hostmot2: fix input bounds, divisors and PWM clamping

docs/src/man/man3/hm2_bspi_write_chan.3.adoc

@@ -33,7 +33,7 @@ Not available in non-realtime components.
 
 == RETURN VALUE
 
-Returns 0 on success and -1 on failure.
+Returns a positive value on success and -1 on failure.
 
 == SEE ALSO
 

src/hal/drivers/mesa-hostmot2/bspi.c

@@ -121,6 +121,10 @@ int hm2_tram_add_bspi_frame(char *name, int chan, rtapi_u32 **wbuff, rtapi_u32 *
         HM2_ERR_NO_LL("Can not find BSPI instance %s.\n", name);
         return -1;
     }
+    if (chan < 0 || chan > 15) {
+        HM2_ERR("BSPI %s: channel number %i is out of range\n", name, chan);
+        return -1;
+    }
     if (hm2->bspi.instance[i].conf_flag[chan] != true){
         HM2_ERR("The selected write channel (%i) on bspi instance %s.\n" 
                 "Has not been configured.\n", chan, name);
@@ -187,8 +191,9 @@ int hm2_bspi_clear_fifo(char * name)
     }
     rtapi_u32 zero = 0;
     r = hm2->llio->write(hm2->llio, hm2->bspi.instance[i].count_addr, &zero, sizeof(rtapi_u32));
-    if (r < 0) {
+    if (r <= 0) {
         HM2_ERR("BSPI: hm2->llio->write failure %s\n", name);
+        return -1;
     }
 
     return r;
@@ -205,14 +210,19 @@ int hm2_bspi_write_chan(char* name, int chan, rtapi_u32 val)
         HM2_ERR_NO_LL("Can not find BSPI instance %s.\n", name);
         return -1;
     }
+    if (chan < 0 || chan > 15) {
+        HM2_ERR("BSPI %s: channel number %i is out of range\n", name, chan);
+        return -1;
+    }
     if (hm2->bspi.instance[i].conf_flag[chan] != true){
         HM2_ERR("The selected write channel (%i) on bspi instance %s.\n" 
                 "Has not been configured.\n", chan, name);
         return -1;
     }
     r = hm2->llio->write(hm2->llio, hm2->bspi.instance[i].addr[chan], &buff, sizeof(rtapi_u32));
-    if (r < 0) {
+    if (r <= 0) {
         HM2_ERR("BSPI: hm2->llio->write failure %s\n", name);
+        return -1;
     }
 
     return r;
@@ -247,6 +257,10 @@ int hm2_bspi_setup_chan(char *name, int chan, int cs, int bits, double mhz,
                 "BSPI only supports 1-64 bits\n", name, chan, bits);
         return -1;
     }
+    if (mhz <= 0) {
+        HM2_ERR("BSPI %s: clock frequency must be greater than zero\n", name);
+        return -1;
+    }
     if (delay < 0 || delay > 1e6){
         HM2_ERR("The requested frame delay on channel %i of %inS seems "
                 "rather implausible for an SPI device. Exiting.\n", delay, chan);
@@ -388,6 +402,3 @@ void hm2_bspi_write(hostmot2_t *hm2)
 {
     (void)hm2;
 }
-
-
-

