4G/code/app/AppTaskCan.c

/*
 * @Author: chenjie
 * @Date: 2022-10-27
 * @LastEditTime: 2022-11-10
 * @LastEditors: chenjie
 * @Description:
 * @FilePath: \S32K146_4G\code\app\AppTaskCan.c
 * Copyright (c) 2022 by chenjie, All Rights Reserved.
 */

#include "AppTaskCan.h"
#include "AppFuncLib.h"
#ifdef APP_CAN_ENABLE
static uint8 BattSendFlg = 0;
uint8 getDataFlg = false;
static void UDSAnsFunc(uint8 *rawData);
static void UdsAns(bool PosFlg, uint8 UdsService, uint8 UdsSubService, uint8 Idx, uint8 *AnsData, uint8 AnsDataLen);
static void BattSendFunc(void);
static void vtimerCallback_Can(TimerHandle_t pxTimer)
{
	uint32 ulTimerID;
	ulTimerID = (uint32)pvTimerGetTimerID(pxTimer);
	if (ulTimerID == 0)
	{
		getDataFlg = true;
	}
}
void CanTask(void *pvParameters)
{
	uint32 timerCANIdle = 0x00;
	uint32 timerCounterNow = 0;
	(void)pvParameters;
	CanIf_bRxFlag = false;
	Can_Msg_Type_Data CanRxMsg;
	CanRecvQueueHandle1 = xQueueCreate(100, sizeof(Can_Msg_Type_Data));
	TimerHandle_t CanmonitorTimer1ms;
	CanmonitorTimer1ms = xTimerCreate("monitor1ms", 2, pdTRUE, (void *)0, vtimerCallback_Can);
	xTimerStart(CanmonitorTimer1ms, 0);
	BaseType_t ret = pdFALSE;
	GsensorInit();
	real_T S0[SIZE_FFT];
	real_T S1[SIZE_FFT];
	real_T S2[SIZE_FFT];
	uint16 fftIdx = 0;
	Can_Msg_Type CanTxMsg;
	CanTxMsg.idFrame = CAN_EXTENDED_ID_TYPE;
	CanTxMsg.length = 8;
	uint8 xyzTrans[8] = {0};
	uint32 CanIdFFT_test = 0x1C01EAED;
	CanTxMsg.id = CanIdFFT_test;
	while (1)
	{
		Can_MainFunction_Read();
		do
		{
			memset(&CanRxMsg, 0, sizeof(CanRxMsg));
			ret = xQueueReceive(CanRecvQueueHandle1, &CanRxMsg, 1);
			if (ret == pdPASS)
			{
				timerCANIdle = 0x00;
				if (IsJumptoBootloader(CanRxMsg.id, CanRxMsg.data))
				{
					DoRoutinePositiveAnswer();
					RequestEnterBootloader();
					SystemSoftwareReset();
					break;
				}
				else
				{
					BcuDecodeFunction(CanRxMsg.id, CanRxMsg.data); // can协议解析
				}
			}
			if (timerCANIdle > 20000)
			{
				timerCANIdle = 0;
				xSemaphoreGive(sleep_mutex);
			}
		} while (ret == pdPASS);
		if ((TimerCounter - timerCounterNow) >= 100)
		{
			timerCANIdle = timerCANIdle + 100;
			BcuRxDiagnose();
			timerCounterNow = TimerCounter;
		}
		if (getDataFlg)
		{
			getDataFlg = false;
			SL_SC7A20_Read_XYZ_Data(xyzData);
			S0[fftIdx] = (real_T)xyzData[0];
			S1[fftIdx] = (real_T)xyzData[1];
			S2[fftIdx] = (real_T)xyzData[2];
			fftIdx++;
			uint16 xyzDatacache[3] = {0};
			memcpy(xyzDatacache, xyzData, 3 * sizeof(uint16));
			for (uint8 i = 0; i < 3; i++)
			{
				if (xyzDatacache[i] > 0x8000) // 数据为负
				{
					xyzDatacache[i] = 20000U + (sint16)xyzDatacache[i];
				}
				else
				{
					xyzDatacache[i] = xyzDatacache[i] + 20000U;
				}
			}
			xyzTrans[2] = xyzDatacache[0]>>8;
			xyzTrans[3] = xyzDatacache[0];
			xyzTrans[4] = xyzDatacache[1]>>8;
			xyzTrans[5] = xyzDatacache[1];
			xyzTrans[6] = xyzDatacache[2]>>8;
			xyzTrans[7] = xyzDatacache[2];
			xyzTrans[0] = 0x00;
			xyzTrans[1] = fftIdx;
			CanTxMsg.sdu = xyzTrans;
			if(fftIdx%2==0)
			{
				CanIf_SendMessage(CAN1, CanTxMsg);
			}
		}
		if (fftIdx >= SIZE_FFT)
		{
			fft(S0, sizeof(S0) / sizeof(real_T), 500, returnFreq[0], returnP[0]); // 250 max
			fft(S1, sizeof(S1) / sizeof(real_T), 500, returnFreq[1], returnP[1]);
			fft(S2, sizeof(S2) / sizeof(real_T), 500, returnFreq[2], returnP[2]);
			fftIdx = 0;
			for(uint8 i=0;i<3;i++)
			{
				xyzTrans[2] = ((uint16)(returnFreq[i][0]*10))>>8;
				xyzTrans[3] = ((uint16)(returnFreq[i][0]*10));
				xyzTrans[4] = ((uint16)(returnFreq[i][1]*10))>>8;
				xyzTrans[5] = ((uint16)(returnFreq[i][1]*10));
				xyzTrans[6] = ((uint16)(returnFreq[i][2]*10))>>8;
				xyzTrans[7] = ((uint16)(returnFreq[i][2]*10));
				xyzTrans[0] = 0x01;
				xyzTrans[1] = i;
				CanTxMsg.sdu = xyzTrans;
				CanIf_SendMessage(CAN1, CanTxMsg);
				xyzTrans[2] = ((sint16)(returnP[i][0]*10))>>8;
				xyzTrans[3] = ((sint16)(returnP[i][0]*10));
				xyzTrans[4] = ((sint16)(returnP[i][1]*10))>>8;
				xyzTrans[5] = ((sint16)(returnP[i][1]*10));
				xyzTrans[6] = ((sint16)(returnP[i][2]*10))>>8;
				xyzTrans[7] = ((sint16)(returnP[i][2]*10));
				xyzTrans[0] = 0x02;
				xyzTrans[1] = i;
				CanTxMsg.sdu = xyzTrans;
				CanIf_SendMessage(CAN1, CanTxMsg);
			}
		}
	}
}
// 注意解码超限问题
void BcuDecodeFunction(uint32 ID, uint8 *rawData)
{
	switch (ID)
	{
	case 0x1801D0F3:
		BMS_ReqVIN = (UINT8)(((*(UINT8 *)(rawData + 0))) & 0x3);
		BMS_ReqHVOff = (UINT8)(((*(UINT8 *)(rawData + 0)) >> 2) & 0x3);
		BcuRxFlag[0] = 0x01;
		break;
	case 0x1801D8F3:
		BMS_SoftwareVersion = (UINT16)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8)) & 0xFFFF);
		BMS_HardwareVersion = (UINT16)(((*(UINT8 *)(rawData + 2)) | (*(UINT8 *)(rawData + 3) << 8)) & 0xFFFF);
		BMS_ProtocolEditionH = (UINT8)(((*(UINT8 *)(rawData + 4))) & 0x3);
		BMS_ProtocolEditionL = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 2) & 0xF);
		BcuRxFlag[1] = 0x01;
		break;
	case 0x1880D0F3:
		BMS_CharDevNum = (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xF);
		BMS_FtPosRly = (UINT8)(((*(UINT8 *)(rawData + 0)) >> 4) & 0x1);
		BMS_FtNegRly = (UINT8)(((*(UINT8 *)(rawData + 0)) >> 5) & 0x1);
		BMS_FtPosCharRly1 = (UINT8)(((*(UINT8 *)(rawData + 0)) >> 6) & 0x1);
		BMS_FtNegCharRly1 = (UINT8)(((*(UINT8 *)(rawData + 0)) >> 7) & 0x1);
		BMS_FtPosCharRly2 = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0x1);
		BMS_FtNegCharRly2 = (UINT8)(((*(UINT8 *)(rawData + 1)) >> 1) & 0x1);
