Fix some issues and enable ARM architecture build

init_solution.ps1

@@ -1,45 +1,154 @@
 Write-Host "Updating Git submodule."
 git submodule update --init --recursive --quiet
 
-# x86
-Write-Host "Creating native x86 project."
-$path = "$($PSScriptRoot)/artifacts/bin32"
-New-Item -Force -ItemType directory -Path $path
+# load .NET types
+$RType = [type]::GetType('System.Runtime.InteropServices.RuntimeInformation, System.Runtime.InteropServices.RuntimeInformation')
+$PType = [type]::GetType('System.Runtime.InteropServices.OSPlatform, System.Runtime.InteropServices.RuntimeInformation')
+
+try
+{
+    if (-not $RType -or -not $PType) { throw }
+
+    $R = $RType
+    $P = $PType
+
+    $mWindows = $R::IsOSPlatform($P::Windows)
+    $mLinux   = $R::IsOSPlatform($P::Linux)
+    $mMacOS   = $R::IsOSPlatform($P::OSX)
+}
+catch
+{
+    # fallback for Windows PowerShell 5.1 oder missing types
+    $mWindows = $env:OS -eq 'Windows_NT'
+    $mLinux   = $false
+    $mMacOS   = $false
+}
+
+Write-Host "Windows: $mWindows, Linux: $mLinux, macOS: $mMacOS"
+
+# detect architecture once
+# try .NET Core API first (PowerShell Core on Linux/macOS)
+$type = [type]::GetType('System.Runtime.InteropServices.RuntimeInformation, System.Runtime.InteropServices.RuntimeInformation')
+
+if ($type)
+{
+    # RuntimeInformation exists
+    $arch = [System.Runtime.InteropServices.RuntimeInformation]::ProcessArchitecture.ToString()
+}
+else
+{
+    # Fallback for Windows PowerShell / older .NET
+    switch ($env:PROCESSOR_ARCHITECTURE) {
+        'AMD64' { $arch = 'X64'    }
+        'x86'   { $arch = 'X86'    }
+        'ARM64' { $arch = 'Arm64'  }
+        'ARM'   { $arch = 'Arm'    }
+        default { $arch = $env:PROCESSOR_ARCHITECTURE }
+    }
+}
+
+Write-Host "Detected architecture: $arch"
+
+# x86 / arm
+if ($arch -like 'Arm*')
+{
+    Write-Host "Creating native arm project."
+    $path = "$($PSScriptRoot)/artifacts/arm32"
+} else
+{
+    Write-Host "Creating native x86 project."
+    $path = "$($PSScriptRoot)/artifacts/bin32"
+}
+
+New-Item -Force -ItemType Directory -Path $path | Out-Null
 Set-Location -Path $path
 
-if ($IsWindows)
+if ($mWindows)
 {
-	cmake ./../../native -DCMAKE_CONFIGURATION_TYPES:STRING="Debug;Release" -G "Visual Studio 16 2019" -A "Win32"
+	cmake ./../../native `
+        -DCMAKE_CONFIGURATION_TYPES:STRING="Debug;Release" `
+        -G "Visual Studio 16 2019" `
+        -A "Win32"
 }
-elseif ($IsLinux)
+elseif ($mLinux)
 {
-    cmake ./../../native -DCMAKE_BUILD_TYPE=Release -DCMAKE_C_FLAGS=-m32 -DCMAKE_CXX_FLAGS=-m32 -DCMAKE_TRY_COMPILE_TARGET_TYPE=STATIC_LIBRARY
+    if ($arch -like 'Arm*')
+    {
+        # For 32-bit ARM, install the following compilers:
+        # sudo apt-get install gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
+
+        cmake ./../../native `
+            -DCMAKE_C_COMPILER=arm-linux-gnueabihf-gcc `
+            -DCMAKE_CXX_COMPILER=arm-linux-gnueabihf-g++ `
+            -DCMAKE_BUILD_TYPE=Release `
+            -DCMAKE_C_FLAGS='-Wno-error=stringop-overflow -Wno-stringop-overflow' `
+            -DCMAKE_CXX_FLAGS='-Wno-error=stringop-overflow -Wno-stringop-overflow'
+    }
+    else
+    {
+        cmake ./../../native `
+            -DCMAKE_BUILD_TYPE=Release `
+            -DCMAKE_C_FLAGS=-m32 `
+            -DCMAKE_CXX_FLAGS=-m32 `
+            -DCMAKE_TRY_COMPILE_TARGET_TYPE=STATIC_LIBRARY
+    }
 }
-elseif ($IsMacOS)
+elseif ($mMacOS)
 {
     # The i386 architecture is deprecated for macOS
     throw [System.PlatformNotSupportedException]
 }
-else 
+else
 {
     throw [System.PlatformNotSupportedException]
 }
 
