Add PO2SO hook including context, fixes OpenEtherCATsociety#230

weizx208 · Jun 10, 2019 · cc417d4 · cc417d4
1 parent 8c1e83e
commit cc417d4
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/soem/ethercatconfig.c b/soem/ethercatconfig.c
@@ -645,6 +645,10 @@ static int ecx_map_coe_soe(ecx_contextt *context, uint16 slave, int thread_n)
    {
       context->slavelist[slave].PO2SOconfig(slave);
    }
+   if (context->slavelist[slave].PO2SOconfigx) /* only if registered */
+   {
+      context->slavelist[slave].PO2SOconfigx(context, slave);
+   }
    /* if slave not found in configlist find IO mapping in slave self */
    if (!context->slavelist[slave].configindex)
    {

diff --git a/soem/ethercatmain.h b/soem/ethercatmain.h
@@ -100,6 +100,8 @@ PACKED_END
 
 #define EC_SMENABLEMASK      0xfffeffff
 
+typedef struct ecx_context ecx_contextt;
+
 /** for list of ethercat slaves detected */
 typedef struct ec_slave
 {
@@ -225,8 +227,10 @@ typedef struct ec_slave
    uint8            FMMUunused;
    /** Boolean for tracking whether the slave is (not) responding, not used/set by the SOEM library */
    boolean          islost;
-   /** registered configuration function PO->SO */
+   /** registered configuration function PO->SO, (DEPRECATED)*/
    int              (*PO2SOconfig)(uint16 slave);
+   /** registered configuration function PO->SO */
+   int              (*PO2SOconfigx)(ecx_contextt * context, uint16 slave);
    /** readable name */
    char             name[EC_MAXNAME + 1];
 } ec_slavet;
@@ -377,7 +381,6 @@ typedef struct PACKED ec_PDOdesc
 PACKED_END
 
 /** Context structure , referenced by all ecx functions*/
-typedef struct ecx_context ecx_contextt;
 struct ecx_context
 {
    /** port reference, may include red_port */