diff --git a/platforms/nuttx/src/canbootloader/include/can.h b/platforms/nuttx/src/canbootloader/include/can.h index cded836c71..fcf4f4930d 100644 --- a/platforms/nuttx/src/canbootloader/include/can.h +++ b/platforms/nuttx/src/canbootloader/include/can.h @@ -53,7 +53,8 @@ typedef enum { CAN_125KBAUD = 1, CAN_250KBAUD = 2, CAN_500KBAUD = 3, - CAN_1MBAUD = 4 + CAN_1MBAUD = 4, + CAN_UNDEFINED = 999, } can_speed_t; typedef enum { diff --git a/platforms/nuttx/src/canbootloader/uavcan/main.c b/platforms/nuttx/src/canbootloader/uavcan/main.c index 74db7cc605..01ef8ceb92 100644 --- a/platforms/nuttx/src/canbootloader/uavcan/main.c +++ b/platforms/nuttx/src/canbootloader/uavcan/main.c @@ -82,6 +82,8 @@ #pragma message "******** DANGER DEBUG_APPLICATION_INPLACE is DEFINED ******" #endif +extern bootloader_alt_app_shared_t _sapp_bl_shared; + typedef volatile struct bootloader_t { can_speed_t bus_speed; volatile uint8_t health; @@ -208,7 +210,7 @@ static void node_info_process(bl_timer_id id, void *context) bootloader.fw_image_descriptor->minor_version; response.software_version.vcs_commit = - bootloader.fw_image_descriptor->vcs_commit; + bootloader.fw_image_descriptor->git_hash; response.software_version.image_crc = bootloader.fw_image_descriptor->image_crc; @@ -292,9 +294,9 @@ static void find_descriptor(void) app_descriptor_t *descriptor = NULL; union { uint64_t ull; - char text[sizeof(uint64_t)]; + uint8_t bytes[sizeof(uint64_t)]; } sig = { - .text = {APP_DESCRIPTOR_SIGNATURE} + .bytes = APP_DESCRIPTOR_SIGNATURE }; do { @@ -312,8 +314,8 @@ static void find_descriptor(void) * * Description: * This functions validates the applications image based on the validity of - * the Application firmware descriptor's crc and the value of the first word - * in the FLASH image. + * the Application firmware descriptor's 2 crcs and the value of + * the first word in the FLASH image. * * * Input Parameters: @@ -326,9 +328,9 @@ static void find_descriptor(void) ****************************************************************************/ static bool is_app_valid(uint32_t first_word) { - uint64_t crc; - size_t i, length, crc_offset; - uint32_t word; + uint32_t block_crc1; + uint32_t block_crc2; + size_t length; find_descriptor(); @@ -342,32 +344,21 @@ static bool is_app_valid(uint32_t first_word) return false; } - crc_offset = (size_t)(&bootloader.fw_image_descriptor->image_crc) - - (size_t) bootloader.fw_image; - crc_offset >>= 2u; - length >>= 2u; + block_crc1 = crc32_signature(0, sizeof(first_word), (const uint8_t *)&first_word); + block_crc1 = crc32_signature(block_crc1, (size_t)(&bootloader.fw_image_descriptor->crc32_block1) - + (size_t)(bootloader.fw_image + 1), (const uint8_t *)(bootloader.fw_image + 1)); - crc = crc64_add_word(CRC64_INITIAL, first_word); - - for (i = 1u; i < length; i++) { - if (i == crc_offset || i == crc_offset + 1u) { - /* Zero out the CRC field while computing the CRC */ - word = 0u; - - } else { - word = bootloader.fw_image[i]; - } - - crc = crc64_add_word(crc, word); - } - - crc ^= CRC64_OUTPUT_XOR; + block_crc2 = crc32_signature(0, + (size_t) bootloader.fw_image_descriptor->image_size - ((size_t)&bootloader.fw_image_descriptor->major_version + - (size_t)bootloader.fw_image), + (const uint8_t *) &bootloader.fw_image_descriptor->major_version); #if defined(DEBUG_APPLICATION_INPLACE) return true; #endif - return crc == bootloader.fw_image_descriptor->image_crc; + return block_crc1 == bootloader.fw_image_descriptor->crc32_block1 + && block_crc2 == bootloader.fw_image_descriptor->crc32_block2; } /**************************************************************************** @@ -976,11 +967,16 @@ static void application_run(size_t fw_image_size, bootloader_app_shared_t *commo static int autobaud_and_get_dynamic_node_id(bl_timer_id tboot, can_speed_t *speed, uint32_t *node_id) { board_indicate(autobaud_start); - + bool autobaud_only = *speed == CAN_UNDEFINED; int rv = can_autobaud(speed, tboot); if (rv != CAN_BOOT_TIMEOUT) { board_indicate(autobaud_end); + + if (autobaud_only) { + return rv; + } + board_indicate(allocation_start); #if defined(DEBUG_APPLICATION_INPLACE) *node_id = 125; @@ -1071,9 +1067,24 @@ __EXPORT int main(int argc, char *argv[]) board_indicate(reset); - /* Was this boot a result of the Application being told it has a FW update ? */ - bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) && - common.bus_speed && common.node_id; + /* Was this boot a result of An Alternate Application being told it has a FW update ? */ + + bootloader_alt_app_shared_t *ps = (bootloader_alt_app_shared_t *) &_sapp_bl_shared; + + if (ps->signature == BL_ALT_APP_SHARED_SIGNATURE) { + + common.node_id = ps->node_id; + common.bus_speed = CAN_UNDEFINED; + bootloader.app_bl_request = ps->node_id != 0; + ps->signature = 0; + + } else { + + /* Was this boot a result of the Application being told it has a FW update ? */ + + bootloader.app_bl_request = (OK == bootloader_app_shared_read(&common, App)) && + common.bus_speed && common.node_id; + } /* * Mark CRC to say this is not from @@ -1130,6 +1141,23 @@ __EXPORT int main(int argc, char *argv[]) if (bootloader.app_bl_request) { bootloader.bus_speed = common.bus_speed; + + /* if the the bootloader_alt_app_shared_t was used there is not bit rate. + * So let auto baud only as signaled by bootloader.bus_speed == CAN_UNDEFINED + */ + + if (common.bus_speed == CAN_UNDEFINED) { + if (CAN_OK != autobaud_and_get_dynamic_node_id(tboot, (can_speed_t *)&bootloader.bus_speed, &common.node_id)) { + /* + * It is OK that node ID is set to the preferred Appl Node ID because + * common.crc.valid is not true yet + */ + + goto boot; + + } + } + can_init(can_freq2speed(common.bus_speed), CAN_Mode_Normal); } else { diff --git a/src/drivers/bootloaders/boot_app_shared.h b/src/drivers/bootloaders/boot_app_shared.h index 71f424895f..ace1db5007 100644 --- a/src/drivers/bootloaders/boot_app_shared.h +++ b/src/drivers/bootloaders/boot_app_shared.h @@ -44,9 +44,7 @@ __BEGIN_DECLS * revision number of 00 used in app_descriptor_t */ -#define APP_DESCRIPTOR_SIGNATURE_ID 'A','P','D','e','s','c' -#define APP_DESCRIPTOR_SIGNATURE_REV '0','0' -#define APP_DESCRIPTOR_SIGNATURE APP_DESCRIPTOR_SIGNATURE_ID, APP_DESCRIPTOR_SIGNATURE_REV +#define APP_DESCRIPTOR_SIGNATURE { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 } /* N.B. the .ld file must emit this sections */ # define boot_app_shared_section __attribute__((section(".app_descriptor"))) @@ -96,6 +94,15 @@ typedef begin_packed_struct struct bootloader_app_shared_t { uint32_t bus_speed; uint32_t node_id; } end_packed_struct bootloader_app_shared_t; + +#define BL_ALT_APP_SHARED_SIGNATURE 0xc544ad9a +typedef begin_packed_struct struct bootloader_alt_app_shared_t { + uint32_t signature; + uint32_t reserved[4]; + uint8_t fw_server_node_id; + uint8_t node_id; + uint8_t path[201]; +} end_packed_struct bootloader_alt_app_shared_t; #pragma GCC diagnostic pop /**************************************************************************** @@ -128,12 +135,19 @@ typedef begin_packed_struct struct bootloader_app_shared_t { #pragma GCC diagnostic ignored "-Wpacked" typedef begin_packed_struct struct app_descriptor_t { uint8_t signature[sizeof(uint64_t)]; - uint64_t image_crc; + union { + uint64_t image_crc; + struct { + uint32_t crc32_block1; + uint32_t crc32_block2; + }; + }; uint32_t image_size; - uint32_t vcs_commit; - uint8_t major_version; - uint8_t minor_version; - uint8_t reserved[6]; + uint32_t git_hash; + uint8_t major_version; + uint8_t minor_version; + uint16_t board_id; + uint8_t reserved[ 3 + 3 + 2]; } end_packed_struct app_descriptor_t; #pragma GCC diagnostic pop diff --git