commit d2c4d566fda9365578a151ec974db3b953d1fef6 Author: AIR Date: Sun Jun 25 18:46:33 2023 +0800 原始版 diff --git a/FoodDelivery.ino b/FoodDelivery.ino new file mode 100644 index 0000000..e5d27be --- /dev/null +++ b/FoodDelivery.ino @@ -0,0 +1,546 @@ +#include "FoodDeliveryBase.h" + +/*项目对象*/ +//char* ssid = "szdot"; //wifi帐号 +//char* password = "Ttaj@#*.com"; //wifi密码 +char* ssid = "flicube"; //wifi帐号 +char* password = "fxmf0622"; //wifi密码 +char* mqttServer = "szdot.top"; //mqtt地址 +int mqttPort = 1883; //mqtt端口 +char* mqttName = "admin"; //mqtt帐号 +char* mqttPassword = "123456"; //mqtt密码 +uint8_t mavlinkSerial = 2; //飞控占用的串口号 +uint8_t voiceSerial = 1; //声音模块占用串口 +char* udpServerIP = "192.168.3.92"; //云台相机ip +uint32_t udpServerPort = 37260; //云台相机端口 + +FoodCube fc(ssid, password, mqttServer, mqttPort, mqttName, mqttPassword, mavlinkSerial, voiceSerial, udpServerIP, udpServerPort); //创建项目对象 +/*订阅 主题*/ +//0:飞行航点任务 1：设置飞机状态 2:获取飞机状态 3:设置飞机初始状态 4:油门通道1 5:油门通道2 6:油门通道3 7:油门通道4 8:钩子控制 9:云台相机控制 +String topicSub[] = { "questAss", "setPlaneState", "getPlaneState", "resetState", "chan1", "chan2", "chan3", "chan4", "hookConteroller", "cameraController" }; //订阅主题 +int topicSubCount = sizeof(topicSub) / sizeof(topicSub[0]); //订阅主题总数 +/*有更新主动发送 主题*/ +//0:心跳信息 1:电压信息 2:电流信息 3:电池电量 4:高度信息 5:对地速度 6:卫星数量 7:纬度 8:经度 9:定位状态 10:飞机状态 11:网速测试 12:飞机模式 +String topicPub[] = { "heartBeat", "voltagBattery", "currentBattery", "batteryRemaining", "positionAlt", "groundSpeed", "satCount", "latitude", "longitude", "fixType", "planeState", "pingNet", "getPlaneMode" }; +int topicPubCount = sizeof(topicPub) / sizeof(topicPub[0]); //发送主题总数 +String topicPubMsg[13]; //发送数据存放 对应topicPub +String oldMsg[13]; //记录旧的数据 用来对比有没有更新 +/*触发发送 主题*/ +//0:对频信息 +String topicHandle[] = { "crosFrequency" }; +boolean isPush = false; //记得删除 板子按钮状态 ps:D3引脚下拉微动开关 + +/*异步线程对象*/ +Ticker pubTicker; //定时发布主题 线程 +Ticker mavTicker; //定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后 +Ticker flashTicker; //单片机主动 按钮主动发布主题 线程 +Ticker chanTicker; //定时向飞控 发送油门指定 + +void setup() { + Serial.begin(115200); //日志串口 + Serial1.begin(115200, SERIAL_8N1, 18, 5); //声音模块引串口脚映射 + /*初始化*/ + fc.connectWifi(); //连接wifi + fc.connectMqtt(topicSub, topicSubCount); //连接mqtt + fc.mqttClient->setCallback(mqtt_receiveCallback); //设置订阅成功 回调 + fc.mav_request_data(); //指定飞控串口返回的数据类别(飞控启动之后发送才有意义) + + /*异步线程*/ + pubTicker.attach(1, pubThread); //定时 发布主题 + mavTicker.attach(10, mavThread); //定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后 + flashTicker.attach_ms(50, flashThread); //监听 按flash键时 主动发布对频主题 + + pinMode(23, INPUT_PULLUP); // 记得删除 +} + +void loop() { + /*从飞控拿数据*/ + fc.comm_receive(mavlink_receiveCallback); + /*保持mqtt心跳*/ + fc.mqttLoop(topicSub, topicSubCount); + delay(50); +} + +/** +* @description: mqtt订阅主题 收到信息 的回调函数 +* @param {char*} topic 主题名称 +* @param {byte*} topic 订阅获取的内容 +* @param {unsigned int} length 内容的长度 +*/ +void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) { + /*获取 "订阅主题/macadd" 截取/macadd后的长度 */ + int count = strlen(topic); + String cutTopic = ""; //记录订阅主题 + for (int i = 0; i < count - 13; i++) { + cutTopic += topic[i]; + } + /*解构mqtt发过来的内容*/ + String topicStr = ""; + for (int i = 0; i < length; i++) { + topicStr += (char)payload[i]; + } + /*订阅回调主体*/ + if (cutTopic == topicSub[0]) { //0:飞行航点任务 questAss + writeRoute(topicStr); //写入航点 + } else if (cutTopic == topicSub[1]) { //1:设置飞机状态 setPlaneState + /* + *其中topicPubMsg[10]既飞机状态的值 + *二进制0000 0000 0000 0000 + *第0位：初始状态 + *第1位：是否正在写入航线 + *第2位：是否已经写入航点 + *第3位：是否正在解锁 + *第4位：解锁是否成功 + *第5位：执行航点任务 + *第6位：起飞 + *第7位: 悬停 + *第8位：降落 + *第9位：返航 + *第10位：航点继续 + *第11位：磁罗盘校准 + */ + //解构参数 + DynamicJsonDocument doc(0x2FFF); + deserializeJson(doc, topicStr); + JsonObject obj = doc.as(); + uint8_t n = obj["bit"]; //状态位数 + uint8_t state = obj["state"]; //标记飞机状态 0 or 1 + uint8_t count = obj["count"]; //传过来 + //解构val数组参数 + uint16_t param[count]; + for (int i = 0; i < count; i++) { + param[i] = obj["param"][i]; + } + //标记飞机状态 + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], n, state); + //飞控执行 + if (n == 3) { //3操作飞机加解锁 + uint16_t chan[] = { 1500, 1500, 1100, 1500 }; //加解锁 油门到底 + fc.mav_channels_override(chan); //控制油门 + fc.mav_set_mode(2); //飞控设置成AltHold定高 + fc.mav_command(n, param); + } else { + uint16_t chan[] = { 1500, 1500, 