CRC.cpp

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
// -- END LICENSE BLOCK ------------------------------------------------
 
#include "sick_safevisionary_base/CRC.h"
 
namespace visionary {
 
static const uint32_t CRC_au32CRCTable[256] = {
  0x00000000u, 0x77073096u, 0xEE0E612Cu, 0x990951BAu, 0x076DC419u, 0x706AF48Fu, 0xE963A535u,
  0x9E6495A3u, 0x0EDB8832u, 0x79DCB8A4u, 0xE0D5E91Eu, 0x97D2D988u, 0x09B64C2Bu, 0x7EB17CBDu,
  0xE7B82D07u, 0x90BF1D91u, 0x1DB71064u, 0x6AB020F2u, 0xF3B97148u, 0x84BE41DEu, 0x1ADAD47Du,
  0x6DDDE4EBu, 0xF4D4B551u, 0x83D385C7u, 0x136C9856u, 0x646BA8C0u, 0xFD62F97Au, 0x8A65C9ECu,
  0x14015C4Fu, 0x63066CD9u, 0xFA0F3D63u, 0x8D080DF5u, 0x3B6E20C8u, 0x4C69105Eu, 0xD56041E4u,
  0xA2677172u, 0x3C03E4D1u, 0x4B04D447u, 0xD20D85FDu, 0xA50AB56Bu, 0x35B5A8FAu, 0x42B2986Cu,
  0xDBBBC9D6u, 0xACBCF940u, 0x32D86CE3u, 0x45DF5C75u, 0xDCD60DCFu, 0xABD13D59u, 0x26D930ACu,
  0x51DE003Au, 0xC8D75180u, 0xBFD06116u, 0x21B4F4B5u, 0x56B3C423u, 0xCFBA9599u, 0xB8BDA50Fu,
  0x2802B89Eu, 0x5F058808u, 0xC60CD9B2u, 0xB10BE924u, 0x2F6F7C87u, 0x58684C11u, 0xC1611DABu,
  0xB6662D3Du, 0x76DC4190u, 0x01DB7106u, 0x98D220BCu, 0xEFD5102Au, 0x71B18589u, 0x06B6B51Fu,
  0x9FBFE4A5u, 0xE8B8D433u, 0x7807C9A2u, 0x0F00F934u, 0x9609A88Eu, 0xE10E9818u, 0x7F6A0DBBu,
  0x086D3D2Du, 0x91646C97u, 0xE6635C01u, 0x6B6B51F4u, 0x1C6C6162u, 0x856530D8u, 0xF262004Eu,
  0x6C0695EDu, 0x1B01A57Bu, 0x8208F4C1u, 0xF50FC457u, 0x65B0D9C6u, 0x12B7E950u, 0x8BBEB8EAu,
  0xFCB9887Cu, 0x62DD1DDFu, 0x15DA2D49u, 0x8CD37CF3u, 0xFBD44C65u, 0x4DB26158u, 0x3AB551CEu,
  0xA3BC0074u, 0xD4BB30E2u, 0x4ADFA541u, 0x3DD895D7u, 0xA4D1C46Du, 0xD3D6F4FBu, 0x4369E96Au,
  0x346ED9FCu, 0xAD678846u, 0xDA60B8D0u, 0x44042D73u, 0x33031DE5u, 0xAA0A4C5Fu, 0xDD0D7CC9u,
  0x5005713Cu, 0x270241AAu, 0xBE0B1010u, 0xC90C2086u, 0x5768B525u, 0x206F85B3u, 0xB966D409u,
  0xCE61E49Fu, 0x5EDEF90Eu, 0x29D9C998u, 0xB0D09822u, 0xC7D7A8B4u, 0x59B33D17u, 0x2EB40D81u,
  0xB7BD5C3Bu, 0xC0BA6CADu,
 
