From 4c835a0df94529f93efcc9a7558547f29bd8248d Mon Sep 17 00:00:00 2001
From: murata <ma2maru@gmail.com>
Date: Tue, 14 Apr 2020 19:29:33 +0900
Subject: [PATCH] AP_GPS: Move the CRC24 to the AP_Math class

---
 libraries/AP_GPS/RTCM3_Parser.cpp | 28 ++--------------------------
 libraries/AP_GPS/RTCM3_Parser.h   |  2 --
 2 files changed, 2 insertions(+), 28 deletions(-)

diff --git a/libraries/AP_GPS/RTCM3_Parser.cpp b/libraries/AP_GPS/RTCM3_Parser.cpp
index 64587fb063..b76e0e8ed9 100644
--- a/libraries/AP_GPS/RTCM3_Parser.cpp
+++ b/libraries/AP_GPS/RTCM3_Parser.cpp
@@ -18,6 +18,7 @@
 */
 
 #include <string.h>
+#include <AP_Math/AP_Math.h>
 #include "RTCM3_Parser.h"
 
 // reset state
@@ -86,7 +87,7 @@ bool RTCM3_Parser::parse(void)
 {
     const uint8_t *parity = &pkt[pkt_len+3];
     uint32_t crc1 = (parity[0] << 16) | (parity[1] << 8) | parity[2];
-    uint32_t crc2 = crc24(pkt, pkt_len+3);
+    uint32_t crc2 = crc_crc24(pkt, pkt_len+3);
     if (crc1 != crc2) {
         resync();
         return false;
@@ -134,31 +135,6 @@ bool RTCM3_Parser::read(uint8_t byte)
     return false;
 }
 
-/*
-  calculate 24 bit RTCMv3 crc. We take an approach that saves memory
-  and flash at the cost of higher CPU load. This makes it appropriate
-  for use in the f103 AP_Periph nodes
-  On a F765 this costs us approx 2ms of CPU per second of 5Hz all
-  constellation RTCM data
-*/
-uint32_t RTCM3_Parser::crc24(const uint8_t *bytes, uint16_t len)
-{
-    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;
-}
-
 #ifdef RTCM_MAIN_TEST
 /*
   parsing test, taking a raw file captured from UART to u-blox F9
diff --git a/libraries/AP_GPS/RTCM3_Parser.h b/libraries/AP_GPS/RTCM3_Parser.h
index f1e606870a..462e4777fa 100644
--- a/libraries/AP_GPS/RTCM3_Parser.h
+++ b/libraries/AP_GPS/RTCM3_Parser.h
@@ -38,7 +38,6 @@ public:
     
 private:
     const uint8_t RTCMv3_PREAMBLE = 0xD3;
-    const uint32_t POLYCRC24 = 0x1864CFB;
 
     // raw packet, we shouldn't need over 300 bytes for the MB configs we use
     uint8_t pkt[300];
@@ -54,6 +53,5 @@ private:
     
     bool parse(void);
     void resync(void);
-    uint32_t crc24(const uint8_t *bytes, uint16_t len);
 };