1500, 1500 }; //除了加解锁模式 油门全部控制居中 + fc.mav_channels_override(chan); //控制油门 + } + if (n == 6) { //6测试起飞 + fc.mav_set_mode(4); //飞控设置成Guided引导模式 + fc.mav_command(n, param); //起飞 + } else if (n == 7) { //7 悬停 + fc.mav_set_mode(5); //飞控设置成Loiter留待模式 + } else if (n == 5) { //5 航点执行 + fc.mav_set_mode(3); //飞控设置成auto自动模式 + } else if (n == 8) { //8降落* + fc.mav_command(n, param); + } else if (n == 9) { //9返航 + fc.mav_set_mode(6); //飞控设置成RTL返航 + } else if (n == 11) { //11磁罗盘校准 + fc.mav_command(n, param); + } + } else if (cutTopic == topicSub[2]) { //2:获取飞机状态 getPlaneState + fc.pubMQTTmsg("planeState", topicPubMsg[10]); //终端主动get飞机状态 + } else if (cutTopic == topicSub[3]) { //3:恢复飞机为初始状态 resetState + topicPubMsg[10] = "1"; //恢复初始状态 + } else if (cutTopic == topicSub[4]) { //4:油门通道1 + uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下 + fc.channels[0] = strInt; //恢复初始状态 + fc.mav_channels_override(fc.channels); //油门控制 + } else if (cutTopic == topicSub[5]) { //5:油门通道2 + uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下 + fc.channels[1] = strInt; //恢复初始状态 + fc.mav_channels_override(fc.channels); //油门控制 + } else if (cutTopic == topicSub[6]) { //6:油门通道3 + uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下 + fc.channels[2] = strInt; //恢复初始状态 + fc.mav_channels_override(fc.channels); //油门控制 + } else if (cutTopic == topicSub[7]) { //7:油门通道4 + uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下 + fc.channels[3] = strInt; //恢复初始状态 + fc.mav_channels_override(fc.channels); //油门控制 + } else if (cutTopic == topicSub[8]) { //8:钩子控制 hookConteroller + //topicStr 0:收 1:放 2:暂停 3:继续 + } else if (cutTopic == topicSub[9]) { //9:云台相机控制 cameraController + // json 反序列化 + DynamicJsonDocument doc(0x2FFF); + deserializeJson(doc, topicStr); + JsonObject obj = doc.as(); + //相机控制 + if (obj["item"] = "0") { //0:一键回中 + uint8_t command[] = { 0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x08, 0x01 }; + size_t len = sizeof(command); + } else if (obj["item"] = "1") { //1:变焦 + uint8_t command[] = { 0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0x0 }; + command[8] = (uint16_t)obj["val"].toInt(); + size_t len = sizeof(command); + } else if (obj["item"] = "2") { //2:俯仰 + uint8_t command[] = { 0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00 }; + command[9] = (uint16_t)obj["val"].toInt(); + size_t len = sizeof(command); + }else if (obj["item"] = "3") { //2:旋转 + uint8_t command[] = { 0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00 }; + command[8] = (uint16_t)obj["val"].toInt(); + size_t len = sizeof(command); + } + fc.udpSendToCamera(command, len); + } +} + +/** +* @description: 写入航点 +* @param {String} topicStr mqtt订阅执行任务的Json字符串 +*/ +void writeRoute(String topicStr) { + if (fc.writeState) // 如果正在写入状态 跳出 + { + fc.logln("正在写航点"); // 提示正在写入中 + return; + } + //改变飞机状态 PS:mqtt发送写在这里 同步执行下面while循环时 写在loop函数里面 不会被执行到 + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 1, 1); //正在写入航点 + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 0, 0); //结束初始状态 + fc.pubMQTTmsg("planeState", topicPubMsg[10]); //发送正在写入的飞机状态 + // json 反序列化 + DynamicJsonDocument doc(0x2FFF); + deserializeJson(doc, topicStr); + JsonObject obj = doc.as(); + // 写入航点 + uint8_t taskcount = obj["taskcount"]; //获取航点总数 + fc.mav_mission_count(taskcount); //向飞控请求写入航点的数量 + fc.writeState = true; //锁定写入状态 + //监听飞控航点写入情况 + while (true) { + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 1, 1); //正在写入航点 + fc.comm_receive(mavlink_receiveCallback); + if (fc.missionArkType == 0) { //写入成功 + fc.missionArkType = -1; //“航点写入是否成功” 改成-1默认状态 + fc.logln("misson_bingo..."); + //改变飞机状态 + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 2, 1); //航点写入成功状态 + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 1, 0); //结束写入状态 + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 0, 0); //结束初始状态 + break; + } else if (fc.missionArkType > 0) { //写入失败 + fc.missionArkType = -1; //“航点写入是否成功” 改成-1默认状态 + fc.logln("misson_error..."); + //改变飞机状态 + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 2, 0); //航点写入失败状态 + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 1, 0); //结束写入状态 + //当有成果反馈之后 初始化下列数据 + return; //写入失败 中断函数 + } + //飞控返回 新的写入航点序号 + if (fc.writeSeq == fc.futureSeq && fc.writeSeq != -1) { + //从订阅信息里拿航点参数 + uint8_t frame = obj["tasks"][fc.writeSeq]["frame"]; + uint8_t