ethercatmcController: setAlarmStatusSeverity on custom parameters

When the MCU is disconnected, set the alarm severity even on custom (output) parameters.
tboegi · Aug 14, 2024 · 5ef41da · 5ef41da
1 parent faebf8c
commit 5ef41da
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/ethercatmcApp/src/ethercatmcController.cpp b/ethercatmcApp/src/ethercatmcController.cpp
@@ -1270,6 +1270,16 @@ void ethercatmcController::setAlarmStatusSeverityAllReadbacks(
       setAlarmStatusSeverityAllAxes(function, status);
     }
   }
+  for (unsigned paramIndex = 0;
+       paramIndex < (sizeof(ctrlLocal.functionFromParamIndex) /
+                     sizeof(ctrlLocal.functionFromParamIndex[0]));
+       paramIndex++) {
+    int function = ctrlLocal.functionFromParamIndex[paramIndex];
+    if (function) {
+      setAlarmStatusSeverityAllAxes(function, status);
+    }
+  }
+
 #ifdef motorMessageTextString
   setAlarmStatusSeverityAllAxes(motorMessageText_, status);
 #endif