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Merge pull request #3838 from martinbudden/bf_rx_crc

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Use common code for rx CRC calculations
This commit is contained in:
jflyper 2017-11-07 14:06:13 +08:00 • committed by GitHub
commit 884e58d0f5
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2 changed files with 13 additions and 59 deletions
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19
src/main/rx/sumd.c
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@ -23,6 +23,7 @@
#ifdef SERIAL_RX
#include "common/crc.h"
#include "common/utils.h"
#include "drivers/time.h"
@ -50,22 +51,6 @@ static bool sumdFrameDone = false;
static uint16_t sumdChannels[SUMD_MAX_CHANNEL];
static uint16_t crc;
#define CRC_POLYNOME 0x1021
// CRC calculation, adds a 8 bit unsigned to 16 bit crc
static void CRC16(uint8_t value)
{
uint8_t i;
crc = crc ^ (int16_t)value << 8;
for (i = 0; i < 8; i++) {
if (crc & 0x8000)
crc = (crc << 1) ^ CRC_POLYNOME;
else
crc = (crc << 1);
}
}
static uint8_t sumd[SUMD_BUFFSIZE] = { 0, };
static uint8_t sumdChannelCount;
@ -96,7 +81,7 @@ static void sumdDataReceive(uint16_t c)
sumd[sumdIndex] = (uint8_t)c;
sumdIndex++;
if (sumdIndex < sumdChannelCount * 2 + 4)
CRC16((uint8_t)c);
crc = crc16_ccitt(crc, (uint8_t)c);
else
if (sumdIndex == sumdChannelCount * 2 + 5) {
sumdIndex = 0;

53
src/main/rx/xbus.c
View file

@ -23,6 +23,8 @@
#ifdef SERIAL_RX
#include "common/crc.h"
#include "drivers/time.h"
#include "io/serial.h"
@ -50,9 +52,6 @@
#define XBUS_RJ01_MESSAGE_LENGTH 30
#define XBUS_RJ01_OFFSET_BYTES 3
#define XBUS_CRC_AND_VALUE 0x8000
#define XBUS_CRC_POLY 0x1021
#define XBUS_BAUDRATE 115200
#define XBUS_RJ01_BAUDRATE 250000
#define XBUS_MAX_FRAME_TIME 8000
@ -85,34 +84,14 @@ static uint8_t xBusProvider;
// Use max values for ram areas
static volatile uint8_t xBusFrame[XBUS_FRAME_SIZE_A2]; //siz 35 for 16 channels in xbus_Mode_B
static volatile uint8_t xBusFrame[XBUS_FRAME_SIZE_A2]; //size 35 for 16 channels in xbus_Mode_B
static uint16_t xBusChannelData[XBUS_RJ01_CHANNEL_COUNT];
// The xbus mode B CRC calculations
static uint16_t xBusCRC16(uint16_t crc, uint8_t value)
{
uint8_t i;
crc = crc ^ (int16_t)value << 8;
for (i = 0; i < 8; i++) {
if (crc & XBUS_CRC_AND_VALUE) {
crc = crc << 1 ^ XBUS_CRC_POLY;
} else {
crc = crc << 1;
}
}
return crc;
}
// Full RJ01 message CRC calculations
uint8_t xBusRj01CRC8(uint8_t inData, uint8_t seed)
static uint8_t xBusRj01CRC8(uint8_t inData, uint8_t seed)
{
uint8_t bitsLeft;
uint8_t temp;
for (bitsLeft = 8; bitsLeft > 0; bitsLeft--) {
temp = ((seed ^ inData) & 0x01);
for (uint8_t bitsLeft = 8; bitsLeft > 0; bitsLeft--) {
const uint8_t temp = ((seed ^ inData) & 0x01);
if (temp == 0) {
seed >>= 1;
@ -132,27 +111,18 @@ uint8_t xBusRj01CRC8(uint8_t inData, uint8_t seed)
static void xBusUnpackModeBFrame(uint8_t offsetBytes)
{
// Calculate the CRC of the incoming frame
uint16_t crc = 0;
uint16_t inCrc = 0;
uint8_t i = 0;
uint16_t value;
uint8_t frameAddr;
// Calculate on all bytes except the final two CRC bytes
for (i = 0; i < xBusFrameLength - 2; i++) {
inCrc = xBusCRC16(inCrc, xBusFrame[i+offsetBytes]);
}
const uint16_t inCrc = crc16_ccitt_update(0, (uint8_t*)&xBusFrame[offsetBytes], xBusFrameLength - 2);
// Get the received CRC
crc = ((uint16_t)xBusFrame[offsetBytes + xBusFrameLength - 2]) << 8;
crc = crc + ((uint16_t)xBusFrame[offsetBytes + xBusFrameLength - 1]);
const uint16_t crc = (((uint16_t)xBusFrame[offsetBytes + xBusFrameLength - 2]) << 8) + ((uint16_t)xBusFrame[offsetBytes + xBusFrameLength - 1]);
if (crc == inCrc) {
// Unpack the data, we have a valid frame, only 12 channel unpack also when receive 16 channel
for (i = 0; i < xBusChannelCount; i++) {
for (int i = 0; i < xBusChannelCount; i++) {
frameAddr = offsetBytes + 1 + i * 2;
value = ((uint16_t)xBusFrame[frameAddr]) << 8;
const uint8_t frameAddr = offsetBytes + 1 + i * 2;
uint16_t value = ((uint16_t)xBusFrame[frameAddr]) << 8;
value = value + ((uint16_t)xBusFrame[frameAddr + 1]);
// Convert to internal format
@ -161,7 +131,6 @@ static void xBusUnpackModeBFrame(uint8_t offsetBytes)
xBusFrameReceived = true;
}
}
static void xBusUnpackRJ01Frame(void)