Merge pull request OpenEtherCATsociety#537 from ArthurKetels/master

Add missing PO2SOconfigx() hook to ecx_reconfig_slave()
jehun0908 · Aug 2, 2021 · 04f7bae · 04f7bae
2 parents 2196702 + 6982a76
commit 04f7bae
Showing 1 changed file with 4 additions and 0 deletions.
diff --git 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 */