Encoding/Message parsing features for DJI onboardSDK library. More...

#include "DJI_Codec.h"
#include "DJI_Link.h"
#include "DJI_API.h"

Include dependency graph for DJI_Codec.cpp:

Classes
struct	tagAES256Context
Defines
#define	BACK_TO_TABLES
#define	F(x) (((x) << 1) ^ ((((x) >> 7) & 1) * 0x1b))
#define	FD(x) (((x) >> 1) ^ (((x)&1) ? 0x8d : 0))
#define	rj_sbox(x) sbox[(x)]
#define	rj_sbox_inv(x) sboxinv[(x)]
Typedefs
typedef struct tagAES256Context	aes256_context
typedef void(*	ptr_aes256_codec )(aes256_context ctx, unsigned char buf)
Functions
void	aes256_decrypt_ecb (aes256_context ctx, unsigned char buf)
void	aes256_done (aes256_context *ctx)
void	aes256_encrypt_ecb (aes256_context ctx, unsigned char buf)
void	aes256_init (aes256_context ctx, unsigned char k)
void	aes_addRoundKey (unsigned char buf, unsigned char key)
void	aes_addRoundKey_cpy (unsigned char buf, unsigned char key, unsigned char *cpk)
void	aes_expandDecKey (unsigned char k, unsigned char rc)
void	aes_expandEncKey (unsigned char k, unsigned char rc)
void	aes_mixColumns (unsigned char *buf)
void	aes_mixColumns_inv (unsigned char *buf)
void	aes_shiftRows (unsigned char *buf)
void	aes_shiftRows_inv (unsigned char *buf)
void	aes_subBytes (unsigned char *buf)
void	aes_subBytes_inv (unsigned char *buf)
void	calculateCRC (void *p_data)
uint16_t	crc16_update (uint16_t crc, uint8_t ch)
uint32_t	crc32_update (uint32_t crc, uint8_t ch)
void	encodeData (SDKFilter p_filter, Header p_head, ptr_aes256_codec codec_func)
unsigned char	rj_xtime (unsigned char x)
uint16_t	sdk_stream_crc16_calc (const uint8_t *pMsg, size_t nLen)
uint32_t	sdk_stream_crc32_calc (const uint8_t *pMsg, size_t nLen)
void	sdk_stream_prepare_lambda (SDKFilter *p_filter)
void	sdk_stream_shift_data_lambda (SDKFilter *p_filter)
void	sdk_stream_update_reuse_part_lambda (SDKFilter *p_filter)
void	transformTwoByte (const char pstr, unsigned char pdata)
Variables
const unsigned short	CRC_INIT = 0x3AA3
uint16_t	crc_tab16 []
uint32_t	crc_tab32 []
const unsigned char	sbox [256]
const unsigned char	sboxinv [256]

Detailed Description

Encoding/Message parsing features for DJI onboardSDK library.

Version:: 3.1.7

Date:: July 1st, 2016

Copyright:: 2016 DJI. All rights reserved.

Definition in file DJI_Codec.cpp.

Define Documentation

#define BACK_TO_TABLES

Definition at line 48 of file DJI_Codec.cpp.

#define F ( x ) (((x) << 1) ^ ((((x) >> 7) & 1) * 0x1b))

Definition at line 45 of file DJI_Codec.cpp.

#define FD ( x ) (((x) >> 1) ^ (((x)&1) ? 0x8d : 0))

Definition at line 46 of file DJI_Codec.cpp.

#define rj_sbox ( x ) sbox[(x)]

Definition at line 92 of file DJI_Codec.cpp.

#define rj_sbox_inv ( x ) sboxinv[(x)]

Definition at line 93 of file DJI_Codec.cpp.

Typedef Documentation

typedef struct tagAES256Context aes256_context

typedef void(* ptr_aes256_codec)(aes256_context *ctx, unsigned char *buf)

Note:: A full command, [===========XOOOOOOO] [===========XOOOOOOO------------------##########] curr filter buffer ^ ^ | |_____ remain data |__________________________________________ cur cmd data

after prepare

[OOOOOOO------------------------------##########]

[===========X] has been clear

pre-cmd 7 byte has been saved, and continue to filter

Definition at line 552 of file DJI_Codec.cpp.

