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fix chunk buffer size (#22969)

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This commit is contained in:
Igor Biletskyy
2021-11-18 14:15:06 -08:00
committed by GitHub
parent 57db99700c
commit edaf7d7604
2 changed files with 4 additions and 3 deletions
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selfdrive/boardd/panda.cc
+3 -3
View File
@@ -433,15 +433,15 @@ bool Panda::can_receive(std::vector<can_frame>& out_vec) {
static uint8_t tail[CANPACKET_MAX_SIZE];
uint8_t tail_size = 0;
uint8_t counter = 0;
for (int i = 0; i < recv; i += 64) {
for (int i = 0; i < recv; i += USBPACKET_MAX_SIZE) {
// Check for counter every 64 bytes (length of USB packet)
if (counter != data[i]) {
LOGE("CAN: MALFORMED USB RECV PACKET");
break;
}
counter++;
uint8_t chunk_len = ((recv - i) > 64) ? 63 : (recv - i - 1); // as 1 is always reserved for counter
uint8_t chunk[CANPACKET_MAX_SIZE];
uint8_t chunk_len = ((recv - i) > USBPACKET_MAX_SIZE) ? 63 : (recv - i - 1); // as 1 is always reserved for counter
uint8_t chunk[USBPACKET_MAX_SIZE + CANPACKET_MAX_SIZE];
memcpy(chunk, tail, tail_size);
memcpy(&chunk[tail_size], &data[i+1], chunk_len);
chunk_len += tail_size;
selfdrive/boardd/panda.h
+1
View File
@@ -17,6 +17,7 @@
#define PANDA_BUS_CNT 4
#define RECV_SIZE (0x4000U)
#define USB_TX_SOFT_LIMIT (0x100U)
#define USBPACKET_MAX_SIZE (0x40U)
#define CANPACKET_HEAD_SIZE 5U
#define CANPACKET_MAX_SIZE 72U
#define CANPACKET_REJECTED (0xC0U)