Can anyone please find error in my python code for CRC in protocol 2?

[ashsifat]

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• Which DYNAMIXEL is it?

  [　XH-430-350R　] ( ex: MX-64AT , XM430-350R , PRO H54-100-S500-R , ...)

• Which CONTROLLER is it?

  [　ROS　　] ( ex: OpenCM , OpenCR , Arduino Uno , PC via USB2Dynamixel , ... )

---

def update_crc( crc_accum, data_blk_ptr, data_blk_size):
print "update_crc"
crc_table = [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 ]
np.array(crc_table,dtype="uint16")

for  j in range (0, data_blk_size-1):	  
    i = ((crc_accum >> 8) ^ data_blk_ptr[j]) & 0xFF
    #pack('H',i)
    print i    
    crc_accum = (crc_accum << 8) ^ crc_table[i]
    #np.array(crc_accum,dtype="uint16")
    crc_accum = crc_accum & 0xFFFF
    #pack('H', crc_accum)	
    print crc_accum
  

return crc_accum

[ashsifat]

The commented things were tried but same erroneous result

[LeonJung]

@ashsifat

Hi,

I've replied on #122. Let's talk about it in there