Обновление

CanUds.c

@@ -994,9 +994,12 @@ static uint16_t vUDS_routine_Compare_Checksum(tCanUds *env, eUdsRoutineControlTy
 
     setResponseErrorPending(env, UDS_RoutineControl, UDS_error_requestCorrectlyReceived_ResponsePending);
 
-    uint32_t crc32_calc = UdsCrc32Update(0xFFFFFFFF, (uint8_t *) env->CurrentBlockAdr, env->CurrentBlockSize,
+//    uint32_t crc32_calc = UdsCrc32Update(0xFFFFFFFF, (uint8_t *) env->CurrentBlockAdr, env->CurrentBlockSize,
-                                         SendUpdatePendingCrc, env, 200);
+//                                        SendUpdatePendingCrc, env, 200);
-    crc32_calc = UdsCrc32Finalize(crc32_calc);
+//    crc32_calc = UdsCrc32Finalize(crc32_calc);
+
+    uint32_t crc32_calc = UdsCrc32Update_Hardware(0xFFFFFFFF, (uint8_t *) env->CurrentBlockAdr, env->CurrentBlockSize,
+                                        SendUpdatePendingCrc, env, 200);
 
     uint32_t crc32_received =
             (env->data->data[4] << 24) | (env->data->data[5] << 16) | (env->data->data[6] << 8) | env->data->data[7];
@@ -1089,9 +1092,12 @@ vUDS_routine_Check_Programming_Dependancies(tCanUds *env, eUdsRoutineControlType
 
 
     setResponseErrorPending(env, UDS_RoutineControl, UDS_error_requestCorrectlyReceived_ResponsePending);
-    uint32_t crc32_calc = UdsCrc32Update(0xFFFFFFFF, (uint8_t *) ADR_HEX_Mapped_BlockMain, SIZE_HEX_BlockMain - 4,
+//    uint32_t crc32_calc = UdsCrc32Update(0xFFFFFFFF, (uint8_t *) ADR_HEX_Mapped_BlockMain, SIZE_HEX_BlockMain - 4,
+//                                         SendUpdatePendingCrc, env, 200);
+//    crc32_calc = UdsCrc32Finalize(crc32_calc);
+
+    uint32_t crc32_calc = UdsCrc32Update_Hardware(0xFFFFFFFF, (uint8_t *) ADR_HEX_Mapped_BlockMain, SIZE_HEX_BlockMain - 4,
                                          SendUpdatePendingCrc, env, 200);
-    crc32_calc = UdsCrc32Finalize(crc32_calc);
 
     uint32_t crc32_file = (*(uint32_t *) (ADR_HEX_Mapped_BlockMain + SIZE_HEX_BlockMain - 4));
 
@@ -1102,9 +1108,12 @@ vUDS_routine_Check_Programming_Dependancies(tCanUds *env, eUdsRoutineControlType
     }
 
     setResponseErrorPending(env, UDS_RoutineControl, UDS_error_requestCorrectlyReceived_ResponsePending);
-    crc32_calc = UdsCrc32Update(0xFFFFFFFF, (uint8_t *) ADR_HEX_Mapped_BlockCalib, SIZE_HEX_BlockCalib - 4,
+//    crc32_calc = UdsCrc32Update(0xFFFFFFFF, (uint8_t *) ADR_HEX_Mapped_BlockCalib, SIZE_HEX_BlockCalib - 4,
+//                                SendUpdatePendingCrc, env, 200);
+//    crc32_calc = UdsCrc32Finalize(crc32_calc);
+
+    crc32_calc = UdsCrc32Update_Hardware(0xFFFFFFFF, (uint8_t *) ADR_HEX_Mapped_BlockCalib, SIZE_HEX_BlockCalib - 4,
                                 SendUpdatePendingCrc, env, 200);
-    crc32_calc = UdsCrc32Finalize(crc32_calc);
 
     crc32_file = (*(uint32_t *) (ADR_HEX_Mapped_BlockCalib + SIZE_HEX_BlockCalib - 4));
 
@@ -1879,7 +1888,7 @@ void ReceivedTP_func(void *arg, tCanTP_data *data) {
     }
 
     if (env->isEcuReset) {
-        SystemDelayMs(100);
+//        SystemDelayMs(100);
         NVIC_SystemReset();
     }
 

crc32_uds.c

@@ -2,6 +2,7 @@
 // Created by cfif on 21.04.2026.
 //
 #include "crc32_uds.h"
+#include "fc7xxx_driver_crc.h"
 #include "SystemDelayInterface.h"
 
