还在写 flyad2021 的内核

Project.FLY.FlyADBase/FlyADBase.sln

@@ -44,6 +44,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FLY.Simulation.Calender.GuR
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FLY.Simulation.Calender.GuRuiShiYe.UI", "FLY.Simulation.Calender.GuRuiShiYe.UI\FLY.Simulation.Calender.GuRuiShiYe.UI.csproj", "{517847E4-5708-4ACE-BDF0-BB2C4495136D}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlyAd2021", "FlyAd2021\FlyAd2021.csproj", "{9521A8F9-7310-49B3-A951-594EFE9D3EF0}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -242,6 +244,18 @@ Global
 		{517847E4-5708-4ACE-BDF0-BB2C4495136D}.Release|Mixed Platforms.Build.0 = Release|Any CPU
 		{517847E4-5708-4ACE-BDF0-BB2C4495136D}.Release|x86.ActiveCfg = Release|Any CPU
 		{517847E4-5708-4ACE-BDF0-BB2C4495136D}.Release|x86.Build.0 = Release|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Debug|Mixed Platforms.ActiveCfg = Debug|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Debug|Mixed Platforms.Build.0 = Debug|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Debug|x86.Build.0 = Debug|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Release|Any CPU.Build.0 = Release|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Release|Mixed Platforms.ActiveCfg = Release|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Release|Mixed Platforms.Build.0 = Release|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Release|x86.ActiveCfg = Release|Any CPU
+		{9521A8F9-7310-49B3-A951-594EFE9D3EF0}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

Project.FLY.FlyADBase/FlyAd2021/FlyAd2021.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{9521A8F9-7310-49B3-A951-594EFE9D3EF0}</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>FlyAd2021</RootNamespace>
+    <AssemblyName>FlyAd2021</AssemblyName>
+    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Xml" />
+    <Reference Include="WindowsBase" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="FlyAd2021Base.cs" />
+    <Compile Include="FlyAd2021.cs" />
+    <Compile Include="Inc\IFlyAd2021Base.cs" />
+    <Compile Include="PackEventArgs.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="ProtocolCommon.cs" />
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\..\Project.FLY.Misc\MISC\Misc.csproj">
+      <Project>{5ee61ac6-5269-4f0f-b8fa-4334fe4a678f}</Project>
+      <Name>Misc</Name>
+    </ProjectReference>
+    <ProjectReference Include="..\FlyADBase\FlyADBase.csproj">
+      <Project>{dd8a6858-1261-49f7-86be-5ac5c3a0ec34}</Project>
+      <Name>FlyADBase</Name>
+    </ProjectReference>
+  </ItemGroup>
+  <ItemGroup>
+    <PackageReference Include="Newtonsoft.Json">
+      <Version>12.0.3</Version>
+    </PackageReference>
+    <PackageReference Include="PropertyChanged.Fody">
+      <Version>3.3.1</Version>
+    </PackageReference>
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
\ No newline at end of file

