From 6982a7648f3aef3c1293bd91e35ea666a1044818 Mon Sep 17 00:00:00 2001 From: ArthurKetels Date: Mon, 2 Aug 2021 20:52:22 +0200 Subject: [PATCH] Add missing PO2SOconfigx() hook to ecx_reconfig_slave() --- soem/ethercatconfig.c | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/soem/ethercatconfig.c b/soem/ethercatconfig.c index f7c3125..3d12081 100644 --- a/soem/ethercatconfig.c +++ b/soem/ethercatconfig.c @@ -1597,6 +1597,10 @@ int ecx_reconfig_slave(ecx_contextt *context, uint16 slave, int timeout) { 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 */ state = ecx_statecheck(context, slave, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); /* check state change safe-op */ /* program configured FMMU */