mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-29 20:53:33 +08:00
initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689)
- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2 - PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2 - currently doesn't do much other than allow you to build px4 msgs interface package
This commit is contained in:
Daniel Agar
@@ -0,0 +1,39 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015-2022 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_library(crc STATIC EXCLUDE_FROM_ALL
|
||||
crc.c
|
||||
crc.h
|
||||
)
|
||||
add_dependencies(crc prebuild_targets)
|
||||
target_compile_options(crc PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
|
||||
@@ -0,0 +1,211 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: Ben Dyer <ben_dyer@mac.com>
|
||||
* Pavel Kirienko <pavel.kirienko@zubax.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
#include "crc.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: crc16_add
|
||||
*
|
||||
* Description:
|
||||
* Use to calculates a CRC-16-CCITT using the polynomial of
|
||||
* 0x1021 by adding a value successive values.
|
||||
*
|
||||
* Input Parameters:
|
||||
* crc - The running total of the crc 16
|
||||
* value - The value to add
|
||||
*
|
||||
* Returned Value:
|
||||
* The current crc16 with the value processed.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
uint16_t crc16_add(uint16_t crc, uint8_t value)
|
||||
{
|
||||
uint32_t i;
|
||||
const uint16_t poly = 0x1021u;
|
||||
crc ^= (uint16_t)((uint16_t) value << 8u);
|
||||
|
||||
for (i = 0; i < 8; i++) {
|
||||
if (crc & (1u << 15u)) {
|
||||
crc = (uint16_t)((crc << 1u) ^ poly);
|
||||
|
||||
} else {
|
||||
crc = (uint16_t)(crc << 1u);
|
||||
}
|
||||
}
|
||||
|
||||
return crc;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: crc16_signature
|
||||
*
|
||||
* Description:
|
||||
* Calculates a CRC-16-CCITT using the crc16_add
|
||||
* function
|
||||
*
|
||||
* Input Parameters:
|
||||
* initial - The Initial value to uses as the crc's starting point
|
||||
* length - The number of bytes to add to the crc
|
||||
* bytes - A pointer to any array of length bytes
|
||||
*
|
||||
* Returned Value:
|
||||
* The crc16 of the array of bytes
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
uint16_t crc16_signature(uint16_t initial, size_t length, const uint8_t *bytes)
|
||||
{
|
||||
size_t i;
|
||||
|
||||
for (i = 0u; i < length; i++) {
|
||||
initial = crc16_add(initial, bytes[i]);
|
||||
}
|
||||
|
||||
return initial ^ CRC16_OUTPUT_XOR;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: crc32_signature
|
||||
*
|
||||
* Description:
|
||||
* Calculates a CRC-32 function
|
||||
*
|
||||
* Input Parameters:
|
||||
* acc - The accumulator value to uses as the crc's starting point
|
||||
* length - The number of bytes to add to the crc
|
||||
* bytes - A pointer to any array of length bytes
|
||||
*
|
||||
* Returned Value:
|
||||
* The crc32 of the array of bytes
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
uint32_t crc32_signature(uint32_t acc, size_t length, const uint8_t *bytes)
|
||||
{
|
||||
size_t i;
|
||||
const uint32_t poly = 0xedb88320u;
|
||||
const uint8_t bits = 8u;
|
||||
uint8_t w = bits;
|
||||
|
||||
for (i = 0u; i < length; i++) {
|
||||
acc ^= bytes[i];
|
||||
w = bits;
|
||||
|
||||
while (w--) {
|
||||
const uint32_t xor = -(acc & 1);
|
||||
acc >>= 1;
|
||||
acc ^= (poly & xor);
|
||||
}
|
||||
}
|
||||
|
||||
return acc;
|
||||
}
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Name: crc64_add_word
|
||||
*
|
||||
* Description:
|
||||
* Calculates a CRC-64-WE using the polynomial of 0x42F0E1EBA9EA3693
|
||||
* See http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
|
||||
* Check: 0x62EC59E3F1A4F00A
|
||||
*
|
||||
* Input Parameters:
|
||||
* crc - The running total of the crc 64
|
||||
* value - The value to add
|
||||
*
|
||||
* Returned Value:
|
||||
* The current crc64 with the value processed.
