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ba3879f815
| Author | SHA1 | Date |
|---|---|---|
 shmily744
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ba3879f815 | |
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shmily744
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3beffa3dea |
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@ -27,5 +27,5 @@ uint8_t *USBInit(USB_Init_Config_s usb_conf)
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void USBTransmit(uint8_t *buffer, uint16_t len)
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{
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//CDC_Transmit_FS(buffer, len); // 发送
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CDC_Transmit_FS(buffer, len); // 发送
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}
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@ -2,28 +2,29 @@
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static uint8_t crc_tab16_init = 0;
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static uint16_t crc_tab16[256] = {
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0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3,
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0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
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0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399,
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0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
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0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50,
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0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
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0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e,
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0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
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0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5,
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0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
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0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693,
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0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
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0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, 0x3bd3, 0x2a5a,
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0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
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0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710,
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0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
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0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df,
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0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
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0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, 0xf687, 0xc41c, 0xd595,
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0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
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0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
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0x3de3, 0x2c6a, 0x1ef1, 0x0f78};
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0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3,
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0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
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0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399,
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0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
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0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50,
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0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
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0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e,
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0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
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0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5,
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0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
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0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693,
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0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
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0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, 0x3bd3, 0x2a5a,
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0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
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0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710,
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0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
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0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df,
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0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
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0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, 0xf687, 0xc41c, 0xd595,
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0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
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0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
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0x3de3, 0x2c6a, 0x1ef1, 0x0f78};
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/*
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* uint16_t crc_16( const unsigned char *input_str, size_t num_bytes );
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*
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@ -32,21 +33,29 @@ static uint16_t crc_tab16[256] = {
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*要检查的字节也是一个参数。字符串中的字节数为
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*受恒定大小最大值的限制。
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*/
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uint16_t crc_16(const uint8_t *input_str, uint16_t num_bytes)
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{
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uint16_t crc;
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const uint8_t *ptr;
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uint16_t a;
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// if (!crc_tab16_init)
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// init_crc16_tab();
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crc = CRC_START_16;
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ptr = input_str;
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if (ptr != NULL)
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for (a = 0; a < num_bytes; a++)
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{
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crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t)*ptr++) & 0x00FF];
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uint16_t crc_16(const uint8_t *input_str, uint16_t num_bytes) {
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// uint16_t crc;
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// const uint8_t *ptr;
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// uint16_t a;
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//// if (!crc_tab16_init)
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//// init_crc16_tab();
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// crc = CRC_START_16;
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// ptr = input_str;
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// if (ptr != NULL)
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// for (a = 0; a < num_bytes; a++) {
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// crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t) *ptr++) & 0x00FF];
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// }
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// return crc;
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uint8_t ch_data;
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uint16_t wCRC = 0xFFFF;
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if (input_str == NULL) return 0xFFFF;
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while (num_bytes--) {
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ch_data = *input_str++;
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(wCRC) =
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((uint16_t)(wCRC) >> 8) ^ crc_tab16[((uint16_t)(wCRC) ^ (uint16_t)(ch_data)) & 0x00ff];
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}
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return crc;
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return wCRC;
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}
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/*
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@ -57,8 +66,7 @@ uint16_t crc_16(const uint8_t *input_str, uint16_t num_bytes)
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*要检查的字节数也是一个参数。
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*/
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uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes)
