blob: f6e3ccebddf012d8449fa200d3f26934be99bd38 (
plain) (
blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
|
@(__context: Context)@_header(__context)
package org.mavlink
/**
* X.25 CRC calculation for MAVlink messages. The checksum must be initialized,
* updated with each field of a message, and then finished with the message
* id.
*/
case class Crc(val crc: Int = 0xffff) extends AnyVal {
/**
* Accumulates data into a new checksum.
*/
def accumulate(datum: Byte): Crc = {
val d = datum & 0xff
var tmp = d ^ (crc & 0xff)
tmp ^= (tmp << 4) & 0xff;
Crc(
((crc >> 8) & 0xff) ^ (tmp << 8) ^ (tmp << 3) ^ ((tmp >> 4) & 0xff))
}
/** Least significant byte of checksum. */
def lsb: Byte = crc.toByte
/** Most significant byte of checksum. */
def msb: Byte = (crc >> 8).toByte
}
|
