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hostmot2: harden Smart Serial and absolute encoder handling #4662

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hostmot2: harden Smart Serial and absolute encoder handling #4662

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b83a3af
hostmot2: bound absolute encoder formats and preserve allocations
sleepybishop Oct 10, 2026
c04d3c2
hostmot2: validate Smart Serial flash geometry
sleepybishop Oct 10, 2026
f90b600
hostmot2: harden Smart Serial parsing and cleanup
sleepybishop Oct 10, 2026
33ac6f6
hostmot2: compare Smart Serial parameters as floating-point values
sleepybishop Oct 10, 2026
2409e6a
hostmot2: avoid repeated writes of unchanged NaN parameters
sleepybishop Oct 10, 2026
18c4f1a
hostmot2: release unprobed Smart Serial pins
sleepybishop Oct 10, 2026
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41 changes: 27 additions & 14 deletions src/hal/drivers/mesa-hostmot2/abs_encoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -274,13 +274,20 @@ int hm2_absenc_parse_format(hm2_sserial_remote_t *chan, hm2_absenc_format_t *de
"not get the pins you expected\n");
}
else if (strchr("bBuUsSeEfFpPgGhHlLmM", *format)){
hm2_sserial_data_t *confs;
hm2_sserial_data_t *conf;
chan->num_confs++;
chan->confs = (hm2_sserial_data_t *)rtapi_krealloc(chan->confs,
chan->num_confs * sizeof(hm2_sserial_data_t),

if (q > RTAPI_UINT8_MAX) {
HM2_ERR_NO_LL("Field length %d exceeds the supported maximum\n", q);
return -EINVAL;
}
confs = rtapi_krealloc(chan->confs,
(chan->num_confs + 1) * sizeof(*confs),
RTAPI_GFP_KERNEL);
if (confs == NULL) return -ENOMEM;
chan->confs = confs;

conf = &(chan->confs[chan->num_confs - 1]);
conf = &(chan->confs[chan->num_confs++]);
conf->DataDir = LBP_IN;
conf->DataLength = q;
rtapi_strxcpy(conf->NameString, name);
Expand Down Expand Up @@ -369,6 +376,10 @@ int hm2_absenc_parse_format(hm2_sserial_remote_t *chan, hm2_absenc_format_t *de
else
{
// Not a % format, append name
if (nameptr == &name[sizeof(name) - 1]) {
HM2_ERR_NO_LL("Absolute encoder field name is too long\n");
return -EINVAL;
}
*nameptr++ = *format++;
*nameptr = 0;
}
Expand Down Expand Up @@ -412,12 +423,6 @@ int hm2_absenc_parse_md(hostmot2_t *hm2, int md_index) {

if (hm2->absenc.num_chans == 0) { // first time though
hm2->absenc.clock_frequency = md->clock_freq;
hm2->absenc.ssi_busy_flags = rtapi_kmalloc(sizeof(rtapi_u32), RTAPI_GFP_KERNEL);
*hm2->absenc.ssi_busy_flags = 0;
hm2->absenc.biss_busy_flags = rtapi_kmalloc(sizeof(rtapi_u32), RTAPI_GFP_KERNEL);
*hm2->absenc.biss_busy_flags = 0;
hm2->absenc.fabs_busy_flags = rtapi_kmalloc(sizeof(rtapi_u32), RTAPI_GFP_KERNEL);
*hm2->absenc.fabs_busy_flags = 0;
}

for (index = 0 ; index < md->instances ; index ++){
Expand All @@ -434,12 +439,18 @@ int hm2_absenc_parse_md(hostmot2_t *hm2, int md_index) {
goto fail1;
}
if (index == def->index && md->gtag == def->gtag){
hm2_sserial_remote_t *chans;

has_format = true;
hm2->absenc.num_chans += 1;
hm2->absenc.chans = rtapi_krealloc(hm2->absenc.chans,
hm2->absenc.num_chans * sizeof(hm2_sserial_remote_t),
chans = rtapi_krealloc(hm2->absenc.chans,
(hm2->absenc.num_chans + 1) * sizeof(*chans),
RTAPI_GFP_KERNEL);
chan = &hm2->absenc.chans[hm2->absenc.num_chans - 1];
if (chans == NULL) {
HM2_ERR("out of memory allocating absolute encoder channel\n");
goto fail1;
}
hm2->absenc.chans = chans;
chan = &hm2->absenc.chans[hm2->absenc.num_chans++];
memset(chan, 0, sizeof(hm2_sserial_remote_t));
chan->index = index;
chan->myinst = md->gtag;
Expand Down Expand Up @@ -529,6 +540,8 @@ void hm2_absenc_process_tram_read(hostmot2_t *hm2, long period) {
err_tag[i] = 1;
}
}
// These pointers are supplied by hm2_absenc_register_tram() whenever
// the corresponding global-start address enables this dereference.
if (((chan->myinst == HM2_GTAG_SSI)
&& (*hm2->absenc.ssi_busy_flags & (1 << chan->index)))
|| ((chan->myinst == HM2_GTAG_BISS)
Expand Down
19 changes: 14 additions & 5 deletions src/hal/drivers/mesa-hostmot2/setsserial.c
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Original file line number Diff line number Diff line change
Expand Up @@ -176,7 +176,7 @@ int sslbp_read_cookie(void){
return res;
}

rtapi_u8 sslbp_read_byte(rtapi_u32 addr){
int sslbp_read_byte(rtapi_u32 addr){
rtapi_u32 buff = READ_REM_BYTE_CMD + addr;
rtapi_u32 res;
HM2WRITE(remote->reg_cs_addr, buff);
Expand Down Expand Up @@ -303,6 +303,7 @@ int sslbp_flash(char *fname){
struct rtapi_device dev;
int r;
unsigned write_sz, erase_sz;
int write_exp, erase_exp;

if (strstr("8i20", remote->name)){
if (hm2->sserial.version < 37){
Expand Down Expand Up @@ -348,8 +349,17 @@ int sslbp_flash(char *fname){

if (setup_start() < 0) goto fail0;
flash_start();
write_sz = 1u << sslbp_read_byte(LBPFLASHWRITESIZELOC);
erase_sz = 1u << sslbp_read_byte(LBPFLASHERASESIZELOC);
write_exp = sslbp_read_byte(LBPFLASHWRITESIZELOC);
erase_exp = sslbp_read_byte(LBPFLASHERASESIZELOC);
if (write_exp < 3 || write_exp >= (int)(sizeof(write_sz) * 8)
|| erase_exp < 0 || erase_exp < write_exp
|| erase_exp >= (int)(sizeof(erase_sz) * 8)) {
HM2_ERR("Invalid flash geometry exponents write=%d erase=%d\n",
write_exp, erase_exp);
goto fail0;
}
write_sz = 1u << write_exp;
erase_sz = 1u << erase_exp;
HM2_PRINT("Write Size = %x, Erase Size = %x\n", write_sz, erase_sz);
flash_stop();

Expand Down Expand Up @@ -412,6 +422,7 @@ int sslbp_flash(char *fname){

fail0:
flash_stop();
rtapi_release_firmware(fw);
return -1;
}

Expand Down Expand Up @@ -496,5 +507,3 @@ void rtapi_app_exit(void)
}




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