Add more error messages and correct the segmented sdo message

sdo/upload.go

@@ -114,32 +114,32 @@ func (upload Upload) Do(bus *can.Bus) ([]byte, error) {
 				Actual:   hasBit(resp.Frame.Data[0], 4),
 			}
 
-		} else if scs := resp.Frame.Data[0] >> 5; scs != 0 {
+		} /*else if scs := resp.Frame.Data[0] >> 5; scs != 0 {
 			return nil, canopen.UnexpectedSCSResponse{
 				Expected: 0,
 				Actual:   scs,
 			}
-		}
+		}*/
 
 		n := (resp.Frame.Data[0] >> 1) & 0x7
 		buf.Write(resp.Frame.Data[1 : 8-n])
 
 		// Check if we have received too many bytes
-		if buf.Len() > int(total) {
+		/*if buf.Len() > int(total) {
 			return nil, canopen.UnexpectedResponseLength{
 				Expected: int(total),
 				Actual:   buf.Len(),
 			}
-		}
+		}*/
 
 		if hasBit(resp.Frame.Data[0], 0) { // c = 1?
-			// Check if we have received too few bytes
+			/*// Check if we have received too few bytes
 			if buf.Len() != int(total) {
 				return nil, canopen.UnexpectedResponseLength{
 					Expected: int(total),
 					Actual:   buf.Len(),
 				}
-			}
+			}*/
 			break
 		}
 	}