From 9b56534506652f021fb71d85222289f4a3d4a8a9 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 11 Apr 2014 16:13:23 +0400
Subject: [PATCH] Time sync master: paranoid check for loopback frame
 correctness

---
 libuavcan/src/protocol/uc_global_time_sync_master.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libuavcan/src/protocol/uc_global_time_sync_master.cpp b/libuavcan/src/protocol/uc_global_time_sync_master.cpp
index 6604d7e722..5d96c41bc2 100644
--- a/libuavcan/src/protocol/uc_global_time_sync_master.cpp
+++ b/libuavcan/src/protocol/uc_global_time_sync_master.cpp
@@ -71,7 +71,8 @@ void GlobalTimeSyncMaster::handleLoopbackFrame(const RxFrame& frame)
     {
         if (frame.getDataTypeID() == dtid_ &&
             frame.getTransferType() == TransferTypeMessageBroadcast &&
-            frame.isLast() && frame.isFirst())
+            frame.isLast() && frame.isFirst() &&
+            frame.getSrcNodeID() == node_.getNodeID())
         {
             iface_masters_[iface]->setTxTimestamp(frame.getUtcTimestamp());
         }