Fix uint8_t type conversion bug in 16-bit addressing

dronecan · Jun 4, 2023 · 33bf5f2 · 33bf5f2
1 parent 91e3fb6
commit 33bf5f2
Showing 1 changed file with 21 additions and 0 deletions.
diff --git a/canard.c b/canard.c
@@ -1639,11 +1639,23 @@ void copyBitArray(const uint8_t* src, uint32_t src_offset, uint32_t src_len,
         const uint8_t max_offset = MAX(src_bit_offset, dst_bit_offset);
         const uint32_t copy_bits = (uint32_t)MIN(last_bit - src_offset, 8U - max_offset);
 
+#if WORD_ADRESSING_IS_16BITS
+        /*
+         * (uint8_t) same as (uint16_t) in TMS320
+         * Mask 0xFF must be used
+         */
+        const uint8_t write_mask = (uint8_t)((uint8_t)((0xFF00U >> copy_bits)&0xFF) >> dst_bit_offset)&0xFF;
+        const uint8_t src_data = (uint8_t)(((uint32_t)src[src_offset / 8U] << src_bit_offset) >> dst_bit_offset)&0xFF;
+
+        dst[dst_offset / 8U] =
+            (uint8_t)(((uint32_t)dst[dst_offset / 8U] & (uint32_t)~write_mask) | (uint32_t)(src_data & write_mask))&0xFF;
+#else
         const uint8_t write_mask = (uint8_t)((uint8_t)(0xFF00U >> copy_bits) >> dst_bit_offset);
         const uint8_t src_data = (uint8_t)(((uint32_t)src[src_offset / 8U] << src_bit_offset) >> dst_bit_offset);
 
         dst[dst_offset / 8U] =
             (uint8_t)(((uint32_t)dst[dst_offset / 8U] & (uint32_t)~write_mask) | (uint32_t)(src_data & write_mask));
+#endif
 
         src_offset += copy_bits;
         dst_offset += copy_bits;
@@ -1760,8 +1772,17 @@ CANARD_INTERNAL bool isBigEndian(void)
 #else
     union
     {
+#if WORD_ADRESSING_IS_16BITS
+        /*
+         * TMS320 has 16-bit memory addressing
+         * u8b[0]=u16a, u8b[1]=NOTHING
+         */
+        uint32_t a;
+        uint16_t b[2];
+#else
         uint16_t a;
         uint8_t b[2];
+#endif
     } u;
     u.a = 1;
     return u.b[1] == 1;                             // Some don't...