-# x64
-Write-Host "Creating native x64 project."
-$path = "$($PSScriptRoot)/artifacts/bin64"
+# x64 / arm4
+if ($arch -like 'Arm*')
+{
+    Write-Host "Creating native arm64 project."
+    $path = "$($PSScriptRoot)/artifacts/arm64"
+} else
+{
+    Write-Host "Creating native x64 project."
+    $path = "$($PSScriptRoot)/artifacts/bin64"
+}
+
 New-Item -Force -ItemType directory -Path $path
 Set-Location -Path $path
 
-if ($IsWindows)
+if ($mWindows)
+{
+	cmake ./../../native `
+        -DCMAKE_CONFIGURATION_TYPES:STRING="Debug;Release" `
+        -G "Visual Studio 16 2019" `
+        -A "x64"
+}
+elseif ($mLinux)
 {
-	cmake ./../../native -DCMAKE_CONFIGURATION_TYPES:STRING="Debug;Release" -G "Visual Studio 16 2019" -A "x64"
+    if ($arch -like 'Arm*')
+    {
+        cmake ./../../native `
+            -DCMAKE_BUILD_TYPE=Release `
+            -DCMAKE_C_FLAGS='-Wno-error=stringop-overflow -Wno-stringop-overflow' `
+            -DCMAKE_CXX_FLAGS='-Wno-error=stringop-overflow -Wno-stringop-overflow'
+    }
+    else
+    {
+        cmake ./../../native `
+            -DCMAKE_BUILD_TYPE=Release `
+            -DCMAKE_C_FLAGS=-m64 `
+            -DCMAKE_CXX_FLAGS=-m64
+    }
 }
-elseif ($IsLinux -or $IsMacOS)
+elseif ($mMacOS)
 {
-    cmake ./../../native -DCMAKE_BUILD_TYPE=Release -DCMAKE_C_FLAGS=-m64 -DCMAKE_CXX_FLAGS=-m64
+    cmake ./../../native `
+        -DCMAKE_BUILD_TYPE=Release `
+        -DCMAKE_C_FLAGS=-m64 `
+        -DCMAKE_CXX_FLAGS=-m64
 }
-else 
+else
 {
     throw [System.PlatformNotSupportedException]
 }

native/SOEM_wrapper/serial.c

@@ -108,9 +108,10 @@ static void state_init_enter(struct sm_state_data_t* data);
 static void state_init_run(struct sm_state_data_t* data);
 static void state_idle_run(struct sm_state_data_t* data);
 static void state_receive_run(struct sm_state_data_t* data);
+static void state_receive_accepted(struct sm_state_data_t* data);
 static void state_transmit_run(struct sm_state_data_t* data);
 static void state_wait_transmit_accepted(struct sm_state_data_t* data);
-static void check_requests(struct sm_state_data_t* data);
+static void check_receive_request(struct sm_state_data_t* data);
 
 // Static data containers
 static int _mapping_index[MAX_SLAVES] = { 0 };
@@ -186,7 +187,7 @@ static void init_state_data(struct sm_state_data_t* state)
     state->rx_offset = 0;
     state->rx_updated = false;
     state->next_state = NULL;
-    state->current_state = &state_init_enter;
+    state->current_state = NULL;
     state->initialized = false;
     state->receive_request_bit = 0;
     state->transmit_accepted_bit = 0;
@@ -208,6 +209,7 @@ bool init_serial(uint16_t slave)
         return false;
 
     init_state_data(state);
+    state->current_state = &state_init_enter;
 
     if(state->tx_cache == NULL)
         state->tx_cache = (uint8_t*)malloc(TX_CACHE_SIZE);
@@ -345,8 +347,12 @@ void update_serial(uint16_t slave, uint8_t* tx_data, uint8_t* rx_data)
         state->rx_status = (rx_status_t *)rx_data;
         state->rx_buffer = rx_data + sizeof(uint16_t);
 
-        state->current_state(state);
-        state->current_state = state->next_state;
+        if(state->current_state != NULL)
+        {
+            check_receive_request(state);
+            state->current_state(state);
+            state->current_state = state->next_state;
+        }
     }
 }
 
@@ -355,14 +361,17 @@ void update_serial(uint16_t slave, uint8_t* tx_data, uint8_t* rx_data)
  *
  *  data: Pointer to sm_state_data_t struct.
  */
-static void check_requests(struct sm_state_data_t* data)
+static void check_receive_request(struct sm_state_data_t* data)
 {
-    uint8_t current_receive_request = data->rx_status->receive_request;
-
-    if (current_receive_request != data->receive_request_bit)
+    if(data->initialized)
     {
-        data->receive_request_bit = current_receive_request;
-        data->receive_request = true;
+        const uint8_t current_receive_request = data->rx_status->receive_request;
+
+        if (current_receive_request != data->receive_request_bit)
+        {
+            data->receive_request_bit = current_receive_request;
+            data->receive_request = true;
+        }
     }
 }
 
