diff --git a/ground/openpilotgcs/src/libs/utils/crc.cpp b/ground/openpilotgcs/src/libs/utils/crc.cpp new file mode 100644 index 000000000..2d66e1dcb --- /dev/null +++ b/ground/openpilotgcs/src/libs/utils/crc.cpp @@ -0,0 +1,74 @@ +/** + ****************************************************************************** + * + * @file crc.cpp + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013. + * Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009. + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup CorePlugin Core Plugin + * @{ + * @brief The Core GCS plugin + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "crc.h" + +using namespace Utils; + +/* + * 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 + */ +const quint8 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 +}; + +quint8 Crc::updateCRC(quint8 crc, const quint8 data) +{ + return crc_table[crc ^ data]; +} + +quint8 Crc::updateCRC(quint8 crc, const quint8 *data, qint32 length) +{ + while (length--) { + crc = crc_table[crc ^ *data++]; + } + return crc; +} diff --git a/ground/openpilotgcs/src/libs/utils/crc.h b/ground/openpilotgcs/src/libs/utils/crc.h new file mode 100644 index 000000000..2d9fc15a1 --- /dev/null +++ b/ground/openpilotgcs/src/libs/utils/crc.h @@ -0,0 +1,62 @@ +/** + ****************************************************************************** + * + * @file crc.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013. + * Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009. + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup CorePlugin Core Plugin + * @{ + * @brief The Core GCS plugin + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef CRC_H +#define CRC_H + +#include "utils_global.h" + +namespace Utils { + +class QTCREATOR_UTILS_EXPORT Crc { + +public: + /** + * Update the crc value with new data. + * + * \param crc The current crc value. + * \param data data to update the crc with. + * \return The updated crc value. + */ + static quint8 updateCRC(quint8 crc, const quint8 data); + + /** + * 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. + */ + static quint8 updateCRC(quint8 crc, const quint8 *data, qint32 length); + +}; + +} // namespace Utils + +#endif // CRC_H diff --git a/ground/openpilotgcs/src/libs/utils/utils.pro b/ground/openpilotgcs/src/libs/utils/utils.pro index 311212891..231ff64f0 100644 --- a/ground/openpilotgcs/src/libs/utils/utils.pro +++ b/ground/openpilotgcs/src/libs/utils/utils.pro @@ -55,7 +55,8 @@ SOURCES += reloadpromptutils.cpp \ cachedsvgitem.cpp \ svgimageprovider.cpp \ hostosinfo.cpp \ - logfile.cpp + logfile.cpp \ + crc.cpp SOURCES += xmlconfig.cpp @@ -113,7 +114,8 @@ HEADERS += utils_global.h \ cachedsvgitem.h \ svgimageprovider.h \ hostosinfo.h \ - logfile.h + logfile.h \ + crc.h HEADERS += xmlconfig.h diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp index 52b32264a..890922116 100644 --- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp +++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp @@ -27,6 +27,7 @@ #include "uavtalk.h" #include #include +#include #include #include @@ -38,24 +39,7 @@ #define SYNC_VAL 0x3C -const quint8 UAVTalk::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 -}; +using namespace Utils; /** * Constructor @@ -290,7 +274,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) } // Initialize and update CRC - rxCS = updateCRC(0, rxbyte); + rxCS = Crc::updateCRC(0, rxbyte); rxPacketLength = 1; @@ -303,7 +287,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) case STATE_TYPE: // Update CRC - rxCS = updateCRC(rxCS, rxbyte); + rxCS = Crc::updateCRC(rxCS, rxbyte); if ((rxbyte & TYPE_MASK) != TYPE_VER) { qWarning() << "UAVTalk - error : bad type"; @@ -322,7 +306,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) case STATE_SIZE: // Update CRC - rxCS = updateCRC(rxCS, rxbyte); + rxCS = Crc::updateCRC(rxCS, rxbyte); if (rxCount == 0) { packetSize += rxbyte; @@ -347,7 +331,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) case STATE_OBJID: // Update CRC - rxCS = updateCRC(rxCS, rxbyte); + rxCS = Crc::updateCRC(rxCS, rxbyte); rxTmpBuffer[rxCount++] = rxbyte; if (rxCount < 4) { @@ -365,7 +349,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) case STATE_INSTID: // Update CRC - rxCS = updateCRC(rxCS, rxbyte); + rxCS = Crc::updateCRC(rxCS, rxbyte); rxTmpBuffer[rxCount++] = rxbyte; if (rxCount < 2) { @@ -427,7 +411,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) case STATE_DATA: // Update CRC - rxCS = updateCRC(rxCS, rxbyte); + rxCS = Crc::updateCRC(rxCS, rxbyte); rxBuffer[rxCount++] = rxbyte; if (rxCount < rxLength) { @@ -802,7 +786,7 @@ bool UAVTalk::transmitSingleObject(quint8 type, quint32 objId, quint16 instId, U qToLittleEndian(HEADER_LENGTH + length, &txBuffer[2]); // Calculate checksum - txBuffer[HEADER_LENGTH + length] = updateCRC(0, txBuffer, HEADER_LENGTH + length); + txBuffer[HEADER_LENGTH + length] = Crc::updateCRC(0, txBuffer, HEADER_LENGTH + length); // Send buffer, check that the transmit backlog does not grow above limit if (!io.isNull() && io->isWritable()) { @@ -833,37 +817,6 @@ bool UAVTalk::transmitSingleObject(quint8 type, quint32 objId, quint16 instId, U return true; } -/** - * 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. - */ -quint8 UAVTalk::updateCRC(quint8 crc, const quint8 data) -{ - return crc_table[crc ^ data]; -} - -quint8 UAVTalk::updateCRC(quint8 crc, const quint8 *data, qint32 length) -{ - while (length--) { - crc = crc_table[crc ^ *data++]; - } - return crc; -} - UAVTalk::Transaction *UAVTalk::findTransaction(quint32 objId, quint16 instId) { // Lookup the transaction in the transaction map diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h index 858fa3b9e..fe5922096 100644 --- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h +++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h @@ -156,8 +156,6 @@ private: void updateNack(quint32 objId, quint16 instId, UAVObject *obj); bool transmitObject(quint8 type, quint32 objId, quint16 instId, UAVObject *obj); bool transmitSingleObject(quint8 type, quint32 objId, quint16 instId, UAVObject *obj); - quint8 updateCRC(quint8 crc, const quint8 data); - quint8 updateCRC(quint8 crc, const quint8 *data, qint32 length); Transaction *findTransaction(quint32 objId, quint16 instId); void openTransaction(quint8 type, quint32 objId, quint16 instId);