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Fix esc_coe Wconversion warnings 

- make "size" variables not reflecting hardware or protocol
  uint32_t.

- change size_t to uint32_t to avoid conversion when compiling
  on x64

- add excplcit typecaste for uint8_t and uint16_t that need it
  due to integer promotion

- split assignment using macros and bitwise operations to avoid
  imlicit conversion and need of explicit conversion.

- add excplicit typecast to htoe MACROs
pull/149/head
Andreas Karlsson 2023-03-16 16:44:40 +01:00
parent d22277f4a5
commit f63bca476d
4 changed files with 84 additions and 74 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
soes/esc.h
View File

@ -210,9 +210,9 @@
#define MBXstate_backup 0x05
#define MBXstate_again 0x06
#define COE_DEFAULTLENGTH 0x0a
#define COE_HEADERSIZE 0x0a
#define COE_SEGMENTHEADERSIZE 0x03
#define COE_DEFAULTLENGTH 0x0AU
#define COE_HEADERSIZE 0x0AU
#define COE_SEGMENTHEADERSIZE 0x03U
#define COE_SDOREQUEST 0x02
#define COE_SDORESPONSE 0x03
#define COE_SDOINFORMATION 0x08
@ -467,7 +467,7 @@ typedef struct
uint16_t (*esc_check_dc_handler) (void);
int (*get_device_id) (uint16_t * device_id);
uint8_t MBXrun;
size_t activembxsize;
uint32_t activembxsize;
sm_cfg_t * activemb0;
sm_cfg_t * activemb1;
uint16_t ESC_SM2_sml;
@ -701,11 +701,11 @@ typedef struct
#define ESC_SM3_smc (SM3_smc)
#define ESC_SM3_act (SM3_act)
#define ESC_MBXHSIZE sizeof(_MBXh)
#define ESC_MBXHSIZE ((uint32_t)sizeof(_MBXh))
#define ESC_MBXDSIZE (ESC_MBXSIZE - ESC_MBXHSIZE)
#define ESC_FOEHSIZE sizeof(_FOEh)
#define ESC_FOEHSIZE (uint32_t)sizeof(_FOEh)
#define ESC_FOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_FOEHSIZE))
#define ESC_EOEHSIZE sizeof(_EOEh)
#define ESC_EOEHSIZE ((uint32_t)sizeof(_EOEh))
#define ESC_EOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_EOEHSIZE))
void ESC_config (esc_cfg_t * cfg);

