Merge pull request #241 from semiversus/master

Author: christiansandberg

canopen/sdo/server.py

@@ -123,7 +123,7 @@ def block_download(self, data):
         self.abort(0x05040001)
 
     def init_download(self, request):
-        # TODO: Check if writable
+        # TODO: Check if writable (now would fail on end of segmented downloads)
         command, index, subindex = SDO_STRUCT.unpack_from(request)
         self._index = index
         self._subindex = subindex
@@ -136,7 +136,7 @@ def init_download(self, request):
                 size = 4 - ((command >> 2) & 0x3)
             else:
                 size = 4
-            self.download(index, subindex, request[4:4 + size])
+            self._node.set_data(index, subindex, request[4:4 + size], check_writable=True)
         else:
             logger.info("Initiating segmented download for 0x%X:%d", index, subindex)
             if command & SIZE_SPECIFIED: