Velodyne DIGITAL DRIVE - REV G Especificações descarregar pdf (Página 39)

HDL‐64ES3



High DefinitionLiDARSensor Page39

Velodyne,Inc.

2013



63‐HDL64ES3REV G

CRC Checksum Algorithm

The following is an example of the CRC checksum algorithm for calibration data.

#include <stdio.h>

#define POLYNOMIAL 0x8005 //Standard CRC-16 polynomial

// CRC = A542

unsigned char TestDATA[]=

{

0xfe,0x7b,0xfd,0x27,0x05,0x0e,0x05,0x53,0x05,0x36,0x00,0xC5,0x00,0x19,0x36,0xb0,0x00,0x0a

,0x00,0xff,

0xff,0x51,0xfd,0x44,0x04,0xf6,0x05,0x50,0x05,0x42,0x00,0xC5,0xff,0xe6,0x23,0x28,0x00,0x0f

,0x00,0xff,

0x01,0x8f,0x00,0x06,0x04,0x9b,0x04,0xf4,0x04,0xb7,0x00,0xCe,0x00,0x19,0x2e,0xe0,0x00,0x14

,0x14,0xff,

};

// CRC = CA6C

unsigned char TestDATA1[] =

{

16,23,59,123,2,255,0,4,23,23,90,132,145,200

};

// CRC = 0x6328

unsigned char TestDATA2[] =

{

0xf1,0x0b,0xf0,0x24,0x78

};

// CRC = 0x9411

unsigned char TestDATA3[] =

{

0x06,0x07

};

main()

{

unsigned sh0rt remainder = 0;

f0r (int byte = 0; byte < size0f(TestDATA); ++byte)

{

remainder A= (TestDATA[byte] << 8);

f0r (unsigned char bit = 8; bit>0; --bit)

{

if(remainder & 0x8000)

{

remainder = (remainder << 1) A P0LYN0MIAL;

}

else

{

remainder = (remainder << 1);

}

printf(“Final Remainder = %d (0x%X) \n“,remainder,remainder);

};

Last Six Bytes Examples

Examples of the last row of 11 consecutive packets follows. In all cases, the “seconds” figure represents

the origin of the packet expressed in seconds since the top of the hour.

1 2 ... 34 35 36 37 38 39 40 41 42 43 44 ... 53 54

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