command = obj["tasks"][fc.writeSeq]["command"]; + uint8_t current = obj["tasks"][fc.writeSeq]["current"]; + uint8_t autocontinue = obj["tasks"][fc.writeSeq]["autocontinue"]; + double param1 = obj["tasks"][fc.writeSeq]["param1"]; + double param2 = obj["tasks"][fc.writeSeq]["param2"]; + double param3 = obj["tasks"][fc.writeSeq]["param3"]; + double param4 = obj["tasks"][fc.writeSeq]["param4"]; + double x = obj["tasks"][fc.writeSeq]["x"]; + double y = obj["tasks"][fc.writeSeq]["y"]; + double z = obj["tasks"][fc.writeSeq]["z"]; + fc.logln("frame--"); + fc.logln(frame); + //写入航点 + fc.mav_mission_item(fc.writeSeq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z); + fc.futureSeq++; //下一个航点序号 + } + delay(200); + } +} + +/** +* @description: 从串口拿到mavlink缓存数据之后 解析数据执行的回调 +* @param {mavlink_message_t*} pMsg mavlink数据信息指针 +* @param {mavlink_status_t*} pStatus +* @param {uint8_t} c 串口读取的缓存 +*/ +void mavlink_receiveCallback(mavlink_message_t* pMsg, mavlink_status_t* pStatus, uint8_t c) { + // 尝试从数据流里 解析数据 + if (mavlink_parse_char(MAVLINK_COMM_0, c, pMsg, pStatus)) { // MAVLink解析是按照一个一个字符进行解析，我们接收到一个字符，就对其进行解析，直到解析完（根据返回标志判断）一帧数据为止。 + // 通过msgid来判断 数据流的类别 + char buf[10]; + switch (pMsg->msgid) { + case MAVLINK_MSG_ID_HEARTBEAT: // #0: Heartbeat 心跳 + { + mavlink_heartbeat_t heartbeat; // 解构的数据放到这个对象 + mavlink_msg_heartbeat_decode(pMsg, &heartbeat); // 解构msg数据 + sprintf(buf, "%d", heartbeat.base_mode); //飞控心跳状态 + topicPubMsg[0] = buf; //心跳主题 + //从心跳里判断 飞机是否解锁 解锁改变飞机状态 + if (heartbeat.base_mode & 128) { //从心跳里面 判断已经解锁 + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 4, 1); //设置飞机状态为已解锁状态 1xxxx 第四位为1 代表已解锁 + } else { //心跳里面 判断没有解锁 + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 4, 0); //设置飞机状态为已解锁状态 0xxxx 第四位为0 代表未解锁 + if ((uint8_t)topicPubMsg[10].toInt() & 4) { //如果已经写入了航点 + topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 2, 1); //设置为航点写入成功状态 + } else { + topicPubMsg[10] = "1"; //没写航点 设置为初始化状态 + } + } + //从心跳里面 判断飞机当前的模式 + switch (heartbeat.custom_mode) { + case 0: + { + topicPubMsg[12] = "Stabilize自稳"; + } + break; + case 2: + { + topicPubMsg[12] = "AltHold定高"; + } + break; + case 3: + { + topicPubMsg[12] = "Auto自动"; + } + break; + case 4: + { + topicPubMsg[12] = "Guided引导"; + } + break; + case 5: + { + topicPubMsg[12] = "Loiter留待"; + } + break; + case 6: + { + topicPubMsg[12] = "RTL返航"; + } + break; + case 9: + { + topicPubMsg[12] = "Land降落"; + } + break; + case 16: + { + topicPubMsg[12] = "PosHold定点"; + } + break; + default: + { + topicPubMsg[12] = "Unknown未知"; + } + break; + } + } + break; + + case MAVLINK_MSG_ID_SYS_STATUS: // #1: SYS_STATUS + { + mavlink_sys_status_t sys_status; // 解构的数据放到这个对象 + mavlink_msg_sys_status_decode(pMsg, &sys_status); // 解构msg数据 + // 电压 + sprintf(buf, "%.2f", (double)sys_status.voltage_battery / 1000); + if (topicPubMsg[1] != buf) { // 有更新 则更新数据 + topicPubMsg[1] = buf; + } + // 电流 + sprintf(buf, "%.2f", (double)sys_status.current_battery / 100); + if (topicPubMsg[2] != buf) { + topicPubMsg[2] = buf; + } + // 电池电量 + sprintf(buf, "%d", sys_status.battery_remaining); + if (topicPubMsg[3] != buf) { + topicPubMsg[3] = buf; + } + } + break; + + case MAVLINK_MSG_ID_PARAM_VALUE: // #22: PARAM_VALUE + { + mavlink_param_value_t param_value; + mavlink_msg_param_value_decode(pMsg, ¶m_value); + } + break; + + case MAVLINK_MSG_ID_RAW_IMU: // #27: RAW_IMU + { + mavlink_raw_imu_t raw_imu; + mavlink_msg_raw_imu_decode(pMsg, &raw_imu); + } + break; + + case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: // #33 位置 + { + mavlink_global_position_int_t global_position_int; + mavlink_msg_global_position_int_decode(pMsg, &global_position_int); + // 高度 + sprintf(buf, "%.2f", (double)global_position_int.relative_alt / 1000); + if (topicPubMsg[4] != buf) { + topicPubMsg[4] = buf; + } + } + break; + + case MAVLINK_MSG_ID_VFR_HUD: // #74 hud仪表盘 + { + mavlink_vfr_hud_t vfr_hud; + mavlink_msg_vfr_hud_decode(pMsg, &vfr_hud); + // 对地速度 ps:飞行速度 + sprintf(buf, "%.2f", vfr_hud.groundspeed); + if (topicPubMsg[5] != buf) { + topicPubMsg[5] = buf; + } + } + break; + + case MAVLINK_MSG_ID_GPS_RAW_INT: // #24 GPS + { + mavlink_gps_raw_int_t gps_raw_int; + mavlink_msg_gps_raw_int_decode(pMsg, &gps_raw_int); + // 卫星数 + sprintf(buf, "%d", gps_raw_int.satellites_visible); + if (topicPubMsg[6] != buf) { + topicPubMsg[6] = buf; + } + // 纬度 + sprintf(buf, "%.7f", (double)gps_raw_int.lat / 10000000); + if (topicPubMsg[7] != buf) { + topicPubMsg[7] = buf; + } + // 经度 + sprintf(buf, "%.7f", (double)gps_raw_int.lon / 10000000); + if (topicPubMsg[8] != buf) { + topicPubMsg[8] = buf; + } + // 卫星状态 + switch (gps_raw_int.fix_type) { + case 0: + { + topicPubMsg[9] = "No Fix"; + } + break; + case 1: + { + topicPubMsg[9] = "No Fix"; + } + break; + case 2: + { + topicPubMsg[9] = "Fix 2D"; + } + break; + case 3: + { + topicPubMsg[9] = "Fix 3D"; + } + break; + case 4: + { + topicPubMsg[9] = "Low GPS"; + } + break; + case 5: + { + topicPubMsg[9] = "Float"; + } + break; + default: + { + topicPubMsg[9] = "Fixed"; + } + break; + } + } + break; + + case MAVLINK_MSG_ID_MISSION_REQUEST: // #40: 写航点反馈 + { + mavlink_mission_request_t mission_request; // 解构的数据放到这个对象 + mavlink_msg_mission_request_decode(pMsg, &mission_request); // 解构msg数据 + //日志 + fc.logln("MsgID:"); + fc.logln(pMsg->msgid); + fc.logln("No:"); + fc.logln(mission_request.seq); + //飞控 反馈当前要写入航点的序号 + fc.writeSeq = mission_request.seq; + } + break; + + case MAVLINK_MSG_ID_MISSION_ACK: // #47: 航点提交成果反馈 + { + mavlink_mission_ack_t mission_ark; // 解构的数据放到这个对象 + mavlink_msg_mission_ack_decode(pMsg, &mission_ark); // 解构msg数据 + /*日志*/ + fc.logln("MsgID:"); + fc.logln(pMsg->msgid); + fc.logln("re:"); + fc.logln(mission_ark.type); + /*记录航点的写入状态 */ + fc.missionArkType = mission_ark.type; //0：写入成功 非0表示失败 + /*当有成果反馈之后 初始化下列数据*/ + fc.writeState = false; //是否是写入状态 + fc.writeSeq = -1; //飞控反馈 需写入航点序列号 + fc.futureSeq = 0; //记录将来要写入 航点序列号 + } + break; + + default: + break; + } + } +} + +/** +* @description: 发送主题线程 +*/ +void pubThread() { + /*解析mavlink 数据流等 此函数内会把解析的数据按信息类型 发布到对应主题*/ + for (int i = 0; i < topicPubCount; i++) { //遍历向订阅主题 有数据更新时 发送信息 + if (topicPubMsg[i] != oldMsg[i]) { + if (i == 0) { //心跳包 每每向心跳主题发布信息 + //启动飞控 第一次心跳 ps:防止飞控 滞后启动 拿不到数据 + if (fc.getIsInit()) { + fc.setIsInit(false); + fc.mav_request_data(); //再向飞控请求一次 设定飞控输出数据流内容 + } + //发送心跳包 + fc.pubMQTTmsg(topicPub[0], topicPubMsg[0]); + } else { //非心跳包 有更新才向对应主题发布信息 + fc.pubMQTTmsg(topicPub[i], topicPubMsg[i]); + oldMsg[i] = topicPubMsg[i]; + } + } + } + /*更新4G网络测速ping值*/ + //pingNetTest(); +} + +/** +* @description: FLASH按钮点击 向MQTT 发送飞机的注册信息 ps:对频 +*/ +void flashThread() { + if (digitalRead(23) == HIGH) { + if (isPush) { //点击之后 + //请求注册 ps:发送esp8266的物理地址 到对频主题 + fc.pubMQTTmsg(topicHandle[0], fc.getMacAdd()); + } + isPush = false; //复位按钮 + } else { + //FLASH按下状态 + isPush = true; + } +} + +/** +* @description: 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后 +*/ +void mavThread() { + fc.mav_request_data(); +} + +/** +* @description: 向飞控 发送油门指令 +*/ +void chanThread() { + //mav_channels_override(channels); +} diff --git a/FoodDeliveryBase.cpp b/FoodDeliveryBase.cpp new file mode 100644 index 0000000..a426f95 --- /dev/null +++ b/FoodDeliveryBase.cpp @@ -0,0 +1,525 @@ +#include "FoodDeliveryBase.h" + +/** +* @description: 初始化 +*/ +FoodCube::FoodCube(char* userSsid, char* userPassword, char* userMqttServer, int userMqttPort, char* userMqttName, char* userMqttPassword, uint8_t userMavlinkSerial, uint8_t userVoiceSerial, char* userUdpServerIP, uint32_t userUdpServerPort) { + /*初始化*/ + ssid = userSsid; //wifi帐号 + password = userPassword; //wifi密码 + mqttServer = userMqttServer; //mqtt服务器地址 + mqttPort = userMqttPort; //mqtt服务器端口 + mqttName = userMqttName; //mqtt帐号 + mqttPassword = userMqttPassword; //mqtt密码 + mavlinkSerial = userMavlinkSerial; //mavlink用的串口 + voiceSerial = userVoiceSerial; //声音模块用的串口 + udpServerIP = userUdpServerIP; //云台相机ip + udpServerPort = userUdpServerPort; //云台相机端口 + + //初始化飞控通讯串口 波特率 + switch (mavlinkSerial) { //初始化指定 串口号 + case 0: + Serial.begin(57600); + break; + case 1: + Serial1.begin(57600); + break; + case 2: + Serial2.begin(57600); + break; + } + //初始化声音模块串口 波特率 + switch (voiceSerial) { //初始化指定 串口号 + case 0: + Serial.begin(115200); + break; + case 1: + Serial1.begin(115200); + break; + case 2: + Serial2.begin(115200); + break; + } + /*初始化 连接mqtt对象 赋予mqttClient指针*/ + mqttClient = new PubSubClient(mqttServer, mqttPort, wifiClient); +} +/** +* @description: 日志打印 +* @param {*} val 输出的信息 +*/ +void FoodCube::log(String val) { + Serial.print(val); +} +void FoodCube::log(char* val) { + Serial.print(val); +} +void FoodCube::log(int val) { + Serial.print(val); +} +void FoodCube::log(IPAddress val) { + Serial.print(val); +} +void FoodCube::log(bool val) { + Serial.print(val); +} +void FoodCube::logln(String val) { + Serial.println(val); +} +void FoodCube::logln(char* val) { + Serial.println(val); +} +void FoodCube::logln(int val) { + Serial.println(val); +} +void FoodCube::logln(IPAddress val) { + Serial.println(val); +} +void FoodCube::logln(bool val) { + Serial.print(val); +} + +/** +*@description: 取值 设置值 +*/ +bool FoodCube::getIsInit() { + return isInit; +} +void FoodCube::setIsInit(bool b) { + isInit = b; +} +String FoodCube::getMacAdd() { + return macAdd; +} + +/** +* @description: 连接wifi +*/ +void FoodCube::connectWifi() { + //设置wifi帐号密码 + WiFi.begin(ssid, password); + //连接wifi + logln("Connecting Wifi..."); + while (WiFi.status() != WL_CONNECTED) { + log("."); + delay(150); + } + //获取局域网ip + logln(""); + logln("WiFi connected"); + log("IP address: "); + logln(WiFi.localIP()); + localIp = WiFi.localIP(); + //设置开发板为无线终端 获取物理mac地址 + WiFi.mode(WIFI_STA); + macAdd = WiFi.macAddress(); + macAdd.replace(":", ""); //板子的物理地址 并且去除冒号 + log("macAdd: "); + logln(macAdd); + playText("歪佛哎,已连接"); + delay(500); +} + +/** +* @description: 连接mqtt +* @param {String[]} topicSub 主题数组 +* @param {int} topicSubCount 数组总数 +*/ +void FoodCube::connectMqtt(String topicSub[], int topicSubCount) { + /*尝试连接mqtt*/ + if (mqttClient->connect(macAdd.c_str(), mqttName, mqttPassword)) { + logln("MQTT Server Connected."); + log("Server Address: "); + logln(mqttServer); + log("ClientId :"); + logln(macAdd); + /*连接成功 订阅主题*/ + //订阅主题 PS:连接上mqtt服务器 订阅主题 收到信息触发回调函数 receiveCallback + for (int i = 0; i < topicSubCount; i++) { //遍历 订阅主题 + subscribeTopic(topicSub[i], 1); + } + playText("哎木可优踢踢,已连接"); + } else { + //失败返回状态码 + log("MQTT Server Connect Failed. Client State:"); + logln(mqttClient->state()); + delay(3000); + } +} + +/** +* @description: 写在loop函数里 检测mqtt连接情况 并保持心跳 +* @param {String[]} topicSub 主题数组 +* @param {int} topicSubCount 数组总数 +*/ +void FoodCube::mqttLoop(String topicSub[], int topicSubCount) { + if (mqttClient->connected()) { //检测 如果开发板成功连接服务器 + mqttClient->loop(); // 保持心跳 + } else { // 如果开发板未能成功连接服务器 + connectMqtt(topicSub, topicSubCount); // 则尝试连接服务器 + } +} + +/** +* @description: 订阅指定主题 +* @param {String} topicString 主题名称 +* @param {int} Qos 1：重要 ps:响应时间快 +*/ +void FoodCube::subscribeTopic(String topicString, int Qos = 1) { + //处理主题字符串 + topicString = topicString + "/" + macAdd; + char subTopic[topicString.length() + 1]; + strcpy(subTopic, topicString.c_str()); + //订阅主题 + mqttClient->subscribe(subTopic, Qos); +} + +/** +* @description: 向指定主题 发布信息 +* @param {String} topicString 主题名称 +* @param {String} messageString 发布的内容 +*/ +void FoodCube::pubMQTTmsg(String topicString, String messageString) { + //处理主题字符串 + topicString = topicString + "/" + macAdd; + char publishTopic[topicString.length() + 1]; + strcpy(publishTopic, topicString.c_str()); + //处理发布内容字符串 + char publishMsg[messageString.length() + 1]; + strcpy(publishMsg, messageString.c_str()); + //向指定主题 发布信息 + mqttClient->publish(publishTopic, publishMsg); +} + +/** +* @description: 判断并向指定串口 发送命令帧 +* @param {uint8_t[]} buf[] 命令帧 字节数组 +* @param {int} len 命令帧 的长度 +* @param {uint8_t} swSerial 串口选择 +*/ +void FoodCube::SWrite(uint8_t buf[], int len, uint8_t swSerial) { + //通过串口发送 + switch (swSerial) { //初始化指定 串口号 + case 0: + Serial.write(buf, len); + break; + case 1: + Serial1.write(buf, len); + break; + case 2: + Serial2.write(buf, len); + break; + } +} + + +/** +* @description: 声音播放 +* @param {String} str 播放内容 +*/ +void FoodCube::playText(String str) { + /*消息长度*/ + int len = str.length(); //修改信息长度 消息长度 + // if (len >= 3996) { //限制信息长度 超长的不播放 + // return; + // } + /*长度高低位*/ + int frameLength = len + 2; // 5 bytes for header and length bytes + byte highByte = (frameLength >> 8) & 0xFF; // extract high byte of length + byte lowByte = frameLength & 0xFF; // extract low byte of length + /*帧命令头*/ + uint8_t command[len + 5]; + //已知 帧头0xFD z信息长度高位 x信息长度低位 0x01命令字1是开始命令 0x04utf8编码 先给值 + int index = 0; + command[index++] = 0xFD; + command[index++] = highByte; + command[index++] = lowByte; + command[index++] = 0x01; + command[index++] = 0x04; + /*帧命令 消息段*/ + for (int i = 0; i < str.length(); i++) { + command[index++] = (int)str[i]; + } + for (int i = 0; i < sizeof(command); i++) { + log(command[i]); + log(" "); + } + logln(""); + //串口发送 播放声音 + SWrite(command, sizeof(command), voiceSerial); +} + +/** +* @description: 检查声音模块是否空闲 +* @return {uint8_t} 0x4E 78:系统忙 0x4F 79:系统空闲 +*/ +uint8_t FoodCube::chekVoiceMcu() { + uint8_t serialData; + uint8_t check[] = { 0xFD, 0x00, 0x01, 0x21 }; //检查命令帧 + SWrite(check, sizeof(check), voiceSerial); //发送检查指令 + switch (voiceSerial) { + case 0: + { + while (Serial.available()) { // 当串口接收到信息后 + serialData = Serial.read(); // 将接收到的信息使用read读取 + } + } + break; + case 1: + { + while (Serial1.available()) { // 当串口接收到信息后 + serialData = Serial1.read(); // 将接收到的信息使用read读取 + } + } + break; + case 2: + { + while (Serial2.available()) { // 当串口接收到信息后 + serialData = Serial2.read(); // 将接收到的信息使用read读取 + } + } + break; + } + + return serialData; +} + +/** +* @description: 声音模块停止合成 +*/ +void FoodCube::stopVoice() { + uint8_t stop[] = { 0xFD, 0x00, 0x01, 0x22 }; //停止合成命令帧 + SWrite(stop, sizeof(stop), voiceSerial); //发送检查指令 +} + +/** +* @description: 相机控制命令帧 校检码 +* @param {uint8_t[]} 命令帧 数组 +* @param {int} len 命令帧 的长度 +*/ +uint16_t FoodCube::CRC16_cal(uint8_t* ptr, uint32_t len, uint16_t crc_init) { + uint16_t crc, oldcrc16; + uint8_t temp; + crc = crc_init; + while (len-- != 0) { + temp = (crc >> 8) & 0xff; + oldcrc16 = crc16_tab[*ptr ^ temp]; + crc = (crc << 8) ^ oldcrc16; + ptr++; + } + return (crc); +} + +void FoodCube::crc_check_16bites(uint8_t* pbuf, uint32_t len, uint16_t* p_result) { + uint16_t crc_result = 0; + crc_result = CRC16_cal(pbuf, len, 0); + *p_result = crc_result; +} +/** +* @description: 相机 +* @param {uint8_t[]} 命令帧 数组 +* @param {int} len 命令帧 的长度 +*/ +void FoodCube::udpSendToCamera(uint8_t* p_command, uint32_t len) { + uint16_t result = 0; + uint16_t* p_result = &result; + //计算校检码 + crc_check_16bites(p_command, len, p_result); + //加上校检码 + uint8_t bytes[2 + len]; + for (int i = 0; i < len; i++) { + bytes[i] = p_command[i]; + } + bytes[len] = static_cast(result); // 低位 互换 + bytes[len + 1] = static_cast(result >> 8); // 高位 互换 + //udp发送命令帧 + udp.beginPacket(udpServerIP, udpServerPort); + udp.write(bytes, len + 2); + udp.endPacket(); +} + +/** +* @description: 按位设置 1 or 0 +* @param {String} str 要设置的值 +* @param {uint8_t} n 第几位 从0开始 +* @param {uint8_t} isOne 1:设置成1 0:设置成0 +*/ +String FoodCube::setNBit(String str, uint8_t n, uint8_t i) { + char buf[10]; + uint16_t val = (uint8_t)str.toInt(); + if (i) { + val |= (1u << n); //按位设置成1 + } else { + val &= ~(1u << n); //按位设置成0 + } + sprintf(buf, "%d", val); + return buf; +} + + + +/** + * @description: 向飞控请求 指定数据 + */ +void FoodCube::mav_request_data() { + mavlink_message_t msg; + uint8_t buf[MAVLINK_MAX_PACKET_LEN]; + // 以下注释 把数据流组合到一起 + /* + * MAV_DATA_STREAM_ALL=0, // 获取所有类别 数据流 + * MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. + * MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS + * MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW + * MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. + * MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. + * MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot + * MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot + * MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot + * MAV_DATA_STREAM_ENUM_END=13, + */ + // 根据从Pixhawk请求的所需信息进行设置 + const int maxStreams = 1; // 遍历次数 （下面组合的长度） + const uint8_t MAVStreams[maxStreams] = { MAV_DATA_STREAM_ALL }; // 请求的数据流组合 放到一个对象 后面进行遍历 + const uint16_t MAVRates[maxStreams] = { 0x01 }; // 设定发送频率 分别对应上面数据流 ps:0X01 1赫兹 既每秒发送一次 + for (int i = 0; i < maxStreams; i++) { + // 向飞控发送请求 + mavlink_msg_request_data_stream_pack(2, 200, &msg, 1, 0, MAVStreams[i], MAVRates[i], 1); + int len = mavlink_msg_to_send_buffer(buf, &msg); + SWrite(buf, len, mavlinkSerial); + } +} + +/** + * @description: 解析mavlink数据流 + * @param {pFun} pFun 拿到缓存数据之后 解析数据执行回调 + */ +void FoodCube::comm_receive(void (*pFun)(uint8_t)) { + switch (mavlinkSerial) { + case 0: + while (Serial.available() > 0) { // 判断串口缓存 是否有数据 + uint8_t c = Serial.read(); // 从缓存拿到数据 + pFun(c); + } + break; + case 1: + while (Serial1.available() > 0) { // 判断串口缓存 是否有数据 + uint8_t c = Serial1.read(); // 从缓存拿到数据 + pFun(c); + } + break; + case 2: + while (Serial2.available() > 0) { // 判断串口缓存 是否有数据 + uint8_t c = Serial2.read(); // 从缓存拿到数据 + pFun(c); + } + break; + } +} + +/** + * @description: 写入航点 第一步 “向飞控发送航点数量” + * @param {uint8_t} taskcount 航点数量 + */ +void FoodCube::mav_mission_count(uint8_t taskcount) { + mavlink_message_t msg; //mavlink协议信息(msg) + uint8_t buf[MAVLINK_MAX_PACKET_LEN]; //发送的缓存 + //设置飞行模式的数据包 + mavlink_msg_mission_count_pack(0xFF, 0xBE, &msg, 1, 0, taskcount); + int len = mavlink_msg_to_send_buffer(buf, &msg); + //通过串口发送 + SWrite(buf, len, mavlinkSerial); +} + +/** + * @description: 等待飞控反馈之后 写入指定航点 + * @param {uint8_t} seq 航点序列 + * @param {uint8_t} frame 通常第一个是home航点0 绝对海拔 后面的固定的全是 3 相对高度 + * @param {uint8_t} command 航点的类型 如：16 是waypoint模式 + * @param {uint8_t} current 固定给0 + * @param {uint8_t} autocontinue 是否自动飞下一个航点 + * @param {double} param1 + * @param {double} param2 + * @param {double} param3 + * @param {double} param4 + * @param {double} x + * @param {double} y + * @param {double} z + */ +void FoodCube::mav_mission_item(int8_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, double param1, double param2, double param3, double param4, double x, double y, double z) { + mavlink_message_t msg; //mavlink协议信息(msg) + uint8_t buf[MAVLINK_MAX_PACKET_LEN]; //发送的缓存 + //写入航点数据包 + mavlink_msg_mission_item_pack(0xFF, 0xBE, &msg, 1, 0, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z); + int len = mavlink_msg_to_send_buffer(buf, &msg); + //通过串口发送 + SWrite(buf, len, mavlinkSerial); +} + +/** + * @description: 向飞控发送 设置模式指令 + */ +void FoodCube::mav_set_mode(uint8_t SysState) { + mavlink_message_t msg; //mavlink协议信息(msg) + uint8_t buf[MAVLINK_MAX_PACKET_LEN]; //发送的缓存 + //设置飞行模式的数据包 + mavlink_msg_set_mode_pack(0xFF, 0xBE, &msg, 1, 209, SysState); + int len = mavlink_msg_to_send_buffer(buf, &msg); + //通过串口发送 + SWrite(buf, len, mavlinkSerial); +} + +/** + * @description: 飞控 控制 + * @param {uint8_t} controlType 3:加解锁模式控制 + * @param {uint16_t} param[] + */ +void FoodCube::mav_command(uint8_t controlType, uint16_t param[]) { + mavlink_message_t msg; //mavlink协议信息(msg) + uint8_t buf[MAVLINK_MAX_PACKET_LEN]; //发送的缓存 + //设置飞行模式的数据包 + mavlink_command_long_t cmd; + cmd.target_system = 1; + cmd.target_component = 1; + cmd.confirmation = 0; + if (controlType == 3) { //飞机加解锁 + cmd.command = MAV_CMD_COMPONENT_ARM_DISARM; + cmd.param1 = param[0]; // 0:加锁 1：解锁 + cmd.param2 = param[1]; //0:符合条件加解锁 21196:强制加解锁 + } + if (controlType == 6) { //测试起飞 + float p = (float)param[0]; + cmd.command = MAV_CMD_NAV_TAKEOFF; + cmd.param1 = 0; + cmd.param2 = 0; + cmd.param3 = 0; + cmd.param4 = 0; + cmd.param5 = 0; + cmd.param6 = 0; + cmd.param7 = p; //起飞高度 + } + if (controlType == 8) { //降落 + cmd.command = MAV_CMD_NAV_LAND; + } + if (controlType == 11) { //磁罗盘校准 + cmd.command = MAV_CMD_DO_START_MAG_CAL; + cmd.param1 = 0; + cmd.param2 = 1; + cmd.param3 = 1; + } + mavlink_msg_command_long_encode(0xFF, 0xBE, &msg, &cmd); + int len = mavlink_msg_to_send_buffer(buf, &msg); + //通过串口发送 + SWrite(buf, len, mavlinkSerial); +} +/** + * @description: 油门控制 + * @param {uint16_t} chan[] 四个通道 + */ +void FoodCube::mav_channels_override(uint16_t chan[]) { + mavlink_message_t msg; //mavlink协议信息(msg) + uint8_t buf[MAVLINK_MAX_PACKET_LEN]; //发送的缓存 + //控制油门 + mavlink_msg_rc_channels_override_pack(0xFF, 0xBE, &msg, 1, 1, chan[0], chan[1], chan[2], chan[3], 0xffff, 0xffff, 0xffff, 0xffff); + int len = mavlink_msg_to_send_buffer(buf, &msg); + //通过串口发送 + SWrite(buf, len, mavlinkSerial); +} diff --git a/FoodDeliveryBase.h b/FoodDeliveryBase.h new file mode 100644 index 0000000..e1b005f --- /dev/null +++ b/FoodDeliveryBase.h @@ -0,0 +1,126 @@ +#ifndef _FOODDELIVERYBASE_H_ +#define _FOODDELIVERYBASE_H_ +#include "Arduino.h" +/*wifi*/ +#include "WiFi.h" +/*mqtt*/ +#include "PubSubClient.h" +/*mavlink*/ +#include "mavlink.h" +/*json库*/ +#include "ArduinoJson.h" +/*异步库*/ +#include "Ticker.h" +/*udp发送*/ +#include "WiFiUdp.h" + +class FoodCube { +public: + /*飞行航点任务相关属性*/ + bool writeState = false; //是否是写入状态 + int8_t writeSeq = -1; //飞控反馈 需写入航点序列号 + int8_t futureSeq = 0; //记录将来要写入 航点序列号 + int8_t missionArkType = -1; //航点写入是否成功 + /*前端模拟遥控的油门通道*/ + uint16_t channels[4] = { 1500, 1500, 1500, 1500 }; + /*初始化*/ + FoodCube(char* userSsid, char* userPassword, char* userMqttServer, int userMqttPort, char* userMqttName, char* userMqttPassword, uint8_t