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diff --git a/control_lib/CRC16_D16.v b/control_lib/CRC16_D16.v
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+///////////////////////////////////////////////////////////////////////
+// File:  CRC16_D16.v                             
+// Date:  Sun Jun 17 06:42:55 2007                                                      
+//                                                                     
+// Copyright (C) 1999-2003 Easics NV.                 
+// This source file may be used and distributed without restriction    
+// provided that this copyright statement is not removed from the file 
+// and that any derivative work contains the original copyright notice
+// and the associated disclaimer.
+//
+// THIS SOURCE FILE IS PROVIDED "AS IS" AND WITHOUT ANY EXPRESS
+// OR IMPLIED WARRANTIES, INCLUDING, WITHOUT LIMITATION, THE IMPLIED
+// WARRANTIES OF MERCHANTIBILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Purpose: Verilog module containing a synthesizable CRC function
+//   * polynomial: (0 5 12 16)
+//   * data width: 16
+//                                                                     
+// Info: tools@easics.be
+//       http://www.easics.com                                  
+///////////////////////////////////////////////////////////////////////
+
+
+module CRC16_D16
+  (input [15:0] Data,
+   input [15:0] CRC,
+   output [15:0] NewCRC);
+
+   assign 	 NewCRC = nextCRC16_D16(Data,CRC);
+   
+  // polynomial: (0 5 12 16)
+  // data width: 16
+  // convention: the first serial data bit is D[15]
+  function [15:0] nextCRC16_D16;
+
+    input [15:0] Data;
+    input [15:0] CRC;
+
+    reg [15:0] D;
+    reg [15:0] C;
+    reg [15:0] NewCRC;
+
+  begin
+
+    D = Data;
+    C = CRC;
+
+    NewCRC[0] = D[12] ^ D[11] ^ D[8] ^ D[4] ^ D[0] ^ C[0] ^ C[4] ^ 
+                C[8] ^ C[11] ^ C[12];
+    NewCRC[1] = D[13] ^ D[12] ^ D[9] ^ D[5] ^ D[1] ^ C[1] ^ C[5] ^ 
+                C[9] ^ C[12] ^ C[13];
+    NewCRC[2] = D[14] ^ D[13] ^ D[10] ^ D[6] ^ D[2] ^ C[2] ^ C[6] ^ 
+                C[10] ^ C[13] ^ C[14];
+    NewCRC[3] = D[15] ^ D[14] ^ D[11] ^ D[7] ^ D[3] ^ C[3] ^ C[7] ^ 
+                C[11] ^ C[14] ^ C[15];
+    NewCRC[4] = D[15] ^ D[12] ^ D[8] ^ D[4] ^ C[4] ^ C[8] ^ C[12] ^ 
+                C[15];
+    NewCRC[5] = D[13] ^ D[12] ^ D[11] ^ D[9] ^ D[8] ^ D[5] ^ D[4] ^ 
+                D[0] ^ C[0] ^ C[4] ^ C[5] ^ C[8] ^ C[9] ^ C[11] ^ C[12] ^ 
+                C[13];
+    NewCRC[6] = D[14] ^ D[13] ^ D[12] ^ D[10] ^ D[9] ^ D[6] ^ D[5] ^ 
+                D[1] ^ C[1] ^ C[5] ^ C[6] ^ C[9] ^ C[10] ^ C[12] ^ 
+                C[13] ^ C[14];
+    NewCRC[7] = D[15] ^ D[14] ^ D[13] ^ D[11] ^ D[10] ^ D[7] ^ D[6] ^ 
+                D[2] ^ C[2] ^ C[6] ^ C[7] ^ C[10] ^ C[11] ^ C[13] ^ 
+                C[14] ^ C[15];
+    NewCRC[8] = D[15] ^ D[14] ^ D[12] ^ D[11] ^ D[8] ^ D[7] ^ D[3] ^ 
+                C[3] ^ C[7] ^ C[8] ^ C[11] ^ C[12] ^ C[14] ^ C[15];
+    NewCRC[9] = D[15] ^ D[13] ^ D[12] ^ D[9] ^ D[8] ^ D[4] ^ C[4] ^ 
+                C[8] ^ C[9] ^ C[12] ^ C[13] ^ C[15];
+    NewCRC[10] = D[14] ^ D[13] ^ D[10] ^ D[9] ^ D[5] ^ C[5] ^ C[9] ^ 
+                 C[10] ^ C[13] ^ C[14];
+    NewCRC[11] = D[15] ^ D[14] ^ D[11] ^ D[10] ^ D[6] ^ C[6] ^ C[10] ^ 
+                 C[11] ^ C[14] ^ C[15];
+    NewCRC[12] = D[15] ^ D[8] ^ D[7] ^ D[4] ^ D[0] ^ C[0] ^ C[4] ^ C[7] ^ 
+                 C[8] ^ C[15];
+    NewCRC[13] = D[9] ^ D[8] ^ D[5] ^ D[1] ^ C[1] ^ C[5] ^ C[8] ^ C[9];
+    NewCRC[14] = D[10] ^ D[9] ^ D[6] ^ D[2] ^ C[2] ^ C[6] ^ C[9] ^ C[10];
+    NewCRC[15] = D[11] ^ D[10] ^ D[7] ^ D[3] ^ C[3] ^ C[7] ^ C[10] ^ 
+                 C[11];
+
+    nextCRC16_D16 = NewCRC;
+
+  end
+
+  endfunction
+
+endmodule
+