src/hal/drivers/mesa-hostmot2/inm.c

@@ -419,11 +419,25 @@ void hm2_inm_force_write(hostmot2_t *hm2) {
     for (i = 0; i < hm2->inm.num_instances; i ++) {
         hm2_inm_instance_t *inst = &hm2->inm.instance[i];
         scanrate = inst->scanwidth * hal_get_ui32(inst->hal.param.scan_rate);
-	if (scanrate > 10000000) {
+        if (scanrate > 10000000) {
             scanrate = 10000000;
 	    hal_set_ui32(inst->hal.param.scan_rate, scanrate/inst->scanwidth);
         }
-        divisor = (hm2->inm.clock_frequency / (4 * scanrate)) - 1;
+        if (scanrate <= 0) {
+            divisor = 1023;
+            // Round up so the normalized rate stays within the divisor limit.
+            hal_set_ui32(inst->hal.param.scan_rate,
+                    (hm2->inm.clock_frequency - 1)
+                    / (4 * (divisor + 1) * inst->scanwidth) + 1);
+        } else {
+            divisor = (hm2->inm.clock_frequency / (4 * scanrate)) - 1;
+            if (divisor > 1023) {
+                divisor = 1023;
+                hal_set_ui32(inst->hal.param.scan_rate,
+                        (hm2->inm.clock_frequency - 1)
+                        / (4 * (divisor + 1) * inst->scanwidth) + 1);
+            }
+        }
         rtapi_u32 fast_scans = hal_get_ui32(inst->hal.param.fast_scans);
 	if (fast_scans > 63) {
             fast_scans = hal_set_ui32(inst->hal.param.fast_scans, 63);
@@ -472,13 +486,24 @@ void hm2_inm_write(hostmot2_t *hm2) {
 	    hal_set_ui32(inst->hal.param.scan_rate, scanrate/inst->scanwidth);
             HM2_ERR("inm %d scanrate too high, resetting to %d \n", i, hal_get_ui32(inst->hal.param.scan_rate));
         }
-        divisor = (hm2->inm.clock_frequency / (4 * scanrate)) - 1;
 //      bound divisor so we dont splatter into other fields
-	if ((divisor > 1023 ) | (scanrate == 0 )) {
+	if (scanrate <= 0) {
             divisor = 1023;
-	    hal_set_ui32(inst->hal.param.scan_rate, (hm2->inm.clock_frequency/4)/(divisor +1)
-            /inst->scanwidth);
+            // Round up so the normalized rate stays within the divisor limit.
+	    hal_set_ui32(inst->hal.param.scan_rate,
+                (hm2->inm.clock_frequency - 1)
+                / (4 * (divisor + 1) * inst->scanwidth) + 1);
             HM2_ERR("inm %d scanrate too low, resetting to %d \n", i, hal_get_ui32(inst->hal.param.scan_rate));
+        } else {
+            divisor = (hm2->inm.clock_frequency / (4 * scanrate)) - 1;
+	    if (divisor > 1023) {
+                divisor = 1023;
+	        hal_set_ui32(inst->hal.param.scan_rate,
+                    (hm2->inm.clock_frequency - 1)
+                    / (4 * (divisor + 1) * inst->scanwidth) + 1);
+                HM2_ERR("inm %d scanrate too low, resetting to %d \n",
+                        i, hal_get_ui32(inst->hal.param.scan_rate));
+            }
         }
         rtapi_u32 fast_scans = hal_get_ui32(inst->hal.param.fast_scans);
 	if (fast_scans > 63) {
@@ -659,4 +684,3 @@ void hm2_inm_print_module(hostmot2_t *hm2) {
 
 
 
