void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size) {
uint8_t id = data[size-1];
- remote_object_t* obj = remote_objects[id];
- uint8_t* start;
- if (obj->object_type == MASTER_TO_ALL_SLAVES) {
- start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);
- }
- else if(obj->object_type == SLAVE_TO_MASTER) {
- start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);
- start += (from - 1) * REMOTE_OBJECT_SIZE(obj->object_size);
- }
- else {
- start = obj->buffer + NUM_SLAVES * LOCAL_OBJECT_SIZE(obj->object_size);
+ if (id < num_remote_objects) {
+ remote_object_t* obj = remote_objects[id];
+ uint8_t* start;
+ if (obj->object_type == MASTER_TO_ALL_SLAVES) {
+ start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);
+ }
+ else if(obj->object_type == SLAVE_TO_MASTER) {
+ start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);
+ start += (from - 1) * REMOTE_OBJECT_SIZE(obj->object_size);
+ }
+ else {
+ start = obj->buffer + NUM_SLAVES * LOCAL_OBJECT_SIZE(obj->object_size);
+ }
+ triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
+ void* ptr = triple_buffer_begin_write_internal(obj->object_size, tb);
+ memcpy(ptr, data, size -1);
+ triple_buffer_end_write_internal(tb);
}
- triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
- void* ptr = triple_buffer_begin_write_internal(obj->object_size, tb);
- memcpy(ptr, data, size -1);
- triple_buffer_end_write_internal(tb);
}
void update_transport(void) {