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add mavlink2 new files.
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@lovettchris
lovettchris committed Apr 30, 2017
1 parent 13b9560 commit 23b9299
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37 changes: 37 additions & 0 deletions MavLinkCom/mavlink/mavlink_get_info.h
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#pragma once

#ifdef MAVLINK_USE_MESSAGE_INFO
#define MAVLINK_HAVE_GET_MESSAGE_INFO
/*
return the message_info struct for a message
*/
MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info(const mavlink_message_t *msg)
{
static const mavlink_message_info_t mavlink_message_info[] = MAVLINK_MESSAGE_INFO;
/*
use a bisection search to find the right entry. A perfect hash may be better
Note that this assumes the table is sorted with primary key msgid
*/
uint32_t msgid = msg->msgid;
uint32_t low=0, high=sizeof(mavlink_message_info)/sizeof(mavlink_message_info[0]);
while (low < high) {
uint32_t mid = (low+1+high)/2;
if (msgid < mavlink_message_info[mid].msgid) {
high = mid-1;
continue;
}
if (msgid > mavlink_message_info[mid].msgid) {
low = mid;
continue;
}
low = mid;
break;
}
if (mavlink_message_info[low].msgid == msgid) {
return &mavlink_message_info[low];
}
return NULL;
}
#endif // MAVLINK_USE_MESSAGE_INFO


252 changes: 252 additions & 0 deletions MavLinkCom/mavlink/mavlink_sha256.h
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#pragma once

/*
sha-256 implementation for MAVLink based on Heimdal sources, with
modifications to suit mavlink headers
*/
/*
* Copyright (c) 1995 - 2001 Kungliga Tekniska Högskolan
* (Royal Institute of Technology, Stockholm, Sweden).
* All rights reserved.
*
* 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.
*
* 3. Neither the name of the Institute nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE 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 INSTITUTE 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.
*/

/*
allow implementation to provide their own sha256 with the same API
*/
#ifndef HAVE_MAVLINK_SHA256

#ifdef MAVLINK_USE_CXX_NAMESPACE
namespace mavlink {
#endif

#ifndef MAVLINK_HELPER
#define MAVLINK_HELPER
#endif

typedef struct {
unsigned int sz[2];
uint32_t counter[8];
union {
unsigned char save_bytes[64];
uint32_t save_u32[16];
} u;
} mavlink_sha256_ctx;

#define Ch(x,y,z) (((x) & (y)) ^ ((~(x)) & (z)))
#define Maj(x,y,z) (((x) & (y)) ^ ((x) & (z)) ^ ((y) & (z)))

#define ROTR(x,n) (((x)>>(n)) | ((x) << (32 - (n))))

#define Sigma0(x) (ROTR(x,2) ^ ROTR(x,13) ^ ROTR(x,22))
#define Sigma1(x) (ROTR(x,6) ^ ROTR(x,11) ^ ROTR(x,25))
#define sigma0(x) (ROTR(x,7) ^ ROTR(x,18) ^ ((x)>>3))
#define sigma1(x) (ROTR(x,17) ^ ROTR(x,19) ^ ((x)>>10))

#define A m->counter[0]
#define B m->counter[1]
#define C m->counter[2]
#define D m->counter[3]
#define E m->counter[4]
#define F m->counter[5]
#define G m->counter[6]
#define H m->counter[7]

static const uint32_t mavlink_sha256_constant_256[64] = {
0x428a2f98, 0x71374491, 0xb5c0fbcf, 0xe9b5dba5,
0x3956c25b, 0x59f111f1, 0x923f82a4, 0xab1c5ed5,
0xd807aa98, 0x12835b01, 0x243185be, 0x550c7dc3,
0x72be5d74, 0x80deb1fe, 0x9bdc06a7, 0xc19bf174,
0xe49b69c1, 0xefbe4786, 0x0fc19dc6, 0x240ca1cc,
0x2de92c6f, 0x4a7484aa, 0x5cb0a9dc, 0x76f988da,
0x983e5152, 0xa831c66d, 0xb00327c8, 0xbf597fc7,
0xc6e00bf3, 0xd5a79147, 0x06ca6351, 0x14292967,
0x27b70a85, 0x2e1b2138, 0x4d2c6dfc, 0x53380d13,
0x650a7354, 0x766a0abb, 0x81c2c92e, 0x92722c85,
0xa2bfe8a1, 0xa81a664b, 0xc24b8b70, 0xc76c51a3,
0xd192e819, 0xd6990624, 0xf40e3585, 0x106aa070,
0x19a4c116, 0x1e376c08, 0x2748774c, 0x34b0bcb5,
0x391c0cb3, 0x4ed8aa4a, 0x5b9cca4f, 0x682e6ff3,
0x748f82ee, 0x78a5636f, 0x84c87814, 0x8cc70208,
0x90befffa, 0xa4506ceb, 0xbef9a3f7, 0xc67178f2
};