132
soes/esc_coe.c
View File

@ -18,7 +18,7 @@
#include "esc.h"
#include "esc_coe.h"
#define BITS2BYTES(b) ((b + 7) >> 3)
#define BITS2BYTES(b) ((b + 7U) >> 3)
#define BITSPOS2BYTESOFFSET(b) (b >> 3)
/* Fetch value from object dictionary */
@ -48,7 +48,7 @@ typedef enum { UPLOAD, DOWNLOAD } load_t;
* @param[in] subindex = value on sub-index of object we want to locate
* @return local array index if we succeed, -1 if we didn't find the index.
*/
int16_t SDO_findsubindex (int16_t nidx, uint8_t subindex)
int16_t SDO_findsubindex (int32_t nidx, uint8_t subindex)
{
const _objd *objd;
int16_t n = 0;
@ -118,9 +118,10 @@ int32_t SDO_findobject (uint16_t index)
uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * mappings,
int max_mappings)
{
uint16_t offset = 0, hobj;
uint32_t offset = 0;
uint16_t hobj;
uint8_t si, sic, c;
int16_t nidx;
int32_t nidx;
const _objd *objd;
const _objd *objd1c1x;
int mapIx = 0;
@ -159,7 +160,7 @@ uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * mappings,
if (max_mappings > 0)
{
uint16_t index = value >> 16;
uint16_t index = (uint16_t)(value >> 16);
uint8_t subindex = (value >> 8) & 0xFF;
const _objd * mapping;
@ -230,7 +231,7 @@ uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * mappings,
*nmappings = 0;
}
return BITS2BYTES (offset);
return BITS2BYTES (offset) & 0xFFFF;
}
/** Copy to mailbox.
@ -239,7 +240,7 @@ uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * mappings,
* @param[in] dest = pointer to destination
* @param[in] size = Size to copy
*/
static void copy2mbx (void *source, void *dest, uint16_t size)
static void copy2mbx (void *source, void *dest, size_t size)
{
memcpy (dest, source, size);
}
@ -297,7 +298,8 @@ static void SDO_upload (void)
_COEsdo *coesdo, *coeres;
uint16_t index;
uint8_t subindex;
int16_t nidx, nsub;
int32_t nidx;
int32_t nsub;
uint8_t MBXout;
uint32_t size;
uint8_t dss;
@ -345,14 +347,14 @@ static void SDO_upload (void)
}
coeres->index = htoes (index);
coeres->subindex = subindex;
coeres->command = COE_COMMAND_UPLOADRESPONSE +
coeres->command = COE_COMMAND_UPLOADRESPONSE |
COE_SIZE_INDICATOR;
/* convert bits to bytes */
size = BITS2BYTES(size);
if (size <= 4)
{
/* expedited response i.e. length<=4 bytes */
coeres->command += COE_EXPEDITED_INDICATOR + dss;
coeres->command |= (COE_EXPEDITED_INDICATOR | dss);
void *dataptr = ((objd + nsub)->data) ?
(objd + nsub)->data : (void *)&((objd + nsub)->value);
abort = ESC_upload_pre_objecthandler (index, subindex,
@ -440,7 +442,7 @@ static void SDO_upload (void)
}
static uint32_t complete_access_get_variables(_COEsdo *coesdo, uint16_t *index,
uint8_t *subindex, int16_t *nidx,
uint8_t *subindex, int32_t *nidx,
int16_t *nsub)
{
*index = etohs (coesdo->index);
@ -468,11 +470,11 @@ static uint32_t complete_access_get_variables(_COEsdo *coesdo, uint16_t *index,
}
static uint32_t complete_access_subindex_loop(const _objd *objd,
int16_t nidx,
int32_t nidx,
int16_t nsub,
uint8_t *mbxdata,
load_t load_type,
uint16_t max_bytes)
uint32_t max_bytes)
{
/* Objects with dynamic entries cannot be accessed with Complete Access */
if ((objd->datatype == DTYPE_VISIBLE_STRING) ||
@ -504,7 +506,7 @@ static uint32_t complete_access_subindex_loop(const _objd *objd,
if (bitoffset != 0)
{
/* move on to next byte boundary */
size += (8 - bitoffset);
size += (8U - bitoffset);
}
if (mbxdata != NULL)
{
@ -533,19 +535,21 @@ static uint32_t complete_access_subindex_loop(const _objd *objd,
else if ((load_type == UPLOAD) && (mbxdata != NULL))
{
/* copy a bit data type into correct position */
uint8_t bitmask = (1 << bitlen) - 1;
uint32_t bitmask = (1U << bitlen) - 1U;
uint32_t tempmask;
