Merge pull request #153 from asfishman/srf/toggle

Fix hardcoded initial toggle state requirement
OpenCyphal · Sep 30, 2020 · 253794a · 253794a
2 parents bb5cda1 + f4fa55c
commit 253794a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libcanard/canard.c b/libcanard/canard.c
@@ -238,7 +238,7 @@ CANARD_PRIVATE uint8_t txMakeTailByte(const bool             start_of_transfer,
                                       const bool             toggle,
                                       const CanardTransferID transfer_id)
 {
-    CANARD_ASSERT(start_of_transfer ? toggle : true);
+    CANARD_ASSERT(start_of_transfer ? (toggle == INITIAL_TOGGLE_STATE) : true);
     return (uint8_t)((start_of_transfer ? TAIL_START_OF_TRANSFER : 0U) | (end_of_transfer ? TAIL_END_OF_TRANSFER : 0U) |
                      (toggle ? TAIL_TOGGLE : 0U) | (transfer_id & CANARD_TRANSFER_ID_MAX));
 }