userMavlinkSerial, uint8_t userVoiceSerial,char* userUdpServerIP, uint32_t userUdpServerPort); + /*日志打印*/ + void log(String val); + void log(char* val); + void log(int val); + void log(IPAddress val); + void log(bool val); + void logln(String val); + void logln(char* val); + void logln(int val); + void logln(IPAddress val); + void logln(bool val); + /*get set value*/ + bool getIsInit(); + void setIsInit(bool b); + String getMacAdd(); + /*wifi*/ + void connectWifi(); + /*mqtt*/ + PubSubClient* mqttClient; //指向 mqtt服务器连接 对象 + void connectMqtt(String topicSub[], int topicSubCount); + void mqttLoop(String topicSub[], int topicSubCount); + void subscribeTopic(String topicString, int Qos); + void pubMQTTmsg(String topicString, String messageString); + /*串口输出*/ + void SWrite(uint8_t buf[], int len, uint8_t swSerial); + /*声音模块控制*/ + void playText(String str); + uint8_t chekVoiceMcu(); + void stopVoice(); + /*mavlink*/ + String setNBit(String str, uint8_t n, uint8_t i); + void mav_request_data(); + void comm_receive(void (*pFun)(uint8_t)); + void mav_mission_count(uint8_t taskcount); + void mav_mission_item(int8_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, double param1, double param2, double param3, double param4, double x, double y, double z); + void mav_set_mode(uint8_t SysState); + void mav_command(uint8_t controlType, uint16_t param[]); + void mav_channels_override(uint16_t chan[]); + /*云台相机控制*/ + void udpSendToCamera(uint8_t* p_command, uint32_t len); + +private: + char* ssid; //wifi帐号 + char* password; //wifi密码 + char* mqttServer; //mqtt服务器地址 + int mqttPort; //mqtt服务器端口 + char* mqttName; //mqtt帐号 + char* mqttPassword; //mqtt密码 + uint8_t mavlinkSerial; //飞控占用的串口号 + uint8_t voiceSerial; //飞控占用的串口号 + bool isInit = true; //用来判断接收到第一次心跳时 重新向飞控 发送一个请求数据类型 + + WiFiClient wifiClient; //网络客户端 + IPAddress localIp; //板子的IP地址 + String macAdd; //板子的物理地址(已去掉冒号分隔符) + + /*云台相机控制*/ + WiFiUDP udp; //udp信息操作对象 + char* udpServerIP; //云台相机ip地址 + uint32_t udpServerPort; //云台相机端口 + //摄像头控制 校验代码 + const uint16_t crc16_tab[256] = { 0x0, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, + 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, + 0x1231, 0x210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, + 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, + 0x2462, 0x3443, 0x420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, + 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, + 0x3653, 0x2672, 0x1611, 0x630, 0x76d7, 0x66f6, 0x5695, 0x46b4, + 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, + 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x840, 0x1861, 0x2802, 0x3823, + 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, + 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0xa50, 0x3a33, 0x2a12, + 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, + 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0xc60, 0x1c41, + 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, + 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0xe70, + 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, + 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, + 0x1080, 0xa1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, + 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, + 0x2b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, + 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, + 0x34e2, 0x24c3, 0x14a0, 0x481, 0x7466, 0x6447, 0x5424, 0x4405, + 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, + 0x26d3, 0x36f2, 0x691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, + 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, + 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x8e1, 0x3882, 0x28a3, + 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, + 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0xaf1, 0x1ad0, 0x2ab3, 0x3a92, + 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, + 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0xcc1, + 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, + 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0xed1, 0x1ef0 }; +uint16_t CRC16_cal(uint8_t* ptr, uint32_t len, uint16_t crc_init); +void crc_check_16bites(uint8_t* pbuf, uint32_t len, uint16_t* p_result); +}; + + +#endif \ No newline at end of file