Function Documentation

void aes256_decrypt_ecb	(	aes256_context *	ctx,
		unsigned char *	buf
	)

Note:: exit when --i == 0;

Definition at line 392 of file DJI_Codec.cpp.

void aes256_done ( aes256_context * ctx )

Definition at line 358 of file DJI_Codec.cpp.

void aes256_encrypt_ecb	(	aes256_context *	ctx,
		unsigned char *	buf
	)

Definition at line 366 of file DJI_Codec.cpp.

void aes256_init	(	aes256_context *	ctx,
		unsigned char *	k
	)

Definition at line 348 of file DJI_Codec.cpp.

void aes_addRoundKey	(	unsigned char *	buf,
		unsigned char *	key
	)

Definition at line 197 of file DJI_Codec.cpp.

void aes_addRoundKey_cpy	(	unsigned char *	buf,
		unsigned char *	key,
		unsigned char *	cpk
	)

Definition at line 205 of file DJI_Codec.cpp.

void aes_expandDecKey	(	unsigned char *	k,
		unsigned char *	rc
	)

Definition at line 325 of file DJI_Codec.cpp.

void aes_expandEncKey	(	unsigned char *	k,
		unsigned char *	rc
	)

Definition at line 302 of file DJI_Codec.cpp.

void aes_mixColumns ( unsigned char * buf )

Definition at line 261 of file DJI_Codec.cpp.

void aes_mixColumns_inv ( unsigned char * buf )

Definition at line 280 of file DJI_Codec.cpp.

void aes_shiftRows ( unsigned char * buf )

Definition at line 213 of file DJI_Codec.cpp.

void aes_shiftRows_inv ( unsigned char * buf )

Definition at line 237 of file DJI_Codec.cpp.

void aes_subBytes ( unsigned char * buf )

Definition at line 181 of file DJI_Codec.cpp.

void aes_subBytes_inv ( unsigned char * buf )

Definition at line 189 of file DJI_Codec.cpp.

void calculateCRC ( void * p_data )

Definition at line 808 of file DJI_Codec.cpp.

uint16_t crc16_update	(	uint16_t	crc,
		uint8_t	ch
	)

Definition at line 488 of file DJI_Codec.cpp.

uint32_t crc32_update	(	uint32_t	crc,
		uint8_t	ch
	)

Definition at line 500 of file DJI_Codec.cpp.

void encodeData	(	SDKFilter *	p_filter,
		Header *	p_head,
		ptr_aes256_codec	codec_func
	)

Definition at line 565 of file DJI_Codec.cpp.

unsigned char rj_xtime ( unsigned char x )

Definition at line 175 of file DJI_Codec.cpp.

uint16_t sdk_stream_crc16_calc	(	const uint8_t *	pMsg,
		size_t	nLen
	)

Definition at line 511 of file DJI_Codec.cpp.

uint32_t sdk_stream_crc32_calc	(	const uint8_t *	pMsg,
		size_t	nLen
	)

Definition at line 524 of file DJI_Codec.cpp.

void sdk_stream_prepare_lambda ( SDKFilter * p_filter )

Definition at line 555 of file DJI_Codec.cpp.

void sdk_stream_shift_data_lambda ( SDKFilter * p_filter )

Definition at line 632 of file DJI_Codec.cpp.

void sdk_stream_update_reuse_part_lambda ( SDKFilter * p_filter )

Definition at line 683 of file DJI_Codec.cpp.

void transformTwoByte	(	const char *	pstr,
		unsigned char *	pdata
	)

Definition at line 832 of file DJI_Codec.cpp.

