Specify Cyphal/UDP [experimental]

.vscode/settings.json

@@ -63,8 +63,10 @@
         "attrib",
         "Autoconfigured",
         "autodetect",
+        "AUTOSAR",
         "AWG",
         "Backus-Naur",
+        "baremetal",
         "baz",
         "BAZ",
         "BCI",
@@ -79,11 +81,14 @@
         "bootloaders",
         "bootup",
         "broadcasted",
+        "bytearray",
+        "bytewise",
         "canadensis",
         "CANaerospace",
         "CANopen",
         "Cardinality",
         "cassert",
+        "Castagnoli",
         "CCITT",
         "cfg",
         "CLI",
@@ -106,11 +111,14 @@
         "cstdint",
         "cyber",
         "Cyphal",
+        "datagram",
+        "datagrams",
         "Datasheet",
         "DCD",
         "dd",
         "de",
         "dec",
+        "Deconflicts",
         "deconstructed",
         "deduplicated",
         "deduplication",
@@ -126,6 +134,7 @@
         "dq",
         "driverless",
         "Dronecode",
+        "DSCP",
         "DSDL",
         "DTH",
         "DTID",
@@ -145,6 +154,8 @@
         "evolvable",
         "extensibility",
         "extensionpack",
+        "FFFFU",
+        "FFFFUL",
         "fn",
         "foo",
         "FOO",
@@ -180,13 +191,15 @@
         "IEC",
         "IETF",
         "iface",
+        "IGMP",
         "ijk",
         "imp-lem-en-ta-ti-on-de-fin-ed",
         "Implementers",
         "incrementing",
         "Inkscape",
         "intdd",
         "integrators",
+        "internetwork",
         "interoperate",
         "Intra",
         "intravehicular",
@@ -195,6 +208,7 @@
         "invariants",
         "iostream",
         "IP",
+        "ISCSI",
         "JST",
         "JTAG",
         "kbit",
@@ -220,6 +234,7 @@
         "Mbit",
         "Mbps",
         "MDL",
+        "memoryview",
         "merchantability",
         "metadata",
         "metaserializable",
@@ -235,6 +250,7 @@
         "MTTF",
         "MTU",
         "mul",
+        "multicasting",
         "mycorrhizal",
         "NACK",
         "NAK",
@@ -248,6 +264,7 @@
         "NMEA",
         "NMI",
         "nodiscard",
+        "noexcept",
         "nq",
         "ns",
         "nul",

specification/Cyphal_Specification.tex

@@ -118,5 +118,6 @@ \section*{Limitation of liability}
 \input{transport/transport.tex}
 \input{application/application.tex}
 \input{sdt/sdt.tex}
+\input{appendices/appendices.tex}
 
