digraph slaveconf {
    size="7,9"
    center=1
	ratio=fill

    enter_sync [shape=point,label=""]
    enter_fmmu [shape=point,label=""]
    enter_sdoconf [shape=point,label=""]
    enter_mapconf [shape=point,label=""]

    start -> init
    init -> init
    init -> enter_sync
    init -> clear_fmmus [label="has FMMUs"]
    clear_fmmus -> clear_fmmus
    clear_fmmus -> error
    clear_fmmus -> enter_sync
    enter_sync -> end [label="INIT req."]
    enter_sync -> preop
    enter_sync -> sync [label="SMs to configure"]
    sync -> sync
    sync -> error
    sync -> preop
    preop -> preop
    preop -> error
    preop -> end [label="PREOP req."]
    preop -> enter_fmmu
    preop -> sync2 [label="more SMs"]
    sync2 -> sync2
    sync2 -> error
    sync2 -> enter_fmmu
    enter_fmmu -> enter_sdoconf
    enter_fmmu -> fmmu [label="FMMUs to configure"]
    fmmu -> fmmu
    fmmu -> error
    fmmu -> enter_sdoconf
    enter_sdoconf -> enter_mapconf
    enter_sdoconf -> sdoconf [label="SDOs to configure"]
    sdoconf -> sdoconf
    sdoconf -> error
    sdoconf -> enter_mapconf
    enter_mapconf -> mapconf [label="alternative PDO mapping"]
    enter_mapconf -> saveop
    mapconf -> mapconf
    mapconf -> error
    mapconf -> saveop
    saveop -> saveop
    saveop -> error
    saveop -> end [label="SAVEOP req."]
    saveop -> op
    op -> op
    op -> error
    op -> end
}