光电吊舱页面优化；增加光电吊舱遥测信息解析显示；
caoyuhui
8 months ago
parent
04ce4e937e
commit
b8d3691202
@ -0,0 +1,364 @@
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#ifndef _BASE_TYPE_H_
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#define _BASE_TYPE_H_
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#define __WIN_32_VC__
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//#define __DOS_16_BC__
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//#define __WIN_32_BCB__
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#ifdef __WIN_32_VC__
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// #include <afxwin.h>
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#include <windows.h>
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#include <time.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <assert.h>
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#endif
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#ifdef __WIN_32_BCB__
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#include <vcl.h>
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#endif
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#ifdef __WIN_32_BCB__
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typedef unsigned __int8 BYTE;
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typedef unsigned __int8 UINT8;
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typedef unsigned __int16 UINT16;
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typedef unsigned __int32 UINT32;
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typedef __int8 INT8;
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typedef __int16 INT16;
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typedef __int32 INT32;
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#endif
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#ifdef __DOS_16_BC__
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typedef unsigned char BYTE;
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typedef unsigned char UINT8;
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typedef unsigned int UINT16;
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typedef unsigned long UINT32;
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typedef char INT8;
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typedef int INT16;
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typedef long INT32;
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#endif
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#ifdef __DJGPP__
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typedef unsigned char BYTE;
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typedef unsigned char UINT8;
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typedef unsigned int UINT16;
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typedef unsigned long UINT32;
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typedef char INT8;
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typedef int INT16;
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typedef long INT32;
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#endif
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#ifdef __WIN_32_VC__
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typedef unsigned char BYTE;
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typedef unsigned char UINT8;
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typedef unsigned __int16 UINT16;
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typedef unsigned int UINT32;
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//typedef char INT8;
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typedef __int16 INT16;
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typedef int INT32;
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#endif
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#ifndef __WIN_32_BCB__
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#ifdef __BORLANDC__
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typedef unsigned char BOOL;
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const BOOL FALSE = 0;
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const BOOL TRUE = 1;
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#endif
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#endif
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//#define SIGN(x) (((x)<0)?-1:1)
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//#define ABS(x) (((x)<0)?-(x):(x))
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const double PI = 3.141592653589793238462643383279502884197169399;
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const double PI2 = PI * 2;
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const double PI_2 = PI * 0.5;
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const double PI_3 = PI / 3;
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const double PI_4 = PI * 0.25;
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const double DEG2RAD = 0.017453292519943295769236907684886127134428718885417;
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const double RAD2DEG = 57.295779513082322864647721871733665466308593750000;
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template< class T> inline const int SIGN(const T& x)
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{
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return x < 0 ? -1 : 1;
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}
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template< class T> inline const T ABS(const T& x)
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{
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return x < 0 ? -x : x;
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}
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typedef struct {
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double lon;
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double lat;
