capl实现e2e(crc rollingcounter)

成长中的junier
已于 2025-07-25 16:09:44 修改
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文章标签： capl 自动驾驶 canoe
于 2025-05-08 11:46:44 首次发布
本文链接：https://blog.csdn.net/haojun92/article/details/146476756
我们在做底软测试的时候，有遇到需要发送带crc checksum的报文的情况，比如发送车速信号，再比如测试DTC，下面是用capl简单实现发送带E2E报文的代码。
用的是applILTxPending函数，具体使用方法也可查看vector官方文档，（需要加载对应项目的dbc），那么废话不多说，直接上源码：
/*@!Encoding:936*/
includes
{
  
}

variables
{
  word crcValue;
  word crcValue1;
  word crcValue2;
  word crcValue3;
    // E2E计数器
  byte counter = 0;
  long CRC8_J1850_TABLE[256] = {
0x00, 0x1D, 0x3A, 0x27, 0x74, 0x69, 0x4E, 0x53,
0xE8, 0xF5, 0xD2, 0xCF, 0x9C, 0x81, 0xA6, 0xBB,
0xCD, 0xD0, 0xF7, 0xEA, 0xB9, 0xA4, 0x83, 0x9E,
0x25, 0x38, 0x1F, 0x02, 0x51, 0x4C, 0x6B, 0x76,
0x87, 0x9A, 0xBD, 0xA0, 0xF3, 0xEE, 0xC9, 0xD4,
0x6F, 0x72, 0x55, 0x48, 0x1B, 0x06, 0x21, 0x3C,
0x4A, 0x57, 0x70, 0x6D, 0x3E, 0x23, 0x04, 0x19,
0xA2, 0xBF, 0x98, 0x85, 0xD6, 0xCB, 0xEC, 0xF1,
0x13, 0x0E, 0x29, 0x34, 0x67, 0x7A, 0x5D, 0x40,
0xFB, 0xE6, 0xC1, 0xDC, 0x8F, 0x92, 0xB5, 0xA8,
0xDE, 0xC3, 0xE4, 0xF9, 0xAA, 0xB7, 0x90, 0x8D,
0x36, 0x2B, 0x0C, 0x11, 0x42, 0x5F, 0x78, 0x65,
0x94, 0x89, 0xAE, 0xB3, 0xE0, 0xFD, 0xDA, 0xC7,
0x7C, 0x61, 0x46, 0x5B, 0x08, 0x15, 0x32, 0x2F,
0x59, 0x44, 0x63, 0x7E, 0x2D, 0x30, 0x17, 0x0A,
0xB1, 0xAC, 0x8B, 0x96, 0xC5, 0xD8, 0xFF, 0xE2,
0x26, 0x3B, 0x1C, 0x01, 0x52, 0x4F, 0x68, 0x75,
0xCE, 0xD3, 0xF4, 0xE9, 0xBA, 0xA7, 0x80, 0x9D,
0xEB, 0xF6, 0xD1, 0xCC, 0x9F, 0x82, 0xA5, 0xB8,
0x03, 0x1E, 0x39, 0x24, 0x77, 0x6A, 0x4D, 0x50,
0xA1, 0xBC, 0x9B, 0x86, 0xD5, 0xC8, 0xEF, 0xF2,
0x49, 0x54, 0x73, 0x6E, 0x3D, 0x20, 0x07, 0x1A,
0x6C, 0x71, 0x56, 0x4B, 0x18, 0x05, 0x22, 0x3F,
0x84, 0x99, 0xBE, 0xA3, 0xF0, 0xED, 0xCA, 0xD7,
0x35, 0x28, 0x0F, 0x12, 0x41, 0x5C, 0x7B, 0x66,
0xDD, 0xC0, 0xE7, 0xFA, 0xA9, 0xB4, 0x93, 0x8E,
0xF8, 0xE5, 0xC2, 0xDF, 0x8C, 0x91, 0xB6, 0xAB,
0x10, 0x0D, 0x2A, 0x37, 0x64, 0x79, 0x5E, 0x43,
0xB2, 0xAF, 0x88, 0x95, 0xC6, 0xDB, 0xFC, 0xE1,
0x5A, 0x47, 0x60, 0x7D, 0x2E, 0x33, 0x14, 0x09,
0x7F, 0x62, 0x45, 0x58, 0x0B, 0x16, 0x31, 0x2C,
0x97, 0x8A, 0xAD, 0xB0, 0xE3, 0xFE, 0xD9, 0xC4
  };
  
long CRC16_H1021_Table[256] = 
  {
      /*   0:*/  0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
      /*   8:*/  0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
      /*  16:*/  0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
      /*  24:*/  0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
      /*  32:*/  0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
      /*  40:*/  0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
      /*  48:*/  0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
      /*  56:*/  0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
      /*  64:*/  0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
      /*  72:*/  0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
      /*  80:*/  0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
      /*  88:*/  0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
      /*  96:*/  0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
      /* 104:*/  0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
      /* 112:*/  0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
      /* 120:*/  0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
      /* 128:*/  0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
      /* 136:*/  0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
      /* 144:*/  0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
      /* 152:*/  0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
      /* 160:*/  0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
      /* 168:*/  0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
      /* 176:*/  0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
      /* 184:*/  0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
      /* 192:*/  0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
      /* 200:*/  0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
      /* 208:*/  0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
      /* 216:*/  0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
      /* 224:*/  0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
      /* 232:*/  0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
      /* 240:*/  0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
      /* 248:*/  0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
  };
  byte data_crc[9];
  byte data_crc2[17];
  byte data_crc3[9];
  byte data_crc4[9];
  byte data_crc5[9];
  byte data_crc6[9];
  byte data_crc7[9];
  byte data_crc8[9];
  byte data_crc1[25];
  
}

word PROJ_CRC8 (byte ptr[], byte p_length)
{
  word t_Ret8Crc;
  word t_CRC8_temp;
  byte t_index;

  t_CRC8_temp = 0x00;
  //calculate CRC
  for (t_index = 0; t_index < p_length; t_index++)
  {
    //t_CRC8_temp = (t_CRC8_temp << 8) ^ CRC8_J1850_TABLE[(t_CRC8_temp >> 8) ^ ptr[t_index] & 0xff];
    t_CRC8_temp = CRC8_J1850_TABLE[(t_CRC8_temp ^ ptr[t_index])]& 0xff;
  }

  t_Ret8Crc = t_CRC8_temp;

  return t_Ret8Crc^ 0x00;
 }



word PROJ_CRC16_CCITT_FALSE (byte ptr[], byte p_length)
{
  word t_Ret16Crc;
  word t_CRC16_temp;
  byte t_index;

  t_CRC16_temp = 0xffff;
  //calculate CRC
  for (t_index = 0; t_index < p_length; t_index++)
  {
    t_CRC16_temp = (t_CRC16_temp << 8) ^ CRC16_H1021_Table[(t_CRC16_temp >> 8) ^ ptr[t_index] & 0xff];
  }

  t_Ret16Crc = t_CRC16_temp;

  return t_Ret16Crc^ 0x0000;
 }


 Rollingcounter_LowBit(byte Data[],byte c_pos,int counterStatus,byte &Counter)
{
  byte Counter2;
  if(counterStatus==1)
  {
    if(Counter<14){
      Counter = Counter+1;
    }
    else{
      Counter = 0;
    }
    
    //Counter=(Counter<<4)&0xF0;
  }
  //return  Counter;
}

/*
功能：计算crc；
参数：此回调函数自带参数
返回值：无
*/
dword applILTxPending (long aId, dword aDlc, byte data[])
{
  byte l_Data_LSB,l_Data_LSB1;
  byte l_Data_MSB,l_Data_MSB1;
  char l_Buffer_Counter[50];
  char l_Buffer_Crc[50];
  byte l_Counter[20];
  byte l_CRC[20];
  byte l_CRC1[20];
  byte l_CRC2[20];
  byte l_CRC3[20];
  int dataIndex;
  dword crc;
  word new_data;


  if(aId == 0x4B)//CRC initialization value在byte7（从0开始）,counter在byte6的低字节
  {
    dataIndex = 0; 
    Rollingcounter_LowBit(data,6,1, l_Counter[dataIndex]);
   
    data[1]=l_Counter[dataIndex];
    $VCU_12_VehWhlActTqVld = 0;
    $VCU_12_PtTqMaxVld = 0;
    $VCU_12_VehWhlActTqADSVld = 0;
    $VCU_12_PtTqAvl = 0x1;
    data_crc1[0] = 0x6d;
    data_crc1[1] = 0x00;
    data_crc1[2] = data[1];
    data_crc1[3] = data[2];
    data_crc1[5] = data[4];
    data_crc1[7] = data[6];
    data_crc1[11] = data[10];
    
    crcValue = PROJ_CRC8(data_crc1, 25);
    data[0] = (byte)crcValue;
  }
  if(aId== 0x38){
    
    dataIndex = 1;
    //$TirePressureSystemFailSts = 0x0;
    
