ethercatconfig.c

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/*
 * Simple Open EtherCAT Master Library 
 *
 * File    : ethercatconfig.c
 * Version : 1.3.0
 * Date    : 24-02-2013
 * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
 * Copyright (C) 2005-2013 Arthur Ketels
 * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
 *
 * SOEM is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License version 2 as published by the Free
 * Software Foundation.
 *
 * SOEM 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.
 *
 * As a special exception, if other files instantiate templates or use macros
 * or inline functions from this file, or you compile this file and link it
 * with other works to produce a work based on this file, this file does not
 * by itself cause the resulting work to be covered by the GNU General Public
 * License. However the source code for this file must still be made available
 * in accordance with section (3) of the GNU General Public License.
 *
 * This exception does not invalidate any other reasons why a work based on
 * this file might be covered by the GNU General Public License.
 *
 * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
 * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
 * the sole purpose of creating, using and/or selling or otherwise distributing
 * an EtherCAT network master provided that an EtherCAT Master License is obtained
 * from Beckhoff Automation GmbH.
 *
 * In case you did not receive a copy of the EtherCAT Master License along with
 * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
 * (www.beckhoff.com).
 */

#include <stdio.h>
#include <string.h>
#include "ethercat_soem/osal.h"
#include "ethercat_soem/oshw.h"
#include "ethercat_soem/ethercattype.h"
#include "ethercat_soem/ethercatbase.h"
#include "ethercat_soem/ethercatmain.h"
#include "ethercat_soem/ethercatcoe.h"
#include "ethercat_soem/ethercatsoe.h"
#include "ethercat_soem/ethercatconfig.h"

// define if debug printf is needed
//#define EC_DEBUG

#ifdef EC_DEBUG
#define EC_PRINT printf
#else
#define EC_PRINT(...) do {} while (0)
#endif

#ifdef EC_VER1

typedef const struct
{
   uint32           man;
   uint32           id;
   char             name[EC_MAXNAME + 1];
   uint8            Dtype;
   uint16            Ibits;
   uint16           Obits;
   uint16           SM2a;
   uint32           SM2f;
   uint16           SM3a;
   uint32           SM3f;
   uint8            FM0ac;
   uint8            FM1ac;
} ec_configlist_t;

#include "ethercat_soem/ethercatconfiglist.h"
#endif

#define EC_DEFAULTMBXSM0  0x00010026

#define EC_DEFAULTMBXSM1  0x00010022

#define EC_DEFAULTDOSM0   0x00010044

#ifdef EC_VER1

int ec_findconfig( uint32 man, uint32 id)
{
   int i = 0;

   do 
   {
      i++;
   } while ( (ec_configlist[i].man != EC_CONFIGEND) && 
           ((ec_configlist[i].man != man) || (ec_configlist[i].id != id)) );
   if (ec_configlist[i].man == EC_CONFIGEND)
   {
      i = 0;
   }
   return i;
}
#endif

int ecx_config_init(ecx_contextt *context, uint8 usetable)
{
   uint16 w, slave, ADPh, configadr, ssigen;
   uint16 topology, estat;
   int16 topoc, slavec, aliasadr;
   uint8 b,h;
   uint8 zbuf[64];
   uint8 SMc;
   uint32 eedat;
   int wkc, cindex, nSM, lp;

   EC_PRINT("ec_config_init %d\n",usetable);
   *(context->slavecount) = 0;
   /* clean ec_slave array */
   memset(context->slavelist, 0x00, sizeof(ec_slavet) * context->maxslave);
   memset(&zbuf, 0x00, sizeof(zbuf));
   memset(context->grouplist, 0x00, sizeof(ec_groupt) * context->maxgroup);
   /* clear slave eeprom cache */
   ecx_siigetbyte(context, 0, EC_MAXEEPBUF);
   
   for(lp = 0; lp < context->maxgroup; lp++)
   {
      context->grouplist[lp].logstartaddr = lp << 16; /* default start address per group entry */
   }
   /* make special pre-init register writes to enable MAC[1] local administered bit *
    * setting for old netX100 slaves */
   b = 0x00;
   ecx_BWR(context->port, 0x0000, ECT_REG_DLALIAS, sizeof(b), &b, EC_TIMEOUTRET3);    /* Ignore Alias register */
   b = EC_STATE_INIT | EC_STATE_ACK;
   ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET3);      /* Reset all slaves to Init */
   /* netX100 should now be happy */
   
   wkc = ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET3);      /* Reset all slaves to Init */
   printf("wkc = %d\n",wkc);
   
