Merge pull request #22 from M1Sports20/master

Add CRC Driver

10 files changed, 1565 insertions, 1 deletions

diff --git a/os/hal/hal.mk b/os/hal/hal.mk
index 51cda56..c193ef4 100644
--- a/os/hal/hal.mk
+++ b/os/hal/hal.mk
@@ -3,6 +3,7 @@ include ${CHIBIOS}/os/hal/hal.mk
 HALSRC += ${CHIBIOS}/community/os/hal/src/hal_community.c \

           ${CHIBIOS}/community/os/hal/src/nand.c \

           ${CHIBIOS}/community/os/hal/src/onewire.c \

-          ${CHIBIOS}/community/os/hal/src/eicu.c

+          ${CHIBIOS}/community/os/hal/src/eicu.c \

+          ${CHIBIOS}/community/os/hal/src/crc.c

 

 HALINC += ${CHIBIOS}/community/os/hal/include

diff --git a/os/hal/include/crc.h b/os/hal/include/crc.h
new file mode 100644
index 0000000..2f50f8f
--- /dev/null
+++ b/os/hal/include/crc.h
@@ -0,0 +1,158 @@
+/*
+    ChibiOS - Copyright (C) 2015 Michael D. Spradling
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#ifndef _CRC_H_
+#define _CRC_H_
+
+#if HAL_USE_CRC || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+
+/**
+ * @brief   Enable DMA CRC
+ * @note    Enables DMA when doing CRC calculations.  This may be less 
+ *          efficient with smaller CRC calculations.
+ */
+#if !defined(CRC_USE_DMA) || defined(__DOXYGEN__)
+#define CRC_USE_DMA                     FALSE
+#endif
+
+/**
+ * @brief   Enables the @p crcAcquireBus() and @p crcReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(CRC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define CRC_USE_MUTUAL_EXCLUSION        TRUE
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if STM32_CRC_USE_CRC1 != TRUE && CRCSW_USE_CRC1 != TRUE
+#error "CRC requires at least one LLD driver."
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Driver state machine possible states.
+ */
+typedef enum {
+  CRC_UNINIT,                /* Not initialized.                           */
+  CRC_STOP,                  /* Stopped.                                   */
+  CRC_READY,                 /* Ready.                                     */
+  CRC_ACTIVE,                /* Calculating CRC.                           */
+  CRC_COMPLETE               /* Asynchronous operation complete.           */
+} crcstate_t;
+
+#include "crc_lld.h"
+#include "crcsw.h" /* Include software LL driver */
+
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @name    Low level driver helper macros
+ * @{
+ */
+
+/**
+ * @brief   Wakes up the waiting thread.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ *
+ * @notapi
+ */
+#define _crc_wakeup_isr(crcp) {                                             \
+  osalSysLockFromISR();                                                     \
+  osalThreadResumeI(&(crcp)->thread, MSG_OK);                               \
+  osalSysUnlockFromISR();                                                   \
+}
+
+/**
+ * @brief   Common ISR code.
+ * @details This code handles the portable part of the ISR code:
+ *          - Callback invocation.
+ *          - Waiting thread wakeup, if any.
+ *          - Driver state transitions.
+ *          .
+ * @note    This macro is meant to be used in the low level drivers
+ *          implementation only.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ *
+ * @notapi
+ */
+#define _crc_isr_code(crcp, crc) {                                          \
+  if ((crcp)->config->end_cb) {                                             \
+    (crcp)->state = CRC_COMPLETE;                                           \
+    (crcp)->config->end_cb(crcp, crc);                                      \
+    if ((crcp)->state == CRC_COMPLETE)                                      \
+      (crcp)->state = CRC_READY;                                            \
+  }                                                                         \
+  else                                                                      \
+    (crcp)->state = CRC_READY;                                              \
+  _crc_wakeup_isr(crcp);                                                    \
+}
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void crcInit(void);
+  void crcObjectInit(CRCDriver *crcp);
+  void crcStart(CRCDriver *crcp, const CRCConfig *config);
+  void crcStop(CRCDriver *crcp);
+  void crcReset(CRCDriver *crcp);
+  void crcResetI(CRCDriver *crcp);
+  uint32_t crcCalc(CRCDriver *crcp, size_t n, const void *buf);
+  uint32_t crcCalcI(CRCDriver *crcp, size_t n, const void *buf);
+#if CRC_USE_DMA == TRUE
+  void crcStartCalc(CRCDriver *crcp, size_t n, const void *buf);
+  void crcStartCalcI(CRCDriver *crcp, size_t n, const void *buf);
+#endif
+#if CRC_USE_MUTUAL_EXCLUSION == TRUE
+  void crcAcquireUnit(CRCDriver *crcp);
+  void crcReleaseUnit(CRCDriver *crcp);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_CRC */
+
+#endif /* _CRC_H_ */
+
+/** @} */
diff --git a/os/hal/include/hal_community.h b/os/hal/include/hal_community.h
index 6cd6b66..426fadd 100644
--- a/os/hal/include/hal_community.h
+++ b/os/hal/include/hal_community.h
@@ -35,6 +35,7 @@
 

 /* Complex drivers.*/

 #include "onewire.h"

+#include "crc.h"

 