		BMS_FtHeatRly1 = (UINT8)(((*(UINT8 *)(rawData + 1)) >> 2) & 0x1);
		BMS_FtHeatRly2 = (UINT8)(((*(UINT8 *)(rawData + 1)) >> 3) & 0x1);
		BMS_StPosRly = (UINT8)(((*(UINT8 *)(rawData + 1)) >> 4) & 0x3);
		BMS_StNegRly = (UINT8)(((*(UINT8 *)(rawData + 1)) >> 6) & 0x3);
		BMS_StPreCharRly = (UINT8)(((*(UINT8 *)(rawData + 2))) & 0x3);
		BMS_StPosCharRly1 = (UINT8)(((*(UINT8 *)(rawData + 2)) >> 2) & 0x3);
		BMS_StNegCharRly1 = (UINT8)(((*(UINT8 *)(rawData + 2)) >> 4) & 0x3);
		BMS_StPosCharRly2 = (UINT8)(((*(UINT8 *)(rawData + 2)) >> 6) & 0x3);
		BMS_StNegCharRly2 = (UINT8)(((*(UINT8 *)(rawData + 3))) & 0x3);
		BMS_FtAuxRelayWeld = (UINT8)(((*(UINT8 *)(rawData + 3)) >> 2) & 0x1);
		BMS_BraOpenCirc = (UINT8)(((*(UINT8 *)(rawData + 3)) >> 3) & 0x1);
		BMS_FtBackCharCurrOutLim = (UINT8)(((*(UINT8 *)(rawData + 3)) >> 4) & 0x3);
		BMS_FtPosRlyOpen = (UINT8)(((*(UINT8 *)(rawData + 3)) >> 6) & 0x1);
		BMS_FtNegRlyOpen = (UINT8)(((*(UINT8 *)(rawData + 3)) >> 7) & 0x1);
		BMS_FtPosCharRly1Open = (UINT8)(((*(UINT8 *)(rawData + 4))) & 0x1);
		BMS_FtPosCharRly2Open = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 1) & 0x1);
		BMS_FtNegCharRly1Open = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 2) & 0x1);
		BMS_FtNegCharRly2Open = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 3) & 0x1);
		BMS_FtTMSContClose = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 4) & 0x1);
		BMS_FtTMSContOpen = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 5) & 0x1);
		BMS_FtTMS = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 6) & 0x1);
		BMS_Ft24VSpy = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 7) & 0x1);
		BMS_FtPACKSelfProt = (UINT8)(((*(UINT8 *)(rawData + 5))) & 0x1);
		BMS_FtCharSockTempOver = (UINT8)(((*(UINT8 *)(rawData + 5)) >> 1) & 0x3);
		BMS_FtTempOutCtrl = (UINT8)(((*(UINT8 *)(rawData + 5)) >> 3) & 0x1);
		BMS_StPosHeatRly = (UINT8)(((*(UINT8 *)(rawData + 5)) >> 4) & 0x3);
		BMS_StNegHeatRly = (UINT8)(((*(UINT8 *)(rawData + 5)) >> 6) & 0x3);
		BMS_CharSysNum = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0xF);
		BMS_FtCode = (UINT8)(((*(UINT8 *)(rawData + 7))) & 0xFF);
		BcuRxFlag[2] = 0x01;
		break;
	case 0x1881D0F3:
		BMS_ST1CheckSum = (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xFF);
		BMS_ST1Counter = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0xF);
		BMS_Mode = (UINT8)(((*(UINT8 *)(rawData + 1)) >> 4) & 0x3);
		BMS_AuxRlySt = (UINT8)(((*(UINT8 *)(rawData + 1)) >> 6) & 0x1);
		BMS_BattBalaSt = (UINT8)(((*(UINT8 *)(rawData + 1)) >> 7) & 0x1);
		BMS_CharGunSt = (UINT8)(((*(UINT8 *)(rawData + 2))) & 0x1);
		BMS_CharMode = (UINT8)(((*(UINT8 *)(rawData + 2)) >> 1) & 0x3);
		BMS_CharSt = (UINT8)(((*(UINT8 *)(rawData + 2)) >> 3) & 0x3);
		BMS_FtLvl = (UINT8)(((*(UINT8 *)(rawData + 2)) >> 5) & 0x3);
		BMS_FtCellTempDiff = (UINT8)(((*(UINT8 *)(rawData + 3))) & 0x3);
		BMS_FtCellTempHigh = (UINT8)(((*(UINT8 *)(rawData + 3)) >> 2) & 0x3);
		BMS_FtPACKOverVolt = (UINT8)(((*(UINT8 *)(rawData + 3)) >> 4) & 0x3);
		BMS_FtPACKUndeVolt = (UINT8)(((*(UINT8 *)(rawData + 3)) >> 6) & 0x3);
		BMS_FtSOCLow = (UINT8)(((*(UINT8 *)(rawData + 4))) & 0x3);
		BMS_FtCellOverVolt = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 2) & 0x3);
		BMS_FtCellUndeVolt = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 4) & 0x3);
		BMS_FtIns = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 6) & 0x3);
		BMS_FtCellOverVoltDiff = (UINT8)(((*(UINT8 *)(rawData + 5))) & 0x3);
		BMS_FtCharCurrOver = (UINT8)(((*(UINT8 *)(rawData + 5)) >> 2) & 0x3);
		BMS_FtDisCharCurrOver = (UINT8)(((*(UINT8 *)(rawData + 5)) >> 4) & 0x3);
		BMS_FtCellTempLow = (UINT8)(((*(UINT8 *)(rawData + 5)) >> 6) & 0x3);
		BMS_FtBranVoltDifOver = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0x3);
		BMS_FtBMSHardWare = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 2) & 0x3);
		BMS_FtSOCHigh = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 4) & 0x1);
		BMS_FtSOCJump = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 5) & 0x1);
		BMS_FtInCom = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 6) & 0x1);
		BMS_FtSysMism = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 7) & 0x1);
		BMS_FtHvIntLock = (UINT8)(((*(UINT8 *)(rawData + 7))) & 0x1);
		BMS_FtSmoke = (UINT8)(((*(UINT8 *)(rawData + 7)) >> 1) & 0x1);
		BMS_FtFire = (UINT8)(((*(UINT8 *)(rawData + 7)) >> 2) & 0x1);
		BMS_FtNum = (UINT8)(((*(UINT8 *)(rawData + 7)) >> 3) & 0x1F);
		BcuRxFlag[3] = 0x01;
		break;
	case 0x1882D0F3:
		BMS_PackSOC = (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xFF);
		BMS_PackSOH = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0xFF);
		BMS_PackCurr = (UINT16)(((*(UINT8 *)(rawData + 2)) | (*(UINT8 *)(rawData + 3) << 8)) & 0xFFFF);
		BMS_MaxCharCurr = (UINT16)(((*(UINT8 *)(rawData + 4)) | (*(UINT8 *)(rawData + 5) << 8)) & 0xFFFF);
		BMS_MaxDisCharCurr = (UINT16)(((*(UINT8 *)(rawData + 6)) | (*(UINT8 *)(rawData + 7) << 8)) & 0xFFFF);
		BcuRxFlag[4] = 0x01;
		break;
	case 0x1883D0F3:
		BMS_PosIns = (UINT16)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8)) & 0xFFFF);
		BMS_NegIns = (UINT16)(((*(UINT8 *)(rawData + 2)) | (*(UINT8 *)(rawData + 3) << 8)) & 0xFFFF);
		BMS_BattVolt = (UINT16)(((*(UINT8 *)(rawData + 4)) | (*(UINT8 *)(rawData + 5) << 8)) & 0xFFFF);
		BMS_LinkVolt = (UINT16)(((*(UINT8 *)(rawData + 6)) | (*(UINT8 *)(rawData + 7) << 8)) & 0xFFFF);