   w = 0x0000;
   wkc = ecx_BRD(context->port, 0x0000, ECT_REG_TYPE, sizeof(w), &w, EC_TIMEOUTSAFE);   /* detect number of slaves */
   if (wkc > 0)
   {
      *(context->slavecount) = wkc;
      b = 0x00;
      ecx_BWR(context->port, 0x0000, ECT_REG_DLPORT, sizeof(b), &b, EC_TIMEOUTRET3);     /* deact loop manual */
      w = htoes(0x0004);
      ecx_BWR(context->port, 0x0000, ECT_REG_IRQMASK, sizeof(w), &w, EC_TIMEOUTRET3);    /* set IRQ mask */
      ecx_BWR(context->port, 0x0000, ECT_REG_RXERR, 8, &zbuf, EC_TIMEOUTRET3);           /* reset CRC counters */
      ecx_BWR(context->port, 0x0000, ECT_REG_FMMU0, 16 * 3, &zbuf, EC_TIMEOUTRET3);      /* reset FMMU's */
      ecx_BWR(context->port, 0x0000, ECT_REG_SM0, 8 * 4, &zbuf, EC_TIMEOUTRET3);         /* reset SyncM */
      ecx_BWR(context->port, 0x0000, ECT_REG_DCSYSTIME, 4, &zbuf, EC_TIMEOUTRET3);       /* reset system time+ofs */
      w = htoes(0x1000);
      ecx_BWR(context->port, 0x0000, ECT_REG_DCSPEEDCNT, sizeof(w), &w, EC_TIMEOUTRET3); /* DC speedstart */
      w = htoes(0x0c00);
      ecx_BWR(context->port, 0x0000, ECT_REG_DCTIMEFILT, sizeof(w), &w, EC_TIMEOUTRET3); /* DC filt expr */
      b = 0x00;
      ecx_BWR(context->port, 0x0000, ECT_REG_DLALIAS, sizeof(b), &b, EC_TIMEOUTRET3);    /* Ignore Alias register */
      b = EC_STATE_INIT | EC_STATE_ACK;
      ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET3);      /* Reset all slaves to Init */
      b = 2;
      ecx_BWR(context->port, 0x0000, ECT_REG_EEPCFG, sizeof(b), &b , EC_TIMEOUTRET3);    /* force Eeprom from PDI */
      b = 0;
      ecx_BWR(context->port, 0x0000, ECT_REG_EEPCFG, sizeof(b), &b , EC_TIMEOUTRET3);    /* set Eeprom to master */
      
      for (slave = 1; slave <= *(context->slavecount); slave++)
      {
         ADPh = (uint16)(1 - slave);
         context->slavelist[slave].Itype = 
            etohs(ecx_APRDw(context->port, ADPh, ECT_REG_PDICTL, EC_TIMEOUTRET3)); /* read interface type of slave */
         /* a node offset is used to improve readibility of network frames */
         /* this has no impact on the number of addressable slaves (auto wrap around) */
         ecx_APWRw(context->port, ADPh, ECT_REG_STADR, htoes(slave + EC_NODEOFFSET) , EC_TIMEOUTRET3); /* set node address of slave */
         if (slave == 1) 
         {
            b = 1; /* kill non ecat frames for first slave */
         }
         else 
         {
            b = 0; /* pass all frames for following slaves */
         }
         ecx_APWRw(context->port, ADPh, ECT_REG_DLCTL, htoes(b), EC_TIMEOUTRET3); /* set non ecat frame behaviour */
         configadr = etohs(ecx_APRDw(context->port, ADPh, ECT_REG_STADR, EC_TIMEOUTRET3));
         context->slavelist[slave].configadr = configadr;
         ecx_FPRD(context->port, configadr, ECT_REG_ALIAS, sizeof(aliasadr), &aliasadr, EC_TIMEOUTRET3);
         context->slavelist[slave].aliasadr = etohs(aliasadr);
         ecx_FPRD(context->port, configadr, ECT_REG_EEPSTAT, sizeof(estat), &estat, EC_TIMEOUTRET3);
         estat = etohs(estat);
         if (estat & EC_ESTAT_R64) /* check if slave can read 8 byte chunks */
         {
            context->slavelist[slave].eep_8byte = 1;
         }
         ecx_readeeprom1(context, slave, ECT_SII_MANUF); /* Manuf */
      }
      for (slave = 1; slave <= *(context->slavecount); slave++)
      {
         context->slavelist[slave].eep_man = 
            etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* Manuf */
         ecx_readeeprom1(context, slave, ECT_SII_ID); /* ID */
      }
      for (slave = 1; slave <= *(context->slavecount); slave++)
      {
         context->slavelist[slave].eep_id = 
            etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* ID */
         ecx_readeeprom1(context, slave, ECT_SII_REV); /* revision */
      }
      for (slave = 1; slave <= *(context->slavecount); slave++)
      {
         context->slavelist[slave].eep_rev = 
            etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* revision */
         ecx_readeeprom1(context, slave, ECT_SII_RXMBXADR); /* write mailbox address + mailboxsize */
      }
      for (slave = 1; slave <= *(context->slavecount); slave++)
      {
         eedat = etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* write mailbox address and mailboxsize */
         context->slavelist[slave].mbx_wo = (uint16)LO_WORD(eedat);
         context->slavelist[slave].mbx_l = (uint16)HI_WORD(eedat);
         if (context->slavelist[slave].mbx_l > 0) 
         {
            ecx_readeeprom1(context, slave, ECT_SII_TXMBXADR); /* read mailbox offset */
         }
      }
      for (slave = 1; slave <= *(context->slavecount); slave++)
      {
         if (context->slavelist[slave].mbx_l > 0) 
         {
            eedat = etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* read mailbox offset */
            context->slavelist[slave].mbx_ro = (uint16)LO_WORD(eedat); /* read mailbox offset */
            context->slavelist[slave].mbx_rl = (uint16)HI_WORD(eedat); /*read mailbox length */
            if (context->slavelist[slave].mbx_rl == 0)
            {
               context->slavelist[slave].mbx_rl = context->slavelist[slave].mbx_l;
            }
         }
         configadr = context->slavelist[slave].configadr;
         if ((etohs(ecx_FPRDw(context->port, configadr, ECT_REG_ESCSUP, EC_TIMEOUTRET3)) & 0x04) > 0)  /* Support DC? */
         {   
            context->slavelist[slave].hasdc = TRUE;
         }
         else
         {
            context->slavelist[slave].hasdc = FALSE;
         }
         topology = etohs(ecx_FPRDw(context->port, configadr, ECT_REG_DLSTAT, EC_TIMEOUTRET3)); /* extract topology from DL status */
         h = 0; 
         b = 0;
         if ((topology & 0x0300) == 0x0200) /* port0 open and communication established */
         {
            h++;
            b |= 0x01;
         }
         if ((topology & 0x0c00) == 0x0800) /* port1 open and communication established */
         {
            h++;
            b |= 0x02;
         }
         if ((topology & 0x3000) == 0x2000) /* port2 open and communication established */
         {
            h++;
            b |= 0x04;
         }
         if ((topology & 0xc000) == 0x8000) /* port3 open and communication established */
         {
            h++;
            b |= 0x08;
         }
         /* ptype = Physical type*/
         context->slavelist[slave].ptype = 
            LO_BYTE(etohs(ecx_FPRDw(context->port, configadr, ECT_REG_PORTDES, EC_TIMEOUTRET3)));
         context->slavelist[slave].topology = h;
         context->slavelist[slave].activeports = b;
         /* 0=no links, not possible             */
         /* 1=1 link  , end of line              */
         /* 2=2 links , one before and one after */
         /* 3=3 links , split point              */
         /* 4=4 links , cross point              */
         /* search for parent */
         context->slavelist[slave].parent = 0; /* parent is master */
         if (slave > 1)
         {
            topoc = 0; 
            slavec = slave - 1;
            do
            {
               topology = context->slavelist[slavec].topology;
               if (topology == 1)
               {
                  topoc--; /* endpoint found */
               }
               if (topology == 3)
               {
                  topoc++; /* split found */
               }
               if (topology == 4)
               {
                  topoc += 2; /* cross found */
               }
               if (((topoc >= 0) && (topology > 1)) ||
                   (slavec == 1)) /* parent found */
               {
                  context->slavelist[slave].parent = slavec;
                  slavec = 1;
               }
               slavec--;
            }
            while (slavec > 0);
         }

