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AP_RangeFinder: Common modbus crc method

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This commit is contained in:
murata 2019-04-19 19:46:37 +09:00 committed by Andrew Tridgell
parent c5a471e778
commit d7b2271197
1 changed files with 2 additions and 12 deletions
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14
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
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@ -14,6 +14,7 @@
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/crc.h>
#include "AP_RangeFinder_LeddarOne.h"
#include <AP_SerialManager/AP_SerialManager.h>
@ -142,18 +143,7 @@ void AP_RangeFinder_LeddarOne::update(void)
*/
bool AP_RangeFinder_LeddarOne::CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCheck)
{
uint16_t crc = 0xFFFF;
for (uint32_t i=0; i<aLength; i++) {
crc ^= aBuffer[i];
for (uint32_t j=0; j<8; j++) {
if (crc & 1) {
crc = (crc >> 1) ^ 0xA001;
} else {
crc >>= 1;
}
}
}
uint16_t crc = calc_crc_modbus(aBuffer, aLength);
uint8_t lCRCLo = LOWBYTE(crc);
uint8_t lCRCHi = HIGHBYTE(crc);