Java MAVLinkCRC.crc_accumulate Examples

Example #1

File: msg_attitude_control.java Project: pragmukko/pragmukko

 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 21];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeFloat(roll);
   dos.writeFloat(pitch);
   dos.writeFloat(yaw);
   dos.writeFloat(thrust);
   dos.writeByte(target & 0x00FF);
   dos.writeByte(roll_manual & 0x00FF);
   dos.writeByte(pitch_manual & 0x00FF);
   dos.writeByte(yaw_manual & 0x00FF);
   dos.writeByte(thrust_manual & 0x00FF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 21);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[27] = crcl;
   buffer[28] = crch;
   dos.close();
   return buffer;
 }

Example #2

File: msg_ap_adc.java Project: Lukse/arduleader

 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 12];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeShort(adc1 & 0x00FFFF);
   dos.writeShort(adc2 & 0x00FFFF);
   dos.writeShort(adc3 & 0x00FFFF);
   dos.writeShort(adc4 & 0x00FFFF);
   dos.writeShort(adc5 & 0x00FFFF);
   dos.writeShort(adc6 & 0x00FFFF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 12);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[18] = crcl;
   buffer[19] = crch;
   return buffer;
 }

Example #3

File: msg_param_request_list.java Project: ecmnet/MAVComm

 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[12 + 2];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFD);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(incompat & 0x00FF);
   dos.writeByte(compat & 0x00FF);
   dos.writeByte(packet & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeByte((messageType >> 8) & 0x00FF);
   dos.writeByte((messageType >> 16) & 0x00FF);
   dos.writeByte(target_system & 0x00FF);
   dos.writeByte(target_component & 0x00FF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 2);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[12] = crcl;
   buffer[13] = crch;
   dos.close();
   return buffer;
 }

Example #4

File: msg_point_of_interest.java Project: pragmukko/pragmukko

 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 43];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeFloat(x);
   dos.writeFloat(y);
   dos.writeFloat(z);
   dos.writeShort(timeout & 0x00FFFF);
   dos.writeByte(type & 0x00FF);
   dos.writeByte(color & 0x00FF);
   dos.writeByte(coordinate_system & 0x00FF);
   for (int i = 0; i < 26; i++) {
     dos.writeByte(name[i]);
   }
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 43);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[49] = crcl;
   buffer[50] = crch;
   dos.close();
   return buffer;
 }

Example #5

File: msg_set_gps_global_origin.java Project: pragmukko/pragmukko

 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 13];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeInt((int) (latitude & 0x00FFFFFFFF));
   dos.writeInt((int) (longitude & 0x00FFFFFFFF));
   dos.writeInt((int) (altitude & 0x00FFFFFFFF));
   dos.writeByte(target_system & 0x00FF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 13);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[19] = crcl;
   buffer[20] = crch;
   dos.close();
   return buffer;
 }

Example #6

File: msg_local_position_ned_system_global_offset.java Project: ecmnet/MAVComm

 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[12 + 28];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFD);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(incompat & 0x00FF);
   dos.writeByte(compat & 0x00FF);
   dos.writeByte(packet & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeByte((messageType >> 8) & 0x00FF);
   dos.writeByte((messageType >> 16) & 0x00FF);
   dos.writeInt((int) (time_boot_ms & 0x00FFFFFFFF));
   dos.writeFloat(x);
   dos.writeFloat(y);
   dos.writeFloat(z);
   dos.writeFloat(roll);
   dos.writeFloat(pitch);
   dos.writeFloat(yaw);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 28);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[38] = crcl;
   buffer[39] = crch;
   dos.close();
   return buffer;
 }

Example #7

File: msg_raw_pressure.java Project: pragmukko/pragmukko

 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 16];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeLong(time_usec);
   dos.writeShort(press_abs & 0x00FFFF);
   dos.writeShort(press_diff1 & 0x00FFFF);
   dos.writeShort(press_diff2 & 0x00FFFF);
   dos.writeShort(temperature & 0x00FFFF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 16);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[22] = crcl;
   buffer[23] = crch;
   dos.close();
   return buffer;
 }

