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246 lines
9.0 KiB
246 lines
9.0 KiB
#include "opendbc/can/common.h"
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unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
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int s = 0;
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bool extended = address > 0x7FF;
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while (address) { s += (address & 0xF); address >>= 4; }
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for (int i = 0; i < d.size(); i++) {
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uint8_t x = d[i];
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if (i == d.size()-1) x >>= 4; // remove checksum
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s += (x & 0xF) + (x >> 4);
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}
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s = 8-s;
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if (extended) s += 3; // extended can
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return s & 0xF;
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}
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unsigned int toyota_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
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unsigned int s = d.size();
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while (address) { s += address & 0xFF; address >>= 8; }
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for (int i = 0; i < d.size() - 1; i++) { s += d[i]; }
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return s & 0xFF;
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}
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unsigned int subaru_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
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unsigned int s = 0;
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while (address) { s += address & 0xFF; address >>= 8; }
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// skip checksum in first byte
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for (int i = 1; i < d.size(); i++) { s += d[i]; }
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return s & 0xFF;
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}
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unsigned int chrysler_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
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// jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf
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uint8_t checksum = 0xFF;
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for (int j = 0; j < (d.size() - 1); j++) {
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uint8_t shift = 0x80;
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uint8_t curr = d[j];
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for (int i = 0; i < 8; i++) {
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uint8_t bit_sum = curr & shift;
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uint8_t temp_chk = checksum & 0x80U;
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if (bit_sum != 0U) {
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bit_sum = 0x1C;
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if (temp_chk != 0U) {
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bit_sum = 1;
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}
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checksum = checksum << 1;
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temp_chk = checksum | 1U;
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bit_sum ^= temp_chk;
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} else {
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if (temp_chk != 0U) {
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bit_sum = 0x1D;
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}
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checksum = checksum << 1;
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bit_sum ^= checksum;
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}
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checksum = bit_sum;
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shift = shift >> 1;
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}
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}
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return ~checksum & 0xFF;
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}
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// Static lookup table for fast computation of CRCs
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uint8_t crc8_lut_8h2f[256]; // CRC8 poly 0x2F, aka 8H2F/AUTOSAR
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uint16_t crc16_lut_xmodem[256]; // CRC16 poly 0x1021, aka XMODEM
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void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]) {
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uint8_t crc;
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int i, j;
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for (i = 0; i < 256; i++) {
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crc = i;
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for (j = 0; j < 8; j++) {
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if ((crc & 0x80) != 0)
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crc = (uint8_t)((crc << 1) ^ poly);
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else
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crc <<= 1;
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}
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crc_lut[i] = crc;
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}
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}
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void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]) {
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uint16_t crc;
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int i, j;
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for (i = 0; i < 256; i++) {
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crc = i << 8;
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for (j = 0; j < 8; j++) {
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if ((crc & 0x8000) != 0) {
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crc = (uint16_t)((crc << 1) ^ poly);
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} else {
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crc <<= 1;
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}
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}
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crc_lut[i] = crc;
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}
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}
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void init_crc_lookup_tables() {
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// At init time, set up static lookup tables for fast CRC computation.
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gen_crc_lookup_table_8(0x2F, crc8_lut_8h2f); // CRC-8 8H2F/AUTOSAR for Volkswagen
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gen_crc_lookup_table_16(0x1021, crc16_lut_xmodem); // CRC-16 XMODEM for HKG CAN FD
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}
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unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
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// Volkswagen uses standard CRC8 8H2F/AUTOSAR, but they compute it with
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// a magic variable padding byte tacked onto the end of the payload.
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// https://www.autosar.org/fileadmin/user_upload/standards/classic/4-3/AUTOSAR_SWS_CRCLibrary.pdf
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uint8_t crc = 0xFF; // Standard init value for CRC8 8H2F/AUTOSAR
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// CRC the payload first, skipping over the first byte where the CRC lives.
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for (int i = 1; i < d.size(); i++) {
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crc ^= d[i];
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crc = crc8_lut_8h2f[crc];
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}
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// Look up and apply the magic final CRC padding byte, which permutes by CAN
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// address, and additionally (for SOME addresses) by the message counter.
