forked from Archive/PX4-Autopilot
Merge branch 'sf0x_paranoid' of github.com:PX4/Firmware into swissfang
This commit is contained in:
commit
7109d3b32e
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@ -520,11 +520,9 @@ SF0X::collect()
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/* clear buffer if last read was too long ago */
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uint64_t read_elapsed = hrt_elapsed_time(&_last_read);
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/* timed out - retry */
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if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) {
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_linebuf_index = 0;
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} else if (_linebuf_index > 0) {
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/* increment to next read position */
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_linebuf_index++;
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}
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/* the buffer for read chars is buflen minus null termination */
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@ -550,18 +548,19 @@ SF0X::collect()
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return -EAGAIN;
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}
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/* we did increment the index to the next position already, so just add the additional fields */
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_linebuf_index += (ret - 1);
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/* let the write pointer point to the next free entry */
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_linebuf_index += ret;
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_last_read = hrt_absolute_time();
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if (_linebuf_index < 1) {
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/* we need at least the two end bytes to make sense of this string */
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/* require a reasonable amount of minimum bytes */
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if (_linebuf_index < 6) {
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/* we need at this format: x.xx\r\n */
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return -EAGAIN;
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} else if (_linebuf[_linebuf_index - 1] != '\r' || _linebuf[_linebuf_index] != '\n') {
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} else if (_linebuf[_linebuf_index - 2] != '\r' || _linebuf[_linebuf_index - 1] != '\n') {
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if (_linebuf_index >= readlen - 1) {
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if (_linebuf_index == readlen) {
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/* we have a full buffer, but no line ending - abort */
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_linebuf_index = 0;
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perf_count(_comms_errors);
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@ -577,9 +576,7 @@ SF0X::collect()
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bool valid;
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/* enforce line ending */
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unsigned lend = (_linebuf_index < (sizeof(_linebuf) - 1)) ? _linebuf_index : (sizeof(_linebuf) - 1);
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_linebuf[lend] = '\0';
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_linebuf[_linebuf_index] = '\0';
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if (_linebuf[0] == '-' && _linebuf[1] == '-' && _linebuf[2] == '.') {
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si_units = -1.0f;
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@ -591,17 +588,12 @@ SF0X::collect()
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valid = false;
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/* wipe out partially read content from last cycle(s), check for dot */
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for (unsigned i = 0; i < (lend - 2); i++) {
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for (unsigned i = 0; i < (_linebuf_index - 2); i++) {
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if (_linebuf[i] == '\n') {
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/* allocate temporary buffer */
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char buf[sizeof(_linebuf)];
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/* copy remainder of buffer (2nd measurement) to temporary buffer */
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memcpy(buf, &_linebuf[i+1], (lend + 1) - (i + 1));
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/* copy temporary buffer to beginning of line buffer,
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* effectively overwriting a previous temporary
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* measurement
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*/
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memcpy(_linebuf, buf, (lend + 1) - (i + 1));
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/* wipe out any partial measurements */
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for (unsigned j = 0; j <= i; j++) {
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_linebuf[j] = ' ';
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}
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}
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/* we need a digit before the dot and a dot for a valid number */
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@ -613,8 +605,8 @@ SF0X::collect()
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if (valid) {
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si_units = strtod(_linebuf, &end);
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/* we require at least 3 characters for a valid number */
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if (end > _linebuf + 3) {
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/* we require at least four characters for a valid number */
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if (end > _linebuf + 4) {
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valid = true;
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} else {
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si_units = -1.0f;
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