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merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.

This commit is contained in:
Florian Pose 2009-01-26 14:13:50 +00:00
parent 40ee89a77f
commit 75992b9aa4
2 changed files with 31 additions and 17 deletions
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47
master/fsm_coe.c
View File

@ -1493,7 +1493,6 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
uint8_t *data, mbox_prot;
size_t rec_size, data_size;
ec_sdo_request_t *request = fsm->request;
uint32_t complete_size;
unsigned int expedited, size_specified;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
@ -1591,12 +1590,12 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
size_specified = EC_READ_U8(data + 2) & 0x01;
if (size_specified) {
complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
fsm->complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
} else {
complete_size = 4;
fsm->complete_size = 4;
}
if (rec_size < 6 + complete_size) {
if (rec_size < 6 + fsm->complete_size) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Received currupted SDO expedited upload"
" response (only %u bytes)!\n", rec_size);
@ -1604,7 +1603,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
if (ec_sdo_request_copy_data(request, data + 6, complete_size)) {
if (ec_sdo_request_copy_data(request, data + 6, fsm->complete_size)) {
fsm->state = ec_fsm_coe_error;
return;
}
@ -1634,16 +1633,16 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
data_size = rec_size - 10;
complete_size = EC_READ_U32(data + 6);
fsm->complete_size = EC_READ_U32(data + 6);
if (!complete_size) {
if (!fsm->complete_size) {
fsm->state = ec_fsm_coe_error;
EC_ERR("No complete size supplied!\n");
ec_print_data(data, rec_size);
return;
}
if (ec_sdo_request_alloc(request, complete_size)) {
if (ec_sdo_request_alloc(request, fsm->complete_size)) {
fsm->state = ec_fsm_coe_error;
return;
}
@ -1655,9 +1654,10 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
fsm->toggle = 0;
if (data_size < complete_size) {
EC_WARN("SDO data incomplete (%u / %u).\n",
data_size, complete_size);
if (data_size < fsm->complete_size) {
if (master->debug_level)
EC_DBG("SDO data incomplete (%u / %u). Segmenting...\n",
data_size, fsm->complete_size);
data = ec_slave_mbox_prepare_send(slave, datagram,
0x03, 3);
@ -1783,7 +1783,6 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
/**
CoE state: UP RESPONSE.
\todo Timeout behavior
\todo Check for \a data_size exceeding \a complete_size.
*/
void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
@ -1874,12 +1873,19 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
last_segment = EC_READ_U8(data + 2) & 0x01;
seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
data_size = rec_size - 10;
if (rec_size > 10) {
data_size = rec_size - 10;
} else { // == 10
/* seg_size contains the number of trailing bytes to ignore. */
data_size = rec_size - seg_size;
}
if (data_size != seg_size) {
EC_WARN("SDO segment data invalid (%u / %u)"
" - Fragmenting not implemented.\n",
data_size, seg_size);
if (request->data_size + data_size > fsm->complete_size) {
EC_ERR("SDO upload 0x%04X:%02X failed on slave %u: Fragment"
" exceeding complete size!\n",
request->index, request->subindex, slave->ring_position);
fsm->state = ec_fsm_coe_error;
return;
}
memcpy(request->data + request->data_size, data + 10, data_size);
@ -1908,6 +1914,13 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
if (request->data_size != fsm->complete_size) {
EC_WARN("SDO upload 0x%04X:%02X on slave %u: Assembled data"
" size (%u) does not match complete size (%u)!\n",
request->index, request->subindex, slave->ring_position,
request->data_size, fsm->complete_size);
}
if (master->debug_level) {
EC_DBG("Uploaded data:\n");
ec_print_data(request->data, request->data_size);

1
master/fsm_coe.h
View File

@ -56,6 +56,7 @@ struct ec_fsm_coe {
ec_sdo_t *sdo; /**< current SDO */
uint8_t subindex; /**< current subindex */
ec_sdo_request_t *request; /**< SDO request */
uint32_t complete_size; /**< Used when segmenting. */
uint8_t toggle; /**< toggle bit for segment commands */
};