 /*===========================================================================*/

 /* Driver constants.                                                         */

diff --git a/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c b/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c
new file mode 100644
index 0000000..4bcb771
--- /dev/null
+++ b/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c
@@ -0,0 +1,328 @@
+/*
+    ChibiOS - Copyright (C) 2015 Michael D. Spradling
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    STM32/CRCv1/crc_lld.c
+ * @brief   STM32 CRC subsystem low level driver source.
+ *
+ * @addtogroup CRC
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_CRC || defined(__DOXYGEN__)
+
+/**
+ * Allow CRC Software override for ST drivers.  Some ST CRC implimentations
+ * have limited capabilities.
+ */
+#if CRCSW_USE_CRC1 != TRUE
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/**
+ * @brief   CRC default configuration.
+ */
+static const CRCConfig default_config = {
+  .poly_size         = 32,
+  .poly              = 0x04C11DB7,
+  .initial_val       = 0xFFFFFFFF,
+  .final_val         = 0xFFFFFFFF,
+  .reflect_data      = 1,
+  .reflect_remainder = 1
+};
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/** @brief CRC1 driver identifier.*/
+#if STM32_CRC_USE_CRC1 || defined(__DOXYGEN__)
+CRCDriver CRCD1;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+void _crc_lld_calc_byte(CRCDriver *crcp, uint8_t data) {
+  __IO uint8_t *crc8 = (__IO uint8_t*)&(crcp->crc->DR);
+  *crc8 = data;
+}
+
+/*
+ * @brief   Returns calculated CRC from last reset
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ * @param[in] data      data to be added to crc
+ *
+ * @notapi
+ */
+void _crc_lld_calc_halfword(CRCDriver *crcp, uint16_t data) {
+  __IO uint16_t *crc16 = (__IO uint16_t*)&(crcp->crc->DR);
+  *crc16 = data;
+}
+
+/*
+ * @brief   Returns calculated CRC from last reset
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ * @param[in] data      data to be added to crc
+ *
+ * @notapi
+ */
+void _crc_lld_calc_word(CRCDriver *crcp, uint32_t data) {
+  crcp->crc->DR = data;
+}
+
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Shared end-of-rx service routine.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ * @param[in] flags     pre-shifted content of the ISR register
+ */
+#if CRC_USE_DMA == TRUE
+static void crc_lld_serve_interrupt(CRCDriver *crcp, uint32_t flags) {
+
+  /* DMA errors handling.*/
+#if defined(STM32_CRC_DMA_ERROR_HOOK)
+  if ((flags & (STM32_DMA_ISR_TEIF | STM32_DMA_ISR_DMEIF)) != 0) {
+    STM32_CRC_DMA_ERROR_HOOK(crcp);
+  }
+#else
+  (void)flags;
+#endif
+
+  /* Stop everything.*/
+  dmaStreamDisable(crcp->dma);
+
+  /* Portable CRC ISR code defined in the high level driver, note, it is
+     a macro.*/
+  _crc_isr_code(crcp, crcp->crc->DR ^ crcp->config->final_val);
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level CRC driver initialization.
+ *
+ * @notapi
+ */
+void crc_lld_init(void) {
+  crcObjectInit(&CRCD1);
+  CRCD1.crc    = CRC;
+#if CRC_USE_DMA == TRUE
+  CRCD1.dma    = STM32_CRC_CRC1_DMA_STREAM;
+#endif
+}
+
+/**
+ * @brief   Configures and activates the CRC peripheral.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ *
+ * @notapi
+ */
+void crc_lld_start(CRCDriver *crcp) {
+  if (crcp->config == NULL)
+    crcp->config = &default_config;
+
+  rccEnableCRC(FALSE);
+
+#if STM32_CRC_PROGRAMMABLE == TRUE
+  crcp->crc->INIT = crcp->config->initial_val;
+  crcp->crc->POL = crcp->config->poly;
+
+  crcp->crc->CR = 0;
+  switch(crcp->config->poly_size) {
+    case 32:
+      break;
+    case 16:
+      crcp->crc->CR |= CRC_CR_POLYSIZE_0;
+      break;
+    case 8:
+      crcp->crc->CR |= CRC_CR_POLYSIZE_1;
+      break;
+    case 7:
+      crcp->crc->CR |= CRC_CR_POLYSIZE_1 | CRC_CR_POLYSIZE_0;
+      break;
+    default:
+      osalDbgAssert(false, "hardware doesn't support polynomial size");
+      break;
+  };
+  if (crcp->config->reflect_data) {
+    crcp->crc->CR |= CRC_CR_REV_IN_1 | CRC_CR_REV_IN_0;
+  }
+  if (crcp->config->reflect_remainder) {
+    crcp->crc->CR |= CRC_CR_REV_OUT;
+  }
+#else
+  osalDbgAssert(crcp->config->initial_val != default_config.initial_val,
+      "hardware doesn't support programmable initial value");
