#include "kit_data.h"
#include "kit_debug.h"
const uint8_t crc_byte_hi[] =
{ 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
};
const uint8_t crc_byte_lo[] =
{ 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
};
const uint32_t bit_array[32] =
{
0x00000001,0x00000002,0x00000004,0x00000008,0x00000010,0x00000020,0x00000040,0x00000080,
0x00000100,0x00000200,0x00000400,0x00000800,0x00001000,0x00002000,0x00004000,0x00008000,
0x00010000,0x00020000,0x00040000,0x00080000,0x00100000,0x00200000,0x00400000,0x00800000,
0x01000000,0x02000000,0x04000000,0x08000000,0x10000000,0x20000000,0x40000000,0x80000000,
};
const uint8_t Crc8Table[256] =
{
0x00u, 0x1du, 0x3au, 0x27u, 0x74u, 0x69u, 0x4eu, 0x53u, 0xe8u, 0xf5u,
0xd2u, 0xcfu, 0x9cu, 0x81u, 0xa6u, 0xbbu, 0xcdu, 0xd0u, 0xf7u, 0xeau,
0xb9u, 0xa4u, 0x83u, 0x9eu, 0x25u, 0x38u, 0x1fu, 0x02u, 0x51u, 0x4cu,
0x6bu, 0x76u, 0x87u, 0x9au, 0xbdu, 0xa0u, 0xf3u, 0xeeu, 0xc9u, 0xd4u,
0x6fu, 0x72u, 0x55u, 0x48u, 0x1bu, 0x06u, 0x21u, 0x3cu, 0x4au, 0x57u,
0x70u, 0x6du, 0x3eu, 0x23u, 0x04u, 0x19u, 0xa2u, 0xbfu, 0x98u, 0x85u,
0xd6u, 0xcbu, 0xecu, 0xf1u, 0x13u, 0x0eu, 0x29u, 0x34u, 0x67u, 0x7au,
0x5du, 0x40u, 0xfbu, 0xe6u, 0xc1u, 0xdcu, 0x8fu, 0x92u, 0xb5u, 0xa8u,
0xdeu, 0xc3u, 0xe4u, 0xf9u, 0xaau, 0xb7u, 0x90u, 0x8du, 0x36u, 0x2bu,
0x0cu, 0x11u, 0x42u, 0x5fu, 0x78u, 0x65u, 0x94u, 0x89u, 0xaeu, 0xb3u,
0xe0u, 0xfdu, 0xdau, 0xc7u, 0x7cu, 0x61u, 0x46u, 0x5bu, 0x08u, 0x15u,
0x32u, 0x2fu, 0x59u, 0x44u, 0x63u, 0x7eu, 0x2du, 0x30u, 0x17u, 0x0au,
0xb1u, 0xacu, 0x8bu, 0x96u, 0xc5u, 0xd8u, 0xffu, 0xe2u, 0x26u, 0x3bu,
0x1cu, 0x01u, 0x52u, 0x4fu, 0x68u, 0x75u, 0xceu, 0xd3u, 0xf4u, 0xe9u,
0xbau, 0xa7u, 0x80u, 0x9du, 0xebu, 0xf6u, 0xd1u, 0xccu, 0x9fu, 0x82u,
0xa5u, 0xb8u, 0x03u, 0x1eu, 0x39u, 0x24u, 0x77u, 0x6au, 0x4du, 0x50u,
0xa1u, 0xbcu, 0x9bu, 0x86u, 0xd5u, 0xc8u, 0xefu, 0xf2u, 0x49u, 0x54u,
0x73u, 0x6eu, 0x3du, 0x20u, 0x07u, 0x1au, 0x6cu, 0x71u, 0x56u, 0x4bu,
0x18u, 0x05u, 0x22u, 0x3fu, 0x84u, 0x99u, 0xbeu, 0xa3u, 0xf0u, 0xedu,
0xcau, 0xd7u, 0x35u, 0x28u, 0x0fu, 0x12u, 0x41u, 0x5cu, 0x7bu, 0x66u,
0xddu, 0xc0u, 0xe7u, 0xfau, 0xa9u, 0xb4u, 0x93u, 0x8eu, 0xf8u, 0xe5u,
0xc2u, 0xdfu, 0x8cu, 0x91u, 0xb6u, 0xabu, 0x10u, 0x0du, 0x2au, 0x37u,
0x64u, 0x79u, 0x5eu, 0x43u, 0xb2u, 0xafu, 0x88u, 0x95u, 0xc6u, 0xdbu,
0xfcu, 0xe1u, 0x5au, 0x47u, 0x60u, 0x7du, 0x2eu, 0x33u, 0x14u, 0x09u,
0x7fu, 0x62u, 0x45u, 0x58u, 0x0bu, 0x16u, 0x31u, 0x2cu, 0x97u, 0x8au,
0xadu, 0xb0u, 0xe3u, 0xfeu, 0xd9u, 0xc4u
};
//msg_id为CAN ID的低两字节
uint8_t kit_check_crc8(uint16_t msg_id, const uint8_t *buf, uint32_t len)
{
uint8_t crc_value = 0xFF, xor_out = 0xFF;
