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Merged
mcbridejc merged 2 commits into from
Jan 30, 2026
Merged

Allow PDO config update in Bootup state #53

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283d190
Allow PDO config update in Bootup state
mcbridejc Jan 30, 2026
0206aca
Update node changelog
mcbridejc Jan 30, 2026
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1 change: 1 addition & 0 deletions zencan-node/CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@ Human-friendly documentation of releases and what's changed in them for the zenc
- Unused code warning when num_tdpos or num_rpdos is 0
- TPDO bug where event flags were never cleared causing all TPDOs to be transmitted when any event
was set
- PDO objects were unwritable when reset_app/reset_comms callback is called

## v0.0.3 - 2026-01-20

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18 changes: 12 additions & 6 deletions zencan-node/src/pdo.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -498,8 +498,10 @@ impl SubObjectAccess for PdoCobSubObject<'_> {
}

fn write(&self, data: &[u8]) -> Result<(), AbortCode> {
// Changing PDO config is only allowed during PreOperational state
if self.pdo.nmt_state() != NmtState::PreOperational {
// Changing PDO config is only allowed during PreOperational state, or Bootup when the
// defaults are loaded (Bootup is a always a short-lived state).
let nmt_state = self.pdo.nmt_state();
if nmt_state != NmtState::PreOperational && nmt_state != NmtState::Bootup {
return Err(AbortCode::GeneralError);
}
if data.len() < 4 {
Expand Down Expand Up @@ -549,8 +551,10 @@ impl SubObjectAccess for PdoTransmissionTypeSubObject<'_> {
}

fn write(&self, data: &[u8]) -> Result<(), AbortCode> {
// Changing of PDO config only allowed during preoperational state
if self.pdo.nmt_state() != NmtState::PreOperational {
// Changing PDO config is only allowed during PreOperational state, or Bootup when the
// defaults are loaded (Bootup is a always a short-lived state).
let nmt_state = self.pdo.nmt_state();
if nmt_state != NmtState::PreOperational && nmt_state != NmtState::Bootup {
return Err(AbortCode::GeneralError);
}
if data.is_empty() {
Expand Down Expand Up @@ -657,8 +661,10 @@ impl ObjectAccess for PdoMappingObject<'_> {
}

fn write(&self, sub: u8, data: &[u8]) -> Result<(), AbortCode> {
// Changing of PDO mapping is only allowed in PreOperational state
if self.pdo.nmt_state() != NmtState::PreOperational {
// Changing PDO config is only allowed during PreOperational state, or Bootup when the
// defaults are loaded (Bootup is a always a short-lived state).
let nmt_state = self.pdo.nmt_state();
if nmt_state != NmtState::PreOperational && nmt_state != NmtState::Bootup {
return Err(AbortCode::GeneralError);
}
if sub == 0 {
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