/****************************************************************** * Copyright (C) 2023 - 2023 OneChip, Inc. All rights reserved. * File name: van_com_algorithm.c * Author: fanyidong Date:2024.1.21 * Description: 常用算法定义 * Others: * History: 1. Date: Author: Modification: *****************************************************************/ #include "van_com_algorithm.h" #include #define g_uMsgCmdFrameLen (6) /**************************************************************** * 函数名: checkSum * 创建时间: 2024/02/18 * 创建人: 范义东 * 函数说明：求和 * 输入参数: 无 * 输出参数: * 返回值 : void ****************************************************************/ unsigned int checkSum(const unsigned char *pInBuffer, unsigned int uLen) { unsigned int sum = 0; for (int i = 0; i < uLen; i++) { sum += pInBuffer[i]; } return (sum); } ///**************************************************************** //* 函数名: CRC16 //* 创建时间: 2024/02/18 //* 创建人: 范义东 //* 函数说明：求和 //* 输入参数: 无 // //* 输出参数: //* 返回值 : void //****************************************************************/ // unsigned short CRC16(unsigned char *bpMsgStartAddress, unsigned int bDataLen) // { // unsigned char i, n; // unsigned short crc = 0xffff; // unsigned char u8tmp; // unsigned short u16tmp; // for (i = 0; i < bDataLen; i++) { // crc ^= *bpMsgStartAddress++; // for (n = 0; n < 8; n++) { // u8tmp = crc & 1; // crc >>= 1; // crc &= 0x7fff; // if (u8tmp == 1) { // crc ^= 0xa001; // } // } // } // return crc; //} static unsigned char auchCRCHi[] = { 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40}; static char auchCRCLo[] = { 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, 0x40}; unsigned short CRC16_modebus(unsigned char *puchMsg, unsigned short usDataLen) { unsigned char uchCRCHi = 0xFF; /* 高字节初始化值 */ unsigned char uchCRCLo = 0xFF; /* 低字节初始化值 */ unsigned uIndex; while (usDataLen--) { uIndex = uchCRCLo ^ *puchMsg++; uchCRCLo = uchCRCHi ^ auchCRCHi[uIndex]; uchCRCHi = auchCRCLo[uIndex]; } return (uchCRCHi << 8 | uchCRCLo); } unsigned short CRC16_RTU(unsigned char *bpMsgStartAddress, unsigned short bDataLen) { unsigned char i, n; unsigned short crc = 0xffff; unsigned char u8tmp; for (i = 0; i < bDataLen; i++) { crc ^= *bpMsgStartAddress++; for (n = 0; n < 8; n++) { u8tmp = crc & 1; crc >>= 1; crc &= 0x7fff; if (u8tmp == 1) { crc ^= 0xa001; } } } return crc; } unsigned int CRC16_loop(const unsigned char *puchMsg, unsigned int usDataLen, unsigned int loopLen, unsigned int curheader) { unsigned char uchCRCHi = 0xFF; /* 高字节初始化值 */ unsigned char uchCRCLo = 0xFF; /* 低字节初始化值 */ unsigned int uIndex; unsigned int loopindex = 0; unsigned int clcCrc = 0; unsigned int recCrc = 0; while (usDataLen--) { uIndex = uchCRCLo ^ puchMsg[(loopindex + curheader) % loopLen]; uchCRCLo = uchCRCHi ^ auchCRCHi[uIndex]; uchCRCHi = auchCRCLo[uIndex]; loopindex++; } clcCrc = (uchCRCHi << 8 | uchCRCLo); recCrc = puchMsg[(loopindex + curheader) % loopLen]; loopindex++; recCrc = recCrc << 8; recCrc += puchMsg[(loopindex + curheader) % loopLen]; if (clcCrc == recCrc) { return 1; } else { return 0; } } unsigned int CRC16_loop_RTU(const unsigned char *puchMsg, unsigned int usDataLen, unsigned int loopLen, unsigned int curheader) { unsigned char uchCRCHi = 0xFF; /* 高字节初始化值 */ unsigned char uchCRCLo = 0xFF; /* 低字节初始化值 */ unsigned int uIndex; unsigned int loopindex = 0; unsigned int clcCrc = 0; unsigned int recCrc = 0; while (usDataLen--) { uIndex = uchCRCLo ^ puchMsg[(loopindex + curheader) % loopLen]; uchCRCLo = uchCRCHi ^ auchCRCHi[uIndex]; uchCRCHi = auchCRCLo[uIndex]; loopindex++; } clcCrc = (uchCRCLo << 8 | uchCRCHi); recCrc = puchMsg[(loopindex + curheader) % loopLen]; loopindex++; recCrc = recCrc << 8; recCrc += puchMsg[(loopindex + curheader) % loopLen]; // osDelay(10U); if (clcCrc == recCrc) { // Van_Device_Printf(4, "len:%d head:%d CRC[%x %x]\n\r",usDataLentemp,curheader, clcCrc, recCrc); return 1; } else { return 0; } } /******************************************************************** * int Decode(const char *pInBuffer, int uLen) * *描述：对串口数据进行解码成结构体 *参数：pInBuffer 接收缓冲区 *uheader 当前头位置 ulast 当前头尾位置 maxlen 缓冲区长度 pMessage 命令结构体 pdata 命令数据 *返回：1解码成功，0解码失败 *其他：无 *-------------------------------------------------------------------- *记录： ********************************************************************/ int DecodeNew(CmdMessage *pMessage, unsigned char *pdata, const unsigned char *pInBuffer, unsigned int *pheader, unsigned int ulast, unsigned int maxlen) { unsigned int bufRealLen; unsigned int sizeofMessage = SIZEOF_MSG_ST; unsigned int header = *pheader; unsigned int i = 0; if (NULL == pInBuffer || NULL == pMessage || NULL == pdata || NULL == pheader) { /*空指针判断*/ return 0; } /*缓冲区有效数据长度，缓冲区循环处理，会出现头大于未情况*/ bufRealLen = (ulast > header) ? (ulast - header) : (ulast + maxlen - header); if(bufRealLen > maxlen){ return 0; } if (bufRealLen < sizeofMessage) { /*长度过段，跳过*/ return 0; } bufRealLen -= sizeofMessage; /*最大有效数据长度*/ for (; i <= bufRealLen;) { unsigned int headerflag = pInBuffer[(header + i) % maxlen]; headerflag += pInBuffer[(header + i + 1) % maxlen] << 8; if (headerflag != VAN_COM_HEADER_FALG) { i += 1; // header = (header + 1)%maxlen; continue; } unsigned int messagelen = pInBuffer[(header + i + 4) % maxlen]; messagelen += pInBuffer[(header + i + 5) % maxlen] << 8; if (messagelen > (maxlen - sizeofMessage)) { /*长度超长 跳过2个字节*/ i += 1; // header = (header + 1)%maxlen; continue; } if (messagelen > bufRealLen) { /*当前起始点可能存在数据，跳出循环，*/ i++; /*for采样小于等于判断，循环次数多1，此处加1便于后续处理*/ break; } unsigned short checkesum = 0; unsigned short recsum = 0; if ((header + i + 6 + messagelen) < maxlen) { checkesum = checkSum(pInBuffer + header + i + 2, messagelen + 4); } else if (header + i + 2 < maxlen) //校验开始位 { checkesum = checkSum(pInBuffer + header + i + 2, (maxlen - (header + i + 2))); checkesum += checkSum(pInBuffer, (header + i + 6 + messagelen) % maxlen); } else { checkesum += checkSum(pInBuffer + (header + i + 2 - maxlen), messagelen + 4); } recsum = *(pInBuffer + (header + i + 6 + messagelen) % maxlen); recsum += *(pInBuffer + (header + i + 7 + messagelen) % maxlen) << 8; /*固定结尾预留做调试用*/ if (checkesum != recsum && recsum != VAN_COM_TAIL_FALG) { i += 1; // header = (header + 1)%maxlen; } else { /*解析成功,拷贝消息结构体*/ unsigned char *pCharMessage = (unsigned char *)pMessage; for (unsigned copyi = 0; copyi < (sizeofMessage - 2); copyi++) { *pCharMessage++ = pInBuffer[(header + i + copyi) % maxlen]; } /*解析成功,拷贝数据结构体*/ for (unsigned copyi = 0; copyi < messagelen; copyi++) { *pdata++ = pInBuffer[(header + i + 6 + copyi) % maxlen]; } *pheader = (header + messagelen + i + sizeofMessage - 2) % maxlen; return 1; } } *pheader = (header + i - 1) % maxlen; return 0; } float PIDRealize(pid_def *pid) { pid->err=pid->goal-pid->realtemp; pid->variate=pid->Kp*pid->err+pid->Ki*pid->integral+pid->Kd*(pid->err-pid->err_last); pid->err_last=pid->err; if(pid->variate>100) { pid->variate=100; }else{ pid->integral+=pid->err; } if(pid->variate<0) { pid->variate=0; } return pid->variate; } int hex_to_ascii(const void *hex, void *string, int len) { int str_len = 0; const unsigned char *phex = (const unsigned char*)hex; unsigned char *pstr = (unsigned char*)string; unsigned char temp; if(NULL == hex || NULL == string || len < 0) { return -1; } for(int i = 0; i < len; i++) { temp = ((phex[i] >> 4) & 0x0F); if(temp > 9) pstr[str_len++] = temp + '7'; else pstr[str_len++] = temp + '0'; temp = (phex[i]) & 0x0F ; if(temp > 9) pstr[str_len++] = temp + '7'; else pstr[str_len++] = temp + '0'; } if(len > 0) pstr[str_len] = 0; return 0; } static int checkCmd(const unsigned char *pInBuffer, int uLen) { int ret = -1; for (int i = 0; i < uLen; i++) { unsigned char temp = pInBuffer[i]; if (temp == 0xaa) { unsigned char temp1 = pInBuffer[i + 1]; if (temp1 == 0x55) { ret = i; break; } } } return ret; } /******************************************************************** * int Decode(const char *pInBuffer, int uLen) * *描述：对串口数据进行解码成结构体 *参数：无 *返回：无 *其他：无 *-------------------------------------------------------------------- *记录： ********************************************************************/ int Decode(CmdMessage *pMessage, const unsigned char *pInBuffer, int uLen) { if (NULL == pInBuffer || uLen < g_uMsgCmdFrameLen) { return -1; } int startPos = checkCmd(pInBuffer, uLen); if (startPos == -1) { return -3; } char *pTemp = (char *)pInBuffer + startPos; memcpy((void *)pMessage, (const void *)(pTemp), g_uMsgCmdFrameLen); int uMsgLen = g_uMsgCmdFrameLen + pMessage->len + 2; if (uLen < uMsgLen) { // 黏包 return -2; } // data pTemp += g_uMsgCmdFrameLen; pMessage->data = pTemp; // checksum return uMsgLen; }