Example #8

File: msg_nav_controller_output.java Project: kisimita/arduleader

 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 26];
   ByteBuffer dos = ByteBuffer.wrap(buffer).order(ByteOrder.LITTLE_ENDIAN);
   dos.put((byte) 0xFE);
   dos.put((byte) (length & 0x00FF));
   dos.put((byte) (sequence & 0x00FF));
   dos.put((byte) (sysId & 0x00FF));
   dos.put((byte) (componentId & 0x00FF));
   dos.put((byte) (messageType & 0x00FF));
   dos.putFloat(nav_roll);
   dos.putFloat(nav_pitch);
   dos.putFloat(alt_error);
   dos.putFloat(aspd_error);
   dos.putFloat(xtrack_error);
   dos.putShort((short) (nav_bearing & 0x00FFFF));
   dos.putShort((short) (target_bearing & 0x00FFFF));
   dos.putShort((short) (wp_dist & 0x00FFFF));
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 26);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[32] = crcl;
   buffer[33] = crch;
   return buffer;
 }

Example #9

File: msg_command_int.java Project: pragmukko/pragmukko

 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 35];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeFloat(param1);
   dos.writeFloat(param2);
   dos.writeFloat(param3);
   dos.writeFloat(param4);
   dos.writeInt((int) (x & 0x00FFFFFFFF));
   dos.writeInt((int) (y & 0x00FFFFFFFF));
   dos.writeFloat(z);
   dos.writeShort(command & 0x00FFFF);
   dos.writeByte(target_system & 0x00FF);
   dos.writeByte(target_component & 0x00FF);
   dos.writeByte(frame & 0x00FF);
   dos.writeByte(current & 0x00FF);
   dos.writeByte(autocontinue & 0x00FF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 35);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[41] = crcl;
   buffer[42] = crch;
   dos.close();
   return buffer;
 }

Example #10

File: msg_roll_pitch_yaw_rates_thrust_setpoint.java Project: kisimita/arduleader

 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 20];
   ByteBuffer dos = ByteBuffer.wrap(buffer).order(ByteOrder.LITTLE_ENDIAN);
   dos.put((byte) 0xFE);
   dos.put((byte) (length & 0x00FF));
   dos.put((byte) (sequence & 0x00FF));
   dos.put((byte) (sysId & 0x00FF));
   dos.put((byte) (componentId & 0x00FF));
   dos.put((byte) (messageType & 0x00FF));
   dos.putInt((int) (time_boot_ms & 0x00FFFFFFFF));
   dos.putFloat(roll_rate);
   dos.putFloat(pitch_rate);
   dos.putFloat(yaw_rate);
   dos.putFloat(thrust);
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 20);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[26] = crcl;
   buffer[27] = crch;
   return buffer;
 }

Example #11

File: msg_camera_capture_status.java Project: ecmnet/MAVComm

 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[12 + 23];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFD);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(incompat & 0x00FF);
   dos.writeByte(compat & 0x00FF);
   dos.writeByte(packet & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeByte((messageType >> 8) & 0x00FF);
   dos.writeByte((messageType >> 16) & 0x00FF);
   dos.writeInt((int) (time_boot_ms & 0x00FFFFFFFF));
   dos.writeFloat(image_interval);
   dos.writeFloat(video_framerate);
   dos.writeShort(image_resolution_h & 0x00FFFF);
   dos.writeShort(image_resolution_v & 0x00FFFF);
   dos.writeShort(video_resolution_h & 0x00FFFF);
   dos.writeShort(video_resolution_v & 0x00FFFF);
   dos.writeByte(camera_id & 0x00FF);
   dos.writeByte(image_status & 0x00FF);
   dos.writeByte(video_status & 0x00FF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 23);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[33] = crcl;
   buffer[34] = crch;
   dos.close();
   return buffer;
 }