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smartabs crc

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crinq
2021-09-10 04:06:21 +02:00
parent 713e4647cd
commit 2ce86fa40b
4 changed files with 96 additions and 23 deletions
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1
Makefile
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@@ -133,6 +133,7 @@ SOURCES += src/version.c
SOURCES += src/syscalls.c
SOURCES += shared/crc8.c
SOURCES += shared/crc.c
SOURCES += shared/yaskawa_crc16.c
SOURCES += shared/endat.c
SOURCES += shared/angle.c

4
inc/crc.h Normal file
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@@ -0,0 +1,4 @@
#include <stdint.h>
void calc_crc8_table(uint8_t* crc_table, uint8_t poly);
uint8_t calc_crc8(uint8_t* data, uint32_t len, uint8_t* crc_table);

25
shared/crc.c Normal file
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@@ -0,0 +1,25 @@
#include "crc.h"
void calc_crc8_table(uint8_t* crc_table, uint8_t poly){
for(int i = 0; i < 256; i++){
uint8_t byte = i;
for(int bit = 0; bit < 8; bit++){
if((byte & 0x80) != 0){
byte <<= 1;
byte ^= poly;
}
else{
byte <<= 1;
}
}
crc_table[i] = byte;
}
}
uint8_t calc_crc8(uint8_t* data, uint32_t len, uint8_t* crc_table){
uint8_t crc = 0;
for(int i = 0; i < len; i++){
crc = crc_table[data[i] ^ crc];
}
return crc;
}