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double height;
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double roll;
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double pitch;
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double yaw;
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double eoaz;
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double eopitch;
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double laser;
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double focus;
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double vg;
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unsigned char GPS_STATUS;
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short biasx;
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short biasy;
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bool ccd;
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float utc;
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}ESD_DATA;
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struct struCHECK
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{
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struCHECK(){C0=C1=0;};
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BYTE C0;
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BYTE C1;
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};
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const UINT16 CRC8TAB[256] =
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{
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//0
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0x0000, 0x0031, 0x0062, 0x0053, 0x00C4, 0x00F5, 0x00A6, 0x0097,
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0x00B9, 0x0088, 0x00DB, 0x00EA, 0x007D, 0x004C, 0x001F, 0x002E,
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//1
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0x0043, 0x0072, 0x0021, 0x0010, 0x0087, 0x00B6, 0x00E5, 0x00D4,
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0x00FA, 0x00CB, 0x0098, 0x00A9, 0x003E, 0x000F, 0x005C, 0x006D,
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//2
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0x0086, 0x00B7, 0x00E4, 0x00D5, 0x0042, 0x0073, 0x0020, 0x0011,
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0x003F, 0x000E, 0x005D, 0x006C, 0x00FB, 0x00CA, 0x0099, 0x00A8,
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//3
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0x00C5, 0x00F4, 0x00A7, 0x0096, 0x0001, 0x0030, 0x0063, 0x0052,
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0x007C, 0x004D, 0x001E, 0x002F, 0x00B8, 0x0089, 0x00DA, 0x00EB,
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//4
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0x003D, 0x000C, 0x005F, 0x006E, 0x00F9, 0x00C8, 0x009B, 0x00AA,
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0x0084, 0x00B5, 0x00E6, 0x00D7, 0x0040, 0x0071, 0x0022, 0x0013,
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//5
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0x007E, 0x004F, 0x001C, 0x002D, 0x00BA, 0x008B, 0x00D8, 0x00E9,
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0x00C7, 0x00F6, 0x00A5, 0x0094, 0x0003, 0x0032, 0x0061, 0x0050,
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//6
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0x00BB, 0x008A, 0x00D9, 0x00E8, 0x007F, 0x004E, 0x001D, 0x002C,
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0x0002, 0x0033, 0x0060, 0x0051, 0x00C6, 0x00F7, 0x00A4, 0x0095,
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//7
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0x00F8, 0x00C9, 0x009A, 0x00AB, 0x003C, 0x000D, 0x005E, 0x006F,
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0x0041, 0x0070, 0x0023, 0x0012, 0x0085, 0x00B4, 0x00E7, 0x00D6,
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//8
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0x007A, 0x004B, 0x0018, 0x0029, 0x00BE, 0x008F, 0x00DC, 0x00ED,
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0x00C3, 0x00F2, 0x00A1, 0x0090, 0x0007, 0x0036, 0x0065, 0x0054,
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//9
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0x0039, 0x0008, 0x005B, 0x006A, 0x00FD, 0x00CC, 0x009F, 0x00AE,
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0x0080, 0x00B1, 0x00E2, 0x00D3, 0x0044, 0x0075, 0x0026, 0x0017,
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//A
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0x00FC, 0x00CD, 0x009E, 0x00AF, 0x0038, 0x0009, 0x005A, 0x006B,
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0x0045, 0x0074, 0x0027, 0x0016, 0x0081, 0x00B0, 0x00E3, 0x00D2,
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//B
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0x00BF, 0x008E, 0x00DD, 0x00EC, 0x007B, 0x004A, 0x0019, 0x0028,
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0x0006, 0x0037, 0x0064, 0x0055, 0x00C2, 0x00F3, 0x00A0, 0x0091,
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//C
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0x0047, 0x0076, 0x0025, 0x0014, 0x0083, 0x00B2, 0x00E1, 0x00D0,
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0x00FE, 0x00CF, 0x009C, 0x00AD, 0x003A, 0x000B, 0x0058, 0x0069,
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//D
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0x0004, 0x0035, 0x0066, 0x0057, 0x00C0, 0x00F1, 0x00A2, 0x0093,
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0x00BD, 0x008C, 0x00DF, 0x00FE, 0x0079, 0x0048, 0x001B, 0x002A,
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//E
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0x00C1, 0x00F0, 0x00A3, 0x0092, 0x0005, 0x0034, 0x0067, 0x0056,
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0x0078, 0x0049, 0x001A, 0x002B, 0x00BC, 0x008D, 0x00DE, 0x00EF,
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//F
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0x0082, 0x00B3, 0x00E0, 0x00D1, 0x0046, 0x0077, 0x0024, 0x0015,
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0x003B, 0x000A, 0x0059, 0x0068, 0x00FF, 0x00CE, 0x009D, 0x00AC
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};
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const UINT16 Crc_Table[256] = // X16+X12+X5+1 1021余式表 CCITT
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{
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0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
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0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
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0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
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0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
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0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
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0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
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0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
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0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
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0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
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0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
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0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
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0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
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0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
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0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
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0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
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0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
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0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
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0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
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0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
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0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
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0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
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0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
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0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
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0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
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0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
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0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
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0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
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0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
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0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
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0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
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0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
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0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
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};
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const unsigned char CRCLIST[512] = {
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0x0,0x0,0x89,0x11,0x12,0x23,0x9b,0x32,0x24,0x46,0xad,0x57,0x36,0x65,0xbf,0x74,
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0x48,0x8c,0xc1,0x9d,0x5a,0xaf,0xd3,0xbe,0x6c,0xca,0xe5,0xdb,0x7e,0xe9,0xf7,0xf8,
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0x81,0x10,0x8,0x1,0x93,0x33,0x1a,0x22,0xa5,0x56,0x2c,0x47,0xb7,0x75,0x3e,0x64,
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0xc9,0x9c,0x40,0x8d,0xdb,0xbf,0x52,0xae,0xed,0xda,0x64,0xcb,0xff,0xf9,0x76,0xe8,
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0x2,0x21,0x8b,0x30,0x10,0x2,0x99,0x13,0x26,0x67,0xaf,0x76,0x34,0x44,0xbd,0x55,
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0x4a,0xad,0xc3,0xbc,0x58,0x8e,0xd1,0x9f,0x6e,0xeb,0xe7,0xfa,0x7c,0xc8,0xf5,0xd9,
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0x83,0x31,0xa,0x20,0x91,0x12,0x18,0x3,0xa7,0x77,0x2e,0x66,0xb5,0x54,0x3c,0x45,
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0xcb,0xbd,0x42,0xac,0xd9,0x9e,0x50,0x8f,0xef,0xfb,0x66,0xea,0xfd,0xd8,0x74,0xc9,
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0x4,0x42,0x8d,0x53,0x16,0x61,0x9f,0x70,0x20,0x4,0xa9,0x15,0x32,0x27,0xbb,0x36,
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0x4c,0xce,0xc5,0xdf,0x5e,0xed,0xd7,0xfc,0x68,0x88,0xe1,0x99,0x7a,0xab,0xf3,0xba,
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0x85,0x52,0xc,0x43,0x97,0x71,0x1e,0x60,0xa1,0x14,0x28,0x5,0xb3,0x37,0x3a,0x26,
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0xcd,0xde,0x44,0xcf,0xdf,0xfd,0x56,0xec,0xe9,0x98,0x60,0x89,0xfb,0xbb,0x72,0xaa,
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0x6,0x63,0x8f,0x72,0x14,0x40,0x9d,0x51,0x22,0x25,0xab,0x34,0x30,0x6,0xb9,0x17,
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0x4e,0xef,0xc7,0xfe,0x5c,0xcc,0xd5,0xdd,0x6a,0xa9,0xe3,0xb8,0x78,0x8a,0xf1,0x9b,
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0x87,0x73,0xe,0x62,0x95,0x50,0x1c,0x41,0xa3,0x35,0x2a,0x24,0xb1,0x16,0x38,0x7,