    Rollingcounter_LowBit(data,6,1, l_Counter[dataIndex]);
   
    data[1]=l_Counter[dataIndex];
    data_crc2[0] = 0x68;
    data_crc2[1] = 0x00;
    data_crc2[2] = data[1];
    $VCU_ActualGearValidData = 0x1;
    data_crc2[4] = data[3];
    crcValue = PROJ_CRC8(data_crc2, 17);
    data[0]= (byte)crcValue;
  
  }
  
  if(aId== 0x3B){
    
    dataIndex = 2;
    //$TirePressureSystemFailSts = 0x0;
    
    Rollingcounter_LowBit(data,6,1, l_Counter[dataIndex]);
    $VCU_IndcdDriverReqWhlTqStsFA = 0;
    $VCU_ActWheelTorqueStsFA = 0;
    
    data[1]=data[9]=data[17]=data[25]=l_Counter[dataIndex];
    data_crc3[0] = 0x69;
    data_crc3[1] = 0x00;
    data_crc3[2] = data[1];
    data_crc3[3] = data[2];
    data_crc3[7] = data[6];
    data_crc3[8] = data[7];
    crcValue = PROJ_CRC8(data_crc3, 9);
    data[0]= (byte)crcValue;
    
    data_crc4[0] = 0x6A;
    data_crc4[1] = 0x00;
    data_crc4[2] = data[9];
    data_crc4[3] = data[10];
    data_crc4[4] = data[11];
   
    crcValue1 = PROJ_CRC8(data_crc4, 9);
    data[8]= (byte)crcValue1;
    
    data_crc5[0] = 0x6B;
    data_crc5[1] = 0x00;
    data_crc5[2] = data[17];
    data_crc5[4] = data[18];
    data_crc5[5] = data[19];
    data_crc5[6] = data[20];
    crcValue2 = PROJ_CRC8(data_crc5, 9);
    data[16]= (byte)crcValue2;
    
    data_crc6[0] = 0x6C;
    data_crc6[1] = 0x00;
    data_crc6[2] = data[25];
    crcValue3 = PROJ_CRC8(data_crc6, 9);
    data[24]= (byte)crcValue3;
  
  }
  if(aId== 0x264){
    
    dataIndex = 3;
    //$TirePressureSystemFailSts = 0x0;
    
    Rollingcounter_LowBit(data,6,1, l_Counter[dataIndex]);
    $EPB_1_EPBAvlSt = 0x1;
    
    data[1]=data[9]=l_Counter[dataIndex];
    data_crc7[0] = 0x2b;
    data_crc7[1] = 0x00;
    data_crc7[2] = data[1];
    data_crc7[4] = data[3];
    
    crcValue = PROJ_CRC8(data_crc7, 9);
    data[0]= (byte)crcValue;
    
    data_crc8[0] = 0x2c;
    data_crc8[1] = 0x00;
    data_crc8[2] = data[9];
   
   
    crcValue1 = PROJ_CRC8(data_crc8, 9);
    data[8]= (byte)crcValue1;
  }
  
  if(aId== 0x98){
    
    dataIndex = 4;
    //$TirePressureSystemFailSts = 0x0;
    
    Rollingcounter_LowBit(data,6,1, l_Counter[dataIndex]);
    $ESP1_VehicleSpeedVSOSigValidData = 0;
    
    data[1]=data[9]=l_Counter[dataIndex];
    data_crc7[0] = 0x2b;
    data_crc7[1] = 0x00;
    data_crc7[2] = data[1];
    data_crc7[4] = data[3];
    
    crcValue = PROJ_CRC8(data_crc7, 9);
    data[0]= (byte)crcValue;
    data_crc8[0] = 0x2c;
    data_crc8[1] = 0x00;
    data_crc8[2] = data[9];
   
    crcValue1 = PROJ_CRC8(data_crc8, 9);
    data[8]= (byte)crcValue1;
  }
  
  return 1; 
}