         w = ecx_statecheck(context, slave, EC_STATE_INIT,  EC_TIMEOUTSTATE); //* check state change Init */
   
         /* set default mailbox configuration if slave has mailbox */
         if (context->slavelist[slave].mbx_l>0)
         {   
            context->slavelist[slave].SMtype[0] = 1;
            context->slavelist[slave].SMtype[1] = 2;
            context->slavelist[slave].SMtype[2] = 3;
            context->slavelist[slave].SMtype[3] = 4;
            context->slavelist[slave].SM[0].StartAddr = htoes(context->slavelist[slave].mbx_wo);
            context->slavelist[slave].SM[0].SMlength = htoes(context->slavelist[slave].mbx_l);
            context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
            context->slavelist[slave].SM[1].StartAddr = htoes(context->slavelist[slave].mbx_ro);
            context->slavelist[slave].SM[1].SMlength = htoes(context->slavelist[slave].mbx_rl);
            context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
            context->slavelist[slave].mbx_proto = 
               ecx_readeeprom(context, slave, ECT_SII_MBXPROTO, EC_TIMEOUTEEP);
         }   
         cindex = 0;
         #ifdef EC_VER1
         /* use configuration table ? */
         if (usetable)
         {
            cindex = ec_findconfig( context->slavelist[slave].eep_man, context->slavelist[slave].eep_id );
            context->slavelist[slave].configindex= cindex;
         }
         /* slave found in configuration table ? */
         if (cindex)
         {
            context->slavelist[slave].Dtype = ec_configlist[cindex].Dtype;            
            strcpy(context->slavelist[slave].name ,ec_configlist[cindex].name);
            context->slavelist[slave].Ibits = ec_configlist[cindex].Ibits;
            context->slavelist[slave].Obits = ec_configlist[cindex].Obits;
            if (context->slavelist[slave].Obits)
            {
               context->slavelist[slave].FMMU0func = 1;
            }
            if (context->slavelist[slave].Ibits)
            {
               context->slavelist[slave].FMMU1func = 2;
            }
            context->slavelist[slave].FMMU[0].FMMUactive = ec_configlist[cindex].FM0ac;
            context->slavelist[slave].FMMU[1].FMMUactive = ec_configlist[cindex].FM1ac;
            context->slavelist[slave].SM[2].StartAddr = htoes(ec_configlist[cindex].SM2a);
            context->slavelist[slave].SM[2].SMflags = htoel(ec_configlist[cindex].SM2f);
            /* simple (no mailbox) output slave found ? */
            if (context->slavelist[slave].Obits && !context->slavelist[slave].SM[2].StartAddr)
            {
               context->slavelist[slave].SM[0].StartAddr = htoes(0x0f00);
               context->slavelist[slave].SM[0].SMlength = htoes((context->slavelist[slave].Obits + 7) / 8);
               context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTDOSM0);         
               context->slavelist[slave].FMMU[0].FMMUactive = 1;
               context->slavelist[slave].FMMU[0].FMMUtype = 2;
               context->slavelist[slave].SMtype[0] = 3;
            }
            /* complex output slave */
            else
            {
               context->slavelist[slave].SM[2].SMlength = htoes((context->slavelist[slave].Obits + 7) / 8);
               context->slavelist[slave].SMtype[2] = 3;
            }   
            context->slavelist[slave].SM[3].StartAddr = htoes(ec_configlist[cindex].SM3a);
            context->slavelist[slave].SM[3].SMflags = htoel(ec_configlist[cindex].SM3f);
            /* simple (no mailbox) input slave found ? */
            if (context->slavelist[slave].Ibits && !context->slavelist[slave].SM[3].StartAddr)
            {
               context->slavelist[slave].SM[1].StartAddr = htoes(0x1000);
               context->slavelist[slave].SM[1].SMlength = htoes((context->slavelist[slave].Ibits + 7) / 8);
               context->slavelist[slave].SM[1].SMflags = htoel(0x00000000);         
               context->slavelist[slave].FMMU[1].FMMUactive = 1;
               context->slavelist[slave].FMMU[1].FMMUtype = 1;
               context->slavelist[slave].SMtype[1] = 4;
            }
            /* complex input slave */
            else
            {
               context->slavelist[slave].SM[3].SMlength = htoes((context->slavelist[slave].Ibits + 7) / 8);
               context->slavelist[slave].SMtype[3] = 4;
            }   
         }
         /* slave not in configuration table, find out via SII */
         else
         #endif
         {
            ssigen = ecx_siifind(context, slave, ECT_SII_GENERAL);
            /* SII general section */
            if (ssigen)
            {
               context->slavelist[slave].CoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x07);
               context->slavelist[slave].FoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x08);
               context->slavelist[slave].EoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x09);
               context->slavelist[slave].SoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x0a);
               if((ecx_siigetbyte(context, slave, ssigen + 0x0d) & 0x02) > 0)
               {
                  context->slavelist[slave].blockLRW = 1;
                  context->slavelist[0].blockLRW++;                  
               }   
               context->slavelist[slave].Ebuscurrent = ecx_siigetbyte(context, slave, ssigen + 0x0e);
               context->slavelist[slave].Ebuscurrent += ecx_siigetbyte(context, slave, ssigen + 0x0f) << 8;
               context->slavelist[0].Ebuscurrent += context->slavelist[slave].Ebuscurrent;
            }
            /* SII strings section */
            if (ecx_siifind(context, slave, ECT_SII_STRING) > 0)
            {
               ecx_siistring(context, context->slavelist[slave].name, slave, 1);
            }
            /* no name for slave found, use constructed name */
            else
            {
               sprintf(context->slavelist[slave].name, "? M:%8.8x I:%8.8x",
                       (unsigned int)context->slavelist[slave].eep_man, 
                       (unsigned int)context->slavelist[slave].eep_id);
            }
            /* SII SM section */
            nSM = ecx_siiSM(context, slave, context->eepSM);
            if (nSM>0)
            {   
               context->slavelist[slave].SM[0].StartAddr = htoes(context->eepSM->PhStart);
               context->slavelist[slave].SM[0].SMlength = htoes(context->eepSM->Plength);
               context->slavelist[slave].SM[0].SMflags = 
                  htoel((context->eepSM->Creg) + (context->eepSM->Activate << 16));
               SMc = 1;
               while ((SMc < EC_MAXSM) &&  ecx_siiSMnext(context, slave, context->eepSM, SMc))
               {
                  context->slavelist[slave].SM[SMc].StartAddr = htoes(context->eepSM->PhStart);
                  context->slavelist[slave].SM[SMc].SMlength = htoes(context->eepSM->Plength);
                  context->slavelist[slave].SM[SMc].SMflags = 
                     htoel((context->eepSM->Creg) + (context->eepSM->Activate << 16));
                  SMc++;
               }   
            }   
            /* SII FMMU section */
            if (ecx_siiFMMU(context, slave, context->eepFMMU))
            {
               if (context->eepFMMU->FMMU0 !=0xff) 
               {
                  context->slavelist[slave].FMMU0func = context->eepFMMU->FMMU0;
               }
               if (context->eepFMMU->FMMU1 !=0xff) 
               {
                  context->slavelist[slave].FMMU1func = context->eepFMMU->FMMU1;
               }
               if (context->eepFMMU->FMMU2 !=0xff) 
               {
                  context->slavelist[slave].FMMU2func = context->eepFMMU->FMMU2;
               }
               if (context->eepFMMU->FMMU3 !=0xff) 
               {
                  context->slavelist[slave].FMMU3func = context->eepFMMU->FMMU3;
               }
            }            
         }   

