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FTP: Remove CRC32 from protocol.

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Extra crc not needed because mavlink already has crc16.
This commit is contained in:
Vladimir Ermakov
2014-09-09 17:36:41 +04:00
parent e7ae13a58e
commit 0d2e250d11
2 changed files with 5 additions and 30 deletions
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src/modules/mavlink/mavlink_ftp.cpp
+3 -24
View File
@@ -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;
}
src/modules/mavlink/mavlink_ftp.h
+2 -6
View File
@@ -77,8 +77,7 @@ public:
uint8_t opcode; ///< Command opcode
uint8_t size; ///< Size of data
uint8_t req_opcode; ///< Request opcode returned in kRspAck, kRspNak message
uint8_t padding[2]; ///< 32 bit aligment padding
uint32_t crc32; ///< CRC for entire Request structure, with crc32 and padding set to 0
uint16_t reserved[3]; ///< reserved area
uint32_t offset; ///< Offsets for List and Read commands
uint8_t data[]; ///< command data, varies by Opcode
};
@@ -112,8 +111,7 @@ public:
kErrInvalidSession, ///< Session is not currently open
kErrNoSessionsAvailable, ///< All available Sessions in use
kErrEOF, ///< Offset past end of file for List and Read commands
kErrUnknownCommand, ///< Unknown command opcode
kErrCrc ///< CRC on Payload is incorrect
kErrUnknownCommand ///< Unknown command opcode
};
private:
@@ -135,8 +133,6 @@ private:
void _lock_request_queue(void);
void _unlock_request_queue(void);
uint32_t _payload_crc32(PayloadHeader *hdr);
char *_data_as_cstring(PayloadHeader* payload);
static void _worker_trampoline(void *arg);