diff --git a/rust/sbp/Cargo.toml b/rust/sbp/Cargo.toml
index 7366b44055..9e50e2ceea 100644
--- a/rust/sbp/Cargo.toml
+++ b/rust/sbp/Cargo.toml
@@ -15,7 +15,7 @@ serialize = ["serde"]
 [dependencies]
 byteorder = "1.2.1"
 crc16 = "*"
-nom = "5.0.0"
+nom = "5.1.1"
 serde = { version = "1.0", features = ["derive"], optional = true }
 
 [dev-dependencies]
diff --git a/rust/sbp/src/lib.rs b/rust/sbp/src/lib.rs
index 551666bb25..438b6db574 100644
--- a/rust/sbp/src/lib.rs
+++ b/rust/sbp/src/lib.rs
@@ -102,7 +102,7 @@ mod tests {
             y: 1327294,
             z: 631798,
         };
-        let (sbp_result, _remaining_data) = crate::parser::frame(&packet[..]);
+        let (sbp_result, consumed) = crate::parser::frame(&packet[..]);
         assert!(sbp_result.is_ok());
         if let crate::messages::SBP::MsgBaselineECEF(msg) = sbp_result.unwrap() {
             assert_eq!(msg.sender_id, baseline_ecef_expectation.sender_id);
@@ -116,6 +116,36 @@ mod tests {
         } else {
             assert!(false);
         }
+        assert_eq!(packet.len(), consumed);
+    }
+
+    #[test]
+    /// Test parsing when we don't have enough data for a frame message
+    fn frame_eof() {
+        let packet = [
+            0x55u8, 0x0b, 0x02, 0xd3, 0x88, 0x14, 0x28, 0xf4, 0x7a, 0x13, 0x96, 0x62, 0xee, 0xff,
+            0xbe, 0x40, 0x14, 0x00, 0xf6, 0xa3, 0x09, 0x00, 0x00, 0x00, 0x0e, 0x00, 0xdb, 0xbf,
+        ];
+
+        let (sbp_result, _remaining_data) = crate::parser::frame(&packet[..packet.len()-1]);
+        assert!(sbp_result.is_err());
+
+        if let Err(err) = sbp_result {
+            match err {
+                crate::Error::NotEnoughData => { /* No-op */ }
+                _ => {
+                    assert!(false);
+                }
+            }
+        }
+
+        let (sbp_result, _remaining_data) = crate::parser::frame(&packet[..packet.len()]);
+
+        if let crate::messages::SBP::MsgBaselineECEF(_msg) = sbp_result.unwrap() {
+            /* No-op */
+        } else {
+            assert!(false);
+        }
     }
 
     #[test]
diff --git a/rust/sbp/src/parser/mod.rs b/rust/sbp/src/parser/mod.rs
index f3fce26c39..49f4ebedc6 100644
--- a/rust/sbp/src/parser/mod.rs
+++ b/rust/sbp/src/parser/mod.rs
@@ -8,10 +8,13 @@ use self::nom::bytes::complete::is_a;
 use self::nom::multi::length_data;
 use self::nom::number::complete::{le_u16, le_u8};
 use self::nom::sequence::tuple;
+use self::nom::error::ErrorKind;
 use crate::messages::SBP;
 use crate::Result;
 use std::io::Read;
 
+const MSG_HEADER_LEN: usize = 1 /*preamble*/ + 2 /*msg_type*/ + 2 /*sender_id*/ + 1 /*len*/;
+
 /// Attempts to extract a single SBP message from a data
 /// slice
 ///
@@ -23,6 +26,11 @@ use std::io::Read;
 /// If the result is a
 /// success then the SBP message has been fully validated.
 pub fn frame(input: &[u8]) -> (Result<SBP>, usize) {
+
+    if input.len() < MSG_HEADER_LEN {
+        return (Err(crate::Error::NotEnoughData), 0);
+    }
+
     let original_size = input.len();
     let preamble = is_a("\x55");
     let payload = length_data(le_u8);
@@ -40,7 +48,7 @@ pub fn frame(input: &[u8]) -> (Result<SBP>, usize) {
                 let bytes_read = original_size - o.len();
                 (
                     SBP::parse(msg_type, sender_id, &mut &payload[..]),
-                    bytes_read,
+                    bytes_read
                 )
             } else {
                 (Err(crate::Error::CrcError), 1)
@@ -49,7 +57,12 @@ pub fn frame(input: &[u8]) -> (Result<SBP>, usize) {
         // Act like we didn't read anything
         Err(self::nom::Err::Incomplete(_)) => (Err(crate::Error::NotEnoughData), 0),
         // Act like we only read a single byte
-        Err(self::nom::Err::Error((_, _))) => (Err(crate::Error::ParseError), 1),
+        Err(self::nom::Err::Error((_data, kind))) => {
+            match kind {
+                ErrorKind::Eof => (Err(crate::Error::NotEnoughData), 0),
+                _ => (Err(crate::Error::ParseError), 1)
+            }
+        }
         // Act like we didn't read anything
         Err(self::nom::Err::Failure((_, _))) => (Err(crate::Error::UnrecoverableFailure), 0),
     }