![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
sending and receiving data from a Dynamixel
crc.cpp@0:bcd01ae054eb, 2019-05-04 (annotated)
- Committer:
- bwang
- Date:
- Sat May 04 18:46:43 2019 +0000
- Revision:
- 0:bcd01ae054eb
first commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 0:bcd01ae054eb | 1 | unsigned short update_crc(unsigned short crc_accum, unsigned char *data_blk_ptr, unsigned short data_blk_size) |
bwang | 0:bcd01ae054eb | 2 | { |
bwang | 0:bcd01ae054eb | 3 | unsigned short i, j; |
bwang | 0:bcd01ae054eb | 4 | unsigned short crc_table[256] = { |
bwang | 0:bcd01ae054eb | 5 | 0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011, |
bwang | 0:bcd01ae054eb | 6 | 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022, |
bwang | 0:bcd01ae054eb | 7 | 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072, |
bwang | 0:bcd01ae054eb | 8 | 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041, |
bwang | 0:bcd01ae054eb | 9 | 0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2, |
bwang | 0:bcd01ae054eb | 10 | 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, |
bwang | 0:bcd01ae054eb | 11 | 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, |
bwang | 0:bcd01ae054eb | 12 | 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082, |
bwang | 0:bcd01ae054eb | 13 | 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192, |
bwang | 0:bcd01ae054eb | 14 | 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1, |
bwang | 0:bcd01ae054eb | 15 | 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1, |
bwang | 0:bcd01ae054eb | 16 | 0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2, |
bwang | 0:bcd01ae054eb | 17 | 0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151, |
bwang | 0:bcd01ae054eb | 18 | 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, |
bwang | 0:bcd01ae054eb | 19 | 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132, |
bwang | 0:bcd01ae054eb | 20 | 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101, |
bwang | 0:bcd01ae054eb | 21 | 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312, |
bwang | 0:bcd01ae054eb | 22 | 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321, |
bwang | 0:bcd01ae054eb | 23 | 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371, |
bwang | 0:bcd01ae054eb | 24 | 0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, |
bwang | 0:bcd01ae054eb | 25 | 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, |
bwang | 0:bcd01ae054eb | 26 | 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2, |
bwang | 0:bcd01ae054eb | 27 | 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2, |
bwang | 0:bcd01ae054eb | 28 | 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381, |
bwang | 0:bcd01ae054eb | 29 | 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291, |
bwang | 0:bcd01ae054eb | 30 | 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2, |
bwang | 0:bcd01ae054eb | 31 | 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, |
bwang | 0:bcd01ae054eb | 32 | 0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, |
bwang | 0:bcd01ae054eb | 33 | 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252, |
bwang | 0:bcd01ae054eb | 34 | 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261, |
bwang | 0:bcd01ae054eb | 35 | 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231, |
bwang | 0:bcd01ae054eb | 36 | 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202 |
bwang | 0:bcd01ae054eb | 37 | }; |
bwang | 0:bcd01ae054eb | 38 | |
bwang | 0:bcd01ae054eb | 39 | for(j = 0; j < data_blk_size; j++) |
bwang | 0:bcd01ae054eb | 40 | { |
bwang | 0:bcd01ae054eb | 41 | i = ((unsigned short)(crc_accum >> 8) ^ data_blk_ptr[j]) & 0xFF; |
bwang | 0:bcd01ae054eb | 42 | crc_accum = (crc_accum << 8) ^ crc_table[i]; |
bwang | 0:bcd01ae054eb | 43 | } |
bwang | 0:bcd01ae054eb | 44 | |
bwang | 0:bcd01ae054eb | 45 | return crc_accum; |
bwang | 0:bcd01ae054eb | 46 | } |