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Endian fixes (OpenEtherCATsociety#222)
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This patch fixes some bugs on big-endian systems.
  - Use temp variables for etohs() and etohl() at function calls to avoid
    multiple function calls for one value.
  - Fix and add use of etohs(), etohl(), htoes() and htoel().
  - Fix use of 32bit values in 64bit variables.
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@Schlumpf @nakarlsson
Schlumpf authored and nakarlsson committed Nov 14, 2018
1 parent 0a67e6b commit 8f2b233
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Showing 3 changed files with 38 additions and 32 deletions.
2 changes: 1 addition & 1 deletion soem/ethercatcoe.c
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Original file line number Diff line number Diff line change
Expand Up @@ -696,7 +696,7 @@ int ecx_readPDOassign(ecx_contextt *context, uint16 Slave, uint16 PDOassign)
/* read PDO assign */
wkc = ecx_SDOread(context, Slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
/* result is index of PDO */
idx = etohl(rdat);
idx = etohs(rdat);
if (idx > 0)
{
rdl = sizeof(subcnt); subcnt = 0;
Expand Down
58 changes: 31 additions & 27 deletions soem/ethercatconfig.c
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Original file line number Diff line number Diff line change
Expand Up @@ -166,8 +166,8 @@ static void ecx_set_slaves_to_default(ecx_contextt *context)
ecx_BWR(context->port, 0x0000, ECT_REG_RXERR , 8 , &zbuf, EC_TIMEOUTRET3); /* reset CRC counters */
ecx_BWR(context->port, 0x0000, ECT_REG_FMMU0 , 16 * 3 , &zbuf, EC_TIMEOUTRET3); /* reset FMMU's */
ecx_BWR(context->port, 0x0000, ECT_REG_SM0 , 8 * 4 , &zbuf, EC_TIMEOUTRET3); /* reset SyncM */
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DCSYNCACT , sizeof(b) , &b, EC_TIMEOUTRET3); /* reset activation register */
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DCSYNCACT , sizeof(b) , &b, EC_TIMEOUTRET3); /* reset activation register */
ecx_BWR(context->port, 0x0000, ECT_REG_DCSYSTIME , 4 , &zbuf, EC_TIMEOUTRET3); /* reset system time+ofs */
w = htoes(0x1000);
ecx_BWR(context->port, 0x0000, ECT_REG_DCSPEEDCNT , sizeof(w) , &w, EC_TIMEOUTRET3); /* DC speedstart */
Expand Down Expand Up @@ -317,6 +317,7 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
uint8 SMc;
uint32 eedat;
int wkc, cindex, nSM;
uint16 val16;

EC_PRINT("ec_config_init %d\n",usetable);
ecx_init_context(context);
Expand All @@ -327,8 +328,8 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
for (slave = 1; slave <= *(context->slavecount); slave++)
{
ADPh = (uint16)(1 - slave);
context->slavelist[slave].Itype =
etohs(ecx_APRDw(context->port, ADPh, ECT_REG_PDICTL, EC_TIMEOUTRET3)); /* read interface type of slave */
val16 = ecx_APRDw(context->port, ADPh, ECT_REG_PDICTL, EC_TIMEOUTRET3); /* read interface type of slave */
context->slavelist[slave].Itype = etohs(val16);
/* a node offset is used to improve readibility of network frames */
/* this has no impact on the number of addressable slaves (auto wrap around) */
ecx_APWRw(context->port, ADPh, ECT_REG_STADR, htoes(slave + EC_NODEOFFSET) , EC_TIMEOUTRET3); /* set node address of slave */
Expand All @@ -341,7 +342,8 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
b = 0; /* pass all frames for following slaves */
}
ecx_APWRw(context->port, ADPh, ECT_REG_DLCTL, htoes(b), EC_TIMEOUTRET3); /* set non ecat frame behaviour */
configadr = etohs(ecx_APRDw(context->port, ADPh, ECT_REG_STADR, EC_TIMEOUTRET3));
configadr = ecx_APRDw(context->port, ADPh, ECT_REG_STADR, EC_TIMEOUTRET3);
configadr = etohs(configadr);
context->slavelist[slave].configadr = configadr;
ecx_FPRD(context->port, configadr, ECT_REG_ALIAS, sizeof(aliasadr), &aliasadr, EC_TIMEOUTRET3);
context->slavelist[slave].aliasadr = etohs(aliasadr);
Expand All @@ -355,27 +357,27 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_man =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* Manuf */
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP); /* Manuf */
context->slavelist[slave].eep_man = etohl(eedat);
ecx_readeeprom1(context, slave, ECT_SII_ID); /* ID */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_id =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* ID */
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP); /* ID */
context->slavelist[slave].eep_id = etohl(eedat);
ecx_readeeprom1(context, slave, ECT_SII_REV); /* revision */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_rev =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* revision */
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP); /* revision */
context->slavelist[slave].eep_rev = etohl(eedat);
ecx_readeeprom1(context, slave, ECT_SII_RXMBXADR); /* write mailbox address + mailboxsize */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
eedat = etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* write mailbox address and mailboxsize */
context->slavelist[slave].mbx_wo = (uint16)LO_WORD(eedat);
context->slavelist[slave].mbx_l = (uint16)HI_WORD(eedat);
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP); /* write mailbox address and mailboxsize */
context->slavelist[slave].mbx_wo = (uint16)LO_WORD(etohl(eedat));
context->slavelist[slave].mbx_l = (uint16)HI_WORD(etohl(eedat));
if (context->slavelist[slave].mbx_l > 0)
{
ecx_readeeprom1(context, slave, ECT_SII_TXMBXADR); /* read mailbox offset */
Expand All @@ -385,25 +387,27 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
{
if (context->slavelist[slave].mbx_l > 0)
{
eedat = etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* read mailbox offset */
context->slavelist[slave].mbx_ro = (uint16)LO_WORD(eedat); /* read mailbox offset */
context->slavelist[slave].mbx_rl = (uint16)HI_WORD(eedat); /*read mailbox length */
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP); /* read mailbox offset */
context->slavelist[slave].mbx_ro = (uint16)LO_WORD(etohl(eedat)); /* read mailbox offset */
context->slavelist[slave].mbx_rl = (uint16)HI_WORD(etohl(eedat)); /*read mailbox length */
if (context->slavelist[slave].mbx_rl == 0)
{
context->slavelist[slave].mbx_rl = context->slavelist[slave].mbx_l;
}
ecx_readeeprom1(context, slave, ECT_SII_MBXPROTO);
}
configadr = context->slavelist[slave].configadr;
if ((etohs(ecx_FPRDw(context->port, configadr, ECT_REG_ESCSUP, EC_TIMEOUTRET3)) & 0x04) > 0) /* Support DC? */
val16 = ecx_FPRDw(context->port, configadr, ECT_REG_ESCSUP, EC_TIMEOUTRET3);
if ((etohs(val16) & 0x04) > 0) /* Support DC? */
{
context->slavelist[slave].hasdc = TRUE;
}
else
{
context->slavelist[slave].hasdc = FALSE;
}
topology = etohs(ecx_FPRDw(context->port, configadr, ECT_REG_DLSTAT, EC_TIMEOUTRET3)); /* extract topology from DL status */
topology = ecx_FPRDw(context->port, configadr, ECT_REG_DLSTAT, EC_TIMEOUTRET3); /* extract topology from DL status */
topology = etohs(topology);
h = 0;
b = 0;
if ((topology & 0x0300) == 0x0200) /* port0 open and communication established */
Expand All @@ -427,8 +431,8 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
b |= 0x08;
}
/* ptype = Physical type*/
context->slavelist[slave].ptype =
LO_BYTE(etohs(ecx_FPRDw(context->port, configadr, ECT_REG_PORTDES, EC_TIMEOUTRET3)));
val16 = ecx_FPRDw(context->port, configadr, ECT_REG_PORTDES, EC_TIMEOUTRET3);
context->slavelist[slave].ptype = LO_BYTE(etohs(val16));
context->slavelist[slave].topology = h;
context->slavelist[slave].activeports = b;
/* 0=no links, not possible */
Expand Down Expand Up @@ -482,8 +486,8 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
context->slavelist[slave].SM[1].StartAddr = htoes(context->slavelist[slave].mbx_ro);
context->slavelist[slave].SM[1].SMlength = htoes(context->slavelist[slave].mbx_rl);
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
context->slavelist[slave].mbx_proto =
ecx_readeeprom2(context, slave, EC_TIMEOUTEEP);
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP);
context->slavelist[slave].mbx_proto = etohl(eedat);
}
cindex = 0;
/* use configuration table ? */
Expand Down Expand Up @@ -1457,13 +1461,13 @@ int ecx_recover_slave(ecx_contextt *context, uint16 slave, int timeout)

