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AP_Math: Add RDS02UF RangeFinder CRC

This commit is contained in:
rishabsingh3003 2023-12-25 21:55:26 +05:30 committed by Peter Barker
parent fc0084fe83
commit 276ee86f38
2 changed files with 47 additions and 1 deletions
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45
libraries/AP_Math/crc.cpp
View File

@ -227,6 +227,51 @@ uint8_t crc8_sae(const uint8_t *data, uint16_t length)
return crc;
}
// crc table for rangefinder rds02uf
static const uint8_t crc8_table_rds02uf[256] = {
0x93,0x98,0xE4,0x46,0xEB,0xBA,0x04,0x4C,
0xFA,0x40,0xB8,0x96,0x0E,0xB2,0xB7,0xC0,
0x0C,0x32,0x9B,0x80,0xFF,0x30,0x7F,0x9D,
0xB3,0x81,0x58,0xE7,0xF1,0x19,0x7E,0xB6,
0xCD,0xF7,0xB4,0xCB,0xBC,0x5C,0xD6,0x09,
0x20,0x0A,0xE0,0x37,0x51,0x67,0x24,0x95,
0xE1,0x62,0xF8,0x5E,0x38,0x15,0x54,0x77,
0x63,0x57,0x6D,0xE9,0x89,0x76,0xBE,0x41,
0x5D,0xF9,0xB1,0x4D,0x6C,0x53,0x9C,0xA2,
0x23,0xC4,0x8E,0xC8,0x05,0x42,0x61,0x71,
0xC5,0x00,0x18,0x6F,0x5F,0xFB,0x7B,0x11,
0x65,0x2D,0x8C,0xED,0x14,0xAB,0x88,0xD5,
0xD9,0xC2,0x36,0x34,0x7C,0x5B,0x3C,0xF6,
0x48,0x0B,0xEE,0x02,0x83,0x79,0x17,0xE6,
0xA8,0x78,0xF5,0xD3,0x4E,0x50,0x52,0x91,
0xD8,0xC6,0x22,0xEC,0x3B,0xE5,0x3F,0x86,
0x06,0xCF,0x2B,0x2F,0x3D,0x59,0x1C,0x87,
0xEF,0x4F,0x10,0xD2,0x7D,0xDA,0x72,0xA0,
0x9F,0xDE,0x6B,0x75,0x56,0xBD,0xC7,0xC1,
0x70,0x1D,0x25,0x92,0xA5,0x31,0xE2,0xD7,
0xD0,0x9A,0xAF,0xA9,0xC9,0x97,0x08,0x33,
0x5A,0x99,0xC3,0x16,0x84,0x82,0x8A,0xF3,
0x4A,0xCE,0xDB,0x29,0x0F,0xAE,0x6E,0xE3,
0x8B,0x07,0x3A,0x74,0x47,0xB0,0xBB,0xB5,
0x7A,0xAA,0x2C,0xD4,0x03,0x3E,0x1A,0xA7,
0x27,0x64,0x06,0xBF,0x55,0x73,0x1E,0xFE,
0x49,0x01,0x39,0x28,0xF4,0x26,0xDF,0xDD,
0x44,0x0D,0x21,0xF2,0x85,0xB9,0xEA,0x4B,
0xDC,0x6A,0xCA,0xAC,0x12,0xFC,0x2E,0x2A,
0xA3,0xF0,0x66,0xE8,0x60,0x45,0xA1,0x8D,
0x68,0x35,0xFD,0x8F,0x9E,0x1F,0x13,0xD1,
0xAD,0x69,0xCC,0xA4,0x94,0x90,0x1B,0x43,
};
uint8_t crc8_rds02uf(const uint8_t *data, uint16_t length)
{
uint8_t crc = 0;
while (length--) {
crc = crc8_table_rds02uf[crc^*(data++)];
}
return crc;
}
/*
xmodem CRC thanks to avr-liberty
https://github.com/dreamiurg/avr-liberty

3
libraries/AP_Math/crc.h
View File

@ -13,7 +13,7 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
interfaces to ArduPilot collection of CRCs.
interfaces to ArduPilot collection of CRCs.
*/
#pragma once
@ -28,6 +28,7 @@ uint8_t crc8_dvb_s2_update(uint8_t crc, const void *data, uint32_t length);
uint8_t crc8_dvb_update(uint8_t crc, const uint8_t* buf, const uint16_t buf_len);
uint8_t crc8_maxim(const uint8_t *data, uint16_t length);
uint8_t crc8_sae(const uint8_t *data, uint16_t length);
uint8_t crc8_rds02uf(const uint8_t *data, uint16_t length);
uint16_t crc_xmodem_update(uint16_t crc, uint8_t data);
uint16_t crc_xmodem(const uint8_t *data, uint16_t len);
uint32_t crc_crc32(uint32_t crc, const uint8_t *buf, uint32_t size);