		BcuRxFlag[5] = 0x01;
		break;
	case 0x1884D0F3:
		BMS_MaxCellTemp = (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xFF);
		BMS_MinCellTemp = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0xFF);
		BMS_AverCellTemp = (UINT8)(((*(UINT8 *)(rawData + 2))) & 0xFF);
		BMS_MaxCellTempCSC = (UINT8)(((*(UINT8 *)(rawData + 3))) & 0xFF);
		BMS_MaxCellTempNum = (UINT8)(((*(UINT8 *)(rawData + 4))) & 0xFF);
		BMS_MinCellTempCSC = (UINT8)(((*(UINT8 *)(rawData + 5))) & 0xFF);
		BMS_MinCellTempNum = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0xFF);
		BcuRxFlag[6] = 0x01;
		break;
	case 0x1885D0F3:
		BMS_MaxCellVolt = (UINT16)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8)) & 0xFFFF);
		BMS_MaxCellVoltCSC = (UINT8)(((*(UINT8 *)(rawData + 2))) & 0xFF);
		BMS_MaxCellVoltNum = (UINT8)(((*(UINT8 *)(rawData + 3))) & 0xFF);
		BMS_AverCellVolt = (UINT16)(((*(UINT8 *)(rawData + 4)) | (*(UINT8 *)(rawData + 5) << 8)) & 0xFFFF);
		BcuRxFlag[7] = 0x01;
		break;
	case 0x1886D0F3:
		BMS_MinCellVolt = (UINT16)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8)) & 0xFFFF);
		BMS_MinCellVoltCSC = (UINT8)(((*(UINT8 *)(rawData + 2))) & 0xFF);
		BMS_MinCellVoltNum = (UINT8)(((*(UINT8 *)(rawData + 3))) & 0xFF);
		BMS_ContChrgCurr = (UINT16)(((*(UINT8 *)(rawData + 4)) | (*(UINT8 *)(rawData + 5) << 8)) & 0xFFFF);
		BMS_ContDisCharCurr = (UINT16)(((*(UINT8 *)(rawData + 6)) | (*(UINT8 *)(rawData + 7) << 8)) & 0xFFFF);
		BcuRxFlag[8] = 0x01;
		break;
	case 0x1887D0F3:
		BMS_CharReqVolt = (UINT16)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8)) & 0xFFFF);
		BMS_CharReqCurr = (UINT16)(((*(UINT8 *)(rawData + 2)) | (*(UINT8 *)(rawData + 3) << 8)) & 0xFFFF);
		BMS_SysInsRes = (UINT16)(((*(UINT8 *)(rawData + 4)) | (*(UINT8 *)(rawData + 5) << 8)) & 0xFFFF);
		BMS_InsDeteSt = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0x1);
		BMS_FtCharInsLow = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 1) & 0x1);
		BMS_FtCurrSenr = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 2) & 0x1);
		BMS_FtHeatingFilm = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 3) & 0x1);
		BMS_FtMainLoopPreChar = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 4) & 0x1);
		BMS_FtAuxLoopPreChar = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 5) & 0x1);
		BMS_FtACANLost = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 6) & 0x1);
		BMS_FtDCDC = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 7) & 0x1);
		BMS_FtSOCDif = (UINT8)(((*(UINT8 *)(rawData + 7))) & 0x1);
		BMS_FtCellOverDisChar = (UINT8)(((*(UINT8 *)(rawData + 7)) >> 1) & 0x1);
		BMS_FtCharOver = (UINT8)(((*(UINT8 *)(rawData + 7)) >> 2) & 0x3);
		BMS_FtContDisCharCurrOverLoad = (UINT8)(((*(UINT8 *)(rawData + 7)) >> 4) & 0x3);
		BMS_FtContCharCurrOverLoad = (UINT8)(((*(UINT8 *)(rawData + 7)) >> 6) & 0x3);
		BcuRxFlag[9] = 0x01;
		break;
	case 0x1888D0F3:
		BMS_MaxDisCharPwr = (UINT16)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8)) & 0xFFFF);
		BMS_MaxCharPwr = (UINT16)(((*(UINT8 *)(rawData + 2)) | (*(UINT8 *)(rawData + 3) << 8)) & 0xFFFF);
		BMS_ContDisCharPwr = (UINT16)(((*(UINT8 *)(rawData + 4)) | (*(UINT8 *)(rawData + 5) << 8)) & 0xFFFF);
		BMS_ContCharPwr = (UINT16)(((*(UINT8 *)(rawData + 6)) | (*(UINT8 *)(rawData + 7) << 8)) & 0xFFFF);
		BcuRxFlag[10] = 0x01;
		break;
	case 0x1889D0F3:
		BMS_InstEngyCons = (UINT16)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8)) & 0xFFFF);
		BMS_TotalEngyCons = (UINT16)(((*(UINT8 *)(rawData + 2)) | (*(UINT8 *)(rawData + 3) << 8)) & 0xFFFF);
		BMS_SOE = (UINT16)(((*(UINT8 *)(rawData + 4)) | (*(UINT8 *)(rawData + 5) << 8)) & 0xFFFF);
		BMS_RmanCharTime = (UINT16)(((*(UINT8 *)(rawData + 6)) | (*(UINT8 *)(rawData + 7) << 8)) & 0xFFFF);
		BcuRxFlag[11] = 0x01;
		break;
	case 0x188AD0F3:
		BMS_Gun1DCNegTemp = (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xFF);
		BMS_Gun1DCPosTemp = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0xFF);
		BMS_Gun2DCNegTemp = (UINT8)(((*(UINT8 *)(rawData + 2))) & 0xFF);
		BMS_Gun2DCPosTemp = (UINT8)(((*(UINT8 *)(rawData + 3))) & 0xFF);
		BMS_CurrHeatSt = (UINT8)(((*(UINT8 *)(rawData + 4))) & 0x3);
		BMS_CurrCoolSt = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 2) & 0x3);
		BMS_FtCharCnct = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 4) & 0x1);
		BMS_FtOverDisCharCurrDuringChar = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 5) & 0x1);
		BMS_FtCharNTC = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 6) & 0x1);
		BMS_FtELock = (UINT8)(((*(UINT8 *)(rawData + 4)) >> 7) & 0x1);
		BMS_CharNum = (UINT16)(((*(UINT8 *)(rawData + 5)) | (*(UINT8 *)(rawData + 6) << 8)) & 0xFFFF);
		BcuRxFlag[12] = 0x01;
		break;
	case 0x18C1D0F3:
		BMS_CellVoltFramNum = (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xFF);
		BMS_CSC_Code = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0xFF);
		if (BMS_CellVoltFramNum == 0 || BMS_CellVoltFramNum > 128)
		{
			break;
		}
		for (UINT8 i = 0; i < 3; i++)
		{
			BMS_CellVolt[(BMS_CellVoltFramNum - 1) * 3 + i] = (UINT16)(((*(UINT8 *)(rawData + i * 2 + 2)) | (*(UINT8 *)(rawData + i * 2 + 3) << 8)) & 0xFFFF);
		}
		BcuRxFlag[13] = 0x01;
		break;
	case 0x18C2D0F3:
		BMS_CellTempFramNum = (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xFF);
		BMS_CSC_Code = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0xFF);
		if (BMS_CellTempFramNum == 0 || BMS_CellTempFramNum > 12)
