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FTP: Add req_opcode field for return request opcode in response message.

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This commit is contained in:
Vladimir Ermakov 2014-09-09 17:02:25 +04:00
parent 35a6074419
commit 564c9b7b60
2 changed files with 4 additions and 2 deletions
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3
src/modules/mavlink/mavlink_ftp.cpp
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@ -224,12 +224,14 @@ MavlinkFTP::_process_request(Request *req)
out:
// handle success vs. error
if (errorCode == kErrNone) {
payload->req_opcode = payload->opcode;
payload->opcode = kRspAck;
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: ack\n");
#endif
} else {
warnx("FTP: nak %u", errorCode);
payload->req_opcode = payload->opcode;
payload->opcode = kRspNak;
payload->size = 1;
payload->data[0] = errorCode;
@ -654,7 +656,6 @@ MavlinkFTP::_payload_crc32(PayloadHeader *payload)
payload->crc32 = 0;
payload->padding[0] = 0;
payload->padding[1] = 0;
payload->padding[2] = 0;
uint32_t retCRC = crc32((const uint8_t*)payload, payload->size + sizeof(PayloadHeader));
payload->crc32 = saveCRC;

3
src/modules/mavlink/mavlink_ftp.h
View File

@ -76,7 +76,8 @@ public:
uint8_t session; ///< Session id for read and write commands
uint8_t opcode; ///< Command opcode
uint8_t size; ///< Size of data
uint8_t padding[3]; ///< 32 bit aligment padding
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
uint32_t offset; ///< Offsets for List and Read commands
uint8_t data[]; ///< command data, varies by Opcode