 \end{document}

specification/appendices/appendices.tex

@@ -0,0 +1,2 @@
+\appendix
+\input{appendices/crc.tex}

specification/appendices/crc.tex

@@ -0,0 +1,258 @@
+\chapter{CRC algorithm implementations}
+
+\section{CRC-16/CCITT-FALSE}\label{sec:appendix_crc16ccitt_false}
+
+This algorithm is also known as CRC-16/AUTOSAR or CRC-16/IBM-3740.
+Not to be confused with CRC-16/KERMIT.
+
+This algorithm has the following parameters:
+\begin{itemize}
+    \item width: 16 bits;
+    \item polynomial: $\mathrm{1021}_{16}$;
+    \item initial value: $\mathrm{FFFF}_{16}$;
+    \item input not reflected;
+    \item output not reflected;
+    \item no output XOR;
+    \item the native byte order is big endian.
+\end{itemize}
+
+The value for the input sequence $\left(49, 50, \ldots, 56, 57\right)$ is $\mathrm{29B1}_{16}$.
+
+\subsection{C++, bitwise}
+
+\begin{samepage}
+\begin{minted}{cpp}
+#include <array>
+#include <cstdint>
+#include <cstddef>
+
+class CRC16_CCITT_False final
+{
+public:
+    void add(const std::uint8_t byte)
+    {
+        value_ ^= static_cast<std::uint16_t>(byte) << 8U;
+        for (std::uint8_t bit = 8; bit > 0; --bit)
+        {
+            if ((value_ & 0x8000U) != 0)
+            {
+                value_ = (value_ << 1U) ^ 0x1021U;
+            }
+            else
+            {
+                value_ = value_ << 1U;
+            }
+        }
+    }
+
+    void add(const std::uint8_t* bytes, std::size_t length)
+    {
+        while (length --> 0)
+        {
+            add(*bytes++);
+        }
+    }
+
+    [[nodiscard]] std::uint16_t get() const { return value_; }
+
+    [[nodiscard]] std::array<std::uint8_t, 2> getBytes() const noexcept
+    {
+        const auto x = get();
+        return {static_cast<std::uint8_t>(x >> 8U), static_cast<std::uint8_t>(x & 0xFFU)};
+    }
+
+private:
+    std::uint16_t value_ = 0xFFFFU;
+};
+\end{minted}
+\end{samepage}
+
+\subsection{Python, bytewise}
+
+\begin{samepage}
+\begin{minted}{python}
+class CRC16CCITT:
+    def __init__(self) -> None:
+        self._value = 0xFFFF
+
+    def add(self, data: bytes | bytearray | memoryview) -> None:
+        val = self._value
+        for x in data:
+            val = ((val << 8) & 0xFFFF) ^ self._TABLE[(val >> 8) ^ x]
+        self._value = val
+
+    def check_residue(self) -> bool:
+        return self._value == 0
+
+    @property
+    def value(self) -> int:
+        return self._value
+
+    @property
+    def value_as_bytes(self) -> bytes:
+        return self.value.to_bytes(2, "big")
+
+    _TABLE = [
+        0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
+        0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
+        0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
+        0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
+        0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
+        0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
+        0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
+        0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
+        0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
+        0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
+        0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
+        0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
+        0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
+        0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
+        0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
+        0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
+        0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
+        0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
+        0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
+        0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
+        0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
+        0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+        0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
+        0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
+        0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
+        0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
+        0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
+        0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
+        0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
+        0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
+        0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
+        0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0,
+    ]
+\end{minted}
+\end{samepage}
+
+\newpage
+\section{CRC-32C}\label{sec:appendix_crc32c}
+
+This algorithm is also known as CRC-32/ISCSI, CRC-32/CASTAGNOLI, CRC-32/BASE91-C, or CRC-32/INTERLAKEN.
+
+This algorithm has the following parameters:
+\begin{itemize}
+    \item width: 32 bits;
+    \item polynomial: $\mathrm{1EDC6F41}_{16}$;
+    \item initial value: $\mathrm{FFFFFFFF}_{16}$;
+    \item input reflected;
+    \item output reflected;
+    \item output XOR: $\mathrm{FFFFFFFF}_{16}$;
+    \item residue: $\mathrm{B798B438}_{16}$ before output XOR, $\mathrm{48674BC7}_{16}$ after output XOR;
+    \item the native byte order is little endian.
+\end{itemize}
+
+The value for the input sequence $\left(49, 50, \ldots, 56, 57\right)$ is $\mathrm{E3069283}_{16}$.
+
+\subsection{C++, bitwise}
+
+\begin{samepage}
+\begin{minted}{cpp}
+#include <array>
+#include <cstdint>
+#include <cstddef>
+
+class CRC32C final
+{
+public:
+    static constexpr std::size_t Size = 4;
+
+    void update(const std::uint8_t b) noexcept
+    {
+        value_ ^= static_cast<std::uint32_t>(b);
+        for (auto i = 0U; i < 8U; i++)
+        {
+            value_ = ((value_ & 1U) != 0) ? ((value_ >> 1U) ^ ReflectedPoly) : (value_ >> 1U);
+        }
+    }
+
+    [[nodiscard]] std::uint32_t get() const noexcept { return value_ ^ Xor; }
+
+    [[nodiscard]] std::array<std::uint8_t, Size> getBytes() const noexcept
+    {
+        const auto x = get();
+        return {
+            static_cast<std::uint8_t>(x >> (8U * 0U)),
+            static_cast<std::uint8_t>(x >> (8U * 1U)),
+            static_cast<std::uint8_t>(x >> (8U * 2U)),
+            static_cast<std::uint8_t>(x >> (8U * 3U)),
+        };
+    }
+
+    [[nodiscard]] auto isResidueCorrect() const noexcept { return value_ == Residue; }
+
+private:
+    static constexpr std::uint32_t Xor           = 0xFFFF'FFFFUL;
+    static constexpr std::uint32_t ReflectedPoly = 0x82F6'3B78UL;
+    static constexpr std::uint32_t Residue       = 0xB798'B438UL;
+
+    std::uint32_t value_ = Xor;
+};
+\end{minted}
+\end{samepage}
+
+\subsection{Python, bytewise}
+
+\begin{samepage}
+\begin{minted}{python}
+class CRC32C:
+    def __init__(self) -> None:
+        self._value = 0xFFFFFFFF
+
+    def add(self, data: bytes | bytearray | memoryview) -> None:
+        val = self._value
+        for x in data:
+            val = (val >> 8) ^ self._TABLE[x ^ (val & 0xFF)]
+        self._value = val
+
+    def check_residue(self) -> bool:
+        return self._value == 0xB798B438  # Checked before the output XOR is applied.
+
+    @property
+    def value(self) -> int:
+        return self._value ^ 0xFFFFFFFF
+
+    @property
+    def value_as_bytes(self) -> bytes:
+        return self.value.to_bytes(4, "little")
+
+    _TABLE = [
+        0x00000000, 0xF26B8303, 0xE13B70F7, 0x1350F3F4, 0xC79A971F, 0x35F1141C, 0x26A1E7E8, 0xD4CA64EB,
