sync->index != 0 && sync->index != 1) continue;
-            ec_sync_config(sync, slave,
-                           datagram->data + EC_SYNC_SIZE * sync->index);
-        }
-    }
-
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->retries = EC_FSM_RETRIES;
-    fsm->slave_state = ec_fsm_slaveconf_state_sync;
-}
-
-/*****************************************************************************/
-
-/**
-   Slave configuration state: SYNC.
-*/
-
-void ec_fsm_slaveconf_state_sync(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) {
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to receive sync manager configuration datagram for"
-               " slave %i.\n", slave->ring_position);
-        return;
-    }
-
-    if (datagram->working_counter != 1) {
-        slave->error_flag = 1;
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to set sync managers - slave %i did not respond.\n",
-               slave->ring_position);
-        return;
-    }
-
-    ec_fsm_slaveconf_enter_preop(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- */
-
-void ec_fsm_slaveconf_enter_preop(ec_fsm_t *fsm /**< finite state machine */)
-{
-    fsm->slave_state = ec_fsm_slaveconf_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_slaveconf_state_preop(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_slave_t *slave = fsm->slave;
-    ec_master_t *master = fsm->master;
-
-    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-
-    if (!ec_fsm_change_success(&fsm->fsm_change)) {
-        slave->error_flag = 1;
-        fsm->slave_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->slave_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_slaveconf_enter_sync2(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-*/
-
-void ec_fsm_slaveconf_enter_sync2(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_slave_t *slave = fsm->slave;
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_sii_sync_t *sync;
-
-    if (list_empty(&slave->sii_syncs)) {
-        ec_fsm_slaveconf_enter_fmmu(fsm);
-        return;
-    }
-
-    // configure sync managers for process data
-    ec_datagram_npwr(datagram, slave->station_address, 0x0800,
-                     EC_SYNC_SIZE * slave->base_sync_count);
-    memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
-
-    list_for_each_entry(sync, &slave->sii_syncs, list) {
-        ec_sync_config(sync, slave,
-                       datagram->data + EC_SYNC_SIZE * sync->index);
-    }
-
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->retries = EC_FSM_RETRIES;
-    fsm->slave_state = ec_fsm_slaveconf_state_sync2;
-}
-
-/*****************************************************************************/
-
-/**
-   Slave configuration state: SYNC2.
-*/
-
-void ec_fsm_slaveconf_state_sync2(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) {
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to receive process data sync manager configuration"
-               " datagram for slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    if (datagram->working_counter != 1) {
-        slave->error_flag = 1;
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to set process data sync managers - slave %i did not"
-               " respond.\n", slave->ring_position);
-        return;
-    }
-
-    ec_fsm_slaveconf_enter_fmmu(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-*/
-
-void ec_fsm_slaveconf_enter_fmmu(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_slave_t *slave = fsm->slave;
-    ec_master_t *master = slave->master;
-    ec_datagram_t *datagram = &fsm->datagram;
-    unsigned int j;
-
-    if (!slave->base_fmmu_count) { // skip FMMU configuration
-        ec_fsm_slaveconf_enter_sdoconf(fsm);
-        return;
-    }
-
-    // configure FMMUs
-    ec_datagram_npwr(datagram, slave->station_address,
-                     0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
-    memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
-    for (j = 0; j < slave->fmmu_count; j++) {
-        ec_fmmu_config(&slave->fmmus[j], slave,
-                       datagram->data + EC_FMMU_SIZE * j);
-    }
-
-    ec_master_queue_datagram(master, datagram);
-    fsm->retries = EC_FSM_RETRIES;
-    fsm->slave_state = ec_fsm_slaveconf_state_fmmu;
-}
-
-/*****************************************************************************/
-
-/**
-   Slave configuration state: FMMU.
-*/
-
-void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED) {
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to receive FMMUs datagram for slave %i.\n",
-               fsm->slave->ring_position);
-        return;
-    }
-
-    if (datagram->working_counter != 1) {
-        fsm->slave->error_flag = 1;
-        fsm->slave_state = ec_fsm_slave_state_error;
-        EC_ERR("Failed to set FMMUs - slave %i did not respond.\n",
-               fsm->slave->ring_position);
-        return;
-    }
-
-    // No CoE configuration to be applied? Jump to SAVEOP state.
-    if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
-        ec_fsm_slaveconf_enter_saveop(fsm);
-        return;
-    }
-
-    ec_fsm_slaveconf_enter_sdoconf(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- */
-
-void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_slave_t *slave = fsm->slave;
-
-    if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
-        ec_fsm_slaveconf_enter_saveop(fsm);
-        return;
-    }
-
-    // start SDO configuration
-    fsm->slave_state = ec_fsm_slaveconf_state_sdoconf;
-    fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list);
-    ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
-    ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
-   Slave configuration state: SDOCONF.
-*/
-
-void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
-{
-    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
-
-    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
-        fsm->slave->error_flag = 1;
-        fsm->slave_state = ec_fsm_slave_state_error;
-        return;
-    }
-
-    // Another SDO to configure?
-    if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
-        fsm->sdodata = list_entry(fsm->sdodata->list.next,
-                                  ec_sdo_data_t, list);
-        ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
-        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
-        return;
-    }
-
-    // All SDOs are now configured.
-
-    // set state to SAVEOP
-    ec_fsm_slaveconf_enter_saveop(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- */
-
-void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *fsm /**< finite state machine */)
-{
-    fsm->slave_state = ec_fsm_slaveconf_state_saveop;
-    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
-    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
-   Slave configuration state: SAVEOP.
-*/
-
-void ec_fsm_slaveconf_state_saveop(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_master_t *master = fsm->master;
-    ec_slave_t *slave = fsm->slave;
-
-    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-
-    if (!ec_fsm_change_success(&fsm->fsm_change)) {
-        fsm->slave->error_flag = 1;
-        fsm->slave_state = ec_fsm_slave_state_error;
-        return;
-    }
-
-    // slave is now in SAVEOP
-
-    if (master->debug_level) {
-        EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
-    }
-
-    if (fsm->slave->current_state == fsm->slave->requested_state) {
-        fsm->slave_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->slave_state = ec_fsm_slaveconf_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_slaveconf_state_op(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_master_t *master = fsm->master;
-    ec_slave_t *slave = fsm->slave;
-
-    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-
-    if (!ec_fsm_change_success(&fsm->fsm_change)) {
-        slave->error_flag = 1;
-        fsm->slave_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->slave_state = ec_fsm_slave_state_end; // successful
-}
-
-/******************************************************************************
- *  Common state functions
- *****************************************************************************/
-
-/**
-   State: ERROR.
-*/
-
-void ec_fsm_slave_state_error(ec_fsm_t *fsm /**< finite state machine */)
-{
-}
-
-/*****************************************************************************/
-
-/**
-   State: END.
-*/
-
-void ec_fsm_slave_state_end(ec_fsm_t *fsm /**< finite state machine */)
-{
-}
-
-/*****************************************************************************/
--- a/master/fsm.h	Wed Jan 10 10:58:49 2007 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,103 +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_STATES__
-#define __EC_STATES__
-
-#include "globals.h"
-#include "../include/ecrt.h"
-#include "datagram.h"