+  osalDbgAssert(crcp->config->poly_size != default_config.poly_size,
+      "hardware doesn't support programmable polynomial size");
+  osalDbgAssert(crcp->config->poly != default_config.poly,
+      "hardware doesn't support programmable polynomial");
+  osalDbgAssert(crcp->config->reflect_data != default_config.reflect_data,
+      "hardware doesn't support reflect of input data");
+  osalDbgAssert(crcp->config->reflect_remainder != default_config.reflect_remainder,
+      "hardware doesn't support reflect of output remainder");
+#endif
+
+#if CRC_USE_DMA == TRUE
+#if STM32_CRC_PROGRAMMABLE == TRUE
+  crcp->dmamode = STM32_DMA_CR_DIR_M2M    | STM32_DMA_CR_PINC |
+                  STM32_DMA_CR_MSIZE_BYTE | STM32_DMA_CR_PSIZE_BYTE |
+                  STM32_DMA_CR_TEIE       | STM32_DMA_CR_TCIE |
+                  STM32_DMA_CR_PL(STM32_CRC_CRC1_DMA_PRIORITY);
+#else
+  crcp->dmamode = STM32_DMA_CR_DIR_M2M    | STM32_DMA_CR_PINC |
+                  STM32_DMA_CR_MSIZE_WORD | STM32_DMA_CR_PSIZE_WORD |
+                  STM32_DMA_CR_TEIE       | STM32_DMA_CR_TCIE |
+                  STM32_DMA_CR_PL(STM32_CRC_CRC1_DMA_PRIORITY);
+#endif
+  {
+    bool b;
+    b = dmaStreamAllocate(crcp->dma,
+                          STM32_CRC_CRC1_DMA_IRQ_PRIORITY,
+                          (stm32_dmaisr_t)crc_lld_serve_interrupt,
+                          (void *)crcp);
+    osalDbgAssert(!b, "stream already allocated");
+  }
+#endif
+}
+
+
+/**
+ * @brief   Deactivates the CRC peripheral.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ *
+ * @notapi
+ */
+void crc_lld_stop(CRCDriver *crcp) {
+#if CRC_USE_DMA == TRUE
+  dmaStreamRelease(crcp->dma);
+#else
+  (void)crcp;
+#endif
+  rccDisableCRC(FALSE);
+}
+
+/**
+ * @brief   Resets current CRC calculation.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ *
+ * @notapi
+ */
+void crc_lld_reset(CRCDriver *crcp) {
+  crcp->crc->CR |= CRC_CR_RESET;
+}
+
+/**
+ * @brief   Returns calculated CRC from last reset
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ * @param[in] n         size of buf in bytes
+ * @param[in] buf       @p buffer location
+ *
+ * @notapi
+ */
+uint32_t crc_lld_calc(CRCDriver *crcp, size_t n, const void *buf) {
+#if CRC_USE_DMA == TRUE
+  crc_lld_start_calc(crcp, n, buf);
+  (void) osalThreadSuspendS(&crcp->thread);
+#else
+  /**
+   * BUG: Only peform byte writes to DR reg if reflect_data is disabled.
+   * The STM32 hardware unit seems to incorrectly calculate CRCs when all
+   * of the following is true: reflect_data(rev_in) is 0, dma is disable, and
+   * you are writing more than a byte into the DR register.
+   */
+  if (crcp->config->reflect_data != 0) {
+    while(n > 3) {
+      _crc_lld_calc_word(crcp, *(uint32_t*)buf);
+      buf+=4;
+      n-=4;
+    }
+  }
+
+#if STM32_CRC_PROGRAMMABLE == TRUE
+  /* Programmable CRC units allow variable register width accesses.*/
+
+  /**
+   * BUG: Only peform byte writes to DR reg if reflect_data is disabled.
+   * The STM32 hardware unit seems to incorrectly calculate CRCs when all
+   * of the following is true: reflect_data(rev_in) is 0, dma is disable, and
+   * you are writing more than a byte into the DR register.
+   */
+  if (crcp->config->reflect_data != 0) {
+    while(n > 1) {
+      _crc_lld_calc_halfword(crcp, *(uint16_t*)buf);
+      buf+=2;
+      n-=2;
+    }
+  }
+
+  while(n > 0) {
+    _crc_lld_calc_byte(crcp, *(uint8_t*)buf);
+    buf++;
+    n--;
+  }
+#else
+  osalDbgAssert(n != 0, "STM32 CRC Unit only supports WORD accesses");
+#endif
+
+#endif
+  return crcp->crc->DR ^ crcp->config->final_val;
+}
+
+#if CRC_USE_DMA == TRUE
+void crc_lld_start_calc(CRCDriver *crcp, size_t n, const void *buf) {
+  dmaStreamSetPeripheral(crcp->dma, buf);
+  dmaStreamSetMemory0(crcp->dma, &crcp->crc->DR);
+#if STM32_CRC_PROGRAMMABLE == TRUE
+  dmaStreamSetTransactionSize(crcp->dma, n);
+#else
+  dmaStreamSetTransactionSize(crcp->dma, (n / 4));
+#endif
+  dmaStreamSetMode(crcp->dma, crcp->dmamode);
+
+  dmaStreamEnable(crcp->dma);
+}
+#endif
+
+#endif /* CRCSW_USE_CRC1 */
+
+#endif /* HAL_USE_CRC */
+
+/** @} */
diff --git a/os/hal/ports/STM32/LLD/CRCv1/crc_lld.h b/os/hal/ports/STM32/LLD/CRCv1/crc_lld.h
new file mode 100644
index 0000000..6f70b42