@@ -397,14 +406,9 @@ static void state_init_run(struct sm_state_data_t* data)
     }
     else if ((data->tx_control->init_request == 0) && (data->rx_status->init_accepted == 0))
     {
+        data->receive_request_bit = data->rx_status->receive_request;
         data->initialized = true;
         data->next_state = &state_idle_run;
-
-        if (data->tx_control->receive_accepted != data->rx_status->receive_request)
-        {
-            data->tx_control->receive_accepted = data->rx_status->receive_request;
-            data->receive_request_bit = data->rx_status->receive_request;
-        }
     }
 }
 
@@ -415,8 +419,6 @@ static void state_init_run(struct sm_state_data_t* data)
  */
 static void state_idle_run(struct sm_state_data_t* data)
 {
-    check_requests(data);
-
     // check if receive request occurred
     if (data->receive_request)
     {
@@ -444,21 +446,31 @@ static void state_receive_run(struct sm_state_data_t* data)
     {
         data->rx_offset = 0;
     }
-    
+
     // receive data
     memcpy(data->rx_cache + data->rx_offset, data->rx_buffer, length);
     data->rx_offset += length;
-    
+
     if(data->rx_callback != NULL)
     {
         data->rx_callback(data->slave, data->rx_buffer, length);
     }
+
+    data->next_state = &state_receive_accepted;
+}
 
+/*
+ *  Receive accepted state function.
+ *
+ *  data: Pointer to sm_state_data_t struct.
+ */
+static void state_receive_accepted(struct sm_state_data_t* data)
+{
+    data->rx_updated = true;
+    data->receive_request = false;
     // toggle accepted bit
     data->tx_control->receive_accepted = !data->tx_control->receive_accepted;
 
-    data->rx_updated = true;
-    data->receive_request = false;
     data->next_state = &state_idle_run;
 }
 

src/EtherCAT.NET/EcMaster.cs

@@ -55,6 +55,9 @@ public class EcMaster : IDisposable
         private Task _watchdogTask;
         private bool _watchDogActive = true;
 
+        // sdo callbacks
+        List<EcHL.PO2SOCallback> _callbacks = new List<EcHL.PO2SOCallback>();
+
         #endregion
 
         #region Constructors
@@ -118,8 +121,6 @@ private void ValidateSlaves(IList<SlaveInfo> slaves, IList<SlaveInfo> actualSlav
 
         private void ConfigureSlaves(IList<SlaveInfo> slaves)
         {
-            var callbacks = new List<EcHL.PO2SOCallback>();
-
             foreach (var slave in slaves)
             {
                 // SDO / PDO config / PDO assign
@@ -128,24 +129,22 @@ private void ConfigureSlaves(IList<SlaveInfo> slaves)
 
                 var sdoWriteRequests = slave.GetConfiguration(extensions).ToList();
 
-                EcHL.PO2SOCallback callback = slaveIndex =>
+                if (sdoWriteRequests.Count != 0)
                 {
-                    sdoWriteRequests.ToList().ForEach(sdoWriteRequest =>
+                    EcHL.PO2SOCallback callback = slaveIndex =>
                     {
-                        EcUtilities.CheckErrorCode(this.Context, EcUtilities.SdoWrite(this.Context, slaveIndex, sdoWriteRequest.Index, sdoWriteRequest.SubIndex, sdoWriteRequest.Dataset), nameof(EcHL.SdoWrite));
-                    });
+                        sdoWriteRequests.ToList().ForEach(sdoWriteRequest =>
+                        {
+                            EcUtilities.CheckErrorCode(this.Context, EcUtilities.SdoWrite(this.Context, slaveIndex, sdoWriteRequest.Index, sdoWriteRequest.SubIndex, sdoWriteRequest.Dataset), nameof(EcHL.SdoWrite));
+                        });
 
-                    return 0;
-                };
+                        return 0;
+                    };
 
-                EcHL.RegisterCallback(this.Context, currentSlaveIndex, callback);
-                callbacks.Add(callback);
+                    EcHL.RegisterCallback(this.Context, currentSlaveIndex, callback);
+                    _callbacks.Add(callback);
+                }
             }
-
-            callbacks.ForEach(callback =>
-            {
-                GC.KeepAlive(callback);
-            });
         }
 
         private void ConfigureIoMap(IList<SlaveInfo> slaves)
@@ -741,6 +740,8 @@ protected virtual void Dispose(bool disposing)
                 if (_ioMapPtr != IntPtr.Zero)
                     Marshal.FreeHGlobal(_ioMapPtr);
 
+                _callbacks?.Clear();
+
                 _cts?.Cancel();
 
                 try