void get_frame(void)
{
    if (Busy_Rx != Empty_Rx) {
        static char c;
        c = getchar_BuffRx();
        switch (actual_frame_stage) {
        case FRAME_WAIT_FOR_START:
            if (c == START_FRAME) {
                actual_frame_stage = FRAME_MESSAGE;
            }
            break;
        case FRAME_MESSAGE:
            if (c == END_FRAME) {
                analyze_frame(receivedFrameBuffer);
                clearReceivedFrameBuffer();
                actual_frame_stage = FRAME_WAIT_FOR_START;
            } else if (c == ESCAPE) {
                actual_frame_stage = FRAME_ESCAPE;
            }
            else if ( c == START_FRAME)
            {
            	clearReceivedFrameBuffer();
            	actual_frame_stage = FRAME_MESSAGE;
            	break;

            }
            else {
                receivedFrameBuffer[receivedFrameBufferIDX] = c;
                if(receivedFrameBufferIDX>=256)
                {
                	clearReceivedFrameBuffer();
                	actual_frame_stage = FRAME_WAIT_FOR_START;
                	break;
                }
                else
                {
                	receivedFrameBufferIDX++;
                }
            }
            break;
        case FRAME_ESCAPE:
            if (c == ESCAPE_START) {
                receivedFrameBuffer[receivedFrameBufferIDX] = START_FRAME;
                if(receivedFrameBufferIDX>=256)
                {
                	clearReceivedFrameBuffer();
                	actual_frame_stage = FRAME_WAIT_FOR_START;
                	break;
                }
                else
                {
                	receivedFrameBufferIDX++;
                }
            } else if (c == ESCAPE_END) {
                receivedFrameBuffer[receivedFrameBufferIDX] = END_FRAME;
                if(receivedFrameBufferIDX>=256)
                {
                	clearReceivedFrameBuffer();
                	actual_frame_stage = FRAME_WAIT_FOR_START;
                	break;
                }
                else
                {
                	receivedFrameBufferIDX++;
                }
            } else if (c == ESCAPE_ESCAPE) {
                receivedFrameBuffer[receivedFrameBufferIDX] = ESCAPE;
                if(receivedFrameBufferIDX>=256)
                {
                	clearReceivedFrameBuffer();
                	actual_frame_stage = FRAME_WAIT_FOR_START;
                	break;
                }
                else
                {
                	receivedFrameBufferIDX++;
                }
            }

        	else {
            	clearReceivedFrameBuffer();
            	actual_frame_stage = FRAME_WAIT_FOR_START;
            	break;
            }


            actual_frame_stage = FRAME_MESSAGE;
            break;
        }
    }
    if ((HAL_GetTick() - lastReceivedCharFrame) > 40) {
        clearReceivedFrameBuffer();
    }
}