		{
			break;
		}
		for (UINT8 i = 0; i < 6; i++)
		{
			if (((BMS_CellTempFramNum - 1) * 6 + i) < sizeof(BMS_CellTemp))
			{
				BMS_CellTemp[(BMS_CellTempFramNum - 1) * 6 + i] = (UINT8)(((*(UINT8 *)(rawData + 2 + i))) & 0xFF);
				if (BMS_CellTemp[(BMS_CellTempFramNum - 1) * 6 + i] <= (0xFF - 10) && BMS_CellTemp[(BMS_CellTempFramNum - 1) * 6 + i] >= 10)
				{
					BMS_CellTemp[(BMS_CellTempFramNum - 1) * 6 + i] = BMS_CellTemp[(BMS_CellTempFramNum - 1) * 6 + i] - 10; // the tcp offset is -40, while the can message offset is -50
				}
			}
		}
		BcuRxFlag[14] = 0x01;
		break;
	case 0x18E1D0F3:
		BMS_Checksum = 0;
		for (UINT8 i = 1; i < 8; i++)
		{
			BMS_Checksum = (UINT8)(((*(UINT8 *)(rawData + i))) & 0xFF) ^ BMS_Checksum;
		}
		if (BMS_Checksum == (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xFF))
		{
			BMS_PackComp = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0x7);
			BMS_BattCodeLeng = (UINT8)(((*(UINT8 *)(rawData + 1)) >> 3) & 0x1F);
			BMS_SN[0] = (UINT8)(((*(UINT8 *)(rawData + 2))) & 0xFF);
			BMS_SN[1] = (UINT8)(((*(UINT8 *)(rawData + 3))) & 0xFF);
			BMS_SN[2] = (UINT8)(((*(UINT8 *)(rawData + 4))) & 0xFF);
			BMS_SN[3] = (UINT8)(((*(UINT8 *)(rawData + 5))) & 0xFF);
			BMS_SN[4] = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0xFF);
			BMS_SN[5] = (UINT8)(((*(UINT8 *)(rawData + 7))) & 0xFF);
		}
		BcuRxFlag[15] = 0x01;
		break;
	case 0x18E2D0F3:
		BMS_Checksum = 0;
		for (UINT8 i = 1; i < 8; i++)
		{
			BMS_Checksum = (UINT8)(((*(UINT8 *)(rawData + i))) & 0xFF) ^ BMS_Checksum;
		}
		if (BMS_Checksum == (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xFF))
		{
			BMS_SN[6] = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0xFF);
			BMS_SN[7] = (UINT8)(((*(UINT8 *)(rawData + 2))) & 0xFF);
			BMS_SN[8] = (UINT8)(((*(UINT8 *)(rawData + 3))) & 0xFF);
			BMS_SN[9] = (UINT8)(((*(UINT8 *)(rawData + 4))) & 0xFF);
			BMS_SN[10] = (UINT8)(((*(UINT8 *)(rawData + 5))) & 0xFF);
			BMS_SN[11] = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0xFF);
			BMS_SN[12] = (UINT8)(((*(UINT8 *)(rawData + 7))) & 0xFF);
		}
		BcuRxFlag[16] = 0x01;
		break;
	case 0x18E3D0F3:
		BMS_Checksum = 0;
		for (UINT8 i = 1; i < 8; i++)
		{
			BMS_Checksum = (UINT8)(((*(UINT8 *)(rawData + i))) & 0xFF) ^ BMS_Checksum;
		}
		if (BMS_Checksum == (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xFF))
		{
			BMS_SN[13] = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0xFF);
			BMS_SN[14] = (UINT8)(((*(UINT8 *)(rawData + 2))) & 0xFF);
			BMS_SN[15] = (UINT8)(((*(UINT8 *)(rawData + 3))) & 0xFF);
			BMS_SN[16] = (UINT8)(((*(UINT8 *)(rawData + 4))) & 0xFF);
			BMS_SN[17] = (UINT8)(((*(UINT8 *)(rawData + 5))) & 0xFF);
			BMS_SN[18] = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0xFF);
			BMS_SN[19] = (UINT8)(((*(UINT8 *)(rawData + 7))) & 0xFF);
		}
		BcuRxFlag[17] = 0x01;
		break;
	case 0x18E4D0F3:
		BMS_Checksum = 0;
		for (UINT8 i = 1; i < 8; i++)
		{
			BMS_Checksum = (UINT8)(((*(UINT8 *)(rawData + i))) & 0xFF) ^ BMS_Checksum;
		}
		if (BMS_Checksum == (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xFF))
		{
			BMS_SN[20] = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0xFF);
			BMS_SN[21] = (UINT8)(((*(UINT8 *)(rawData + 2))) & 0xFF);
			BMS_SN[22] = (UINT8)(((*(UINT8 *)(rawData + 3))) & 0xFF);
			BMS_SN[23] = (UINT8)(((*(UINT8 *)(rawData + 4))) & 0xFF);
			BMS_SN[24] = (UINT8)(((*(UINT8 *)(rawData + 5))) & 0xFF);
			BMS_SN[25] = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0xFF);
			BMS_SN[26] = (UINT8)(((*(UINT8 *)(rawData + 7))) & 0xFF);
		}
		BcuRxFlag[18] = 0x01;
		break;
	case 0x18E5D0F3:
		BMS_BattRateCap = (UINT16)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8)) & 0xFFFF);
		BMS_BattRateVolt = (UINT16)(((*(UINT8 *)(rawData + 2)) | (*(UINT8 *)(rawData + 3) << 8)) & 0xFFFF);
		BMS_BattRateEngy = (UINT16)(((*(UINT8 *)(rawData + 4)) | (*(UINT8 *)(rawData + 5) << 8)) & 0xFFFF);
		BMS_BattType = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0xF);
		BMS_CoolType = (UINT8)(((*(UINT8 *)(rawData + 6)) >> 4) & 0x3);
		BcuRxFlag[19] = 0x01;
		break;
	case 0x18E6D0F3:
		BMS_CSC_Total = (UINT8)(((*(UINT8 *)(rawData + 0))) & 0xFF);
		BMS_CellTotal = (UINT16)(((*(UINT8 *)(rawData + 1)) | (*(UINT8 *)(rawData + 2) << 8)) & 0xFFFF);
		BMS_TempTotal = (UINT16)(((*(UINT8 *)(rawData + 3)) | (*(UINT8 *)(rawData + 4) << 8)) & 0xFFFF);
		BMS_CellVoltLevel = (UINT8)(((*(UINT8 *)(rawData + 5))) & 0xFF);
		BMS_CellMinVolt = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0xFF);
		BMS_CellMaxVolt = (UINT8)(((*(UINT8 *)(rawData + 7))) & 0xFF);
		BcuRxFlag[20] = 0x01;
		break;
	case 0x18F1D0F3:
		BMS_TotalCharEngy = (UINT32)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8) | (*(UINT8 *)(rawData + 2) << 16) | (*(UINT8 *)(rawData + 3) << 24)) & 0xFFFFFF);
		BMS_TotalDisCharEngy = (UINT32)(((*(UINT8 *)(rawData + 3)) | (*(UINT8 *)(rawData + 4) << 8) | (*(UINT8 *)(rawData + 5) << 16) | (*(UINT8 *)(rawData + 6) << 24)) & 0xFFFFFF);
		BMS_SingleCharEngy = (UINT16)(((*(UINT8 *)(rawData + 6)) | (*(UINT8 *)(rawData + 7) << 8)) & 0xFFFF);
		BcuRxFlag[21] = 0x01;
		break;
	case 0x18F2D0F3:
		BMS_TotalBackCharEngy = (UINT32)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8) | (*(UINT8 *)(rawData + 2) << 16) | (*(UINT8 *)(rawData + 3) << 24)) & 0xFFFFFF);
		BMS_TotalStaCharEngy = (UINT32)(((*(UINT8 *)(rawData + 3)) | (*(UINT8 *)(rawData + 4) << 8) | (*(UINT8 *)(rawData + 5) << 16) | (*(UINT8 *)(rawData + 6) << 24)) & 0xFFFFFF);