  0xEDB88320u, 0x9ABFB3B6u, 0x03B6E20Cu, 0x74B1D29Au, 0xEAD54739u, 0x9DD277AFu, 0x04DB2615u,
  0x73DC1683u, 0xE3630B12u, 0x94643B84u, 0x0D6D6A3Eu, 0x7A6A5AA8u, 0xE40ECF0Bu, 0x9309FF9Du,
  0x0A00AE27u, 0x7D079EB1u, 0xF00F9344u, 0x8708A3D2u, 0x1E01F268u, 0x6906C2FEu, 0xF762575Du,
  0x806567CBu, 0x196C3671u, 0x6E6B06E7u, 0xFED41B76u, 0x89D32BE0u, 0x10DA7A5Au, 0x67DD4ACCu,
  0xF9B9DF6Fu, 0x8EBEEFF9u, 0x17B7BE43u, 0x60B08ED5u, 0xD6D6A3E8u, 0xA1D1937Eu, 0x38D8C2C4u,
  0x4FDFF252u, 0xD1BB67F1u, 0xA6BC5767u, 0x3FB506DDu, 0x48B2364Bu, 0xD80D2BDAu, 0xAF0A1B4Cu,
  0x36034AF6u, 0x41047A60u, 0xDF60EFC3u, 0xA867DF55u, 0x316E8EEFu, 0x4669BE79u, 0xCB61B38Cu,
  0xBC66831Au, 0x256FD2A0u, 0x5268E236u, 0xCC0C7795u, 0xBB0B4703u, 0x220216B9u, 0x5505262Fu,
  0xC5BA3BBEu, 0xB2BD0B28u, 0x2BB45A92u, 0x5CB36A04u, 0xC2D7FFA7u, 0xB5D0CF31u, 0x2CD99E8Bu,
  0x5BDEAE1Du, 0x9B64C2B0u, 0xEC63F226u, 0x756AA39Cu, 0x026D930Au, 0x9C0906A9u, 0xEB0E363Fu,
  0x72076785u, 0x05005713u, 0x95BF4A82u, 0xE2B87A14u, 0x7BB12BAEu, 0x0CB61B38u, 0x92D28E9Bu,
  0xE5D5BE0Du, 0x7CDCEFB7u, 0x0BDBDF21u, 0x86D3D2D4u, 0xF1D4E242u, 0x68DDB3F8u, 0x1FDA836Eu,
  0x81BE16CDu, 0xF6B9265Bu, 0x6FB077E1u, 0x18B74777u, 0x88085AE6u, 0xFF0F6A70u, 0x66063BCAu,
  0x11010B5Cu, 0x8F659EFFu, 0xF862AE69u, 0x616BFFD3u, 0x166CCF45u, 0xA00AE278u, 0xD70DD2EEu,
  0x4E048354u, 0x3903B3C2u, 0xA7672661u, 0xD06016F7u, 0x4969474Du, 0x3E6E77DBu, 0xAED16A4Au,
  0xD9D65ADCu, 0x40DF0B66u, 0x37D83BF0u, 0xA9BCAE53u, 0xDEBB9EC5u, 0x47B2CF7Fu, 0x30B5FFE9u,
  0xBDBDF21Cu, 0xCABAC28Au, 0x53B39330u, 0x24B4A3A6u, 0xBAD03605u, 0xCDD70693u, 0x54DE5729u,
  0x23D967BFu, 0xB3667A2Eu, 0xC4614AB8u, 0x5D681B02u, 0x2A6F2B94u, 0xB40BBE37u, 0xC30C8EA1u,
  0x5A05DF1Bu, 0x2D02EF8Du};
 
 
uint32_t CRC_calcCrc32Block(const void* const pvData, uint32_t u32Length, uint32_t u32InitVal)
{
  const uint8_t* pu8Data = (const uint8_t*)pvData;
  uint32_t u32CrcVal     = u32InitVal;
  uint32_t u32Idx;
 
  for (u32Idx = 0u; u32Idx < u32Length; u32Idx++)
  {
    u32CrcVal = (u32CrcVal >> 8u) ^ CRC_au32CRCTable[(u32CrcVal & 0xFFu) ^ pu8Data[u32Idx]];
  }
 
