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Fix generic UDP frame type

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This commit is contained in:
Johnathon Slightham
2026-02-28 12:09:35 -05:00
committed by Johnathon Slightham
parent f8b43036b3
commit 71ff7b63ac
6 changed files with 33 additions and 23 deletions
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26
components/dataLink/DataLinkManager.cpp
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@@ -106,23 +106,23 @@ DataLinkManager::~DataLinkManager(){
vTaskDelay(pdMS_TO_TICKS(100)); //delay to allow tasks to be killed
if (rip_broadcast_task == NULL){
if (rip_broadcast_task != NULL){
vTaskDelete(rip_broadcast_task);
rip_broadcast_task = NULL;
}
if (rip_ttl_task == NULL){
if (rip_ttl_task != NULL){
vTaskDelete(rip_ttl_task);
rip_ttl_task = NULL;
}
if (scheduler_task == NULL){
if (scheduler_task != NULL){
vTaskDelete(scheduler_task);
scheduler_task = NULL;
}
if (receive_task == NULL){
if (receive_task != NULL){
vTaskDelete(receive_task);
receive_task = NULL;
}
if (send_ack_task == NULL){
if (send_ack_task != NULL){
vTaskDelete(send_ack_task);
send_ack_task = NULL;
}
@@ -378,11 +378,11 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, std::unique_ptr<std::vector<
//calculate number of fragments required (for generic frames only)
uint32_t frag_info = 0;
if (!isControlFrame){
if (buffer->size() <= MAX_CONTROL_DATA_LEN){
frag_info = (1 << 16); //1 total fragment required
if (buffer->size() <= MAX_GENERIC_DATA_LEN){
frag_info = (1 << 16) | 1; //1 total fragment, frag_num=1 (1-indexed)
} else {
uint32_t total_frags = (buffer->size() + MAX_GENERIC_DATA_LEN - 1) / MAX_GENERIC_DATA_LEN;
frag_info = (total_frags) << 16;
frag_info = (total_frags) << 16; //frag_num starts at 0 and is incremented to 1 before first send in scheduler
}
}
@@ -570,22 +570,18 @@ esp_err_t DataLinkManager::get_data_from_frame(uint8_t* data, size_t data_len, u
*message_size = header->data_len;
if ((*message_size > MAX_GENERIC_DATA_LEN && total_frag != 1) || (14 + *message_size > data_len)){
if (*message_size > MAX_GENERIC_DATA_LEN || (14 + *message_size > data_len)){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid payload length: %u", *message_size);
return ESP_ERR_INVALID_SIZE;
}
memcpy(message, &data[12], *message_size);
if (total_frag != 1){
geneate_crc_16(data, 12*sizeof(uint8_t) + *message_size, &header->crc_16);
} else {
header->crc_16 = 0;
}
geneate_crc_16(data, 12*sizeof(uint8_t) + *message_size, &header->crc_16);
uint16_t crc_calc = ((uint16_t)data[12 + *message_size] | ((uint16_t)data[13 + *message_size] << 8));
if (crc_calc != header->crc_16 && total_frag != 1){
if (crc_calc != header->crc_16){
//CRC mismatch
ESP_LOGE(DEBUG_LINK_TAG, "CRC Mismatch - Generic Frame");
ESP_LOGE(DEBUG_LINK_TAG, "Got 0x%04X but calculated 0x%04X\n", crc_calc, header->crc_16);