         if (context->slavelist[slave].mbx_l > 0)
         {
            if (context->slavelist[slave].SM[0].StartAddr == 0x0000) /* should never happen */
            {
               EC_PRINT("Slave %d has no proper mailbox in configuration, try default.\n", slave);
               context->slavelist[slave].SM[0].StartAddr = htoes(0x1000);
               context->slavelist[slave].SM[0].SMlength = htoes(0x0080);
               context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
               context->slavelist[slave].SMtype[0] = 1;               
            }         
            if (context->slavelist[slave].SM[1].StartAddr == 0x0000) /* should never happen */
            {
               EC_PRINT("Slave %d has no proper mailbox out configuration, try default.\n", slave);
               context->slavelist[slave].SM[1].StartAddr = htoes(0x1080);
               context->slavelist[slave].SM[1].SMlength = htoes(0x0080);
               context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
               context->slavelist[slave].SMtype[1] = 2;
            }         
            /* program SM0 mailbox in and SM1 mailbox out for slave */
            /* writing both SM in one datagram will solve timing issue in old NETX */
            ecx_FPWR(context->port, configadr, ECT_REG_SM0, sizeof(ec_smt) * 2, 
               &(context->slavelist[slave].SM[0]), EC_TIMEOUTRET3);
         } 
         /* request pre_op for slave */
         ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_PRE_OP | EC_STATE_ACK) , EC_TIMEOUTRET3); /* set preop status */
      }
   }   
   return wkc;
}

int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
{
   uint16 slave, configadr;
   int Isize, Osize, BitCount, ByteCount, FMMUsize, FMMUdone;
   uint16 SMlength, EndAddr;
   uint8 BitPos;
   uint8 SMc, FMMUc;
   uint32 LogAddr = 0;
   uint32 oLogAddr = 0;
   uint32 diff;
   int nSM, rval;
   ec_eepromPDOt eepPDO;
   uint16 currentsegment = 0;
   uint32 segmentsize = 0;

   if ((*(context->slavecount) > 0) && (group < context->maxgroup))
   {   
      EC_PRINT("ec_config_map_group IOmap:%p group:%d\n", pIOmap, group);
      LogAddr = context->grouplist[group].logstartaddr;
      oLogAddr = LogAddr;
      BitPos = 0;
      context->grouplist[group].nsegments = 0;
      context->grouplist[group].outputsWKC = 0;
      context->grouplist[group].inputsWKC = 0;