-#include "slave.h"
-#include "canopen.h"
-
-#include "fsm_sii.h"
-#include "fsm_change.h"
-#include "fsm_coe.h"
-
-/*****************************************************************************/
-
-typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */
-
-/**
-   Finite state machine of an EtherCAT master.
-*/
-
-struct ec_fsm
-{
-    ec_master_t *master; /**< master the FSM runs on */
-    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 (*master_state)(ec_fsm_t *); /**< master state function */
-    unsigned int master_slaves_responding; /**< number of responding slaves */
-    ec_slave_state_t master_slave_states; /**< states of responding slaves */
-    unsigned int master_validation; /**< non-zero, if validation to do */
-    uint16_t sii_offset; /**< current offset for SII access */
-    ec_sdo_request_t *sdo_request;
-
-    void (*slave_state)(ec_fsm_t *); /**< slave state function */
-    ec_sdo_data_t *sdodata; /**< SDO configuration data */
-
-    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 */
-};
-
-/*****************************************************************************/
-
-int ec_fsm_init(ec_fsm_t *, ec_master_t *);
-void ec_fsm_clear(ec_fsm_t *);
-
-int ec_fsm_exec(ec_fsm_t *);
-int ec_fsm_running(ec_fsm_t *);
-int ec_fsm_success(ec_fsm_t *);
-
-// TODO: layout slave state machines
-
-/** \cond */
-void ec_fsm_slaveconf_state_start(ec_fsm_t *);
-void ec_fsm_slave_state_end(ec_fsm_t *);
-void ec_fsm_slave_state_error(ec_fsm_t *);
-/** \endcond */
-
-/*****************************************************************************/
-
-#endif
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_master.c	Wed Jan 10 16:32:06 2007 +0000
@@ -0,0 +1,873 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "fsm_master.h"
+
+/*****************************************************************************/
+
+void ec_fsm_master_state_start(ec_fsm_master_t *);
+void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
+void ec_fsm_master_state_read_states(ec_fsm_master_t *);
+void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
+void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *);
+void ec_fsm_master_state_validate_product(ec_fsm_master_t *);
+void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *);
+void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
+void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *);
+void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *);
+void ec_fsm_master_state_sdodict(ec_fsm_master_t *);
+void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
+void ec_fsm_master_state_end(ec_fsm_master_t *);
+void ec_fsm_master_state_error(ec_fsm_master_t *);
+
+/*****************************************************************************/
+
+/**
+   Constructor.
+*/
+
+void ec_fsm_master_init(ec_fsm_master_t *fsm, /**< master state machine */
+        ec_master_t *master, /**< EtherCAT master */
+        ec_datagram_t *datagram /**< datagram object to use */
+        )
+{
+    fsm->master = master;
+    fsm->datagram = datagram;
+    fsm->state = ec_fsm_master_state_start;
+    fsm->slaves_responding = 0;
+    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
+    fsm->validate = 0;
+
+    // init sub-state-machines
+    ec_fsm_slave_init(&fsm->fsm_slave, 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);
+}
+
+/*****************************************************************************/
+
+/**
+   Destructor.
+*/
+
+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_sii_clear(&fsm->fsm_sii);
+    ec_fsm_change_clear(&fsm->fsm_change);
+    ec_fsm_coe_clear(&fsm->fsm_coe);
+}
+
+/*****************************************************************************/
+
+/**
+   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_master_exec(ec_fsm_master_t *fsm /**< master 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_master_running(fsm);
+    }
+
+    fsm->state(fsm);
+    return ec_fsm_master_running(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+   \return false, if state machine has terminated
+*/
+
+int ec_fsm_master_running(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    return fsm->state != ec_fsm_master_state_end
+        && fsm->state != ec_fsm_master_state_error;
+}
+
+/*****************************************************************************/
+
+/**
+   \return true, if the master state machine terminated gracefully
+*/
+
+int ec_fsm_master_success(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    return fsm->state == ec_fsm_master_state_end;
+}
+
+/******************************************************************************
+ *  operation/idle state machine
+ *****************************************************************************/
+
+/**
+   Master state: START.
+   Starts with getting slave count and slave states.
+*/
+
+void ec_fsm_master_state_start(ec_fsm_master_t *fsm)
+{
+    ec_datagram_brd(fsm->datagram, 0x0130, 2);
+    ec_master_queue_datagram(fsm->master, fsm->datagram);
+    fsm->state = ec_fsm_master_state_broadcast;
+}
+
+/*****************************************************************************/
+
+/**
+   Master state: BROADCAST.
+   Processes the broadcast read slave count and slaves states.
+*/
+
+void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    unsigned int topology_change, states_change, i;
+    ec_slave_t *slave;
+    ec_master_t *master = fsm->master;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT) {
+        // always retry
+        ec_master_queue_datagram(fsm->master, fsm->datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) { // EC_DATAGRAM_ERROR
+        // link is down
+        fsm->slaves_responding = 0;
+        list_for_each_entry(slave, &master->slaves, list) {
+            slave->online = 0;
+        }
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    topology_change = (datagram->working_counter !=
+                       fsm->slaves_responding);
+    states_change = (EC_READ_U8(datagram->data) != fsm->slave_states);
+
+    fsm->slave_states = EC_READ_U8(datagram->data);
+    fsm->slaves_responding = datagram->working_counter;
+
+    if (topology_change) {
+        EC_INFO("%i slave%s responding.\n",
+                fsm->slaves_responding,
+                fsm->slaves_responding == 1 ? "" : "s");
+
+        if (master->mode == EC_MASTER_MODE_OPERATION) {
+            if (fsm->slaves_responding == master->slave_count) {
+                fsm->validate = 1; // start validation later
+            }
+            else {
+                EC_WARN("Invalid slave count. Bus in tainted state.\n");
+            }
+        }
+    }
+
+    if (states_change) {
+        char states[EC_STATE_STRING_SIZE];
+        ec_state_string(fsm->slave_states, states);
+        EC_INFO("Slave states: %s.\n", states);
+    }
+
+    // topology change in idle mode: clear all slaves and scan the bus
+    if (topology_change && master->mode == EC_MASTER_MODE_IDLE) {
+
+        ec_master_eoe_stop(master);
+        ec_master_destroy_slaves(master);
+
+        master->slave_count = datagram->working_counter;
+
+        if (!master->slave_count) {
+            // no slaves present -> finish state machine.
+            fsm->state = ec_fsm_master_state_end;
+            return;
+        }
+
+        // init slaves
+        for (i = 0; i < master->slave_count; i++) {
+            if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
+                                                 GFP_ATOMIC))) {
+                EC_ERR("Failed to allocate slave %i!\n", i);
+                ec_master_destroy_slaves(master);
+                fsm->state = ec_fsm_master_state_error;
+                return;
+            }
+
+            if (ec_slave_init(slave, master, i, i + 1)) {
+                // freeing of "slave" already done
+                ec_master_destroy_slaves(master);
+                fsm->state = ec_fsm_master_state_error;
+                return;
+            }
+
+            list_add_tail(&slave->list, &master->slaves);
+        }
+
+        EC_INFO("Scanning bus.\n");
+
+        // begin scanning of slaves
+        fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
+        ec_fsm_slave_start_scan(&fsm->fsm_slave, slave);
+        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+        fsm->state = ec_fsm_master_state_scan_slaves;
+        return;
+    }
+
+    // fetch state from each slave
+    fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
+    ec_datagram_nprd(fsm->datagram, fsm->slave->station_address, 0x0130, 2);
+    ec_master_queue_datagram(master, fsm->datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_master_state_read_states;
+}
+
+/*****************************************************************************/
+
+/**
+   Master action: PROC_STATES.
+   Processes the slave states.
+*/
+
+void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm
+                                         /**< master state machine */
+                                         )
+{
+    ec_master_t *master = fsm->master;
+    ec_slave_t *slave;
+    char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
+
+    // check if any slaves are not in the state, they're supposed to be
+    list_for_each_entry(slave, &master->slaves, list) {
+        if (slave->error_flag
+            || !slave->online
+            || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
+            || (slave->current_state == slave->requested_state
+                && slave->self_configured)) continue;
+
+        if (master->debug_level) {
+            ec_state_string(slave->current_state, old_state);
+            if (slave->current_state != slave->requested_state) {
+                ec_state_string(slave->requested_state, new_state);
+                EC_DBG("Changing state of slave %i (%s -> %s).\n",
+                       slave->ring_position, old_state, new_state);
+            }
+            else if (!slave->self_configured) {
+                EC_DBG("Reconfiguring slave %i (%s).\n",
+                       slave->ring_position, old_state);
+            }
+        }
+
+        fsm->slave = slave;
+        ec_fsm_slave_start_conf(&fsm->fsm_slave, slave);
+        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+        fsm->state = ec_fsm_master_state_configure_slave;
+        return;
+    }
+
+    // Check, if EoE processing has to be started
+    ec_master_eoe_start(master);
+
+    if (master->mode == EC_MASTER_MODE_IDLE) {
+
+        // Check for a pending SDO request
+        if (master->sdo_seq_master != master->sdo_seq_user) {
+            if (master->debug_level)
+                EC_DBG("Processing SDO request...\n");
+            slave = master->sdo_request->sdo->slave;
+            if (slave->current_state == EC_SLAVE_STATE_INIT
+                || !slave->online) {
+                EC_ERR("Failed to process SDO request, slave %i not ready.\n",
+                       slave->ring_position);
+                master->sdo_request->return_code = -1;
+                master->sdo_seq_master++;
+            }
+            else {
+                // start uploading SDO
+                fsm->slave = slave;
+                fsm->state = ec_fsm_master_state_sdo_request;
+                fsm->sdo_request = master->sdo_request;
+                ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
+                ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+                return;
+            }
+        }
+
+        // check, if slaves have an SDO dictionary to read out.
+        list_for_each_entry(slave, &master->slaves, list) {
+            if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
+                || slave->sdo_dictionary_fetched
+                || slave->current_state == EC_SLAVE_STATE_INIT
+                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
+                || !slave->online
+                || slave->error_flag) continue;
+
+            if (master->debug_level) {
+                EC_DBG("Fetching SDO dictionary from slave %i.\n",
+                       slave->ring_position);
+            }
+
+            slave->sdo_dictionary_fetched = 1;
+
+            // start fetching SDO dictionary
+            fsm->slave = slave;
+            fsm->state = ec_fsm_master_state_sdodict;
+            ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
+            ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+            return;
+        }
+
+        // check for pending EEPROM write operations.
+        list_for_each_entry(slave, &master->slaves, list) {
+            if (!slave->new_eeprom_data) continue;
+
+            if (!slave->online || slave->error_flag) {
+                kfree(slave->new_eeprom_data);
+                slave->new_eeprom_data = NULL;
+                EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
+                       slave->ring_position);
+                continue;
+            }
+
+            // found pending EEPROM write operation. execute it!
+            EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
+            fsm->slave = slave;
+            fsm->sii_offset = 0x0000;
+            ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
+                             slave->new_eeprom_data, EC_FSM_SII_NODE);
+            fsm->state = ec_fsm_master_state_write_eeprom;
+            fsm->state(fsm); // execute immediately
+            return;
+        }
+    }
+
+    fsm->state = ec_fsm_master_state_end;
+}
+
+/*****************************************************************************/
+
+/**
+   Master action: Get state of next slave.
+*/
+
+void ec_fsm_master_action_next_slave_state(ec_fsm_master_t *fsm
+                                           /**< master state machine */)
+{
+    ec_master_t *master = fsm->master;
+    ec_slave_t *slave = fsm->slave;
+
+    // is there another slave to query?
+    if (slave->list.next != &master->slaves) {
+        // process next slave
+        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+        ec_datagram_nprd(fsm->datagram, fsm->slave->station_address,
+                         0x0130, 2);
+        ec_master_queue_datagram(master, fsm->datagram);
+        fsm->retries = EC_FSM_RETRIES;
+        fsm->state = ec_fsm_master_state_read_states;
+        return;
+    }
+
+    // all slave states read
+
+    // check, if a bus validation has to be done
+    if (fsm->validate) {
+        fsm->validate = 0;
+        list_for_each_entry(slave, &master->slaves, list) {
+            if (slave->online) continue;
+
+            // At least one slave is offline. validate!
+            EC_INFO("Validating bus.\n");
+            fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
+            fsm->state = ec_fsm_master_state_validate_vendor;
+            ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
+            ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
+            return;
+        }
+    }
+
+    ec_fsm_master_action_process_states(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+   Master state: READ STATES.
+   Fetches the AL- and online state of a slave.
+*/
+
+void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+    uint8_t new_state;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->master, fsm->datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        EC_ERR("Failed to receive AL state datagram for slave %i!\n",
+               slave->ring_position);
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    // did the slave not respond to its station address?
+    if (datagram->working_counter != 1) {
+        if (slave->online) {
+            slave->online = 0;
+            if (slave->master->debug_level)
+                EC_DBG("Slave %i: offline.\n", slave->ring_position);
+        }
+        ec_fsm_master_action_next_slave_state(fsm);
+        return;
+    }
+
+    // slave responded
+    new_state = EC_READ_U8(datagram->data);
+    if (!slave->online) { // slave was offline before
+        slave->online = 1;
+        slave->error_flag = 0; // clear error flag
+        slave->current_state = new_state;
+        if (slave->master->debug_level) {
+            char cur_state[EC_STATE_STRING_SIZE];
+            ec_state_string(slave->current_state, cur_state);
+            EC_DBG("Slave %i: online (%s).\n",
+                   slave->ring_position, cur_state);
+        }
+    }
+    else if (new_state != slave->current_state) {
+        if (slave->master->debug_level) {
+            char old_state[EC_STATE_STRING_SIZE],
+                cur_state[EC_STATE_STRING_SIZE];
+            ec_state_string(slave->current_state, old_state);
+            ec_state_string(new_state, cur_state);
+            EC_DBG("Slave %i: %s -> %s.\n",
+                   slave->ring_position, old_state, cur_state);
+        }
+        slave->current_state = new_state;
+    }
+
+    // check, if new slave state has to be acknowledged
+    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
+        ec_fsm_change_ack(&fsm->fsm_change, slave);
+        ec_fsm_change_exec(&fsm->fsm_change);
+        fsm->state = ec_fsm_master_state_acknowledge;
+        return;
+    }
+
+    ec_fsm_master_action_next_slave_state(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+   Master state: ACKNOWLEDGE
+*/
+
+void ec_fsm_master_state_acknowledge(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+    if (!ec_fsm_change_success(&fsm->fsm_change)) {
+        fsm->slave->error_flag = 1;
+        EC_ERR("Failed to acknowledge state change on slave %i.\n",
+               slave->ring_position);
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    ec_fsm_master_action_next_slave_state(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+   Master state: VALIDATE_VENDOR.
