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AP_RobotisServo: Move crc16-ibm CRC calculation method to a common class

This commit is contained in:
murata 2021-06-06 15:16:29 +09:00 committed by Peter Barker
parent d22e3a1f52
commit ddfd4a2e9e
2 changed files with 2 additions and 56 deletions
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57
libraries/AP_RobotisServo/AP_RobotisServo.cpp
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@ -144,59 +144,6 @@ void AP_RobotisServo::init(void)
} }
} }
/*
calculate Robotis protocol CRC
*/
uint16_t AP_RobotisServo::update_crc(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size)
{
uint16_t i;
static const uint16_t crc_table[256] = {0x0000,
0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027,
0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D,
0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B,
0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9,
0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF,
0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5,
0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, 0x8093,
0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197,
0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE,
0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB,
0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6, 0x01DC, 0x81D9,
0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F,
0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, 0x0176,
0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, 0x8123,
0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104,
0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D,
0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A, 0x832B,
0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F, 0x036A,
0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356, 0x035C,
0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5,
0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, 0x83F3,
0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7,
0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E,
0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, 0x829B,
0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9,
0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6, 0x02EC,
0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, 0x82D5,
0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243,
0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264,
0x8261, 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E,
0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, 0x0208,
0x820D, 0x8207, 0x0202 };
for (uint16_t j = 0; j < data_blk_size; j++) {
i = ((uint16_t)(crc_accum >> 8) ^ *data_blk_ptr++) & 0xFF;
crc_accum = (crc_accum << 8) ^ crc_table[i];
}
return crc_accum;
}
/* /*
addStuffing() from Robotis SDK. This pads the packet as required by the protocol addStuffing() from Robotis SDK. This pads the packet as required by the protocol
*/ */
@ -261,7 +208,7 @@ void AP_RobotisServo::send_packet(uint8_t *txpacket)
txpacket[PKT_RESERVED] = 0x00; txpacket[PKT_RESERVED] = 0x00;
// add CRC16 // add CRC16
uint16_t crc = update_crc(0, txpacket, total_packet_length - 2); // 2: CRC16 uint16_t crc = crc_crc16_ibm(0, txpacket, total_packet_length - 2); // 2: CRC16
txpacket[total_packet_length - 2] = DXL_LOBYTE(crc); txpacket[total_packet_length - 2] = DXL_LOBYTE(crc);
txpacket[total_packet_length - 1] = DXL_HIBYTE(crc); txpacket[total_packet_length - 1] = DXL_HIBYTE(crc);
@ -367,7 +314,7 @@ void AP_RobotisServo::read_bytes(void)
// check CRC // check CRC
const uint16_t crc = DXL_MAKEWORD(pktbuf[total_packet_length-2], pktbuf[total_packet_length-1]); const uint16_t crc = DXL_MAKEWORD(pktbuf[total_packet_length-2], pktbuf[total_packet_length-1]);
const uint16_t calc_crc = update_crc(0, pktbuf, total_packet_length - 2); const uint16_t calc_crc = crc_crc16_ibm(0, pktbuf, total_packet_length - 2);
if (calc_crc != crc) { if (calc_crc != crc) {
memmove(pktbuf, &pktbuf[total_packet_length], pktbuf_ofs - total_packet_length); memmove(pktbuf, &pktbuf[total_packet_length], pktbuf_ofs - total_packet_length);
pktbuf_ofs -= total_packet_length; pktbuf_ofs -= total_packet_length;

1
libraries/AP_RobotisServo/AP_RobotisServo.h
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@ -42,7 +42,6 @@ private:
void init(void); void init(void);
void detect_servos(); void detect_servos();
uint16_t update_crc(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size);
void add_stuffing(uint8_t *packet); void add_stuffing(uint8_t *packet);
void send_packet(uint8_t *txpacket); void send_packet(uint8_t *txpacket);
void read_bytes(); void read_bytes();