Improved master state machine.

TODO

@@ -20,10 +20,11 @@ Version 1.4.0:
   portability.
 * Remove ecdb.h and let lsec output PDO information 'cut-and-pastable' for
   applications.
+* Scanning of Sdo dictionary / writing EEPROM in OPERATION state.
+* Remove the end state of the master state machine.
 * SDO write access in sysfs.
 * Update documentation.
 * Supply new ec_master_state_t.
-* Scanning of Sdo dictionary / writing EEPROM in OPERATION state.
 * Adapt remaining examples.
 * READMEs for examples.
 * Separate Pdo and Pdo entry classes.
@@ -31,12 +32,11 @@ Version 1.4.0:
 * Wait for bus scanning, even when link is not up at ecrt_request_master().
 * Implement ecrt_slave_config_state().
 * Add something like lsec -n to show numeric vendor IDs.
-* Remove the end state of the master state machine.
-* Check the position of the acknowledge state.
 * Remove the xmldev files.
 * Separate CoE debugging.
 * Make ecrt_master_slave_config() return no error when slave is not present
   or invalid.
+* Evaluate EEPROM contents after writing.
 
 Future issues:
 
@@ -45,7 +45,6 @@ Future issues:
   kernel threads to user space daemon with a TCP interface replacing the
   cdev).
 * Mailbox gateway.
-* Slave-to-slave communication.
 * Redundancy with 2 network adapters.
 * Interface/buffers for asynchronous domain IO.
 
@@ -54,14 +53,9 @@ Smaller issues:
 * Evaluate SII Size field (0x003E) to determine maximum SII memory size.
 * Unite fsm_pdo_mapping, fsm_pdo_config and fsm_coe_map.
 * Clear sync managers in INIT.
-* Simplify FSMs with <state>_enter() functions.
 * Read out CRC counters.
 * Optimize alignment of process data.
-* Evaluate EEPROM contents after writing.
 * Configure slave ports to automatically open on link detection.
-* Interrupt master state machines state scan for other jobs.
-* Master state machine, slave configuration: Do not check every slave on
-  a cycle.
 * Only execute one EoE handler per EoE cycle.
 
 Less important issues:

documentation/graphs/fsm_master.dot

@@ -6,62 +6,64 @@ digraph master {
     center=1
 	ratio=fill
 
-    action_process_sii [shape=point,label=""]
-    action_process_sdo [shape=point,label=""]
-    action_configure [shape=point,label=""]
-    action_next_slave_state [shape=point,label=""]
-    action_process_states [shape=point,label=""]
-
+    start [fontname="Helvetica"]
     start -> broadcast [weight=10]
 
-    //broadcast -> error
+    broadcast [fontname="Helvetica"]
     broadcast -> end
     broadcast -> clear_addresses
-    broadcast -> read_states [weight=10]
+    broadcast -> read_state [weight=10]
 
+    action_process_sii [shape=point,label=""]
     action_process_sii -> write_sii
 
+    action_process_sdo [shape=point,label=""]
     action_process_sdo -> sdo_request
 
-    action_configure -> configure_slave
+    action_idle [shape=point,label=""]
+    action_idle -> action_process_sdo
+    action_idle -> sdo_dictionary
+    action_idle -> action_process_sii
+    action_idle -> end
 
-    action_process_states -> action_configure
-    action_process_states -> action_process_sdo
-    action_process_states -> sdo_dictionary
-    action_process_states -> action_process_sii
-    action_process_states -> end
+    action_next_slave_state [shape=point,label=""]
+    action_next_slave_state -> read_state
+    action_next_slave_state -> action_idle [weight=10]
+    
+    action_configure [shape=point,label=""]
+    action_configure -> configure_slave [weight=10]
+    action_configure -> action_next_slave_state
 
-    action_next_slave_state -> read_states
-    action_next_slave_state -> action_process_states
+    action_acknowledge [shape=point,label=""]
+    action_acknowledge -> acknowledge [weight=10]
+    action_acknowledge -> action_configure
+    action_acknowledge -> action_next_slave_state
 
-    //read_states -> error
-    read_states -> action_next_slave_state
-    read_states -> acknowledge
+    read_state [fontname="Helvetica"]
+    read_state -> action_acknowledge [weight=10]
 
-    //acknowledge -> error
-    acknowledge -> action_next_slave_state
+    acknowledge [fontname="Helvetica"]
+    acknowledge -> action_configure [weight=10]
 
-    //clear_addresses -> error
-    clear_addresses -> scan_slaves
+    clear_addresses [fontname="Helvetica"]
+    clear_addresses -> scan_slave [weight=10]
 
-    scan_slaves -> scan_slaves
-    scan_slaves -> end
+    scan_slave [fontname="Helvetica"]
+    scan_slave -> end
 
-    configure_slave -> action_configure
-    configure_slave -> end
+    configure_slave [fontname="Helvetica"]
+    configure_slave -> action_next_slave_state [weight=10]
 
-    //write_sii -> error
+    write_sii [fontname="Helvetica"]
     write_sii -> action_process_sii
     write_sii -> end
 
-    //sdo_dictionary -> error
+    sdo_dictionary [fontname="Helvetica"]
     sdo_dictionary -> end
 
-    //sdo_request -> error
+    sdo_request [fontname="Helvetica"]
     sdo_request -> action_process_sdo
     sdo_request -> end
 
-    //error -> start
-
-    //end -> start
+    end [fontname="Helvetica"]
 }