Project.FLY.FlyADBase/FlyAd2021/Inc/IFlyAd2021Base.cs

+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace FlyAd2021.Inc
+{
+    /// <summary>
+    /// 实现基本的AD盒2021版 基本实现
+    /// </summary>
+    public interface IFlyAd2021Base : INotifyPropertyChanged
+    {
+        #region 测量速度
+        bool IsMeasuring { get; }
+
+        /// <summary>
+        ///  通讯速度 byte/s
+        /// </summary>
+        double CommSpeed { get; }
+
+        /// <summary>
+        /// 传输速度 单位 pack/s
+        /// </summary>
+        double PackSpeed { get; }
+
+        /// <summary>
+        /// 开始测量速度
+        /// </summary>
+        void StartMeasure();
+
+        /// <summary>
+        ///结束测量速度
+        /// </summary>
+        void StopMeasure();
+        #endregion
+
+
+
+        /// <summary>
+        /// 包出错次数
+        /// </summary>
+        int ErrCnt { get; }
+
+        /// <summary>
+        /// 连接成功；
+        /// 当命令多次发送失败，IsConnected = false
+        /// </summary>
+        bool IsConnected { get; }
+
+        /// <summary>
+        /// 在接收事件中调用；
+        /// 全部接收事件 及 超时事件也是在这里触发
+        /// </summary>
+        /// <param name="recBuf"></param>
+        void RecMsg(byte[] recBuf);
+        /// <summary>
+        /// 获取 发送队列 第1条msg
+        /// </summary>
+        /// <returns></returns>
+        byte[] GetSendMsg();
+
+       
+        /// <summary>
+        /// 数据推送事件
+        /// </summary>
+        event PushDataEventHandler PushDataEvent;
+        #region IOComm IO指令
+
+        [CallBack(typeof(UInt16))]
+        void GetIn(CallBackHandler asyncDelegate, object asyncContext);
+
+
+        [CallBack(typeof(UInt16))]
+        void GetOut(CallBackHandler asyncDelegate, object asyncContext);
+
+        [CallBack(typeof(Int32))]
+        void GetEnc1(CallBackHandler asyncDelegate, object asyncContext);
+
+        [CallBack(typeof(Int32))]
+        void GetEnc2(CallBackHandler asyncDelegate, object asyncContext);
+
+        [CallBack(typeof(GetEncAll_Reponse))]
+        void GetEncAll(CallBackHandler asyncDelegate, object asyncContext);
+
+        void SetOutPorts(UInt16 mask, UInt16 value, CallBackHandler asyncDelegate, object asyncContext);
+        #endregion
+
+        #region RunComm 运行指令 SetRunParam
+
+        void SetRunParamV(UInt32 velocity, CallBackHandler asyncDelegate, object asyncContext);
+
+        void SetRunParamSV(UInt32 sv, CallBackHandler asyncDelegate, object asyncContext);
+
+        void SetRunParamAccTime(UInt32 accTime, CallBackHandler asyncDelegate, object asyncContext);
+
+        void SetRunParamDecTime(UInt32 decTime, CallBackHandler asyncDelegate, object asyncContext);
+
+        void SetRunParamHSpd1(UInt32 homespd1, CallBackHandler asyncDelegate, object asyncContext);
+
+        void SetRunParamHSpd2(UInt32 homespd2, CallBackHandler asyncDelegate, object asyncContext);
+        #endregion
+
+        #region RunComm 运行指令 GetRunParam
+        void GetRunParamV(CallBackHandler asyncDelegate, object asyncContext);
+
+        void GetRunParamSV(CallBackHandler asyncDelegate, object asyncContext);
+
+        void GetRunParamAccTime(CallBackHandler asyncDelegate, object asyncContext);
+
+        void GetRunParamDecTime(CallBackHandler asyncDelegate, object asyncContext);
+
+        void GetRunParamHSpd1(CallBackHandler asyncDelegate, object asyncContext);
+
+        void GetRunParamHSpd2(CallBackHandler asyncDelegate, object asyncContext);
+
+        #endregion
+
+        #region RunComm 运行指令
+
+        [CallBack(typeof(GetRunResult_Reponse))]
+        void GetRunResult(CallBackHandler asyncDelegate, object asyncContext);
+
+        void Forw(Int32 serial, CallBackHandler asyncDelegate, object asyncContext);
+
+        void Backw(Int32 serial, CallBackHandler asyncDelegate, object asyncContext);
+        void Org(Int32 serial, CallBackHandler asyncDelegate, object asyncContext);
+
+        void RunTo(Int32 serial, int targetPos, CallBackHandler asyncDelegate, object asyncContext);
+        
+        void Stop(CallBackHandler asyncDelegate, object asyncContext);
