wip cover UI

CMakeLists.txt

@@ -76,6 +76,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         ext/minmea/minmea.c
         # Emergency Driver
         src/drivers/emergency/gpio_emergency_driver.cpp
+        # YardForce Cover UI Driver
+        src/drivers/ui/YardForceCoverUI/yard_force_cover_ui_driver.cpp
         # Raw driver debug interface
         src/debug/debug_tcp_interface.cpp
         src/debug/debug_udp_interface.cpp
@@ -103,6 +105,7 @@ target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC
         ChibiOS
         LSM6DS3TR
         etl::etl
+        FastCRC
 )
 
 target_add_service(${CMAKE_PROJECT_NAME} ImuService ${CMAKE_CURRENT_SOURCE_DIR}/services/imu_service.json)

ext/CMakeLists.txt

@@ -9,3 +9,5 @@ target_compile_definitions(xbot-service PUBLIC XBOT_ENABLE_STATIC_STACK)
 
 add_subdirectory(LSM6DS3TR-C-PID)
 add_subdirectory(etl)
+
+add_subdirectory(FastCRC)

ext/FastCRC/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_library(FastCRC FastCRCsw.cpp)
+target_include_directories(FastCRC PUBLIC .)

ext/FastCRC/FastCRC.h

@@ -0,0 +1,184 @@
+/* FastCRC library code is placed under the MIT license
+ * Copyright (c) 2014-2019 Frank Bösing
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+
+// Teensy 3.0, Teensy 3.1:
+// See K20P64M72SF1RM.pdf (Kinetis), Pages 638 - 641 for documentation of CRC Device
+// See KINETIS_4N30D.pdf for Errata (Errata ID 2776)
+//
+// So, ALL HW-calculations are done as 32 bit.
+//
+//
+//
+// Thanks to:
+// - Catalogue of parametrised CRC algorithms, CRC RevEng
+// http://reveng.sourceforge.net/crc-catalogue/
+//
+// - Danjel McGougan (CRC-Table-Generator)
+//
+
+
+// Set this to 0 for smaller 32BIT-CRC-Tables:
+#if !defined(CRC_BIGTABLES)
+#define CRC_BIGTABLES 1
+#endif
+
+#if !defined(FastCRC_h)
+#define FastCRC_h
+#include <inttypes.h>
+
+
+// ================= DEFINES ===================
+#if defined(KINETISK)
+#define CRC_SW 0
+#define CRC_FLAG_NOREFLECT         (((1<<31) | (1<<30)) | ((0<<29) | (0<<28))) //refin=false refout=false
+#define CRC_FLAG_REFLECT           (((1<<31) | (0<<30)) | ((1<<29) | (0<<28))) //Reflect in- and outgoing bytes (refin=true refout=true)
+#define CRC_FLAG_XOR               (1<<26)                                     //Perform XOR on result
+#define CRC_FLAG_NOREFLECT_8       (0)                                         //For 8-Bit CRC
+#define CRC_FLAG_REFLECT_SWAP      (((1<<31) | (0<<30)) | ((0<<29) | (1<<28))) //For 16-Bit CRC (byteswap)
+#else
+#define CRC_SW 1
+#endif
+
+// ================= 7-BIT CRC ===================
+class FastCRC7
+{
+public:
+  FastCRC7();
+  uint8_t crc7(const uint8_t *data, const uint16_t datalen);		// (MultiMediaCard interface)
+  uint8_t crc7_upd(const uint8_t *data, const uint16_t datalen);	// Call for subsequent calculations with previous seed.
+#if !CRC_SW
+  uint8_t generic(const uint8_t polyom, const uint8_t seed, const uint32_t flags, const uint8_t *data, const uint16_t datalen); //Not available in non-hw-variant (not T3.x)
+#endif
+private:
+#if CRC_SW
+  uint8_t seed;
+#else
+  uint8_t update(const uint8_t *data, const uint16_t datalen);
+#endif
+};
+
+// ================= 8-BIT CRC ===================
+
+class FastCRC8
+{
+public:
+  FastCRC8();
+  uint8_t smbus(const uint8_t *data, const uint16_t datalen);		// Alias CRC-8
+  uint8_t maxim(const uint8_t *data, const uint16_t datalen);		// Equivalent to _crc_ibutton_update() in crc16.h from avr_libc
+
+  uint8_t smbus_upd(const uint8_t *data, uint16_t datalen);			// Call for subsequent calculations with previous seed.
+  uint8_t maxim_upd(const uint8_t *data, uint16_t datalen);			// Call for subsequent calculations with previous seed.
+#if !CRC_SW
+  uint8_t generic(const uint8_t polyom, const uint8_t seed, const uint32_t flags, const uint8_t *data, const uint16_t datalen); //Not available in non-hw-variant (not T3.x)
+#endif
+private:
+#if CRC_SW
+  uint8_t seed;
+#else
+  uint8_t update(const uint8_t *data, const uint16_t datalen);
+#endif
+};
+
+// ================= 14-BIT CRC ===================
+
+class FastCRC14
+{
+public:
+#if !CRC_SW //NO Software-implemenation so far
+  FastCRC14();
+  uint16_t darc(const uint8_t *data, const uint16_t datalen);
+  uint16_t gsm(const uint8_t *data, const uint16_t datalen);
+  uint16_t eloran(const uint8_t *data, const uint16_t datalen);
+  uint16_t ft4(const uint8_t *data, const uint16_t datalen);
+
+  uint16_t darc_upd(const uint8_t *data, uint16_t len);
+  uint16_t gsm_upd(const uint8_t *data, uint16_t len);
+  uint16_t eloran_upd(const uint8_t *data, uint16_t len);
+   uint16_t ft4_upd(const uint8_t *data, uint16_t len);
+#endif
+#if !CRC_SW
+  uint16_t generic(const uint16_t polyom, const uint16_t seed, const uint32_t flags, const uint8_t *data, const uint16_t datalen); //Not available in non-hw-variant (not T3.x)
+#endif
+private:
+#if CRC_SW
+  uint16_t seed;
+#else
+  uint16_t update(const uint8_t *data, const uint16_t datalen);
+#endif
+};
+
+// ================= 16-BIT CRC ===================
+
+class FastCRC16
+{
+public:
+  FastCRC16();
+  uint16_t ccitt(const uint8_t *data, const uint16_t datalen);      // Alias "false CCITT"
+  uint16_t mcrf4xx(const uint8_t *data,const uint16_t datalen);     // Equivalent to _crc_ccitt_update() in crc16.h from avr_libc
+  uint16_t kermit(const uint8_t *data, const uint16_t datalen);     // Alias CRC-16/CCITT, CRC-16/CCITT-TRUE, CRC-CCITT
+  uint16_t modbus(const uint8_t *data, const uint16_t datalen);     // Equivalent to _crc_16_update() in crc16.h from avr_libc
+  uint16_t xmodem(const uint8_t *data, const uint16_t datalen);     // Alias ZMODEM, CRC-16/ACORN
+  uint16_t x25(const uint8_t *data, const uint16_t datalen);        // Alias CRC-16/IBM-SDLC, CRC-16/ISO-HDLC, CRC-B
+
+  uint16_t ccitt_upd(const uint8_t *data, uint16_t len);			// Call for subsequent calculations with previous seed
+  uint16_t mcrf4xx_upd(const uint8_t *data, uint16_t len);			// Call for subsequent calculations with previous seed
+  uint16_t kermit_upd(const uint8_t *data, uint16_t len);			// Call for subsequent calculations with previous seed
+  uint16_t modbus_upd(const uint8_t *data, uint16_t len);			// Call for subsequent calculations with previous seed
+  uint16_t xmodem_upd(const uint8_t *data, uint16_t len);			// Call for subsequent calculations with previous seed
+  uint16_t x25_upd(const uint8_t *data, uint16_t len);				// Call for subsequent calculations with previous seed
+#if !CRC_SW
+  uint16_t generic(const uint16_t polyom, const uint16_t seed, const uint32_t flags, const uint8_t *data, const uint16_t datalen); //Not available in non-hw-variant (not T3.x)
+#endif
+private:
+#if CRC_SW
+  uint16_t seed;
+#else
+  uint16_t update(const uint8_t *data, const uint16_t datalen);
+#endif
+};
+
+// ================= 32-BIT CRC ===================
+
+class FastCRC32
+{
+public:
+  FastCRC32();
+  uint32_t crc32(const uint8_t *data, const uint16_t datalen);		// Alias CRC-32/ADCCP, PKZIP, Ethernet, 802.3
+  uint32_t cksum(const uint8_t *data, const uint16_t datalen);		// Alias CRC-32/POSIX
+
+  uint32_t crc32_upd(const uint8_t *data, uint16_t len);			// Call for subsequent calculations with previous seed
+  uint32_t cksum_upd(const uint8_t *data, uint16_t len);			// Call for subsequent calculations with previous seed
+#if !CRC_SW
+  uint32_t generic(const uint32_t polyom, const uint32_t seed, const uint32_t flags, const uint8_t *data, const uint16_t datalen); //Not available in non-hw-variant (not T3.x)
+#endif
+private:
+#if CRC_SW
+  uint32_t seed;
+#else
+  uint32_t update(const uint8_t *data, const uint16_t datalen);
+#endif
+};
+
+#endif

