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protocol_splitter: including magic number on XOR for checksum

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This commit is contained in:
TSC21
2021-06-23 17:04:54 +02:00
committed by Nuno Marques
parent 4741ec25ce
commit a67e66000e
1 changed files with 5 additions and 5 deletions
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10
src/drivers/protocol_splitter/protocol_splitter.cpp
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@@ -86,7 +86,7 @@ typedef union __attribute__((packed))
uint8_t len_h: 7, // Length MSB
type: 1; // 0=MAVLINK, 1=RTPS
uint8_t len_l; // Length LSB
uint8_t checksum; // XOR of two above bytes
uint8_t checksum; // XOR of the three bytes above
} fields;
} Sp2Header_t;
@@ -352,7 +352,7 @@ ssize_t Mavlink2Dev::read(struct file *filp, char *buffer, size_t buflen)
(((Sp2Header_t *) &_read_buffer->buffer[i])->fields.magic != Sp2HeaderMagic
|| ((Sp2Header_t *) &_read_buffer->buffer[i])->fields.type != (uint8_t)MessageType::Mavlink
|| ((Sp2Header_t *) &_read_buffer->buffer[i])->fields.checksum !=
(_read_buffer->buffer[i + 1] ^ _read_buffer->buffer[i + 2])
(_read_buffer->buffer[i] ^ _read_buffer->buffer[i + 1] ^ _read_buffer->buffer[i + 2])
)) {
i++;
}
@@ -446,7 +446,7 @@ ssize_t Mavlink2Dev::write(struct file *filp, const char *buffer, size_t buflen)
} else {
_header.fields.len_h = (buflen >> 8) & 0x7f;
_header.fields.len_l = buflen & 0xff;
_header.fields.checksum = _header.bytes[1] ^ _header.bytes[2];
_header.fields.checksum = _header.bytes[0] ^ _header.bytes[1] ^ _header.bytes[2];
::write(_fd, _header.bytes, 4);
ret = ::write(_fd, buffer, buflen);
}
@@ -519,7 +519,7 @@ ssize_t RtpsDev::read(struct file *filp, char *buffer, size_t buflen)
(((Sp2Header_t *) &_read_buffer->buffer[i])->fields.magic != Sp2HeaderMagic
|| ((Sp2Header_t *) &_read_buffer->buffer[i])->fields.type != (uint8_t)MessageType::Rtps
|| ((Sp2Header_t *) &_read_buffer->buffer[i])->fields.checksum !=
(_read_buffer->buffer[i + 1] ^ _read_buffer->buffer[i + 2])
(_read_buffer->buffer[i] ^ _read_buffer->buffer[i + 1] ^ _read_buffer->buffer[i + 2])
)) {
i++;
}
@@ -595,7 +595,7 @@ ssize_t RtpsDev::write(struct file *filp, const char *buffer, size_t buflen)
} else {
_header.fields.len_h = (buflen >> 8) & 0x7f;
_header.fields.len_l = buflen & 0xff;
_header.fields.checksum = _header.bytes[1] ^ _header.bytes[2];
_header.fields.checksum = _header.bytes[0] ^ _header.bytes[1] ^ _header.bytes[2];
::write(_fd, _header.bytes, 4);
ret = ::write(_fd, buffer, buflen);
}