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Merge 06193be563 into 9b8beed836

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MrAlaskan 2026-07-20 13:49:45 +00:00 committed by GitHub
commit 654ff2d22d
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1 changed files with 2 additions and 2 deletions
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4
301/CO_PDO.c
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@ -539,9 +539,9 @@ OD_write_14xx(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t*
uint16_t CAN_ID = (uint16_t)(COB_ID & 0x7FFU);
bool_t valid = (COB_ID & 0x80000000U) == 0U;
/* bits 11...29 must be zero, PDO must be disabled on change, CAN_ID == 0 is
/* bits 11...30 must be zero, PDO must be disabled on change, CAN_ID == 0 is
* not allowed, mapping must be configured before enabling the PDO */
if (((COB_ID & 0x3FFFF800U) != 0U) || (valid && PDO->valid && (CAN_ID != PDO->configuredCanId))
if (((COB_ID & 0x7FFFF800U) != 0U) || (valid && PDO->valid && (CAN_ID != PDO->configuredCanId))
|| (valid && CO_IS_RESTRICTED_CAN_ID(CAN_ID)) || (valid && (PDO->mappedObjectsCount == 0U))) {
return ODR_INVALID_VALUE;
}