  return u32CrcVal;
}
 
static const uint32_t CRC_au32CRC32CTable[256] = {
  0x00000000, 0xF26B8303, 0xE13B70F7, 0x1350F3F4, 0xC79A971F, 0x35F1141C, 0x26A1E7E8, 0xD4CA64EB,
  0x8AD958CF, 0x78B2DBCC, 0x6BE22838, 0x9989AB3B, 0x4D43CFD0, 0xBF284CD3, 0xAC78BF27, 0x5E133C24,
  0x105EC76F, 0xE235446C, 0xF165B798, 0x030E349B, 0xD7C45070, 0x25AFD373, 0x36FF2087, 0xC494A384,
  0x9A879FA0, 0x68EC1CA3, 0x7BBCEF57, 0x89D76C54, 0x5D1D08BF, 0xAF768BBC, 0xBC267848, 0x4E4DFB4B,
  0x20BD8EDE, 0xD2D60DDD, 0xC186FE29, 0x33ED7D2A, 0xE72719C1, 0x154C9AC2, 0x061C6936, 0xF477EA35,
  0xAA64D611, 0x580F5512, 0x4B5FA6E6, 0xB93425E5, 0x6DFE410E, 0x9F95C20D, 0x8CC531F9, 0x7EAEB2FA,
  0x30E349B1, 0xC288CAB2, 0xD1D83946, 0x23B3BA45, 0xF779DEAE, 0x05125DAD, 0x1642AE59, 0xE4292D5A,
  0xBA3A117E, 0x4851927D, 0x5B016189, 0xA96AE28A, 0x7DA08661, 0x8FCB0562, 0x9C9BF696, 0x6EF07595,
  0x417B1DBC, 0xB3109EBF, 0xA0406D4B, 0x522BEE48, 0x86E18AA3, 0x748A09A0, 0x67DAFA54, 0x95B17957,
  0xCBA24573, 0x39C9C670, 0x2A993584, 0xD8F2B687, 0x0C38D26C, 0xFE53516F, 0xED03A29B, 0x1F682198,
  0x5125DAD3, 0xA34E59D0, 0xB01EAA24, 0x42752927, 0x96BF4DCC, 0x64D4CECF, 0x77843D3B, 0x85EFBE38,
  0xDBFC821C, 0x2997011F, 0x3AC7F2EB, 0xC8AC71E8, 0x1C661503, 0xEE0D9600, 0xFD5D65F4, 0x0F36E6F7,
  0x61C69362, 0x93AD1061, 0x80FDE395, 0x72966096, 0xA65C047D, 0x5437877E, 0x4767748A, 0xB50CF789,
  0xEB1FCBAD, 0x197448AE, 0x0A24BB5A, 0xF84F3859, 0x2C855CB2, 0xDEEEDFB1, 0xCDBE2C45, 0x3FD5AF46,
  0x7198540D, 0x83F3D70E, 0x90A324FA, 0x62C8A7F9, 0xB602C312, 0x44694011, 0x5739B3E5, 0xA55230E6,
  0xFB410CC2, 0x092A8FC1, 0x1A7A7C35, 0xE811FF36, 0x3CDB9BDD, 0xCEB018DE, 0xDDE0EB2A, 0x2F8B6829,
  0x82F63B78, 0x709DB87B, 0x63CD4B8F, 0x91A6C88C, 0x456CAC67, 0xB7072F64, 0xA457DC90, 0x563C5F93,
  0x082F63B7, 0xFA44E0B4, 0xE9141340, 0x1B7F9043, 0xCFB5F4A8, 0x3DDE77AB, 0x2E8E845F, 0xDCE5075C,
  0x92A8FC17, 0x60C37F14, 0x73938CE0, 0x81F80FE3, 0x55326B08, 0xA759E80B, 0xB4091BFF, 0x466298FC,
  0x1871A4D8, 0xEA1A27DB, 0xF94AD42F, 0x0B21572C, 0xDFEB33C7, 0x2D80B0C4, 0x3ED04330, 0xCCBBC033,
  0xA24BB5A6, 0x502036A5, 0x4370C551, 0xB11B4652, 0x65D122B9, 0x97BAA1BA, 0x84EA524E, 0x7681D14D,
  0x2892ED69, 0xDAF96E6A, 0xC9A99D9E, 0x3BC21E9D, 0xEF087A76, 0x1D63F975, 0x0E330A81, 0xFC588982,
  0xB21572C9, 0x407EF1CA, 0x532E023E, 0xA145813D, 0x758FE5D6, 0x87E466D5, 0x94B49521, 0x66DF1622,
  0x38CC2A06, 0xCAA7A905, 0xD9F75AF1, 0x2B9CD9F2, 0xFF56BD19, 0x0D3D3E1A, 0x1E6DCDEE, 0xEC064EED,
  0xC38D26C4, 0x31E6A5C7, 0x22B65633, 0xD0DDD530, 0x0417B1DB, 0xF67C32D8, 0xE52CC12C, 0x1747422F,
  0x49547E0B, 0xBB3FFD08, 0xA86F0EFC, 0x5A048DFF, 0x8ECEE914, 0x7CA56A17, 0x6FF599E3, 0x9D9E1AE0,
  0xD3D3E1AB, 0x21B862A8, 0x32E8915C, 0xC083125F, 0x144976B4, 0xE622F5B7, 0xF5720643, 0x07198540,
  0x590AB964, 0xAB613A67, 0xB831C993, 0x4A5A4A90, 0x9E902E7B, 0x6CFBAD78, 0x7FAB5E8C, 0x8DC0DD8F,
  0xE330A81A, 0x115B2B19, 0x020BD8ED, 0xF0605BEE, 0x24AA3F05, 0xD6C1BC06, 0xC5914FF2, 0x37FACCF1,
  0x69E9F0D5, 0x9B8273D6, 0x88D28022, 0x7AB90321, 0xAE7367CA, 0x5C18E4C9, 0x4F48173D, 0xBD23943E,
  0xF36E6F75, 0x0105EC76, 0x12551F82, 0xE03E9C81, 0x34F4F86A, 0xC69F7B69, 0xD5CF889D, 0x27A40B9E,
  0x79B737BA, 0x8BDCB4B9, 0x988C474D, 0x6AE7C44E, 0xBE2DA0A5, 0x4C4623A6, 0x5F16D052, 0xAD7D5351};
 
 
uint32_t CRC_calcCrc32CBlock(const void* const pvData, uint32_t u32Length, uint32_t u32InitVal)
{
  const uint8_t* pu8Data = (const uint8_t*)pvData;
  uint32_t u32CrcVal     = u32InitVal;
  uint32_t u32Idx;
 
  for (u32Idx = 0u; u32Idx < u32Length; u32Idx++)
  {
    u32CrcVal = (u32CrcVal >> 8u) ^ CRC_au32CRC32CTable[(u32CrcVal & 0xFFu) ^ pu8Data[u32Idx]];
  }
 
  return u32CrcVal;
}
 
 
} // namespace visionary