MAVLINK_HELPER void mavlink_sha256_init(mavlink_sha256_ctx *m)
{
m->sz[0] = 0;
m->sz[1] = 0;
A = 0x6a09e667;
B = 0xbb67ae85;
C = 0x3c6ef372;
D = 0xa54ff53a;
E = 0x510e527f;
F = 0x9b05688c;
G = 0x1f83d9ab;
H = 0x5be0cd19;
}

static inline void mavlink_sha256_calc(mavlink_sha256_ctx *m, uint32_t *in)
{
uint32_t AA, BB, CC, DD, EE, FF, GG, HH;
uint32_t data[64];
int i;

AA = A;
BB = B;
CC = C;
DD = D;
EE = E;
FF = F;
GG = G;
HH = H;

for (i = 0; i < 16; ++i)
data[i] = in[i];
for (i = 16; i < 64; ++i)
data[i] = sigma1(data[i-2]) + data[i-7] +
sigma0(data[i-15]) + data[i - 16];

for (i = 0; i < 64; i++) {
uint32_t T1, T2;

T1 = HH + Sigma1(EE) + Ch(EE, FF, GG) + mavlink_sha256_constant_256[i] + data[i];
T2 = Sigma0(AA) + Maj(AA,BB,CC);

HH = GG;
GG = FF;
FF = EE;
EE = DD + T1;
DD = CC;
CC = BB;
BB = AA;
AA = T1 + T2;
}

A += AA;
B += BB;
C += CC;
D += DD;
E += EE;
F += FF;
G += GG;
H += HH;
}

MAVLINK_HELPER void mavlink_sha256_update(mavlink_sha256_ctx *m, const void *v, uint32_t len)
{
const unsigned char *p = (const unsigned char *)v;
uint32_t old_sz = m->sz[0];
uint32_t offset;

m->sz[0] += len * 8;
if (m->sz[0] < old_sz)
++m->sz[1];
offset = (old_sz / 8) % 64;
while(len > 0){
uint32_t l = 64 - offset;
if (len < l) {
l = len;
}
memcpy(m->u.save_bytes + offset, p, l);
offset += l;
p += l;
len -= l;
if(offset == 64){
int i;
uint32_t current[16];
const uint32_t *u = m->u.save_u32;
for (i = 0; i < 16; i++){
const uint8_t *p1 = (const uint8_t *)&u[i];
uint8_t *p2 = (uint8_t *)&current[i];
p2[0] = p1[3];
p2[1] = p1[2];
p2[2] = p1[1];
p2[3] = p1[0];
}
mavlink_sha256_calc(m, current);
offset = 0;
}
}
}

/*
get first 48 bits of final sha256 hash
*/
MAVLINK_HELPER void mavlink_sha256_final_48(mavlink_sha256_ctx *m, uint8_t result[6])
{
unsigned char zeros[72];
unsigned offset = (m->sz[0] / 8) % 64;
unsigned int dstart = (120 - offset - 1) % 64 + 1;
uint8_t *p = (uint8_t *)&m->counter[0];

*zeros = 0x80;
memset (zeros + 1, 0, sizeof(zeros) - 1);
zeros[dstart+7] = (m->sz[0] >> 0) & 0xff;
zeros[dstart+6] = (m->sz[0] >> 8) & 0xff;
zeros[dstart+5] = (m->sz[0] >> 16) & 0xff;
zeros[dstart+4] = (m->sz[0] >> 24) & 0xff;
zeros[dstart+3] = (m->sz[1] >> 0) & 0xff;
zeros[dstart+2] = (m->sz[1] >> 8) & 0xff;
zeros[dstart+1] = (m->sz[1] >> 16) & 0xff;
zeros[dstart+0] = (m->sz[1] >> 24) & 0xff;

mavlink_sha256_update(m, zeros, dstart + 8);

// this ordering makes the result consistent with taking the first
// 6 bytes of more conventional sha256 functions. It assumes
// little-endian ordering of m->counter
result[0] = p[3];
result[1] = p[2];
result[2] = p[1];
result[3] = p[0];
result[4] = p[7];
result[5] = p[6];
}

// prevent conflicts with users of the header
#undef A
#undef B
#undef C
#undef D
#undef E
#undef F
#undef G
#undef H
#undef Ch
#undef ROTR
#undef Sigma0
#undef Sigma1
#undef sigma0
#undef sigma1

#ifdef MAVLINK_USE_CXX_NAMESPACE
} // namespace mavlink
#endif

#endif // HAVE_MAVLINK_SHA256

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