--- /dev/null
+++ b/os/hal/ports/STM32/LLD/CRCv1/crc_lld.h
@@ -0,0 +1,249 @@
+/*
+    ChibiOS - Copyright (C) 2015 Michael D. Spradling
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    STM32/CRCv1/crc_lld.h
+ * @brief   STM32 CRC subsystem low level driver header.
+ *
+ * @addtogroup CRC
+ * @{
+ */
+
+#ifndef _CRC_LLD_H_
+#define _CRC_LLD_H_
+
+#if HAL_USE_CRC || defined(__DOXYGEN__)
+
+/*
+ * This error check must occur outsite of CRCSW_USE_CRC1 to check if
+ * two LLD drivers are enabled at the same time
+ */
+#if STM32_CRC_USE_CRC1 == TRUE &&                                           \
+    CRCSW_USE_CRC1 == TRUE
+#error "Software CRC can't be enable with STM32_CRC_USE_CRC1"
+#endif
+
+/**
+ * Allow CRC Software override for ST drivers.  Some ST CRC implimentations
+ * have limited capabilities.
+ */
+#if CRCSW_USE_CRC1 != TRUE
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+/**
+ * @brief   CRC1 driver enable switch.
+ * @details If set to @p TRUE the support for CRC1 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_CRC_USE_CRC1) || defined(__DOXYGEN__)
+#define STM32_CRC_USE_CRC1                  FALSE
+#endif
+
+/**
+ * @brief   CRC1 DMA priority (0..3|lowest..highest).
+ * @note    The priority level is for CRC DMA stream.
+ */
+#if !defined(STM32_CRC_CRC1_DMA_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_CRC_CRC1_DMA_PRIORITY         2
+#endif
+
+/**
+ * @brief   CRC1 DMA interrupt priority level setting.
+ */
+#if !defined(STM32_CRC_CRC1_DMA_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_CRC_CRC1_DMA_IRQ_PRIORITY     1
+#endif
+
+/**
+ * @brief   CRC1 DMA STREAM to use when performing CRC calculation.
+ */
+#if !defined(STM32_CRC_CRC1_DMA_STREAM) || defined(__DOXYGEN__)
+#define STM32_CRC_CRC1_DMA_STREAM           STM32_DMA1_STREAM2
+#endif
+
+/**
+ * @brief   CRC DMA error hook.
+ */
+#if !defined(STM32_CRC_DMA_ERROR_HOOK) || defined(__DOXYGEN__)
+#define STM32_CRC_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if STM32_CRC_USE_CRC1 && !STM32_HAS_CRC
+#error "Hardware CRC not present in the selected device"
+#error "Use CRCSW_USE_CRC1 for software implementation"
+#endif
+
+#if CRC_USE_DMA
+#if STM32_CRC_USE_CRC1 &&                                                   \
+    !OSAL_IRQ_IS_VALID_PRIORITY(STM32_CRC_CRC1_DMA_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to CRC1"
+#endif
+
+#if STM32_CRC_USE_CRC1 &&                                                   \
+    !STM32_DMA_IS_VALID_PRIORITY(STM32_CRC_CRC1_DMA_PRIORITY)
+#error "Invalid DMA priority assigned to CRC1"
+#endif
+
+#if !defined(STM32_DMA_REQUIRED)
+#define STM32_DMA_REQUIRED
+#endif
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Type of a structure representing an CRC driver.
+ */
+typedef struct CRCDriver CRCDriver;
+
+/**
+ * @brief   CRC notification callback type
+ *
+ * @param[in] crcp      pointer to the @ CRCDriver object triggering the
+ *                      callback
+ */
+typedef void (*crccallback_t)(CRCDriver *crcp, uint32_t crc);
+
+/**
+ * @brief   Driver configuration structure.
+ */
+typedef struct {
+  /**
+   * @brief The size of polynomial to be used for CRC.
+   */
+  uint32_t                 poly_size;
+  /**
+   * @brief The coefficients of the polynomial to be used for CRC.
+   */
+  uint32_t                 poly;
+  /**
+   * @brief The inital value
+   */
+  uint32_t                 initial_val;
+  /**
+   * @brief The final XOR value
+   */
+  uint32_t                 final_val;
+  /**
+   * @brief Reflect bit order data going into CRC
+   */
+  bool                     reflect_data;
+  /**
+   * @brief Reflect bit order of final remainder
+   */
+  bool                     reflect_remainder;
+  /* End of the mandatory fields.*/
+  /**
+   * @brief Operation complete callback or @p NULL
+   */
+  crccallback_t            end_cb;
+} CRCConfig;
+
+
+/**
+ * @brief   Structure representing an CRC driver.
+ */
+struct CRCDriver {
+  /**
+   * @brief Driver state.
+   */
+  crcstate_t                state;
+  /**
+   * @brief Current configuration data.
+   */
+  const CRCConfig           *config;
+#if CRC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
+  /**
+   * @brief   Mutex protecting the peripheral.
+   */
+  mutex_t                   mutex;
