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Fix CRC

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This commit is contained in:
Valentin Dabstep 2025-05-13 18:55:55 +03:00
parent 7f29caeb76
commit 1122c97008
2 changed files with 13 additions and 13 deletions
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6
controller/fw/embed/src/flash.cpp
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@ -115,9 +115,9 @@ uint8_t flash_read_word(uint32_t address){
} }
// Wait if flash // Wait if flash
bool validata_crc(FLASH_RECORD* crc){ // bool validata_crc(FLASH_RECORD* crc){
return crc->crc == 0x6933? true : false; // return crc->crc == 0x6933? true : false;
} // }
uint16_t validate_crc16(uint8_t *data, uint32_t length) { uint16_t validate_crc16(uint8_t *data, uint32_t length) {
uint16_t crc = 0xFFFF; // start value for CRC MODBUS uint16_t crc = 0xFFFF; // start value for CRC MODBUS

20
controller/fw/embed/src/main.cpp
View file

@ -117,25 +117,25 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
motor->initFOC(); motor->initFOC();
} }
void send_can_with_id_crc(uint8_t id, uint8_t message_type, const void* data, size_t data_length) { void send_can_with_id_crc(uint8_t id, uint8_t message_type, const void* data, size_t data_length = 7) {
// Create CAN message // Create CAN message
CAN_message_t msg_l; CAN_message_t msg_l;
msg_l.id = id; msg_l.id = id;
// msg_l.len = 8; // Protocol-defined message length // msg_l.len = 8; // Protocol-defined message length
msg_l.buf[0] = message_type; memcpy(&msg_l.buf[0], &message_type, sizeof(uint8_t));
memcpy(&msg_l.buf[1], data, 1); memcpy(&msg_l.buf[1], data, 1);
// Prepare CRC calculation buffer (ID + data) // Prepare CRC calculation buffer (ID + data)
size_t crc_data_size = sizeof(msg_l.id) + 1; size_t crc_data_size = sizeof((uint8_t)msg_l.id) + 2 * sizeof(uint8_t);
uint8_t crc_data[crc_data_size]; uint8_t crc_data[7];
// Copy message ID // Copy message ID
memcpy(crc_data, &msg_l.id, sizeof(msg_l.id)); memcpy(crc_data, (uint8_t*)&msg_l.id, sizeof(uint8_t));
// Copy all data bytes // Copy all data bytes
memcpy(crc_data + sizeof(msg_l.id), data, 1); for(int i = 1;i < 7;i++)
memcpy(crc_data + i,(uint8_t*)&msg_l.buf[i - 1],1);
// Calculate CRC // Calculate CRC
uint16_t crc_value = validate_crc16(crc_data, crc_data_size); uint16_t crc_value = validate_crc16(crc_data, 7);
// Insert CRC into buffer // Insert CRC into buffer
msg_l.buf[6] = crc_value & 0xFF; msg_l.buf[6] = crc_value & 0xFF;
@ -390,7 +390,7 @@ void foc_step(BLDCMotor *motor, Commander *commander) {
flash_rec = load_params(); flash_rec = load_params();
/* For test */ /* For test */
// int value = 73; //addr // int value = 3; //addr
// write_param(addr_id,value); //for update address in firmware // write_param(addr_id,value); //for update address in firmware
// // Load parameters from flash // // Load parameters from flash
// flash_rec = load_params(); // flash_rec = load_params();