Alexandre Salconi-Denis / Mbed 2 deprecated ProjetOctopode

Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.

Dependencies:   debug mbed

CtrlBridge

  • fonction quelquonque pour communiquer avec les module
  • fonction quelquonque pour faire des recherche dans les module dispo
  • autre fonction pour jouer avec MemRegistre

Version 1.2.0

  • Ajout d'un mode de simulation pour tester le code avec seulement un contrôleur stm32

source/CRC16.cpp@41:0b5c14dda54a, 2017-01-31 (annotated)

Committer:
salco
Date:
Tue Jan 31 13:15:42 2017 +0000
Revision:
41:0b5c14dda54a
Parent:
15:91b3c572d9df 
Tentative de modifier les commit inutile sur debug.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
salco 15:91b3c572d9df 1 #include "CRC16.h"
salco 15:91b3c572d9df 2
salco 15:91b3c572d9df 3 /*
salco 15:91b3c572d9df 4 * FUNCTION: calcCRC calculates a 2-byte CRC on serial data using
salco 15:91b3c572d9df 5 * CRC-CCITT 16-bit standard maintained by the ITU
salco 15:91b3c572d9df 6 * ARGUMENTS: queue_ptr is pointer to queue holding are a to be CRCed
salco 15:91b3c572d9df 7 * queue_size is offset into buffer where to stop CRC calculation
salco 15:91b3c572d9df 8 * RETURNS: 2-byte CRC
salco 15:91b3c572d9df 9 */
salco 15:91b3c572d9df 10
salco 15:91b3c572d9df 11 #define POLY 0x8005//0x8408
salco 15:91b3c572d9df 12 /*
salco 15:91b3c572d9df 13 // 16 12 5
salco 15:91b3c572d9df 14 // this is the CCITT CRC 16 polynomial X + X + X + 1.
salco 15:91b3c572d9df 15 // This works out to be 0x1021, but the way the algorithm works
salco 15:91b3c572d9df 16 // lets us use 0x8408 (the reverse of the bit pattern). The high
salco 15:91b3c572d9df 17 // bit is always assumed to be set, thus we only use 16 bits to
salco 15:91b3c572d9df 18 // represent the 17 bit value.
salco 15:91b3c572d9df 19 */
salco 15:91b3c572d9df 20
salco 15:91b3c572d9df 21
salco 15:91b3c572d9df 22 uint16_t CRC16_BUYPASS(const char *data, size_t len) {
salco 15:91b3c572d9df 23 uint16_t crc = 0x0000;
salco 15:91b3c572d9df 24 size_t j;
salco 15:91b3c572d9df 25 int i;
salco 15:91b3c572d9df 26 for (j=len; j>0; j--) {
salco 15:91b3c572d9df 27 crc ^= (uint16_t)(*data++) << 8;
salco 15:91b3c572d9df 28 for (i=0; i<8; i++) {
salco 15:91b3c572d9df 29 if (crc & 0x8000) crc = (crc<<1) ^ 0x8005;
salco 15:91b3c572d9df 30 else crc <<= 1;
salco 15:91b3c572d9df 31 }
salco 15:91b3c572d9df 32 }
salco 15:91b3c572d9df 33 return (crc);
salco 15:91b3c572d9df 34 }
salco 15:91b3c572d9df 35
salco 15:91b3c572d9df 36 /*int main() {
salco 15:91b3c572d9df 37 uint8_t test[9] = {0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39};
salco 15:91b3c572d9df 38 uint8_t tgil[29] = {0x00,0x0B,0x01,0x0E,0x01,0xC6,0x00,0x00,0x00,0x00,
salco 15:91b3c572d9df 39 0x00,0x00,0x33,0x31,0x30,0x31,0x34,0x31,0x30,0x30,
salco 15:91b3c572d9df 40 0x41,0x00,0x00,0x04,0x24,0x14,0x16,0x06,0x49};
salco 15:91b3c572d9df 41 uint16_t crc;
salco 15:91b3c572d9df 42 crc = CRC16_BUYPASS(test, 9);
salco 15:91b3c572d9df 43 //printf("Rocksoft check value: 0x%04X, test ", crc);
salco 15:91b3c572d9df 44 //if (crc==0xFEE8) printf("passed.\n"); else printf("failed!\n");
salco 15:91b3c572d9df 45 crc = CRC16_BUYPASS(tgil, 29);
salco 15:91b3c572d9df 46 //printf("CRC gil's data: 0x%04X\n", crc);
salco 15:91b3c572d9df 47 return 0;
salco 15:91b3c572d9df 48 } */
salco 15:91b3c572d9df 49
salco 15:91b3c572d9df 50 unsigned short calculateCRC16(const char *data_p, unsigned short length)
salco 15:91b3c572d9df 51 {
salco 15:91b3c572d9df 52 unsigned char i;
salco 15:91b3c572d9df 53 unsigned int data;
salco 15:91b3c572d9df 54 unsigned int crc = 0xffff;
salco 15:91b3c572d9df 55
salco 15:91b3c572d9df 56 if (length == 0)
salco 15:91b3c572d9df 57 return (~crc);
salco 15:91b3c572d9df 58
salco 15:91b3c572d9df 59 do
salco 15:91b3c572d9df 60 {
salco 15:91b3c572d9df 61 for (i=0, data=(unsigned int)0xff & *data_p++;
salco 15:91b3c572d9df 62 i < 8;
salco 15:91b3c572d9df 63 i++, data >>= 1)
salco 15:91b3c572d9df 64 {
salco 15:91b3c572d9df 65 if ((crc & 0x0001) ^ (data & 0x0001))
salco 15:91b3c572d9df 66 crc = (crc >> 1) ^ POLY;
salco 15:91b3c572d9df 67 else crc >>= 1;
salco 15:91b3c572d9df 68 }
salco 15:91b3c572d9df 69 } while (--length);
salco 15:91b3c572d9df 70
salco 15:91b3c572d9df 71 crc = ~crc;
salco 15:91b3c572d9df 72 data = crc;
salco 15:91b3c572d9df 73 crc = (crc << 8) | (data >> 8 & 0xff);
salco 15:91b3c572d9df 74
salco 15:91b3c572d9df 75 return (crc);
salco 15:91b3c572d9df 76 }