-

src/hal/drivers/mesa-hostmot2/inmux.c

@@ -348,7 +348,21 @@ void hm2_inmux_force_write(hostmot2_t *hm2) {
             muxrate = 5000000;
 	    hal_set_ui32(inst->hal.param.scan_rate, muxrate/inst->scanwidth);
         }
-        divisor = (hm2->inmux.clock_frequency / (4 * muxrate)) - 1;
+        if (muxrate <= 0) {
+            divisor = 1023;
+            // Round up so the normalized rate stays within the divisor limit.
+            hal_set_ui32(inst->hal.param.scan_rate,
+                    (hm2->inmux.clock_frequency - 1)
+                    / (4 * (divisor + 1) * inst->scanwidth) + 1);
+        } else {
+            divisor = (hm2->inmux.clock_frequency / (4 * muxrate)) - 1;
+            if (divisor > 1023) {
+                divisor = 1023;
+                hal_set_ui32(inst->hal.param.scan_rate,
+                        (hm2->inmux.clock_frequency - 1)
+                        / (4 * (divisor + 1) * inst->scanwidth) + 1);
+            }
+        }
         rtapi_u32 fast_scans = hal_get_ui32(inst->hal.param.fast_scans);
 	if (fast_scans > 63) {
             fast_scans = hal_set_ui32(inst->hal.param.fast_scans, 63);
@@ -394,13 +408,24 @@ void hm2_inmux_write(hostmot2_t *hm2) {
 	    hal_set_ui32(inst->hal.param.scan_rate, muxrate/inst->scanwidth);
             HM2_ERR("InMux %d scanrate too high, resetting to %d \n", i, hal_get_ui32(inst->hal.param.scan_rate));
         }
-        divisor = (hm2->inmux.clock_frequency / (4 * muxrate)) - 1;
 //      bound divisor so we dont splatter into other fields
-	if ((divisor > 1023 ) | (muxrate == 0 )) {
+	if (muxrate <= 0) {
             divisor = 1023;
+            // Round up so the normalized rate stays within the divisor limit.
 	    hal_set_ui32(inst->hal.param.scan_rate,
-                (hm2->inmux.clock_frequency/4) / (divisor +1) / inst->scanwidth);
+                (hm2->inmux.clock_frequency - 1)
+                / (4 * (divisor + 1) * inst->scanwidth) + 1);
             HM2_ERR("InMux %d scanrate too low, resetting to %d \n", i, hal_get_ui32(inst->hal.param.scan_rate));
+        } else {
+            divisor = (hm2->inmux.clock_frequency / (4 * muxrate)) - 1;
+	    if (divisor > 1023) {
+                divisor = 1023;
+	        hal_set_ui32(inst->hal.param.scan_rate,
+                    (hm2->inmux.clock_frequency - 1)
+                    / (4 * (divisor + 1) * inst->scanwidth) + 1);
+                HM2_ERR("InMux %d scanrate too low, resetting to %d \n",
+                        i, hal_get_ui32(inst->hal.param.scan_rate));
+            }
         }
         rtapi_u32 fast_scans = hal_get_ui32(inst->hal.param.fast_scans);
 	if (fast_scans > 63) {
@@ -557,4 +582,3 @@ void hm2_inmux_print_module(hostmot2_t *hm2) {
 
 
 
-

src/hal/drivers/mesa-hostmot2/pins.c

@@ -769,7 +769,7 @@ int hm2_read_pin_descriptors(hostmot2_t *hm2) {
 
         if (pin->port_num >= hm2->llio->num_ioport_connectors) {
             HM2_ERR("hm2_read_pin_descriptors: Calculated port number (%d) is "
-                    "invalid\n", pin->port_pin );
+                    "invalid\n", pin->port_num );
             return -EINVAL;
         }
 
@@ -894,7 +894,9 @@ void hm2_print_pin_usage(hostmot2_t *hm2) {
 
         char connector_pin_name[100];
 
-        if (hm2->llio->io_connector_pin_names == NULL) {
+        if (hm2->llio->io_connector_pin_names == NULL
+                || (unsigned)i >= (hm2->llio->num_ioport_connectors
+                    * hm2->llio->pins_per_connector)) {
             snprintf(connector_pin_name, sizeof(connector_pin_name), "%s-%02d", hm2->llio->ioport_connector_name[pin->port_num], pin->port_pin);
         } else {
             if (hm2->llio->io_connector_pin_names[i] == NULL) {

src/hal/drivers/mesa-hostmot2/resolver.c

@@ -283,6 +283,12 @@ void hm2_resolver_process_tram_read(hostmot2_t *hm2, long period) {
     for (i = 0; i < hm2->resolver.num_resolvers; i ++) {
 
         res = &hm2->resolver.instance[i];
+        rtapi_u32 index_div = hal_get_ui32(res->hal.param.index_div);
+
+        if (index_div == 0) {
+            HM2_ERR("resolver.%02d.index-div == 0, bogus, setting to 1\n", i);
+            index_div = hal_set_ui32(res->hal.param.index_div, 1);
+        }
 
         scale = hal_get_real(res->hal.param.scale);
 