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{
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uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes) {
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uint16_t crc;
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const uint8_t *ptr;
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uint16_t a;
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@ -69,10 +77,9 @@ uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes)
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crc = CRC_START_MODBUS;
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ptr = input_str;
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if (ptr != NULL)
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for (a = 0; a < num_bytes; a++)
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{
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for (a = 0; a < num_bytes; a++) {
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crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t)*ptr++) & 0x00FF];
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crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t) *ptr++) & 0x00FF];
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}
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return crc;
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}
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@ -83,11 +90,10 @@ uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes)
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*函数update_crc_16()根据
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*前一个循环冗余校验值和下一个要检查的数据字节。
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*/
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uint16_t update_crc_16(uint16_t crc, uint8_t c)
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{
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uint16_t update_crc_16(uint16_t crc, uint8_t c) {
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if (!crc_tab16_init)
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init_crc16_tab();
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return (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t)c) & 0x00FF];
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return (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t) c) & 0x00FF];
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}
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/*
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@ -98,18 +104,15 @@ uint16_t update_crc_16(uint16_t crc, uint8_t c)
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*查找表首次由init_crc16_tab()例程计算
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*调用循环冗余校验函数。
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*/
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void init_crc16_tab(void)
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{
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void init_crc16_tab(void) {
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uint16_t i;
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uint16_t j;
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uint16_t crc;
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uint16_t c;
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for (i = 0; i < 256; i++)
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{
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for (i = 0; i < 256; i++) {
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crc = 0;
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c = i;
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for (j = 0; j < 8; j++)
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{
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for (j = 0; j < 8; j++) {
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if ((crc ^ c) & 0x0001)
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crc = (crc >> 1) ^ CRC_POLY_16;
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else
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@ -121,11 +124,9 @@ void init_crc16_tab(void)
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crc_tab16_init = 1;
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}
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uint32_t VerifyCRC16CheckSum(uint8_t *pchMessage, uint32_t dwLength)
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{
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uint32_t VerifyCRC16CheckSum(uint8_t *pchMessage, uint32_t dwLength) {
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uint16_t wExpected = 0;
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if ((pchMessage == NULL) || (dwLength <= 2))
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{
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if ((pchMessage == NULL) || (dwLength <= 2)) {
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return 0;
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}
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wExpected = crc_16(pchMessage, dwLength - 2);
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@ -36,8 +36,7 @@ static float RefTemp = 40; // 恒温设定温度
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static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]);
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static void IMUPWMSet(uint16_t pwm)
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{
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static void IMUPWMSet(uint16_t pwm) {
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__HAL_TIM_SetCompare(&htim10, TIM_CHANNEL_1, pwm);
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}
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@ -45,21 +44,18 @@ static void IMUPWMSet(uint16_t pwm)
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* @brief 温度控制
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*
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*/
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static void IMU_Temperature_Ctrl(void)
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{
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static void IMU_Temperature_Ctrl(void) {
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PIDCalculate(&TempCtrl, BMI088.Temperature, RefTemp);
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IMUPWMSet(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX));
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}
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// 使用加速度计的数据初始化Roll和Pitch,而Yaw置0,这样可以避免在初始时候的姿态估计误差
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static void InitQuaternion(float *init_q4)
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{
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static void InitQuaternion(float *init_q4) {
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float acc_init[3] = {0};
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float gravity_norm[3] = {0, 0, 1}; // 导航系重力加速度矢量,归一化后为(0,0,1)
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float axis_rot[3] = {0}; // 旋转轴
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// 读取100次加速度计数据,取平均值作为初始值
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for (uint8_t i = 0; i < 100; ++i)
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{
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for (uint8_t i = 0; i < 100; ++i) {
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BMI088_Read(&BMI088);
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acc_init[X] += BMI088.Accel[X];
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acc_init[Y] += BMI088.Accel[Y];
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@ -78,17 +74,15 @@ static void InitQuaternion(float *init_q4)
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init_q4[i + 1] = axis_rot[i] * sinf(angle / 2.0f); // 轴角公式,第三轴为0(没有z轴分量)
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}
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attitude_t *INS_Init(void)
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{
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attitude_t *INS_Init(void) {
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if (!INS.init)
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INS.init = 1;
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else
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return (attitude_t *)&INS.Gyro;
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return (attitude_t *) &INS.Gyro;
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HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
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while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR)
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;
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while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR);
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IMU_Param.scale[X] = 1;
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IMU_Param.scale[Y] = 1;
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IMU_Param.scale[Z] = 1;
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@ -113,12 +107,11 @@ attitude_t *INS_Init(void)
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// noise of accel is relatively big and of high freq,thus lpf is used
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INS.AccelLPF = 0.0085;
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DWT_GetDeltaT(&INS_DWT_Count);
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return (attitude_t *)&INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复.
