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Merge pull request #537 from ArthurKetels/master 

Add missing  PO2SOconfigx() hook to ecx_reconfig_slave()
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ArthurKetels 2021-08-02 20:58:30 +02:00 committed by GitHub
parent 219670218b 6982a7648f
commit 04f7baec68
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1 changed files with 4 additions and 0 deletions
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soem/ethercatconfig.c
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@ -1597,6 +1597,10 @@ int ecx_reconfig_slave(ecx_contextt *context, uint16 slave, int timeout)
{ {
context->slavelist[slave].PO2SOconfig(slave); context->slavelist[slave].PO2SOconfig(slave);
} }
if (context->slavelist[slave].PO2SOconfigx) /* only if registered */
{
context->slavelist[slave].PO2SOconfigx(context, slave);
}
ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_SAFE_OP) , timeout); /* set safeop status */ 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 */ state = ecx_statecheck(context, slave, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); /* check state change safe-op */
/* program configured FMMU */ /* program configured FMMU */