if (READ_ACCESS(access, state))
{
if (bitoffset == 0)
{
mbxdata[BITSPOS2BYTESOFFSET(size)] = 0;
}
mbxdata[BITSPOS2BYTESOFFSET(size)] |=
(*(uint8_t *)ul_source & bitmask) << bitoffset;
tempmask = (*(uint8_t *)ul_source & bitmask) << bitoffset;
mbxdata[BITSPOS2BYTESOFFSET(size)] |= (uint8_t)tempmask;
}
else
{
mbxdata[BITSPOS2BYTESOFFSET(size)] &= ~(bitmask << bitoffset);
tempmask = ~(bitmask << bitoffset);
mbxdata[BITSPOS2BYTESOFFSET(size)] &= (uint8_t)tempmask;
}
}
@ -586,7 +590,8 @@ static void SDO_upload_complete_access (void)
_COEsdo *coesdo = (_COEsdo *) &MBX[0];
uint16_t index;
uint8_t subindex;
int16_t nidx, nsub;
int32_t nidx;
int16_t nsub;
uint32_t abortcode = complete_access_get_variables
(coesdo, &index, &subindex, &nidx, &nsub);
if (abortcode != 0)
@ -611,7 +616,7 @@ static void SDO_upload_complete_access (void)
uint32_t size = complete_access_subindex_loop(objd, nidx, nsub, NULL, UPLOAD, 0);
/* expedited bits used calculation */
uint8_t dss = (size > 24) ? 0 : (4 * (3 - ((size - 1) >> 3)));
uint8_t dss = (size > 24) ? 0 : (uint8_t)(4U * (3U - ((size - 1U) >> 3)));
/* convert bits to bytes */
size = BITS2BYTES(size);
@ -709,7 +714,7 @@ static void SDO_uploadsegment (void)
coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE];
offset = ESCvar.fragsleft;
size = ESCvar.frags - ESCvar.fragsleft;
uint8_t command = COE_COMMAND_UPLOADSEGMENT +
uint8_t command = COE_COMMAND_UPLOADSEGMENT |
(coesdo->command & COE_TOGGLEBIT); /* copy toggle bit */
init_coesdo(coeres, COE_SDORESPONSE, command,
coesdo->index, coesdo->subindex);
@ -728,14 +733,14 @@ static void SDO_uploadsegment (void)
ESCvar.segmented = 0;
ESCvar.frags = 0;
ESCvar.fragsleft = 0;
coeres->command += COE_COMMAND_LASTSEGMENTBIT;
coeres->command |= COE_COMMAND_LASTSEGMENTBIT;
if (size >= 7)
{
coeres->mbxheader.length = htoes (COE_SEGMENTHEADERSIZE + size);
}
else
{
coeres->command += (7 - size) << 1;
coeres->command |= (uint8_t)((7U - size) << 1);
coeres->mbxheader.length = htoes (COE_DEFAULTLENGTH);
}
}
@ -768,9 +773,10 @@ static void SDO_download (void)
_COEsdo *coesdo, *coeres;
uint16_t index;
uint8_t subindex;
int16_t nidx, nsub;
int32_t nidx;
int16_t nsub;
uint8_t MBXout;
uint16_t size, actsize;
uint32_t size, actsize;
const _objd *objd;
uint32_t *mbxdata;
uint32_t abort;
@ -792,7 +798,7 @@ static void SDO_download (void)
/* expedited? */
if (coesdo->command & COE_EXPEDITED_INDICATOR)
{
size = 4 - ((coesdo->command & 0x0c) >> 2);
size = 4U - ((coesdo->command & 0x0CU) >> 2);
mbxdata = &(coesdo->size);
}
else
@ -914,7 +920,8 @@ static void SDO_download_complete_access (void)
_COEsdo *coesdo = (_COEsdo *) &MBX[0];
uint16_t index;
uint8_t subindex;
int16_t nidx, nsub;
int32_t nidx;
int16_t nsub;
uint32_t abortcode = complete_access_get_variables
(coesdo, &index, &subindex, &nidx, &nsub);
if (abortcode != 0)
@ -929,7 +936,7 @@ static void SDO_download_complete_access (void)
if (coesdo->command & COE_EXPEDITED_INDICATOR)
{
/* expedited download */
bytes = 4 - ((coesdo->command & 0x0c) >> 2);
bytes = 4U - ((coesdo->command & 0x0CU) >> 2);
}
else
{
@ -1030,13 +1037,14 @@ static void SDO_downloadsegment (void)
if (MBXout)
{
_COEsdo *coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE];
uint32_t size = coesdo->mbxheader.length - 3;
uint32_t size = coesdo->mbxheader.length - 3U;
if (size == 7)
{
size = 7 - ((coesdo->command >> 1) & 7);
}
uint8_t command = COE_COMMAND_DOWNLOADSEGRESP +
(coesdo->command & COE_TOGGLEBIT); /* copy toggle bit */
uint8_t command = COE_COMMAND_DOWNLOADSEGRESP;
uint8_t command2 = (coesdo->command & COE_TOGGLEBIT); /* copy toggle bit */
command |= command2;