      /* find output mapping of slave and program FMMU */
      for (slave = 1; slave <= *(context->slavecount); slave++)
      {
         configadr = context->slavelist[slave].configadr;

         ecx_statecheck(context, slave, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); /* check state change pre-op */

         EC_PRINT(" >Slave %d, configadr %x, state %2.2x\n",
                  slave, context->slavelist[slave].configadr, context->slavelist[slave].state);

         /* execute special slave configuration hook Pre-Op to Safe-OP */
         if(context->slavelist[slave].PO2SOconfig) /* only if registered */
         {
            context->slavelist[slave].PO2SOconfig(slave);         
         }
         if (!group || (group == context->slavelist[slave].group))
         {   
         
            /* if slave not found in configlist find IO mapping in slave self */
            if (!context->slavelist[slave].configindex)
            {
               Isize = 0;
               Osize = 0;
               if (context->slavelist[slave].mbx_proto & ECT_MBXPROT_COE) /* has CoE */
               {
                  rval = 0;
                  if (context->slavelist[slave].CoEdetails & ECT_COEDET_SDOCA) /* has Complete Access */
                     /* read PDO mapping via CoE and use Complete Access */
                  {
                     rval = ecx_readPDOmapCA(context, slave, &Osize, &Isize);
                  }
                  if (!rval) /* CA not available or not succeeded */
                  {
                     /* read PDO mapping via CoE */
                     rval = ecx_readPDOmap(context, slave, &Osize, &Isize);
                  }
                  EC_PRINT("  CoE Osize:%d Isize:%d\n", Osize, Isize);
               }
               if ((!Isize && !Osize) && (context->slavelist[slave].mbx_proto & ECT_MBXPROT_SOE)) /* has SoE */
               {
                  /* read AT / MDT mapping via SoE */
                  rval = ecx_readIDNmap(context, slave, &Osize, &Isize);
                  context->slavelist[slave].SM[2].SMlength = htoes((Osize + 7) / 8);
                  context->slavelist[slave].SM[3].SMlength = htoes((Isize + 7) / 8);
                  EC_PRINT("  SoE Osize:%d Isize:%d\n", Osize, Isize);
               }
               if (!Isize && !Osize) /* find PDO mapping by SII */
               {
                  memset(&eepPDO, 0, sizeof(eepPDO));
                  Isize = (int)ecx_siiPDO(context, slave, &eepPDO, 0);
                  EC_PRINT("  SII Isize:%d\n", Isize);               
                  for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
                  {   
                     if (eepPDO.SMbitsize[nSM] > 0)
                     {   
                        context->slavelist[slave].SM[nSM].SMlength =  htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
                        context->slavelist[slave].SMtype[nSM] = 4;
                        EC_PRINT("    SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
                     }   
                  }   
                  Osize = (int)ecx_siiPDO(context, slave, &eepPDO, 1);
                  EC_PRINT("  SII Osize:%d\n", Osize);               
                  for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
                  {   
                     if (eepPDO.SMbitsize[nSM] > 0)
                     {   
                        context->slavelist[slave].SM[nSM].SMlength =  htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
                        context->slavelist[slave].SMtype[nSM] = 3;
                        EC_PRINT("    SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
                     }   
                  }   
               }
               context->slavelist[slave].Obits = Osize;
               context->slavelist[slave].Ibits = Isize;
               EC_PRINT("     ISIZE:%d %d OSIZE:%d\n", 
                  context->slavelist[slave].Ibits, Isize,context->slavelist[slave].Obits);    
            }

            EC_PRINT("  SM programming\n");  
            if (!context->slavelist[slave].mbx_l && context->slavelist[slave].SM[0].StartAddr)
            {
               ecx_FPWR(context->port, configadr, ECT_REG_SM0, 
                  sizeof(ec_smt), &(context->slavelist[slave].SM[0]), EC_TIMEOUTRET3);
               EC_PRINT("    SM0 Type:%d StartAddr:%4.4x Flags:%8.8x\n", 
                   context->slavelist[slave].SMtype[0], 
                   context->slavelist[slave].SM[0].StartAddr, 
                   context->slavelist[slave].SM[0].SMflags);   
            }
            if (!context->slavelist[slave].mbx_l && context->slavelist[slave].SM[1].StartAddr)
            {
               ecx_FPWR(context->port, configadr, ECT_REG_SM1, 
                  sizeof(ec_smt), &context->slavelist[slave].SM[1], EC_TIMEOUTRET3);
               EC_PRINT("    SM1 Type:%d StartAddr:%4.4x Flags:%8.8x\n", 
                   context->slavelist[slave].SMtype[1], 
                   context->slavelist[slave].SM[1].StartAddr, 
                   context->slavelist[slave].SM[1].SMflags);   
            }
            /* program SM2 to SMx */
            for( nSM = 2 ; nSM < EC_MAXSM ; nSM++ )
            {   
               if (context->slavelist[slave].SM[nSM].StartAddr)
               {
                  /* check if SM length is zero -> clear enable flag */
                  if( context->slavelist[slave].SM[nSM].SMlength == 0) 
                  {
                     context->slavelist[slave].SM[nSM].SMflags = 
                        htoel( etohl(context->slavelist[slave].SM[nSM].SMflags) & EC_SMENABLEMASK);
                  }
                  ecx_FPWR(context->port, configadr, ECT_REG_SM0 + (nSM * sizeof(ec_smt)),
                     sizeof(ec_smt), &context->slavelist[slave].SM[nSM], EC_TIMEOUTRET3);
                  EC_PRINT("    SM%d Type:%d StartAddr:%4.4x Flags:%8.8x\n", nSM,
                      context->slavelist[slave].SMtype[nSM], 
                      context->slavelist[slave].SM[nSM].StartAddr, 
                      context->slavelist[slave].SM[nSM].SMflags);   
               }
            }
            if (context->slavelist[slave].Ibits > 7)
            {
               context->slavelist[slave].Ibytes = (context->slavelist[slave].Ibits + 7) / 8;
            }
            if (context->slavelist[slave].Obits > 7)
            {
               context->slavelist[slave].Obytes = (context->slavelist[slave].Obits + 7) / 8;
            }
            FMMUc = context->slavelist[slave].FMMUunused;
            SMc = 0;
            BitCount = 0;
            ByteCount = 0;
            EndAddr = 0;
            FMMUsize = 0;
            FMMUdone = 0;
            /* create output mapping */
            if (context->slavelist[slave].Obits)
            {
               EC_PRINT("  OUTPUT MAPPING\n");
               /* search for SM that contribute to the output mapping */
               while ( (SMc < (EC_MAXSM - 1)) && (FMMUdone < ((context->slavelist[slave].Obits + 7) / 8)))
               {   
                  EC_PRINT("    FMMU %d\n", FMMUc);
                  while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 3)) SMc++;
                  EC_PRINT("      SM%d\n", SMc);
                  context->slavelist[slave].FMMU[FMMUc].PhysStart = 
                     context->slavelist[slave].SM[SMc].StartAddr;
                  SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
                  ByteCount += SMlength;
                  BitCount += SMlength * 8;
                  EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
                  while ( (BitCount < context->slavelist[slave].Obits) && (SMc < (EC_MAXSM - 1)) ) /* more SM for output */
                  {
                     SMc++;
                     while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 3)) SMc++;
                     /* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
                     if ( etohs(context->slavelist[slave].SM[SMc].StartAddr) > EndAddr ) 
                     {
                        break;
                     }
                     EC_PRINT("      SM%d\n", SMc);
                     SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
                     ByteCount += SMlength;
                     BitCount += SMlength * 8;
                     EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;               
                  }   