KIT_ASSERT_PARAM((buf != NULL) && (len > 0));
crc_value = Crc8Table[crc_value ^ (uint8_t)(msg_id & 0x00FF)]; // Calculate CRC of low byte of ApplicationId
crc_value = Crc8Table[crc_value ^ (uint8_t)(msg_id >> 8)];
while (len-- > 0)
{
crc_value = Crc8Table[crc_value ^ (*buf++)];
}
crc_value = crc_value ^ xor_out;
return crc_value;
}
//msg_id为CAN ID的低两字节
void kit_append_crc8(uint16_t msg_id,uint8_t* buf, uint32_t len)
{
uint8_t crc = kit_check_crc8(msg_id, buf, len);
kit_lt_write_buf(buf, len, crc, 1);
}
uint8_t kit_check_sum8(uint8_t *buf, uint16_t len)
{
uint32_t sum = 0;
KIT_ASSERT_PARAM((buf != NULL) && (len > 0));
while(len-- > 0)
sum += buf[len];
return sum;
}
uint32_t kit_check_sum16(uint16_t *buf, uint16_t len)
{
uint32_t sum = 0;
KIT_ASSERT_PARAM((buf != NULL) && (len > 0));
while(len-- > 0)
sum += buf[len];
return sum;
}
uint16_t kit_check_crc16(const uint8_t *buf, uint32_t len)
{
uint8_t tmp, crc_low = 0xFF, crc_high = 0xFF;
KIT_ASSERT_PARAM((buf != NULL) && (len > 0));
while (len-- > 0)
{
tmp = crc_low ^ (*buf++);
crc_low = crc_high ^ crc_byte_hi[tmp];
crc_high = crc_byte_lo[tmp];
}
return ((uint16_t)crc_high << 8 | crc_low);
}
void kit_append_crc16(uint8_t* buf, uint32_t len)
{
uint16_t crc = kit_check_crc16(buf, len);
kit_lt_write_buf(buf, len, crc, 2);
}
int32_t kit_get_avg_filter_max_min(const int16_t *buf, uint32_t len)
{
uint32_t i;
int32_t sum, min, max, tmp = 0;
KIT_ASSERT_PARAM((buf != NULL) && (len > 2));
if ((buf != NULL) && (len > 2))
{
max = min = sum = buf[0];
for (i = 1; i < len; i++)
{
tmp = buf[i];
if(tmp > max)
max = tmp;
else if(tmp < min)
min = tmp;
sum += tmp;
}
tmp = (sum - max - min) / (int32_t)(len - 2);
}
return tmp;
}
int32_t kit_get_int32_avg_filter_max_min(const int32_t *buf, uint32_t len)
{
uint32_t i;
int32_t sum, min, max, tmp = 0;
KIT_ASSERT_PARAM((buf != NULL) && (len > 2));
if ((buf != NULL) && (len > 2))
{
max = min = sum = buf[0];
for (i = 1; i < len; i++)
{
tmp = buf[i];
if(tmp > max)
max = tmp;
else if(tmp < min)
min = tmp;
sum += tmp;
}
tmp = (sum - max - min) / (int32_t)(len - 2);
}
return tmp;
}
int32_t kit_get_avg_filter_max_min_diff(const int16_t *buf, uint32_t len, uint16_t *diff)
{
uint32_t i;
int32_t sum, min, max, tmp = 0;
KIT_ASSERT_PARAM((buf != NULL) && (len > 2));
if ((buf != NULL) && (len > 2))
{
max = min = sum = buf[0];
for (i = 1; i < len; i++)
{
tmp = buf[i];
if(tmp > max)
max = tmp;
else if(tmp < min)
min = tmp;
sum += tmp;
}
tmp = (sum - max - min) / (int32_t)(len - 2);
*diff = max - min;
}
return tmp;
}
uint32_t kit_get_unsign_avg_filter_max_min(const uint16_t *buf, uint32_t len)
{
uint32_t i, sum, min, max, tmp = 0;