Variable Documentation

const unsigned short CRC_INIT = 0x3AA3

Definition at line 486 of file DJI_Codec.cpp.

uint16_t crc_tab16[]

Initial value:

 {
  0x0000, 0xc0c1, 0xc181, 0x0140, 0xc301, 0x03c0, 0x0280, 0xc241, 0xc601, 0x06c0, 0x0780,
  0xc741, 0x0500, 0xc5c1, 0xc481, 0x0440, 0xcc01, 0x0cc0, 0x0d80, 0xcd41, 0x0f00, 0xcfc1,
  0xce81, 0x0e40, 0x0a00, 0xcac1, 0xcb81, 0x0b40, 0xc901, 0x09c0, 0x0880, 0xc841, 0xd801,
  0x18c0, 0x1980, 0xd941, 0x1b00, 0xdbc1, 0xda81, 0x1a40, 0x1e00, 0xdec1, 0xdf81, 0x1f40,
  0xdd01, 0x1dc0, 0x1c80, 0xdc41, 0x1400, 0xd4c1, 0xd581, 0x1540, 0xd701, 0x17c0, 0x1680,
  0xd641, 0xd201, 0x12c0, 0x1380, 0xd341, 0x1100, 0xd1c1, 0xd081, 0x1040, 0xf001, 0x30c0,
  0x3180, 0xf141, 0x3300, 0xf3c1, 0xf281, 0x3240, 0x3600, 0xf6c1, 0xf781, 0x3740, 0xf501,
  0x35c0, 0x3480, 0xf441, 0x3c00, 0xfcc1, 0xfd81, 0x3d40, 0xff01, 0x3fc0, 0x3e80, 0xfe41,
  0xfa01, 0x3ac0, 0x3b80, 0xfb41, 0x3900, 0xf9c1, 0xf881, 0x3840, 0x2800, 0xe8c1, 0xe981,
  0x2940, 0xeb01, 0x2bc0, 0x2a80, 0xea41, 0xee01, 0x2ec0, 0x2f80, 0xef41, 0x2d00, 0xedc1,
  0xec81, 0x2c40, 0xe401, 0x24c0, 0x2580, 0xe541, 0x2700, 0xe7c1, 0xe681, 0x2640, 0x2200,
  0xe2c1, 0xe381, 0x2340, 0xe101, 0x21c0, 0x2080, 0xe041, 0xa001, 0x60c0, 0x6180, 0xa141,
  0x6300, 0xa3c1, 0xa281, 0x6240, 0x6600, 0xa6c1, 0xa781, 0x6740, 0xa501, 0x65c0, 0x6480,
  0xa441, 0x6c00, 0xacc1, 0xad81, 0x6d40, 0xaf01, 0x6fc0, 0x6e80, 0xae41, 0xaa01, 0x6ac0,
  0x6b80, 0xab41, 0x6900, 0xa9c1, 0xa881, 0x6840, 0x7800, 0xb8c1, 0xb981, 0x7940, 0xbb01,
  0x7bc0, 0x7a80, 0xba41, 0xbe01, 0x7ec0, 0x7f80, 0xbf41, 0x7d00, 0xbdc1, 0xbc81, 0x7c40,
  0xb401, 0x74c0, 0x7580, 0xb541, 0x7700, 0xb7c1, 0xb681, 0x7640, 0x7200, 0xb2c1, 0xb381,
  0x7340, 0xb101, 0x71c0, 0x7080, 0xb041, 0x5000, 0x90c1, 0x9181, 0x5140, 0x9301, 0x53c0,
  0x5280, 0x9241, 0x9601, 0x56c0, 0x5780, 0x9741, 0x5500, 0x95c1, 0x9481, 0x5440, 0x9c01,
  0x5cc0, 0x5d80, 0x9d41, 0x5f00, 0x9fc1, 0x9e81, 0x5e40, 0x5a00, 0x9ac1, 0x9b81, 0x5b40,
  0x9901, 0x59c0, 0x5880, 0x9841, 0x8801, 0x48c0, 0x4980, 0x8941, 0x4b00, 0x8bc1, 0x8a81,
  0x4a40, 0x4e00, 0x8ec1, 0x8f81, 0x4f40, 0x8d01, 0x4dc0, 0x4c80, 0x8c41, 0x4400, 0x84c1,
  0x8581, 0x4540, 0x8701, 0x47c0, 0x4680, 0x8641, 0x8201, 0x42c0, 0x4380, 0x8341, 0x4100,
  0x81c1, 0x8081, 0x4040,
}