|
||||
*
|
||||
****************************************************************************/
|
||||
__EXPORT
|
||||
uint64_t crc64_add_word(uint64_t crc, uint32_t value)
|
||||
{
|
||||
uint32_t i, j;
|
||||
uint8_t byte;
|
||||
const uint64_t poly = 0x42F0E1EBA9EA3693ull;
|
||||
|
||||
for (j = 0; j < 4; j++) {
|
||||
byte = ((uint8_t *) &value)[j];
|
||||
crc ^= (uint64_t) byte << 56u;
|
||||
|
||||
for (i = 0; i < 8; i++) {
|
||||
if (crc & (1ull << 63u)) {
|
||||
crc = (uint64_t)(crc << 1u) ^ poly;
|
||||
|
||||
} else {
|
||||
crc = (uint64_t)(crc << 1u);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return crc;
|
||||
}
|
||||
@@ -0,0 +1,137 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: Ben Dyer <ben_dyer@mac.com>
|
||||
* Pavel Kirienko <pavel.kirienko@zubax.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
#define CRC16_INITIAL 0xFFFFu
|
||||
#define CRC16_OUTPUT_XOR 0x0000u
|
||||
#define CRC64_INITIAL 0xFFFFFFFFFFFFFFFFull
|
||||
#define CRC64_OUTPUT_XOR 0xFFFFFFFFFFFFFFFFull
|
||||
|
||||
/****************************************************************************
|
||||
* Public Type Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Global Variables
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* Name: crc16_add
|
||||
*
|
||||
* Description:
|
||||
* Use to calculates a CRC-16-CCITT using the polynomial of
|
||||
* 0x1021 by adding a value successive values.
|
||||
*
|
||||
* Input Parameters:
|
||||
* crc - The running total of the crc 16
|
||||
* value - The value to add
|
||||
*
|
||||
* Returned Value:
|
||||
* The current crc16 with the value processed.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
uint16_t crc16_add(uint16_t crc, uint8_t value);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: crc16_signature
|
||||
*
|
||||
* Description:
|
||||
* Calculates a CRC-16-CCITT using the crc16_add
|
||||
* function
|
||||
*
|
||||
* Input Parameters:
|
||||
* initial - The Initial value to uses as the crc's starting point
|
||||
* length - The number of bytes to add to the crc
|
||||
* bytes - A pointer to any array of length bytes
|
||||
*
|
||||
* Returned Value:
|
||||
* The crc16 of the array of bytes
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
uint16_t crc16_signature(uint16_t initial, size_t length,
|
||||
const uint8_t *bytes);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: crc32_signature
|
||||
*
|
||||
* Description:
|
||||
* Calculates a CRC-32
|
||||
* function
|
||||
*
|
||||
* Input Parameters:
|
||||
* acc - The Initial value to uses as the crc's starting point
|
||||
* length - The number of bytes to add to the crc
|
||||
* bytes - A pointer to any array of length bytes
|
||||
*
|
||||
* Returned Value:
|
||||
* The crc16 of the array of bytes
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
uint32_t crc32_signature(uint32_t acc, size_t length,
|
||||
const uint8_t *bytes);
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Name: crc64_add_word
|
||||
*
|
||||
* Description:
|
||||
* Calculates a CRC-64-WE using the polynomial of 0x42F0E1EBA9EA3693
|
||||
* See http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
|
||||
* Check: 0x62EC59E3F1A4F00A
|
||||
*
|
||||
* Input Parameters:
|
||||
* crc - The running total of the crc 64
|
||||
* value - The value to add
|
||||
*
|
||||
* Returned Value:
|
||||
* The current crc64 with the value processed.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
uint64_t crc64_add_word(uint64_t crc, uint32_t value);
|
||||
Reference in New Issue
Block a user