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Merge pull request #51 from hefloryd/feature/bugfix 

Minor bugfixes
release-2.x
nakarlsson 2019-04-05 18:58:20 +02:00 committed by GitHub
parent edcce5af0f 0bbc40096a
commit df1ef3f076
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 38 additions and 27 deletions
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2
CMakeLists.txt
View File

@ -7,7 +7,7 @@ project (SOES)
set (SOES_VERSION_MAJOR 2)
set (SOES_VERSION_MINOR 1)
set (SOES_VERSION_PATCH 5)
set (SOES_VERSION_PATCH 6)
# Generate version numbers
configure_file (

2
cmake/Platform/rt-kernel.cmake
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@ -41,7 +41,7 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${MACHINE_FLAGS}" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MACHINE_FLAGS}" CACHE STRING "" FORCE)
# Default libs
set(RTK_LIBS "-l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -lptpd -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lcounter -lc -lm")
set(RTK_LIBS "-l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -lptpd -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lcounter -lc -lm -lshell")
set(CMAKE_CXX_LINK_EXECUTABLE "<CMAKE_CXX_COMPILER> <FLAGS> <CMAKE_CXX_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> -nostartfiles -T${RTK}/bsp/${BSP}/${BSP}.ld -Wl,--start-group <LINK_LIBRARIES> ${RTK_LIBS} -Wl,--end-group")
set(CMAKE_C_LINK_EXECUTABLE "<CMAKE_C_COMPILER> <FLAGS> <CMAKE_C_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> -nostartfiles -T${RTK}/bsp/${BSP}/${BSP}.ld -Wl,--start-group <LINK_LIBRARIES> ${RTK_LIBS} -Wl,--end-group")

6
soes/esc.c
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@ -685,6 +685,12 @@ uint8_t ESC_checkSM23 (uint8_t state)
/* fail state change */
return (ESCpreop | ESCerror);
}
if ((ESC_SM2_sma + (etohs (SM->Length) * 3)) > ESC_SM3_sma)
{
ESCvar.SMtestresult = SMRESULT_ERRSM2;
/* SM2 overlaps SM3, fail state change */
return (ESCpreop | ESCerror);
}
ESC_read (ESCREG_SM3, (void *) &ESCvar.SM[3], sizeof (ESCvar.SM[3]));
SM = (_ESCsm2 *) & ESCvar.SM[3];
if ((etohs (SM->PSA) != ESC_SM3_sma) || (etohs (SM->Length) != ESCvar.ESC_SM3_sml)

16
soes/esc.h
View File

@ -340,8 +340,7 @@ typedef struct CC_PACKED
} _ESCsmCompact;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
typedef struct
{
/* Configuration input is saved so the user variable may go out-of-scope */
int use_interrupt;
@ -390,20 +389,10 @@ typedef struct CC_PACKED
uint16_t frags;
uint16_t fragsleft;
#if defined(EC_LITTLE_ENDIAN)
uint8_t r1:1;
uint8_t toggle:1;
uint8_t r2:6;
#endif
uint8_t toggle;
#if defined(EC_BIG_ENDIAN)
uint8_t r2:6;
uint8_t toggle:1;
uint8_t r1:1;
#endif
uint8_t SMtestresult;
int16_t temp;
uint32_t PrevTime;
_ESCsm SM[4];
/* Volatile since it may be read from ISR */
@ -413,7 +402,6 @@ typedef struct CC_PACKED
volatile int8_t synccounter;
volatile _App App;
} _ESCvar;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED

