LibrePilot/flight/pios/common/pios_crc.c

/*
 *  pios_crc.c
 *  OpenPilotOSX
 *
 *  Created by James Cotton on 6/4/11.
 *  Copyright 2011 OpenPilot. All rights reserved.
 *
 */

#include "pios.h"

// CRC lookup table
static const uint8_t crc_table[256] = {
    0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
    0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
    0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
    0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
    0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
    0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
    0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
    0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
    0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
    0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
    0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
    0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
    0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
    0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
    0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
    0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
};

static const uint16_t CRC_Table16[] = { // HDLC polynomial
    0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
    0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
    0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
    0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
    0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
    0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
    0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
    0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
    0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
    0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
    0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
    0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
    0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
    0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
    0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
    0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
    0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
    0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
    0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
    0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
    0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
    0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
    0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
    0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
    0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
    0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
    0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
    0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
    0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
    0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
    0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
    0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
};

static const uint32_t CRC_Table32[] = {
    0x00000000, 0x04c11db7, 0x09823b6e, 0x0d4326d9, 0x130476dc, 0x17c56b6b, 0x1a864db2, 0x1e475005,
    0x2608edb8, 0x22c9f00f, 0x2f8ad6d6, 0x2b4bcb61, 0x350c9b64, 0x31cd86d3, 0x3c8ea00a, 0x384fbdbd,
    0x4c11db70, 0x48d0c6c7, 0x4593e01e, 0x4152fda9, 0x5f15adac, 0x5bd4b01b, 0x569796c2, 0x52568b75,
    0x6a1936c8, 0x6ed82b7f, 0x639b0da6, 0x675a1011, 0x791d4014, 0x7ddc5da3, 0x709f7b7a, 0x745e66cd,
    0x9823b6e0, 0x9ce2ab57, 0x91a18d8e, 0x95609039, 0x8b27c03c, 0x8fe6dd8b, 0x82a5fb52, 0x8664e6e5,
    0xbe2b5b58, 0xbaea46ef, 0xb7a96036, 0xb3687d81, 0xad2f2d84, 0xa9ee3033, 0xa4ad16ea, 0xa06c0b5d,
    0xd4326d90, 0xd0f37027, 0xddb056fe, 0xd9714b49, 0xc7361b4c, 0xc3f706fb, 0xceb42022, 0xca753d95,
    0xf23a8028, 0xf6fb9d9f, 0xfbb8bb46, 0xff79a6f1, 0xe13ef6f4, 0xe5ffeb43, 0xe8bccd9a, 0xec7dd02d,
    0x34867077, 0x30476dc0, 0x3d044b19, 0x39c556ae, 0x278206ab, 0x23431b1c, 0x2e003dc5, 0x2ac12072,
    0x128e9dcf, 0x164f8078, 0x1b0ca6a1, 0x1fcdbb16, 0x018aeb13, 0x054bf6a4, 0x0808d07d, 0x0cc9cdca,
    0x7897ab07, 0x7c56b6b0, 0x71159069, 0x75d48dde, 0x6b93dddb, 0x6f52c06c, 0x6211e6b5, 0x66d0fb02,
    0x5e9f46bf, 0x5a5e5b08, 0x571d7dd1, 0x53dc6066, 0x4d9b3063, 0x495a2dd4, 0x44190b0d, 0x40d816ba,
    0xaca5c697, 0xa864db20, 0xa527fdf9, 0xa1e6e04e, 0xbfa1b04b, 0xbb60adfc, 0xb6238b25, 0xb2e29692,
    0x8aad2b2f, 0x8e6c3698, 0x832f1041, 0x87ee0df6, 0x99a95df3, 0x9d684044, 0x902b669d, 0x94ea7b2a,
    0xe0b41de7, 0xe4750050, 0xe9362689, 0xedf73b3e, 0xf3b06b3b, 0xf771768c, 0xfa325055, 0xfef34de2,
    0xc6bcf05f, 0xc27dede8, 0xcf3ecb31, 0xcbffd686, 0xd5b88683, 0xd1799b34, 0xdc3abded, 0xd8fba05a,
    0x690ce0ee, 0x6dcdfd59, 0x608edb80, 0x644fc637, 0x7a089632, 0x7ec98b85, 0x738aad5c, 0x774bb0eb,
    0x4f040d56, 0x4bc510e1, 0x46863638, 0x42472b8f, 0x5c007b8a, 0x58c1663d, 0x558240e4, 0x51435d53,
    0x251d3b9e, 0x21dc2629, 0x2c9f00f0, 0x285e1d47, 0x36194d42, 0x32d850f5, 0x3f9b762c, 0x3b5a6b9b,
    0x0315d626, 0x07d4cb91, 0x0a97ed48, 0x0e56f0ff, 0x1011a0fa, 0x14d0bd4d, 0x19939b94, 0x1d528623,
    0xf12f560e, 0xf5ee4bb9, 0xf8ad6d60, 0xfc6c70d7, 0xe22b20d2, 0xe6ea3d65, 0xeba91bbc, 0xef68060b,
    0xd727bbb6, 0xd3e6a601, 0xdea580d8, 0xda649d6f, 0xc423cd6a, 0xc0e2d0dd, 0xcda1f604, 0xc960ebb3,
    0xbd3e8d7e, 0xb9ff90c9, 0xb4bcb610, 0xb07daba7, 0xae3afba2, 0xaafbe615, 0xa7b8c0cc, 0xa379dd7b,
    0x9b3660c6, 0x9ff77d71, 0x92b45ba8, 0x9675461f, 0x8832161a, 0x8cf30bad, 0x81b02d74, 0x857130c3,
    0x5d8a9099, 0x594b8d2e, 0x5408abf7, 0x50c9b640, 0x4e8ee645, 0x4a4ffbf2, 0x470cdd2b, 0x43cdc09c,
    0x7b827d21, 0x7f436096, 0x7200464f, 0x76c15bf8, 0x68860bfd, 0x6c47164a, 0x61043093, 0x65c52d24,
    0x119b4be9, 0x155a565e, 0x18197087, 0x1cd86d30, 0x029f3d35, 0x065e2082, 0x0b1d065b, 0x0fdc1bec,
    0x3793a651, 0x3352bbe6, 0x3e119d3f, 0x3ad08088, 0x2497d08d, 0x2056cd3a, 0x2d15ebe3, 0x29d4f654,
    0xc5a92679, 0xc1683bce, 0xcc2b1d17, 0xc8ea00a0, 0xd6ad50a5, 0xd26c4d12, 0xdf2f6bcb, 0xdbee767c,
    0xe3a1cbc1, 0xe760d676, 0xea23f0af, 0xeee2ed18, 0xf0a5bd1d, 0xf464a0aa, 0xf9278673, 0xfde69bc4,
    0x89b8fd09, 0x8d79e0be, 0x803ac667, 0x84fbdbd0, 0x9abc8bd5, 0x9e7d9662, 0x933eb0bb, 0x97ffad0c,
    0xafb010b1, 0xab710d06, 0xa6322bdf, 0xa2f33668, 0xbcb4666d, 0xb8757bda, 0xb5365d03, 0xb1f740b4
};

