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Add PO2SO hook including context, fixes #230

feature/soem_140
Andreas Karlsson 2019-06-10 09:23:02 +02:00
parent 8c1e83ee8e
commit cc417d4c0c
2 changed files with 9 additions and 2 deletions
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4
soem/ethercatconfig.c
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@ -645,6 +645,10 @@ static int ecx_map_coe_soe(ecx_contextt *context, uint16 slave, int thread_n)
{ {
context->slavelist[slave].PO2SOconfig(slave); 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 slave not found in configlist find IO mapping in slave self */
if (!context->slavelist[slave].configindex) if (!context->slavelist[slave].configindex)
{ {

7
soem/ethercatmain.h
View File

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