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ethercat
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Improved checking of EEPROM data while reading.

This commit is contained in:
Florian Pose 2007-09-20 09:12:27 +00:00
parent d7c42088c2
commit 27ebca0d9c
3 changed files with 82 additions and 35 deletions
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64
master/fsm_slave.c
View File

@ -431,7 +431,7 @@ alloc_eeprom:
slave->eeprom_size = 0;
slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
EC_ERR("Failed to allocate EEPROM data for slave %u.\n",
slave->ring_position);
return;
}
@ -453,7 +453,7 @@ alloc_eeprom:
void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state machine */)
{
ec_slave_t *slave = fsm->slave;
uint16_t *cat_word, cat_type, cat_size;
uint16_t *cat_word, cat_type, cat_size, eeprom_word_size = slave->eeprom_size / 2;
if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
@ -467,7 +467,7 @@ void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state ma
// 2 words fetched
if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
if (fsm->sii_offset + 2 <= eeprom_word_size) { // 2 words fit
memcpy(slave->eeprom_data + fsm->sii_offset * 2,
fsm->fsm_sii.value, 4);
}
@ -476,7 +476,7 @@ void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state ma
fsm->fsm_sii.value, 2);
}
if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
if (fsm->sii_offset + 2 < eeprom_word_size) {
// fetch the next 2 words
fsm->sii_offset += 2;
ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
@ -508,39 +508,62 @@ void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state ma
slave->sii_mailbox_protocols =
EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
if (eeprom_word_size < EC_FIRST_EEPROM_CATEGORY_OFFSET + 1) {
EC_ERR("Unexpected end of EEPROM data in slave %u.\n",
slave->ring_position);
goto end;
}
// evaluate category data
cat_word = (uint16_t *) slave->eeprom_data + EC_FIRST_EEPROM_CATEGORY_OFFSET;
cat_word =
(uint16_t *) slave->eeprom_data + EC_FIRST_EEPROM_CATEGORY_OFFSET;
while (EC_READ_U16(cat_word) != 0xFFFF) {
// type and size words must fit
if (cat_word + 2 - (uint16_t *) slave->eeprom_data
> eeprom_word_size) {
EC_ERR("Unexpected end of EEPROM data in slave %u.\n",
slave->ring_position);
goto end;
}
cat_type = EC_READ_U16(cat_word) & 0x7FFF;
cat_size = EC_READ_U16(cat_word + 1);
cat_word += 2;
if (cat_word + cat_size - (uint16_t *) slave->eeprom_data
> eeprom_word_size) {
EC_WARN("Unexpected end of EEPROM data in slave %u.\n",
slave->ring_position);
goto end;
}
switch (cat_type) {
case 0x000A:
if (ec_slave_fetch_sii_strings(
slave, (uint8_t *) (cat_word + 2)))
if (ec_slave_fetch_sii_strings(slave, (uint8_t *) cat_word,
cat_size * 2))
goto end;
break;
case 0x001E:
ec_slave_fetch_sii_general(
slave, (uint8_t *) (cat_word + 2));
if (ec_slave_fetch_sii_general(slave, (uint8_t *) cat_word,
cat_size * 2))
goto end;
break;
case 0x0028:
break;
case 0x0029:
if (ec_slave_fetch_sii_syncs(
slave, (uint8_t *) (cat_word + 2), cat_size))
if (ec_slave_fetch_sii_syncs(slave, (uint8_t *) cat_word,
cat_size * 2))
goto end;
break;
case 0x0032:
if (ec_slave_fetch_sii_pdos(
slave, (uint8_t *) (cat_word + 2),
cat_size, EC_TX_PDO))
if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
cat_size * 2, EC_TX_PDO))
goto end;
break;
case 0x0033:
if (ec_slave_fetch_sii_pdos(
slave, (uint8_t *) (cat_word + 2),
cat_size, EC_RX_PDO))
if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
cat_size * 2, EC_RX_PDO))
goto end;
break;
default:
@ -549,7 +572,12 @@ void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state ma
cat_type, slave->ring_position);
}
cat_word += cat_size + 2;
cat_word += cat_size;
if (cat_word - (uint16_t *) slave->eeprom_data >= eeprom_word_size) {
EC_WARN("Unexpected end of EEPROM data in slave %u.\n",
slave->ring_position);
goto end;
}
}
fsm->state = ec_fsm_slave_state_end;

