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Code Issues Releases Activity

Need to tell UAVTalk to expect a longer packet when it includes a timestamp

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This commit is contained in:
James Cotton 2012-07-24 03:44:03 -05:00
parent ea5c3be026
commit 4809d569c0
2 changed files with 3 additions and 1 deletions
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1
flight/UAVTalk/inc/uavtalk_priv.h
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@ -64,6 +64,7 @@ typedef struct {
uint16_t instId; uint16_t instId;
uint32_t length; uint32_t length;
uint8_t instanceLength; uint8_t instanceLength;
uint8_t timestampLength;
uint8_t cs; uint8_t cs;
uint16_t timestamp; uint16_t timestamp;
int32_t rxCount; int32_t rxCount;

3
flight/UAVTalk/uavtalk.c
View File

@ -390,6 +390,7 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle
{ {
iproc->length = UAVObjGetNumBytes(iproc->obj); iproc->length = UAVObjGetNumBytes(iproc->obj);
iproc->instanceLength = (UAVObjIsSingleInstance(iproc->obj) ? 0 : 2); iproc->instanceLength = (UAVObjIsSingleInstance(iproc->obj) ? 0 : 2);
iproc->timestampLength = (iproc->type & UAVTALK_TIMESTAMPED) ? 2 : 0;
} }
else else
{ {
@ -408,7 +409,7 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle
} }
// Check the lengths match // Check the lengths match
if ((iproc->rxPacketLength + iproc->instanceLength + iproc->length) != iproc->packet_size) if ((iproc->rxPacketLength + iproc->instanceLength + iproc->timestampLength + iproc->length) != iproc->packet_size)
{ // packet error - mismatched packet size { // packet error - mismatched packet size
connection->stats.rxErrors++; connection->stats.rxErrors++;
iproc->state = UAVTALK_STATE_ERROR; iproc->state = UAVTALK_STATE_ERROR;