CRC.cpp
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1 /*
2  * Katana Native Interface - A C++ interface to the robot arm Katana.
3  * Copyright (C) 2005 Neuronics AG
4  * Check out the AUTHORS file for detailed contact information.
5  *
6  * This program is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  *
11  * This program is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with this program; if not, write to the Free Software
18  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19  */
20 
21 
22 #include "KNI/CRC.h"
23 
24 //lookup array for CHECKSUM calcs
25 const uint8 CRChi_ARRAY [256] = {
26  0x000, 0x0c0, 0x0c1, 0x001, 0x0c3, 0x003, 0x002, 0x0c2,
27  0x0c6, 0x006, 0x007, 0x0c7, 0x005, 0x0c5, 0x0c4, 0x004,
28  0x0cc, 0x00c, 0x00d, 0x0cd, 0x00f, 0x0cf, 0x0ce, 0x00e,
29  0x00a, 0x0ca, 0x0cb, 0x00b, 0x0c9, 0x009, 0x008, 0x0c8,
30  0x0d8, 0x018, 0x019, 0x0d9, 0x01b, 0x0db, 0x0da, 0x01a,
31  0x01e, 0x0de, 0x0df, 0x01f, 0x0dd, 0x01d, 0x01c, 0x0dc,
32  0x014, 0x0d4, 0x0d5, 0x015, 0x0d7, 0x017, 0x016, 0x0d6,
33  0x0d2, 0x012, 0x013, 0x0d3, 0x011, 0x0d1, 0x0d0, 0x010,
34  0x0f0, 0x030, 0x031, 0x0f1, 0x033, 0x0f3, 0x0f2, 0x032,
35  0x036, 0x0f6, 0x0f7, 0x037, 0x0f5, 0x035, 0x034, 0x0f4,
36  0x03c, 0x0fc, 0x0fd, 0x03d, 0x0ff, 0x03f, 0x03e, 0x0fe,
37  0x0fa, 0x03a, 0x03b, 0x0fb, 0x039, 0x0f9, 0x0f8, 0x038,
38  0x028, 0x0e8, 0x0e9, 0x029, 0x0eb, 0x02b, 0x02a, 0x0ea,
39  0x0ee, 0x02e, 0x02f, 0x0ef, 0x02d, 0x0ed, 0x0ec, 0x02c,
40  0x0e4, 0x024, 0x025, 0x0e5, 0x027, 0x0e7, 0x0e6, 0x026, //15
41  0x022, 0x0e2, 0x0e3, 0x023, 0x0e1, 0x021, 0x020, 0x0e0,
42  0x0a0, 0x060, 0x061, 0x0a1, 0x063, 0x0a3, 0x0a2, 0x062,
43  0x066, 0x0a6, 0x0a7, 0x067, 0x0a5, 0x065, 0x064, 0x0a4,
44  0x06c, 0x0ac, 0x0ad, 0x06d, 0x0af, 0x06f, 0x06e, 0x0ae,
45  0x0aa, 0x06a, 0x06b, 0x0ab, 0x069, 0x0a9, 0x0a8, 0x068,
46  0x078, 0x0b8, 0x0b9, 0x079, 0x0bb, 0x07b, 0x07a, 0x0ba,
47  0x0be, 0x07e, 0x07f, 0x0bf, 0x07d, 0x0bd, 0x0bc, 0x07c,
48  0x0b4, 0x074, 0x075, 0x0b5, 0x077, 0x0b7, 0x0b6, 0x076,
49  0x072, 0x0b2, 0x0b3, 0x073, 0x0b1, 0x071, 0x070, 0x0b0,
50  0x050, 0x090, 0x091, 0x051, 0x093, 0x053, 0x052, 0x092,
51  0x096, 0x056, 0x057, 0x097, 0x055, 0x095, 0x094, 0x054,
52  0x09c, 0x05c, 0x05d, 0x09d, 0x05f, 0x09f, 0x09e, 0x05e,
53  0x05a, 0x09a, 0x09b, 0x05b, 0x099, 0x059, 0x058, 0x098,
54  0x088, 0x048, 0x049, 0x089, 0x04b, 0x08b, 0x08a, 0x04a,
55  0x04e, 0x08e, 0x08f, 0x04f, 0x08d, 0x04d, 0x04c, 0x08c,
56  0x044, 0x084, 0x085, 0x045, 0x087, 0x047, 0x046, 0x086,
57  0x082, 0x042, 0x043, 0x083, 0x041, 0x081, 0x080, 0x040,
58  };
59 
60 
61 //lookup arrays for CHECKSUM calcs
62 const uint8 CRClo_ARRAY [256] = {
63  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
64  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
65  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
66  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
67  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
68  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
69  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
70  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
71  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
72  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
73  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
74  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
75  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
76  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
77  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040, //15
78  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
79  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
80  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
81  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
82  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
83  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
84  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
85  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
86  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
87  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
88  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
89  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
90  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
91  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
92  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
93  0x000, 0x0c1, 0x081, 0x040, 0x001, 0x0c0, 0x080, 0x041,
94  0x001, 0x0c0, 0x080, 0x041, 0x000, 0x0c1, 0x081, 0x040,
95  };
96 
97 
98 uint16 CRC_CHECKSUM(uint8 *data, uint8 size_of_BYTE) {
99  //declare var
100  register uint8 BYTE_loop;
101  register uint16 CRC = 0;
102  register uint8 CRC_high = 0;
103  register uint8 CRC_low = 0;
104  register uint8 current_CRC_high = 0;
105 
106  //function body
107  for (BYTE_loop=0; BYTE_loop < size_of_BYTE; BYTE_loop++) {
108  current_CRC_high = CRC_high;
109 
110  CRC_high = CRChi_ARRAY[(CRC_low ^ data[BYTE_loop])];
111  CRC_low = (CRClo_ARRAY[(CRC_low ^ data[BYTE_loop])]) ^ current_CRC_high;
112  }
113 
114  CRC = CRC_high;
115  CRC <<= 8;
116  CRC += CRC_low;
117 
118  return CRC;
119 }
120 
uint8
#define uint8
unsigned 8 bit
Definition: CRC.h:27
CRClo_ARRAY
const uint8 CRClo_ARRAY[256]
Definition: CRC.cpp:62
uint16
#define uint16
unsigned 16 bit
Definition: CRC.h:28
CRC_CHECKSUM
uint16 CRC_CHECKSUM(uint8 *data, uint8 size_of_BYTE)
Definition: CRC.cpp:98
CRChi_ARRAY
const uint8 CRChi_ARRAY[256]
Definition: CRC.cpp:25

kni
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:16