Add group checking for slave input offset calculation

Some slaves can be at different group and do not use overlap PDO map, Let ec_config_overlap_map_group only change the input offset for current group.
jehun0908 · Aug 4, 2021 · 9fef1fc · 9fef1fc
1 parent 04f7bae
commit 9fef1fc
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/soem/ethercatconfig.c b/soem/ethercatconfig.c
@@ -1472,7 +1472,10 @@ int ecx_config_overlap_map_group(ecx_contextt *context, void *pIOmap, uint8 grou
       /* Move calculated inputs with OBytes offset*/
       for (slave = 1; slave <= *(context->slavecount); slave++)
       {
-         context->slavelist[slave].inputs += context->grouplist[group].Obytes;
+         if (!group || (group == context->slavelist[slave].group))
+         {
+            context->slavelist[slave].inputs += context->grouplist[group].Obytes;
+         }
       }
 
       if (!group)