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[mavlink] fix crc function names for compatibility with libocm3
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@gautierhattenberger
gautierhattenberger committed Feb 28, 2013
1 parent e2e7947 commit dee9912
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Showing 2 changed files with 11 additions and 11 deletions.
2 changes: 1 addition & 1 deletion sw/airborne/modules/datalink/mavlink_decoder.c
View file
Expand Up @@ -29,7 +29,7 @@
struct mavlink_transport mavlink_tp;

#ifndef MAVLINK_NO_CRC_EXTRA
uint8_t crc_extra[256]={50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 200, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0};
uint8_t mavlink_crc_extra[256]={50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 200, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0};
#endif

#if MAVLINK_DECODER_DEBUG
Expand Down
20 changes: 10 additions & 10 deletions sw/airborne/modules/datalink/mavlink_decoder.h
View file
Expand Up @@ -65,7 +65,7 @@ struct mavlink_message {

#ifndef MAVLINK_NO_CRC_EXTRA
// CRC Extra (!!! staticaly calculated !!!)
extern uint8_t crc_extra[256];
extern uint8_t mavlink_crc_extra[256];
#endif

/**
Expand All @@ -77,7 +77,7 @@ extern uint8_t crc_extra[256];
* @param data new char to hash
* @param crcAccum the already accumulated checksum
*/
static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
static inline void mavlink_crc_accumulate(uint8_t data, uint16_t *crcAccum)
{
/*Accumulate one byte of data into the CRC*/
uint8_t tmp;
Expand All @@ -92,7 +92,7 @@ static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
*
* @param crcAccum the 16 bit X.25 CRC
*/
static inline void crc_init(uint16_t* crcAccum)
static inline void mavlink_crc_init(uint16_t* crcAccum)
{
*crcAccum = X25_INIT_CRC;
}
Expand All @@ -104,12 +104,12 @@ static inline void crc_init(uint16_t* crcAccum)
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
static inline uint16_t mavlink_crc_calculate(const uint8_t* pBuffer, uint16_t length)
{
uint16_t crcTmp;
crc_init(&crcTmp);
mavlink_crc_init(&crcTmp);
while (length--) {
crc_accumulate(*pBuffer++, &crcTmp);
mavlink_crc_accumulate(*pBuffer++, &crcTmp);
}
return crcTmp;
}
Expand Down Expand Up @@ -175,7 +175,7 @@ static inline void parse_mavlink(struct mavlink_transport * t, uint8_t c ) {
case MAVLINK_PARSE_STATE_IDLE:
if (c == STXMAV) {
t->status = MAVLINK_PARSE_STATE_GOT_STX;
crc_init(&(t->checksum));
mavlink_crc_init(&(t->checksum));
}
break;
case MAVLINK_PARSE_STATE_GOT_STX:
Expand All @@ -184,13 +184,13 @@ static inline void parse_mavlink(struct mavlink_transport * t, uint8_t c ) {
goto error;
}
t->trans.payload_len = c + MAVLINK_PAYLOAD_OFFSET; /* Not Counting STX, CRC1 and CRC2, adding LENGTH, SEQ, SYSID, COMPID, MSGID */
crc_accumulate(c, &(t->checksum));
mavlink_crc_accumulate(c, &(t->checksum));
t->status = MAVLINK_PARSE_STATE_GOT_LENGTH;
t->payload_idx = 0;
break;
case MAVLINK_PARSE_STATE_GOT_LENGTH:
t->trans.payload[t->payload_idx] = c;
crc_accumulate(c, &(t->checksum));
mavlink_crc_accumulate(c, &(t->checksum));
t->payload_idx++;
if (t->payload_idx == t->trans.payload_len)
t->status = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
Expand All @@ -201,7 +201,7 @@ static inline void parse_mavlink(struct mavlink_transport * t, uint8_t c ) {
#endif
#ifndef MAVLINK_NO_CRC_EXTRA
// add extra CRC
crc_accumulate(crc_extra[(t->trans.payload[MAVLINK_MSG_ID_IDX])], &(t->checksum));
mavlink_crc_accumulate(mavlink_crc_extra[(t->trans.payload[MAVLINK_MSG_ID_IDX])], &(t->checksum));
#endif
if (c != (t->checksum & 0xFF))
goto error;
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