[Krobot-commits] [SCM] krobot branch, master, updated. cfc472d8d590b902b4cd16f2d931f62f5677666d

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit cfc472d8d590b902b4cd16f2d931f62f5677666d
Author: Xavier Lagorce <Xav...@cr...>
Date:   Sat Mar 13 18:22:30 2010 +0100

    The packet's checksum should be verified before using informations contained in the packet

-----------------------------------------------------------------------

Changes:
diff --git a/USB_Module/Robot_Interface/Firmware/ax12.c b/USB_Module/Robot_Interface/Firmware/ax12.c
index e165cbf..ba1f9cb 100644
--- a/USB_Module/Robot_Interface/Firmware/ax12.c
+++ b/USB_Module/Robot_Interface/Firmware/ax12.c
@@ -55,7 +55,7 @@ void interruptAX12(void) {
     // On commence la reception d'un paquet si le buffer de reception est vide

     if (idx == 0 && !glbReceived)

         write = 1;

-    

+

     // Si l'on est en train de recevoir, on traite l'octet en cours

     if (write == 1) {

         glbBuffer[idx] = buf;

@@ -71,24 +71,28 @@ void interruptAX12(void) {
             len = buf+3;

     

         if (idx >= 3 && idx == len) {

-            if (glbBuffer[4] != 0)

-                // Il y a une erreur...

-                error(ERR_AX12_ERROR);

-        

             // Calcul du checksum

             // Check Sum = ~ (ID + Length + Instruction + Parameter1 + ... Parameter N)

             chksum = 0;

     

             for (i = 2; i < len; i++)

-                chksum+= glbBuffer[i];

+                chksum+= glbBuffer[i];    

 

             if (glbBuffer[len] != (~chksum)) {

                 error(ERR_AX12_CHKSUM);

                 glbReceived = 0;

             }

             else {

+                // Le paquet est valide, on peut tester le renvoi d'erreur par l'AX12

+                if (glbBuffer[4] != 0)

+                    // Il y a une erreur...                 

+                    error(glbBuffer[len]);

+                    error(ERR_AX12_ERROR);

+                // Un paquet a  re
                 glbReceived = 1;

             }

+            

+            // On reinitialise les varaibles statiques pour le prochain paquet

             write = 0;

             idx = 0;

         }



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