46
master/slave.c
View File

@ -388,12 +388,14 @@ void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
/**
Fetches data from a STRING category.
\todo range checking
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sii_strings(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data /**< category data */
const uint8_t *data, /**< category data */
size_t data_size /**< number of bytes */
)
{
int i;
@ -444,13 +446,20 @@ out_zero:
\return 0 in case of success, else < 0
*/
void ec_slave_fetch_sii_general(
int ec_slave_fetch_sii_general(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data /**< category data */
const uint8_t *data, /**< category data */
size_t data_size /**< size in bytes */
)
{
unsigned int i;
if (data_size != 32) {
EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",
data_size, slave->ring_position);
return -1;
}
slave->sii_group = ec_slave_sii_string(slave, data[0]);
slave->sii_image = ec_slave_sii_string(slave, data[1]);
slave->sii_order = ec_slave_sii_string(slave, data[2]);
@ -461,6 +470,8 @@ void ec_slave_fetch_sii_general(
(data[4] & (0x03 << (i * 2))) >> (i * 2);
slave->sii_current_on_ebus = EC_READ_S16(data + 0x0C);
return 0;
}
/*****************************************************************************/
@ -473,19 +484,26 @@ void ec_slave_fetch_sii_general(
int ec_slave_fetch_sii_syncs(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t word_count /**< number of words */
size_t data_size /**< number of bytes */
)
{
unsigned int i;
ec_sync_t *sync;
size_t memsize;
// sync manager struct is 4 words long
slave->sii_sync_count = word_count / 4;
// one sync manager struct is 4 words long
if (data_size % 8) {
EC_ERR("Invalid SII sync manager size %u in slave %u.\n",
data_size, slave->ring_position);
return -1;
}
if (!(slave->sii_syncs =
kmalloc(sizeof(ec_sync_t) * slave->sii_sync_count,
GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for sync managers.\n");
slave->sii_sync_count = data_size / 8;
memsize = sizeof(ec_sync_t) * slave->sii_sync_count;
if (!(slave->sii_syncs = kmalloc(memsize, GFP_KERNEL))) {
EC_ERR("Failed to allocate %u bytes for sync managers.\n",
memsize);
slave->sii_sync_count = 0;
return -1;
}
@ -513,7 +531,7 @@ int ec_slave_fetch_sii_syncs(
int ec_slave_fetch_sii_pdos(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t word_count, /**< number of words */
size_t data_size, /**< number of bytes */
ec_pdo_type_t pdo_type /**< PDO type */
)
{
@ -521,7 +539,7 @@ int ec_slave_fetch_sii_pdos(
ec_pdo_entry_t *entry;
unsigned int entry_count, i;
while (word_count >= 4) {
while (data_size >= 8) {
if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate PDO memory.\n");
return -1;
@ -535,7 +553,7 @@ int ec_slave_fetch_sii_pdos(
pdo->name = ec_slave_sii_string(slave, EC_READ_U8(data + 5));
list_add_tail(&pdo->list, &slave->sii_pdos);
word_count -= 4;
data_size -= 8;
data += 8;
for (i = 0; i < entry_count; i++) {
@ -550,7 +568,7 @@ int ec_slave_fetch_sii_pdos(
entry->bit_length = EC_READ_U8(data + 5);
list_add_tail(&entry->list, &pdo->entries);
word_count -= 4;
data_size -= 8;
data += 8;
}

7
master/slave.h
View File

@ -175,8 +175,9 @@ struct ec_slave
struct list_head sdo_dictionary; /**< SDO dictionary list */
struct list_head sdo_confs; /**< list of SDO configurations */
uint8_t sdo_dictionary_fetched; /**< dictionary has been fetched */
uint8_t pdo_mapping_fetched; /**< PDO mapping has been fetched */
unsigned long jiffies_preop; /**< time, the slave went to PREOP */
uint8_t pdo_mapping_fetched; /**< PDO mapping has been fetched */
};
/*****************************************************************************/
@ -195,8 +196,8 @@ void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);
void ec_slave_set_online_state(ec_slave_t *, ec_slave_online_state_t);
// SII categories
int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *);
void ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *);
int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t);
int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t);
int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t);
int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
ec_pdo_type_t);