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uint8_t counter = d[1] & 0x0F;
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switch (address) {
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case 0x86: // LWI_01 Steering Angle
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crc ^= (uint8_t[]){0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86}[counter];
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break;
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case 0x9F: // LH_EPS_03 Electric Power Steering
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crc ^= (uint8_t[]){0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5}[counter];
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break;
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case 0xAD: // Getriebe_11 Automatic Gearbox
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crc ^= (uint8_t[]){0x3F, 0x69, 0x39, 0xDC, 0x94, 0xF9, 0x14, 0x64, 0xD8, 0x6A, 0x34, 0xCE, 0xA2, 0x55, 0xB5, 0x2C}[counter];
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break;
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case 0xFD: // ESP_21 Electronic Stability Program
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crc ^= (uint8_t[]){0xB4, 0xEF, 0xF8, 0x49, 0x1E, 0xE5, 0xC2, 0xC0, 0x97, 0x19, 0x3C, 0xC9, 0xF1, 0x98, 0xD6, 0x61}[counter];
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break;
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case 0x106: // ESP_05 Electronic Stability Program
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crc ^= (uint8_t[]){0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07}[counter];
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break;
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case 0x117: // ACC_10 Automatic Cruise Control
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crc ^= (uint8_t[]){0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16}[counter];
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break;
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case 0x120: // TSK_06 Drivetrain Coordinator
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crc ^= (uint8_t[]){0xC4, 0xE2, 0x4F, 0xE4, 0xF8, 0x2F, 0x56, 0x81, 0x9F, 0xE5, 0x83, 0x44, 0x05, 0x3F, 0x97, 0xDF}[counter];
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break;
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case 0x121: // Motor_20 Driver Throttle Inputs
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crc ^= (uint8_t[]){0xE9, 0x65, 0xAE, 0x6B, 0x7B, 0x35, 0xE5, 0x5F, 0x4E, 0xC7, 0x86, 0xA2, 0xBB, 0xDD, 0xEB, 0xB4}[counter];
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break;
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case 0x122: // ACC_06 Automatic Cruise Control
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crc ^= (uint8_t[]){0x37, 0x7D, 0xF3, 0xA9, 0x18, 0x46, 0x6D, 0x4D, 0x3D, 0x71, 0x92, 0x9C, 0xE5, 0x32, 0x10, 0xB9}[counter];
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break;
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case 0x126: // HCA_01 Heading Control Assist
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crc ^= (uint8_t[]){0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA}[counter];
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break;
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case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC
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crc ^= (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
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break;
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case 0x12E: // ACC_07 Automatic Cruise Control
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crc ^= (uint8_t[]){0xF8, 0xE5, 0x97, 0xC9, 0xD6, 0x07, 0x47, 0x21, 0x66, 0xDD, 0xCF, 0x6F, 0xA1, 0x94, 0x74, 0x63}[counter];
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break;
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case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox
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crc ^= (uint8_t[]){0x7F, 0xED, 0x17, 0xC2, 0x7C, 0xEB, 0x44, 0x21, 0x01, 0xFA, 0xDB, 0x15, 0x4A, 0x6B, 0x23, 0x05}[counter];
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break;
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case 0x30C: // ACC_02 Automatic Cruise Control
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crc ^= (uint8_t[]){0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F}[counter];
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break;
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case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
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crc ^= (uint8_t[]){0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C}[counter];
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break;
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case 0x324: // ACC_04 Automatic Cruise Control
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crc ^= (uint8_t[]){0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27}[counter];
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break;
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case 0x3C0: // Klemmen_Status_01 ignition and starting status
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crc ^= (uint8_t[]){0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3}[counter];
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break;
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case 0x65D: // ESP_20 Electronic Stability Program
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crc ^= (uint8_t[]){0xAC, 0xB3, 0xAB, 0xEB, 0x7A, 0xE1, 0x3B, 0xF7, 0x73, 0xBA, 0x7C, 0x9E, 0x06, 0x5F, 0x02, 0xD9}[counter];
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break;
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default: // As-yet undefined CAN message, CRC check expected to fail
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printf("Attempt to CRC check undefined Volkswagen message 0x%02X\n", address);
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crc ^= (uint8_t[]){0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}[counter];
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break;
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}
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crc = crc8_lut_8h2f[crc];
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return crc ^ 0xFF; // Return after standard final XOR for CRC8 8H2F/AUTOSAR
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}
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unsigned int xor_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
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uint8_t checksum = 0;
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int checksum_byte = sig.start_bit / 8;
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// Simple XOR over the payload, except for the byte where the checksum lives.
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for (int i = 0; i < d.size(); i++) {
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if (i != checksum_byte) {
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checksum ^= d[i];
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}
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}
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return checksum;
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}
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unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
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uint8_t crc = 0xFF;
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uint8_t poly = 0xD5; // standard crc8
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// skip checksum byte
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for (int i = d.size()-2; i >= 0; i--) {
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crc ^= d[i];
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for (int j = 0; j < 8; j++) {
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if ((crc & 0x80) != 0) {
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crc = (uint8_t)((crc << 1) ^ poly);
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} else {
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crc <<= 1;
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}
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}
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}
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return crc;
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}
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unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
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uint16_t crc = 0;
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for (int i = 2; i < d.size(); i++) {
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crc = (crc << 8) ^ crc16_lut_xmodem[(crc >> 8) ^ d[i]];
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}
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// Add address to crc
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crc = (crc << 8) ^ crc16_lut_xmodem[(crc >> 8) ^ ((address >> 0) & 0xFF)];
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crc = (crc << 8) ^ crc16_lut_xmodem[(crc >> 8) ^ ((address >> 8) & 0xFF)];
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if (d.size() == 8) {
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crc ^= 0x5f29;
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} else if (d.size() == 16) {
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crc ^= 0x041d;
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} else if (d.size() == 24) {
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crc ^= 0x819d;
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} else if (d.size() == 32) {
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crc ^= 0x9f5b;
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}
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return crc;
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}
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