AK80-64 AK Series Actuator Driver Manual V1.0.8

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//int64 数据位整理
void buffer_append_int64(uint8_t* buffer, int64_t number, int32_t *index) {
buffer[(*index)++] = number >> 56;
buffer[(*index)++] = number >> 48;
buffer[(*index)++] = number >> 40;
buffer[(*index)++] = number >> 32;
buffer[(*index)++] = number >> 24;
buffer[(*index)++] = number >> 16;
buffer[(*index)++] = number >> 8;
buffer[(*index)++] = number;
}
//uint64 数据位整理
void buffer_append_uint64(uint8_t* buffer, uint64_t number, int32_t *index) {
buffer[(*index)++] = number >> 56;
buffer[(*index)++] = number >> 48;
buffer[(*index)++] = number >> 40;
buffer[(*index)++] = number >> 32;
buffer[(*index)++] = number >> 24;
buffer[(*index)++] = number >> 16;
buffer[(*index)++] = number >> 8;
buffer[(*index)++] = number;
}
//CRC 校验
unsigned short crc16(unsigned char *buf, unsigned int len) {
unsigned int i;
unsigned short cksum = 0;
for (i = 0; i < len; i++) {
cksum = crc16_tab[(((cksum >> 8) ^ *buf++) & 0xFF)] ^ (cksum << 8);
}
return cksum;
}
//数据包的整理发送
void packet_send_packet(unsigned char *data, unsigned int len, int handler_num) {
int b_ind = 0;
unsigned short crc;
if (len > PACKET_MAX_PL_LEN) {
return;
}
if (len <= 256) {