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tap_esc: add buffer size check for _esc_feedback.esc[]

This commit is contained in:
Beat Küng 2016-07-25 12:26:51 +02:00 committed by Lorenz Meier
parent c55c978145
commit d6d3a56116
1 changed files with 15 additions and 13 deletions
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28
src/drivers/tap_esc/tap_esc.cpp
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@ -445,7 +445,7 @@ void TAP_ESC:: send_esc_outputs(const float *pwm, const unsigned num_pwm)
void TAP_ESC::read_data_from_uart()
{
uint8_t tmp_serial_buf[UART_BUFFER_SIZE] = {0};
uint8_t tmp_serial_buf[UART_BUFFER_SIZE];
int len =::read(_uart_fd, tmp_serial_buf, arraySize(tmp_serial_buf));
@ -518,7 +518,7 @@ bool TAP_ESC:: parse_tap_esc_feedback(ESC_UART_BUF *serial_buf, EscPacket *packe
if (crc_data_cal == serial_buf->esc_feedback_buf[serial_buf->head]) {
packetdata->crc_data = serial_buf->esc_feedback_buf[serial_buf->head];
if (++serial_buf->head >= 128) {
if (++serial_buf->head >= UART_BUFFER_SIZE) {
serial_buf->head = 0;
}
@ -726,20 +726,22 @@ TAP_ESC::cycle()
if (parse_tap_esc_feedback(&uartbuf, &_packet) == true) {
if (_packet.msg_id == ESCBUS_MSG_ID_RUN_INFO) {
RunInfoRepsonse &feed_back_data = _packet.d.rspRunInfo;
_esc_feedback.esc[feed_back_data.channelID].esc_rpm = feed_back_data.speed;
// _esc_feedback.esc[feed_back_data.channelID].esc_voltage = feed_back_data.voltage;
_esc_feedback.esc[feed_back_data.channelID].esc_state = feed_back_data.ESCStatus;
_esc_feedback.esc[feed_back_data.channelID].esc_vendor = esc_status_s::ESC_VENDOR_TAP;
// printf("vol is %d\n",feed_back_data.voltage );
// printf("speed is %d\n",feed_back_data.speed );
if (feed_back_data.channelID < esc_status_s::CONNECTED_ESC_MAX) {
_esc_feedback.esc[feed_back_data.channelID].esc_rpm = feed_back_data.speed;
// _esc_feedback.esc[feed_back_data.channelID].esc_voltage = feed_back_data.voltage;
_esc_feedback.esc[feed_back_data.channelID].esc_state = feed_back_data.ESCStatus;
_esc_feedback.esc[feed_back_data.channelID].esc_vendor = esc_status_s::ESC_VENDOR_TAP;
// printf("vol is %d\n",feed_back_data.voltage );
// printf("speed is %d\n",feed_back_data.speed );
_esc_feedback.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_SERIAL;
_esc_feedback.counter++;
_esc_feedback.esc_count = esc_count;
_esc_feedback.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_SERIAL;
_esc_feedback.counter++;
_esc_feedback.esc_count = esc_count;
_esc_feedback.timestamp = hrt_absolute_time();
_esc_feedback.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(esc_status), _esc_feedback_pub, &_esc_feedback);
orb_publish(ORB_ID(esc_status), _esc_feedback_pub, &_esc_feedback);
}
}
}