KIT_ASSERT_PARAM((buf != NULL) && (len > 2));
if ((buf != NULL) && (len > 2))
{
max = min = sum = buf[0];
for (i = 1; i < len; i++)
{
tmp = buf[i];
if(tmp > max)
max = tmp;
else if(tmp < min)
min = tmp;
sum += tmp;
}
tmp = (sum - max - min) / (int32_t)(len - 2);
}
return tmp;
}
int32_t kit_get_dma_avg_filter_min_max(uint16_t *buf, uint32_t data_cnt, uint32_t idx, uint32_t sample_cnt)
{
uint32_t i;
int32_t sum, max, min, tmp = 0;
KIT_ASSERT_PARAM((buf != NULL) && (sample_cnt > 2));
if((buf != NULL) && (sample_cnt > 2))
{
buf = buf + idx;
max = min = sum = buf[0];
for(i = 1; i < sample_cnt; i++)
{
tmp = *(buf + i * data_cnt);
if(tmp > max)
max = tmp;
else if(tmp < min)
min = tmp;
sum += tmp;
}
tmp = (sum - max -min) / (int32_t)(sample_cnt - 2);
}
return tmp;
}
void kit_copy_buf(void *dest, const void *const src, uint32_t len)
{
KIT_ASSERT_PARAM((dest != NULL) && (src != NULL));
if(((dest != NULL) && (src != NULL)))
{
while(len-- > 0)
{
((uint8_t*)dest)[len] = ((uint8_t*)src)[len];
}
}
}
uint32_t kit_copy_str(void *dest, const char * src)
{
uint32_t cnt = 0;
KIT_ASSERT_PARAM((dest != NULL) && (src != NULL));
if(((dest != NULL) && (src != NULL)))
{
while(src[cnt] != NULL)
{
((uint8_t*)dest)[cnt] = src[cnt];
cnt++;
}
}
return cnt;
}
bool kit_is_buf_same(const void *const dest, const void *const src, uint32_t len)
{
bool res = true;
KIT_ASSERT_PARAM((dest != NULL) && (src != NULL));
while(len-- > 0)
{
if(((uint8_t*)dest)[len] != ((uint8_t*)src)[len])
{
res = false;
break;
}
}
return res;
}
void kit_set_buf(void* buf, uint32_t len, uint8_t value)
{
KIT_ASSERT_PARAM(buf != NULL);
while(len-- > 0)
{
((uint8_t*)buf)[len] = value;
}
}
uint32_t kit_lt_read_buf(const uint8_t *const buf, uint32_t idx, uint32_t len)
{
uint32_t i, data = 0;
KIT_ASSERT_PARAM((buf != NULL) && (len > 0));
for(i = 0; i < len; i++)
{
data |= ((uint32_t)buf[idx + i]) << (i << 3);
}
return data;
}
uint32_t kit_lt_add_read_buf(const uint8_t *const buf, uint32_t *idx, uint32_t len)
{
uint32_t i, data = 0;
KIT_ASSERT_PARAM((buf != NULL) && (idx != NULL) && (len > 0));
for(i = 0; i < len ; i++)
{
data |= ((uint32_t)buf[(*idx)++]) << (i << 3);
}
return data;
}
void kit_lt_write_buf(uint8_t *const buf, uint32_t idx, uint32_t value, uint32_t len)
{
KIT_ASSERT_PARAM((buf != NULL) && (len > 0));
while(len-- > 0)
buf[idx + len] = (uint8_t)(value >> (len << 3));
}
void kit_add_lt_write_buf(uint8_t * buf, uint32_t *idx, uint32_t value, uint32_t len)
{
uint32_t i;
KIT_ASSERT_PARAM((buf != NULL) && (idx != NULL) && (len > 0));
for(i = 0; i < len ; i++)
buf[(*idx)++] = (uint8_t)(value >> (i << 3));
}
void kit_add_lt_8u_write_buf(uint8_t *const buf, uint32_t *idx, uint8_t value)
{
KIT_ASSERT_PARAM((buf != NULL) && (idx != NULL));
buf[(*idx)++] = value;
}
void kit_add_lt_16u_write_buf(uint8_t *const buf, uint32_t *idx, uint16_t value)
{
KIT_ASSERT_PARAM((buf != NULL) && (idx != NULL));
buf[(*idx)++] = value;
buf[(*idx)++] = value >> 8;
}
void kit_add_lt_32u_write_buf(uint8_t *const buf, uint32_t *idx, uint32_t value)
{
KIT_ASSERT_PARAM((buf != NULL) && (idx != NULL));
buf[(*idx)++] = value;
buf[(*idx)++] = value >> 8;
buf[(*idx)++] = value >> 16;
buf[(*idx)++] = value >> 24;
}
void kit_add_bt_write_buf(uint8_t *const buf, uint32_t *idx, uint32_t value, uint32_t len)
{
uint32_t i;
KIT_ASSERT_PARAM((buf != NULL) && (idx != NULL) && (len > 0));
for(i = 0; i < len ; i++)
{
buf[(*idx)++] = (uint8_t)(value >> ((len - i - 1) << 3));
}
}
uint32_t kit_bt_read_buf(const uint8_t *const buf, uint32_t idx, uint32_t len)
{
uint32_t i, data = 0;
KIT_ASSERT_PARAM((buf != NULL) && (len > 0));
for(i = 0; i < len ; i++)
{
data |= ((uint32_t)buf[idx + i]) << ((len - i - 1) << 3);
}
return data;
}
uint32_t kit_bt_add_read_buf(const uint8_t *const buf, uint32_t *idx, uint32_t len)
{
uint32_t i, data = 0;
KIT_ASSERT_PARAM((buf != NULL) && (idx != NULL) && (len > 0));
for(i = 0; i < len ; i++)
{
data |= ((uint32_t)buf[(*idx)++]) << ((len - i - 1) << 3);
}
return data;
}
uint32_t unsigned_add_signed_with_limit(uint32_t u_num,int32_t s_num,uint32_t upper_limit,uint32_t lower_limit)
{
uint32_t temp;
if (s_num > 0)
{
temp = (uint32_t)(s_num) +u_num;
if (temp > upper_limit)
temp = upper_limit;
}
else
{
if (u_num < (uint32_t)(0 - s_num))
temp = lower_limit;
else
temp = (uint32_t)(s_num + u_num);
}
return temp;
}
uint8_t kit_dec_to_bcd(uint8_t data)
{
uint8_t tmp = 0;
while (data >= 10)
{
tmp++;
data -= 10;
}
return ((tmp << 4) | data);
}
uint8_t kit_dcb_to_dec(uint8_t data)
{
uint8_t tmp = 0;
tmp = ((uint8_t)(data & (uint8_t)0xF0) >> (uint8_t)0x04) * 10;
return (tmp + (data & (uint8_t)0x0F));
}
void kit_bit_fill(uint8_t * buffer,uint8_t start_bit, uint8_t len, uint8_t data)
{
uint8_t tmp = 0xFF;
uint8_t rtmp = *buffer;
tmp >>= (8 - len);
tmp <<= start_bit;
tmp = ~tmp;
rtmp &= tmp;
tmp = 0xFF;
tmp >>= (8 - len);
data &= tmp;
data <<= start_bit;
rtmp |= data;
*buffer = rtmp;
}
void kit_bit_fill_u16(uint16_t * buffer,uint8_t start_bit, uint8_t len, uint16_t data)
{
uint16_t tmp = 0xFFFF;
uint16_t rtmp = *buffer;
tmp >>= (16 - len);
tmp <<= start_bit;
tmp = ~tmp;
rtmp &= tmp;
tmp = 0xFFFF;
tmp >>= (16 - len);
data &= tmp;
data <<= start_bit;
rtmp |= data;
*buffer = rtmp;
}