+   Validates the vendor ID of a slave.
+*/
+
+void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+
+    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
+        fsm->slave->error_flag = 1;
+        EC_ERR("Failed to validate vendor ID of slave %i.\n",
+               slave->ring_position);
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_vendor_id) {
+        EC_ERR("Slave %i has an invalid vendor ID!\n", slave->ring_position);
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    // vendor ID is ok. check product code.
+    fsm->state = ec_fsm_master_state_validate_product;
+    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION);
+    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Master action: ADDRESS.
+   Looks for slave, that have lost their configuration and writes
+   their station address, so that they can be reconfigured later.
+*/
+
+void ec_fsm_master_action_addresses(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+
+    while (fsm->slave->online) {
+        if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
+            fsm->state = ec_fsm_master_state_start;
+            fsm->state(fsm); // execute immediately
+            return;
+        }
+        // check next slave
+        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+    }
+
+    if (fsm->master->debug_level)
+        EC_DBG("Reinitializing slave %i.\n", fsm->slave->ring_position);
+
+    // write station address
+    ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
+    EC_WRITE_U16(datagram->data, fsm->slave->station_address);
+    ec_master_queue_datagram(fsm->master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_master_state_rewrite_addresses;
+}
+
+/*****************************************************************************/
+
+/**
+   Master state: VALIDATE_PRODUCT.
+   Validates the product ID of a slave.
+*/
+
+void ec_fsm_master_state_validate_product(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+
+    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
+        fsm->slave->error_flag = 1;
+        EC_ERR("Failed to validate product code of slave %i.\n",
+               slave->ring_position);
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_product_code) {
+        EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
+        EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
+               EC_READ_U32(fsm->fsm_sii.value));
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    // have all states been validated?
+    if (slave->list.next == &fsm->master->slaves) {
+        fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
+        // start writing addresses to offline slaves
+        ec_fsm_master_action_addresses(fsm);
+        return;
+    }
+
+    // validate next slave
+    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+    fsm->state = ec_fsm_master_state_validate_vendor;
+    ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
+    ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Master state: REWRITE ADDRESS.
+   Checks, if the new station address has been written to the slave.
+*/
+
+void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *fsm
+                                     /**< master state machine */
+                                     )
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->master, fsm->datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        EC_ERR("Failed to receive address datagram for slave %i.\n",
+               slave->ring_position);
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        EC_ERR("Failed to write station address - slave %i did not respond.\n",
+               slave->ring_position);
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
+        fsm->state = ec_fsm_master_state_start;
+        fsm->state(fsm); // execute immediately
+        return;
+    }
+
+    // check next slave
+    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+    // Write new station address to slave
+    ec_fsm_master_action_addresses(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+   Master state: SCAN SLAVES.
+   Executes the sub-statemachine for the scanning of a slave.
+*/
+
+void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    ec_master_t *master = fsm->master;
+    ec_slave_t *slave = fsm->slave;
+
+    if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave state machine
+        return;
+
+    // another slave to fetch?
+    if (slave->list.next != &master->slaves) {
+        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+        ec_fsm_slave_start_scan(&fsm->fsm_slave, slave);
+        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+        return;
+    }
+
+    EC_INFO("Bus scanning completed.\n");
+
+    ec_master_calc_addressing(master);
+
+    // set initial states of all slaves to PREOP to make mailbox
+    // communication possible
+    list_for_each_entry(slave, &master->slaves, list) {
+        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
+    }
+
+    fsm->state = ec_fsm_master_state_end;
+}
+
+/*****************************************************************************/
+
+/**
+   Master state: CONFIGURE SLAVES.
+   Starts configuring a slave.
+*/
+
+void ec_fsm_master_state_configure_slave(ec_fsm_master_t *fsm
+                                   /**< master state machine */
+                                   )
+{
+    if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave's state machine
+        return;
+
+    ec_fsm_master_action_process_states(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+   Master state: WRITE EEPROM.
+*/
+
+void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+
+    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
+        fsm->slave->error_flag = 1;
+        EC_ERR("Failed to write EEPROM contents to slave %i.\n",
+               slave->ring_position);
+        kfree(slave->new_eeprom_data);
+        slave->new_eeprom_data = NULL;
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    fsm->sii_offset++;
+    if (fsm->sii_offset < slave->new_eeprom_size) {
+        ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
+                         slave->new_eeprom_data + fsm->sii_offset,
+                         EC_FSM_SII_NODE);
+        ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
+        return;
+    }
+
+    // finished writing EEPROM
+    EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
+    kfree(slave->new_eeprom_data);
+    slave->new_eeprom_data = NULL;
+
+    // TODO: Evaluate new EEPROM contents!
+
+    // restart master state machine.
+    fsm->state = ec_fsm_master_state_start;
+    fsm->state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Master state: SDODICT.
+*/
+
+void ec_fsm_master_state_sdodict(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_master_t *master = fsm->master;
+
+    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    // SDO dictionary fetching finished
+
+    if (master->debug_level) {
+        unsigned int sdo_count, entry_count;
+        ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
+        EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
+               sdo_count, entry_count, slave->ring_position);
+    }
+
+    // restart master state machine.
+    fsm->state = ec_fsm_master_state_start;
+    fsm->state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Master state: SDO REQUEST.
+*/
+
+void ec_fsm_master_state_sdo_request(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    ec_master_t *master = fsm->master;
+    ec_sdo_request_t *request = fsm->sdo_request;
+
+    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+        request->return_code = -1;
+        master->sdo_seq_master++;
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    // SDO dictionary fetching finished
+
+    request->return_code = 1;
+    master->sdo_seq_master++;
+
+    // restart master state machine.
+    fsm->state = ec_fsm_master_state_start;
+    fsm->state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   State: ERROR.
+*/
+
+void ec_fsm_master_state_error(
+        ec_fsm_master_t *fsm /**< master state machine */
+        )
+{
+    fsm->state = ec_fsm_master_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+   State: END.
+*/
+
+void ec_fsm_master_state_end(ec_fsm_master_t *fsm /**< master state machine */)
+{
+    fsm->state = ec_fsm_master_state_start;
+}
+
+/*****************************************************************************/
+
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_master.h	Wed Jan 10 16:32:06 2007 +0000
@@ -0,0 +1,91 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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_MASTER__
+#define __EC_FSM_MASTER__
+
+#include "globals.h"
+#include "../include/ecrt.h"
+#include "datagram.h"