init_coesdo(coeres, COE_SDORESPONSE, command, 0, 0);
void *mbxdata = &(coesdo->index); /* data pointer */
@ -1046,7 +1054,8 @@ static void SDO_downloadsegment (void)
{
if(ESCvar.flags == COMPLETE_ACCESS_FLAG)
{
int16_t nidx, nsub;
int32_t nidx;
int16_t nsub;
if(ESCvar.frags > ESCvar.fragsleft + size)
{
@ -1112,7 +1121,7 @@ static void SDO_infoerror (uint32_t abortcode)
if (MBXout)
{
coeres = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE];
coeres->mbxheader.length = htoes ((uint16_t) COE_HEADERSIZE);
coeres->mbxheader.length = htoes (COE_HEADERSIZE);
coeres->mbxheader.mbxtype = MBXCOE;
coeres->coeheader.numberservice =
htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12));
@ -1129,14 +1138,14 @@ static void SDO_infoerror (uint32_t abortcode)
}
}
#define ODLISTSIZE ((ESC_MBX1_sml - ESC_MBXHSIZE - sizeof(_COEh) - sizeof(_INFOh) - 2) & 0xfffe)
#define ODLISTSIZE ((uint32_t)(ESC_MBX1_sml - ESC_MBXHSIZE - sizeof(_COEh) - sizeof(_INFOh) - 2U) & 0xfffe)
/** Function for handling incoming requested SDO Get OD List, validating the
* request and sending an response. On error an SDO Info Error will be sent.
*/
static void SDO_getodlist (void)
{
uint16_t frags;
uint32_t frags;
uint8_t MBXout = 0;
uint16_t entries = 0;
uint16_t i, n;
@ -1148,7 +1157,7 @@ static void SDO_getodlist (void)
entries++;
}
ESCvar.entries = entries;
frags = ((entries << 1) + ODLISTSIZE - 1);
frags = ((uint32_t)(entries << 1) + ODLISTSIZE - 1U);
frags /= ODLISTSIZE;
coer = (_COEobjdesc *) &MBX[0];
/* check for unsupported opcodes */
@ -1170,10 +1179,10 @@ static void SDO_getodlist (void)
/* number of objects request */
if (etohs (coer->index) == 0x00)
{
coel->index = htoes ((uint16_t) 0x00);
coel->index = htoes (0x00);
coel->infoheader.incomplete = 0;
coel->infoheader.reserved = 0x00;
coel->infoheader.fragmentsleft = htoes ((uint16_t) 0);
coel->infoheader.fragmentsleft = htoes (0);
MBXcontrol[0].state = MBXstate_idle;
ESCvar.xoe = 0;
ESCvar.frags = frags;
@ -1210,7 +1219,7 @@ static void SDO_getodlist (void)
ESCvar.frags = frags;
ESCvar.fragsleft = frags - 1;
coel->infoheader.fragmentsleft = htoes (ESCvar.fragsleft);
coel->index = htoes ((uint16_t) 0x01);
coel->index = htoes (0x01);
p = &(coel->datatype);
for (i = 0; i < n; i++)
@ -1240,13 +1249,13 @@ static void SDO_getodlistcont (void)
coel = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE];
coel->mbxheader.mbxtype = MBXCOE;
coel->coeheader.numberservice =
htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12));
htoes (COE_SDOINFORMATION << 12);
coel->infoheader.opcode = COE_GETODLISTRESPONSE;
s = (ESCvar.frags - ESCvar.fragsleft) * (ODLISTSIZE >> 1);
s = (uint16_t)((ESCvar.frags - ESCvar.fragsleft) * (ODLISTSIZE >> 1));
if (ESCvar.fragsleft > 1)
{
coel->infoheader.incomplete = 1;
n = s + (ODLISTSIZE >> 1);
n = (uint16_t)(s + (ODLISTSIZE >> 1));
}
else
{
@ -1257,7 +1266,7 @@ static void SDO_getodlistcont (void)
}
coel->infoheader.reserved = 0x00;
ESCvar.fragsleft--;
coel->infoheader.fragmentsleft = htoes (ESCvar.fragsleft);
coel->infoheader.fragmentsleft = htoes ((uint16_t)ESCvar.fragsleft);
/* pointer 2 bytes back to exclude index */
p = &(coel->index);
for (i = s; i < n; i++)
@ -1294,7 +1303,7 @@ static void SDO_getod (void)
coel = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE];
coel->mbxheader.mbxtype = MBXCOE;
coel->coeheader.numberservice =
htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12));
htoes (COE_SDOINFORMATION << 12);
coel->infoheader.opcode = COE_GETODRESPONSE;
coel->infoheader.incomplete = 0;
coel->infoheader.reserved = 0x00;
@ -1312,14 +1321,14 @@ static 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].objdesc->value;
