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SDO: fix broken block download #210

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merged 1 commit into from
Jul 13, 2020
Merged

SDO: fix broken block download #210

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28 changes: 15 additions & 13 deletions stack/CO_SDO.c
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Original file line number Diff line number Diff line change
Expand Up @@ -219,24 +219,26 @@ static void CO_SDO_receive(void *object, const CO_CANrxMsg_t *msg){
/* check correct sequence number. */
if(seqno == (SDO->sequence + 1U)) {
/* sequence is correct */
uint8_t i;

SDO->sequence++;
/* check if buffer can store whole message just in case */
if (CO_SDO_BUFFER_SIZE - SDO->bufferOffset >= 7) {
uint8_t i;

/* copy data */
for(i=1; i<8; i++) {
SDO->ODF_arg.data[SDO->bufferOffset++] = msg->data[i]; //SDO->ODF_arg.data is equal as SDO->databuffer
if(SDO->bufferOffset >= CO_SDO_BUFFER_SIZE) {
/* buffer full, break reception */
SDO->sequence++;

/* copy data */
for(i=1; i<8; i++) {
SDO->ODF_arg.data[SDO->bufferOffset++] = msg->data[i]; //SDO->ODF_arg.data is equal as SDO->databuffer
}

/* break reception if last segment, block ends or block sequence is too large */
if(((CANrxData[0] & 0x80U) == 0x80U) || (SDO->sequence >= SDO->blksize)) {
SDO->state = CO_SDO_ST_DOWNLOAD_BL_SUB_RESP;
CO_SDO_receive_done(SDO);
break;
}
}

/* break reception if last segment, block ends or block sequence is too large */
if(((CANrxData[0] & 0x80U) == 0x80U) || (SDO->sequence >= SDO->blksize)) {
SDO->state = CO_SDO_ST_DOWNLOAD_BL_SUB_RESP;
} else {
/* buffer is full, ignore this segment, send response without resetting sequence */
SDO->state = CO_SDO_ST_DOWNLOAD_BL_SUB_RESP_2;
CO_SDO_receive_done(SDO);
}
}
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