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0xcf,0xff,0x46,0xee,0xdd,0xdc,0x54,0xcd,0xeb,0xb9,0x62,0xa8,0xf9,0x9a,0x70,0x8b,
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0x8,0x84,0x81,0x95,0x1a,0xa7,0x93,0xb6,0x2c,0xc2,0xa5,0xd3,0x3e,0xe1,0xb7,0xf0,
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0x40,0x8,0xc9,0x19,0x52,0x2b,0xdb,0x3a,0x64,0x4e,0xed,0x5f,0x76,0x6d,0xff,0x7c,
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0x89,0x94,0x0,0x85,0x9b,0xb7,0x12,0xa6,0xad,0xd2,0x24,0xc3,0xbf,0xf1,0x36,0xe0,
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0xc1,0x18,0x48,0x9,0xd3,0x3b,0x5a,0x2a,0xe5,0x5e,0x6c,0x4f,0xf7,0x7d,0x7e,0x6c,
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0xa,0xa5,0x83,0xb4,0x18,0x86,0x91,0x97,0x2e,0xe3,0xa7,0xf2,0x3c,0xc0,0xb5,0xd1,
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0x42,0x29,0xcb,0x38,0x50,0xa,0xd9,0x1b,0x66,0x6f,0xef,0x7e,0x74,0x4c,0xfd,0x5d,
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0x8b,0xb5,0x2,0xa4,0x99,0x96,0x10,0x87,0xaf,0xf3,0x26,0xe2,0xbd,0xd0,0x34,0xc1,
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0xc3,0x39,0x4a,0x28,0xd1,0x1a,0x58,0xb,0xe7,0x7f,0x6e,0x6e,0xf5,0x5c,0x7c,0x4d,
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0xc,0xc6,0x85,0xd7,0x1e,0xe5,0x97,0xf4,0x28,0x80,0xa1,0x91,0x3a,0xa3,0xb3,0xb2,
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0x44,0x4a,0xcd,0x5b,0x56,0x69,0xdf,0x78,0x60,0xc,0xe9,0x1d,0x72,0x2f,0xfb,0x3e,
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0x8d,0xd6,0x4,0xc7,0x9f,0xf5,0x16,0xe4,0xa9,0x90,0x20,0x81,0xbb,0xb3,0x32,0xa2,
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0xc5,0x5a,0x4c,0x4b,0xd7,0x79,0x5e,0x68,0xe1,0x1c,0x68,0xd,0xf3,0x3f,0x7a,0x2e,
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0xe,0xe7,0x87,0xf6,0x1c,0xc4,0x95,0xd5,0x2a,0xa1,0xa3,0xb0,0x38,0x82,0xb1,0x93,
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0x46,0x6b,0xcf,0x7a,0x54,0x48,0xdd,0x59,0x62,0x2d,0xeb,0x3c,0x70,0xe,0xf9,0x1f,
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0x8f,0xf7,0x6,0xe6,0x9d,0xd4,0x14,0xc5,0xab,0xb1,0x22,0xa0,0xb9,0x92,0x30,0x83,
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0xc7,0x7b,0x4e,0x6a,0xd5,0x58,0x5c,0x49,0xe3,0x3d,0x6a,0x2c,0xf1,0x1e,0x78,0xf
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};
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inline struCHECK getCRC8(UINT8* data, int len)
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{
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UINT16 crc = 0;
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int i=0;
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while (len-- > 0)
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{
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crc = CRC8TAB[crc ^ (data[i]&0x00FF)];
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++i;
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}
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struCHECK ck;
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ck.C1=(crc>>8);
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ck.C0=(crc&0x00ff);
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return ck;
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}
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inline struCHECK MakeCheckCRC(UINT8 * dataptr,INT16 len)
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{
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INT16 count = 0;
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UINT8 C0 = 0,C1 = 0,Y0 = 0,Y1 = 0,Z0 = 0,Z1 = 0;
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|
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C0=C1=Y0=Y1=Z0=Z1=0;
|
||||
|
||||
while(count < len)
|
||||
{
|
||||
Y0=(CRCLIST[2*(*dataptr)]^C1) & 0x00FF;
|
||||
Y1=(CRCLIST[2*(*dataptr)+1]) & 0x00FF;
|
||||
Z0=CRCLIST[2*C0] & 0x00FF;
|
||||
Z1=CRCLIST[2*C0+1] & 0x00FF;
|
||||
C0=(Y0^Z0) & 0x00FF;
|
||||
C1=(Y1^Z1) & 0x00FF;
|
||||
++dataptr;
|
||||
++count;
|
||||
}
|
||||
|
||||
struCHECK ck;
|
||||
ck.C1=C1;
|
||||
ck.C0=C0;
|
||||
return ck;
|
||||
|
||||
//return(C0+C1*256);/* return crc result */
|
||||
}
|
||||
|
||||
inline struCHECK MakeCheckCRC1(UINT8 *ptr,UINT8 len)
|
||||
{
|
||||
UINT8 temp,i;
|
||||
UINT16 crc = 0;
|
||||
|
||||
for(i = 0; i < len; ++i)
|
||||
{
|
||||
temp = (UINT8) (crc/256); // 以8位二进制数暂存CRC 的高8 位
|
||||
crc <<= 8; // 左移 8 位
|
||||
crc ^= Crc_Table[temp ^ *ptr]; // 高字节和当前数据XOR 再查表
|
||||
++ptr;
|
||||
}
|
||||
struCHECK ck;
|
||||
ck.C1=(crc>>8);
|
||||
ck.C0=(crc&0xff);
|
||||
return ck;
|
||||
}
|
||||
inline struCHECK MakeCheckCRC_256(UINT8 *ptr,UINT8 len)
|
||||
{
|
||||
struCHECK ck;
|
||||
int count = 0;
|
||||
unsigned char C0,C1,Y0,Y1,Z0,Z1;
|
||||
|
||||
C0=C1=Y0=Y1=Z0=Z1=0;
|
||||
|
||||
BYTE *pData = ptr;
|
||||
while(count < len)
|
||||
{
|
||||
unsigned int idx = (unsigned int)(*pData);
|
||||
idx = idx << 1;
|
||||
Y0=(CRCLIST[idx]^C1) & 0x00FF;
|
||||
Y1=(CRCLIST[idx+1]) & 0x00FF;
|
||||
idx = ((unsigned int)C0) << 1;
|
||||
Z0=CRCLIST[idx] & 0x00FF;
|
||||
Z1=CRCLIST[idx+1] & 0x00FF;
|
||||
C0=(Y0^Z0) & 0x00FF;
|
||||
C1=(Y1^Z1) & 0x00FF;
|
||||
++pData;
|
||||
++count;
|
||||
}
|
||||
ck.C0=C0;
|
||||
ck.C1=C1;
|
||||
return ck;
|
||||
}
|
||||
|
||||
|
||||
inline UINT8 MakeCheckSum(UINT8 *ptr, UINT8 len)
|
||||
{
|
||||
UINT8 i;
|
||||
UINT8 CK_A=0;
|
||||
|
||||
for (i=0; i < len; ++i )
|
||||
{
|
||||
CK_A = CK_A + ptr[i];
|
||||
}
|
||||
|
||||
return CK_A;
|
||||
}
|
||||
|
||||
inline struCHECK MakeCheckSum_RTCM(UINT8 *ptr, UINT8 len)//RTCM差分数据帧校验
|
||||
{
|
||||
|
||||
UINT8 i;
|
||||
UINT8 CK_A=0;
|
||||
|
||||
for (i=0; i < len; ++i )
|
||||
{
|
||||
CK_A = CK_A + ptr[i];
|
||||
}
|
||||
|
||||
struCHECK ck;
|
||||
ck.C1=0x00;
|
||||
ck.C0=0x100 - CK_A;
|
||||
|
||||
return ck;
|
||||
}
|
||||
|
||||
|
||||
#endif//_BASE_TYPE_H_
|
||||
Loading…
Reference in New Issue