+#include "slave.h"
+#include "canopen.h"
+
+#include "fsm_slave.h"
+
+/*****************************************************************************/
+
+typedef struct ec_fsm_master ec_fsm_master_t; /**< \see 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. */
+
+    void (*state)(ec_fsm_master_t *); /**< master state function */
+    unsigned int slaves_responding; /**< number of responding slaves */
+    ec_slave_state_t slave_states; /**< states of responding slaves */
+    unsigned int validate; /**< non-zero, if validation to do */
+    ec_slave_t *slave; /**< current slave */
+    ec_sdo_request_t *sdo_request; /**< SDO request to process */
+    uint16_t sii_offset; 
+
+    ec_fsm_slave_t fsm_slave; /**< 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 */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
+void ec_fsm_master_clear(ec_fsm_master_t *);
+
+int ec_fsm_master_exec(ec_fsm_master_t *);
+int ec_fsm_master_running(ec_fsm_master_t *);
+int ec_fsm_master_success(ec_fsm_master_t *);
+
+/*****************************************************************************/
+
+#endif
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave.c	Wed Jan 10 16:32:06 2007 +0000
@@ -0,0 +1,1101 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU General Public License
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  The right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT slave state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "fsm_slave.h"
+
+/*****************************************************************************/
+
+void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *);
+
+void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_sync(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_sync2(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *);
+
+void ec_fsm_slave_conf_enter_sync(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_sync2(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *);
+
+void ec_fsm_slave_state_end(ec_fsm_slave_t *);
+void ec_fsm_slave_state_error(ec_fsm_slave_t *);
+
+/*****************************************************************************/
+
+/**
+   Constructor.
+*/
+
+void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */
+        ec_datagram_t *datagram /**< datagram structure to use */
+        )
+{
+    fsm->datagram = datagram;
+
+    // init sub state machines
+    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
+    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
+    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+}
+
+/*****************************************************************************/
+
+/**
+   Destructor.
+*/
+
+void ec_fsm_slave_clear(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    // clear sub state machines
+    ec_fsm_sii_clear(&fsm->fsm_sii);
+    ec_fsm_change_clear(&fsm->fsm_change);
+    ec_fsm_coe_clear(&fsm->fsm_coe);
+}
+
+/*****************************************************************************/
+
+/**
+ * Start slave scan state machine.
+ */
+
+void ec_fsm_slave_start_scan(ec_fsm_slave_t *fsm, /**< slave state machine */
+        ec_slave_t *slave /**< slave to configure */
+        )
+{
+    fsm->slave = slave;
+    fsm->state = ec_fsm_slave_scan_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+ * Start slave configuration state machine.
+ */
+
+void ec_fsm_slave_start_conf(ec_fsm_slave_t *fsm, /**< slave state machine */
+        ec_slave_t *slave /**< slave to configure */
+        )
+{
+    fsm->slave = slave;
+    fsm->state = ec_fsm_slave_conf_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+   \return false, if state machine has terminated
+*/
+
+int ec_fsm_slave_running(const ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    return fsm->state != ec_fsm_slave_state_end
+        && fsm->state != ec_fsm_slave_state_error;
+}
+
+/*****************************************************************************/
+
+/**
+   Executes the current state of the state machine.
+   If the state machine's datagram is not sent or received yet, the execution
+   of the state machine is delayed to the next cycle.
+   \return false, if state machine has terminated
+*/
+
+int ec_fsm_slave_exec(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    if (fsm->datagram->state == EC_DATAGRAM_SENT
+        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
+        // datagram was not sent or received yet.
+        return ec_fsm_slave_running(fsm);
+    }
+
+    fsm->state(fsm);
+    return ec_fsm_slave_running(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+   \return true, if the state machine terminated gracefully
+*/
+
+int ec_fsm_slave_success(const ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    return fsm->state == ec_fsm_slave_state_end;
+}
+
+/******************************************************************************
+ *  slave scan state machine
+ *****************************************************************************/
+
+/**
+   Slave scan state: START.
+   First state of the slave state machine. Writes the station address to the
+   slave, according to its ring position.
+*/
+
+void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    // write station address
+    ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2);
+    EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address);
+    ec_master_queue_datagram(fsm->slave->master, fsm->datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_scan_state_address;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: ADDRESS.
+*/
+
+void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->slave->master, fsm->datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive station address datagram for slave %i.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to write station address - slave %i did not respond.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    // Read AL state
+    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_scan_state_state;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: STATE.
+*/
+
+void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive AL state datagram from slave %i.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to read AL state - slave %i did not respond.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    slave->current_state = EC_READ_U8(datagram->data);
+    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+        char state_str[EC_STATE_STRING_SIZE];
+        ec_state_string(slave->current_state, state_str);
+        EC_WARN("Slave %i has state error bit set (%s)!\n",
+                slave->ring_position, state_str);
+    }
+
+    // read base data
+    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_scan_state_base;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: BASE.
+*/
+
+void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive base data datagram for slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to read base data - slave %i did not respond.\n",
+               slave->ring_position);
+        return;
+    }
+
+    slave->base_type       = EC_READ_U8 (datagram->data);
+    slave->base_revision   = EC_READ_U8 (datagram->data + 1);
+    slave->base_build      = EC_READ_U16(datagram->data + 2);
+    slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
+    slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
+
+    if (slave->base_fmmu_count > EC_MAX_FMMUS)
+        slave->base_fmmu_count = EC_MAX_FMMUS;
+
+    // read data link status
+    ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
+    ec_master_queue_datagram(slave->master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_scan_state_datalink;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: DATALINK.
+*/
+
+void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    uint16_t dl_status;
+    unsigned int i;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive DL status datagram from slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to read DL status - slave %i did not respond.\n",
+               slave->ring_position);
+        return;
+    }
+
+    dl_status = EC_READ_U16(datagram->data);
+    for (i = 0; i < 4; i++) {
+        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
+        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
+        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
+    }
+
+    // Start fetching EEPROM size
+
+    fsm->sii_offset = 0x0040; // first category header
+    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
+    fsm->state = ec_fsm_slave_scan_state_eeprom_size;
+    fsm->state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: EEPROM SIZE.
+*/
+
+void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    uint16_t cat_type, cat_size;
+
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+