@@ -326,7 +332,6 @@ void hm2_resolver_process_tram_read(hostmot2_t *hm2, long period) {
         if ((res->old_reg > hm2->resolver.position_reg[i]) && (res->old_reg - hm2->resolver.position_reg[i] > 0x80000000)){
             res->index_cnts++;
             if (hal_get_bool(res->hal.pin.index_enable)){
-                rtapi_u32 index_div = hal_get_ui32(res->hal.param.index_div);
                 int r = (res->index_cnts % index_div);
                 if ((index_div  > 1 && r == 1) 
                  || (index_div == 1 && r == 0)){
@@ -337,7 +342,8 @@ void hm2_resolver_process_tram_read(hostmot2_t *hm2, long period) {
         }
         else if ((res->old_reg < hm2->resolver.position_reg[i]) && (hm2->resolver.position_reg[i] - res->old_reg > 0x80000000)){
             res->index_cnts--;
-            if (hal_get_bool(res->hal.pin.index_enable) && (res->index_cnts % hal_get_ui32(res->hal.param.index_div) == 0)){
+            if (hal_get_bool(res->hal.pin.index_enable)
+                    && (res->index_cnts % index_div == 0)){
                 res->offset = (res->accum - hm2->resolver.position_reg[i] + 0x100000000LL);
                 hal_set_bool(res->hal.pin.index_enable, 0);
             }
@@ -463,4 +469,3 @@ void hm2_resolver_print_module(hostmot2_t *hm2) {
                   (hm2->resolver.velocity_reg[i]));
     }
 }
-

src/hal/drivers/mesa-hostmot2/spix_rpi3.c

@@ -850,8 +850,8 @@ static const spix_port_t *rpi3_open(int port, const spix_args_t *args)
 	if(!rpp->spiport) {
 		rpp->clkdivw = spi0_clkdiv_calc(spiclk_base, args->clkw);
 		rpp->clkdivr = spi0_clkdiv_calc(spiclk_base, args->clkr);
-		ccw = spiclk_base / rpp->clkdivw;
-		ccr = spiclk_base / rpp->clkdivr;
+		ccw = spiclk_base / (rpp->clkdivw ? rpp->clkdivw : 65536);
+		ccr = spiclk_base / (rpp->clkdivr ? rpp->clkdivr : 65536);
 	} else {
 		rpp->clkdivw = spi1_clkdiv_calc(spiclk_base, args->clkw);
 		rpp->clkdivr = spi1_clkdiv_calc(spiclk_base, args->clkr);

src/hal/drivers/mesa-hostmot2/tp_pwmgen.c

@@ -443,9 +443,9 @@ void hm2_tp_pwmgen_prepare_tram_write(hostmot2_t *hm2) {
         if (scaled_Avalue > 1.0) scaled_Avalue = 1.0;
         else if (scaled_Avalue < -1.0) scaled_Avalue = -1.0;
         if (scaled_Bvalue > 1.0) scaled_Bvalue = 1.0;
-        else if (scaled_Avalue < -1.0) scaled_Avalue = -1.0;
+        else if (scaled_Bvalue < -1.0) scaled_Bvalue = -1.0;
         if (scaled_Cvalue > 1.0) scaled_Cvalue = 1.0;
-        else if (scaled_Avalue < -1.0) scaled_Avalue = -1.0;
+        else if (scaled_Cvalue < -1.0) scaled_Cvalue = -1.0;
 
         // duty_cycle goes from 0.0 to 1.0, and needs to be puffed out to 10 bits