+
+        void EStop(CallBackHandler asyncDelegate, object asyncContext);
+        #endregion
+
+        #region 同步运行指令
+        void SyncRun_SetHShift(int hShift, CallBackHandler asyncDelegate, object asyncContext);
+        void SyncRun_SetVShift(int vOShift, CallBackHandler asyncDelegate, object asyncContext);
+
+        void SyncRun_Start(CallBackHandler asyncDelegate, object asyncContext);
+        void SyncRun_Stop(CallBackHandler asyncDelegate, object asyncContext);
+        void SyncRun_Clear(CallBackHandler asyncDelegate, object asyncContext);
+
+        /// <summary>
+        /// 同步扫描至;
+        /// D+0xE0+开始主轴位置+结束主轴位置+结束横向脉冲位置（逻辑位置）+脉冲开关（1B）+命令识标号（4B）
+        /// </summary>
+        /// <param name="pos2_begin"></param>
+        /// <param name="pos2_end"></param>
+        /// <param name="pos1lc"></param>
+        /// <param name="hasDataGrid"></param>
+        /// <param name="marker"></param>
+        void SyncRun_RunAtLC(int pos2_begin, int pos2_end, int pos1lc, UInt32 serial, CallBackHandler asyncDelegate, object asyncContext);
+
+
+        /// <summary>
+        /// 位于队列头时运行，归零；
+        /// D+0xE1+命令识标号（4B）
+        /// </summary>
+        /// <param name="marker"></param>
+        void SyncRun_Origin(UInt32 serial, CallBackHandler asyncDelegate, object asyncContext);
+
+
+        /// <summary>
+        /// 位于队列头时运行，以速度运行至物理位置；
+        /// D+0xE2+横向脉冲位置（4B：int32，物理位置）+速度（4B：int32）+脉冲开关（1B）+命令识标号（4B）
+        /// </summary>
+        /// <param name="pos1"></param>
+        /// <param name="velocity"></param>
+        /// <param name="hasDataGrid"></param>
+        /// <param name="marker"></param>
+        void SyncRun_RunTo(int pos1, UInt32 velocity, UInt32 serial, CallBackHandler asyncDelegate, object asyncContext);
+
+
+        /// <summary>
+        /// 位于队列头时运行，以速度运行至逻辑位置；
+        /// D+0xE3+横向脉冲位置（4B：int32，逻辑位置）+速度（4B：int32）+脉冲开关（1B）+命令识标号（4B）
+        /// </summary>
+        /// <param name="pos1lc"></param>
+        /// <param name="velocity"></param>
+        /// <param name="hasDataGrid"></param>
+        /// <param name="marker"></param>
+        void SyncRun_RunToLC(int pos1lc, UInt32 velocity, UInt32 serial, CallBackHandler asyncDelegate, object asyncContext);
+
+
+        /// <summary>
+        /// 获取队列长度
+        /// </summary>
+        /// <param name="asyncDelegate"></param>
+        /// <param name="asyncContext"></param>
+        void SyncRun_GetListCount(CallBackHandler asyncDelegate, object asyncContext);
+        #endregion
+
+        #region SysParamComm 系统参数指令
+        //[CallBack(typeof(UInt32))]
+        //void GetSysTick(CallBackHandler asyncDelegate, object asyncContext);
+        //void InitArea0()
+        #endregion
+        #region GetSysParam 读运行参数
+
+        #endregion
+
+        #region SetSysParam 设置运行参数
+
+        #endregion
+    }
+
+
+    public class PushDataEventArgs : EventArgs
+    {
+        public byte SysTick { get; set; }
+        public UInt16 AD { get; set; }
+        public UInt16? ENC1 { get; set; }
+        public UInt16? ENC2 { get; set; }
+        public UInt16? In { get; set; }
+        public UInt16? InChange { get; set; }
+        public UInt16? Out { get; set; }
+
+        public PushDataEventArgs()
+        {
+
+        }
+    }
+    public delegate void PushDataEventHandler(object sender, PushDataEventArgs e);
+
+    /// <summary>
+    /// 异常不回复
+    /// </summary>
+    /// <param name="asyncContext"></param>
+    /// <param name="retData"></param>
+    public delegate void CallBackHandler(object asyncContext, object retData);
+
+
+    public sealed class CallBackAttribute : Attribute
+    {
+        public Type RetType;
+        public CallBackAttribute(Type type) 
+        {
+            RetType = type;
+        }
+    }
+
+    public class GetEncAll_Reponse
+    {
+        public int pos1;
+        public int pos2;
+    }
+    public class GetRunResult_Reponse
+    {
+        public byte result;
+        public UInt32 serial;
+    }
+}