		BcuRxFlag[22] = 0x01;
		break;
	case 0x18F3D0F3:
		BMS_TotalGunCharEngy = (UINT32)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8) | (*(UINT8 *)(rawData + 2) << 16) | (*(UINT8 *)(rawData + 3) << 24)) & 0xFFFFFF);
		BMS_TotalGunCharCapy = (UINT32)(((*(UINT8 *)(rawData + 3)) | (*(UINT8 *)(rawData + 4) << 8) | (*(UINT8 *)(rawData + 5) << 16) | (*(UINT8 *)(rawData + 6) << 24)) & 0xFFFFFF);
		BcuRxFlag[23] = 0x01;
		break;
	case 0x18F4D0F3:
		BMS_TotalCharCapy = (UINT32)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8) | (*(UINT8 *)(rawData + 2) << 16) | (*(UINT8 *)(rawData + 3) << 24)) & 0xFFFFFF);
		BMS_TotalDisCharCapy = (UINT32)(((*(UINT8 *)(rawData + 3)) | (*(UINT8 *)(rawData + 4) << 8) | (*(UINT8 *)(rawData + 5) << 16) | (*(UINT8 *)(rawData + 6) << 24)) & 0xFFFFFF);
		BMS_SingleCharCapy = (UINT16)(((*(UINT8 *)(rawData + 6)) | (*(UINT8 *)(rawData + 7) << 8)) & 0xFFFF);
		BcuRxFlag[24] = 0x01;
		break;
	case 0x18F5D0F3:
		BMS_TotalBackCharCapy = (UINT32)(((*(UINT8 *)(rawData + 0)) | (*(UINT8 *)(rawData + 1) << 8) | (*(UINT8 *)(rawData + 2) << 16) | (*(UINT8 *)(rawData + 3) << 24)) & 0xFFFFFF);
		BMS_TotalStaCharCapy = (UINT32)(((*(UINT8 *)(rawData + 3)) | (*(UINT8 *)(rawData + 4) << 8) | (*(UINT8 *)(rawData + 5) << 16) | (*(UINT8 *)(rawData + 6) << 24)) & 0xFFFFFF);
		BMS_HVBranNum = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0xFF);
		BMS_SingleHVBranchCellNum = (UINT8)(((*(UINT8 *)(rawData + 7))) & 0xFF);
		BcuRxFlag[25] = 0x01;
		break;
	case 0x18FF45F4:
		BMS_ReqMode = (UINT8)(((*(UINT8 *)(rawData + 0))) & 0x3);
		BMS_HVCmd = (UINT8)(((*(UINT8 *)(rawData + 0)) >> 2) & 0x3);
		BMS_ChgSts = (UINT8)(((*(UINT8 *)(rawData + 0)) >> 4) & 0x3);
		BMS_HVRelaySts = (UINT8)(((*(UINT8 *)(rawData + 0)) >> 6) & 0x3);
		BMS_HVVolt = (UINT16)(((*(UINT8 *)(rawData + 1)) | (*(UINT8 *)(rawData + 2) << 8)) & 0xFFFF);
		BMS_SetTemp = (UINT8)(((*(UINT8 *)(rawData + 4))) & 0xFF);
		BMS_Life = (UINT8)(((*(UINT8 *)(rawData + 6))) & 0xFF);
		BMS_CRC = (UINT8)(((*(UINT8 *)(rawData + 7))) & 0xFF);
		BcuRxFlag[26] = 0x01;
		break;
	case 0x18FFC13A:
		TMS_WorkStatus = (UINT8)(((*(UINT8 *)(rawData + 0))) & 0x3);
		TMS_HVRelayST = (UINT8)(((*(UINT8 *)(rawData + 0)) >> 2) & 0x3);
		TMS_OutletTemp = (UINT8)(((*(UINT8 *)(rawData + 1))) & 0xFF);
		TMS_InletTemp = (UINT8)(((*(UINT8 *)(rawData + 2))) & 0xFF);
		TMS_ReqPow = (UINT16)(((*(UINT8 *)(rawData + 5)) | (*(UINT8 *)(rawData + 6) << 8)) & 0xFFFF);
		TMS_ErrCode = (UINT8)(((*(UINT8 *)(rawData + 7))) & 0x3F);
		TMS_FaultLevel = (UINT8)(((*(UINT8 *)(rawData + 7)) >> 6) & 0x3);
		BcuRxFlag[27] = 0x01;
		break;
	case 0x1C00EDEA:
		UDSAnsFunc(rawData);
		break;
	default:
		break;
	}
}
static void UDSAnsFunc(uint8 *rawData)
{
	static uint8 UdsStates = 1;
	uint8 Data[8] = {0};
	memcpy(Data, rawData, 8);
	uint8 UdsService = 0;
	uint8 UdsSubService = 0;
	UdsService = Data[0];
	UdsSubService = Data[1];
	uint8 AnsData[24] = {0};
	static uint8 deviceSnRecvFlg = 0;
	switch (UdsService)
	{
	case 0x10: // 模式切换
	{
		if (UdsSubService == 0x01)
		{
			UdsStates = 0x01; // 关闭UDS诊断
			UdsAns(true, UdsService, UdsSubService, 0x00, NULL, 0);
		}
		else if (UdsSubService == 0x02)
		{
			if (UdsStates == 0x01 || UdsStates == 0x02)
			{
				UdsStates = 0x02; // 打开UDS诊断
				UdsAns(true, UdsService, UdsSubService, 0x00, NULL, 0);
			}
			else
			{
				UdsAns(false, UdsService, UdsSubService, 0x00, NULL, 0);
			}
		}
		break;
	}
	case 0x11: // 控制
	{
		if (UdsStates == 0x02)
		{
			switch (UdsSubService)
			{
			case 0x01: // 重启
			{
				AnsData[0] = AppSwVersion >> 24;
				AnsData[1] = AppSwVersion >> 16;
				AnsData[2] = AppSwVersion >> 8;
				AnsData[3] = AppSwVersion >> 0;
				UdsAns(true, UdsService, UdsSubService, 0x00, AnsData, 4);
				AppConfigInfo.appSaveFlg = true;
				vTaskDelay(pdMS_TO_TICKS(1000));
				SystemSoftwareReset();
				break;
			}
			default:
			{
				UdsAns(false, UdsService, UdsSubService, 0x00, NULL, 0);
				break;
			}
			}
		}
		else
		{
			UdsAns(false, UdsService, UdsSubService, 0x00, NULL, 0);
		}
		break;
	}
	case 0x22: // 查询
	{
		if (UdsStates == 0x02)
		{
			switch (UdsSubService)
			{
			case 0x01: // 版本号查询
			{
				AnsData[0] = AppSwVersion >> 24;
				AnsData[1] = AppSwVersion >> 16;
				AnsData[2] = AppSwVersion >> 8;
				AnsData[3] = AppSwVersion >> 0;
				UdsAns(true, UdsService, UdsSubService, 0x00, AnsData, 4);
				break;
			}
			case 0x02: // SN号码查询
			{
				memcpy(AnsData, AppConfigInfo.deviceSn, 17);
				for (uint8 i = 0; i < 5; i++)
				{
					UdsAns(true, UdsService, UdsSubService, i, &AnsData[i * 4], 4);
				}
				break;
			}
			case 0x03: // ICCID查询
			{
				memcpy(AnsData, IccidNum, 20);
				for (uint8 i = 0; i < 5; i++)
				{
					UdsAns(true, UdsService, UdsSubService, i, &AnsData[i * 4], 4);
				}
				break;
			}
			case 0x04: // IMEI查询
			{
				memcpy(AnsData, ImeiNum, 15);
				for (uint8 i = 0; i < 4; i++)
				{
					UdsAns(true, UdsService, UdsSubService, i, &AnsData[i * 4], 4);
				}
				break;
			}
			case 0x05: // 驻网状态查询
			{
				AnsData[0] = RegChkRet;
				UdsAns(true, UdsService, UdsSubService, 0x00, AnsData, 1);
				break;
			}
			case 0x06: // 联网状态查询
			{
				AnsData[0] = SocketId;
				UdsAns(true, UdsService, UdsSubService, 0x00, AnsData, 1);
				break;
			}
			case 0x07: // 定位信息查询
			{
				GPSInfo GpsRecvData;