 // Таблица CRC32, предвычисленная для полинома 0xEDB88320UL (отражённая форма 0x04C11DB7)
@@ -86,4 +87,83 @@ UdsCrc32Update(uint32_t crc, const uint8_t *data, uint32_t len, crc32_update_fun
 
 uint32_t UdsCrc32Finalize(uint32_t crc) {
     return crc ^ 0xFFFFFFFF;
-}
+}
+
+#include "fc7xxx_driver_crc.h"
+
+/**
+ * @brief Hardware CRC-32 update function
+ *
+ * Configuration that works (Test 2):
+ * - Polynomial: 0x04C11DB7 (direct form)
+ * - Write data swap: BYTE_BIT (byte + bit reflection on input)
+ * - Read data swap: BYTE_BIT (byte + bit reflection on output)
+ * - Read data FXOR: FXOR (final XOR with 0xFFFFFFFF)
+ *
+ * This matches the software implementation that uses reflected polynomial 0xEDB88320.
+ *
+ * @param crc Initial CRC value (0xFFFFFFFF for new calculation)
+ * @param data Pointer to data buffer
+ * @param len Length of data in bytes
+ * @param update_func Callback for timeout (can be NULL)
+ * @param update_func_env Environment for callback
+ * @param timeout Timeout in milliseconds
+ * @return uint32_t Updated CRC value
+ */
+uint32_t UdsCrc32Update_Hardware(uint32_t crc, const uint8_t *data, uint32_t len,
+                                 crc32_update_func update_func, void *update_func_env,
+                                 uint32_t timeout)
+{
+    CRC_InitType tInitCfg = {0};
+    uint32_t u32Time = SystemGetMs() + timeout;
+    uint32_t u32Result;
+
+    /* Конфигурация из Test 2 */
+    tInitCfg.u32Polynomial = 0x04C11DB7UL;              /* Прямой полином */
+    tInitCfg.u32SeedValue = crc;                         /* Начальное значение */
+    tInitCfg.eBitWidth = CRC_BIT_32;                     /* 32-битный режим */
+    tInitCfg.eWriteDataSwap = WRITE_DATASWAP_BIT_BYTE;   /* Байтовый + битовый swap на входе */
+    tInitCfg.eReadDataSwap = READ_DATASWAP_BIT_BYTE;     /* Байтовый + битовый swap на выходе */
+    tInitCfg.eReadDataFXOR = READ_DATA_FXOR;             /* Финальная инверсия (XOR 0xFFFFFFFF) */
+
+    CRC_Init(CRC_INSTANCE, &tInitCfg);
+
+    /* Обработка данных 32-битными словами для скорости */
+    while (len >= 4)
+    {
+        uint32_t u32Word = *(const uint32_t*)data;
+        CRC_SetCalcData_U32(CRC_INSTANCE, u32Word);
+
+        if (update_func != NULL)
+        {
+            if (SystemGetMs() > u32Time)
+            {
+                update_func(update_func_env);
+                u32Time = SystemGetMs() + timeout;
+            }
+        }
+
+        data += 4;
+        len -= 4;
+    }
+
+    /* Обработка оставшихся байтов (0-3) */
+    while (len--)
+    {
+        CRC_SetCalcData_U8(CRC_INSTANCE, *data++);
+
+        if (update_func != NULL)
+        {
+            if (SystemGetMs() > u32Time)
+            {
+                update_func(update_func_env);
+                u32Time = SystemGetMs() + timeout;
+            }
+        }
+    }
+
+    /* Получаем результат (уже с FXOR) */
+    u32Result = CRC_GetCrcResult(CRC_INSTANCE);
+
+    return u32Result;
+}

crc32_uds.h

@@ -10,5 +10,8 @@ typedef void (crc32_update_func)(void *update_func_env);
 
 uint32_t UdsCrc32Update(uint32_t crc, const uint8_t *data, uint32_t len, crc32_update_func update_func, void *update_func_env, uint32_t timeout);
 uint32_t UdsCrc32Finalize(uint32_t crc);
+uint32_t UdsCrc32Update_Hardware(uint32_t crc, const uint8_t *data, uint32_t len,
+                                 crc32_update_func update_func, void *update_func_env,
+                                 uint32_t timeout);
 
 #endif //HVAC_M7_CRC32_UDS_H