From dcd2dd87ce8034a46e4150a89dc69f6ba1a22d8d Mon Sep 17 00:00:00 2001
From: Edvin <edj7467@gmail.com>
Date: Thu, 10 Apr 2025 11:35:25 +0200
Subject: Implemented code for Slamtec rplidar C1

---
 LIDAR/sdk/src/sl_crc.cpp | 102 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 102 insertions(+)
 create mode 100644 LIDAR/sdk/src/sl_crc.cpp

(limited to 'LIDAR/sdk/src/sl_crc.cpp')

diff --git a/LIDAR/sdk/src/sl_crc.cpp b/LIDAR/sdk/src/sl_crc.cpp
new file mode 100644
index 0000000..49d7844
--- /dev/null
+++ b/LIDAR/sdk/src/sl_crc.cpp
@@ -0,0 +1,102 @@
+/*
+ * Slamtec LIDAR SDK
+ *
+ *  Copyright (c) 2014 - 2020 Shanghai Slamtec Co., Ltd.
+ *  http://www.slamtec.com
+ *
+ */
+ /*
+  * 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.
+  *
+  */
+
+#include "sl_crc.h"  
+
+namespace sl {namespace crc32 {
+    
+    static sl_u32 table[256];//crc32_table
+    sl_u32 bitrev(sl_u32 input, sl_u16 bw)
+    {
+        sl_u16 i;
+        sl_u32 var;
+        var = 0;
+        for (i = 0; i < bw; i++) {
+            if (input & 0x01) {
+                var |= 1 << (bw - 1 - i);
+            }
+            input >>= 1;
+        }
+        return var;
+    }
+
+    void init(sl_u32 poly)
+    {
+        sl_u16 i;
+        sl_u16 j;
+        sl_u32 c;
+
+        poly = bitrev(poly, 32);
+        for (i = 0; i < 256; i++) {
+            c = i;
+            for (j = 0; j < 8; j++) {
+                if (c & 1)
+                    c = poly ^ (c >> 1);
+                else
+                    c = c >> 1;
+            }
+            table[i] = c;
+        }
+    }
+
+    sl_u32 cal(sl_u32 crc, void* input, sl_u16 len)
+    {
+        sl_u16 i;
+        sl_u8 index;
+        sl_u8* pch;
+        pch = (unsigned char*)input;
+        sl_u8 leftBytes = 4 - (len & 0x3);
+
+        for (i = 0; i < len; i++) {
+            index = (unsigned char)(crc^*pch);
+            crc = (crc >> 8) ^ table[index];
+            pch++;
+        }
+
+        for (i = 0; i < leftBytes; i++) {//zero padding
+            index = (unsigned char)(crc ^ 0);
+            crc = (crc >> 8) ^ table[index];
+        }
+        return crc ^ 0xffffffff;
+    }
+
+    sl_result getResult(sl_u8 *ptr, sl_u32 len) 
+    {
+        static sl_u8 tmp;
+        if (tmp != 1) {
+            init(0x4C11DB7);
+            tmp = 1;
+        }
+
+        return cal(0xFFFFFFFF, ptr, len);
+    }
+}}
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