--- a/master/fsm_slave.c Thu Sep 13 11:08:46 2007 +0000
+++ b/master/fsm_slave.c Wed Oct 03 08:58:01 2007 +0000
@@ -403,14 +403,15 @@
cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
if (cat_type != 0xFFFF) { // not the last category
- fsm->sii_offset += cat_size + 2;
- if (fsm->sii_offset >= EC_MAX_EEPROM_SIZE) {
+ off_t next_offset = 2UL + fsm->sii_offset + cat_size;
+ if (next_offset >= EC_MAX_EEPROM_SIZE) {
EC_WARN("EEPROM size of slave %i exceeds"
- " %i words (0xffff limiter missing?).\n",
+ " %u words (0xffff limiter missing?).\n",
slave->ring_position, EC_MAX_EEPROM_SIZE);
slave->eeprom_size = EC_FIRST_EEPROM_CATEGORY_OFFSET * 2;
goto alloc_eeprom;
}
+ fsm->sii_offset = next_offset;
ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
EC_FSM_SII_NODE);
ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
@@ -421,17 +422,18 @@
alloc_eeprom:
if (slave->eeprom_data) {
- EC_INFO("Freeing old EEPROM data on slave %i...\n",
+ EC_WARN("Freeing old EEPROM data on slave %i...\n",
slave->ring_position);
kfree(slave->eeprom_data);
}
if (!(slave->eeprom_data =
- (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
- slave->ring_position);
+ (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
+ EC_ERR("Failed to allocate %u bytes of EEPROM data for slave %u.\n",
+ slave->eeprom_size, slave->ring_position);
+ slave->eeprom_size = 0;
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
return;
}
@@ -452,7 +454,7 @@
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;
@@ -466,7 +468,7 @@
// 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);
}
@@ -475,7 +477,7 @@
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,
@@ -507,39 +509,65 @@
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:"
+ " First category header missing.\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:"
+ " Category header incomplete.\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:"
+ " Category data incomplete.\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:
@@ -548,7 +576,13 @@
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:"
+ " Next category header missing.\n",
+ slave->ring_position);
+ goto end;
+ }
}
fsm->state = ec_fsm_slave_state_end;
@@ -594,7 +628,8 @@
if (ec_fsm_change_exec(&fsm->fsm_change)) return;
if (!ec_fsm_change_success(&fsm->fsm_change)) {
- slave->error_flag = 1;
+ if (!fsm->fsm_change.spontaneous_change)
+ slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
return;
}
@@ -662,6 +697,7 @@
/*****************************************************************************/
/**
+ * Check for mailbox sync managers to be configured.
*/
void ec_fsm_slave_conf_enter_mbox_sync(
@@ -683,8 +719,11 @@
return;
}
- if (!slave->sii_mailbox_protocols || slave->sii_sync_count < 2) {
- // no mailbox sync managers to be configured
+ if (!slave->sii_mailbox_protocols) {
+ // no mailbox protocols supported
+ if (master->debug_level)
+ EC_DBG("Slave %i does not support mailbox communication.\n",
+ slave->ring_position);
ec_fsm_slave_conf_enter_preop(fsm);
return;
}
@@ -694,14 +733,41 @@
slave->ring_position);
}
- // configure sync managers
- ec_datagram_npwr(datagram, slave->station_address, 0x0800,
- EC_SYNC_SIZE * slave->sii_sync_count);
- memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count);
-
- for (i = 0; i < 2; i++) {
- ec_sync_config(&slave->sii_syncs[i],
- datagram->data + EC_SYNC_SIZE * i);
+ if (slave->sii_sync_count >= 2) {
+ // configure sync managers
+ ec_datagram_npwr(datagram, slave->station_address, 0x0800,
+ EC_SYNC_SIZE * slave->sii_sync_count);
+ memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count);
+
+ for (i = 0; i < 2; i++) {
+ ec_sync_config(&slave->sii_syncs[i],
+ datagram->data + EC_SYNC_SIZE * i);
+ }
+ } else { // no mailbox sync manager configurations provided
+ ec_sync_t sync;
+
+ if (master->debug_level)
+ EC_DBG("Slave %i does not provide"
+ " mailbox sync manager configurations.\n",
+ slave->ring_position);
+
+ ec_datagram_npwr(datagram, slave->station_address, 0x0800,
+ EC_SYNC_SIZE * 2);
+ memset(datagram->data, 0x00, EC_SYNC_SIZE * 2);
+
+ ec_sync_init(&sync, slave, 0);
+ sync.physical_start_address = slave->sii_rx_mailbox_offset;
+ sync.length = slave->sii_rx_mailbox_size;
+ sync.control_register = 0x26;
+ sync.enable = 1;
+ ec_sync_config(&sync, datagram->data + EC_SYNC_SIZE * sync.index);
+
+ ec_sync_init(&sync, slave, 1);
+ sync.physical_start_address = slave->sii_tx_mailbox_offset;
+ sync.length = slave->sii_tx_mailbox_size;
+ sync.control_register = 0x22;
+ sync.enable = 1;
+ ec_sync_config(&sync, datagram->data + EC_SYNC_SIZE * sync.index);
}
fsm->retries = EC_FSM_RETRIES;
@@ -745,6 +811,7 @@
/*****************************************************************************/
/**
+ * Request PREOP state.
*/
void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -768,7 +835,8 @@
if (ec_fsm_change_exec(&fsm->fsm_change)) return;
if (!ec_fsm_change_success(&fsm->fsm_change)) {
- slave->error_flag = 1;
+ if (!fsm->fsm_change.spontaneous_change)
+ slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
return;
}
@@ -795,6 +863,7 @@
/*****************************************************************************/
/**
+ * Check for SDO configurations to be applied.
*/
void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -850,6 +919,7 @@
/*****************************************************************************/
/**
+ * Check for alternative PDO mappings to be applied.
*/
void ec_fsm_slave_conf_enter_mapconf(
@@ -896,6 +966,7 @@
/*****************************************************************************/
/**
+ * Check for PDO sync managers to be configured.
*/
void ec_fsm_slave_conf_enter_pdo_sync(
@@ -928,6 +999,7 @@
/*****************************************************************************/
/**
+ * Configure PDO sync managers.
*/
void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -961,7 +1033,8 @@
/*****************************************************************************/
/**
-*/
+ * Check for FMMUs to be configured.
+ */
void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
{
@@ -1023,6 +1096,7 @@
/*****************************************************************************/
/**
+ * Request SAVEOP state.
*/
void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -1046,7 +1120,8 @@
if (ec_fsm_change_exec(&fsm->fsm_change)) return;
if (!ec_fsm_change_success(&fsm->fsm_change)) {
- fsm->slave->error_flag = 1;
+ if (!fsm->fsm_change.spontaneous_change)
+ fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
return;
}
@@ -1086,7 +1161,8 @@
if (ec_fsm_change_exec(&fsm->fsm_change)) return;
if (!ec_fsm_change_success(&fsm->fsm_change)) {
- slave->error_flag = 1;
+ if (!fsm->fsm_change.spontaneous_change)
+ slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
return;
}