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support Mid-360 debug point cloud
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Livox-Infra committed Sep 5, 2023
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378 changes: 189 additions & 189 deletions 3rdparty/FastCRC/FastCRC.h
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/* FastCRC library code is placed under the MIT license
* Copyright (c) 2014 - 2021 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

#if defined(ARDUINO)
#include <Arduino.h>
#endif

#include <inttypes.h>
#include <cstddef>


// ================= 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 size_t datalen); // (MultiMediaCard interface)
uint8_t crc7_upd(const uint8_t *data, const size_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 size_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 size_t datalen);
#endif
};

// ================= 8-BIT CRC ===================

class FastCRC8
{
public:
FastCRC8();
uint8_t smbus(const uint8_t *data, const size_t datalen); // Alias CRC-8
uint8_t maxim(const uint8_t *data, const size_t datalen); // Equivalent to _crc_ibutton_update() in crc16.h from avr_libc

uint8_t smbus_upd(const uint8_t *data, size_t datalen); // Call for subsequent calculations with previous seed.
uint8_t maxim_upd(const uint8_t *data, size_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 size_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 size_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 size_t datalen);
uint16_t gsm(const uint8_t *data, const size_t datalen);
uint16_t eloran(const uint8_t *data, const size_t datalen);
uint16_t ft4(const uint8_t *data, const size_t datalen);

uint16_t darc_upd(const uint8_t *data, size_t len);
uint16_t gsm_upd(const uint8_t *data, size_t len);
uint16_t eloran_upd(const uint8_t *data, size_t len);
uint16_t ft4_upd(const uint8_t *data, size_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 size_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 size_t datalen);
#endif
};

// ================= 16-BIT CRC ===================

class FastCRC16
{
public:
FastCRC16();
uint16_t ccitt(const uint8_t *data, const size_t datalen); // Alias "false CCITT"
uint16_t mcrf4xx(const uint8_t *data,const size_t datalen); // Equivalent to _crc_ccitt_update() in crc16.h from avr_libc
uint16_t kermit(const uint8_t *data, const size_t datalen); // Alias CRC-16/CCITT, CRC-16/CCITT-TRUE, CRC-CCITT
uint16_t modbus(const uint8_t *data, const size_t datalen); // Equivalent to _crc_16_update() in crc16.h from avr_libc
uint16_t xmodem(const uint8_t *data, const size_t datalen); // Alias ZMODEM, CRC-16/ACORN
uint16_t x25(const uint8_t *data, const size_t datalen); // Alias CRC-16/IBM-SDLC, CRC-16/ISO-HDLC, CRC-B

uint16_t ccitt_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint16_t mcrf4xx_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint16_t kermit_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint16_t modbus_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint16_t xmodem_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint16_t x25_upd(const uint8_t *data, size_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 size_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 size_t datalen);
#endif
};

// ================= 32-BIT CRC ===================

class FastCRC32
{
public:
FastCRC32();
uint32_t crc32(const uint8_t *data, const size_t datalen); // Alias CRC-32/ADCCP, PKZIP, Ethernet, 802.3
uint32_t cksum(const uint8_t *data, const size_t datalen); // Alias CRC-32/POSIX

uint32_t crc32_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint32_t cksum_upd(const uint8_t *data, size_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 size_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 size_t datalen);
#endif
};

/* FastCRC library code is placed under the MIT license
* Copyright (c) 2014 - 2021 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

#if defined(ARDUINO)
#include <Arduino.h>
#endif

#include <inttypes.h>
#include <cstddef>


// ================= 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 size_t datalen); // (MultiMediaCard interface)
uint8_t crc7_upd(const uint8_t *data, const size_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 size_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 size_t datalen);
#endif
};

// ================= 8-BIT CRC ===================

class FastCRC8
{
public:
FastCRC8();
uint8_t smbus(const uint8_t *data, const size_t datalen); // Alias CRC-8
uint8_t maxim(const uint8_t *data, const size_t datalen); // Equivalent to _crc_ibutton_update() in crc16.h from avr_libc

uint8_t smbus_upd(const uint8_t *data, size_t datalen); // Call for subsequent calculations with previous seed.
uint8_t maxim_upd(const uint8_t *data, size_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 size_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 size_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 size_t datalen);
uint16_t gsm(const uint8_t *data, const size_t datalen);
uint16_t eloran(const uint8_t *data, const size_t datalen);
uint16_t ft4(const uint8_t *data, const size_t datalen);

uint16_t darc_upd(const uint8_t *data, size_t len);
uint16_t gsm_upd(const uint8_t *data, size_t len);
uint16_t eloran_upd(const uint8_t *data, size_t len);
uint16_t ft4_upd(const uint8_t *data, size_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 size_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 size_t datalen);
#endif
};

// ================= 16-BIT CRC ===================

class FastCRC16
{
public:
FastCRC16();
uint16_t ccitt(const uint8_t *data, const size_t datalen); // Alias "false CCITT"
uint16_t mcrf4xx(const uint8_t *data,const size_t datalen); // Equivalent to _crc_ccitt_update() in crc16.h from avr_libc
uint16_t kermit(const uint8_t *data, const size_t datalen); // Alias CRC-16/CCITT, CRC-16/CCITT-TRUE, CRC-CCITT
uint16_t modbus(const uint8_t *data, const size_t datalen); // Equivalent to _crc_16_update() in crc16.h from avr_libc
uint16_t xmodem(const uint8_t *data, const size_t datalen); // Alias ZMODEM, CRC-16/ACORN
uint16_t x25(const uint8_t *data, const size_t datalen); // Alias CRC-16/IBM-SDLC, CRC-16/ISO-HDLC, CRC-B

uint16_t ccitt_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint16_t mcrf4xx_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint16_t kermit_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint16_t modbus_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint16_t xmodem_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint16_t x25_upd(const uint8_t *data, size_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 size_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 size_t datalen);
#endif
};

// ================= 32-BIT CRC ===================

class FastCRC32
{
public:
FastCRC32();
uint32_t crc32(const uint8_t *data, const size_t datalen); // Alias CRC-32/ADCCP, PKZIP, Ethernet, 802.3
uint32_t cksum(const uint8_t *data, const size_t datalen); // Alias CRC-32/POSIX

uint32_t crc32_upd(const uint8_t *data, size_t len); // Call for subsequent calculations with previous seed
uint32_t cksum_upd(const uint8_t *data, size_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 size_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 size_t datalen);
#endif
};

#endif
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