229 lines
7.9 KiB
C++
229 lines
7.9 KiB
C++
#include "common.h"
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unsigned int honda_checksum(unsigned int address, uint64_t d, int l) {
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d >>= ((8-l)*8); // remove padding
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d >>= 4; // remove checksum
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int s = 0;
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while (address) { s += (address & 0xF); address >>= 4; }
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while (d) { s += (d & 0xF); d >>= 4; }
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s = 8-s;
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s &= 0xF;
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return s;
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}
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unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) {
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d >>= ((8-l)*8); // remove padding
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d >>= 8; // remove checksum
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unsigned int s = l;
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while (address) { s += address & 0xFF; address >>= 8; }
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while (d) { s += d & 0xFF; d >>= 8; }
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return s & 0xFF;
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}
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unsigned int subaru_checksum(unsigned int address, uint64_t d, int l) {
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d >>= ((8-l)*8); // remove padding
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unsigned int s = 0;
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while (address) { s += address & 0xFF; address >>= 8; }
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l -= 1; // checksum is first byte
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while (l) { s += d & 0xFF; d >>= 8; l -= 1; }
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return s & 0xFF;
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}
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unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l) {
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/* This function does not want the checksum byte in the input data.
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jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
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uint8_t checksum = 0xFF;
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for (int j = 0; j < (l - 1); j++) {
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uint8_t shift = 0x80;
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uint8_t curr = (d >> 8*j) & 0xFF;
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for (int i=0; i<8; i++) {
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uint8_t bit_sum = curr & shift;
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uint8_t temp_chk = checksum & 0x80U;
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if (bit_sum != 0U) {
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bit_sum = 0x1C;
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if (temp_chk != 0U) {
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bit_sum = 1;
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}
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checksum = checksum << 1;
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temp_chk = checksum | 1U;
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bit_sum ^= temp_chk;
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} else {
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if (temp_chk != 0U) {
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bit_sum = 0x1D;
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}
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checksum = checksum << 1;
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bit_sum ^= checksum;
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}
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checksum = bit_sum;
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shift = shift >> 1;
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}
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}
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return ~checksum & 0xFF;
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}
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// Static lookup table for fast computation of CRC8 poly 0x2F, aka 8H2F/AUTOSAR
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uint8_t crc8_lut_8h2f[256];
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uint8_t crc8_lut_1d[256];
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void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
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uint8_t crc;
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int i, j;
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for (i = 0; i < 256; i++) {
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crc = i;
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for (j = 0; j < 8; j++) {
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if ((crc & 0x80) != 0)
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crc = (uint8_t)((crc << 1) ^ poly);
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else
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crc <<= 1;
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}
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crc_lut[i] = crc;
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}
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}
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void init_crc_lookup_tables() {
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// At init time, set up static lookup tables for fast CRC computation.
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gen_crc_lookup_table(0x2F, crc8_lut_8h2f); // CRC-8 8H2F/AUTOSAR for Volkswagen
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gen_crc_lookup_table(0x1D, crc8_lut_1d); // CRC-8 SAE-j18650 for Retropilot
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}
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unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
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// Volkswagen uses standard CRC8 8H2F/AUTOSAR, but they compute it with
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// a magic variable padding byte tacked onto the end of the payload.
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// https://www.autosar.org/fileadmin/user_upload/standards/classic/4-3/AUTOSAR_SWS_CRCLibrary.pdf
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uint8_t crc = 0xFF; // Standard init value for CRC8 8H2F/AUTOSAR
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// CRC the payload first, skipping over the first byte where the CRC lives.
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for (int i = 1; i < l; i++) {
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crc ^= (d >> (i*8)) & 0xFF;
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crc = crc8_lut_8h2f[crc];
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}
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// Look up and apply the magic final CRC padding byte, which permutes by CAN
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// address, and additionally (for SOME addresses) by the message counter.