+    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to read EEPROM size of slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    cat_type = EC_READ_U16(fsm->fsm_sii.value);
+    cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
+
+    if (cat_type != 0xFFFF) { // not the last category
+        fsm->sii_offset += cat_size + 2;
+        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+                        EC_FSM_SII_NODE);
+        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+        return;
+    }
+
+    slave->eeprom_size = (fsm->sii_offset + 1) * 2;
+
+    if (slave->eeprom_data) {
+        EC_INFO("Freeing old EEPROM data on slave %i...\n",
+                slave->ring_position);
+        kfree(slave->eeprom_data);
+    }
+
+    if (!(slave->eeprom_data =
+          (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    // Start fetching EEPROM contents
+
+    fsm->state = ec_fsm_slave_scan_state_eeprom_data;
+    fsm->sii_offset = 0x0000;
+    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
+    ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: EEPROM DATA.
+*/
+
+void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    uint16_t *cat_word, cat_type, cat_size;
+
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+
+    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    // 2 words fetched
+
+    if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
+        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+               fsm->fsm_sii.value, 4);
+    }
+    else { // copy the last word
+        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+               fsm->fsm_sii.value, 2);
+    }
+
+    if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
+        // fetch the next 2 words
+        fsm->sii_offset += 2;
+        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+                        EC_FSM_SII_NODE);
+        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+        return;
+    }
+
+    // Evaluate EEPROM contents
+
+    slave->sii_alias =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
+    slave->sii_vendor_id =
+        EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
+    slave->sii_product_code =
+        EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
+    slave->sii_revision_number =
+        EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
+    slave->sii_serial_number =
+        EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
+    slave->sii_rx_mailbox_offset =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
+    slave->sii_rx_mailbox_size =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
+    slave->sii_tx_mailbox_offset =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
+    slave->sii_tx_mailbox_size =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
+    slave->sii_mailbox_protocols =
+        EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
+
+    // evaluate category data
+    cat_word = (uint16_t *) slave->eeprom_data + 0x0040;
+    while (EC_READ_U16(cat_word) != 0xFFFF) {
+        cat_type = EC_READ_U16(cat_word) & 0x7FFF;
+        cat_size = EC_READ_U16(cat_word + 1);
+
+        switch (cat_type) {
+            case 0x000A:
+                if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
+                    goto end;
+                break;
+            case 0x001E:
+                ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2));
+                break;
+            case 0x0028:
+                break;
+            case 0x0029:
+                if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
+                                        cat_size))
+                    goto end;
+                break;
+            case 0x0032:
+                if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
+                                       cat_size, EC_TX_PDO))
+                    goto end;
+                break;
+            case 0x0033:
+                if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
+                                       cat_size, EC_RX_PDO))
+                    goto end;
+                break;
+            default:
+                if (fsm->slave->master->debug_level)
+                    EC_WARN("Unknown category type 0x%04X in slave %i.\n",
+                            cat_type, slave->ring_position);
+        }
+
+        cat_word += cat_size + 2;
+    }
+
+    fsm->state = ec_fsm_slave_state_end;
+    return;
+
+end:
+    EC_ERR("Failed to analyze category data.\n");
+    fsm->slave->error_flag = 1;
+    fsm->state = ec_fsm_slave_state_error;
+}
+
+/******************************************************************************
+ *  slave configuration state machine
+ *****************************************************************************/
+
+/**
+   Slave configuration state: START.
+*/
+
+void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    if (fsm->slave->master->debug_level) {
+        EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position);
+    }
+
+    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
+    ec_fsm_change_exec(&fsm->fsm_change);
+    fsm->state = ec_fsm_slave_conf_state_init;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: INIT.
+*/
+
+void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_master_t *master = fsm->slave->master;
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+    if (!ec_fsm_change_success(&fsm->fsm_change)) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        return;
+    }
+
+    slave->self_configured = 1;
+
+    if (master->debug_level) {
+        EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
+    }
+
+    // check and reset CRC fault counters
+    //ec_slave_check_crc(slave);
+    // TODO: Implement state machine for CRC checking.
+
+    if (!slave->base_fmmu_count) { // skip FMMU configuration
+        ec_fsm_slave_conf_enter_sync(fsm);
+        return;
+    }
+
+    if (master->debug_level)
+        EC_DBG("Clearing FMMU configurations of slave %i...\n",
+               slave->ring_position);
+
+    // clear FMMU configurations
+    ec_datagram_npwr(datagram, slave->station_address,
+                     0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+    memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+    ec_master_queue_datagram(master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_conf_state_clear_fmmus;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: CLEAR FMMU.
+*/
+
+void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *fsm
+                                        /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed receive FMMU clearing datagram for slave %i.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to clear FMMUs - slave %i did not respond.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    ec_fsm_slave_conf_enter_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+*/
+
+void ec_fsm_slave_conf_enter_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_master_t *master = fsm->slave->master;
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+    const ec_sii_sync_t *sync;
+    ec_sii_sync_t mbox_sync;
+
+    // slave is now in INIT
+    if (slave->current_state == slave->requested_state) {
+        fsm->state = ec_fsm_slave_state_end; // successful
+        if (master->debug_level) {
+            EC_DBG("Finished configuration of slave %i.\n",
+                   slave->ring_position);
+        }
+        return;
+    }
+
+    if (!slave->base_sync_count) { // no sync managers
+        ec_fsm_slave_conf_enter_preop(fsm);
+        return;
+    }
+
+    if (master->debug_level) {
+        EC_DBG("Configuring sync managers of slave %i.\n",
+               slave->ring_position);
+    }
+
+    // configure sync managers
+    ec_datagram_npwr(datagram, slave->station_address, 0x0800,
+                     EC_SYNC_SIZE * slave->base_sync_count);
+    memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
+
+    if (list_empty(&slave->sii_syncs)) {
+        if (slave->sii_rx_mailbox_offset && slave->sii_tx_mailbox_offset) {
+            if (slave->master->debug_level)
+                EC_DBG("Guessing sync manager settings for slave %i.\n",
+                       slave->ring_position);
+            mbox_sync.index = 0;
+            mbox_sync.physical_start_address = slave->sii_tx_mailbox_offset;
+            mbox_sync.length = slave->sii_tx_mailbox_size;
+            mbox_sync.control_register = 0x26;
+            mbox_sync.enable = 0x01;
+            mbox_sync.est_length = 0;
+            ec_sync_config(&mbox_sync, slave,
+                           datagram->data + EC_SYNC_SIZE * mbox_sync.index);
+            mbox_sync.index = 1;
+            mbox_sync.physical_start_address = slave->sii_rx_mailbox_offset;
+            mbox_sync.length = slave->sii_rx_mailbox_size;
