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fix: validate PDO COB-IDs during startup initialization

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This commit is contained in:
MrAlaskan 2026-07-20 22:05:56 +08:00
parent 9b8beed836
commit 22dcb23dc3
1 changed files with 4 additions and 2 deletions
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6
301/CO_PDO.c
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@ -659,7 +659,8 @@ CO_RPDO_init(CO_RPDO_t* RPDO, OD_t* OD, CO_EM_t* em,
bool_t valid = (COB_ID & 0x80000000U) == 0U;
uint16_t CAN_ID = (uint16_t)(COB_ID & 0x7FFU);
if (valid && ((PDO->mappedObjectsCount == 0U) || (CAN_ID == 0U))) {
bool_t invalidCobId = ((COB_ID & 0x7FFFF800U) != 0U) || (valid && CO_IS_RESTRICTED_CAN_ID(CAN_ID));
if (invalidCobId || (valid && ((PDO->mappedObjectsCount == 0U) || (CAN_ID == 0U)))) {
valid = false;
if (erroneousMap == 0U) {
erroneousMap = 1;
@ -1119,7 +1120,8 @@ CO_TPDO_init(CO_TPDO_t* TPDO, OD_t* OD, CO_EM_t* em,
bool_t valid = (COB_ID & 0x80000000U) == 0U;
uint16_t CAN_ID = (uint16_t)(COB_ID & 0x7FFU);
if (valid && ((PDO->mappedObjectsCount == 0U) || (CAN_ID == 0U))) {
bool_t invalidCobId = ((COB_ID & 0x3FFFF800U) != 0U) || (valid && CO_IS_RESTRICTED_CAN_ID(CAN_ID));
if (invalidCobId || (valid && ((PDO->mappedObjectsCount == 0U) || (CAN_ID == 0U)))) {
valid = false;
if (erroneousMap == 0U) {
erroneousMap = 1;