canardHandleRxFrame(): Avoid multi-frame transfer assert() failure fo…

…r a valid operation. Modifying underflow assert check. This check mistakenly invalidates the case where the final CAN frame of a transfer is received with all previously allocated memory blocks fully utilised.
dronecan · Aug 31, 2023 · f770569 · f770569
1 parent bc8be8f
commit f770569
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/canard.c b/canard.c
@@ -601,7 +601,7 @@ int16_t canardHandleRxFrame(CanardInstance* ins, const CanardCANFrame* frame, ui
                 CANARD_ASSERT(block != NULL);
 
                 const size_t offset_within_block = rx_state->payload_len - offset;
-                CANARD_ASSERT(offset_within_block < CANARD_BUFFER_BLOCK_DATA_SIZE);
+                CANARD_ASSERT(offset_within_block <= CANARD_BUFFER_BLOCK_DATA_SIZE);
 
                 for (size_t i = offset_within_block;
                      (i < CANARD_BUFFER_BLOCK_DATA_SIZE) && (tail_offset < frame_payload_size);