add userdata to ec_context

weizx208 · Feb 13, 2021 · 59821cb · 59821cb
1 parent 61668c7
commit 59821cb
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Showing 2 changed files with 8 additions and 1 deletion.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,6 +1,10 @@
 cmake_minimum_required(VERSION 2.8.12)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake/Modules")
-project(SOEM C)
+cmake_policy(SET CMP0048 NEW)
+project(SOEM
+    DESCRIPTION "Simple Open EtherCAT Master"
+    VERSION 1.4.0
+    LANGUAGES C)
 
 if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
   # Default to installing in SOEM source directory

diff --git a/soem/ethercatmain.h b/soem/ethercatmain.h
@@ -426,6 +426,9 @@ struct ecx_context
    int            (*EOEhook)(ecx_contextt * context, uint16 slave, void * eoembx);
    /** flag to control legacy automatic state change or manual state change */
    int            manualstatechange;
+   /** userdata, promotes application configuration esp. in EC_VER2 with multiple 
+    * ec_context instances. Note: userdata memory is managed by application, not SOEM */
+   void           *userdata;
 };
 
 #ifdef EC_VER1