                  /* bit oriented slave */
                  if (!context->slavelist[slave].Obytes)
                  {   
                     context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
                     context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
                     BitPos += context->slavelist[slave].Obits - 1;
                     if (BitPos > 7)
                     {
                        LogAddr++;
                        BitPos -= 8;
                     }   
                     FMMUsize = LogAddr - etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) + 1;
                     context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
                     context->slavelist[slave].FMMU[FMMUc].LogEndbit = BitPos;
                     BitPos ++;
                     if (BitPos > 7)
                     {
                        LogAddr++;
                        BitPos -= 8;
                     }   
                  }
                  /* byte oriented slave */
                  else
                  {
                     if (BitPos)
                     {
                        LogAddr++;
                        BitPos = 0;
                     }   
                     context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
                     context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
                     BitPos = 7;
                     FMMUsize = ByteCount;
                     if ((FMMUsize + FMMUdone)> (int)context->slavelist[slave].Obytes)
                     {
                        FMMUsize = context->slavelist[slave].Obytes - FMMUdone;
                     }
                     LogAddr += FMMUsize;
                     context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
                     context->slavelist[slave].FMMU[FMMUc].LogEndbit = BitPos;
                     BitPos = 0;
                  }
                  FMMUdone += FMMUsize;
                  context->slavelist[slave].FMMU[FMMUc].PhysStartBit = 0;
                  context->slavelist[slave].FMMU[FMMUc].FMMUtype = 2;
                  context->slavelist[slave].FMMU[FMMUc].FMMUactive = 1;
                  /* program FMMU for output */
                  ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
                     sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
                  context->grouplist[group].outputsWKC++;
                  if (!context->slavelist[slave].outputs)
                  {   
                     context->slavelist[slave].outputs = 
                        (uint8 *)(pIOmap) + etohl(context->slavelist[slave].FMMU[FMMUc].LogStart);
                     context->slavelist[slave].Ostartbit = 
                        context->slavelist[slave].FMMU[FMMUc].LogStartbit;
                     EC_PRINT("    slave %d Outputs %p startbit %d\n", 
                        slave, 
                        context->slavelist[slave].outputs, 
                        context->slavelist[slave].Ostartbit);
                  }
                  FMMUc++;
               }   
               context->slavelist[slave].FMMUunused = FMMUc;
               diff = LogAddr - oLogAddr;
               oLogAddr = LogAddr;
               if ((segmentsize + diff) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
               {
                  context->grouplist[group].IOsegment[currentsegment] = segmentsize;
                  if (currentsegment < (EC_MAXIOSEGMENTS - 1))
                  {
                     currentsegment++;
                     segmentsize = diff;   
                  }
               }
               else
               {
                  segmentsize += diff;
               }
            }
         }   
      }
      if (BitPos)
      {
         LogAddr++;
         oLogAddr = LogAddr;
         BitPos = 0;
         if ((segmentsize + 1) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
         {
            context->grouplist[group].IOsegment[currentsegment] = segmentsize;
            if (currentsegment < (EC_MAXIOSEGMENTS - 1))
            {
               currentsegment++;
               segmentsize = 1;   
            }
         }
         else
         {
            segmentsize += 1;
         }
      }   
      context->grouplist[group].outputs = pIOmap;
      context->grouplist[group].Obytes = LogAddr;
      context->grouplist[group].nsegments = currentsegment + 1;
      context->grouplist[group].Isegment = currentsegment;
      context->grouplist[group].Ioffset = segmentsize;
      if (!group)
      {   
         context->slavelist[0].outputs = pIOmap;
         context->slavelist[0].Obytes = LogAddr; /* store output bytes in master record */
      }   
      
