From a268857bebe544f07833bc997e848b754f98a153 Mon Sep 17 00:00:00 2001
From: Juan Marcos Torero <134594236+juan-marcos-t@users.noreply.github.com>
Date: Tue, 16 Dec 2025 12:42:00 +0100
Subject: [PATCH 1/4] Fix issue #6

Fixes potential null pointer dereference, as on the original condition, if pSh2->opData.getProdIds.pProdIds was ever 0 (NULL) code will enter the if body and accessing pSh2->opData.getProdIds.pProdIds->numEntries will cause a null pointer dereference
---
 sh2.c | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/sh2.c b/sh2.c
index 39d055f..cc4e424 100644
--- a/sh2.c
+++ b/sh2.c
@@ -887,9 +887,11 @@ static void getProdIdRx(sh2_t *pSh2, const uint8_t *payload, uint16_t len)
     }
 
     // Complete this operation if there is no storage for more product ids
-    if ((pSh2->opData.getProdIds.pProdIds == 0) ||
-        (pSh2->opData.getProdIds.nextEntry >= pSh2->opData.getProdIds.expectedEntries)) {
-        
+    if (pSh2->opData.getProdIds.pProdIds == 0){
+        opCompleted(pSh2, SH2_OK);
+        return;
+    }
+    if (pSh2->opData.getProdIds.nextEntry >= pSh2->opData.getProdIds.expectedEntries) {
         pSh2->opData.getProdIds.pProdIds->numEntries = pSh2->opData.getProdIds.nextEntry;
         opCompleted(pSh2, SH2_OK);
     }

From d0182a277976407a01f1baf16b17770c094c1a2e Mon Sep 17 00:00:00 2001
From: Juan Marcos Torero <134594236+juan-marcos-t@users.noreply.github.com>
Date: Tue, 16 Dec 2025 12:46:40 +0100
Subject: [PATCH 2/4] Fixes #16

Fix incorrect order of arguments on q_to_ypr, match header definition on source file
---
 euler.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/euler.c b/euler.c
index c689321..0cc9a1f 100644
--- a/euler.c
+++ b/euler.c
@@ -58,7 +58,7 @@ float q_to_roll(float r, float i, float j, float k)
     return roll;
 }
 
-void q_to_ypr(float r, float i, float j, float k, float *pYaw, float *pPitch, float *pRoll)
+void q_to_ypr(float r, float i, float j, float k, float *pRoll, float *pPitch, float *pYaw)
 {
     // convert to Euler Angles
     float num = 2.0f * i * j - 2.0f * r * k;

From 83449ce14354c4381bc2d838428acbef15872f27 Mon Sep 17 00:00:00 2001
From: Juan Marcos Torero <134594236+juan-marcos-t@users.noreply.github.com>
Date: Tue, 16 Dec 2025 14:03:24 +0100
Subject: [PATCH 3/4] Fixes #12

Move channel check in RX assembly before sequence check to avoid possible segmentation fault when accessing pShtp->chan[chan].nextInSeq if channel number is bigger than channel array length
---
 shtp.c | 21 +++++++++++----------
 1 file changed, 11 insertions(+), 10 deletions(-)

diff --git a/shtp.c b/shtp.c
index ebce552..f372a82 100644
--- a/shtp.c
+++ b/shtp.c
@@ -198,6 +198,17 @@ static void rxAssemble(shtp_t *pShtp, uint8_t *in, uint16_t len, uint32_t t_us)
     chan = in[2];
     seq = in[3];
 
+    if (chan >= SHTP_MAX_CHANS) {
+        // Invalid channel id.
+        pShtp->rxBadChan++;
+
+        if (pShtp->eventCallback) {
+            pShtp->eventCallback(pShtp->eventCookie, SHTP_BAD_RX_CHAN);
+        }
+        return;
+    }
+
+
     if (seq != pShtp->chan[chan].nextInSeq){
         if (pShtp->eventCallback) {
             pShtp->eventCallback(pShtp->eventCookie,
@@ -212,16 +223,6 @@ static void rxAssemble(shtp_t *pShtp, uint8_t *in, uint16_t len, uint32_t t_us)
         }
         return;
     }
-        
-    if (chan >= SHTP_MAX_CHANS) {
-        // Invalid channel id.
-        pShtp->rxBadChan++;
-
-        if (pShtp->eventCallback) {
-            pShtp->eventCallback(pShtp->eventCookie, SHTP_BAD_RX_CHAN);
-        }
-        return;
-    }
 
     // Discard earlier assembly in progress if the received data doesn't match it.
     if (pShtp->inRemaining) {

From f38f53306f972b324c3855817bf10eddb463352a Mon Sep 17 00:00:00 2001
From: Juan Marcos Torero <juan.marcos@sedecal.com>
Date: Tue, 16 Dec 2025 14:53:12 +0100
Subject: [PATCH 4/4] Revert d0182a2 and fix #16 instead by changing header, as
 function name implies yaw-pitch-roll order.

---
 euler.c | 2 +-
 euler.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/euler.c b/euler.c
index 0cc9a1f..c689321 100644
--- a/euler.c
+++ b/euler.c
@@ -58,7 +58,7 @@ float q_to_roll(float r, float i, float j, float k)
     return roll;
 }
 
-void q_to_ypr(float r, float i, float j, float k, float *pRoll, float *pPitch, float *pYaw)
+void q_to_ypr(float r, float i, float j, float k, float *pYaw, float *pPitch, float *pRoll)
 {
     // convert to Euler Angles
     float num = 2.0f * i * j - 2.0f * r * k;
diff --git a/euler.h b/euler.h
index a694adb..4ac6ac5 100644
--- a/euler.h
+++ b/euler.h
@@ -29,6 +29,6 @@ float q_to_roll(float r, float i, float j, float k);
 
 // Get Yaw, Pitch and Roll from quaternion
 void q_to_ypr(float r, float i, float j, float k,
-              float *pRoll, float *pPitch, float *pYaw);
+              float *pYaw, float *pPitch, float *pRoll);
 
 #endif