/* * canframelen.c * * Copyright (c) 2013, 2014 Czech Technical University in Prague * * Author: Michal Sojka * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * 3. Neither the name of Czech Technical University in Prague nor the * names of its contributors may be used to endorse or promote * products derived from this software without specific prior * written permission. * * Alternatively, provided that this notice is retained in full, this * software may be distributed under the terms of the GNU General * Public License ("GPL") version 2, in which case the provisions of the * GPL apply INSTEAD OF those given above. * * The provided data structures and external interfaces from this code * are not restricted to be used by modules with a GPL compatible license. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH * DAMAGE. * * Send feedback to * */ #include "canframelen.h" #include #include #include #include #include #include /** * Functions and types for CRC checks. * * Generated on Wed Jan 8 15:14:20 2014, * by pycrc v0.8.1, http://www.tty1.net/pycrc/ * using the configuration: * Width = 15 * Poly = 0x4599 * XorIn = 0x0000 * ReflectIn = False * XorOut = 0x0000 * ReflectOut = False * Algorithm = table-driven *****************************************************************************/ typedef uint16_t crc_t; /** * Static table used for the table_driven implementation. *****************************************************************************/ static const crc_t crc_table[256] = { 0x0000, 0x4599, 0x4eab, 0x0b32, 0x58cf, 0x1d56, 0x1664, 0x53fd, 0x7407, 0x319e, 0x3aac, 0x7f35, 0x2cc8, 0x6951, 0x6263, 0x27fa, 0x2d97, 0x680e, 0x633c, 0x26a5, 0x7558, 0x30c1, 0x3bf3, 0x7e6a, 0x5990, 0x1c09, 0x173b, 0x52a2, 0x015f, 0x44c6, 0x4ff4, 0x0a6d, 0x5b2e, 0x1eb7, 0x1585, 0x501c, 0x03e1, 0x4678, 0x4d4a, 0x08d3, 0x2f29, 0x6ab0, 0x6182, 0x241b, 0x77e6, 0x327f, 0x394d, 0x7cd4, 0x76b9, 0x3320, 0x3812, 0x7d8b, 0x2e76, 0x6bef, 0x60dd, 0x2544, 0x02be, 0x4727, 0x4c15, 0x098c, 0x5a71, 0x1fe8, 0x14da, 0x5143, 0x73c5, 0x365c, 0x3d6e, 0x78f7, 0x2b0a, 0x6e93, 0x65a1, 0x2038, 0x07c2, 0x425b, 0x4969, 0x0cf0, 0x5f0d, 0x1a94, 0x11a6, 0x543f, 0x5e52, 0x1bcb, 0x10f9, 0x5560, 0x069d, 0x4304, 0x4836, 0x0daf, 0x2a55, 0x6fcc, 0x64fe, 0x2167, 0x729a, 0x3703, 0x3c31, 0x79a8, 0x28eb, 0x6d72, 0x6640, 0x23d9, 0x7024, 0x35bd, 0x3e8f, 0x7b16, 0x5cec, 0x1975, 0x1247, 0x57de, 0x0423, 0x41ba, 0x4a88, 0x0f11, 0x057c, 0x40e5, 0x4bd7, 0x0e4e, 0x5db3, 0x182a, 0x1318, 0x5681, 0x717b, 0x34e2, 0x3fd0, 0x7a49, 0x29b4, 0x6c2d, 0x671f, 0x2286, 0x2213, 0x678a, 0x6cb8, 0x2921, 0x7adc, 0x3f45, 0x3477, 0x71ee, 0x5614, 0x138d, 0x18bf, 0x5d26, 0x0edb, 0x4b42, 0x4070, 0x05e9, 0x0f84, 0x4a1d, 0x412f, 0x04b6, 0x574b, 0x12d2, 0x19e0, 0x5c79, 0x7b83, 0x3e1a, 0x3528, 0x70b1, 0x234c, 0x66d5, 0x6de7, 0x287e, 0x793d, 0x3ca4, 0x3796, 0x720f, 0x21f2, 0x646b, 0x6f59, 0x2ac0, 0x0d3a, 0x48a3, 0x4391, 0x0608, 0x55f5, 0x106c, 0x1b5e, 0x5ec7, 0x54aa, 0x1133, 0x1a01, 0x5f98, 0x0c65, 0x49fc, 0x42ce, 0x0757, 0x20ad, 0x6534, 0x6e06, 0x2b9f, 0x7862, 0x3dfb, 0x36c9, 0x7350, 0x51d6, 0x144f, 0x1f7d, 0x5ae4, 0x0919, 0x4c80, 0x47b2, 0x022b, 0x25d1, 0x6048, 0x6b7a, 0x2ee3, 0x7d1e, 0x3887, 0x33b5, 0x762c, 0x7c41, 0x39d8, 0x32ea, 0x7773, 0x248e, 0x6117, 0x6a25, 0x2fbc, 0x0846, 0x4ddf, 0x46ed, 0x0374, 0x5089, 0x1510, 0x1e22, 0x5bbb, 0x0af8, 0x4f61, 0x4453, 0x01ca, 0x5237, 0x17ae, 0x1c9c, 0x5905, 0x7eff, 0x3b66, 0x3054, 0x75cd, 0x2630, 0x63a9, 0x689b, 0x2d02, 0x276f, 0x62f6, 0x69c4, 0x2c5d, 0x7fa0, 0x3a39, 0x310b, 0x7492, 0x5368, 0x16f1, 0x1dc3, 0x585a, 0x0ba7, 0x4e3e, 0x450c, 0x0095 }; /** * Update the crc value with new data. * * \param crc The current crc value. * \param data Pointer to a buffer of \a data_len bytes. * \param data_len Number of bytes in the \a data buffer. * \return The updated crc value. *****************************************************************************/ static crc_t crc_update_bytewise(crc_t crc, const unsigned char *data, size_t data_len) { unsigned int tbl_idx; while (data_len--) { tbl_idx = ((crc >> 7) ^ *data) & 0xff; crc = (crc_table[tbl_idx] ^ (crc << 8)) & 0x7fff; data++; } return crc & 0x7fff; } /** * Update the crc value with new data. * * \param crc The current crc value. * \param data Data value * \param bits The number of most significant bits in data used for CRC calculation * \return The updated crc value. *****************************************************************************/ static crc_t crc_update_bitwise(crc_t crc, uint8_t data, size_t bits) { uint8_t i; bool bit; for (i = 0x80; bits--; i >>= 1) { bit = crc & 0x4000; if (data & i) { bit = !bit; } crc <<= 1; if (bit) { crc ^= 0x4599; } } return crc & 0x7fff; } static crc_t calc_bitmap_crc(uint8_t *bitmap, unsigned start, unsigned end) { crc_t crc = 0; if (start % 8) { crc = crc_update_bitwise(crc, bitmap[start / 8] << (start % 8), 8 - start % 8); start += 8 - start % 8; } crc = crc_update_bytewise(crc, &bitmap[start / 8], (end - start) / 8); crc = crc_update_bitwise(crc, bitmap[end / 8], end % 8); return crc; } static unsigned cfl_exact(struct can_frame *frame) { uint8_t bitmap[16]; unsigned start = 0, end; crc_t crc; uint16_t crc_be; uint8_t mask, lookfor; unsigned i, stuffed; const int8_t clz[32] = /* count of leading zeros in 5 bit numbers */ { 5, 4, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; /* Prepare bitmap */ memset(bitmap, 0, sizeof(bitmap)); if (frame->can_id & CAN_EFF_FLAG) { /* bit 7 0 7 0 7 0 7 0 * bitmap[0-3] |.sBBBBBB BBBBBSIE EEEEEEEE EEEEEEEE| s = SOF, B = Base ID (11 bits), S = SRR, I = IDE, E = Extended ID (18 bits) * bitmap[4-7] |ER10DLC4 00000000 11111111 22222222| R = RTR, 0 = r0, 1 = r1, DLC4 = DLC, Data bytes * bitmap[8-11] |33333333 44444444 55555555 66666666| Data bytes * bitmap[12-15] |77777777 ........ ........ ........| Data bytes */ bitmap[0] = (frame->can_id & CAN_EFF_MASK) >> 23; bitmap[1] = ((frame->can_id >> 18) & 0x3f) << 3 | 3 << 1 | /* SRR, IDE */ ((frame->can_id >> 17) & 0x01); bitmap[2] = (frame->can_id >> 9) & 0xff; bitmap[3] = (frame->can_id >> 1) & 0xff; bitmap[4] = (frame->can_id & 0x1) << 7 | (!!(frame->can_id & CAN_RTR_FLAG)) << 6 | 0 << 4 | /* r1, r0 */ (frame->can_dlc & 0xf); memcpy(&bitmap[5], &frame->data, frame->can_dlc); start = 1; end = 40 + 8*frame->can_dlc; } else { /* bit 7 0 7 0 7 0 7 0 * bitmap[0-3] |.....sII IIIIIIII IRE0DLC4 00000000| s = SOF, I = ID (11 bits), R = RTR, E = IDE, DLC4 = DLC * bitmap[4-7] |11111111 22222222 33333333 44444444| Data bytes * bitmap[8-11] |55555555 66666666 77777777 ........| Data bytes */ bitmap[0] = (frame->can_id & CAN_SFF_MASK) >> 9; bitmap[1] = (frame->can_id >> 1) & 0xff; bitmap[2] = ((frame->can_id << 7) & 0xff) | (!!(frame->can_id & CAN_RTR_FLAG)) << 6 | 0 << 4 | /* IDE, r0 */ (frame->can_dlc & 0xf); memcpy(&bitmap[3], &frame->data, frame->can_dlc); start = 5; end = 24 + 8 * frame->can_dlc; } /* Calc and append CRC */ crc = calc_bitmap_crc(bitmap, start, end); crc_be = htons(crc << 1); assert(end % 8 == 0); memcpy(bitmap + end / 8, &crc_be, 2); end += 15; /* Count stuffed bits */ mask = 0x1f; lookfor = 0; i = start; stuffed = 0; while (i < end) { unsigned change; unsigned bits = (bitmap[i / 8] << 8 | bitmap[i / 8 + 1]) >> (16 - 5 - i % 8); lookfor = lookfor ? 0 : mask; /* We alternate between looking for a series of zeros or ones */ change = (bits & mask) ^ lookfor; /* 1 indicates a change */ if (change) { /* No bit was stuffed here */ i += clz[change]; mask = 0x1f; /* Next look for 5 same bits */ } else { i += (mask == 0x1f) ? 5 : 4; if (i <= end) { stuffed++; mask = 0x1e; /* Next look for 4 bits (5th bit is the stuffed one) */ } } } return end - start + stuffed + 3 + /* CRC del, ACK, ACK del */ 7 + /* EOF */ 3; /* IFS */ } unsigned can_frame_length(struct canfd_frame *frame, enum cfl_mode mode, int mtu) { int eff = (frame->can_id & CAN_EFF_FLAG); if (mtu != CAN_MTU) return 0; /* CANFD is not supported yet */ switch (mode) { case CFL_NO_BITSTUFFING: return (eff ? 67 : 47) + frame->len * 8; case CFL_WORSTCASE: return (eff ? 80 : 55) + frame->len * 10; case CFL_EXACT: return cfl_exact((struct can_frame*)frame); } return 0; /* Unknown mode */ }