mirror of https://github.com/ArduPilot/ardupilot
359 lines
13 KiB
C++
359 lines
13 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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collection of CRCs.
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*/
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#include <stdint.h>
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#include "crc.h"
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/**
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* crc4 method from datasheet for 16 bytes (8 short values)
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*
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* @param [in] data
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* @return crc4
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*/
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uint16_t crc_crc4(uint16_t *data)
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{
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uint16_t n_rem = 0;
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uint8_t n_bit;
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for (uint8_t cnt = 0; cnt < 16; cnt++) {
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/* uneven bytes */
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if (cnt & 1) {
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n_rem ^= (uint8_t)((data[cnt >> 1]) & 0x00FF);
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} else {
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n_rem ^= (uint8_t)(data[cnt >> 1] >> 8);
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}
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for (n_bit = 8; n_bit > 0; n_bit--) {
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if (n_rem & 0x8000) {
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n_rem = (n_rem << 1) ^ 0x3000;
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} else {
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n_rem = (n_rem << 1);
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}
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}
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}
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return (n_rem >> 12) & 0xF;
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}
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static const uint8_t crc8_table[] = {
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0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
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0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
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0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
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0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
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0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
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0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
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0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
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0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
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0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
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0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
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0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
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0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
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0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
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0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
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0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
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0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
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0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
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0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
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0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
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0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
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0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
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0xfa, 0xfd, 0xf4, 0xf3
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};
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/*
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crc8 from trone driver by Luis Rodrigues
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*/
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uint8_t crc_crc8(const uint8_t *p, uint8_t len)
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{
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uint16_t crc = 0x0;
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while (len--) {
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const uint16_t i = (crc ^ *p++) & 0xFF;
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crc = (crc8_table[i] ^ (crc << 8)) & 0xFF;
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}
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return crc & 0xFF;
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}
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// crc8 from betaflight
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uint8_t crc8_dvb_s2(uint8_t crc, uint8_t a)
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{
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return crc8_dvb(crc, a, 0xD5);
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}
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// crc8 from betaflight
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uint8_t crc8_dvb(uint8_t crc, uint8_t a, uint8_t seed)
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{
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crc ^= a;
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for (uint8_t i = 0; i < 8; ++i) {
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if (crc & 0x80) {
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crc = (crc << 1) ^ seed;
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} else {
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crc = crc << 1;
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}
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}
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return crc;
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}
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// crc8 from betaflight
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uint8_t crc8_dvb_s2_update(uint8_t crc, const void *data, uint32_t length)
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{
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const uint8_t *p = (const uint8_t *)data;
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const uint8_t *pend = p + length;
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for (; p != pend; p++) {
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crc = crc8_dvb_s2(crc, *p);
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}
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return crc;
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}
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// copied from AP_FETtecOneWire.cpp
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uint8_t crc8_dvb_update(uint8_t crc, const uint8_t* buf, const uint16_t buf_len)
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{
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for (uint16_t i = 0; i < buf_len; i++) {
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crc = crc8_dvb(buf[i], crc, 0x7);
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}
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return crc;
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}
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/*
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xmodem CRC thanks to avr-liberty
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https://github.com/dreamiurg/avr-liberty
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*/
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uint16_t crc_xmodem_update(uint16_t crc, uint8_t data)
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{
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crc = crc ^ ((uint16_t)data << 8);
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for (uint16_t i=0; i<8; i++)
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{
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if(crc & 0x8000) {
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crc = (crc << 1) ^ 0x1021;
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} else {
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crc <<= 1;
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}
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}
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return crc;
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}
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uint16_t crc_xmodem(const uint8_t *data, uint16_t len)
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{
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uint16_t crc = 0;
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for (uint16_t i=0; i<len; i++) {
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crc = crc_xmodem_update(crc, data[i]);
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}
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return crc;
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}
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/*
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crc32 from Gary S Brown
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*/
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static const uint32_t crc32_tab[] = {
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0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f,
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0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988,
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0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2,
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0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
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0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9,
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0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
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0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c,
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0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
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0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423,
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0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
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0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106,
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0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
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0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d,
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0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e,
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0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950,
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0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
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0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7,
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0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
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0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa,
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0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
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0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81,
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0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a,
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0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84,
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0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
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0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb,
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0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc,
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0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e,
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0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
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0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55,
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0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
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0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28,
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0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
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0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f,
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0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38,
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0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242,
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0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
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0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69,
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0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2,
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0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc,
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0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
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0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693,
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0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
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0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
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};
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uint32_t crc_crc32(uint32_t crc, const uint8_t *buf, uint32_t size)
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{
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for (uint32_t i=0; i<size; i++) {
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crc = crc32_tab[(crc ^ buf[i]) & 0xff] ^ (crc >> 8);
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}
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return crc;
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}
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// smaller (and slower) crc32 for bootloader
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uint32_t crc32_small(uint32_t crc, const uint8_t *buf, uint32_t size)
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{
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while (size--) {
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const uint8_t byte = *buf++;
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crc ^= byte;
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for (uint8_t i=0; i<8; i++) {
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const uint32_t mask = -(crc & 1);
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crc >>= 1;
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crc ^= (0xEDB88320 & mask);
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}
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}
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return crc;
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}
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/*
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* Copyright (C) 2010 Swift Navigation Inc.
