/*
 * --------------------------------------------------------------------------------------
 * Company              : 江苏中信博新能源科技股份有限公司上海子公司 2020-2021 版权所有
 * --------------------------------------------------------------------------------------
 * file Name            : lib_of_tracker.c 
 * Description			    : lib-h
 * --------------------------------------------------------------------------------------
 * Tool Versions        : uVision V5.29.0.0
 * Target Device        : STM32F103|GD32F103
 * --------------------------------------------------------------------------------------
 * Engineer				      : tangtao
 * Revision				      : V0.0
 * Created Date			    : 2021.09.18
 * --------------------------------------------------------------------------------------
 * Engineer				      : 
 * Revision				      : 
 * Modified Date		    : 
 * Additional Comments	: 
 * --------------------------------------------------------------------------------------
 */

/*************************************************
  Function              : CRC16()
  Description           : CRC16 
  Input                 : *buf, number       
  Output                : crc16        
  Return                : unsigned short
  Engineer				      : tangtao
  Revision				      : V0.0
  Modified Date			    : 2021.09.18
  Additional Comments	  : 
*************************************************/
unsigned short CRC16_HalfWord(unsigned short *buf, unsigned short num_of_bytes);

/*************************************************
  Function              : CRC16_Byte()
  Description           : CRC16_Byte 
  Input                 : *buf, number       
  Output                : crc16        
  Return                : unsigned short
  Engineer				      : tangtao
  Revision				      : V0.0
  Modified Date			    : 2021.09.18
  Additional Comments	  : 
*************************************************/
unsigned short CRC16_Byte(unsigned char *buf, unsigned short num_of_bytes);

/*************************************************
  Function              : delay_ms()
  Description           : delay_ms 
  Input                 : time       
  Output                : null        
  Return                : null
  Engineer				      : tangtao
  Revision				      : V0.0
  Modified Date			    : 2021.09.23
  Additional Comments	  : 
*************************************************/
void delay_ms(unsigned short time);

/*************************************************
  Function              : CalcAngle()
  Description           : CalcAngle 
  Input                 : Gx, Ay, Az, Gx_offset    
  Output                : angle        
  Return                : angle
  Engineer				      : tangtao
  Revision				      : V0.0
  Modified Date			    : 2021.09.23
  Additional Comments	  : 
*************************************************/
float CalcAngle(float Gx, float Ay, float Az, float Gx_offset);

/*************************************************
  Function              : KalmanFilter()
  Description           : Kalman 
  Input                 : correct value, angle       
  Output                : angle        
  Return                : angle
  Engineer				      : tangtao
  Revision				      : V0.0
  Modified Date			    : 2021.09.23
  Additional Comments	  : 
*************************************************/
float KalmanFilter(float angle_rate,float accel_angle);

/*************************************************
  Function              : Get_Kelvin_Temperature()
  Description           : Get Kelvin Temperature 
  Input                 : Rntc   
  Output                : temperature    
  Return                : temperature
  Engineer				      : tangtao
  Revision				      : V0.0
  Modified Date			    : 2021.09.26
  Additional Comments	  : 
*************************************************/
float Get_Kelvin_Temperature(float Rntc);