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return (attitude_t *) &INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复.
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}
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/* 注意以1kHz的频率运行此任务 */
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void INS_Task(void)
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{
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void INS_Task(void) {
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static uint32_t count = 0;
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const float gravity[3] = {0, 0, 9.81f};
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@ -126,8 +119,7 @@ void INS_Task(void)
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t += dt;
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// ins update
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if ((count % 1) == 0)
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{
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if ((count % 1) == 0) {
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BMI088_Read(&BMI088);
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INS.Accel[X] = BMI088.Accel[X];
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@ -159,7 +151,8 @@ void INS_Task(void)
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EarthFrameToBodyFrame(gravity, gravity_b, INS.q);
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for (uint8_t i = 0; i < 3; ++i) // 同样过一个低通滤波
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{
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INS.MotionAccel_b[i] = (INS.Accel[i] - gravity_b[i]) * dt / (INS.AccelLPF + dt) + INS.MotionAccel_b[i] * INS.AccelLPF / (INS.AccelLPF + dt);
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INS.MotionAccel_b[i] = (INS.Accel[i] - gravity_b[i]) * dt / (INS.AccelLPF + dt) +
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INS.MotionAccel_b[i] * INS.AccelLPF / (INS.AccelLPF + dt);
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}
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BodyFrameToEarthFrame(INS.MotionAccel_b, INS.MotionAccel_n, INS.q); // 转换回导航系n
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@ -169,18 +162,16 @@ void INS_Task(void)
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INS.YawTotalAngle = QEKF_INS.YawTotalAngle;
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//VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll);
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VisionSetAltitude(INS.Yaw, INS.Pitch);
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VisionSetAltitude(INS.Yaw * PI / 180, INS.Pitch * PI / 180);
|
||||
}
|
||||
|
||||
// temperature control
|
||||
if ((count % 2) == 0)
|
||||
{
|
||||
if ((count % 2) == 0) {
|
||||
// 500hz
|
||||
IMU_Temperature_Ctrl();
|
||||
}
|
||||
|
||||
if ((count++ % 1000) == 0)
|
||||
{
|
||||
if ((count++ % 1000) == 0) {
|
||||
// 1Hz 可以加入monitor函数,检查IMU是否正常运行/离线
|
||||
}
|
||||
}
|
||||
|
|
@ -191,8 +182,7 @@ void INS_Task(void)
|
|||
* @param[2] vector in EarthFrame
|
||||
* @param[3] quaternion
|
||||
*/
|
||||
void BodyFrameToEarthFrame(const float *vecBF, float *vecEF, float *q)
|
||||
{
|
||||
void BodyFrameToEarthFrame(const float *vecBF, float *vecEF, float *q) {
|
||||
vecEF[0] = 2.0f * ((0.5f - q[2] * q[2] - q[3] * q[3]) * vecBF[0] +
|
||||
(q[1] * q[2] - q[0] * q[3]) * vecBF[1] +
|
||||
(q[1] * q[3] + q[0] * q[2]) * vecBF[2]);
|
||||
|
|
