1 /*
2 * Copyright (C) 2024 BayLibre.
3 * Copyright (c) 2020 Brandon Owen.
4 * Copyright (c) 2025 Croxel Inc.
5 * Copyright (c) 2025 CogniPilot Foundation.
6 *
7 * SPDX-License-Identifier: Apache-2.0
8 */
9
10 #include <zephyr/sys/crc.h>
11
12 #define CRC24_PGP_POLY 0x01864cfbU
13
crc24_pgp(const uint8_t * data,size_t len)14 uint32_t crc24_pgp(const uint8_t *data, size_t len)
15 {
16 return crc24_pgp_update(CRC24_PGP_INITIAL_VALUE, data, len) & CRC24_FINAL_VALUE_MASK;
17 }
18
19 /* CRC-24 implementation from the section 6.1 of the RFC 4880 */
crc24_pgp_update(uint32_t crc,const uint8_t * data,size_t len)20 uint32_t crc24_pgp_update(uint32_t crc, const uint8_t *data, size_t len)
21 {
22 int i;
23
24 while (len--) {
25 crc ^= (*data++) << 16;
26 for (i = 0; i < 8; i++) {
27 crc <<= 1;
28 if (crc & 0x01000000) {
29 crc ^= CRC24_PGP_POLY;
30 }
31 }
32 }
33
34 return crc;
35 }
36
37 /** This code is originally extracted from github.com/go-gnss/rtcm,
38 * licensed as Apache-2.0.
39 */
40
41 static const uint32_t crc24q[] = {
42 0x000000, 0x864cfb, 0x8ad50d, 0x0c99f6, 0x93e6e1, 0x15aa1a, 0x1933ec, 0x9f7f17,
43 0xa18139, 0x27cdc2, 0x2b5434, 0xad18cf, 0x3267d8, 0xb42b23, 0xb8b2d5, 0x3efe2e,
44 0xc54e89, 0x430272, 0x4f9b84, 0xc9d77f, 0x56a868, 0xd0e493, 0xdc7d65, 0x5a319e,
45 0x64cfb0, 0xe2834b, 0xee1abd, 0x685646, 0xf72951, 0x7165aa, 0x7dfc5c, 0xfbb0a7,
46 0x0cd1e9, 0x8a9d12, 0x8604e4, 0x00481f, 0x9f3708, 0x197bf3, 0x15e205, 0x93aefe,
47 0xad50d0, 0x2b1c2b, 0x2785dd, 0xa1c926, 0x3eb631, 0xb8faca, 0xb4633c, 0x322fc7,
48 0xc99f60, 0x4fd39b, 0x434a6d, 0xc50696, 0x5a7981, 0xdc357a, 0xd0ac8c, 0x56e077,
49 0x681e59, 0xee52a2, 0xe2cb54, 0x6487af, 0xfbf8b8, 0x7db443, 0x712db5, 0xf7614e,
50 0x19a3d2, 0x9fef29, 0x9376df, 0x153a24, 0x8a4533, 0x0c09c8, 0x00903e, 0x86dcc5,
51 0xb822eb, 0x3e6e10, 0x32f7e6, 0xb4bb1d, 0x2bc40a, 0xad88f1, 0xa11107, 0x275dfc,
52 0xdced5b, 0x5aa1a0, 0x563856, 0xd074ad, 0x4f0bba, 0xc94741, 0xc5deb7, 0x43924c,
53 0x7d6c62, 0xfb2099, 0xf7b96f, 0x71f594, 0xee8a83, 0x68c678, 0x645f8e, 0xe21375,
54 0x15723b, 0x933ec0, 0x9fa736, 0x19ebcd, 0x8694da, 0x00d821, 0x0c41d7, 0x8a0d2c,
55 0xb4f302, 0x32bff9, 0x3e260f, 0xb86af4, 0x2715e3, 0xa15918, 0xadc0ee, 0x2b8c15,
56 0xd03cb2, 0x567049, 0x5ae9bf, 0xdca544, 0x43da53, 0xc596a8, 0xc90f5e, 0x4f43a5,
57 0x71bd8b, 0xf7f170, 0xfb6886, 0x7d247d, 0xe25b6a, 0x641791, 0x688e67, 0xeec29c,
58 0x3347a4, 0xb50b5f, 0xb992a9, 0x3fde52, 0xa0a145, 0x26edbe, 0x2a7448, 0xac38b3,
59 0x92c69d, 0x148a66, 0x181390, 0x9e5f6b, 0x01207c, 0x876c87, 0x8bf571, 0x0db98a,
60 0xf6092d, 0x7045d6, 0x7cdc20, 0xfa90db, 0x65efcc, 0xe3a337, 0xef3ac1, 0x69763a,
61 0x578814, 0xd1c4ef, 0xdd5d19, 0x5b11e2, 0xc46ef5, 0x42220e, 0x4ebbf8, 0xc8f703,
62 0x3f964d, 0xb9dab6, 0xb54340, 0x330fbb, 0xac70ac, 0x2a3c57, 0x26a5a1, 0xa0e95a,
63 0x9e1774, 0x185b8f, 0x14c279, 0x928e82, 0x0df195, 0x8bbd6e, 0x872498, 0x016863,
64 0xfad8c4, 0x7c943f, 0x700dc9, 0xf64132, 0x693e25, 0xef72de, 0xe3eb28, 0x65a7d3,
65 0x5b59fd, 0xdd1506, 0xd18cf0, 0x57c00b, 0xc8bf1c, 0x4ef3e7, 0x426a11, 0xc426ea,
66 0x2ae476, 0xaca88d, 0xa0317b, 0x267d80, 0xb90297, 0x3f4e6c, 0x33d79a, 0xb59b61,
67 0x8b654f, 0x0d29b4, 0x01b042, 0x87fcb9, 0x1883ae, 0x9ecf55, 0x9256a3, 0x141a58,
68 0xefaaff, 0x69e604, 0x657ff2, 0xe33309, 0x7c4c1e, 0xfa00e5, 0xf69913, 0x70d5e8,
69 0x4e2bc6, 0xc8673d, 0xc4fecb, 0x42b230, 0xddcd27, 0x5b81dc, 0x57182a, 0xd154d1,
70 0x26359f, 0xa07964, 0xace092, 0x2aac69, 0xb5d37e, 0x339f85, 0x3f0673, 0xb94a88,
71 0x87b4a6, 0x01f85d, 0x0d61ab, 0x8b2d50, 0x145247, 0x921ebc, 0x9e874a, 0x18cbb1,
72 0xe37b16, 0x6537ed, 0x69ae1b, 0xefe2e0, 0x709df7, 0xf6d10c, 0xfa48fa, 0x7c0401,
73 0x42fa2f, 0xc4b6d4, 0xc82f22, 0x4e63d9, 0xd11cce, 0x575035, 0x5bc9c3, 0xdd8538
74 };
75
76 /**
77 * @brief Calculate RTCM3 frame checksum
78 *
79 * @param[in] data RTCM3 Frame
80 * @param[in] size Frame length in bytes.
81 *
82 * @retval 0 if the data-frame contains a checksum and it matches.
83 * @retval Result if data-frame does not contain checksum.
84 */
crc24q_rtcm3(const uint8_t * data,size_t len)85 uint32_t crc24q_rtcm3(const uint8_t *data, size_t len)
86 {
87 uint32_t crc = 0;
88
89 for (uint32_t i = 0; i < len; ++i) {
90 crc = ((crc << 8) & 0xFFFFFF) ^ crc24q[data[i] ^ (crc >> 16)];
91 }
92
93 return crc;
94 }
95