a/src/drivers/bootloaders/make_can_boot_descriptor.py b/src/drivers/bootloaders/make_can_boot_descriptor.py index ccda76c96a..a0a5256142 100755 --- a/src/drivers/bootloaders/make_can_boot_descriptor.py +++ b/src/drivers/bootloaders/make_can_boot_descriptor.py @@ -7,6 +7,41 @@ import struct import optparse import binascii from io import BytesIO +import array + +crctab = array.array('I', [ + 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, + 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, + 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, + 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, + 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, + 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, + 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, + 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, + 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, + 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, + 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, + 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, + 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, + 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, + 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, + 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, + 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, + 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, + 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, + 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, + 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, + 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, + 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, + 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, + 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, + 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, + 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, + 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, + 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, + 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, + 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, + 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d]) class GitWrapper: @classmethod @@ -21,26 +56,31 @@ class GitWrapper: class AppDescriptor(object): """ UAVCAN firmware image descriptor format: - uint64_t signature (bytes [7:0] set to 'APDesc00' by linker script) - uint64_t image_crc (set to 0 by linker script) - uint32_t image_size (set to 0 by linker script) - uint32_t vcs_commit (set in source or by this tool) + uint64_t signature (bytes [7:0] set to '{ 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 }' by the build + uint32_t crc32_block1 From offset 0 to . (non inclusive) (set by this tool) + uint32_t crc32_block2 From offsetof(minor_version) to end (set by this tool) + uint32_t image_size (set to 0 by linker script) + uint32_t vcs_commit (set in source or by this tool) uint8_t version_major (set in source) uint8_t version_minor (set in source) + uint16_t board_id (set in source) uint8_t reserved[6] (set to 0xFF by linker script) """ - LENGTH = 8 + 8 + 4 + 4 + 1 + 1 + 6 - SIGNATURE = b"APDesc00" - RESERVED = b"\xFF" * 6 + LENGTH = 8 + 4 + 4 + 4 + 4 + 1 + 1 + 2 + 8 + DESLENGTH = 4 + 4 + 4 + 4 + SIGNATURE = b"\x40\xa2\xe4\xf1\x64\x68\x91\x06" + RESERVED = b"\xFF" * 8 def __init__(self, bytes=None): self.signature = AppDescriptor.SIGNATURE - self.image_crc = 0 + self.crc32_block1 = 0 + self.crc32_block2 = 0 self.image_size = 0 self.vcs_commit = 0 self.version_major = 0 self.version_minor = 0 + self.board_id = 0 self.reserved = AppDescriptor.RESERVED if bytes: @@ -51,15 +91,16 @@ class AppDescriptor(object): binascii.b2a_hex(bytes))) def pack(self): - return struct.pack("<8sQLLBB6s", self.signature, self.image_crc, - self.image_size, self.vcs_commit, + return