@ -212,8 +202,7 @@ void BodyFrameToEarthFrame(const float *vecBF, float *vecEF, float *q)
|
|||
* @param[2] vector in BodyFrame
|
||||
* @param[3] quaternion
|
||||
*/
|
||||
void EarthFrameToBodyFrame(const float *vecEF, float *vecBF, float *q)
|
||||
{
|
||||
void EarthFrameToBodyFrame(const float *vecEF, float *vecBF, float *q) {
|
||||
vecBF[0] = 2.0f * ((0.5f - q[2] * q[2] - q[3] * q[3]) * vecEF[0] +
|
||||
(q[1] * q[2] + q[0] * q[3]) * vecEF[1] +
|
||||
(q[1] * q[3] - q[0] * q[2]) * vecEF[2]);
|
||||
|
|
@ -235,16 +224,14 @@ void EarthFrameToBodyFrame(const float *vecEF, float *vecBF, float *q)
|
|||
* @param gyro 角速度
|
||||
* @param accel 加速度
|
||||
*/
|
||||
static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3])
|
||||
{
|
||||
static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]) {
|
||||
static float lastYawOffset, lastPitchOffset, lastRollOffset;
|
||||
static float c_11, c_12, c_13, c_21, c_22, c_23, c_31, c_32, c_33;
|
||||
float cosPitch, cosYaw, cosRoll, sinPitch, sinYaw, sinRoll;
|
||||
|
||||
if (fabsf(param->Yaw - lastYawOffset) > 0.001f ||
|
||||
fabsf(param->Pitch - lastPitchOffset) > 0.001f ||
|
||||
fabsf(param->Roll - lastRollOffset) > 0.001f || param->flag)
|
||||
{
|
||||
fabsf(param->Roll - lastRollOffset) > 0.001f || param->flag) {
|
||||
cosYaw = arm_cos_f32(param->Yaw / 57.295779513f);
|
||||
cosPitch = arm_cos_f32(param->Pitch / 57.295779513f);
|
||||
cosRoll = arm_cos_f32(param->Roll / 57.295779513f);
|
||||
|
|
@ -304,8 +291,7 @@ static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[
|
|||
/**
|
||||
* @brief Update quaternion
|
||||
*/
|
||||
void QuaternionUpdate(float *q, float gx, float gy, float gz, float dt)
|
||||
{
|
||||
void QuaternionUpdate(float *q, float gx, float gy, float gz, float dt) {
|
||||
float qa, qb, qc;
|
||||
|
||||
gx *= 0.5f * dt;
|
||||
|
|
@ -323,8 +309,7 @@ void QuaternionUpdate(float *q, float gx, float gy, float gz, float dt)
|
|||
/**
|
||||
* @brief Convert quaternion to eular angle
|
||||
*/
|
||||
void QuaternionToEularAngle(float *q, float *Yaw, float *Pitch, float *Roll)
|
||||
{
|
||||
void QuaternionToEularAngle(float *q, float *Yaw, float *Pitch, float *Roll) {
|
||||
*Yaw = atan2f(2.0f * (q[0] * q[3] + q[1] * q[2]), 2.0f * (q[0] * q[0] + q[1] * q[1]) - 1.0f) * 57.295779513f;
|
||||
*Pitch = atan2f(2.0f * (q[0] * q[1] + q[2] * q[3]), 2.0f * (q[0] * q[0] + q[3] * q[3]) - 1.0f) * 57.295779513f;
|
||||
*Roll = asinf(2.0f * (q[0] * q[2] - q[1] * q[3])) * 57.295779513f;
|
||||
|
|
@ -333,8 +318,7 @@ void QuaternionToEularAngle(float *q, float *Yaw, float *Pitch, float *Roll)
|
|||
/**
|
||||
* @brief Convert eular angle to quaternion
|
||||
*/
|
||||
void EularAngleToQuaternion(float Yaw, float Pitch, float Roll, float *q)
|
||||
{
|
||||
void EularAngleToQuaternion(float Yaw, float Pitch, float Roll, float *q) {
|
||||
float cosPitch, cosYaw, cosRoll, sinPitch, sinYaw, sinRoll;
|
||||
Yaw /= 57.295779513f;
|
||||
Pitch /= 57.295779513f;
|
||||
|
|
|
|||
|
|
@ -30,6 +30,6 @@ void vofa_justfloat_output(float *data, uint8_t num , UART_HandleTypeDef *huart
|
|||
send_data[4 * num + 2] = 0x80;
|
||||
send_data[4 * num + 3] = 0x7f; //加上协议要求的4个尾巴
|
||||
|
||||
//HAL_UART_Transmit(huart, (uint8_t *)send_data, 4 * num + 4, 100);
|
||||
CDC_Transmit_FS((uint8_t *)send_data,4 * num + 4);
|
||||
HAL_UART_Transmit(huart, (uint8_t *)send_data, 4 * num + 4, 100);
|
||||
//CDC_Transmit_FS((uint8_t *)send_data,4 * num + 4);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue