fix data PEC, hopefully
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2bb6f989e4
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b9c34c9f49
@ -31,7 +31,7 @@ HAL_StatusTypeDef amsReset() {
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amsWakeUp();
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readCMD(SRST, CMD_EMPTY_BUFFER, 0);
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uint8_t sidbuffer[CMD_BUFFER_SIZE(SID_GROUP_SIZE)] = {};
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/* uint8_t sidbuffer[CMD_BUFFER_SIZE(SID_GROUP_SIZE)] = {};
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if (readCMD(RDSID, sidbuffer, SID_GROUP_SIZE) != HAL_OK) {
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bool nonzero = false;
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for (size_t i = 0; i < N_BMS; i++) {
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@ -61,7 +61,8 @@ HAL_StatusTypeDef amsReset() {
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}
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debug_log_cont(LOG_LEVEL_INFO, "0x%lx%lx ", (uint32_t)(id >> 32), (uint32_t)(id & 0xFFFFFFFF)); //newlib does not support %llu
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}
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}
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} */
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mcuDelay(10);
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amsWakeUp();
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amsStopBalancing();
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@ -1,221 +0,0 @@
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#include <stdint.h>
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//command PEC calculation
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//CRC-15
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//x^15 + x^14 + x^10 + x^8 + x^7 + x^4 + x^3 + 1
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#define INITIAL_COMMAND_PEC 0x0010
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#define INITIAL_DATA_PEC 0x0010
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uint8_t calculateCommandPEC(uint8_t* data, uint8_t datalen);
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uint16_t updateCommandPEC(uint16_t currentPEC, uint8_t din);
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uint8_t checkCommandPEC(uint8_t* data, uint8_t datalen);
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uint8_t calculateDataPEC(uint8_t* data, uint8_t datalen);
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uint16_t updateDataPEC(uint16_t currentPEC, uint8_t din);
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uint8_t checkDataPEC(uint8_t* data, uint8_t datalen);
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uint8_t calculateCommandPEC(uint8_t* data, uint8_t datalen) {
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uint16_t currentpec = INITIAL_COMMAND_PEC;
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if (datalen >= 3) {
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for (int i = 0; i < (datalen - 2); i++) {
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for (int n = 0; n < 8; n++) {
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uint8_t din = data[i] << (n);
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currentpec = updateCommandPEC(currentpec, din);
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}
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}
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data[datalen - 2] = (currentpec >> 7) & 0xFF;
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data[datalen - 1] = (currentpec << 1) & 0xFF;
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return 0;
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} else {
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return 1;
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}
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}
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uint8_t checkCommandPEC(uint8_t* data, uint8_t datalen) {
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if (datalen <= 3) {
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return 255;
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}
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uint16_t currentpec = INITIAL_COMMAND_PEC;
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for (int i = 0; i < (datalen - 2); i++) {
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for (int n = 0; n < 8; n++) {
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uint8_t din = data[i] << (n);
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currentpec = updateCommandPEC(currentpec, din);
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}
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}
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uint8_t pechigh = (currentpec >> 7) & 0xFF;
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uint8_t peclow = (currentpec << 1) & 0xFF;
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if ((pechigh == data[datalen - 2]) && (peclow == data[datalen - 1])) {
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return 0;
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}
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return 1;
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}
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uint16_t updateCommandPEC(uint16_t currentPEC, uint8_t din) {
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din = (din >> 7) & 0x01;
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uint8_t in0 = din ^ ((currentPEC >> 14) & 0x01);
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uint8_t in3 = in0 ^ ((currentPEC >> 2) & 0x01);
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uint8_t in4 = in0 ^ ((currentPEC >> 3) & 0x01);
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uint8_t in7 = in0 ^ ((currentPEC >> 6) & 0x01);
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uint8_t in8 = in0 ^ ((currentPEC >> 7) & 0x01);
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uint8_t in10 = in0 ^ ((currentPEC >> 9) & 0x01);
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uint8_t in14 = in0 ^ ((currentPEC >> 13) & 0x01);
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uint16_t newPEC = 0;
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newPEC |= in14 << 14;
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newPEC |= (currentPEC & (0x01 << 12)) << 1;
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newPEC |= (currentPEC & (0x01 << 11)) << 1;
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newPEC |= (currentPEC & (0x01 << 10)) << 1;
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newPEC |= in10 << 10;
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newPEC |= (currentPEC & (0x01 << 8)) << 1;
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newPEC |= in8 << 8;
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newPEC |= in7 << 7;
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newPEC |= (currentPEC & (0x01 << 5)) << 1;
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newPEC |= (currentPEC & (0x01 << 4)) << 1;
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newPEC |= in4 << 4;
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newPEC |= in3 << 3;
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newPEC |= (currentPEC & (0x01 << 1)) << 1;
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newPEC |= (currentPEC & (0x01)) << 1;
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newPEC |= in0;
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return newPEC;
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}
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//data PEC calculation
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//CRC-10
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//x^10 + x^7 + x^3 + x^2 + x + 1
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uint16_t pec10_calc(bool rx_cmd, int len, uint8_t* data) {
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uint16_t remainder = 16; /* PEC_SEED; 0000010000 */
