AP_Proximity_LD06: use crc8_generic method

ArduPilot · Apr 27, 2022 · 440349e · 440349e
1 parent 32eeb37
commit 440349e
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Showing 2 changed files with 11 additions and 11 deletions.
diff --git a/libraries/AP_Proximity/AP_Proximity_LD06.cpp b/libraries/AP_Proximity/AP_Proximity_LD06.cpp
@@ -141,7 +141,7 @@ void AP_Proximity_LD06::parse_response_data()
     // Verify the checksum that is stored in the last element of the response array
     // Return if checksum is incorrect - i.e. bad data, bad readings, etc.
     const uint8_t check_sum = _response[START_CHECK_SUM];
-    if (check_sum != calc_checksum(&_response[0], sizeof(_response) / sizeof(_response[0]) - 1)) {
+    if (check_sum != crc8_generic(&_response[0], sizeof(_response) / sizeof(_response[0]) - 1, 0x4D)) {
         return;
     }
 
@@ -190,14 +190,14 @@ void AP_Proximity_LD06::parse_response_data()
     }
 }
 
-uint8_t AP_Proximity_LD06::calc_checksum(uint8_t *p, uint8_t len) 
-{
-    uint8_t crc = 0;    
-    for (uint16_t i = 0; i < len; i++) {
-        crc = CrcTable[(crc ^ *p++) & 0xff];
-    }
+// uint8_t AP_Proximity_LD06::calc_checksum(uint8_t *p, uint8_t len) 
+// {
+//     uint8_t crc = 0;    
+//     for (uint16_t i = 0; i < len; i++) {
+//         crc = CrcTable[(crc ^ *p++) & 0xff];
+//     }
 
-    return crc;
-}
+//     return crc;
+// }
 
 #endif // HAL_PROXIMITY_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_LD06.h b/libraries/AP_Proximity/AP_Proximity_LD06.h
@@ -70,7 +70,7 @@ class AP_Proximity_LD06 : public AP_Proximity_Backend_Serial
     // Get and parse the sensor data
     void parse_response_data();
     void get_readings();
-    uint8_t calc_checksum(uint8_t *p, uint8_t len);
+    // uint8_t calc_checksum(uint8_t *p, uint8_t len);
 
     /* ------------------------------------------
     Data Packet Structure:
@@ -102,7 +102,7 @@ class AP_Proximity_LD06 : public AP_Proximity_Backend_Serial
 
 
     // Check-Sum Look-Up Table
-    const uint8_t CrcTable[256]={0x00,0x4d,0x9a,0xd7,0x79,0x34,0xe3,0xae,0xf2,0xbf,0x68,0x25,0x8b,0xc6,0x11,0x5c,0xa9,0xe4,0x33,0x7e,0xd0,0x9d,0x4a,0x07,0x5b,0x16,0xc1,0x8c,0x22,0x6f,0xb8,0xf5,0x1f,0x52,0x85,0xc8,0x66,0x2b,0xfc,0xb1,0xed,0xa0,0x77,0x3a,0x94,0xd9,0x0e,0x43,0xb6,0xfb,0x2c,0x61,0xcf,0x82,0x55,0x18,0x44,0x09,0xde,0x93,0x3d,0x70,0xa7,0xea,0x3e,0x73,0xa4,0xe9,0x47,0x0a,0xdd,0x90,0xcc,0x81,0x56,0x1b,0xb5,0xf8,0x2f,0x62,0x97,0xda,0x0d,0x40,0xee,0xa3,0x74,0x39,0x65,0x28,0xff,0xb2,0x1c,0x51,0x86,0xcb,0x21,0x6c,0xbb,0xf6,0x58,0x15,0xc2,0x8f,0xd3,0x9e,0x49,0x04,0xaa,0xe7,0x30,0x7d,0x88,0xc5,0x12,0x5f,0xf1,0xbc,0x6b,0x26,0x7a,0x37,0xe0,0xad,0x03,0x4e,0x99,0xd4,0x7c,0x31,0xe6,0xab,0x05,0x48,0x9f,0xd2,0x8e,0xc3,0x14,0x59,0xf7,0xba,0x6d,0x20,0xd5,0x98,0x4f,0x02,0xac,0xe1,0x36,0x7b,0x27,0x6a,0xbd,0xf0,0x5e,0x13,0xc4,0x89,0x63,0x2e,0xf9,0xb4,0x1a,0x57,0x80,0xcd,0x91,0xdc,0x0b,0x46,0xe8,0xa5,0x72,0x3f,0xca,0x87,0x50,0x1d,0xb3,0xfe,0x29,0x64,0x38,0x75,0xa2,0xef,0x41,0x0c,0xdb,0x96,0x42,0x0f,0xd8,0x95,0x3b,0x76,0xa1,0xec,0xb0,0xfd,0x2a,0x67,0xc9,0x84,0x53,0x1e,0xeb,0xa6,0x71,0x3c,0x92,0xdf,0x08,0x45,0x19,0x54,0x83,0xce,0x60,0x2d,0xfa,0xb7,0x5d,0x10,0xc7,0x8a,0x24,0x69,0xbe,0xf3,0xaf,0xe2,0x35,0x78,0xd6,0x9b,0x4c,0x01,0xf4,0xb9,0x6e,0x23,0x8d,0xc0,0x17,0x5a,0x06,0x4b,0x9c,0xd1,0x7f,0x32,0xe5,0xa8};
+    // const uint8_t CrcTable[256]={0x00,0x4d,0x9a,0xd7,0x79,0x34,0xe3,0xae,0xf2,0xbf,0x68,0x25,0x8b,0xc6,0x11,0x5c,0xa9,0xe4,0x33,0x7e,0xd0,0x9d,0x4a,0x07,0x5b,0x16,0xc1,0x8c,0x22,0x6f,0xb8,0xf5,0x1f,0x52,0x85,0xc8,0x66,0x2b,0xfc,0xb1,0xed,0xa0,0x77,0x3a,0x94,0xd9,0x0e,0x43,0xb6,0xfb,0x2c,0x61,0xcf,0x82,0x55,0x18,0x44,0x09,0xde,0x93,0x3d,0x70,0xa7,0xea,0x3e,0x73,0xa4,0xe9,0x47,0x0a,0xdd,0x90,0xcc,0x81,0x56,0x1b,0xb5,0xf8,0x2f,0x62,0x97,0xda,0x0d,0x40,0xee,0xa3,0x74,0x39,0x65,0x28,0xff,0xb2,0x1c,0x51,0x86,0xcb,0x21,0x6c,0xbb,0xf6,0x58,0x15,0xc2,0x8f,0xd3,0x9e,0x49,0x04,0xaa,0xe7,0x30,0x7d,0x88,0xc5,0x12,0x5f,0xf1,0xbc,0x6b,0x26,0x7a,0x37,0xe0,0xad,0x03,0x4e,0x99,0xd4,0x7c,0x31,0xe6,0xab,0x05,0x48,0x9f,0xd2,0x8e,0xc3,0x14,0x59,0xf7,0xba,0x6d,0x20,0xd5,0x98,0x4f,0x02,0xac,0xe1,0x36,0x7b,0x27,0x6a,0xbd,0xf0,0x5e,0x13,0xc4,0x89,0x63,0x2e,0xf9,0xb4,0x1a,0x57,0x80,0xcd,0x91,0xdc,0x0b,0x46,0xe8,0xa5,0x72,0x3f,0xca,0x87,0x50,0x1d,0xb3,0xfe,0x29,0x64,0x38,0x75,0xa2,0xef,0x41,0x0c,0xdb,0x96,0x42,0x0f,0xd8,0x95,0x3b,0x76,0xa1,0xec,0xb0,0xfd,0x2a,0x67,0xc9,0x84,0x53,0x1e,0xeb,0xa6,0x71,0x3c,0x92,0xdf,0x08,0x45,0x19,0x54,0x83,0xce,0x60,0x2d,0xfa,0xb7,0x5d,0x10,0xc7,0x8a,0x24,0x69,0xbe,0xf3,0xaf,0xe2,0x35,0x78,0xd6,0x9b,0x4c,0x01,0xf4,0xb9,0x6e,0x23,0x8d,0xc0,0x17,0x5a,0x06,0x4b,0x9c,0xd1,0x7f,0x32,0xe5,0xa8};
 };
 
 #endif // HAL_PROXIMITY_ENABLED && AP_PROXIMITY_LD06_ENABLED