				if (xQueuePeek(GpsDataQueueHandle, &GpsRecvData, 0) == pdPASS)
				{
					AnsData[0] = GpsRecvData.locateMark;
					AnsData[4] = GpsRecvData.longitude[0];
					AnsData[5] = GpsRecvData.longitude[1];
					AnsData[6] = GpsRecvData.longitude[2];
					AnsData[7] = GpsRecvData.longitude[3];
					AnsData[8] = GpsRecvData.latitude[0];
					AnsData[9] = GpsRecvData.latitude[1];
					AnsData[10] = GpsRecvData.latitude[2];
					AnsData[11] = GpsRecvData.latitude[3];
					AnsData[12] = GpsRecvData.altitude[0];
					AnsData[13] = GpsRecvData.altitude[1];
					AnsData[14] = GpsRecvData.satelliteNum;
					for (uint8 i = 0; i < 4; i++)
					{
						UdsAns(true, UdsService, UdsSubService, i, &AnsData[i * 4], 4);
					}
					break;
				}
				else
				{
					AnsData[0] = 0xFF;
					UdsAns(true, UdsService, UdsSubService, 0x00, AnsData, 1);
				}
				break;
			}
			case 0x08: // 温度检测查询
			{
				UdsAns(true, UdsService, UdsSubService, 0x00, AnsData, 1);
				break;
			}
			case 0x09: // 电池信息查询
			{
				UdsAns(true, UdsService, UdsSubService, 0x00, AnsData, 1);
				BattSendFlg = 1;
				break;
			}
			case 0x0A: // 三轴数据查询
			{
				AnsData[0] = xyzData[0] >> 8;
				AnsData[1] = xyzData[0] >> 0;
				AnsData[2] = xyzData[1] >> 8;
				AnsData[3] = xyzData[1] >> 0;
				AnsData[4] = xyzData[2] >> 8;
				AnsData[5] = xyzData[2] >> 0;
				for (uint8 i = 0; i < 2; i++)
				{
					UdsAns(true, UdsService, UdsSubService, i, &AnsData[i * 4], 4);
				}
				break;
			}
			} // switch
		}	  // if
		else
		{
			UdsAns(false, UdsService, UdsSubService, 0x00, NULL, 0);
		}
		break;
	}
	case 0x27: // 控制
	{
		if (UdsStates == 0x02)
		{
		}
		else
		{
			UdsAns(false, UdsService, UdsSubService, 0x00, NULL, 0);
		}
		break;
	}
	case 0x2E: // 写入
	{
		if (UdsStates == 0x02)
		{
			switch (UdsSubService)
			{
			case 0x01:
			{
				setbit(deviceSnRecvFlg, Data[3]);
				if (Data[3] < 0x04)
				{
					memcpy(&AppConfigInfo.deviceSn[Data[3] * 4], &Data[4], 4);
					UdsAns(true, UdsService, UdsSubService, 0x00, &Data[3], 1);
				}
				else if (Data[3] == 0x04)
				{
					memcpy(&AppConfigInfo.deviceSn[Data[3] * 4], &Data[4], 1);
					UdsAns(true, UdsService, UdsSubService, 0x00, &Data[3], 1);
				}
				if (deviceSnRecvFlg == 0x1F)
				{
					deviceSnRecvFlg = 0;
					AppConfigInfo.appSaveFlg = true;
					AppConfigInfo.eolFlg = true;
				}
				break;
			}
			}
		}
		else
		{
			UdsAns(false, UdsService, UdsSubService, 0x00, NULL, 0);
		}
		break;
	}
	case 0x31: // 控制
	{
		if (UdsStates == 0x02)
		{
		}
		else
		{
			UdsAns(false, UdsService, UdsSubService, 0x00, NULL, 0);
		}
		break;
	}
	default:
		break;
	}
	return;
}
static void UdsAns(bool PosFlg, uint8 UdsService, uint8 UdsSubService, uint8 Idx, uint8 *AnsData, uint8 AnsDataLen)
{
	Can_Msg_Type CanTxMsg;
	uint32 CanAnsId = 0x1C00EAED;
	uint8 SendData[8] = {0};
	if (PosFlg)
	{
		SendData[0] = 0x78;
		SendData[1] = UdsService;
		SendData[2] = UdsSubService;
		SendData[3] = Idx;
		if (AnsData != NULL && AnsDataLen != 0x00)
		{
			memcpy(&SendData[4], AnsData, AnsDataLen);
		}
	}
	else
	{
		SendData[0] = 0x7F;
		SendData[1] = UdsService;
		SendData[2] = UdsSubService;
		SendData[3] = 0x00;
	}
	CanTxMsg.id = CanAnsId;
	CanTxMsg.idFrame = CAN_EXTENDED_ID_TYPE;
	CanTxMsg.sdu = SendData;
	CanTxMsg.length = 8;
	CanIf_SendMessage(CAN1, CanTxMsg);
}
static void BattSendFunc(void)
{
	//	Can_Msg_Type CanTxMsg;
	//	uint32 CanAnsId = 0;
	//	uint8 SendData[8] = {0};
	//	static uint8 SendStep = 0;
	//	static uint8 SendCounter = 0;
	//	switch (SendStep)
	//	{
	//	case 0x00:
	//	{
	//		SendStep++;
	//		break;
	//	}
	//	case 0x01:
	//	{
	//		CanAnsId = 0x1C01EAED;
	//		SendData[0] =  battHeatState;
	//		SendData[1] =  battFanState;
	//		SendData[2] =  battRelayState;
	//		SendData[3] =  battConverState;
	//		SendStep++;
	//		break;
	//	}
	//	case 0x02:
	//	{
	//		uint16 ErrorTemp ;
	//		ErrorTemp = GetErrorNum(ErrorArray,sizeof(ErrorArray)/2);
	//		CanAnsId = 0x1C09EAED;
	//		SendData[0] =  battWorkState;
	//		SendData[1] =  ErrorTemp>>8;
	//		SendData[2] =  ErrorTemp;
	//		SendData[3] =  0;
	//		SendData[4] =  0;
	//		SendData[5] =  0;
	//		SendData[6] =  0;
	//		SendData[7] =  0;
	//		SendStep++;
	//		break;
	//	}
	//	case 0x03:
	//	{
	//		CanAnsId = 0x1C0AEAED;
	//		uint16 SocTemp = battSOC*10;
	//		SendData[0] =  battI>>8;
	//		SendData[1] =  battI;
	//		SendData[2] =  battPackVol>>8;
	//		SendData[3] =  battPackVol;
	//		SendData[4] =  SocTemp>>8;
	//		SendData[5] =  SocTemp;
	//		SendData[6] =  battSOH;
	//		SendData[7] =  battMOSSwitchState;
	//		SendStep++;
	//		break;
	//	}
	//	case 0x04:
	//	{
	//		CanAnsId = 0x1C10EAED + (SendCounter<<16);
	//		if((SendCounter*8 + 7)>BMS_TEMPNUM)
	//		{
	//			SendCounter = 0;
	//			SendStep++;
	//			break;
	//		}
	//		else
	//		{
	//			SendData[0] =  battCellTemp[SendCounter*8 + 0];
	//			SendData[1] =  battCellTemp[SendCounter*8 + 1];
	//			SendData[2] =  battCellTemp[SendCounter*8 + 2];
	//			SendData[3] =  battCellTemp[SendCounter*8 + 3];
	//			SendData[4] =  battCellTemp[SendCounter*8 + 4];
	//			SendData[5] =  battCellTemp[SendCounter*8 + 5];
	//			SendData[6] =  battCellTemp[SendCounter*8 + 6];
	//			SendData[7] =  battCellTemp[SendCounter*8 + 7];
	//		}
	//		break;
	//	}
	//	case 0x05:
	//	{
	//		CanAnsId = 0x1CA0EAED + (SendCounter<<16);
	//		if((SendCounter*4 + 3)>BMS_CELLNUM)
	//		{
	//			SendCounter = 0;
	//			SendStep++;
	//			break;
	//		}
	//		else