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uint16_t polynom = 0x8F; /* x10 + x7 + x3 + x2 + x + 1 <- the CRC15 polynomial
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100 1000 1111 48F */
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/* Perform modulo-2 division, a byte at a time. */
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for (uint8_t pbyte = 0; pbyte < len; ++pbyte) {
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/* Bring the next byte into the remainder. */
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remainder ^= (uint16_t)(data[pbyte] << 2);
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/* Perform modulo-2 division, a bit at a time.*/
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for (uint8_t bit_ = 8; bit_ > 0; --bit_) {
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/* Try to divide the current data bit. */
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if ((remainder & 0x200) >
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0) // equivalent to remainder & 2^14 simply check for MSB
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{
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remainder = (uint16_t)((remainder << 1));
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remainder = (uint16_t)(remainder ^ polynom);
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} else {
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remainder = (uint16_t)(remainder << 1);
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}
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}
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}
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if (rx_cmd == true) {
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remainder ^= (uint16_t)((data[len] & 0xFC) << 2);
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/* Perform modulo-2 division, a bit at a time */
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for (uint8_t bit_ = 6; bit_ > 0; --bit_) {
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/* Try to divide the current data bit */
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if ((remainder & 0x200) >
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0) // equivalent to remainder & 2^14 simply check for MSB
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{
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remainder = (uint16_t)((remainder << 1));
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remainder = (uint16_t)(remainder ^ polynom);
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} else {
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remainder = (uint16_t)((remainder << 1));
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}
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}
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}
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return ((uint16_t)(remainder & 0x3FF));
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}
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typedef uint16_t crc;
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crc F_CRC_CalculaCheckSum(uint8_t const AF_Datos[], uint16_t VF_nBytes);
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uint8_t calculateDataPEC(uint8_t* data, uint8_t datalen) {
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if (datalen >= 3) {
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crc currentpec = pec10_calc(true, datalen - 2, data) & 0x3FF; // mask to 10 bits
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// memory layout is [[zeroes], PEC[9:8]], [PEC[7:0]]
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data[datalen - 2] = (currentpec >> 8) & 0xFF;
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data[datalen - 1] = currentpec & 0xFF;
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volatile uint8_t result = pec10_calc(true, datalen, data);
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return 0;
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} else {
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return 1;
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}
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}
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uint8_t checkDataPEC(uint8_t* data, uint8_t len) {
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if (len <= 2) {
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return 255;
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}
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crc currentpec = F_CRC_CalculaCheckSum(data, len);
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return (currentpec == 0) ? 0 : 1;
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}
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static crc F_CRC_ObtenValorDeTabla(uint8_t VP_Pos_Tabla) {
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crc VP_CRCTableValue = 0;
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uint8_t VP_Pos_bit = 0;
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VP_CRCTableValue = ((crc)(VP_Pos_Tabla)) << (10 - 8);
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for (VP_Pos_bit = 0; VP_Pos_bit < 8; VP_Pos_bit++) {
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if (VP_CRCTableValue & (((crc)1) << (10 - 1))) {
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VP_CRCTableValue = (VP_CRCTableValue << 1) ^ 0x8F;
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} else {
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VP_CRCTableValue = (VP_CRCTableValue << 1);
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}
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}
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return ((VP_CRCTableValue));
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}
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crc F_CRC_CalculaCheckSum(uint8_t const AF_Datos[], uint16_t VF_nBytes) {
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crc VP_CRCTableValue = 16;
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int16_t VP_bytes = 0;
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for (VP_bytes = 0; VP_bytes < VF_nBytes; VP_bytes++) {
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VP_CRCTableValue = (VP_CRCTableValue << 8) ^
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F_CRC_ObtenValorDeTabla(
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((uint8_t)((VP_CRCTableValue >> (10 - 8)) & 0xFF)) ^
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AF_Datos[VP_bytes]);
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}
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if ((8 * sizeof(crc)) > 10) {
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VP_CRCTableValue = VP_CRCTableValue & ((((crc)(1)) << 10) - 1);
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}
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return (VP_CRCTableValue ^ 0x0000);
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}
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uint16_t updateDataPEC(uint16_t currentPEC, uint8_t din) {
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din = (din >> 7) & 0x01;
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uint8_t in0 = din ^ ((currentPEC >> 9) & 0x01);
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uint8_t in2 = in0 ^ ((currentPEC >> 1) & 0x01);
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uint8_t in3 = in0 ^ ((currentPEC >> 2) & 0x01);
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uint8_t in7 = in0 ^ ((currentPEC >> 6) & 0x01);
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uint16_t newPEC = 0;
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newPEC |= (currentPEC & (0x01 << 8)) << 1;
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newPEC |= (currentPEC & (0x01 << 7)) << 1;
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newPEC |= in7 << 7;
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newPEC |= (currentPEC & (0x01 << 5)) << 1;
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newPEC |= (currentPEC & (0x01 << 4)) << 1;
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newPEC |= in3 << 3;
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newPEC |= in2 << 2;
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newPEC |= (currentPEC & (0x01)) << 1;
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newPEC |= in0;
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return newPEC;
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}
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@ -13,14 +13,6 @@
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#include <stdint.h>
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#include <strings.h>
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extern uint8_t calculateCommandPEC(uint8_t* data, uint8_t datalen);
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extern uint16_t updateCommandPEC(uint16_t currentPEC, uint8_t din);
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extern uint8_t checkCommandPEC(uint8_t* data, uint8_t datalen);
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extern uint8_t calculateDataPEC(uint8_t* data, uint8_t datalen);
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extern uint16_t updateDataPEC(uint16_t currentPEC, uint8_t din);
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extern uint8_t checkDataPEC(uint8_t* data, uint8_t datalen);
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#define INITIAL_COMMAND_PEC 0x0010
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#define INITIAL_DATA_PEC 0x0010
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@ -49,7 +41,7 @@ static HAL_StatusTypeDef mcuSPITransmitReceive(uint8_t* rxbuffer, uint8_t* txbuf
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return HAL_SPI_TransmitReceive(adbmsspi, txbuffer, rxbuffer, buffersize, ADBMS_SPI_TIMEOUT);
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}
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/* //command PEC calculation
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//command PEC calculation
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//CRC-15
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//x^15 + x^14 + x^10 + x^8 + x^7 + x^4 + x^3 + 1
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@ -89,37 +81,32 @@ static uint8_t checkCommandPEC(uint8_t* data, uint8_t datalen) {
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//x^10 + x^7 + x^3 + x^2 + x + 1
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static uint16_t computeCRC10(const uint8_t* data, size_t length, bool rx_cmd) {
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uint16_t remainder = INITIAL_DATA_PEC;
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const uint16_t poly = 0x8F;
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size_t limit = length;
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uint16_t remainder = INITIAL_DATA_PEC;
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const uint16_t poly = 0x8F;
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if (rx_cmd && (length > 0)) {
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limit = length - 1;
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}
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for (size_t i = 0; i < length; i++) {
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remainder ^= (uint16_t)(data[i] << 2);
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for (int b = 0; b < 8; b++) {
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if (remainder & 0x200) {
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remainder = (uint16_t)((remainder << 1) ^ poly);
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} else {
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remainder <<= 1;
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}
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}
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}
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for (size_t i = 0; i < limit; i++) {
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remainder ^= (uint16_t)(data[i] << 2);
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for (int b = 0; b < 8; b++) {
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if (remainder & 0x200) {
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remainder = (uint16_t)((remainder << 1) ^ poly);
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} else {
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remainder <<= 1;
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}
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}
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}
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// If receiving a command, handle leftover bits
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if (rx_cmd && (length > 0)) {
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remainder ^= (uint16_t)((data[length - 1] & 0xFC) << 2);
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for (int b = 0; b < 6; b++) {
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if (remainder & 0x200) {
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remainder = (uint16_t)((remainder << 1) ^ poly);
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} else {
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remainder <<= 1;
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}
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}
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}
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return (uint16_t)(remainder & 0x3FF);
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// Handle last bits of the last byte if rx_cmd is true
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if (rx_cmd) {
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remainder ^= (uint16_t)((data[length] & 0xFC) << 2);
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for (int b = 0; b < 6; b++) {
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if (remainder & 0x200) {
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remainder = (uint16_t)((remainder << 1) ^ poly);
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} else {
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remainder <<= 1;
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}
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}
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}
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return (uint16_t)(remainder & 0x3FF);
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}
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static uint8_t calculateDataPEC(uint8_t* data, uint8_t datalen) {
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@ -134,7 +121,7 @@ static uint8_t checkDataPEC(uint8_t* data, uint8_t len) {
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if (len <= 2) { return 255; }
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// Zero remainder means a valid CRC.
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return (computeCRC10(data, len, false) == 0) ? 0 : 1;
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} */
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}
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static const char* const HAL_Statuses[] = {"HAL_OK", "HAL_ERROR", "HAL_BUSY", "HAL_TIMEOUT"};
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@ -196,6 +183,8 @@ HAL_StatusTypeDef ___writeCMD(uint16_t command, uint8_t * args, size_t arglen) {
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calculateCommandPEC(args, 4);
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for (size_t i = 0; i < N_BMS; i++) {
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args[BUFFER_BMS_OFFSET(i, arglen) + arglen] = 0; // zero out the PEC
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args[BUFFER_BMS_OFFSET(i, arglen) + arglen + 1] = 0;
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calculateDataPEC(&args[4 + (i * (arglen + 2))], arglen + 2); //DPEC is calculated over the data, not the command, and placed at the end of the data
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}
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