+#endif /* CRC_USE_MUTUAL_EXCLUSION */
+#if defined(CRC_DRIVER_EXT_FIELDS)
+  CRC_DRIVER_EXT_FIELDS
+#endif
+  /* End of the mandatory fields.*/
+  /**
+   * @brief Pointer to the CRCx registers block.
+   */
+  CRC_TypeDef               *crc;
+
+#if CRC_USE_DMA == TRUE
+  /**
+   * @brief   Waiting thread.
+   */
+  thread_reference_t        thread;
+  /**
+   * @brief CRC DMA stream
+   */
+  const stm32_dma_stream_t  *dma;
+  /**
+   * @brief DMA mode bit mask.
+   */
+  uint32_t                  dmamode;
+#endif
+};
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if STM32_CRC_USE_CRC1 && !defined(__DOXYGEN__)
+extern CRCDriver CRCD1;
+#endif /* STM32_CRC_USE_CRC1 */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void crc_lld_init(void);
+  void crc_lld_start(CRCDriver *crcp);
+  void crc_lld_stop(CRCDriver *crcp);
+  void crc_lld_reset(CRCDriver *crcp);
+  uint32_t crc_lld_calc(CRCDriver *crcp, size_t n, const void *buf);
+#if CRC_USE_DMA
+  void crc_lld_start_calc(CRCDriver *crcp, size_t n, const void *buf);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CRCSW_USE_CRC1 */
+
+#endif /* HAL_USE_CRC */
+
+#endif /* _CRC_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/STM32/STM32F0xx/platform.mk b/os/hal/ports/STM32/STM32F0xx/platform.mk
new file mode 100644
index 0000000..c1c0650
--- /dev/null
+++ b/os/hal/ports/STM32/STM32F0xx/platform.mk
@@ -0,0 +1,6 @@
+include ${CHIBIOS}/os/hal/ports/STM32/STM32F0xx/platform.mk
+
+PLATFORMSRC += ${CHIBIOS}/community/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c
+
+PLATFORMINC += ${CHIBIOS}/community/os/hal/ports/STM32/LLD/CRCv1 \
+               ${CHIBIOS}/community/os/hal/ports/STM32/LLD
diff --git a/os/hal/src/crc.c b/os/hal/src/crc.c
new file mode 100644
index 0000000..e8c2d0b
--- /dev/null
+++ b/os/hal/src/crc.c
@@ -0,0 +1,264 @@
+/*
+    ChibiOS - Copyright (C) 2015 Michael D. Spradling
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/*
+ * Hardware Abstraction Layer for CRC Unit
+ */
+#include "hal.h"
+
+#if HAL_USE_CRC || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   CRC Driver initialization.
+ *
+ * @init
+ */
+void crcInit(void) {
+  crc_lld_init();
+}
+
+/**
+ * @brief   Initializes the standard part of a @p CRCDriver structure.
+ *
+ * @param[out] crcp    Pointer to the @p CRCDriver object
+ *
+ * @init
+ */
+void crcObjectInit(CRCDriver *crcp) {
+  crcp->state  = CRC_STOP;
+  crcp->config = NULL;
+#if CRC_USE_DMA == TRUE
+  crcp->thread = NULL;
+#endif
+#if CRC_USE_MUTUAL_EXCLUSION == TRUE
+  osalMutexObjectInit(&crcp->mutex);
+#endif
+#if defined(CRC_DRIVER_EXT_INIT_HOOK)
+  CRC_DRIVER_EXT_INIT_HOOK(crcp);
+#endif
+}
+
+/**
+ * @brief   Configures and activates the CRC peripheral.
+ *
+ * @param[in] crcp      Pointer to the @p CRCDriver object
+ * @param[in] config    Pointer to the @p CRCConfig object
+ *                      @p NULL if the low level driver implementation
+ *                      supports a default configuration
+ *
+ * @api
+ */
+void crcStart(CRCDriver *crcp, const CRCConfig *config) {
+  osalDbgCheck(crcp != NULL);
+
+  osalSysLock();
+  osalDbgAssert((crcp->state == CRC_STOP) || (crcp->state == CRC_READY),
+                "invalid state");
+  crcp->config = config;
+  crc_lld_start(crcp);
+  crcp->state = CRC_READY;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Deactivates the CRC peripheral.
+ *
+ * @param[in] crcp     Pointer to the @p CRCDriver object
+ *
+ * @api
+ */
+void crcStop(CRCDriver *crcp) {
+  osalDbgCheck(crcp != NULL);
+
+  osalSysLock();
+  osalDbgAssert((crcp->state == CRC_STOP) || (crcp->state == CRC_READY),
+                "invalid state");
+  crc_lld_stop(crcp);
+  crcp->state = CRC_STOP;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Resets the CRC calculation
+ *
+ * @param[in] crcp     Pointer to the @p CRCDriver object
+ *
+ * @api
+ */
+void crcReset(CRCDriver *crcp) {
+  osalSysLock();
+  crcResetI(crcp);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Resets the current CRC calculation
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ *
+ * @iclass
+ */
+void crcResetI(CRCDriver *crcp) {
+  osalDbgCheck(crcp != NULL);
+  osalDbgAssert(crcp->state == CRC_READY, "Not ready");
+  crc_lld_reset(crcp);
+}
+
+/**