	//		{
	//			SendData[0] =  battCellU[SendCounter*4 + 0]>>8;
	//			SendData[1] =  battCellU[SendCounter*4 + 0];
	//			SendData[2] =  battCellU[SendCounter*4 + 1]>>8;
	//			SendData[3] =  battCellU[SendCounter*4 + 1];
	//			SendData[4] =  battCellU[SendCounter*4 + 2]>>8;
	//			SendData[5] =  battCellU[SendCounter*4 + 2];
	//			SendData[6] =  battCellU[SendCounter*4 + 3]>>8;
	//			SendData[7] =  battCellU[SendCounter*4 + 3];
	//		}
	//		break;
	//	}
	//	default:
	//	{
	//		SendStep = 0;
	//		BattSendFlg = 0;
	//		return;
	//		break;
	//	}
	//	}
	//	CanTxMsg.id = CanAnsId;
	//	CanTxMsg.idFrame = CAN_EXTENDED_ID_TYPE;
	//	CanTxMsg.sdu = SendData;
	//	CanTxMsg.length = 8;
	//	CanIf_SendMessage(CAN1, CanTxMsg);
}

void BcuRxDiagnose(void) // 100ms调用一次
{

	static UINT32 TimeCounter = 0;	// ms
	TimeCounter = TimeCounter + 10; //
	for (UINT8 i = 0; i < sizeof(BcuInTable) / 4; i++)
	{
		if (BcuRxFlag[i] == 1) // received msg, and clear the error conter
		{
			BcuRxErrorCounter[i] = 0;
			BcuRxFlag[i] = 0;
			continue;
		}
		if (BcuRxErrorCounter[i] < 3)
		{
			BcuRxShortError[i] = 0;
			BcuRxLongError[i] = 0;
		}
		else if (BcuRxErrorCounter[i] >= 3 && BcuRxErrorCounter[i] < 13)
		{
			BcuRxShortError[i] = 1;
			BcuRxLongError[i] = 0;
		}
		else if (BcuRxErrorCounter[i] >= 13)
		{
			BcuRxShortError[i] = 0;
			BcuRxLongError[i] = 1;
			BcuRxMsgSetInvalidValue(BcuInTable[i]);
			BcuRxErrorCounter[i] = 0;
		}
		else if (BcuRxErrorCounter[i] == 0xFF)
		{
			BcuRxErrorCounter[i] = 0xFE;
		}
	}
	if (TimeCounter % 100 == 0) // period <=100ms
	{
		BcuRxErrorCounter[0]++; // can msg 0x1801D0F3
		// if(BcuRxErrorCounter[0]>=13)
		BcuRxErrorCounter[2]++; // can msg 0x1880D0F3
		// if(BcuRxErrorCounter[2]>=13)
		BcuRxErrorCounter[3]++; // can msg 0x1881D0F3
		// if(BcuRxErrorCounter[3]>=13)
		BcuRxErrorCounter[4]++; // can msg 0x1882D0F3
		// if(BcuRxErrorCounter[4]>=13)
		BcuRxErrorCounter[5]++; // can msg 0x1883D0F3
		// if(BcuRxErrorCounter[5]>=13)
		BcuRxErrorCounter[6]++; // can msg 0x1884D0F3
		// if(BcuRxErrorCounter[6]>=13)
		BcuRxErrorCounter[7]++; // can msg 0x1885D0F3
		// if(BcuRxErrorCounter[7]>=13)
		BcuRxErrorCounter[8]++; // can msg 0x1886D0F3
		// if(BcuRxErrorCounter[8]>=13)
		BcuRxErrorCounter[9]++; // can msg 0x1887D0F3
		// if(BcuRxErrorCounter[9]>=13)
		BcuRxErrorCounter[10]++; // can msg 0x1888D0F3
		// if(BcuRxErrorCounter[10]>=13)
		BcuRxErrorCounter[13]++; // can msg 0x18C1D0F3
		// if(BcuRxErrorCounter[13]>=13)
		BcuRxErrorCounter[14]++; // can msg 0x18C2D0F3
		// if(BcuRxErrorCounter[14]>=13)
		BcuRxErrorCounter[19]++; // can msg 0x18E5D0F3
		// if(BcuRxErrorCounter[19]>=13)
		BcuRxErrorCounter[20]++; // can msg 0x18E6D0F3
								 // if(BcuRxErrorCounter[20]>=13)
	}
	if (TimeCounter % 1000 == 0) // period ==1000ms
	{
		BcuRxErrorCounter[11]++; // can msg 0x1889D0F3
		// if(BcuRxErrorCounter[11]>=13)
		// printf("can msg 0x%x lost,cycle time1000ms\n",COMInTable[11]);
		BcuRxErrorCounter[12]++; // can msg 0x188AD0F3
		// if(BcuRxErrorCounter[12]>=13)
		// printf("can msg 0x%x lost,cycle time1000ms\n",COMInTable[12]);
		BcuRxErrorCounter[15]++; // can msg 0x18E1D0F3
		// if(BcuRxErrorCounter[15]>=13)
		// printf("can msg 0x%x lost,cycle time1000ms\n",COMInTable[15]);
		BcuRxErrorCounter[16]++; // can msg 0x18E2D0F3
		// if(BcuRxErrorCounter[16]>=13)
		// printf("can msg 0x%x lost,cycle time1000ms\n",COMInTable[16]);
		BcuRxErrorCounter[17]++; // can msg 0x18E3D0F3
		// if(BcuRxErrorCounter[17]>=13)
		// printf("can msg 0x%x lost,cycle time1000ms\n",COMInTable[17]);
		BcuRxErrorCounter[18]++; // can msg 0x18E4D0F3
		// if(BcuRxErrorCounter[18]>=13)
		// printf("can msg 0x%x lost,cycle time1000ms\n",COMInTable[18]);
		BcuRxErrorCounter[26]++; // can msg 0x18FF45F4
		// if(BcuRxErrorCounter[26]>=13)
		// printf("can msg 0x%x lost,cycle time1000ms\n",COMInTable[26]);
		BcuRxErrorCounter[27]++; // can msg 0x18FFC13A
								 // if(BcuRxErrorCounter[27]>=13)
								 // printf("can msg 0x%x lost,cycle time1000ms\n",COMInTable[27]);
	}
	if (TimeCounter % 30000 == 0) // period ==30000ms
	{
		BcuRxErrorCounter[1]++; // can msg 0x1801D8F3
								// if(BcuRxErrorCounter[1]>=13)
								// printf("can msg 0x%x lost,cycle time30000ms\n",COMInTable[1]);
	}
}
void BcuRxMsgSetInvalidValue(uint32 ID)
{

	switch (ID)
	{
	case 0x1801D0F3:
		BMS_ReqVIN = 0xFF;
		BMS_ReqHVOff = 0xFF;
		break;
	case 0x1801D8F3:
		BMS_SoftwareVersion = 0xFFFF;
		BMS_HardwareVersion = 0xFFFF;
		BMS_ProtocolEditionH = 0xFF;
		BMS_ProtocolEditionL = 0xFF;
		break;
	case 0x1880D0F3:
		BMS_CharDevNum = 0xFF;
		BMS_FtPosRly = 0xFF;
		BMS_FtNegRly = 0xFF;
		BMS_FtPosCharRly1 = 0xFF;
		BMS_FtNegCharRly1 = 0xFF;
		BMS_FtPosCharRly2 = 0xFF;
		BMS_FtNegCharRly2 = 0xFF;
		BMS_FtHeatRly1 = 0xFF;
		BMS_FtHeatRly2 = 0xFF;
		BMS_StPosRly = 0xFF;
		BMS_StNegRly = 0xFF;
		BMS_StPreCharRly = 0xFF;
		BMS_StPosCharRly1 = 0xFF;
		BMS_StNegCharRly1 = 0xFF;
		BMS_StPosCharRly2 = 0xFF;
		BMS_StNegCharRly2 = 0xFF;
		BMS_FtAuxRelayWeld = 0xFF;
		BMS_BraOpenCirc = 0xFF;
		BMS_FtBackCharCurrOutLim = 0xFF;
		BMS_FtPosRlyOpen = 0xFF;
		BMS_FtNegRlyOpen = 0xFF;
		BMS_FtPosCharRly1Open = 0xFF;
		BMS_FtPosCharRly2Open = 0xFF;
		BMS_FtNegCharRly1Open = 0xFF;
		BMS_FtNegCharRly2Open = 0xFF;
		BMS_FtTMSContClose = 0xFF;
		BMS_FtTMSContOpen = 0xFF;
		BMS_FtTMS = 0xFF;
		BMS_Ft24VSpy = 0xFF;
		BMS_FtPACKSelfProt = 0xFF;
		BMS_FtCharSockTempOver = 0xFF;