+            mbox_sync.control_register = 0x22;
+            mbox_sync.enable = 0x01;
+            mbox_sync.est_length = 0;
+            ec_sync_config(&mbox_sync, slave,
+                           datagram->data + EC_SYNC_SIZE * mbox_sync.index);
+        }
+    }
+    else if (slave->sii_mailbox_protocols) { // mailboxes present
+        list_for_each_entry(sync, &slave->sii_syncs, list) {
+            // only configure mailbox sync-managers
+            if (sync->index != 0 && sync->index != 1) continue;
+            ec_sync_config(sync, slave,
+                           datagram->data + EC_SYNC_SIZE * sync->index);
+        }
+    }
+
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_conf_state_sync;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: SYNC.
+*/
+
+void ec_fsm_slave_conf_state_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive sync manager configuration datagram for"
+               " slave %i.\n", slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to set sync managers - slave %i did not respond.\n",
+               slave->ring_position);
+        return;
+    }
+
+    ec_fsm_slave_conf_enter_preop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    fsm->state = ec_fsm_slave_conf_state_preop;
+    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
+    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: PREOP.
+*/
+
+void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_master_t *master = fsm->slave->master;
+
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+    if (!ec_fsm_change_success(&fsm->fsm_change)) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        return;
+    }
+
+    // slave is now in PREOP
+    slave->jiffies_preop = fsm->datagram->jiffies_received;
+
+    if (master->debug_level) {
+        EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
+    }
+
+    if (slave->current_state == slave->requested_state) {
+        fsm->state = ec_fsm_slave_state_end; // successful
+        if (master->debug_level) {
+            EC_DBG("Finished configuration of slave %i.\n",
+                   slave->ring_position);
+        }
+        return;
+    }
+
+    ec_fsm_slave_conf_enter_sync2(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+*/
+
+void ec_fsm_slave_conf_enter_sync2(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_sii_sync_t *sync;
+
+    if (list_empty(&slave->sii_syncs)) {
+        ec_fsm_slave_conf_enter_fmmu(fsm);
+        return;
+    }
+
+    // configure sync managers for process data
+    ec_datagram_npwr(datagram, slave->station_address, 0x0800,
+                     EC_SYNC_SIZE * slave->base_sync_count);
+    memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
+
+    list_for_each_entry(sync, &slave->sii_syncs, list) {
+        ec_sync_config(sync, slave,
+                       datagram->data + EC_SYNC_SIZE * sync->index);
+    }
+
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_conf_state_sync2;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: SYNC2.
+*/
+
+void ec_fsm_slave_conf_state_sync2(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive process data sync manager configuration"
+               " datagram for slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to set process data sync managers - slave %i did not"
+               " respond.\n", slave->ring_position);
+        return;
+    }
+
+    ec_fsm_slave_conf_enter_fmmu(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+*/
+
+void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_master_t *master = slave->master;
+    ec_datagram_t *datagram = fsm->datagram;
+    unsigned int j;
+
+    if (!slave->base_fmmu_count) { // skip FMMU configuration
+        ec_fsm_slave_conf_enter_sdoconf(fsm);
+        return;
+    }
+
+    // configure FMMUs
+    ec_datagram_npwr(datagram, slave->station_address,
+                     0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+    memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+    for (j = 0; j < slave->fmmu_count; j++) {
+        ec_fmmu_config(&slave->fmmus[j], slave,
+                       datagram->data + EC_FMMU_SIZE * j);
+    }
+
+    ec_master_queue_datagram(master, datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_conf_state_fmmu;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: FMMU.
+*/
+
+void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to receive FMMUs datagram for slave %i.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        EC_ERR("Failed to set FMMUs - slave %i did not respond.\n",
+               fsm->slave->ring_position);
+        return;
+    }
+
+    // No CoE configuration to be applied? Jump to SAVEOP state.
+    if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
+        ec_fsm_slave_conf_enter_saveop(fsm);
+        return;
+    }
+
+    ec_fsm_slave_conf_enter_sdoconf(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_slave_t *slave = fsm->slave;
+
+    if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
+        ec_fsm_slave_conf_enter_saveop(fsm);
+        return;
+    }
+
+    // start SDO configuration
+    fsm->state = ec_fsm_slave_conf_state_sdoconf;
+    fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list);
+    ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+    ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: SDOCONF.
+*/
+
+void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        return;
+    }
+
+    // Another SDO to configure?
+    if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
+        fsm->sdodata = list_entry(fsm->sdodata->list.next,
+                                  ec_sdo_data_t, list);
+        ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+        return;
+    }
+
+    // All SDOs are now configured.
+
+    // set state to SAVEOP
+    ec_fsm_slave_conf_enter_saveop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    fsm->state = ec_fsm_slave_conf_state_saveop;
+    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
+    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: SAVEOP.
+*/
+
+void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_master_t *master = fsm->slave->master;
+    ec_slave_t *slave = fsm->slave;
+
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+    if (!ec_fsm_change_success(&fsm->fsm_change)) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        return;
+    }
+
+    // slave is now in SAVEOP
+
+    if (master->debug_level) {
+        EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
+    }
+
+    if (fsm->slave->current_state == fsm->slave->requested_state) {
+        fsm->state = ec_fsm_slave_state_end; // successful
+        if (master->debug_level) {
+            EC_DBG("Finished configuration of slave %i.\n",
+                   slave->ring_position);
+        }
+        return;
+    }
+
+    // set state to OP
+    fsm->state = ec_fsm_slave_conf_state_op;
+    ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
+    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: OP
+*/
+
+void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+    ec_master_t *master = fsm->slave->master;
+    ec_slave_t *slave = fsm->slave;
+
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+    if (!ec_fsm_change_success(&fsm->fsm_change)) {
+        slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_state_error;
+        return;
+    }
+
+    // slave is now in OP
+
+    if (master->debug_level) {
+        EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
+        EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
+    }
+
+    fsm->state = ec_fsm_slave_state_end; // successful
+}
+
+/******************************************************************************
+ *  Common state functions
+ *****************************************************************************/
+
+/**
+   State: ERROR.
+*/
+
+void ec_fsm_slave_state_error(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+   State: END.
+*/
+
+void ec_fsm_slave_state_end(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+}
+
+/*****************************************************************************/
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave.h	Wed Jan 10 16:32:06 2007 +0000
@@ -0,0 +1,88 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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"
+
+/*****************************************************************************/
+
+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; 
+
+    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 */
+};
+
+/*****************************************************************************/
+
+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
--- a/master/master.c	Wed Jan 10 10:58:49 2007 +0000
+++ b/master/master.c	Wed Jan 10 16:32:06 2007 +0000
@@ -183,8 +183,15 @@
         list_add_tail(&eoe->list, &master->eoe_handlers);
     }
 