+        0x8AD958CF, 0x78B2DBCC, 0x6BE22838, 0x9989AB3B, 0x4D43CFD0, 0xBF284CD3, 0xAC78BF27, 0x5E133C24,
+        0x105EC76F, 0xE235446C, 0xF165B798, 0x030E349B, 0xD7C45070, 0x25AFD373, 0x36FF2087, 0xC494A384,
+        0x9A879FA0, 0x68EC1CA3, 0x7BBCEF57, 0x89D76C54, 0x5D1D08BF, 0xAF768BBC, 0xBC267848, 0x4E4DFB4B,
+        0x20BD8EDE, 0xD2D60DDD, 0xC186FE29, 0x33ED7D2A, 0xE72719C1, 0x154C9AC2, 0x061C6936, 0xF477EA35,
+        0xAA64D611, 0x580F5512, 0x4B5FA6E6, 0xB93425E5, 0x6DFE410E, 0x9F95C20D, 0x8CC531F9, 0x7EAEB2FA,
+        0x30E349B1, 0xC288CAB2, 0xD1D83946, 0x23B3BA45, 0xF779DEAE, 0x05125DAD, 0x1642AE59, 0xE4292D5A,
+        0xBA3A117E, 0x4851927D, 0x5B016189, 0xA96AE28A, 0x7DA08661, 0x8FCB0562, 0x9C9BF696, 0x6EF07595,
+        0x417B1DBC, 0xB3109EBF, 0xA0406D4B, 0x522BEE48, 0x86E18AA3, 0x748A09A0, 0x67DAFA54, 0x95B17957,
+        0xCBA24573, 0x39C9C670, 0x2A993584, 0xD8F2B687, 0x0C38D26C, 0xFE53516F, 0xED03A29B, 0x1F682198,
+        0x5125DAD3, 0xA34E59D0, 0xB01EAA24, 0x42752927, 0x96BF4DCC, 0x64D4CECF, 0x77843D3B, 0x85EFBE38,
+        0xDBFC821C, 0x2997011F, 0x3AC7F2EB, 0xC8AC71E8, 0x1C661503, 0xEE0D9600, 0xFD5D65F4, 0x0F36E6F7,
+        0x61C69362, 0x93AD1061, 0x80FDE395, 0x72966096, 0xA65C047D, 0x5437877E, 0x4767748A, 0xB50CF789,
+        0xEB1FCBAD, 0x197448AE, 0x0A24BB5A, 0xF84F3859, 0x2C855CB2, 0xDEEEDFB1, 0xCDBE2C45, 0x3FD5AF46,
+        0x7198540D, 0x83F3D70E, 0x90A324FA, 0x62C8A7F9, 0xB602C312, 0x44694011, 0x5739B3E5, 0xA55230E6,
+        0xFB410CC2, 0x092A8FC1, 0x1A7A7C35, 0xE811FF36, 0x3CDB9BDD, 0xCEB018DE, 0xDDE0EB2A, 0x2F8B6829,
+        0x82F63B78, 0x709DB87B, 0x63CD4B8F, 0x91A6C88C, 0x456CAC67, 0xB7072F64, 0xA457DC90, 0x563C5F93,
+        0x082F63B7, 0xFA44E0B4, 0xE9141340, 0x1B7F9043, 0xCFB5F4A8, 0x3DDE77AB, 0x2E8E845F, 0xDCE5075C,
+        0x92A8FC17, 0x60C37F14, 0x73938CE0, 0x81F80FE3, 0x55326B08, 0xA759E80B, 0xB4091BFF, 0x466298FC,
+        0x1871A4D8, 0xEA1A27DB, 0xF94AD42F, 0x0B21572C, 0xDFEB33C7, 0x2D80B0C4, 0x3ED04330, 0xCCBBC033,
+        0xA24BB5A6, 0x502036A5, 0x4370C551, 0xB11B4652, 0x65D122B9, 0x97BAA1BA, 0x84EA524E, 0x7681D14D,
+        0x2892ED69, 0xDAF96E6A, 0xC9A99D9E, 0x3BC21E9D, 0xEF087A76, 0x1D63F975, 0x0E330A81, 0xFC588982,
+        0xB21572C9, 0x407EF1CA, 0x532E023E, 0xA145813D, 0x758FE5D6, 0x87E466D5, 0x94B49521, 0x66DF1622,
+        0x38CC2A06, 0xCAA7A905, 0xD9F75AF1, 0x2B9CD9F2, 0xFF56BD19, 0x0D3D3E1A, 0x1E6DCDEE, 0xEC064EED,
+        0xC38D26C4, 0x31E6A5C7, 0x22B65633, 0xD0DDD530, 0x0417B1DB, 0xF67C32D8, 0xE52CC12C, 0x1747422F,
+        0x49547E0B, 0xBB3FFD08, 0xA86F0EFC, 0x5A048DFF, 0x8ECEE914, 0x7CA56A17, 0x6FF599E3, 0x9D9E1AE0,
+        0xD3D3E1AB, 0x21B862A8, 0x32E8915C, 0xC083125F, 0x144976B4, 0xE622F5B7, 0xF5720643, 0x07198540,
+        0x590AB964, 0xAB613A67, 0xB831C993, 0x4A5A4A90, 0x9E902E7B, 0x6CFBAD78, 0x7FAB5E8C, 0x8DC0DD8F,
+        0xE330A81A, 0x115B2B19, 0x020BD8ED, 0xF0605BEE, 0x24AA3F05, 0xD6C1BC06, 0xC5914FF2, 0x37FACCF1,
+        0x69E9F0D5, 0x9B8273D6, 0x88D28022, 0x7AB90321, 0xAE7367CA, 0x5C18E4C9, 0x4F48173D, 0xBD23943E,
+        0xF36E6F75, 0x0105EC76, 0x12551F82, 0xE03E9C81, 0x34F4F86A, 0xC69F7B69, 0xD5CF889D, 0x27A40B9E,
+        0x79B737BA, 0x8BDCB4B9, 0x988C474D, 0x6AE7C44E, 0xBE2DA0A5, 0x4C4623A6, 0x5F16D052, 0xAD7D5351,
+    ]
+\end{minted}
+\end{samepage}

specification/application/functions.tex

@@ -302,7 +302,7 @@ \subsection{Internet/LAN forwarding interface}
 
 \DSDL{uavcan.internet.* --index-only}
 
-\subsection{Meta-transport}
+\subsection{Meta-transport}\label{sec:application_functions_metatransport}
 
 Data types defined in the namespace \DSDLReference{uavcan.metatransport}
 (see table~\ref{table:dsdl:uavcan.metatransport})