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Fix fdcan array length #125

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Fix fdcan array length #125

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503c7d7
fix: load the data to temporary buffer first
MaJerle Sep 3, 2026
5a9d2d1
fix add note why
MaJerle Sep 3, 2026
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24 changes: 18 additions & 6 deletions CANopenNode_STM32/CO_driver_STM32.c
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Original file line number Diff line number Diff line change
Expand Up @@ -40,9 +40,9 @@ static CO_CANmodule_t* CANModule_local = NULL; /* Local instance of global CAN m

#ifdef CO_STM32_FDCAN_Driver
#ifndef FDCAN_BUFFER_INDEXES
#if defined (FDCAN_TX_BUFFER31)
#if defined(FDCAN_TX_BUFFER31)
#define FDCAN_BUFFER_INDEXES 0xFFFFFFFFU
#elif defined (FDCAN_TX_BUFFER2)
#elif defined(FDCAN_TX_BUFFER2)
#define FDCAN_BUFFER_INDEXES FDCAN_TX_BUFFER0 | FDCAN_TX_BUFFER1 | FDCAN_TX_BUFFER2
#else
#define FDCAN_BUFFER_INDEXES 0xFFFFFFFFU
Expand Down Expand Up @@ -517,9 +517,18 @@ prv_read_can_received_msg(CAN_HandleTypeDef* hcan, uint32_t fifo, uint32_t fifo_
uint8_t messageFound = 0;

#ifdef CO_STM32_FDCAN_Driver

/*
* Write received message to the temporary 64-bytes buffer.
* This is to ensure that the CAN nodes that do not comply with the newer CAN standards
* don't send wrong message with the wrong DLC value. This is a safety measure to avoid buffer overflow.
*
* Check the FDCAN implementation for STM32 in their respective reference manual.
*/
static FDCAN_RxHeaderTypeDef rx_hdr;
static uint8_t rx_data[64];
/* Read received message from FIFO */
if (HAL_FDCAN_GetRxMessage(hfdcan, fifo, &rx_hdr, rcvMsg.data) != HAL_OK) {
if (HAL_FDCAN_GetRxMessage(hfdcan, fifo, &rx_hdr, rx_data) != HAL_OK) {
return;
}
/* Setup identifier (with RTR) and length */
Expand Down Expand Up @@ -556,6 +565,9 @@ prv_read_can_received_msg(CAN_HandleTypeDef* hcan, uint32_t fifo, uint32_t fifo_
rcvMsg.dlc = 0;
break; /* Invalid length when more than 8 */
}
if (rcvMsg.dlc > 0) {
memcpy(rcvMsg.data, rx_data, rcvMsg.dlc);
}
rcvMsgIdent = rcvMsg.ident;
#else
static CAN_RxHeaderTypeDef rx_hdr;
Expand Down Expand Up @@ -653,7 +665,7 @@ HAL_FDCAN_TxBufferCompleteCallback(FDCAN_HandleTypeDef* hfdcan, uint32_t BufferI
CANModule_local->CANtxCount--;
CANModule_local->bufferInhibitFlag = buffer->syncFlag;
} else {
break; // if we could not send the message, break out of the loop (the tx buffers are full)
break; // if we could not send the message, break out of the loop (the tx buffers are full)
}
}
}
Expand Down Expand Up @@ -712,9 +724,9 @@ CO_CANinterrupt_TX(CO_CANmodule_t* CANmodule, uint32_t MailboxNumber) {
buffer->bufferFull = false;
CANmodule->CANtxCount--;
CANmodule->bufferInhibitFlag = buffer->syncFlag;
} else {
break; // if we could not send the message, break out of the loop (the tx buffers are full)
}
else
break; // if we could not send the message, break out of the loop (the tx buffers are full)
}
}
CO_UNLOCK_CAN_SEND(CANmodule);
Expand Down