+    // init state machine datagram
+    ec_datagram_init(&master->fsm_datagram);
+    if (ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE)) {
+        EC_ERR("Failed to allocate FSM datagram.\n");
+        goto out_clear_eoe;
+    }
+
     // create state machine object
-    if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;
+    ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
 
     // init kobject and add it to the hierarchy
     memset(&master->kobj, 0x00, sizeof(struct kobject));
@@ -203,14 +210,14 @@
 
     return 0;
 
- out_clear_eoe:
+out_clear_eoe:
     list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
         list_del(&eoe->list);
         ec_eoe_clear(eoe);
         kfree(eoe);
     }
     ec_xmldev_clear(&master->xmldev);
- out_return:
+out_return:
     return -1;
 }
 
@@ -252,7 +259,8 @@
         list_del_init(&datagram->queue);
     }
 
-    ec_fsm_clear(&master->fsm);
+    ec_fsm_master_clear(&master->fsm);
+    ec_datagram_clear(&master->fsm_datagram);
     ec_xmldev_clear(&master->xmldev);
 
     // clear EoE objects
@@ -416,7 +424,6 @@
 int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
 {
     ec_slave_t *slave;
-    ec_datagram_t *datagram = &master->fsm.datagram;
 
     ec_master_eoe_stop(master); // stop EoE timer
     master->eoe_checked = 1; // prevent from starting again by FSM
@@ -425,15 +432,15 @@
     master->mode = EC_MASTER_MODE_OPERATION;
 
     // wait for FSM datagram
-    if (datagram->state == EC_DATAGRAM_SENT) {
-        while (get_cycles() - datagram->cycles_sent
+    if (master->fsm_datagram.state == EC_DATAGRAM_SENT) {
+        while (get_cycles() - master->fsm_datagram.cycles_sent
                < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000)) {}
         ecrt_master_receive(master);
     }
 
     // finish running master FSM
-    if (ec_fsm_running(&master->fsm)) {
-        while (ec_fsm_exec(&master->fsm)) {
+    if (ec_fsm_master_running(&master->fsm)) {
+        while (ec_fsm_master_exec(&master->fsm)) {
             ec_master_sync_io(master);
         }
     }
@@ -477,42 +484,41 @@
                                     /**< EtherCAT master */)
 {
     ec_slave_t *slave;
-    ec_fsm_t *fsm = &master->fsm;
-    ec_datagram_t *datagram = &master->fsm.datagram;
+    ec_fsm_master_t *fsm = &master->fsm;
+    ec_fsm_slave_t fsm_slave;
 
     ec_master_eoe_stop(master); // stop EoE timer
     master->eoe_checked = 1; // prevent from starting again by FSM
 
     // wait for FSM datagram
-    if (datagram->state == EC_DATAGRAM_SENT) {
+    if (master->fsm_datagram.state == EC_DATAGRAM_SENT) {
         // active waiting
-        while (get_cycles() - datagram->cycles_sent
+        while (get_cycles() - master->fsm_datagram.cycles_sent
                < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000));
         ecrt_master_receive(master);
     }
 
     // finish running master FSM
-    if (ec_fsm_running(fsm)) {
-        while (ec_fsm_exec(fsm)) {
+    if (ec_fsm_master_running(fsm)) {
+        while (ec_fsm_master_exec(fsm)) {
             ec_master_sync_io(master);
         }
     }
 
+    ec_fsm_slave_init(&fsm_slave, &master->fsm_datagram);
+    
     // set states for all slaves
     list_for_each_entry(slave, &master->slaves, list) {
         ec_slave_reset(slave);
         ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
 
-        fsm->slave = slave;
-        fsm->slave_state = ec_fsm_slaveconf_state_start;
-
-        do {
-            fsm->slave_state(fsm);
+        ec_fsm_slave_start_conf(&fsm_slave, slave);
+        while (ec_fsm_slave_exec(&fsm_slave)) {
             ec_master_sync_io(master);
         }
-        while (fsm->slave_state != ec_fsm_slave_state_end
-               && fsm->slave_state != ec_fsm_slave_state_error);
-    }
+    }
+
+    ec_fsm_slave_clear(&fsm_slave);
 
     ec_master_destroy_domains(master);
 
@@ -816,7 +822,7 @@
         spin_unlock_bh(&master->internal_lock);
 
         // execute master state machine
-        ec_fsm_exec(&master->fsm);
+        ec_fsm_master_exec(&master->fsm);
 
         // send
         spin_lock_bh(&master->internal_lock);
@@ -1402,7 +1408,7 @@
 {
     uint32_t domain_offset;
     ec_domain_t *domain;
-    ec_fsm_t *fsm = &master->fsm;
+    ec_fsm_slave_t fsm_slave;
     ec_slave_t *slave;
 
     // allocate all domains
@@ -1415,24 +1421,23 @@
         domain_offset += domain->data_size;
     }
 
+    ec_fsm_slave_init(&fsm_slave, &master->fsm_datagram);
+
     // configure all slaves
     list_for_each_entry(slave, &master->slaves, list) {
-        fsm->slave = slave;
-        fsm->slave_state = ec_fsm_slaveconf_state_start;
-
-        do {
-            fsm->slave_state(fsm);
+        ec_fsm_slave_start_conf(&fsm_slave, slave);
+        while (ec_fsm_slave_exec(&fsm_slave)) { 
             ec_master_sync_io(master);
         }
-        while (fsm->slave_state != ec_fsm_slave_state_end
-               && fsm->slave_state != ec_fsm_slave_state_error);
-
-        if (fsm->slave_state == ec_fsm_slave_state_error) {
+
+        if (!ec_fsm_slave_success(&fsm_slave)) {
+            ec_fsm_slave_clear(&fsm_slave);
             EC_ERR("Failed to configure slave %i!\n", slave->ring_position);
             return -1;
         }
     }
 
+    ec_fsm_slave_clear(&fsm_slave);
     ec_master_prepare(master); // prepare asynchronous IO
 
     return 0;
@@ -1537,7 +1542,7 @@
     ec_master_output_stats(master);
 
     // execute master state machine in a loop
-    ec_fsm_exec(&master->fsm);
+    ec_fsm_master_exec(&master->fsm);
 }
 
 /*****************************************************************************/
--- a/master/master.h	Wed Jan 10 10:58:49 2007 +0000
+++ b/master/master.h	Wed Jan 10 16:32:06 2007 +0000
@@ -50,7 +50,7 @@
 #include "device.h"
 #include "domain.h"
 #include "xmldev.h"
-#include "fsm.h"
+#include "fsm_master.h"
 
 /*****************************************************************************/
 
@@ -104,7 +104,8 @@
 
     ec_xmldev_t xmldev; /**< XML character device */
 
-    ec_fsm_t fsm; /**< master state machine */
+    ec_fsm_master_t fsm; /**< master state machine */
+    ec_datagram_t fsm_datagram; /**< datagram used for state machines */
     ec_master_mode_t mode; /**< master mode */
 
     struct list_head slaves; /**< list of slaves on the bus */