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[uavcan] Fix bug in buffer size (#3546)
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Freek van Tienen
2025-10-13 11:56:01 +02:00
committed by GitHub
parent 751e2579eb
commit 9b76c21b8b
1 changed files with 3 additions and 3 deletions
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sw/airborne/arch/chibios/modules/uavcan/uavcan.c
+3 -3
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@@ -125,7 +125,7 @@ static void uavcan_tx(void* p)
struct uavcan_msg_header_t header; struct uavcan_msg_header_t header;
int ret = circular_buffer_get(&iface->_tx_fifo, (uint8_t*)&header, sizeof(struct uavcan_msg_header_t)); int ret = circular_buffer_get(&iface->_tx_fifo, (uint8_t*)&header, sizeof(struct uavcan_msg_header_t));
if(ret < 0) {break;} if(ret < 0) {break;}
if(((header.payload_len+7)/8) >= UAVCAN_MSG_MAX_SIZE) { if(header.payload_len >= UAVCAN_MSG_MAX_SIZE) {
chSysHalt("UAVCAN_MSG_MAX_SIZE too small"); chSysHalt("UAVCAN_MSG_MAX_SIZE too small");
} }
ret = circular_buffer_get(&iface->_tx_fifo, msg_payload, UAVCAN_MSG_MAX_SIZE); ret = circular_buffer_get(&iface->_tx_fifo, msg_payload, UAVCAN_MSG_MAX_SIZE);
@@ -273,7 +273,7 @@ void uavcan_broadcast(struct uavcan_iface_t *iface, uint64_t data_type_signature
.data_type_signature = data_type_signature, .data_type_signature = data_type_signature,
.data_type_id = data_type_id, .data_type_id = data_type_id,
.priority = priority, .priority = priority,
.payload_len = payload_len // in bits .payload_len = payload_len
}; };
if(circular_buffer_put(&iface->_tx_fifo, (uint8_t*)&header, sizeof(struct uavcan_msg_header_t)) < 0) { if(circular_buffer_put(&iface->_tx_fifo, (uint8_t*)&header, sizeof(struct uavcan_msg_header_t)) < 0) {
@@ -282,7 +282,7 @@ void uavcan_broadcast(struct uavcan_iface_t *iface, uint64_t data_type_signature
return; return;
} }
if(circular_buffer_put(&iface->_tx_fifo, payload, (payload_len+7)/8) < 0) { if(circular_buffer_put(&iface->_tx_fifo, payload, payload_len) < 0) {
// fail to post payload. Remove the header from the fifo // fail to post payload. Remove the header from the fifo
circular_buffer_drop(&iface->_tx_fifo); circular_buffer_drop(&iface->_tx_fifo);
pprz_mtx_unlock(&iface->tx_fifo_mutex); pprz_mtx_unlock(&iface->tx_fifo_mutex);