+ * @brief   Performs a CRC calculation.
+ * @details This synchronous function performs a crc calculation operation.
+ * @pre     In order to use this function the driver must have been configured
+ *          without callbacks (@p end_cb = @p NULL).
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ * @param[in] n         number of bytes to send
+ * @param[in] buf       the pointer to the buffer
+ *
+ * @api
+ */
+uint32_t crcCalc(CRCDriver *crcp, size_t n, const void *buf) {
+  uint32_t crc;
+#if CRC_USE_DMA
+  osalSysLock();
+#endif
+  crc = crcCalcI(crcp, n, buf);
+#if CRC_USE_DMA
+  osalSysUnlock();
+#endif
+  return crc;
+}
+
+/**
+ * @brief   Performs a CRC calculation.
+ * @details This synchronous function performs a crc calcuation operation.
+ * @pre     In order to use this function the driver must have been configured
+ *          without callbacks (@p end_cb = @p NULL).
+ * @post    At the end of the operation the configured callback is invoked.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ * @param[in] n         number of bytes to send
+ * @param[in] buf       the pointer to the buffer
+ *
+ * @iclass
+ */
+uint32_t crcCalcI(CRCDriver *crcp, size_t n, const void *buf) {
+  osalDbgCheck((crcp != NULL) && (n > 0U) && (buf != NULL));
+  osalDbgAssert(crcp->state == CRC_READY, "not ready");
+#if CRC_USE_DMA
+  osalDbgAssert(crcp->config->end_cb == NULL, "callback defined");
+  (crcp)->state = CRC_ACTIVE;
+#endif
+  return crc_lld_calc(crcp, n, buf);
+}
+
+#if CRC_USE_DMA == TRUE
+/**
+ * @brief   Performs a CRC calculation.
+ * @details This asynchronous function starts a crc calcuation operation.
+ * @pre     In order to use this function the driver must have been configured
+ *          with callbacks (@p end_cb != @p NULL).
+ * @post    At the end of the operation the configured callback is invoked.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ * @param[in] n         number of bytes to send
+ * @param[in] buf       the pointer to the buffer
+ *
+ * @api
+ */
+void crcStartCalc(CRCDriver *crcp, size_t n, const void *buf) {
+  osalSysLock();
+  crcStartCalcI(crcp, n, buf);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Performs a CRC calculation.
+ * @details This asynchronous function starts a crc calcuation operation.
+ * @pre     In order to use this function the driver must have been configured
+ *          without callbacks (@p end_cb = @p NULL).
+ * @post    At the end of the operation the configured callback is invoked.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ * @param[in] n         number of bytes to send
+ * @param[in] buf       the pointer to the buffer
+ *
+ *
+ * @iclass
+ */
+void crcStartCalcI(CRCDriver *crcp, size_t n, const void *buf) {
+  osalDbgCheck((crcp != NULL) && (n > 0U) && (buf != NULL));
+  osalDbgAssert(crcp->state == CRC_READY, "not ready");
+  osalDbgAssert(crcp->config->end_cb != NULL, "callback not defined");
+  (crcp)->state = CRC_ACTIVE;
+  crc_lld_start_calc(crcp, n, buf);
+}
+#endif
+
+#if (CRC_USE_MUTUAL_EXCLUSION == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief   Gains exclusive access to the CRC unit.
+ * @details This function tries to gain ownership to the CRC, if the CRC is
+ *          already being used then the invoking thread is queued.
+ * @pre     In order to use this function the option @p CRC_USE_MUTUAL_EXCLUSION
+ *          must be enabled.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ *
+ * @api
+ */
+void crcAcquireUnit(CRCDriver *crcp) {
+  osalDbgCheck(crcp != NULL);
+
+  osalMutexLock(&crcp->mutex);
+}
+
+/**
+ * @brief   Releases exclusive access to the CRC unit.
+ * @pre     In order to use this function the option @p CRC_USE_MUTUAL_EXCLUSION
+ *          must be enabled.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ *
+ * @api
+ */
+void crcReleaseUnit(CRCDriver *crcp) {
+  osalDbgCheck(crcp != NULL);
+
+  osalMutexUnlock(&crcp->mutex);
+}
+#endif /* CRC_USE_MUTUAL_EXCLUSION == TRUE */
+
+#endif /* HAL_USE_CRC */
diff --git a/os/hal/src/hal_community.c b/os/hal/src/hal_community.c
index 7c71e3f..b9700ba 100644
--- a/os/hal/src/hal_community.c
+++ b/os/hal/src/hal_community.c
@@ -60,6 +60,10 @@ void halCommunityInit(void) {
 #if HAL_USE_EICU || defined(__DOXYGEN__)