Project.FLY.FlyADBase/FlyAd2021/PackEventArgs.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace FlyAd2021
+{
+    public class PackEventArgs : EventArgs
+    {
+        public PackEventArgs()
+        {
+
+        }
+
+        /// <summary>
+        /// 数据
+        /// </summary>
+        public List<byte> Pack { get; set; }
+        /// <summary>
+        /// 开始时间点
+        /// </summary>
+        public DateTime Time { get; set; }
+    }
+    public delegate void PackEventHandler(object sender, PackEventArgs e);
+}

Project.FLY.FlyADBase/FlyAd2021/Properties/AssemblyInfo.cs

+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 有关程序集的一般信息由以下
+// 控制。更改这些特性值可修改
+// 与程序集关联的信息。
+[assembly: AssemblyTitle("FlyAd2021")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("FlyAd2021")]
+[assembly: AssemblyCopyright("Copyright ©  2021")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// 将 ComVisible 设置为 false 会使此程序集中的类型
+//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
+//请将此类型的 ComVisible 特性设置为 true。
+[assembly: ComVisible(false)]
+
+// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
+[assembly: Guid("9521a8f9-7310-49b3-a951-594efe9d3ef0")]
+
+// 程序集的版本信息由下列四个值组成: 
+//
+//      主版本
+//      次版本
+//      生成号
+//      修订号
+//
+//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
+//通过使用 "*"，如下所示:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

Project.FLY.FlyADBase/FlyAd2021/ProtocolCommon.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace FlyAd2021
+{
+    public static class ProtocolCommon
+    {
+        /// <summary>
+        /// 第0个byte是 7E
+        /// </summary>
+        /// <param name="pdu"></param>
+        /// <returns></returns>
+        public static bool Pdu2Data(IEnumerable<byte> pdu, out List<byte> datas)
+        {
+            datas = new List<byte>();
+            for (int i = 1; i < pdu.Count(); i++)
+            {
+                byte p = pdu.ElementAt(i);
+                if (p == 0x7D)
+                {
+                    if (i + 1 < pdu.Count())
+                    {
+                        i++;
+                        p = pdu.ElementAt(i);
+                        //转义符
+                        if (p == 0x5E)
+                        {
+                            datas.Add(0x7E);
+                        }
+                        else if (p == 0x5D)
+                        {
+                            datas.Add(0x7D);
+                        }
+                        else
+                        {
+                            //异常，不能转义
+                            return false;
+                        }
+                    }
+                    else
+                    {
+                        //异常，没有转义信息
+                        return false;
+                    }
+                }
+                else
+                {
+                    datas.Add(p);
+                }
+            }
+            return true;
+        }
+
+        /// <summary>
+        /// 第0个byte是 7E
+        /// </summary>
+        /// <param name="pdu"></param>
+        /// <returns></returns>
+        public static bool Data2Pdu(IEnumerable<byte> datas, out List<byte> pdu)
+        {
+            pdu = new List<byte>();
+            pdu.Add(0x7E);
+            for (int i = 0; i < datas.Count(); i++)
+            {
+                byte b = datas.ElementAt(i);
+                if (b == 0x7E)
+                {
+                    pdu.Add(0x7D);
+                    pdu.Add(0x5E);
+                }
+                else if (b == 0x7D)
+                {
+                    pdu.Add(0x7D);
+                    pdu.Add(0x5D);
+                }
+                else
+                {
+                    pdu.Add(b);
+                }
+            }
+            return true;
+        }
+    }
+}

