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Time sync master: paranoid check for loopback frame correctness

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Pavel Kirienko
2014-04-11 16:13:23 +04:00
parent c634a676be
commit 9b56534506
1 changed files with 2 additions and 1 deletions
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libuavcan/src/protocol/uc_global_time_sync_master.cpp
+2 -1
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@@ -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());
}