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uint8_t counter = ((d >> 8) & 0xFF) & 0x0F;
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switch(address) {
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case 0x86: // LWI_01 Steering Angle
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crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
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break;
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case 0x9F: // EPS_01 Electric Power Steering
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crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
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break;
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case 0xAD: // Getriebe_11 Automatic Gearbox
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crc ^= (uint8_t[]){0x3F,0x69,0x39,0xDC,0x94,0xF9,0x14,0x64,0xD8,0x6A,0x34,0xCE,0xA2,0x55,0xB5,0x2C}[counter];
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break;
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case 0xFD: // ESP_21 Electronic Stability Program
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crc ^= (uint8_t[]){0xB4,0xEF,0xF8,0x49,0x1E,0xE5,0xC2,0xC0,0x97,0x19,0x3C,0xC9,0xF1,0x98,0xD6,0x61}[counter];
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break;
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case 0x106: // ESP_05 Electronic Stability Program
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crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
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break;
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case 0x117: // ACC_10 Automatic Cruise Control
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crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
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break;
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case 0x120: // TSK_06 Drivetrain Coordinator
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crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
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break;
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case 0x121: // Motor_20 Driver Throttle Inputs
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crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
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break;
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case 0x122: // ACC_06 Automatic Cruise Control
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crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
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break;
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case 0x126: // HCA_01 Heading Control Assist
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crc ^= (uint8_t[]){0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA}[counter];
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break;
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case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC
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crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
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break;
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case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox
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crc ^= (uint8_t[]){0x7F,0xED,0x17,0xC2,0x7C,0xEB,0x44,0x21,0x01,0xFA,0xDB,0x15,0x4A,0x6B,0x23,0x05}[counter];
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break;
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case 0x30C: // ACC_02 Automatic Cruise Control
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crc ^= (uint8_t[]){0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}[counter];
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break;
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case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
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crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
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break;
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case 0x3C0: // Klemmen_Status_01 ignition and starting status
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crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
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break;
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case 0x65D: // ESP_20 Electronic Stability Program
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crc ^= (uint8_t[]){0xAC,0xB3,0xAB,0xEB,0x7A,0xE1,0x3B,0xF7,0x73,0xBA,0x7C,0x9E,0x06,0x5F,0x02,0xD9}[counter];
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break;
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default: // As-yet undefined CAN message, CRC check expected to fail
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printf("Attempt to CRC check undefined Volkswagen message 0x%02X\n", address);
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crc ^= (uint8_t[]){0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}[counter];
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break;
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}
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crc = crc8_lut_8h2f[crc];
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return crc ^ 0xFF; // Return after standard final XOR for CRC8 8H2F/AUTOSAR
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}
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unsigned int pedal_checksum(uint64_t d, int l) {
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uint8_t crc = 0xFF;
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uint8_t poly = 0xD5; // standard crc8
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d >>= ((8-l)*8); // remove padding
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d >>= 8; // remove checksum
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int i, j;
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for (i = 0; i < l - 1; i++) {
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crc ^= (d >> (i*8)) & 0xFF;
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for (j = 0; j < 8; j++) {
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if ((crc & 0x80) != 0) {
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crc = (uint8_t)((crc << 1) ^ poly);
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}
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else {
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crc <<= 1;
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}
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}
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}
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return crc;
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}
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unsigned int ocelot_checksum(uint64_t d, int l) {
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uint8_t crc = 0xFF; // Standard init value for CRC8
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// CRC the payload, skipping over the first byte where the CRC lives.
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for (int i = 1; i < l; i++) {
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crc ^= (d >> (i*8)) & 0xFF;
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crc = crc8_lut_1d[crc] ^ crc << 8 ;
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}
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crc = crc ^ 0xFF; //final xor
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return crc;
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}
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uint64_t read_u64_be(const uint8_t* v) {
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return (((uint64_t)v[0] << 56)
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| ((uint64_t)v[1] << 48)
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| ((uint64_t)v[2] << 40)
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| ((uint64_t)v[3] << 32)
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| ((uint64_t)v[4] << 24)
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| ((uint64_t)v[5] << 16)
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| ((uint64_t)v[6] << 8)
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| (uint64_t)v[7]);
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}
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uint64_t read_u64_le(const uint8_t* v) {
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return ((uint64_t)v[0]
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| ((uint64_t)v[1] << 8)
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| ((uint64_t)v[2] << 16)
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| ((uint64_t)v[3] << 24)
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| ((uint64_t)v[4] << 32)
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| ((uint64_t)v[5] << 40)
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| ((uint64_t)v[6] << 48)
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| ((uint64_t)v[7] << 56));
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}
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