89
src/comps/smartabs.c
View File

@@ -12,18 +12,58 @@ HAL_COMP(smartabs);
HAL_PIN(pos);
HAL_PIN(error);
HAL_PIN(state);
HAL_PIN(dma); //dma transfers left
HAL_PIN(a0);
HAL_PIN(a1);
HAL_PIN(a2);
HAL_PIN(a3);
HAL_PIN(a4);
HAL_PIN(a5);
//TODO: state, error
#pragma pack(push, 1)
typedef struct{
uint8_t sink : 3;
uint8_t data_id : 4;
uint8_t data_parity : 1;
} smartabs_cf_t;
typedef struct{
uint8_t info : 4;
uint8_t cnt_err : 1;
uint8_t err : 1;
uint8_t parity_err : 1;
uint8_t delim_err : 1;
} smartabs_sf_t;
typedef struct{
uint8_t req;
smartabs_cf_t cf;
smartabs_sf_t sf;
uint8_t pos[3];
uint8_t crc;
} smartabs_reply_read_0_t;
#pragma pack(pop)
const uint8_t smartabs_crc8_table[] = {
0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F,
0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F,
0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F,
0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F,
0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F,
0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5A, 0x5B, 0x5C, 0x5D, 0x5E, 0x5F,
0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F,
0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7A, 0x7B, 0x7C, 0x7D, 0x7E, 0x7F,
0x80, 0x81, 0x82, 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8A, 0x8B, 0x8C, 0x8D, 0x8E, 0x8F,
0x90, 0x91, 0x92, 0x93, 0x94, 0x95, 0x96, 0x97, 0x98, 0x99, 0x9A, 0x9B, 0x9C, 0x9D, 0x9E, 0x9F,
0xA0, 0xA1, 0xA2, 0xA3, 0xA4, 0xA5, 0xA6, 0xA7, 0xA8, 0xA9, 0xAA, 0xAB, 0xAC, 0xAD, 0xAE, 0xAF,
0xB0, 0xB1, 0xB2, 0xB3, 0xB4, 0xB5, 0xB6, 0xB7, 0xB8, 0xB9, 0xBA, 0xBB, 0xBC, 0xBD, 0xBE, 0xBF,
0xC0, 0xC1, 0xC2, 0xC3, 0xC4, 0xC5, 0xC6, 0xC7, 0xC8, 0xC9, 0xCA, 0xCB, 0xCC, 0xCD, 0xCE, 0xCF,
0xD0, 0xD1, 0xD2, 0xD3, 0xD4, 0xD5, 0xD6, 0xD7, 0xD8, 0xD9, 0xDA, 0xDB, 0xDC, 0xDD, 0xDE, 0xDF,
0xE0, 0xE1, 0xE2, 0xE3, 0xE4, 0xE5, 0xE6, 0xE7, 0xE8, 0xE9, 0xEA, 0xEB, 0xEC, 0xED, 0xEE, 0xEF,
0xF0, 0xF1, 0xF2, 0xF3, 0xF4, 0xF5, 0xF6, 0xF7, 0xF8, 0xF9, 0xFA, 0xFB, 0xFC, 0xFD, 0xFE, 0xFF,
};
struct smartabs_ctx_t {
uint32_t error;
uint8_t rxbuf[15];
union{
smartabs_reply_read_0_t reply;
uint8_t bytes[sizeof(smartabs_reply_read_0_t)];
}rxbuf;
//uint8_t rxbuf[15]
};
static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
@@ -78,7 +118,7 @@ static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t) & (USART6->DR);
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ctx->rxbuf;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = ARRAY_SIZE(ctx->rxbuf);
DMA_InitStructure.DMA_BufferSize = sizeof(ctx->rxbuf);
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
@@ -94,37 +134,40 @@ static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
USART_DMACmd(USART6, USART_DMAReq_Rx, ENABLE);
}
static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
struct smartabs_ctx_t *ctx = (struct smartabs_ctx_t *)ctx_ptr;
struct smartabs_pin_ctx_t *pins = (struct smartabs_pin_ctx_t *)pin_ptr;
PIN(dma) = DMA_GetCurrDataCounter(DMA2_Stream1);
if((sizeof(ctx->rxbuf) - DMA_GetCurrDataCounter(DMA2_Stream1)) == 6) {
PIN(a0) = ctx->rxbuf[0];
PIN(a1) = ctx->rxbuf[1];
PIN(a2) = ctx->rxbuf[2];
PIN(a3) = ctx->rxbuf[3];
PIN(a4) = ctx->rxbuf[4];
PIN(a5) = ctx->rxbuf[5];
uint32_t tpos = ((ctx->rxbuf[4] & 0x01) << 16) + (ctx->rxbuf[3] << 8) + ctx->rxbuf[2];
//stop rx dma
DMA_Cmd(DMA2_Stream1, DISABLE);
DMA_ClearFlag(DMA2_Stream1, DMA_FLAG_TCIF1);
uint8_t crc = calc_crc8(&ctx->rxbuf.reply.cf, 6, smartabs_crc8_table);
if(!crc){
uint32_t tpos = ((ctx->rxbuf.reply.pos[2] & 0x01) << 16) + (ctx->rxbuf.reply.pos[1] << 8) + ctx->rxbuf.reply.pos[0];
PIN(pos) = (tpos * M_PI * 2.0 / 131072.0) - M_PI;
PIN(state) = 3;
PIN(error) = 0;
} else {
}
else{
ctx->error++; //TODO: overflow...
PIN(error) = ctx->error;
PIN(state) = 0.0;
}
//TODO: irq here will cause problems
// destroy old package
ctx->rxbuf.reply.cf.data_id = 0;
__disable_irq();
GPIO_SetBits(GPIOD, GPIO_Pin_15); //tx enable
USART_SendData(USART6, 0x02);
while(USART_GetFlagStatus(USART6, USART_FLAG_TC) == RESET)
;
GPIO_ResetBits(GPIOD, GPIO_Pin_15); //tx disable
//start rx dma
DMA_Cmd(DMA2_Stream1, DISABLE);
DMA_ClearFlag(DMA2_Stream1, DMA_FLAG_TCIF1);
DMA_Cmd(DMA2_Stream1, ENABLE);
__enable_irq();
}