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Fix frame validation and decode errors in the V2 parser - #7

Merged

justagist merged 9 commits into

mainfrom

decode-correctness

Oct 15, 2026

Merged

Fix frame validation and decode errors in the V2 parser#7
justagist merged 9 commits into
mainfrom
decode-correctness

Commits on Oct 15, 2026
- reject CAN frames that are not standard data of the expected length
  justagist
  committed
  e9cbca1
- decode motor current as signed
  justagist
  committed
  2cf9a91
- set CAN id and DLC in the encoder
  justagist
  committed
  df4df02
- decode installation position from motion control 2
  justagist
  committed
  41bcc59
- require all six motor replies before motor limits are valid
  justagist
  committed
  baec2c5
- reject frames with reserved id bits or a DLC above eight
  justagist
  committed
  abd24c0
- copy only the received bytes into raw_data
  justagist
  committed
  90cf34b
- ignore out-of-range motor indices for the single-motor limit states too
  justagist
  committed
  e9afc3b
- check every byte of the encoded joint value
  justagist
  committed
  a707004