      /* do input mapping of slave and program FMMUs */
      for (slave = 1; slave <= *(context->slavecount); slave++)
      {
         configadr = context->slavelist[slave].configadr;
         FMMUc = context->slavelist[slave].FMMUunused;
         if (context->slavelist[slave].Obits) /* find free FMMU */
         {
            while ( context->slavelist[slave].FMMU[FMMUc].LogStart ) FMMUc++;
         }
         SMc = 0;
         BitCount = 0;
         ByteCount = 0;
         EndAddr = 0;
         FMMUsize = 0;
         FMMUdone = 0;
         /* create input mapping */
         if (context->slavelist[slave].Ibits)
         {
            EC_PRINT(" =Slave %d, INPUT MAPPING\n", slave);
            /* search for SM that contribute to the input mapping */
            while ( (SMc < (EC_MAXSM - 1)) && (FMMUdone < ((context->slavelist[slave].Ibits + 7) / 8)))
            {   
               EC_PRINT("    FMMU %d\n", FMMUc);
               while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 4)) SMc++;
               EC_PRINT("      SM%d\n", SMc);
               context->slavelist[slave].FMMU[FMMUc].PhysStart = 
                  context->slavelist[slave].SM[SMc].StartAddr;
               SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
               ByteCount += SMlength;
               BitCount += SMlength * 8;
               EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
               while ( (BitCount < context->slavelist[slave].Ibits) && (SMc < (EC_MAXSM - 1)) ) /* more SM for input */
               {
                  SMc++;
                  while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 4)) SMc++;
                  /* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
                  if ( etohs(context->slavelist[slave].SM[SMc].StartAddr) > EndAddr ) 
                  {
                     break;
                  }
                  EC_PRINT("      SM%d\n", SMc);
                  SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
                  ByteCount += SMlength;
                  BitCount += SMlength * 8;
                  EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;               
               }   

               /* bit oriented slave */
               if (!context->slavelist[slave].Ibytes)
               {   
                  context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
                  context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
                  BitPos += context->slavelist[slave].Ibits - 1;
                  if (BitPos > 7)
                  {
                     LogAddr++;
                     BitPos -= 8;
                  }   
                  FMMUsize = LogAddr - etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) + 1;
                  context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
                  context->slavelist[slave].FMMU[FMMUc].LogEndbit = BitPos;
                  BitPos ++;
                  if (BitPos > 7)
                  {
                     LogAddr++;
                     BitPos -= 8;
                  }   
               }
               /* byte oriented slave */
               else
               {
                  if (BitPos)
                  {
                     LogAddr++;
                     BitPos = 0;
                  }   
                  context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
                  context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
                  BitPos = 7;
                  FMMUsize = ByteCount;
                  if ((FMMUsize + FMMUdone)> (int)context->slavelist[slave].Ibytes)
                  {
                     FMMUsize = context->slavelist[slave].Ibytes - FMMUdone;
                  }
                  LogAddr += FMMUsize;
                  context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
                  context->slavelist[slave].FMMU[FMMUc].LogEndbit = BitPos;
                  BitPos = 0;
               }
               FMMUdone += FMMUsize;
               if (context->slavelist[slave].FMMU[FMMUc].LogLength)
               {   
                  context->slavelist[slave].FMMU[FMMUc].PhysStartBit = 0;
                  context->slavelist[slave].FMMU[FMMUc].FMMUtype = 1;
                  context->slavelist[slave].FMMU[FMMUc].FMMUactive = 1;
                  /* program FMMU for input */
                  ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc), 
                     sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
                  /* add one for an input FMMU */
                  context->grouplist[group].inputsWKC++;
               }   
               if (!context->slavelist[slave].inputs)
               {   
                  context->slavelist[slave].inputs = 
                     (uint8 *)(pIOmap) + etohl(context->slavelist[slave].FMMU[FMMUc].LogStart);
                  context->slavelist[slave].Istartbit = 
                     context->slavelist[slave].FMMU[FMMUc].LogStartbit;
                  EC_PRINT("    Inputs %p startbit %d\n", 
                     context->slavelist[slave].inputs, 
                     context->slavelist[slave].Istartbit);
               }
               FMMUc++;
            }   
            context->slavelist[slave].FMMUunused = FMMUc;
            diff = LogAddr - oLogAddr;
            oLogAddr = LogAddr;
            if ((segmentsize + diff) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
            {
               context->grouplist[group].IOsegment[currentsegment] = segmentsize;
               if (currentsegment < (EC_MAXIOSEGMENTS - 1))
               {
                  currentsegment++;
                  segmentsize = diff;   
               }
            }
            else
            {
               segmentsize += diff;
            }   
         }

         ecx_eeprom2pdi(context, slave); /* set Eeprom control to PDI */         
         ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_SAFE_OP) , EC_TIMEOUTRET3); /* set safeop status */
                  
         if (context->slavelist[slave].blockLRW)
         {    
            context->grouplist[group].blockLRW++;                     
         }
         context->grouplist[group].Ebuscurrent += context->slavelist[slave].Ebuscurrent;
      }
      if (BitPos)
      {
         LogAddr++;
         oLogAddr = LogAddr;
         BitPos = 0;
         if ((segmentsize + 1) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
         {
            context->grouplist[group].IOsegment[currentsegment] = segmentsize;
            if (currentsegment < (EC_MAXIOSEGMENTS - 1))
            {
               currentsegment++;
               segmentsize = 1;   
            }
         }
         else
         {
            segmentsize += 1;
         }
      }   
      context->grouplist[group].IOsegment[currentsegment] = segmentsize;
      context->grouplist[group].nsegments = currentsegment + 1;
      context->grouplist[group].inputs = (uint8 *)(pIOmap) + context->grouplist[group].Obytes;
      context->grouplist[group].Ibytes = LogAddr - context->grouplist[group].Obytes;
      if (!group)
      {   
         context->slavelist[0].inputs = (uint8 *)(pIOmap) + context->slavelist[0].Obytes;
         context->slavelist[0].Ibytes = LogAddr - context->slavelist[0].Obytes; /* store input bytes in master record */
      }   

      EC_PRINT("IOmapSize %d\n", LogAddr - context->grouplist[group].logstartaddr);      
   
      return (LogAddr - context->grouplist[group].logstartaddr);
   }
   
   return 0;
}   

int ecx_recover_slave(ecx_contextt *context, uint16 slave, int timeout)
{
   int rval;
   uint16 ADPh, configadr, readadr, wkc;

   rval = 0;
   configadr = context->slavelist[slave].configadr;
   ADPh = (uint16)(1 - slave);
   /* check if we found another slave than the requested */
   readadr = 0xfffe;
   wkc = ecx_APRD(context->port, ADPh, ECT_REG_STADR, sizeof(readadr), &readadr, timeout);
   /* correct slave found, finished */
   if(readadr == configadr)
   {
       return 1;
   }
   /* only try if no config address*/
   if( (wkc > 0) && (readadr == 0))
   {
      /* clear possible slaves at EC_TEMPNODE */
      ecx_FPWRw(context->port, EC_TEMPNODE, ECT_REG_STADR, htoes(0) , 0);
      /* set temporary node address of slave */
      if(ecx_APWRw(context->port, ADPh, ECT_REG_STADR, htoes(EC_TEMPNODE) , timeout) <= 0)
      {   
         ecx_FPWRw(context->port, EC_TEMPNODE, ECT_REG_STADR, htoes(0) , 0);
         return 0; /* slave fails to respond */
      }
   
      context->slavelist[slave].configadr = EC_TEMPNODE; /* temporary config address */   
      ecx_eeprom2master(context, slave); /* set Eeprom control to master */         

      /* check if slave is the same as configured before */
      if ((ecx_FPRDw(context->port, EC_TEMPNODE, ECT_REG_ALIAS, timeout) == 
             context->slavelist[slave].aliasadr) &&
          (ecx_readeeprom(context, slave, ECT_SII_ID, EC_TIMEOUTEEP) == 
             context->slavelist[slave].eep_id) &&
          (ecx_readeeprom(context, slave, ECT_SII_MANUF, EC_TIMEOUTEEP) == 
             context->slavelist[slave].eep_man) &&
          (ecx_readeeprom(context, slave, ECT_SII_REV, EC_TIMEOUTEEP) == 
             context->slavelist[slave].eep_rev))
      {
         rval = ecx_FPWRw(context->port, EC_TEMPNODE, ECT_REG_STADR, htoes(configadr) , timeout);
         context->slavelist[slave].configadr = configadr;
      }
      else
      {
         /* slave is not the expected one, remove config address*/
         ecx_FPWRw(context->port, EC_TEMPNODE, ECT_REG_STADR, htoes(0) , timeout);
         context->slavelist[slave].configadr = configadr;
      }
   }

   return rval;
}

int ecx_reconfig_slave(ecx_contextt *context, uint16 slave, int timeout)
{
   int state, nSM, FMMUc;
   uint16 configadr;
   
   configadr = context->slavelist[slave].configadr;
   if (ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_INIT) , timeout) <= 0)
   {
      return 0;
   }
   state = 0;
   ecx_eeprom2pdi(context, slave); /* set Eeprom control to PDI */         
   /* check state change init */
   state = ecx_statecheck(context, slave, EC_STATE_INIT, EC_TIMEOUTSTATE);
   if(state == EC_STATE_INIT)
   {
      /* program all enabled SM */
      for( nSM = 0 ; nSM < EC_MAXSM ; nSM++ )
      {   
         if (context->slavelist[slave].SM[nSM].StartAddr)
         {   
            ecx_FPWR(context->port, configadr, ECT_REG_SM0 + (nSM * sizeof(ec_smt)),
               sizeof(ec_smt), &context->slavelist[slave].SM[nSM], timeout);
         }
      }
      ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_PRE_OP) , timeout);
      state = ecx_statecheck(context, slave, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); /* check state change pre-op */
      if( state == EC_STATE_PRE_OP)
      {
         /* execute special slave configuration hook Pre-Op to Safe-OP */
         if(context->slavelist[slave].PO2SOconfig) /* only if registered */
         {       
            context->slavelist[slave].PO2SOconfig(slave);         
         }
         ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_SAFE_OP) , timeout); /* set safeop status */
         state = ecx_statecheck(context, slave, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); /* check state change safe-op */
         /* program configured FMMU */
         for( FMMUc = 0 ; FMMUc < context->slavelist[slave].FMMUunused ; FMMUc++ )
         {   
            ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
               sizeof(ec_fmmut), &context->slavelist[slave].FMMU[FMMUc], timeout);
         }
      }
   }

   return state;      
}

#ifdef EC_VER1
int ec_config_init(uint8 usetable)
{
   return ecx_config_init(&ecx_context, usetable);
}

int ec_config_map_group(void *pIOmap, uint8 group)
{
   return ecx_config_map_group(&ecx_context, pIOmap, group);
}

int ec_config_map(void *pIOmap)
{
   return ec_config_map_group(pIOmap, 0);
}

int ec_config(uint8 usetable, void *pIOmap)
{
   int wkc;
   wkc = ec_config_init(usetable);
   if (wkc)
   {   
      ec_config_map(pIOmap);
   }
   return wkc;
}

int ec_recover_slave(uint16 slave, int timeout)
{
   return ecx_recover_slave(&ecx_context, slave, timeout);
}

int ec_reconfig_slave(uint16 slave, int timeout)
{
   return ecx_reconfig_slave(&ecx_context, slave, timeout);
}
#endif