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Fixed FrSky protocal parsing bug

Thomas Buck 3 years ago
parent
commit
c8f3d02ee0
1 changed files with 35 additions and 2 deletions
  1. 35
    2
      frsky.cpp

+ 35
- 2
frsky.cpp View File

@@ -32,19 +32,51 @@ void FrSky::poll() {
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     uint8_t c = serial->read();
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     if (c == delimiter) {
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-        if (bufferIndex < minPacketSize) {
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+#ifdef DEBUG_OUTPUT
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+        DEBUG_OUTPUT.print("Got delimiter at ");
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+        DEBUG_OUTPUT.println(bufferIndex);
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+#endif
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+        if (bufferIndex < (minPacketSize - 1)) {
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+#ifdef DEBUG_OUTPUT
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+            DEBUG_OUTPUT.print("Reset to 0: ");
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+            DEBUG_OUTPUT.print(bufferIndex);
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+            DEBUG_OUTPUT.print(" ! <= ");
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+            DEBUG_OUTPUT.println(minPacketSize - 1);
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+#endif
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             bufferIndex = 0;
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         }
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         if (bufferIndex >= bufferSize) {
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+#ifdef DEBUG_OUTPUT
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+            DEBUG_OUTPUT.print("too large: ");
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+            DEBUG_OUTPUT.print(bufferIndex);
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+            DEBUG_OUTPUT.print(" / ");
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+            DEBUG_OUTPUT.println(bufferSize);
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+#endif
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             bufferIndex = bufferSize - 1;
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         }
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         buffer[bufferIndex++] = c;
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-        if (bufferIndex > minPacketSize) {
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+        if (bufferIndex >= minPacketSize) {
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+#ifdef DEBUG_OUTPUT
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+            DEBUG_OUTPUT.println("Handling...");
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+#endif
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             handleMessage();
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             bufferIndex = 0;
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         }
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     } else if ((bufferIndex > 0) && (bufferIndex < bufferSize)) {
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         buffer[bufferIndex++] = c;
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+#ifdef DEBUG_OUTPUT
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+        DEBUG_OUTPUT.print("Got ");
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+        DEBUG_OUTPUT.print(c);
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+        DEBUG_OUTPUT.print(" at ");
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+        DEBUG_OUTPUT.println(bufferIndex - 1);
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+#endif
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+    } else {
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+#ifdef DEBUG_OUTPUT
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+        DEBUG_OUTPUT.print("Invalid: ");
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+        DEBUG_OUTPUT.print(bufferIndex);
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+        DEBUG_OUTPUT.print(" / ");
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+        DEBUG_OUTPUT.println(bufferSize);
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+#endif
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     }
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 }
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@@ -85,6 +117,7 @@ void FrSky::handleMessage() {
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     DEBUG_OUTPUT.println("FrSky::handleMessage()");
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     for (uint8_t i = 0; i < bufferIndex; i++) {
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         DEBUG_OUTPUT.print(buffer[i], HEX);
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+        DEBUG_OUTPUT.print(" ");
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     }
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     DEBUG_OUTPUT.println();
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 #endif

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