Don't send EMCY for broadcast MPDO failures

Signed-off-by: Andreas Fritiofson <[email protected]> Change-Id: I81a392f96c3db6fc0e3ffe70460f80de9ef3cb01
rtlabs-com · Sep 10, 2021 · 8dc104e · 8dc104e
1 parent 6380a3b
commit 8dc104e
Showing 1 changed file with 9 additions and 3 deletions.
diff --git a/src/co_pdo.c b/src/co_pdo.c
@@ -112,20 +112,26 @@ static int co_mpdo_unpack (co_net_t * net, co_pdo_t * pdo)
 
       obj = co_obj_find (net, index);
       if (obj == NULL)
-         return co_emcy_tx (net, 0x8230, 0, NULL);
+         goto error;
 
       entry = co_entry_find (net, obj, subindex);
       if (entry == NULL || !(entry->flags & OD_WRITE))
-         return co_emcy_tx (net, 0x8230, 0, NULL);
+         goto error;
 
       if (co_od_set_value (net, obj, entry, subindex, value))
-          return co_emcy_tx (net, 0x8230, 0, NULL);
+         goto error;
 
    } else {
       /* TODO: Support SAM-MPDO Consumer using dispatcher list. */
    }
 
    return 0;
+
+error:
+   if (node != 0)
+      return co_emcy_tx (net, 0x8230, 0, NULL);
+
+   return 0;
 }
 
 void co_pdo_unpack (co_net_t * net, co_pdo_t * pdo)