22
soes/esc_coe.c
View File

@ -466,9 +466,10 @@ void SDO_download (void)
if (nsub >= 0)
{
objd = SDOobjects[nidx].objdesc;
if (((objd + nsub)->access == ATYPE_RW) ||
(((objd + nsub)->access == ATYPE_RWpre)
&& ((ESCvar.ALstatus & 0x0f) == ESCpreop)))
uint8_t access = (objd + nsub)->access & 0x3f;
uint8_t state = ESCvar.ALstatus & 0x0f;
if (access == ATYPE_RW ||
(access == ATYPE_RWpre && state == ESCpreop))
{
/* expedited? */
if (coesdo->command & COE_EXPEDITED_INDICATOR)
@ -513,7 +514,7 @@ void SDO_download (void)
}
else
{
if ((objd + nsub)->access == ATYPE_RWpre)
if (access == ATYPE_RWpre)
{
SDO_abort (index, subindex, ABORT_NOTINTHISSTATE);
}
@ -557,7 +558,8 @@ void SDO_infoerror (uint32_t abortcode)
coeres->infoheader.incomplete = 0;
coeres->infoheader.reserved = 0x00;
coeres->infoheader.fragmentsleft = 0;
coeres->index = htoel (abortcode);
coeres->index = (uint16_t)htoel (abortcode);
coeres->datatype = (uint16_t)(htoel (abortcode) >> 16);
MBXcontrol[MBXout].state = MBXstate_outreq;
MBXcontrol[0].state = MBXstate_idle;
ESCvar.xoe = 0;
@ -741,12 +743,20 @@ void SDO_getod (void)
int32_t nsub = SDO_findsubindex (nidx, 0);
const _objd *objd = SDOobjects[nidx].objdesc;
coel->datatype = htoes ((objd + nsub)->datatype);
coel->maxsub = SDOobjects[nidx].maxsub;
}
else if (SDOobjects[nidx].objtype == OTYPE_ARRAY)
{
int32_t nsub = SDO_findsubindex (nidx, 0);
const _objd *objd = SDOobjects[nidx].objdesc;
coel->datatype = htoes ((objd + nsub)->datatype);
coel->maxsub = SDOobjects[nidx].objdesc->value;
}
else
{
coel->datatype = htoes (0);
coel->maxsub = SDOobjects[nidx].objdesc->value;
}
coel->maxsub = SDOobjects[nidx].maxsub;
coel->objectcode = SDOobjects[nidx].objtype;
s = (uint8_t *) SDOobjects[nidx].name;
d = (uint8_t *) &(coel->name);

10
soes/hal/rt-kernel-twrk60/esc_hw.c
View File

@ -16,6 +16,8 @@
#include <string.h>
#include <gpio.h>
#define MAX_READ_SIZE 128
#define ESC_CMD_READ 0x02
#define ESC_CMD_READWS 0x03
#define ESC_CMD_WRITE 0x04
@ -24,7 +26,7 @@
#define ESC_NEXT 0x00
static int et1100 = -1;
static uint8_t read_termination[MAX(sizeof(Wb), 128)] = { 0 };
static uint8_t read_termination[MAX_READ_SIZE] = { 0 };
#define GPIO_ECAT_RESET 1 /* specific function to hold ESC reset on startup
* when emulating EEPROM
@ -56,7 +58,7 @@ static void esc_address (uint16_t address, uint8_t command)
*/
void ESC_read (uint16_t address, void *buf, uint16_t len)
{
ASSERT(len <= sizeof(read_termination));
ASSERT(len <= MAX_READ_SIZE);
/* Select device. */
spi_select (et1100);
@ -69,7 +71,7 @@ void ESC_read (uint16_t address, void *buf, uint16_t len)
* Read (and write termination bytes).
*/
spi_bidirectionally_transfer (et1100, buf, read_termination +
(sizeof(read_termination) - len), len);
(MAX_READ_SIZE - len), len);
/* Un-select device. */
spi_unselect (et1100);
@ -122,5 +124,5 @@ void ESC_init (const esc_cfg_t * config)
{
const char * spi_name = (char *)config->user_arg;
et1100 = open (spi_name, O_RDWR, 0);
read_termination[sizeof(read_termination) - 1] = 0xFF;
read_termination[MAX_READ_SIZE - 1] = 0xFF;
}

7
soes/include/sys/gcc/cc.h
View File

@ -33,7 +33,11 @@ extern "C"
#define CC_PACKED_END
#define CC_PACKED __attribute__((packed))
#ifdef __rtk__
#define CC_ASSERT(exp) ASSERT (exp)
#else
#define CC_ASSERT(exp) assert (exp)
#endif
#define CC_STATIC_ASSERT(exp) _Static_assert (exp, "")
#define CC_DEPRECATED __attribute__((deprecated))
@ -66,7 +70,8 @@ extern "C"
#endif
#ifdef ESC_DEBUG
#define DPRINT(...) rprintp ("esc_foe: "__VA_ARGS__) /* TODO */
#include <rprint.h>
#define DPRINT(...) rprintp ("soes: "__VA_ARGS__) /* TODO */
#else
#define DPRINT(...)
#endif /* DEBUG */