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https://bitbucket.org/librepilot/librepilot.git
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OP-1122 OP-1120 moved CRC8 utility from uavtalk.cpp to new utils/crc.cpp
This commit is contained in:
Philippe Renon
parent
f422a1d639
commit
e716d97803
74
ground/openpilotgcs/src/libs/utils/crc.cpp
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74
ground/openpilotgcs/src/libs/utils/crc.cpp
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/**
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******************************************************************************
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*
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* @file crc.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup CorePlugin Core Plugin
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* @{
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* @brief The Core GCS plugin
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*****************************************************************************/
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/*
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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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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "crc.h"
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using namespace Utils;
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/*
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* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
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* using the configuration:
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* Width = 8
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* Poly = 0x07
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* XorIn = 0x00
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* ReflectIn = False
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* XorOut = 0x00
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* ReflectOut = False
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* Algorithm = table-driven
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*/
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const quint8 crc_table[256] = {
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0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
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0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
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0xe0, 0xe7, 0xee, 0xe9, 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, 0xb4, 0xb3, 0xba, 0xbd,
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0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
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0xb7, 0xb0, 0xb9, 0xbe, 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, 0x03, 0x04, 0x0d, 0x0a,
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0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
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0x89, 0x8e, 0x87, 0x80, 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, 0xdd, 0xda, 0xd3, 0xd4,
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0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
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0x19, 0x1e, 0x17, 0x10, 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, 0x6a, 0x6d, 0x64, 0x63,
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0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
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0xae, 0xa9, 0xa0, 0xa7, 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, 0xfa, 0xfd, 0xf4, 0xf3
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};
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quint8 Crc::updateCRC(quint8 crc, const quint8 data)
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{
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return crc_table[crc ^ data];
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}
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quint8 Crc::updateCRC(quint8 crc, const quint8 *data, qint32 length)
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{
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while (length--) {
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crc = crc_table[crc ^ *data++];
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}
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return crc;
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}
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62
ground/openpilotgcs/src/libs/utils/crc.h
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62
ground/openpilotgcs/src/libs/utils/crc.h
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@ -0,0 +1,62 @@
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/**
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******************************************************************************
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*
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* @file crc.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup CorePlugin Core Plugin
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* @{
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* @brief The Core GCS plugin
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*****************************************************************************/
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/*
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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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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef CRC_H
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#define CRC_H
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#include "utils_global.h"
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namespace Utils {
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class QTCREATOR_UTILS_EXPORT Crc {
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public:
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/**
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* Update the crc value with new data.
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*
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* \param crc The current crc value.
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* \param data data to update the crc with.
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* \return The updated crc value.
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*/
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static quint8 updateCRC(quint8 crc, const quint8 data);
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/**
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* Update the crc value with new data.
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*
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* \param crc The current crc value.
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* \param data Pointer to a buffer of \a data_len bytes.
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* \param length Number of bytes in the \a data buffer.
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* \return The updated crc value.
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*/
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static quint8 updateCRC(quint8 crc, const quint8 *data, qint32 length);
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};
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} // namespace Utils
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#endif // CRC_H
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@ -55,7 +55,8 @@ SOURCES += reloadpromptutils.cpp \
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cachedsvgitem.cpp \
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svgimageprovider.cpp \
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hostosinfo.cpp \
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logfile.cpp
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logfile.cpp \
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crc.cpp
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SOURCES += xmlconfig.cpp
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@ -113,7 +114,8 @@ HEADERS += utils_global.h \
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cachedsvgitem.h \
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svgimageprovider.h \
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hostosinfo.h \
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logfile.h
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logfile.h \
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crc.h
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HEADERS += xmlconfig.h
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@ -27,6 +27,7 @@
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#include "uavtalk.h"
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#include <extensionsystem/pluginmanager.h>
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#include <coreplugin/generalsettings.h>
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#include <utils/crc.h>
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#include <QtEndian>
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#include <QDebug>
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@ -38,24 +39,7 @@
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#define SYNC_VAL 0x3C
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const quint8 UAVTalk::crc_table[256] = {
