openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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/* sha.c
**
** Copyright 2013, The Android Open Source Project
**
** Redistribution and use in source and binary forms, with or without
** modification, are permitted provided that the following conditions are met:
** * Redistributions of source code must retain the above copyright
** notice, this list of conditions and the following disclaimer.
** * 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.
** * Neither the name of Google Inc. 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 Google Inc. ``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 Google Inc. 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.
*/
// Optimized for minimal code size.
void *memcpy(void *str1, const void *str2, unsigned int n);
#include "sha.h"
#define rol(bits, value) (((value) << (bits)) | ((value) >> (32 - (bits))))
static void SHA1_Transform(SHA_CTX* ctx) {
uint32_t W[80];
uint32_t A, B, C, D, E;
uint8_t* p = ctx->buf;
int t;
for(t = 0; t < 16; ++t) {
uint32_t tmp = *p++ << 24;
tmp |= *p++ << 16;
tmp |= *p++ << 8;
tmp |= *p++;
W[t] = tmp;
}
for(; t < 80; t++) {
W[t] = rol(1,W[t-3] ^ W[t-8] ^ W[t-14] ^ W[t-16]);
}
A = ctx->state[0];
B = ctx->state[1];
C = ctx->state[2];
D = ctx->state[3];
E = ctx->state[4];
for(t = 0; t < 80; t++) {
uint32_t tmp = rol(5,A) + E + W[t];
if (t < 20)
tmp += (D^(B&(C^D))) + 0x5A827999;
else if ( t < 40)
tmp += (B^C^D) + 0x6ED9EBA1;
else if ( t < 60)
tmp += ((B&C)|(D&(B|C))) + 0x8F1BBCDC;
else
tmp += (B^C^D) + 0xCA62C1D6;
E = D;
D = C;
C = rol(30,B);
B = A;
A = tmp;
}
ctx->state[0] += A;
ctx->state[1] += B;
ctx->state[2] += C;
ctx->state[3] += D;
ctx->state[4] += E;
}
static const HASH_VTAB SHA_VTAB = {
SHA_init,
SHA_update,
SHA_final,
SHA_hash,
SHA_DIGEST_SIZE
};
void SHA_init(SHA_CTX* ctx) {
ctx->f = &SHA_VTAB;
ctx->state[0] = 0x67452301;
ctx->state[1] = 0xEFCDAB89;
ctx->state[2] = 0x98BADCFE;
ctx->state[3] = 0x10325476;
ctx->state[4] = 0xC3D2E1F0;
ctx->count = 0;
}
void SHA_update(SHA_CTX* ctx, const void* data, int len) {
int i = (int) (ctx->count & 63);
const uint8_t* p = (const uint8_t*)data;
ctx->count += len;
while (len--) {
ctx->buf[i++] = *p++;
if (i == 64) {
SHA1_Transform(ctx);
i = 0;
}
}
}
const uint8_t* SHA_final(SHA_CTX* ctx) {
uint8_t *p = ctx->buf;
uint64_t cnt = ctx->count * 8;
int i;
SHA_update(ctx, (uint8_t*)"\x80", 1);
while ((ctx->count & 63) != 56) {
SHA_update(ctx, (uint8_t*)"\0", 1);
}
for (i = 0; i < 8; ++i) {
uint8_t tmp = (uint8_t) (cnt >> ((7 - i) * 8));
SHA_update(ctx, &tmp, 1);
}
for (i = 0; i < 5; i++) {
uint32_t tmp = ctx->state[i];
*p++ = tmp >> 24;
*p++ = tmp >> 16;
*p++ = tmp >> 8;
*p++ = tmp >> 0;
}
return ctx->buf;
}
/* Convenience function */
const uint8_t* SHA_hash(const void* data, int len, uint8_t* digest) {
SHA_CTX ctx;
SHA_init(&ctx);
SHA_update(&ctx, data, len);
memcpy(digest, SHA_final(&ctx), SHA_DIGEST_SIZE);
return digest;
}