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ethercat
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Improved error checking on SDO upload.

This commit is contained in:
Florian Pose 2009-06-15 12:33:48 +00:00
parent db86dd8b22
commit cd480be3a1
1 changed files with 32 additions and 44 deletions
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76
master/fsm_coe.c
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@ -1504,7 +1504,8 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
ec_datagram_t *datagram = fsm->datagram; ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave; ec_slave_t *slave = fsm->slave;
ec_master_t *master = slave->master; ec_master_t *master = slave->master;
uint8_t *data, mbox_prot; uint16_t rec_index;
uint8_t *data, mbox_prot, rec_subindex;
size_t rec_size, data_size; size_t rec_size, data_size;
ec_sdo_request_t *request = fsm->request; ec_sdo_request_t *request = fsm->request;
unsigned int expedited, size_specified; unsigned int expedited, size_specified;
@ -1553,7 +1554,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return; return;
} }
if (rec_size < 3) { if (rec_size < 6) {
fsm->state = ec_fsm_coe_error; fsm->state = ec_fsm_coe_error;
EC_ERR("Received currupted SDO upload response (%u bytes)!\n", rec_size); EC_ERR("Received currupted SDO upload response (%u bytes)!\n", rec_size);
ec_print_data(data, rec_size); ec_print_data(data, rec_size);
@ -1561,7 +1562,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
} }
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request EC_READ_U8(data + 2) >> 5 == 0x4) { // abort SDO transfer request
EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n", EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n",
request->index, request->subindex, slave->ring_position); request->index, request->subindex, slave->ring_position);
if (rec_size >= 10) { if (rec_size >= 10) {
@ -1574,34 +1575,37 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return; return;
} }
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8(data + 2) >> 5 != 0x2) { // upload response
EC_ERR("Received unknown response while uploading SDO 0x%04X:%02X"
" from slave %u.\n", request->index, request->subindex,
slave->ring_position);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
rec_index = EC_READ_U16(data + 3);
rec_subindex = EC_READ_U8(data + 5);
if (rec_index != request->index || rec_subindex != request->subindex) {
EC_ERR("Received upload response for wrong SDO (0x%04X:%02X,"
" requested: 0x%04X:%02X) from slave %u.\n",
rec_index, rec_subindex, request->index, request->subindex,
slave->ring_position);
ec_print_data(data, rec_size);
// check for CoE response again
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_check;
return;
}
// normal or expedited? // normal or expedited?
expedited = EC_READ_U8(data + 2) & 0x02; expedited = EC_READ_U8(data + 2) & 0x02;
if (expedited) { if (expedited) {
if (rec_size < 7) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Received currupted SDO expedited upload"
" response (only %u bytes)!\n", rec_size);
ec_print_data(data, rec_size);
return;
}
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
EC_READ_U16(data + 3) != request->index || // index
EC_READ_U8 (data + 5) != request->subindex) { // subindex
if (fsm->slave->master->debug_level) {
EC_DBG("Invalid SDO upload expedited response at slave %u!\n",
slave->ring_position);
ec_print_data(data, rec_size);
}
// check for CoE response again
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_check;
return;
}
size_specified = EC_READ_U8(data + 2) & 0x01; size_specified = EC_READ_U8(data + 2) & 0x01;
if (size_specified) { if (size_specified) {
fsm->complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2); fsm->complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
@ -1630,22 +1634,6 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return; return;
} }
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
EC_READ_U16(data + 3) != request->index || // index
EC_READ_U8 (data + 5) != request->subindex) { // subindex
if (fsm->slave->master->debug_level) {
EC_DBG("Invalid SDO normal upload response at slave %u!\n",
slave->ring_position);
ec_print_data(data, rec_size);
}
// check for CoE response again
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_check;
return;
}
data_size = rec_size - 10; data_size = rec_size - 10;
fsm->complete_size = EC_READ_U32(data + 6); fsm->complete_size = EC_READ_U32(data + 6);
@ -1862,7 +1850,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
} }
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n", EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n",
request->index, request->subindex, slave->ring_position); request->index, request->subindex, slave->ring_position);
request->abort_code = EC_READ_U32(data + 6); request->abort_code = EC_READ_U32(data + 6);