update

2026-07-21 11:11:01 +08:00
commit a420e9ae74
124 changed files with 16517 additions and 0 deletions
@@ -0,0 +1,168 @@
+using System;
+
+namespace MedullaAdapter
+{
+    public class BasePack
+    {
+        private static ushort CalculateCRC16(byte[] data)
+        {
+            const ushort polynomial = 0xA001; // CRC-16-IBM多项式
+            ushort crc = 0xFFFF; // 初始值
+
+            foreach (byte b in data)
+            {
+                crc ^= b; // 将数据字节与CRC寄存器按位异或
+
+                for (int i = 0; i < 8; i++)
+                {
+                    if ((crc & 0x0001) != 0)
+                    {
+                        crc >>= 1;
+                        crc ^= polynomial;
+                    }
+                    else
+                    {
+                        crc >>= 1;
+                    }
+                }
+            }
+            return crc;
+        }
+
+        private byte[] _data;
+
+        public void SetData(byte[] data)
+        {
+            _data = data;
+        }
+
+        public byte[] GetPack()
+        {
+            var pack = new byte[_data.Length+7];
+            pack[0] = 0xBB;
+            pack[1] = 0xAA;
+            var length = BitConverter.GetBytes(_data.Length);
+            pack[2] = length[0];
+            pack[3] = length[1];
+            for (int i = 0; i < _data.Length; i++)
+            {
+                pack[4+i] = _data[i];
+            }
+
+            var crcByes = new byte[pack.Length - 5];
+            Array.Copy(pack,2,crcByes,0,crcByes.Length);
+            var crc = BitConverter.GetBytes(CalculateCRC16(crcByes));
+            pack[pack.Length-1] = 0xEE;
+            pack[pack.Length-2] = crc[1];
+            pack[pack.Length-3] = crc[0];
+            return pack;
+        }
+    }
+
+    public class ControlPack : BasePack
+    {
+        public ControlPack(byte controlCode)
+        {
+            byte[] controlData = new byte[3]{0x01,0x00,controlCode};
+            SetData(controlData);
+        }
+    }
+
+    public class SetConfigPack : BasePack
+    {
+        public SetConfigPack(int can1BaudRate, int can2BaudRate,int modbus0BaudRate, int modbus1BaudRate, int modbus2BaudRate,
+            int serialBaudRate,int upperSize = 1024,int lowerSize =1024 )
+        {
+            var upper = BitConverter.GetBytes(upperSize);
+            var lower = BitConverter.GetBytes(lowerSize);
+            var can = BitConverter.GetBytes(can1BaudRate);
+            var can2 = BitConverter.GetBytes(can2BaudRate);
+            var modbus0 = BitConverter.GetBytes(modbus0BaudRate);
+            var modbus1 = BitConverter.GetBytes(modbus1BaudRate);
+            var modbus2 = BitConverter.GetBytes(modbus2BaudRate);
+            var serial = BitConverter.GetBytes(serialBaudRate);
+            var canBuffer = BitConverter.GetBytes(128);
+            var mbBuffer = BitConverter.GetBytes(512);
+            var serialBuffer = BitConverter.GetBytes(1024);
+            byte[] configData = new byte[]
+            {
+                0x01, 0x10, 0x02, upper[0], upper[1], upper[2], upper[3], lower[0], lower[1],
+                lower[2], lower[3], 0x06, 0x00, 0x00, can[0], can[1], can[2], can[3], canBuffer[0], canBuffer[1], 0x00,
+                can2[0], can2[1], can2[2], can2[3], canBuffer[0], canBuffer[1], 0x10, modbus0[0],
+                modbus0[1], modbus0[2], modbus0[3], mbBuffer[0], mbBuffer[1], 0x10, modbus1[0],
+                modbus1[1], modbus1[2], modbus1[3], mbBuffer[0], mbBuffer[1], 0x10, modbus2[0],
+                modbus2[1], modbus2[2], modbus2[3], mbBuffer[0], mbBuffer[1], 0x20, serial[0], serial[1], serial[2],
+                serial[3], serialBuffer[0], serialBuffer[1]
+            };
+            SetData(configData);
+        }
+    }
+
+    public class ReadConfigPack : BasePack
+    {
+        public ReadConfigPack()
+        {
+            var readConfigData = new byte[] { 0x01, 0x10, 0x00 };
+            SetData(readConfigData);
+        }
+    }
+
+    public class DownloadCodePack : BasePack
+    {
+        public DownloadCodePack(int totalLength, int offset, int currentLength, byte[] codeBytes)
+        {
+            var codeData = new byte[12 + codeBytes.Length];
+            codeData[0] = 0x01;
+            codeData[1] = 0x11;
+            var totalLengthBytes = BitConverter.GetBytes(totalLength);
+            for (int i = 0; i < 4; i++)
+            {
+                codeData[2 + i] = totalLengthBytes[i];
+            }
+            var offsetBytes = BitConverter.GetBytes(offset);
+            for (int i = 0; i < 4; i++)
+            {
+                codeData[6 + i] = offsetBytes[i];
+            }
+            var curLengthBytes = BitConverter.GetBytes(currentLength);
+            for (int i = 0; i < 2; i++)
+            {
+                codeData[10 + i] = curLengthBytes[i];
+            }
+
+            for (int i = 0; i < codeBytes.Length; i++)
+            {
+                codeData[12+i] = codeBytes[i];
+            }
+            SetData(codeData);
+        }
+
+    }
+
+    public class HeartBeatPack : BasePack
+    {
+        public HeartBeatPack(int state, int error)
+        {
+            var errorBytes = BitConverter.GetBytes(error);
+            var heartBearData = new byte[] { 0x01, 0xF0, (byte)state, errorBytes[0], errorBytes[1] };
+            SetData(heartBearData);
+        }
+    }
+
+    public class UpperIOPack : BasePack
+    {
+        public UpperIOPack(byte[] data,int size)
+        {
+            byte[] UpperData = new byte[6 + size];
+            UpperData[0] = 0x01;
+            UpperData[1] = 0x20;
+            var length = BitConverter.GetBytes(size);
+            for (int i = 0; i < 4; i++)
+            {
+                UpperData[2+i] = length[i];
+            }
+            Array.Copy(data,0,UpperData,6,size);
+            SetData(UpperData);
+        }
+    }
+}