mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 05:03:34 +08:00
UAVCAN bootloaders split into separate repository (#7878)
This commit is contained in:
Daniel Agar
@@ -32,20 +32,21 @@
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############################################################################
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set(SRCS
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perf_counter.c
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conversions.c
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cpuload.c
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pid/pid.c
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airspeed.c
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mavlink_log.c
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rc_check.c
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otp.c
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battery.cpp
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board_serial.c
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pwm_limit/pwm_limit.c
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bson/tinybson.c
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circuit_breaker.cpp
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battery.cpp
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conversions.c
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cpuload.c
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crc.c
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hysteresis/hysteresis.cpp
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mavlink_log.c
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otp.c
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perf_counter.c
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pid/pid.c
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pwm_limit/pwm_limit.c
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rc_check.c
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)
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if(${OS} STREQUAL "nuttx")
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@@ -0,0 +1,173 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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* Author: Ben Dyer <ben_dyer@mac.com>
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* Pavel Kirienko <pavel.kirienko@zubax.com>
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* David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <stdint.h>
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#include <stdlib.h>
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#include "crc.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: crc16_add
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*
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* Description:
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* Use to calculates a CRC-16-CCITT using the polynomial of
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* 0x1021 by adding a value successive values.
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*
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* Input Parameters:
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* crc - The running total of the crc 16
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* value - The value to add
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*
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* Returned Value:
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* The current crc16 with the value processed.
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*
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****************************************************************************/
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uint16_t crc16_add(uint16_t crc, uint8_t value)
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{
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uint32_t i;
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const uint16_t poly = 0x1021u;
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crc ^= (uint16_t)((uint16_t) value << 8u);
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for (i = 0; i < 8; i++) {
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if (crc & (1u << 15u)) {
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crc = (uint16_t)((crc << 1u) ^ poly);
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} else {
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crc = (uint16_t)(crc << 1u);
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}
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}
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return crc;
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}
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/****************************************************************************
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* Name: crc16_signature
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*
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* Description:
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* Calculates a CRC-16-CCITT using the crc16_add
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* function
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*
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* Input Parameters:
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* initial - The Initial value to uses as the crc's starting point
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* length - The number of bytes to add to the crc
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* bytes - A pointer to any array of length bytes
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*
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* Returned Value:
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* The crc16 of the array of bytes
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*
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****************************************************************************/
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uint16_t crc16_signature(uint16_t initial, size_t length, const uint8_t *bytes)
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{
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size_t i;
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for (i = 0u; i < length; i++) {
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initial = crc16_add(initial, bytes[i]);
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}
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return initial ^ CRC16_OUTPUT_XOR;
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}
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/****************************************************************************
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* Name: crc64_add_word
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*
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* Description:
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* Calculates a CRC-64-WE using the polynomial of 0x42F0E1EBA9EA3693
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* See http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
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* Check: 0x62EC59E3F1A4F00A
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*
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* Input Parameters:
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* crc - The running total of the crc 64
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* value - The value to add
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*
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* Returned Value:
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* The current crc64 with the value processed.
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*
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****************************************************************************/
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__EXPORT
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uint64_t crc64_add_word(uint64_t crc, uint32_t value)
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{
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uint32_t i, j;
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uint8_t byte;
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const uint64_t poly = 0x42F0E1EBA9EA3693ull;
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for (j = 0; j < 4; j++) {
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byte = ((uint8_t *) &value)[j];
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crc ^= (uint64_t) byte << 56u;
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for (i = 0; i < 8; i++) {
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if (crc & (1ull << 63u)) {
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crc = (uint64_t)(crc << 1u) ^ poly;
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} else {
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crc = (uint64_t)(crc << 1u);
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}
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}
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}
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return crc;
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}
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@@ -0,0 +1,116 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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* Author: Ben Dyer <ben_dyer@mac.com>
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* Pavel Kirienko <pavel.kirienko@zubax.com>
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* David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
|
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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/****************************************************************************
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* Included Files
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****************************************************************************/
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define CRC16_INITIAL 0xFFFFu
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#define CRC16_OUTPUT_XOR 0x0000u
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#define CRC64_INITIAL 0xFFFFFFFFFFFFFFFFull
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#define CRC64_OUTPUT_XOR 0xFFFFFFFFFFFFFFFFull
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/****************************************************************************
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* Public Type Definitions
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****************************************************************************/
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/****************************************************************************
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* Global Variables
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****************************************************************************/
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: crc16_add
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*
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* Description:
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* Use to calculates a CRC-16-CCITT using the polynomial of
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* 0x1021 by adding a value successive values.
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*
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* Input Parameters:
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* crc - The running total of the crc 16
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* value - The value to add
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*
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* Returned Value:
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* The current crc16 with the value processed.
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*
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****************************************************************************/
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uint16_t crc16_add(uint16_t crc, uint8_t value);
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/****************************************************************************
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* Name: crc16_signature
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*
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* Description:
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* Calculates a CRC-16-CCITT using the crc16_add
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* function
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*
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* Input Parameters:
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* initial - The Initial value to uses as the crc's starting point
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* length - The number of bytes to add to the crc
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* bytes - A pointer to any array of length bytes
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*
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* Returned Value:
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* The crc16 of the array of bytes
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*
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****************************************************************************/
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uint16_t crc16_signature(uint16_t initial, size_t length,
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const uint8_t *bytes);
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/****************************************************************************
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* Name: crc64_add_word
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*
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* Description:
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* Calculates a CRC-64-WE using the polynomial of 0x42F0E1EBA9EA3693
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* See http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
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* Check: 0x62EC59E3F1A4F00A
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*
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* Input Parameters:
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* crc - The running total of the crc 64
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* value - The value to add
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*
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* Returned Value:
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* The current crc64 with the value processed.
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*
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****************************************************************************/
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uint64_t crc64_add_word(uint64_t crc, uint32_t value);
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