diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 4bba070eee..647a0d9c78 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -236,6 +236,9 @@ void Panda::can_send(capnp::List::Reader can_data_list) { } bool Panda::can_receive(std::vector& out_vec) { + // Check if enough space left in buffer to store RECV_SIZE data + assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer)); + int recv = handle->bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE); if (!comms_healthy()) { return false; @@ -278,6 +281,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector