(theoretically) got encoders working
Everything up to sending all 8 encoder values should work now (including
the packet format + header information, bootloader (fixed some bugs in
the UART code for that), etc).
diff --git a/bbb_cape/src/cape/crc.h b/bbb_cape/src/cape/crc.h
new file mode 100644
index 0000000..2aeed82
--- /dev/null
+++ b/bbb_cape/src/cape/crc.h
@@ -0,0 +1,13 @@
+#ifndef CAPE_CRC_H_
+#define CAPE_CRC_H_
+
+#include <stdint.h>
+#include <sys/types.h>
+
+void crc_init(void);
+
+// The second argument is the number of words to checksum, NOT the number of
+// bytes.
+uint32_t crc_calculate(uint32_t *restrict data, size_t words);
+
+#endif // CAPE_CRC_H_