   eicuInit();

 #endif

+

+#if HAL_USE_CRC || defined(__DOXYGEN__)

+  crcInit();

+#endif

 }

 

 #endif /* HAL_USE_COMMUNITY */

diff --git a/os/various/crcsw.c b/os/various/crcsw.c
new file mode 100644
index 0000000..02a64f3
--- /dev/null
+++ b/os/various/crcsw.c
@@ -0,0 +1,338 @@
+/*
+    ChibiOS - Copyright (C) 2015 Michael D. Spradling
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    crcsw.c
+ * @brief   CRC software driver.
+   @note    SW implementation was based from:
+ * @note    http://www.barrgroup.com/Embedded-Systems/How-To/CRC-Calculation-C-Code
+ *
+ * @addtogroup CRC
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_CRC || defined(__DOXYGEN__)
+
+#if CRCSW_USE_CRC1 || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/**
+ * @brief   CRC default configuration.
+ */
+
+#if CRCSW_CRC32_TABLE == TRUE || defined(__DOXYGEN__)
+static const uint32_t crc32_table[256] = {
+  0x00000000, 0x77073096, 0xee0e612c, 0x990951ba,
+  0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+  0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988,
+  0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+  0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de,
+  0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+  0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec,
+  0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+  0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
+  0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+  0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940,
+  0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+  0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116,
+  0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+  0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
+  0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+  0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a,
+  0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+  0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818,
+  0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+  0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e,
+  0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+  0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c,
+  0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+  0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2,
+  0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+  0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
+  0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+  0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086,
+  0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+  0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4,
+  0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+  0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a,
+  0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+  0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8,
+  0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+  0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe,
+  0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+  0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc,
+  0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+  0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252,
+  0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+  0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60,
+  0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+  0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
+  0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+  0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04,
+  0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+  0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a,
+  0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+  0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38,
+  0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+  0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e,
+  0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+  0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c,
+  0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+  0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2,
+  0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+  0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0,
+  0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+  0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6,
+  0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+  0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
+  0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
+};
+#endif
+
+#if CRCSW_CRC16_TABLE || defined(__DOXYGEN__)
+static const uint32_t crc16_table[256] = {
+  0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
+  0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
+  0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
+  0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
+  0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
+  0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
+  0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
+  0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
+  0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
+  0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
+  0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
+  0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
+  0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
+  0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
+  0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
+  0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
+  0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
+  0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
+  0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
+  0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
+  0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
+  0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
+  0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
+  0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
+  0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
+  0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
+  0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
+  0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
+  0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
+  0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
+  0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
+  0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
+};
+#endif
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/** @brief CRC1 driver identifier.*/
+#if CRCSW_USE_CRC1 || defined(__DOXYGEN__)
+CRCDriver CRCD1;
+#endif
+
+#if CRCSW_CRC32_TABLE || defined(__DOXYGEN__)
+const CRCConfig crcsw_crc32_config = {
+  .poly_size         = 32,
+  .poly              = 0x04C11DB7,
+  .initial_val       = 0xFFFFFFFF,
+  .final_val         = 0xFFFFFFFF,
+  .reflect_data      = 1,
+  .reflect_remainder = 1,
+  .table             = crc32_table
+};
+#endif
+
+#if CRCSW_CRC16_TABLE || defined(__DOXYGEN__)
+const CRCConfig crcsw_crc16_config = {
+  .poly_size         = 16,
+  .poly              = 0x8005,
+  .initial_val       = 0x0,
+  .final_val         = 0x0,
+  .reflect_data      = 1,
+  .reflect_remainder = 1,
+  .table             = crc16_table
+};
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+#if (CRCSW_PROGRAMMABLE == TRUE)
+static uint32_t reflect(uint32_t data, uint8_t nBits) {