struct.pack("<8sLLLLBBH8s", self.signature, self.crc32_block1, + self.crc32_block2, self.image_size, self.vcs_commit, self.version_major, self.version_minor, + self.board_id, self.reserved) def unpack(self, bytes): - (self.signature, self.image_crc, self.image_size, self.vcs_commit, - self.version_major, self.version_minor, self.reserved) = \ - struct.unpack("<8sQLLBB6s", bytes) + (self.signature, self.crc32_block1, self.crc32_block2, self.image_size, self.vcs_commit, + self.version_major, self.version_minor, self.board_id, self.reserved) = \ + struct.unpack("<8sLLLLBBH8s", bytes) if not self.empty and not self.valid: raise ValueError() @@ -67,13 +108,14 @@ class AppDescriptor(object): @property def empty(self): return (self.signature == AppDescriptor.SIGNATURE and - self.image_crc == 0 and self.image_size == 0 and - self.reserved == AppDescriptor.RESERVED) + self.crc32_block1 == 0 and self.crc32_block2 == 0 and + self.image_size == 0 and self.reserved == AppDescriptor.RESERVED) @property def valid(self): return (self.signature == AppDescriptor.SIGNATURE and - self.image_crc != 0 and self.image_size > 0 and + self.crc32_block1 != 0 and self.crc32_block2 != 0 and + self.image_size > 0 and self.board_id != 0 and self.reserved == AppDescriptor.RESERVED) @@ -136,38 +178,31 @@ class FirmwareImage(object): # Set the descriptor's length and CRC to the values required for # CRC computation self.app_descriptor.image_size = self.length - self.app_descriptor.image_crc = 0 + self.app_descriptor.crc32_block1 = 0 + self.app_descriptor.crc32_block2 = 0 self._write_descriptor_raw() + content = bytearray(self._contents.getvalue()) + if self._padding: + content += bytearray.fromhex("ff" * self._padding) + # Update the descriptor's CRC based on the computed value and write # it out again - self.app_descriptor.image_crc = self.crc + + self.app_descriptor.crc32_block1 = self.crc32(content[:self.app_descriptor_offset + len(AppDescriptor.SIGNATURE)]) + b2 = self.app_descriptor_offset + len(AppDescriptor.SIGNATURE) + AppDescriptor.DESLENGTH + self.app_descriptor.crc32_block2 = self.crc32(content[b2:]) self._write_descriptor_raw() - @property - def crc(self): - MASK = 0xFFFFFFFFFFFFFFFF - POLY = 0x42F0E1EBA9EA3693 + def crc32(self, bytes, crc = 0): - # Calculate the image CRC with the image_crc field in the app - # descriptor zeroed out. - crc_offset = self.app_descriptor_offset + len(AppDescriptor.SIGNATURE) - content = bytearray(self._contents.getvalue()) - content[crc_offset:crc_offset + 8] = bytearray.fromhex("00" * 8) - if self._padding: - content += bytearray.fromhex("ff" * self._padding) - val = MASK - for byte in content: - val ^= (byte << 56) & MASK - for bit in range(8): - if val & (1 << 63): - val = ((val << 1) & MASK) ^ POLY - else: - val <<= 1 - return (val & MASK) ^ MASK + for byte in bytes: + index = (crc ^ byte) & 0xff + crc = crctab[index] ^ (crc >> 8) + return crc @property def padding(self): @@ -234,7 +269,6 @@ class FirmwareImage(object): def app_descriptor(self, value): self._descriptor = value - if __name__ == "__main__": parser = optparse.OptionParser(usage="usage: %prog [options] [IN OUT]") parser.add_option("--vcs-commit", dest="vcs_commit", default=None, @@ -305,15 +339,31 @@ bootloader image to the output image. """.format(in_image, in_image.app_descriptor, out_image.app_descriptor, bootloader_size, len(bootloader_image))) sys.stderr.write( -"""------------------------------------------------------------------------------ +"""READ VALUES +------------------------------------------------------------------------------ +Field Type Value +signature uint64 {1.signature!r} +crc32_block1 uint32 0x{1.crc32_block1:08X} +crc32_block2 uint32 0x{1.crc32_block2:08X} +image_size uint32 0x{1.image_size:X} ({1.image_size:d} B) +vcs_commit uint32 {1.vcs_commit:08X} +version_major uint8 {1.version_major:d} +version_minor uint8 {1.version_minor:d} +board_id uint32 0x{1.board_id:X} +reserved uint8[8] {1.reserved!r} + +WRITTEN VALUES +------------------------------------------------------------------------------ Field Type Value signature uint64 {2.signature!r} -image_crc uint64 0x{2.image_crc:016X} +crc32_block1 uint32 0x{2.crc32_block1:08X} +crc32_block2 uint32 0x{2.crc32_block2:08X} image_size uint32 0x{2.image_size:X} ({2.image_size:d} B) vcs_commit uint32 {2.vcs_commit:08X} version_major uint8 {2.version_major:d} version_minor uint8 {2.version_minor:d} -reserved uint8[6] {2.reserved!r} +board_id uint32 0x{2.board_id:X} +reserved uint8[8] {2.reserved!r} """.format(in_image, in_image.app_descriptor, out_image.app_descriptor, bootloader_size, len(bootloader_image))) if out_image.padding: diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp index a45392d364..3376cee3dc 100644 --- a/src/drivers/uavcannode/UavcanNode.cpp +++ b/src/drivers/uavcannode/UavcanNode.cpp @@ -73,13 +73,14 @@ namespace uavcannode * image crc, size etc of this application */ boot_app_shared_section app_descriptor_t AppDescriptor = { - .signature = {APP_DESCRIPTOR_SIGNATURE}, + .signature = APP_DESCRIPTOR_SIGNATURE, .image_crc = 0, .image_size = 0, - .vcs_commit = 0, + .git_hash = 0, .major_version = APP_VERSION_MAJOR, .minor_version = APP_VERSION_MINOR, - .reserved = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff } + .board_id = HW_VERSION_MAJOR << 8 | HW_VERSION_MINOR, + .reserved = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff } }; UavcanNode *UavcanNode::_instance; diff --git a/src/lib/systemlib/crc.c b/src/lib/systemlib/crc.c index 9a66ea139b..18e1586d46 100644 --- a/src/lib/systemlib/crc.c +++ b/src/lib/systemlib/crc.c @@ -132,6 +132,44 @@ uint16_t crc16_signature(uint16_t initial, size_t length, const uint8_t *bytes) return initial ^ CRC16_OUTPUT_XOR; } +/**************************************************************************** + * Name: crc32_signature + * + * Description: + * Calculates a CRC-32 function + * + * Input Parameters: + * acc - The accumulator value to uses as the crc's starting point + * length - The number of bytes to add to the crc + * bytes - A pointer to any array of length bytes + * + * Returned Value: + * The crc32 of the array of bytes + * + ****************************************************************************/ + +uint32_t crc32_signature(uint32_t acc, size_t length, const uint8_t *bytes) +{ + size_t i; + const uint32_t poly = 0xedb88320u; + const uint8_t bits = 8u; + uint8_t w = bits; + + for (i = 0u; i < length; i++) { + acc ^= bytes[i]; + w = bits; + + while (w--) { + const uint32_t xor = -(acc & 1); + acc >>= 1; + acc ^= (poly & xor); + } + } + + return acc; +} + + /**************************************************************************** * Name: crc64_add_word * diff --git a/src/lib/systemlib/crc.h b/src/lib/systemlib/crc.h index 032193f3b2..b0c7ee803b 100644 --- a/src/lib/systemlib/crc.h +++ b/src/lib/systemlib/crc.h @@ -96,6 +96,27 @@ uint16_t crc16_add(uint16_t crc, uint8_t value); uint16_t crc16_signature(uint16_t initial, size_t length, const uint8_t *bytes); +/**************************************************************************** + * Name: crc32_signature + * + * Description: + * Calculates a CRC-32 + * function + * + * Input Parameters: + * acc - The Initial value to uses as the crc's starting point + * length - The number of bytes to add to the crc + * bytes - A pointer to any array of length bytes + * + * Returned Value: + * The crc16 of the array of bytes + * + ****************************************************************************/ + +uint32_t crc32_signature(uint32_t acc, size_t length, + const uint8_t *bytes); + + /**************************************************************************** * Name: crc64_add_word *