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Merge 0b1154407e into 9b8beed836

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yi chen 2026-07-13 18:51:48 +08:00 committed by GitHub
commit 5a520c8688
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1 changed files with 14 additions and 6 deletions
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20
301/CO_PDO.c
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@ -819,8 +819,10 @@ CO_RPDO_process(CO_RPDO_t* RPDO,
/* Prepare data for writing into OD variable. If mappedLength
* is smaller than ODdataLength, then use auxiliary buffer */
uint8_t* dataOD;
/* Apply the bitmask */
uint64_t shiftedData = buf64 & (UINT64_MAX >> (64 - mappedLength));
/* Apply the bitmask. mappedLength of 0 is a valid (if unusual)
* mapping - "(64 - mappedLength)" would then shift by 64,
* which is undefined behaviour, so handle it explicitly. */
uint64_t shiftedData = (mappedLength == 0U) ? 0U : (buf64 & (UINT64_MAX >> (64 - mappedLength)));
/* Shift the original buffer to get ready for the next mapping */
buf64 >>= mappedLength;
#ifdef CO_BIG_ENDIAN
@ -1262,10 +1264,16 @@ CO_TPDOsend(CO_TPDO_t* TPDO) {
* For LE not needed, low bytes from the OD entry are copied to low bytes of u64 */
buf >>= 64 - 8 * ODdataLength;
#endif /* CO_BIG_ENDIAN */
/* Apply the mask and merge with the rest */
buf &= (UINT64_MAX >> (64 - mappedLength));
buf <<= (verifyLength - mappedLength);
buf64 |= buf;
/* Apply the mask and merge with the rest. mappedLength of 0 is a
* valid (if unusual) mapping - it must contribute nothing to buf64.
* Skip the shifts in that case, since "(64 - mappedLength)" and/or
* "(verifyLength - mappedLength)" can then evaluate to 64, and
* shifting a 64-bit value by 64 is undefined behaviour. */
if (mappedLength > 0U) {
buf &= (UINT64_MAX >> (64 - mappedLength));
buf <<= (verifyLength - mappedLength);
buf64 |= buf;
}
#else
OD_IO->read(stream, dataTPDOCopy, ODdataLength, &countRd);
#endif /* (CO_CONFIG_PDO) & (CO_CONFIG_PDO_BITWISE_MAPPING) */