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add rudementary check on sscanf

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Oskar Weigl
2017-03-01 13:51:47 +01:00
parent 3ddec83f77
commit 6ea24abb79
1 changed files with 6 additions and 6 deletions
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MotorControl/low_level.c
+6 -6
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@@ -198,24 +198,24 @@ void usb_mc_thread(void const * argument) {
// position control
uint8_t motor_number;
float pos_setpoint, vel_feed_forward, current_feed_forward;
sscanf(pending_usb_buf, "p %u %f %f %f", &motor_number, &pos_setpoint, &vel_feed_forward, &current_feed_forward);
if (motor_number < num_motors) {
int numscan = sscanf(pending_usb_buf, "p %u %f %f %f", &motor_number, &pos_setpoint, &vel_feed_forward, &current_feed_forward);
if (numscan == 4 && motor_number < num_motors) {
set_pos_setpoint(&motors[motor_number], pos_setpoint, vel_feed_forward, current_feed_forward);
}
} else if (pending_usb_buf[0] == 'v') {
// velocity control
uint8_t motor_number;
float vel_feed_forward, current_feed_forward;
sscanf(pending_usb_buf, "v %u %f %f", &motor_number, &vel_feed_forward, &current_feed_forward);
if (motor_number < num_motors) {
int numscan = sscanf(pending_usb_buf, "v %u %f %f", &motor_number, &vel_feed_forward, &current_feed_forward);
if (numscan == 3 && motor_number < num_motors) {
set_vel_setpoint(&motors[motor_number], vel_feed_forward, current_feed_forward);
}
} else if (pending_usb_buf[0] == 'c') {
// velocity control
uint8_t motor_number;
float current_feed_forward;
sscanf(pending_usb_buf, "c %u %f ", &motor_number, &current_feed_forward);
if (motor_number < num_motors) {
int numscan = sscanf(pending_usb_buf, "c %u %f ", &motor_number, &current_feed_forward);
if (numscan == 2 && motor_number < num_motors) {
set_current_setpoint(&motors[motor_number], current_feed_forward);
}
}