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0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
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0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
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0xe0, 0xe7, 0xee, 0xe9, 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, 0xb4, 0xb3, 0xba, 0xbd,
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0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
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0xb7, 0xb0, 0xb9, 0xbe, 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, 0x03, 0x04, 0x0d, 0x0a,
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0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
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0x89, 0x8e, 0x87, 0x80, 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, 0xdd, 0xda, 0xd3, 0xd4,
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0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
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0x19, 0x1e, 0x17, 0x10, 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, 0x6a, 0x6d, 0x64, 0x63,
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0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
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0xae, 0xa9, 0xa0, 0xa7, 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, 0xfa, 0xfd, 0xf4, 0xf3
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};
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using namespace Utils;
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/**
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* Constructor
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@ -290,7 +274,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
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}
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// Initialize and update CRC
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rxCS = updateCRC(0, rxbyte);
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rxCS = Crc::updateCRC(0, rxbyte);
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rxPacketLength = 1;
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@ -303,7 +287,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
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case STATE_TYPE:
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// Update CRC
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rxCS = updateCRC(rxCS, rxbyte);
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rxCS = Crc::updateCRC(rxCS, rxbyte);
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if ((rxbyte & TYPE_MASK) != TYPE_VER) {
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qWarning() << "UAVTalk - error : bad type";
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@ -322,7 +306,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
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case STATE_SIZE:
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// Update CRC
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rxCS = updateCRC(rxCS, rxbyte);
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rxCS = Crc::updateCRC(rxCS, rxbyte);
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if (rxCount == 0) {
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packetSize += rxbyte;
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@ -347,7 +331,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
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case STATE_OBJID:
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// Update CRC
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rxCS = updateCRC(rxCS, rxbyte);
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rxCS = Crc::updateCRC(rxCS, rxbyte);
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rxTmpBuffer[rxCount++] = rxbyte;
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if (rxCount < 4) {
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@ -365,7 +349,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
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case STATE_INSTID:
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// Update CRC
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rxCS = updateCRC(rxCS, rxbyte);
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rxCS = Crc::updateCRC(rxCS, rxbyte);
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rxTmpBuffer[rxCount++] = rxbyte;
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if (rxCount < 2) {
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@ -427,7 +411,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
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case STATE_DATA:
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// Update CRC
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rxCS = updateCRC(rxCS, rxbyte);
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rxCS = Crc::updateCRC(rxCS, rxbyte);
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rxBuffer[rxCount++] = rxbyte;
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if (rxCount < rxLength) {
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@ -802,7 +786,7 @@ bool UAVTalk::transmitSingleObject(quint8 type, quint32 objId, quint16 instId, U
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qToLittleEndian<quint16>(HEADER_LENGTH + length, &txBuffer[2]);
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// Calculate checksum
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txBuffer[HEADER_LENGTH + length] = updateCRC(0, txBuffer, HEADER_LENGTH + length);
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txBuffer[HEADER_LENGTH + length] = Crc::updateCRC(0, txBuffer, HEADER_LENGTH + length);
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// Send buffer, check that the transmit backlog does not grow above limit
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if (!io.isNull() && io->isWritable()) {
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@ -833,37 +817,6 @@ bool UAVTalk::transmitSingleObject(quint8 type, quint32 objId, quint16 instId, U
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return true;
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}
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/**
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* Update the crc value with new data.
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*
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* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
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* using the configuration:
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* Width = 8
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* Poly = 0x07
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* XorIn = 0x00
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* ReflectIn = False
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* XorOut = 0x00
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* ReflectOut = False
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* Algorithm = table-driven
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*
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* \param crc The current crc value.
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* \param data Pointer to a buffer of \a data_len bytes.
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* \param length Number of bytes in the \a data buffer.
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* \return The updated crc value.
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*/
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quint8 UAVTalk::updateCRC(quint8 crc, const quint8 data)
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{
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return crc_table[crc ^ data];
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}
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quint8 UAVTalk::updateCRC(quint8 crc, const quint8 *data, qint32 length)
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{
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while (length--) {
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crc = crc_table[crc ^ *data++];
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}
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return crc;
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}
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UAVTalk::Transaction *UAVTalk::findTransaction(quint32 objId, quint16 instId)
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{
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// Lookup the transaction in the transaction map
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@ -156,8 +156,6 @@ private:
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void updateNack(quint32 objId, quint16 instId, UAVObject *obj);
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bool transmitObject(quint8 type, quint32 objId, quint16 instId, UAVObject *obj);
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bool transmitSingleObject(quint8 type, quint32 objId, quint16 instId, UAVObject *obj);
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quint8 updateCRC(quint8 crc, const quint8 data);
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quint8 updateCRC(quint8 crc, const quint8 *data, qint32 length);
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Transaction *findTransaction(quint32 objId, quint16 instId);
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void openTransaction(quint8 type, quint32 objId, quint16 instId);
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