Project.FLY.Misc/MISC/CRC.cs

 using System;
 using System.Collections.Generic;
+using System.Linq;
 using System.Text;
 
 namespace Misc
@@ -157,7 +158,42 @@ namespace Misc
         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  
-        } ;    
+        } ;
 
+
+        /* CRC8 字节值表 */
+        static byte[] crc8_table = new byte[]
+        {
+            0x00,0x31,0x62,0x53,0xc4,0xf5,0xa6,0x97,0xb9,0x88,0xdb,0xea,0x7d,0x4c,0x1f,0x2e,
+            0x43,0x72,0x21,0x10,0x87,0xb6,0xe5,0xd4,0xfa,0xcb,0x98,0xa9,0x3e,0x0f,0x5c,0x6d,
+            0x86,0xb7,0xe4,0xd5,0x42,0x73,0x20,0x11,0x3f,0x0e,0x5d,0x6c,0xfb,0xca,0x99,0xa8,
+            0xc5,0xf4,0xa7,0x96,0x01,0x30,0x63,0x52,0x7c,0x4d,0x1e,0x2f,0xb8,0x89,0xda,0xeb,
+            0x3d,0x0c,0x5f,0x6e,0xf9,0xc8,0x9b,0xaa,0x84,0xb5,0xe6,0xd7,0x40,0x71,0x22,0x13,
+            0x7e,0x4f,0x1c,0x2d,0xba,0x8b,0xd8,0xe9,0xc7,0xf6,0xa5,0x94,0x03,0x32,0x61,0x50,
+            0xbb,0x8a,0xd9,0xe8,0x7f,0x4e,0x1d,0x2c,0x02,0x33,0x60,0x51,0xc6,0xf7,0xa4,0x95,
+            0xf8,0xc9,0x9a,0xab,0x3c,0x0d,0x5e,0x6f,0x41,0x70,0x23,0x12,0x85,0xb4,0xe7,0xd6,
+            0x7a,0x4b,0x18,0x29,0xbe,0x8f,0xdc,0xed,0xc3,0xf2,0xa1,0x90,0x07,0x36,0x65,0x54,
+            0x39,0x08,0x5b,0x6a,0xfd,0xcc,0x9f,0xae,0x80,0xb1,0xe2,0xd3,0x44,0x75,0x26,0x17,
+            0xfc,0xcd,0x9e,0xaf,0x38,0x09,0x5a,0x6b,0x45,0x74,0x27,0x16,0x81,0xb0,0xe3,0xd2,
+            0xbf,0x8e,0xdd,0xec,0x7b,0x4a,0x19,0x28,0x06,0x37,0x64,0x55,0xc2,0xf3,0xa0,0x91,
+            0x47,0x76,0x25,0x14,0x83,0xb2,0xe1,0xd0,0xfe,0xcf,0x9c,0xad,0x3a,0x0b,0x58,0x69,
+            0x04,0x35,0x66,0x57,0xc0,0xf1,0xa2,0x93,0xbd,0x8c,0xdf,0xee,0x79,0x48,0x1b,0x2a,
+            0xc1,0xf0,0xa3,0x92,0x05,0x34,0x67,0x56,0x78,0x49,0x1a,0x2b,0xbc,0x8d,0xde,0xef,
+            0x82,0xb3,0xe0,0xd1,0x46,0x77,0x24,0x15,0x3b,0x0a,0x59,0x68,0xff,0xce,0x9d,0xac
+        };
+
+        public static byte CRC8(IEnumerable<byte> datas, int index, int len)
+        {
+            byte crc = 0x00;
+
+            while (len > 0)
+            {
+                byte d = datas.ElementAt(index);
+                crc = crc8_table[crc ^ d];
+                index++;
+                len--;
+            }
+            return (crc);
+        }
     }
 }