From 817435066f53006f42899bf602e3b7e4182aa57a Mon Sep 17 00:00:00 2001
From: Andreas Karlsson <andreas.karlsson@rt-labs.com>
Date: Mon, 10 Jun 2019 11:48:41 +0200
Subject: [PATCH] Add support to choose if manual or automatic state change is
 done by config functions, fixes #189

---
 soem/ethercatconfig.c | 36 ++++++++++++++++++++++++++++++------
 soem/ethercatmain.c   |  3 ++-
 soem/ethercatmain.h   |  2 ++
 3 files changed, 34 insertions(+), 7 deletions(-)

diff --git a/soem/ethercatconfig.c b/soem/ethercatconfig.c
index 6fb8ad6..af667a6 100644
--- a/soem/ethercatconfig.c
+++ b/soem/ethercatconfig.c
@@ -589,8 +589,16 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
          }
          /* some slaves need eeprom available to PDI in init->preop transition */
          ecx_eeprom2pdi(context, slave);
-         /* request pre_op for slave */
-         ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_PRE_OP | EC_STATE_ACK) , EC_TIMEOUTRET3); /* set preop status */
+         /* User may override automatic state change */
+         if (context->manualstatechange == 0)
+         {
+            /* request pre_op for slave */
+            ecx_FPWRw(context->port,
+               configadr,
+               ECT_REG_ALCTL,
+               htoes(EC_STATE_PRE_OP | EC_STATE_ACK),
+               EC_TIMEOUTRET3); /* set preop status */
+         }
       }
    }
    return wkc;
@@ -1273,8 +1281,16 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
             }
 
             ecx_eeprom2pdi(context, slave); /* set Eeprom control to PDI */
-            ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_SAFE_OP) , EC_TIMEOUTRET3); /* set safeop status */
-
+            /* User may override automatic state change */
+            if (context->manualstatechange == 0)
+            {
+               /* request safe_op for slave */
+               ecx_FPWRw(context->port,
+                  configadr,
+                  ECT_REG_ALCTL,
+                  htoes(EC_STATE_SAFE_OP),
+                  EC_TIMEOUTRET3); /* set safeop status */
+            }
             if (context->slavelist[slave].blockLRW)
             {
                context->grouplist[group].blockLRW++;
@@ -1409,8 +1425,16 @@ int ecx_config_overlap_map_group(ecx_contextt *context, void *pIOmap, uint8 grou
             }
 
             ecx_eeprom2pdi(context, slave); /* set Eeprom control to PDI */
-            ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_SAFE_OP), EC_TIMEOUTRET3); /* set safeop status */
-
+            /* User may override automatic state change */
+            if (context->manualstatechange == 0)
+            {
+               /* request safe_op for slave */
+               ecx_FPWRw(context->port,
+                  configadr,
+                  ECT_REG_ALCTL,
+                  htoes(EC_STATE_SAFE_OP),
+                  EC_TIMEOUTRET3);
+            }
             if (context->slavelist[slave].blockLRW)
             {
                context->grouplist[group].blockLRW++;
diff --git a/soem/ethercatmain.c b/soem/ethercatmain.c
index 795a21c..30065b6 100644
--- a/soem/ethercatmain.c
+++ b/soem/ethercatmain.c
@@ -119,7 +119,8 @@ ecx_contextt  ecx_context = {
     &ec_SM,             // .eepSM         =
     &ec_FMMU,           // .eepFMMU       =
     NULL,               // .FOEhook()
-    NULL                // .EOEhook()
+    NULL,               // .EOEhook()
+    0                   // .manualstatechange
 };
 #endif
 
diff --git a/soem/ethercatmain.h b/soem/ethercatmain.h
index 42ad54b..7001572 100644
--- a/soem/ethercatmain.h
+++ b/soem/ethercatmain.h
@@ -427,6 +427,8 @@ struct ecx_context
    int            (*FOEhook)(uint16 slave, int packetnumber, int datasize);
    /** registered EoE hook */
    int            (*EOEhook)(ecx_contextt * context, uint16 slave, void * eoembx);
+   /** flag to control legacy automatic state change or manual state change */
+   int            manualstatechange;
 };
 
 #ifdef EC_VER1