/**
 * Update the crc value with new data.
 *
 * Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
 * using the configuration:
 *    Width        = 8
 *    Poly         = 0x07
 *    XorIn        = 0x00
 *    ReflectIn    = False
 *    XorOut       = 0x00
 *    ReflectOut   = False
 *    Algorithm    = table-driven
 *
 * \param crc      The current crc value.
 * \param data     Pointer to a buffer of \a data_len bytes.
 * \param length   Number of bytes in the \a data buffer.
 * \return         The updated crc value.
 */
uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data)
{
    return crc_table[crc ^ data];
}

/**
 * @brief Update a CRC with a data buffer
 * @param[in] crc Starting CRC value
 * @param[in] data Data buffer
 * @param[in] length Number of bytes to process
 * @returns Updated CRC
 */
uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t *data, int32_t length)
{
    // use registers for speed
    register int32_t len      = length;
    register uint8_t crc8     = crc;
    register const uint8_t *p = data;

    while (len--) {
        crc8 = crc_table[crc8 ^ *p++];
    }

    return crc8;
}

/**
 * Update the crc value with new data.
 * \param crc      The current crc value.
 * \param data     Pointer to a buffer of \a data_len bytes.
 * \param length   Number of bytes in the \a data buffer.
 * \return         The updated crc value.
 */
uint16_t PIOS_CRC16_updateByte(uint16_t crc, const uint8_t data)
{
    return (crc >> 8) ^ CRC_Table16[(crc & 0xff) ^ data];
}

/**
 * @brief Update a CRC with a data buffer
 * @param[in] crc Starting CRC value
 * @param[in] data Data buffer
 * @param[in] length Number of bytes to process
 * @returns Updated CRC
 */
uint16_t PIOS_CRC16_updateCRC(uint16_t crc, const uint8_t *data, int32_t length)
{
    register uint8_t *p    = (uint8_t *)data;
    register uint16_t _crc = crc;

    for (register uint32_t i = length; i > 0; i--) {
        _crc = (_crc >> 8) ^ CRC_Table16[(_crc ^ *p++) & 0xff];
    }
    return _crc;
}

/**
 * Update the crc value with new data.
 * \param crc      The current crc value.
 * \param data     Pointer to a buffer of \a data_len bytes.
 * \param length   Number of bytes in the \a data buffer.
 * \return         The updated crc value.
 */
uint32_t PIOS_CRC32_updateByte(uint32_t crc, const uint8_t data)
{
    return (crc << 8) ^ CRC_Table32[(crc >> 24) ^ data];
}

/**
 * @brief Update a CRC with a data buffer
 * @param[in] crc Starting CRC value
 * @param[in] data Data buffer
 * @param[in] length Number of bytes to process
 * @returns Updated CRC
 */
uint32_t PIOS_CRC32_updateCRC(uint32_t crc, const uint8_t *data, int32_t length)
{
    register uint8_t *p    = (uint8_t *)data;
    register uint32_t _crc = crc;

    for (register uint32_t i = length; i > 0; i--) {
        _crc = (_crc << 8) ^ CRC_Table32[(_crc >> 24) ^ *p++];
    }
    return _crc;
}