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* Contact: Fergus Noble <fergus@swift-nav.com>
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*
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* This source is subject to the license found in the file 'LICENSE' which must
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* be be distributed together with this source. All other rights reserved.
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*
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* THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
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* EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
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*/
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/* CRC16 implementation according to CCITT standards */
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static const uint16_t crc16tab[256] = {
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0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
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0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
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0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
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0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
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0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
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0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
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0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
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0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
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0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
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0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
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0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
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0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
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0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
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0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
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0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
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0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
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0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
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0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
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0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
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0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
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0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
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0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
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0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
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0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
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0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
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0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
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0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
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0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
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0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
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0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
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0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
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0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
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};
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uint16_t crc16_ccitt(const uint8_t *buf, uint32_t len, uint16_t crc)
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{
|
|
for (uint32_t i = 0; i < len; i++) {
|
|
crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ *buf++) & 0x00FF];
|
|
}
|
|
return crc;
|
|
}
|
|
|
|
/**
|
|
* Calculate Modbus CRC16 for array of bytes
|
|
*
|
|
* @param [in] buf input buffer
|
|
* @param [in] len size of buffer
|
|
* @return CRC value
|
|
*/
|
|
uint16_t calc_crc_modbus(uint8_t *buf, uint16_t len)
|
|
{
|
|
uint16_t crc = 0xFFFF;
|
|
for (uint16_t pos = 0; pos < len; pos++) {
|
|
crc ^= (uint16_t) buf[pos]; // XOR byte into least sig. byte of crc
|
|
for (uint8_t i = 8; i != 0; i--) { // Loop over each bit
|
|
if ((crc & 0x0001) != 0) { // If the LSB is set
|
|
crc >>= 1; // Shift right and XOR 0xA001
|
|
crc ^= 0xA001;
|
|
} else {
|
|
// Else LSB is not set
|
|
crc >>= 1; // Just shift right
|
|
}
|
|
}
|
|
}
|
|
return crc;
|
|
}
|
|
|
|
// FNV-1a implementation
|
|
#define FNV_1_PRIME_64 1099511628211UL
|
|
void hash_fnv_1a(uint32_t len, const uint8_t* buf, uint64_t* hash)
|
|
{
|
|
uint32_t i;
|
|
for (i=0; i<len; i++) {
|
|
*hash ^= (uint64_t)buf[i];
|
|
*hash *= FNV_1_PRIME_64;
|
|
}
|
|
}
|
|
|
|
// calculate 24 bit crc. We take an approach that saves memory and flash at the cost of higher CPU load.
|
|
uint32_t crc_crc24(const uint8_t *bytes, uint16_t len)
|
|
{
|
|
static constexpr uint32_t POLYCRC24 = 0x1864CFB;
|
|
uint32_t crc = 0;
|
|
while (len--) {
|
|
uint8_t b = *bytes++;
|
|
const uint8_t idx = (crc>>16) ^ b;
|
|
uint32_t crct = idx<<16;
|
|
for (uint8_t j=0; j<8; j++) {
|
|
crct <<= 1;
|
|
if (crct & 0x1000000) {
|
|
crct ^= POLYCRC24;
|
|
}
|
|
}
|
|
crc = ((crc<<8)&0xFFFFFF) ^ crct;
|
|
}
|
|
return crc;
|
|
}
|
|
|
|
// simple 8 bit checksum used by FPort
|
|
uint8_t crc_sum8(const uint8_t *p, uint8_t len)
|
|
{
|
|
uint16_t sum = 0;
|
|
for (uint8_t i=0; i<len; i++) {
|
|
sum += p[i];
|
|
sum += sum >> 8;
|
|
sum &= 0xFF;
|
|
}
|
|
sum = 0xff - ((sum & 0xff) + (sum >> 8));
|
|
return sum;
|
|
}
|