		BMS_FtTempOutCtrl = 0xFF;
		BMS_StPosHeatRly = 0xFF;
		BMS_StNegHeatRly = 0xFF;
		BMS_CharSysNum = 0xFF;
		BMS_FtCode = 0xFF;
		break;
	case 0x1881D0F3:
		BMS_ST1CheckSum = 0xFF;
		BMS_ST1Counter = 0xFF;
		BMS_Mode = 0xFF;
		BMS_AuxRlySt = 0xFF;
		BMS_BattBalaSt = 0xFF;
		BMS_CharGunSt = 0xFF;
		BMS_CharMode = 0xFF;
		BMS_CharSt = 0xFF;
		BMS_FtLvl = 0xFF;
		BMS_FtCellTempDiff = 0xFF;
		BMS_FtCellTempHigh = 0xFF;
		BMS_FtPACKOverVolt = 0xFF;
		BMS_FtPACKUndeVolt = 0xFF;
		BMS_FtSOCLow = 0xFF;
		BMS_FtCellOverVolt = 0xFF;
		BMS_FtCellUndeVolt = 0xFF;
		BMS_FtIns = 0xFF;
		BMS_FtCellOverVoltDiff = 0xFF;
		BMS_FtCharCurrOver = 0xFF;
		BMS_FtDisCharCurrOver = 0xFF;
		BMS_FtCellTempLow = 0xFF;
		BMS_FtBranVoltDifOver = 0xFF;
		BMS_FtBMSHardWare = 0xFF;
		BMS_FtSOCHigh = 0xFF;
		BMS_FtSOCJump = 0xFF;
		BMS_FtInCom = 0xFF;
		BMS_FtSysMism = 0xFF;
		BMS_FtHvIntLock = 0xFF;
		BMS_FtSmoke = 0xFF;
		BMS_FtFire = 0xFF;
		BMS_FtNum = 0xFF;
		break;
	case 0x1882D0F3:
		BMS_PackSOC = 0xFF;
		BMS_PackSOH = 0xFF;
		BMS_PackCurr = 0xFFFF;
		BMS_MaxCharCurr = 0xFFFF;
		BMS_MaxDisCharCurr = 0xFFFF;
		break;
	case 0x1883D0F3:
		BMS_PosIns = 0xFFFF;
		BMS_NegIns = 0xFFFF;
		BMS_BattVolt = 0xFFFF;
		BMS_LinkVolt = 0xFFFF;
		break;
	case 0x1884D0F3:
		BMS_MaxCellTemp = 0xFF;
		BMS_MinCellTemp = 0xFF;
		BMS_AverCellTemp = 0xFF;
		BMS_MaxCellTempCSC = 0xFF;
		BMS_MaxCellTempNum = 0xFF;
		BMS_MinCellTempCSC = 0xFF;
		BMS_MinCellTempNum = 0xFF;
		break;
	case 0x1885D0F3:
		BMS_MaxCellVolt = 0xFFFF;
		BMS_MaxCellVoltCSC = 0xFF;
		BMS_MaxCellVoltNum = 0xFF;
		BMS_AverCellVolt = 0xFFFF;
		break;
	case 0x1886D0F3:
		BMS_MinCellVolt = 0xFFFF;
		BMS_MinCellVoltCSC = 0xFF;
		BMS_MinCellVoltNum = 0xFF;
		BMS_ContChrgCurr = 0xFFFF;
		BMS_ContDisCharCurr = 0xFFFF;
		break;
	case 0x1887D0F3:
		BMS_CharReqVolt = 0xFFFF;
		BMS_CharReqCurr = 0xFFFF;
		BMS_SysInsRes = 0xFFFF;
		BMS_InsDeteSt = 0xFF;
		BMS_FtCharInsLow = 0xFF;
		BMS_FtCurrSenr = 0xFF;
		BMS_FtHeatingFilm = 0xFF;
		BMS_FtMainLoopPreChar = 0xFF;
		BMS_FtAuxLoopPreChar = 0xFF;
		BMS_FtACANLost = 0xFF;
		BMS_FtDCDC = 0xFF;
		BMS_FtSOCDif = 0xFF;
		BMS_FtCellOverDisChar = 0xFF;
		BMS_FtCharOver = 0xFF;
		BMS_FtContDisCharCurrOverLoad = 0xFF;
		BMS_FtContCharCurrOverLoad = 0xFF;
		break;
	case 0x1888D0F3:
		BMS_MaxDisCharPwr = 0xFFFF;
		BMS_MaxCharPwr = 0xFFFF;
		BMS_ContDisCharPwr = 0xFFFF;
		BMS_ContCharPwr = 0xFFFF;
		break;
	case 0x1889D0F3:
		BMS_InstEngyCons = 0xFFFF;
		BMS_TotalEngyCons = 0xFFFF;
		BMS_SOE = 0xFFFF;
		BMS_RmanCharTime = 0xFFFF;
		break;
	case 0x188AD0F3:
		BMS_Gun1DCNegTemp = 0xFF;
		BMS_Gun1DCPosTemp = 0xFF;
		BMS_Gun2DCNegTemp = 0xFF;
		BMS_Gun2DCPosTemp = 0xFF;
		BMS_CurrHeatSt = 0xFF;
		BMS_CurrCoolSt = 0xFF;
		BMS_FtCharCnct = 0xFF;
		BMS_FtOverDisCharCurrDuringChar = 0xFF;
		BMS_FtCharNTC = 0xFF;
		BMS_FtELock = 0xFF;
		BMS_CharNum = 0xFFFF;
		break;
	case 0x18C1D0F3:
		BMS_CellVoltFramNum = 0xFF;
		for (UINT16 i = 0; i < sizeof(BMS_CellVolt) / 2; i++)
		{
			BMS_CellVolt[i] = 0xFFFF;
		}
		break;
	case 0x18C2D0F3:
		BMS_CellTempFramNum = 0xFF;
		BMS_CSC_Code = 0xFF;
		for (UINT8 i = 0; i < sizeof(BMS_CellTemp); i++)
		{
			BMS_CellTemp[i] = 0xFF;
		}
		break;
	case 0x18E1D0F3:
		BMS_Checksum = 0xFF;
		BMS_PackComp = 0xFF;
		BMS_BattCodeLeng = 0xFF;
		BMS_SN[0] = 0xFF;
		BMS_SN[1] = 0xFF;
		BMS_SN[2] = 0xFF;
		BMS_SN[3] = 0xFF;
		BMS_SN[4] = 0xFF;
		BMS_SN[5] = 0xFF;
		break;
	case 0x18E2D0F3:
		BMS_Checksum = 0xFF;
		BMS_SN[6] = 0xFF;
		BMS_SN[7] = 0xFF;
		BMS_SN[8] = 0xFF;
		BMS_SN[9] = 0xFF;
		BMS_SN[10] = 0xFF;
		BMS_SN[11] = 0xFF;
		BMS_SN[12] = 0xFF;
		break;
	case 0x18E3D0F3:
		BMS_Checksum = 0xFF;
		BMS_SN[13] = 0xFF;
		BMS_SN[14] = 0xFF;
		BMS_SN[15] = 0xFF;
		BMS_SN[16] = 0xFF;
		BMS_SN[17] = 0xFF;
		BMS_SN[18] = 0xFF;
		BMS_SN[19] = 0xFF;
		break;
	case 0x18E4D0F3:
		BMS_Checksum = 0xFF;
		BMS_SN[20] = 0xFF;
		BMS_SN[21] = 0xFF;
		BMS_SN[22] = 0xFF;
		BMS_SN[23] = 0xFF;
		BMS_SN[24] = 0xFF;
		BMS_SN[25] = 0xFF;
		BMS_SN[26] = 0xFF;
		break;
	case 0x18E5D0F3:
		BMS_BattRateCap = 0xFFFF;
		BMS_BattRateVolt = 0xFFFF;
		BMS_BattRateEngy = 0xFFFF;
		BMS_BattType = 0xFF;
		BMS_CoolType = 0xFF;
		break;
	case 0x18E6D0F3:
		BMS_CSC_Total = 0xFF;
		//		BMS_CellTotal = BMS_CELL_MAX_NUM;
		//		BMS_TempTotal = BMS_TEMP_MAX_NUM;
		BMS_CellVoltLevel = 0xFF;
		BMS_CellMinVolt = 0xFF;
		BMS_CellMaxVolt = 0xFF;
		break;
	case 0x18F1D0F3:
		BMS_TotalCharEngy = 0xFFFFFFFF;
		BMS_TotalDisCharEngy = 0xFFFFFFFF;
		BMS_SingleCharEngy = 0xFFFF;
		break;
	case 0x18F2D0F3:
		BMS_TotalBackCharEngy = 0xFFFFFFFF;
		BMS_TotalStaCharEngy = 0xFFFFFFFF;
		break;
	case 0x18F3D0F3:
		BMS_TotalGunCharEngy = 0xFFFFFFFF;
		BMS_TotalGunCharCapy = 0xFFFFFFFF;
		break;
	case 0x18F4D0F3:
		BMS_TotalCharCapy = 0xFFFFFFFF;
		BMS_TotalDisCharCapy = 0xFFFFFFFF;
		BMS_SingleCharCapy = 0xFFFF;
		break;
	case 0x18F5D0F3:
		BMS_TotalBackCharCapy = 0xFFFFFFFF;
		BMS_TotalStaCharCapy = 0xFFFFFFFF;
		BMS_HVBranNum = 0xFF;
		BMS_SingleHVBranchCellNum = 0xFF;
		break;
	case 0x18FF45F4:
		BMS_ReqMode = 0xFF;
		BMS_HVCmd = 0xFF;
		BMS_ChgSts = 0xFF;
		BMS_HVRelaySts = 0xFF;
		BMS_HVVolt = 0xFFFF;
		BMS_SetTemp = 0xFF;
		BMS_Life = 0xFF;
		BMS_CRC = 0xFF;
		break;
	case 0x18FFC13A:
		TMS_WorkStatus = 0xFF;
		TMS_HVRelayST = 0xFF;
		TMS_OutletTemp = 0xFF;
		TMS_InletTemp = 0xFF;
		TMS_ReqPow = 0xFFFF;
		TMS_ErrCode = 0xFF;
		TMS_FaultLevel = 0xFF;
		break;
	default:
		break;
	}
}
#endif