coel->maxsub = (uint8_t)SDOobjects[nidx].objdesc->value;
}
else
{
coel->datatype = htoes (0);
coel->maxsub = SDOobjects[nidx].objdesc->value;
coel->maxsub = (uint8_t)SDOobjects[nidx].objdesc->value;
}
coel->objectcode = SDOobjects[nidx].objtype;
coel->objectcode = (uint8_t)SDOobjects[nidx].objtype;
s = (uint8_t *) SDOobjects[nidx].name;
d = (uint8_t *) &(coel->name);
while (*s && (n < (ESC_MBXDSIZE - 0x0c)))
@ -1330,7 +1339,7 @@ static void SDO_getod (void)
d++;
}
*d = *s;
coel->mbxheader.length = htoes ((uint16_t) 0x0c + n);
coel->mbxheader.length = htoes (0x0C + n);
MBXcontrol[MBXout].state = MBXstate_outreq;
MBXcontrol[0].state = MBXstate_idle;
ESCvar.xoe = 0;
@ -1350,7 +1359,8 @@ static void SDO_geted (void)
{
uint8_t MBXout;
uint16_t index;
int32_t nidx, nsub;
int32_t nidx;
int16_t nsub;
uint8_t subindex;
uint8_t *d;
const uint8_t *s;
@ -1377,7 +1387,7 @@ static void SDO_geted (void)
coel->infoheader.opcode = COE_ENTRYDESCRIPTIONRESPONSE;
coel->infoheader.incomplete = 0;
coel->infoheader.reserved = 0x00;
coel->infoheader.fragmentsleft = htoes ((uint16_t) 0);
coel->infoheader.fragmentsleft = htoes (0);
coel->index = htoes (index);
coel->subindex = subindex;
coel->valueinfo = COE_VALUEINFO_ACCESS +
@ -1395,7 +1405,7 @@ static void SDO_geted (void)
d++;
}
*d = *s;
coel->mbxheader.length = htoes ((uint16_t) 0x10 + n);
coel->mbxheader.length = htoes (0x10 + n);
MBXcontrol[MBXout].state = MBXstate_outreq;
MBXcontrol[0].state = MBXstate_idle;
ESCvar.xoe = 0;
@ -1421,7 +1431,7 @@ void ESC_coeprocess (void)
_MBXh *mbh;
_COEsdo *coesdo;
_COEobjdesc *coeobjdesc;
uint8_t service;
uint16_t service;
if (ESCvar.MBXrun == 0)
{
return;
@ -1548,10 +1558,10 @@ void ESC_coeprocess (void)
* @param[in] length = number of bits to get
* @return bitslice value
*/
static uint64_t COE_bitsliceGet (uint64_t * bitmap, int offset, int length)
static uint64_t COE_bitsliceGet (uint64_t * bitmap, unsigned int offset, unsigned int length)
{
const int word_offset = offset / 64;
const int bit_offset = offset % 64;
const unsigned int word_offset = offset / 64;
const unsigned int bit_offset = offset % 64;
const uint64_t mask = (length == 64) ? UINT64_MAX : (1ULL << length) - 1;
uint64_t w0;
uint64_t w1 = 0;
@ -1581,11 +1591,11 @@ static uint64_t COE_bitsliceGet (uint64_t * bitmap, int offset, int length)
* @param[in] length = number of bits to set
* @param[in] value = value to set
*/
static void COE_bitsliceSet (uint64_t * bitmap, int offset, int length,
static void COE_bitsliceSet (uint64_t * bitmap, unsigned int offset, unsigned int length,
uint64_t value)
{
const int word_offset = offset / 64;
const int bit_offset = offset % 64;
const unsigned int word_offset = offset / 64;
const unsigned int bit_offset = offset % 64;
const uint64_t mask = (length == 64) ? UINT64_MAX : (1ULL << length) - 1;
const uint64_t mask0 = mask << bit_offset;
uint64_t v0 = value << bit_offset;
@ -1778,7 +1788,7 @@ void COE_pdoPack (uint8_t * buffer, int nmappings, _SMmap * mappings)
for (ix = 0; ix < nmappings; ix++)
{
const _objd * obj = mappings[ix].obj;
uint16_t offset = mappings[ix].offset;
uint32_t offset = mappings[ix].offset;
if (obj != NULL)
{
@ -1825,7 +1835,7 @@ void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * mappings)
for (ix = 0; ix < nmappings; ix++)
{
const _objd * obj = mappings[ix].obj;
uint16_t offset = mappings[ix].offset;
uint32_t offset = mappings[ix].offset;
if (obj != NULL)
{
@ -1860,7 +1870,7 @@ void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * mappings)
*/
uint8_t COE_maxSub (uint16_t index)
{
int nidx;
int32_t nidx;
uint8_t maxsub;
nidx = SDO_findobject (index);

