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author | Vladimir Ermakov <vooon341@gmail.com> | 2014-09-09 17:36:41 +0400 |
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committer | Vladimir Ermakov <vooon341@gmail.com> | 2014-09-09 17:36:41 +0400 |
commit | 0d2e250d119a5a14c8757982c96b2afef09c4d0d (patch) | |
tree | 05de495819b6702861b9f1f4a991961239ec72a9 /src/modules/mavlink/mavlink_ftp.cpp | |
parent | e7ae13a58e83263973feab3630f90f077786fcc3 (diff) | |
download | px4-firmware-0d2e250d119a5a14c8757982c96b2afef09c4d0d.tar.gz px4-firmware-0d2e250d119a5a14c8757982c96b2afef09c4d0d.tar.bz2 px4-firmware-0d2e250d119a5a14c8757982c96b2afef09c4d0d.zip |
FTP: Remove CRC32 from protocol.
Extra crc not needed because mavlink already has crc16.
Diffstat (limited to 'src/modules/mavlink/mavlink_ftp.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_ftp.cpp | 27 |
1 files changed, 3 insertions, 24 deletions
diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp index ae9246ece..b847fc625 100644 --- a/src/modules/mavlink/mavlink_ftp.cpp +++ b/src/modules/mavlink/mavlink_ftp.cpp @@ -34,7 +34,6 @@ /// @file mavlink_ftp.cpp /// @author px4dev, Don Gagne <don@thegagnes.com> -#include <crc32.h> #include <unistd.h> #include <stdio.h> #include <fcntl.h> @@ -161,13 +160,6 @@ MavlinkFTP::_process_request(Request *req) goto out; } - // check request CRC to make sure this is one of ours - if (_payload_crc32(payload) != payload->crc32) { - errorCode = kErrCrc; - goto out; - warnx("ftp: bad crc"); - } - #ifdef MAVLINK_FTP_DEBUG printf("ftp: channel %u opc %u size %u offset %u\n", req->serverChannel, payload->opcode, payload->size, payload->offset); #endif @@ -255,8 +247,9 @@ MavlinkFTP::_reply(Request *req) PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&req->message.payload[0]); payload->seqNumber = payload->seqNumber + 1; - - payload->crc32 = _payload_crc32(payload); + payload->reserved[0] = 0; + payload->reserved[1] = 0; + payload->reserved[2] = 0; mavlink_message_t msg; msg.checksum = 0; @@ -647,17 +640,3 @@ MavlinkFTP::_return_request(Request *req) _unlock_request_queue(); } -/// @brief Returns the 32 bit CRC for the payload, crc32 and padding members are set to 0 for calculation. -uint32_t -MavlinkFTP::_payload_crc32(PayloadHeader *payload) -{ - // We calculate CRC with crc and padding set to 0. - uint32_t saveCRC = payload->crc32; - payload->crc32 = 0; - payload->padding[0] = 0; - payload->padding[1] = 0; - uint32_t retCRC = crc32((const uint8_t*)payload, payload->size + sizeof(PayloadHeader)); - payload->crc32 = saveCRC; - - return retCRC; -} |