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SDO: fix to always check if buffer is empty before freeing it #204

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Before this patch SDO queue process pointer could overrun receive pointer on receiving NMT stop command during active SDO communication.
This fix is applied to 'master' and 'v1.3-master' branches.
This commit is contained in:
Janez 2020-07-01 09:44:18 +02:00
parent 9dd36aa649
commit 035da160b5
1 changed files with 8 additions and 4 deletions
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12
301/CO_SDOserver.c
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@ -675,6 +675,11 @@ static void CO_SDO_process_done(CO_SDO_t *SDO, uint32_t *timerNext_us) {
uint8_t proc = SDO->CANrxProc;
uint8_t newProc = proc;
/* check if buffer needs to be free */
if (!CO_FLAG_READ(SDO->CANrxNew[proc])) {
return;
}
if (++newProc >= CO_SDO_RX_DATA_SIZE)
newProc = 0;
@ -698,7 +703,7 @@ static void CO_SDO_abort(CO_SDO_t *SDO, uint32_t code){
SDO->CANtxBuff->data[3] = SDO->ODF_arg.subIndex;
CO_memcpySwap4(&SDO->CANtxBuff->data[4], &code);
SDO->state = CO_SDO_ST_IDLE;
/* skip all received messages in queue */
/* skip all received messages in queue if any */
while (CO_FLAG_READ(SDO->CANrxNew[SDO->CANrxProc]))
CO_SDO_process_done(SDO, NULL);
CO_CANsend(SDO->CANdevTx, SDO->CANtxBuff);
@ -728,6 +733,7 @@ int8_t CO_SDO_process(
/* SDO is allowed to work only in operational or pre-operational NMT state */
if(!NMTisPreOrOperational){
SDO->state = CO_SDO_ST_IDLE;
/* free receive buffer if it is not empty */
CO_SDO_process_done(SDO, timerNext_us);
return 0;
}
@ -1458,9 +1464,7 @@ int8_t CO_SDO_process(
}
/* free receive buffer if it is not empty */
if (isNew) {
CO_SDO_process_done(SDO, timerNext_us);
}
CO_SDO_process_done(SDO, timerNext_us);
/* send message */
if(sendResponse) {