+  uint32_t reflection = 0x00000000;
+  uint8_t  bit;
+
+  /* Reflect the data about the center bit.  */
+  for (bit = 0; bit < nBits; ++bit) {
+    /* If the LSB bit is set, set the reflection of it. */
+    if (data & 0x01) {
+      reflection |= (1 << ((nBits - 1) - bit));
+    }
+
+    data = (data >> 1);
+  }
+
+  return reflection;
+}
+#endif
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level CRC software initialization.
+ *
+ * @notapi
+ */
+void crc_lld_init(void) {
+  crcObjectInit(&CRCD1);
+  CRCD1.crc = CRCD1.config->initial_val;
+}
+
+/**
+ * @brief   Configures and activates the CRC peripheral.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ *
+ * @notapi
+ */
+void crc_lld_start(CRCDriver *crcp) {
+  osalDbgAssert(crcp->config != NULL, "config must not be NULL");
+
+#if CRCSW_PROGRAMMABLE == FALSE
+#if CRCSW_CRC32_TABLE == TRUE && CRCSW_CRC16_TABLE == TRUE
+  osalDbgAssert((crcp->config == CRCSW_CRC32_TABLE_CONFIG) ||
+      (crcp->config == CRCSW_CRC16_TABLE_CONFIG), "config must be CRCSW_CRC32_TABLE_CONFIG or CRCSW_CRC16_TABLE_CONFIG");
+#elif CRCSW_CRC32_TABLE == TRUE && CRCSW_CRC16_TABLE == FALSE
+  osalDbgAssert(crcp->config == CRCSW_CRC32_TABLE_CONFIG,
+      "config must be CRCSW_CRC32_TABLE_CONFIG");
+#else 
+  osalDbgAssert(crcp->config == CRCSW_CRC16_TABLE_CONFIG,
+      "config must be CRCSW_CRC16_TABLE_CONFIG");
+#endif
+#endif
+  crc_lld_reset(crcp);
+}
+
+
+/**
+ * @brief   Deactivates the CRC peripheral.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ *
+ * @notapi
+ */
+void crc_lld_stop(CRCDriver *crcp) {
+  (void)crcp;
+}
+
+/**
+ * @brief   Resets current CRC calculation.
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ *
+ * @notapi
+ */
+void crc_lld_reset(CRCDriver *crcp) {
+  crcp->crc = crcp->config->initial_val;
+}
+
+/**
+ * @brief   Returns calculated CRC from last reset
+ *
+ * @param[in] crcp      pointer to the @p CRCDriver object
+ * @param[in] n         size of buf in bytes
+ * @param[in] buf       @p buffer location
+ *
+ * @notapi
+ */
+uint32_t crc_lld_calc(CRCDriver *crcp, size_t n, const void *buf) {
+  uint32_t i;
+  uint32_t crc;
+#if (CRCSW_CRC32_TABLE == TRUE) || (CRCSW_CRC16_TABLE == TRUE)
+  if (crcp->config->table != NULL) {
+    for (i = 0; i < n; i++) {
+      uint8_t data = *((uint8_t*)buf + i);
+      uint8_t idx = (crcp->crc ^ data);
+      crcp->crc = (crcp->config->table[idx] ^ (crcp->crc >> 8));
+    }
+    crc = crcp->crc;
+  }
+#endif
+
+#if (CRCSW_PROGRAMMABLE == TRUE)
+  // Mask off bits to poly size
+  uint32_t mask = 1 << (crcp->config->poly_size - 1);
+  mask |= (mask - 1);
+
+  crc = crcp->crc;
+  if (crcp->config->table == NULL) {
+    for (i = 0; i < n; i++) {
+      uint8_t data = *((uint8_t*)buf + i);
+      uint8_t bit;
+
+      if (crcp->config->reflect_data) {
+        data = reflect(data, 8);
+      }
+
+      /* Bring the next byte into the remainder. */
+      crc ^= (data << (crcp->config->poly_size - 8));
+
+      /* Perform modulo-2 division, a bit at a time. */
+      for (bit = 8; bit > 0; --bit) {
+        /* Try to divide the current data bit. */
+        if (crc & (1 << (crcp->config->poly_size - 1))) {
+          crc = (crc << 1) ^ crcp->config->poly;
+        } else {
+          crc <<= 1;
+        }
+      }
+    }
+
+    crcp->crc = crc;
+
+    if (crcp->config->reflect_remainder) {
+      crc = reflect(crc, crcp->config->poly_size);
+    }
+  }
+#endif
+
+  return (crc ^ crcp->config->final_val) & mask;
+}
+
+#endif /* CRCSW_USE_CRC1 */
+
+#endif /* HAL_USE_CRC */
diff --git a/os/various/crcsw.h b/os/various/crcsw.h
new file mode 100644
index 0000000..4483a34
--- /dev/null
+++ b/os/various/crcsw.h
@@ -0,0 +1,215 @@
+/*
+    ChibiOS - Copyright (C) 2015 Michael D. Spradling
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    crcsw.h
+ * @brief   CRC software driver.
+ *
+ * @addtogroup CRC
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_CRC || defined(__DOXYGEN__)
+
+#if CRCSW_USE_CRC1 || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+/**
+ * @brief   CRC1 software driver enable switch.
+ * @details If set to @p TRUE the support for CRC1 is included.
+ * @note    The default is @p FALSE
+ */
+#if !defined(CRCSW_USE_CRC1) || defined(__DOXYGEN__)
+#define CRCSW_USE_CRC1                  FALSE
+#endif
+
+/**
+ * @brief Enables software CRC32
+ */
+#if !defined(CRCSW_CRC32_TABLE) || defined(__DOXYGEN__)
+#define CRCSW_CRC32_TABLE               FALSE
+#endif
+
+/**
+ * @brief Enables software CRC16
+ */
+#if !defined(CRCSW_CRC16_TABLE) || defined(__DOXYGEN__)
+#define CRCSW_CRC16_TABLE               FALSE
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if CRCSW_USE_CRC1 && CRC_USE_DMA
+#error "Software CRC does not support DMA(CRC_USE_DMA)"
+#endif
+
+#if CRCSW_CRC32_TABLE == FALSE && CRCSW_CRC16_TABLE == FALSE &&                         \
+    CRCSW_PROGRAMMABLE == FALSE
+#error "At least one of CRCSW_PROGRAMMABLE, CRCSW_CRC32_TABLE, or CRCSW_CRC16_TABLE must be defined"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+/**
+ * @brief   Type of a structure representing an CRC driver.
+ */
+typedef struct CRCDriver CRCDriver;
+
+/**
+ * @brief   Driver configuration structure.
+ */
+typedef struct {
+  /**
+   * @brief The size of polynomial to be used for CRC.
+   */
+  uint32_t                 poly_size;
+  /**
+   * @brief The coefficients of the polynomial to be used for CRC.
+   */
+  uint32_t                 poly;
+  /**
+   * @brief The inital value
+   */
+  uint32_t                 initial_val;
+  /**
+   * @brief The final XOR value
+   */
+  uint32_t                 final_val;
+  /**
+   * @brief Reflect bit order data going into CRC
+   */
+  bool                     reflect_data;
+  /**
+   * @brief Reflect bit order of final remainder
+   */
+  bool                     reflect_remainder;
+  /* End of the mandatory fields.*/
+  /**
+   * @brief The crc lookup table to use when calculating CRC.
+   */
+  const uint32_t           *table;
+} CRCConfig;
+
+
+/**
+ * @brief   Structure representing an CRC driver.
+ */
+struct CRCDriver {
+  /**
+   * @brief Driver state.
+   */
+  crcstate_t                state;
+  /**
+   * @brief Current configuration data.
+   */
+  const CRCConfig           *config;
+#if CRC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
+  /**
+   * @brief   Mutex protecting the peripheral.
+   */
+  mutex_t                   mutex;
+#endif /* CRC_USE_MUTUAL_EXCLUSION */
+  /* End of the mandatory fields.*/
+  /**
+   * @brief Current value of calculated CRC.
+   */
+  uint32_t                  crc;
+};
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+#if CRCSW_CRC32_TABLE || defined(__DOXYGEN__)
+/**
+ * @brief Configuration that represents CRC32
+ */
+#define CRCSW_CRC32_TABLE_CONFIG (&crcsw_crc32_config)
+#endif
+
+#if CRCSW_CRC16_TABLE || defined(__DOXYGEN__)
+/**
+ * @brief Configuration that represents CRC16
+ */
+#define CRCSW_CRC16_TABLE_CONFIG (&crcsw_crc16_config)
+#endif
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+extern CRCDriver CRCD1;
+
+#if CRCSW_CRC32_TABLE
+extern const CRCConfig crcsw_crc32_config;
+#endif
+
+#if CRCSW_CRC16_TABLE
+extern const CRCConfig crcsw_crc16_config;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void crc_lld_init(void);
+  void crc_lld_start(CRCDriver *crcp);
+  void crc_lld_stop(CRCDriver *crcp);
+  void crc_lld_reset(CRCDriver *crcp);
+  uint32_t crc_lld_calc(CRCDriver *crcp, size_t n, const void *buf);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CRCSW_USE_CRC1 */
+
+#endif /* HAL_USE_CRC */
+
+/** @} */