Commit feb5ea47 authored by Daan Vreeken's avatar Daan Vreeken
Browse files

Committer: Daan Vreeken <pa4dan@RacebeestV3.VEHosting.LAN>

	modified:   controller/ec/block_beckhoff_el4xxx.c

Make the initialization of the block actually work. The block offers two DC
configurations and at this moment, the ec code picks the second configuration
and probably forgets to select it in the right CoE register at this moment.
At this moment we asume all EL4xxx blocks need this fix. We could be wrong
about that. Leave all 'driver_verified' bits except for the EL4008 disabled'
for now.
parent 83b7138c
......@@ -396,6 +396,7 @@ static int pre_operational_hook(struct esc_device *esc)
{
struct controller_block *block = esc->block;
esc_sm_set(block->private->dev, 3);
if (!block->private->candev)
block->private->candev = esc_coe_create(esc);
......@@ -458,7 +459,10 @@ struct controller_block * block_beckhoff_el4xxx_create(char *name, va_list ap)
esc->block_tx = block;
esc->callback_tx = callback_tx;
esc->pre_operational_hook = pre_operational_hook;
block->private->dev->dc_sync.sync0_active = false;
block->private->dev->dc_sync.sync1_active = false;
esc_device_initialize_operational(esc);
if (esc->sm[esc->tx_pdo_sm].len !=
......
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