ext/FastCRC/FastCRC_cpu.h

@@ -0,0 +1,71 @@
+/* FastCRC library code is placed under the MIT license
+ * Copyright (c) 2014,2015,2016 Frank Bösing
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+
+// CPU-specific implementations of helper functions
+
+#if !defined(KINETISK)
+#if !defined(FastCRC_cpu)
+#define FastCRC_cpu
+
+//Reverse byte order (16 bit)
+#if defined(__thumb__)  
+static inline __attribute__((always_inline)) 
+uint32_t REV16( uint32_t value) //ARM-THUMB
+{
+	asm ("rev16 %0, %1" : "=r" (value) : "r" (value) );
+	return(value);
+}
+#else
+static inline __attribute__((always_inline)) 
+uint32_t REV16( uint32_t value) //generic
+{
+	return (value >> 8) | ((value & 0xff) << 8);
+}
+#endif
+
+
+
+
+
+//Reverse byte order (32 bit)
+#if defined(__thumb__) 
+static inline  __attribute__((always_inline))
+uint32_t REV32( uint32_t value) //ARM-THUMB
+{
+	asm ("rev %0, %1" : "=r" (value) : "r" (value) );
+	return(value);
+}
+#else
+static inline  __attribute__((always_inline))
+uint32_t REV32( uint32_t value) //generic
+{
+	value = (value >> 16) | ((value & 0xffff) << 16);
+	return ((value >> 8) & 0xff00ff) | ((value & 0xff00ff) << 8);
+}
+#endif
+
+
+#endif
+#endif