Definition at line 419 of file DJI_Codec.cpp.

uint32_t crc_tab32[]

Definition at line 446 of file DJI_Codec.cpp.

const unsigned char sbox[256]

Initial value:

 {
  0x63, 0x7c, 0x77, 0x7b, 0xf2, 0x6b, 0x6f, 0xc5, 0x30, 0x01, 0x67, 0x2b, 0xfe, 0xd7, 0xab,
  0x76, 0xca, 0x82, 0xc9, 0x7d, 0xfa, 0x59, 0x47, 0xf0, 0xad, 0xd4, 0xa2, 0xaf, 0x9c, 0xa4,
  0x72, 0xc0, 0xb7, 0xfd, 0x93, 0x26, 0x36, 0x3f, 0xf7, 0xcc, 0x34, 0xa5, 0xe5, 0xf1, 0x71,
  0xd8, 0x31, 0x15, 0x04, 0xc7, 0x23, 0xc3, 0x18, 0x96, 0x05, 0x9a, 0x07, 0x12, 0x80, 0xe2,
  0xeb, 0x27, 0xb2, 0x75, 0x09, 0x83, 0x2c, 0x1a, 0x1b, 0x6e, 0x5a, 0xa0, 0x52, 0x3b, 0xd6,
  0xb3, 0x29, 0xe3, 0x2f, 0x84, 0x53, 0xd1, 0x00, 0xed, 0x20, 0xfc, 0xb1, 0x5b, 0x6a, 0xcb,
  0xbe, 0x39, 0x4a, 0x4c, 0x58, 0xcf, 0xd0, 0xef, 0xaa, 0xfb, 0x43, 0x4d, 0x33, 0x85, 0x45,
  0xf9, 0x02, 0x7f, 0x50, 0x3c, 0x9f, 0xa8, 0x51, 0xa3, 0x40, 0x8f, 0x92, 0x9d, 0x38, 0xf5,
  0xbc, 0xb6, 0xda, 0x21, 0x10, 0xff, 0xf3, 0xd2, 0xcd, 0x0c, 0x13, 0xec, 0x5f, 0x97, 0x44,
  0x17, 0xc4, 0xa7, 0x7e, 0x3d, 0x64, 0x5d, 0x19, 0x73, 0x60, 0x81, 0x4f, 0xdc, 0x22, 0x2a,
  0x90, 0x88, 0x46, 0xee, 0xb8, 0x14, 0xde, 0x5e, 0x0b, 0xdb, 0xe0, 0x32, 0x3a, 0x0a, 0x49,
  0x06, 0x24, 0x5c, 0xc2, 0xd3, 0xac, 0x62, 0x91, 0x95, 0xe4, 0x79, 0xe7, 0xc8, 0x37, 0x6d,
  0x8d, 0xd5, 0x4e, 0xa9, 0x6c, 0x56, 0xf4, 0xea, 0x65, 0x7a, 0xae, 0x08, 0xba, 0x78, 0x25,
  0x2e, 0x1c, 0xa6, 0xb4, 0xc6, 0xe8, 0xdd, 0x74, 0x1f, 0x4b, 0xbd, 0x8b, 0x8a, 0x70, 0x3e,
  0xb5, 0x66, 0x48, 0x03, 0xf6, 0x0e, 0x61, 0x35, 0x57, 0xb9, 0x86, 0xc1, 0x1d, 0x9e, 0xe1,
  0xf8, 0x98, 0x11, 0x69, 0xd9, 0x8e, 0x94, 0x9b, 0x1e, 0x87, 0xe9, 0xce, 0x55, 0x28, 0xdf,
  0x8c, 0xa1, 0x89, 0x0d, 0xbf, 0xe6, 0x42, 0x68, 0x41, 0x99, 0x2d, 0x0f, 0xb0, 0x54, 0xbb,
  0x16
}

