Merge pull request #106 from hefloryd/master

Bump build platform and fix GCC9 warnings

.github/workflows/build.yml

@@ -4,7 +4,7 @@ env:
   BUILD_TYPE: Release
 jobs:
   build:
-    runs-on: ubuntu-16.04
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
         with:

CMakeLists.txt

@@ -1,7 +1,7 @@
 # CMakeLists files in this project can
 # refer to the root source directory of the project as ${SOES_SOURCE_DIR} and
 # to the root binary directory of the project as ${SOES_BINARY_DIR}.
-cmake_minimum_required (VERSION 2.8.4)
+cmake_minimum_required (VERSION 2.8.12)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
 project (SOES)
 

soes/esc.h

@@ -573,7 +573,7 @@ typedef struct CC_PACKED
 CC_PACKED_END
 
 CC_PACKED_BEGIN
-typedef struct CC_PACKED
+typedef struct CC_PACKED CC_ALIGNED(4)
 {
    _MBXh mbxheader;
    _COEh coeheader;
@@ -585,7 +585,7 @@ typedef struct CC_PACKED
 CC_PACKED_END
 
 CC_PACKED_BEGIN
-typedef struct CC_PACKED
+typedef struct CC_PACKED CC_ALIGNED(4)
 {
    _MBXh mbxheader;
    _COEh coeheader;

soes/esc_coe.c

@@ -1022,8 +1022,8 @@ static void SDO_downloadsegment (void)
             (coesdo->command & COE_TOGGLEBIT);  /* copy toggle bit */
       init_coesdo(coeres, COE_SDORESPONSE, command, 0, 0);
 
-      uint32_t *mbxdata = (uint32_t *)&(coesdo->index);  /* data pointer */
-      copy2mbx (mbxdata, (uint8_t *)ESCvar.data, size);
+      void *mbxdata = &(coesdo->index);  /* data pointer */
+      copy2mbx (mbxdata, ESCvar.data, size);
 
       if (coesdo->command & COE_COMMAND_LASTSEGMENTBIT)
       {

soes/include/sys/gcc/cc.h

@@ -32,6 +32,7 @@ extern "C"
 #define CC_PACKED_BEGIN
 #define CC_PACKED_END
 #define CC_PACKED       __attribute__((packed))
+#define CC_ALIGNED(n)   __attribute__((aligned (n)))
 
 #ifdef __rtk__
 #define CC_ASSERT(exp) ASSERT (exp)