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SITL: remove duplicated crc code 

same as one we already have
This commit is contained in:
Peter Barker 2024-04-15 08:43:58 +10:00 committed by Peter Barker
parent c1c3580f8b
commit 9090420db0
2 changed files with 3 additions and 29 deletions
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30
libraries/SITL/SIM_GPS_NOVA.cpp
View File

@ -142,36 +142,12 @@ void GPS_NOVA::publish(const GPS_Data *d)
void GPS_NOVA::nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen) void GPS_NOVA::nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen)
{ {
write_to_autopilot((char*)header, headerlength); write_to_autopilot((char*)header, headerlength);
write_to_autopilot((char*)payload, payloadlen); write_to_autopilot((char*)payload, payloadlen);
uint32_t crc = CalculateBlockCRC32(headerlength, header, (uint32_t)0); uint32_t crc = crc_crc32((uint32_t)0, header, headerlength);
crc = CalculateBlockCRC32(payloadlen, payload, crc); crc = crc_crc32(crc, payload, payloadlen);
write_to_autopilot((char*)&crc, 4); write_to_autopilot((char*)&crc, 4);
} }
#define CRC32_POLYNOMIAL 0xEDB88320L
uint32_t GPS_NOVA::CRC32Value(uint32_t icrc)
{
int i;
uint32_t crc = icrc;
for ( i = 8 ; i > 0; i-- )
{
if ( crc & 1 )
crc = ( crc >> 1 ) ^ CRC32_POLYNOMIAL;
else
crc >>= 1;
}
return crc;
}
uint32_t GPS_NOVA::CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc)
{
while ( length-- != 0 )
{
crc = ((crc >> 8) & 0x00FFFFFFL) ^ (CRC32Value(((uint32_t) crc ^ *buffer++) & 0xff));
}
return( crc );
}
#endif // AP_SIM_GPS_NOVA_ENABLED #endif // AP_SIM_GPS_NOVA_ENABLED

2
libraries/SITL/SIM_GPS_NOVA.h
View File

@ -21,8 +21,6 @@ public:
private: private:
void nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen); void nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen);
uint32_t CRC32Value(uint32_t icrc);
uint32_t CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc);
}; };
}; };