Definition at line 51 of file DJI_Codec.cpp.

const unsigned char sboxinv[256]

Initial value:

 {
  0x52, 0x09, 0x6a, 0xd5, 0x30, 0x36, 0xa5, 0x38, 0xbf, 0x40, 0xa3, 0x9e, 0x81, 0xf3, 0xd7,
  0xfb, 0x7c, 0xe3, 0x39, 0x82, 0x9b, 0x2f, 0xff, 0x87, 0x34, 0x8e, 0x43, 0x44, 0xc4, 0xde,
  0xe9, 0xcb, 0x54, 0x7b, 0x94, 0x32, 0xa6, 0xc2, 0x23, 0x3d, 0xee, 0x4c, 0x95, 0x0b, 0x42,
  0xfa, 0xc3, 0x4e, 0x08, 0x2e, 0xa1, 0x66, 0x28, 0xd9, 0x24, 0xb2, 0x76, 0x5b, 0xa2, 0x49,
  0x6d, 0x8b, 0xd1, 0x25, 0x72, 0xf8, 0xf6, 0x64, 0x86, 0x68, 0x98, 0x16, 0xd4, 0xa4, 0x5c,
  0xcc, 0x5d, 0x65, 0xb6, 0x92, 0x6c, 0x70, 0x48, 0x50, 0xfd, 0xed, 0xb9, 0xda, 0x5e, 0x15,
  0x46, 0x57, 0xa7, 0x8d, 0x9d, 0x84, 0x90, 0xd8, 0xab, 0x00, 0x8c, 0xbc, 0xd3, 0x0a, 0xf7,
  0xe4, 0x58, 0x05, 0xb8, 0xb3, 0x45, 0x06, 0xd0, 0x2c, 0x1e, 0x8f, 0xca, 0x3f, 0x0f, 0x02,
  0xc1, 0xaf, 0xbd, 0x03, 0x01, 0x13, 0x8a, 0x6b, 0x3a, 0x91, 0x11, 0x41, 0x4f, 0x67, 0xdc,
  0xea, 0x97, 0xf2, 0xcf, 0xce, 0xf0, 0xb4, 0xe6, 0x73, 0x96, 0xac, 0x74, 0x22, 0xe7, 0xad,
  0x35, 0x85, 0xe2, 0xf9, 0x37, 0xe8, 0x1c, 0x75, 0xdf, 0x6e, 0x47, 0xf1, 0x1a, 0x71, 0x1d,
  0x29, 0xc5, 0x89, 0x6f, 0xb7, 0x62, 0x0e, 0xaa, 0x18, 0xbe, 0x1b, 0xfc, 0x56, 0x3e, 0x4b,
  0xc6, 0xd2, 0x79, 0x20, 0x9a, 0xdb, 0xc0, 0xfe, 0x78, 0xcd, 0x5a, 0xf4, 0x1f, 0xdd, 0xa8,
  0x33, 0x88, 0x07, 0xc7, 0x31, 0xb1, 0x12, 0x10, 0x59, 0x27, 0x80, 0xec, 0x5f, 0x60, 0x51,
  0x7f, 0xa9, 0x19, 0xb5, 0x4a, 0x0d, 0x2d, 0xe5, 0x7a, 0x9f, 0x93, 0xc9, 0x9c, 0xef, 0xa0,
  0xe0, 0x3b, 0x4d, 0xae, 0x2a, 0xf5, 0xb0, 0xc8, 0xeb, 0xbb, 0x3c, 0x83, 0x53, 0x99, 0x61,
  0x17, 0x2b, 0x04, 0x7e, 0xba, 0x77, 0xd6, 0x26, 0xe1, 0x69, 0x14, 0x63, 0x55, 0x21, 0x0c,
  0x7d
}

Definition at line 71 of file DJI_Codec.cpp.

Classes

Defines

Typedefs

Functions

Variables

Detailed Description

Define Documentation

Typedef Documentation

Function Documentation

Variable Documentation