Implemented code for Slamtec rplidar C1

1 files changed, 43 insertions, 0 deletions

diff --git a/LIDAR/sdk/include/sl_crc.h b/LIDAR/sdk/include/sl_crc.h
new file mode 100644
index 0000000..184a8df
--- /dev/null
+++ b/LIDAR/sdk/include/sl_crc.h
@@ -0,0 +1,43 @@
+/*
+* Slamtec LIDAR SDK
+*
+* sl_crc.h
+*
+* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
+*/
+
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#pragma once
+
+#include "sl_lidar_cmd.h"
+
+namespace sl {namespace crc32 {
+    sl_u32 bitrev(sl_u32 input, sl_u16 bw);//reflect
+    void init(sl_u32 poly); // table init
+    sl_u32 cal(sl_u32 crc, void* input, sl_u16 len);
+    sl_result getResult(sl_u8 *ptr, sl_u32 len);
+}}