4
soes/esc_coe.h
View File

@ -41,7 +41,7 @@ typedef struct
{
const _objd * obj;
const _objectlist * objectlistitem;
uint16_t offset;
uint32_t offset;
} _SMmap;
#define OBJH_READ 0
@ -112,7 +112,7 @@ typedef struct
#define COMPLETE_ACCESS_FLAG (1 << 15)
void ESC_coeprocess (void);
int16_t SDO_findsubindex (int16_t nidx, uint8_t subindex);
int16_t SDO_findsubindex (int32_t nidx, uint8_t subindex);
int32_t SDO_findobject (uint16_t index);
uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * sm, int max_mappings);
void COE_initDefaultValues (void);

8
soes/include/sys/gcc/cc.h
View File

@ -54,11 +54,11 @@ extern "C"
#define CC_ATOMIC_OR(var,val) __atomic_or_fetch(&var,val,__ATOMIC_SEQ_CST)
#if BYTE_ORDER == BIG_ENDIAN
#define htoes(x) CC_SWAP16 (x)
#define htoel(x) CC_SWAP32 (x)
#define htoes(x) CC_SWAP16 ((uint16_t)(x))
#define htoel(x) CC_SWAP32 ((uint32_t)(x))
#else
#define htoes(x) (x)
#define htoel(x) (x)
#define htoes(x) ((uint16_t)(x))
#define htoel(x) ((uint32_t)(x))
#endif
#define etohs(x) htoes (x)