/* check if slave is the same as configured before */
if ((ecx_FPRDw(context->port, EC_TEMPNODE, ECT_REG_ALIAS, timeout) ==
context->slavelist[slave].aliasadr) &&
htoes(context->slavelist[slave].aliasadr)) &&
(ecx_readeeprom(context, slave, ECT_SII_ID, EC_TIMEOUTEEP) ==
context->slavelist[slave].eep_id) &&
htoel(context->slavelist[slave].eep_id)) &&
(ecx_readeeprom(context, slave, ECT_SII_MANUF, EC_TIMEOUTEEP) ==
context->slavelist[slave].eep_man) &&
htoel(context->slavelist[slave].eep_man)) &&
(ecx_readeeprom(context, slave, ECT_SII_REV, EC_TIMEOUTEEP) ==
context->slavelist[slave].eep_rev))
htoel(context->slavelist[slave].eep_rev)))
{
rval = ecx_FPWRw(context->port, EC_TEMPNODE, ECT_REG_STADR, htoes(configadr) , timeout);
context->slavelist[slave].configadr = configadr;
Expand Down
10 changes: 6 additions & 4 deletions soem/ethercatmain.c
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Original file line number Diff line number Diff line change
Expand Up @@ -334,7 +334,8 @@ void ecx_close(ecx_contextt *context)
uint8 ecx_siigetbyte(ecx_contextt *context, uint16 slave, uint16 address)
{
uint16 configadr, eadr;
uint64 edat;
uint64 edat64;
uint32 edat32;
uint16 mapw, mapb;
int lp,cnt;
uint8 retval;
Expand All @@ -360,17 +361,18 @@ uint8 ecx_siigetbyte(ecx_contextt *context, uint16 slave, uint16 address)
configadr = context->slavelist[slave].configadr;
ecx_eeprom2master(context, slave); /* set eeprom control to master */
eadr = address >> 1;
edat = ecx_readeepromFP (context, configadr, eadr, EC_TIMEOUTEEP);
edat64 = ecx_readeepromFP (context, configadr, eadr, EC_TIMEOUTEEP);
/* 8 byte response */
if (context->slavelist[slave].eep_8byte)
{
put_unaligned64(edat, &(context->esibuf[eadr << 1]));
put_unaligned64(edat64, &(context->esibuf[eadr << 1]));
cnt = 8;
}
/* 4 byte response */
else
{
put_unaligned32(edat, &(context->esibuf[eadr << 1]));
edat32 = (uint32)edat64;
put_unaligned32(edat32, &(context->esibuf[eadr << 1]));
cnt = 4;
}
/* find bitmap location */
Expand Down

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