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CAN Error frame support for future extensibility

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Pavel Kirienko
2014-03-21 10:43:34 +04:00
parent 670d844f08
commit 6246f24297
4 changed files with 13 additions and 2 deletions
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libuavcan/src/transport/frame.cpp
+1 -1
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@@ -52,7 +52,7 @@ inline static uint32_t bitunpack(uint32_t val)
bool Frame::parse(const CanFrame& can_frame)
{
if ((can_frame.id & CanFrame::FlagRTR) || !(can_frame.id & CanFrame::FlagEFF))
if (can_frame.isErrorFrame() || can_frame.isRemoteTransmissionRequest() || !can_frame.isExtended())
return false;
if (can_frame.dlc > sizeof(CanFrame::data))