From c8a81f88a445f7386eac42e9a673fa513cb0fe34 Mon Sep 17 00:00:00 2001
From: Philippe Renon <op.filnet@yahoo.fr>
Date: Sun, 12 Jan 2014 15:12:41 +0100
Subject: [PATCH] OP-1122 OP-1158 added facility to update a CRC with uavobject
 data (flight side)

---
 flight/pios/common/pios_crc.c            | 22 +++++-----
 flight/uavobjects/inc/uavobjectmanager.h |  1 +
 flight/uavobjects/uavobjectmanager.c     | 53 ++++++++++++++++++++----
 3 files changed, 56 insertions(+), 20 deletions(-)

diff --git a/flight/pios/common/pios_crc.c b/flight/pios/common/pios_crc.c
index 9b2128f06..7cf8813f3 100644
--- a/flight/pios/common/pios_crc.c
+++ b/flight/pios/common/pios_crc.c
@@ -64,6 +64,17 @@ static const uint16_t CRC_Table16[] = { // HDLC polynomial
     0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
 };
 
+/**
+ * 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
+ */
 static const uint32_t CRC_Table32[] = {
     0x00000000, 0x04c11db7, 0x09823b6e, 0x0d4326d9, 0x130476dc, 0x17c56b6b, 0x1a864db2, 0x1e475005,
     0x2608edb8, 0x22c9f00f, 0x2f8ad6d6, 0x2b4bcb61, 0x350c9b64, 0x31cd86d3, 0x3c8ea00a, 0x384fbdbd,
@@ -101,17 +112,6 @@ static const uint32_t CRC_Table32[] = {
 
 /**
  * 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.
diff --git a/flight/uavobjects/inc/uavobjectmanager.h b/flight/uavobjects/inc/uavobjectmanager.h
index 9da465cba..c3813ef74 100644
--- a/flight/uavobjects/inc/uavobjectmanager.h
+++ b/flight/uavobjects/inc/uavobjectmanager.h
@@ -160,6 +160,7 @@ bool UAVObjIsMetaobject(UAVObjHandle obj);
 bool UAVObjIsSettings(UAVObjHandle obj);
 int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn);
 int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t *dataOut);
+uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc);
 int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId);
 int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId);
 int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId);
diff --git a/flight/uavobjects/uavobjectmanager.c b/flight/uavobjects/uavobjectmanager.c
index 2a02b3ee1..bf5d52a80 100644
--- a/flight/uavobjects/uavobjectmanager.c
+++ b/flight/uavobjects/uavobjectmanager.c
@@ -171,17 +171,14 @@ struct UAVOMulti {
 /** all information about instances are dependant on object type **/
 #define ObjSingleInstanceDataOffset(obj) ((void *)(&(((struct UAVOSingle *)obj)->instance0)))
 #define InstanceDataOffset(inst)         ((void *)&(((struct UAVOMultiInst *)inst)->instance))
-#define InstanceData(instance)           (void *)instance
+#define InstanceData(instance)           ((void *)instance)
 
 // Private functions
-static int32_t sendEvent(struct UAVOBase *obj, uint16_t instId,
-                         UAVObjEventType event);
+static int32_t sendEvent(struct UAVOBase *obj, uint16_t instId, UAVObjEventType event);
 static InstanceHandle createInstance(struct UAVOData *obj, uint16_t instId);
 static InstanceHandle getInstance(struct UAVOData *obj, uint16_t instId);
-static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
-                          UAVObjEventCallback cb, uint8_t eventMask);
-static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue,
-                             UAVObjEventCallback cb);
+static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue, UAVObjEventCallback cb, uint8_t eventMask);
+static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue, UAVObjEventCallback cb);
 static void instanceAutoUpdated(UAVObjHandle obj_handle, uint16_t instId);
 
 // Private variables
@@ -615,8 +612,7 @@ bool UAVObjIsSettings(UAVObjHandle obj_handle)
  * \param[in] dataIn The byte array
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId,
-                     const uint8_t *dataIn)
+int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn)
 {
     PIOS_Assert(obj_handle);
 
@@ -704,6 +700,45 @@ unlock_exit:
     return rc;
 }
 
+/**
+ * Update a CRC with an object data
+ * \param[in] obj The object handle
+ * \param[in] instId The instance ID
+ * \param[in] crc The crc to update
+ * \return the updated crc
+ */
+uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc)
+{
+    PIOS_Assert(obj_handle);
+
+    // Lock
+    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+    if (UAVObjIsMetaobject(obj_handle)) {
+        if (instId != 0) {
+            goto unlock_exit;
+        }
+        // TODO
+    } else {
+        struct UAVOData *obj;
+        InstanceHandle instEntry;
+
+        // Cast handle to object
+        obj = (struct UAVOData *)obj_handle;
+
+        // Get the instance
+        instEntry = getInstance(obj, instId);
+        if (instEntry == NULL) {
+            goto unlock_exit;
+        }
+        // Update crc
+        crc = PIOS_CRC_updateCRC(crc, (uint8_t *) InstanceData(instEntry), (int32_t) obj->instance_size);
+    }
+
+unlock_exit:
+    xSemaphoreGiveRecursive(mutex);
+    return crc;
+}
 
 /**
  * Actually write the object's data to the logfile