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Merge pull request #99 from lrsdnlssn/master 

Fix segmented download using complete access
pull/100/head
nakarlsson 2021-04-06 14:23:36 +02:00 committed by GitHub
parent f244ea522d e40d95cc1e
commit 1f24b72c5c
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 61 additions and 14 deletions
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75
soes/esc_coe.c
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@ -906,7 +906,7 @@ static void SDO_download_complete_access (void)
return;
}
uint16_t bytes;
uint32_t bytes;
uint32_t *mbxdata = &(coesdo->size);
if (coesdo->command & COE_EXPEDITED_INDICATOR)
@ -925,7 +925,8 @@ static void SDO_download_complete_access (void)
/* loop through the subindexes to get the total size */
uint32_t size = complete_access_subindex_loop(objd, nidx, nsub, NULL, DOWNLOAD, 0);
if (BITS2BYTES(size) > 0xffff)
size = BITS2BYTES(size);
if (size > 0xffff)
{
/* 'size' is in this case actually an abort code */
set_state_idle (0, index, subindex, size);
@ -937,7 +938,7 @@ static void SDO_download_complete_access (void)
* But EtherCAT Conformance Test Tool doesn't follow this rule for some test
* cases, which is the reason to here only check for 'less than or equal'.
*/
else if (bytes <= BITS2BYTES(size))
else if (bytes <= size)
{
abortcode = ESC_download_pre_objecthandler(index, subindex, mbxdata,
size, objd->flags | COMPLETE_ACCESS_FLAG);
@ -947,15 +948,41 @@ static void SDO_download_complete_access (void)
return;
}
/* copy download data to subindexes */
complete_access_subindex_loop(objd, nidx, nsub, (uint8_t *)mbxdata, DOWNLOAD, bytes);
abortcode = ESC_download_post_objecthandler(index, subindex,
objd->flags | COMPLETE_ACCESS_FLAG);
if (abortcode != 0)
if ((bytes + COE_HEADERSIZE) > ESC_MBXDSIZE)
{
set_state_idle (0, index, subindex, abortcode);
return;
/* check that download data fits in the preallocated buffer */
if ((bytes + PREALLOC_FACTOR * COE_HEADERSIZE) > PREALLOC_BUFFER_SIZE)
{
set_state_idle(0, index, subindex, ABORT_CA_NOT_SUPPORTED);
return;
}
/* set total size in bytes */
ESCvar.frags = bytes;
/* limit to mailbox size */
size = ESC_MBXDSIZE - COE_HEADERSIZE;
/* number of bytes done */
ESCvar.fragsleft = size;
ESCvar.segmented = MBXSED;
ESCvar.data = ESCvar.mbxdata + size;
ESCvar.index = index;
ESCvar.subindex = subindex;
ESCvar.flags = COMPLETE_ACCESS_FLAG;
/* Store the data */
copy2mbx (mbxdata, ESCvar.mbxdata, size);
}
else
{
ESCvar.segmented = 0;
/* copy download data to subindexes */
complete_access_subindex_loop(objd, nidx, nsub, (uint8_t *)mbxdata, DOWNLOAD, bytes);
abortcode = ESC_download_post_objecthandler(index, subindex,
objd->flags | COMPLETE_ACCESS_FLAG);
if (abortcode != 0)
{
set_state_idle (0, index, subindex, abortcode);
return;
}
}
}
else
@ -1003,9 +1030,29 @@ static void SDO_downloadsegment (void)
/* last segment */
ESCvar.segmented = 0;
/* external object write handler */
uint32_t abort = ESC_download_post_objecthandler
(ESCvar.index, ESCvar.subindex, ESCvar.flags);
if(ESCvar.flags == COMPLETE_ACCESS_FLAG)
{
int16_t nidx;
nidx = SDO_findobject(ESCvar.index);
if (nidx < 0)
{
set_state_idle (0, ESCvar.index, ESCvar.subindex, ABORT_NOOBJECT);
return;
}
/* copy download data to subindexes */
const _objd *objd = SDOobjects[nidx].objdesc;
complete_access_subindex_loop(objd,
ESCvar.index,
ESCvar.subindex,
(uint8_t *)ESCvar.data,
DOWNLOAD,
ESCvar.frags);
}
/* external object write handler */
uint32_t abort = ESC_download_post_objecthandler
(ESCvar.index, ESCvar.subindex, ESCvar.flags);
if (abort != 0)
{
set_state_idle (MBXout, ESCvar.index, ESCvar.subindex, abort);