BatterySwap/System/Vehicle/Communication/BleCanProtocolFunc.c

/*
 * @Author       : ChenJie
 * @Date         : 2021-12-20 14:47:39
 * @Version      : V3.0
 * @LastEditors  : ChenJie
 * @LastEditTime : 2022-05-09 17:13:09
 * @Description  : file content
 * @FilePath     : \VehicleControl\VehicleControl\src\System\Vehicle\Communication\BleCanProtocolFunc.c
 */
/*
 * CanProtocol.c
 * can协议转换
 *  Created on: 2021年12月20日
 *      Author: QiXiang_CHENJIE
 */
#include "BleCanProtocolFunc.h"
#include "HardwareLib.h"
/**
 * @brief : EBC对ble的命令应答,AT指令,EBC(0x1CEE000X)->BLE(0x1CEF0000X)
 * @param {uint8} CmdIdx
 * @return {*}
 */
void Can2EncodeFunction(UINT32 ID, UINT8 *rawData)
{
	uint8 Crc = 0;
	static uint8 lifeTime = 0;
	switch(ID)
	{
	case 0x1C00EBEC:
	{
		lifeTime = lifeTime+1<15? lifeTime+1 : 0;
		*(rawData + 1) = lifeTime;
		*(rawData + 2) = rted_st_bleConnCtrlCmd;
		*(rawData + 3) = rted_st_blePwrCtrlCmd;
		*(rawData + 4) = rted_st_wifiConnCtrlCmd;
		*(rawData + 5) = rted_st_wifiPwrCtrlCmd;
		*(rawData + 6) = 0;
		*(rawData + 7) = 0;
		for(uint8 i=1;i<8;i++)
		{
			Crc = Crc^(*(rawData + i));
		}
		*(rawData + 0) = Crc;
		break;
	}
	case 0x1C01EBEC:
	{
		*(rawData + 0) = rted_st_ebcWorkMode;
		*(rawData + 1) = rted_st_ebcCommMode;
		*(rawData + 2) = rted_st_ebcManuMode;
		*(rawData + 3) = rted_st_ebcPlugType;
		*(rawData + 4) = rted_flg_ebcAllWOper;
		*(rawData + 5) = 0;
		*(rawData + 6) = 0;
		*(rawData + 7) = 0;
		break;
	}
	case 0x1C02EBEC:
	{
		break;
	}
	case 0x1C12EBEC:
	{
		break;
	}
	case 0x1C03EBEC:
	{
		break;
	}
	case 0x1C04EBEC:
	{
		break;
	}
	case 0x1C05EBEC:
	{
		break;
	}
	case 0x1C06EBEC:
	{
		break;
	}
	case 0x1C07EBEC:
	{
		break;
	}
	case 0x1C08EBEC:
	{
		break;
	}
	case 0x1C09EBEC:
	{
		break;
	}
	case 0x1C0AEBEC:
	{
		break;
	}
	case 0x1C0BEBEC:
	{
		break;
	}
	case 0x1C0CEBEC:
	{
		break;
	}
	case 0x1C0DEBEC:
	{
		break;
	}
	case 0x1C0EEBEC:
	{
		break;
	}
	default:
		break;
	}
}
/**
 * @brief : ebc对ble的数据应答,Ebc data ->Ble data
 * @param {*}
 * @return {*}
 */
void Can2DataCode(uint8 DataIdx, uint8 Byte0Num, uint8 Data[])
{
    switch (DataIdx)
    {
    case 0x01: //主机数据类型1的应答
    {
        Data[0] = 0x11;
        Data[1] = ebcd_st_ebcWork;
        Data[2] = ebcd_st_ebcConnect;
        Data[3] = ebcd_st_ebcLockWork;
        Data[4] = 0x00;
        Data[5] = 0x00;
        Data[6] = 0x00;
        Data[7] = 0x00;
        break;
    }
    case 0x02: //主机数据类型2的应答 共7条
    {
        switch (Byte0Num)
        {
        case 0x21:
        {
            vcud_st_keyOn = BattCD_stWakeupU.B.bLogic;
            bcud_st_bcuTmsLiquid = 0; // TBD
            ebcd_flg_pluginLockSig = m_flg_HVlock1 && m_flg_HVlock2;
            Data[0] = Byte0Num;
            Data[1] = ebcd_st_unlockSensor;
            Data[2] = ebcd_st_lockSensor;
            Data[3] = vcud_st_keyOn;
            Data[4] = ebcd_P_airSensor;
            Data[5] = bcud_st_bcuTmsLiquid;
            Data[6] = ebcd_flg_pluginLockSig;
            Data[7] = 0x00;
            break;
        }
        case 0x22:
        {
            ebcd_st_pluginLockSig = (m_flg_HVlock2 << 2) | (m_flg_HVlock1 << 1) | (m_flg_HVlock1 << 1);
            Data[0] = Byte0Num;
            Data[1] = 0x00;
            Data[2] = 0x00;
            Data[3] = 0x00;
            Data[4] = 0x00;
            Data[5] = ebcd_st_pedstSensor;
            Data[6] = ebcd_st_pluginLockSig;
            Data[7] = 0x00;
            break;
        }
        case 0x23:
        {
            Data[0] = Byte0Num;
            Data[1] = ebcd_st_unlockSucJug;
            Data[2] = ebcd_st_lockSucJug;
            Data[3] = 0x00;
            Data[4] = 0x00;
            Data[5] = 0x00;
            Data[6] = 0x00;
            Data[7] = 0x00;
            break;
        }
        case 0x24:
        {
            Data[0] = Byte0Num;
            Data[1] = 0x00;
            Data[2] = 0x00;
            Data[3] = 0x00;
            Data[4] = 0x00;
            Data[5] = ebcd_st_pedstSucJug;
            Data[6] = ebcd_flg_swapAdmit;
            Data[7] = 0x00;
            break;
        }
        case 0x25:
        {
            Data[0] = Byte0Num;
            Data[1] = ebcd_st_ebcWork;
            Data[2] = ebcd_st_ebcConnect;
            Data[3] = ebcd_st_ebcLockWork;
            Data[4] = ebcd_Nr_errMax;
            Data[5] = ebcd_Num_err1;
            Data[6] = ebcd_Num_err2;
            Data[7] = 0x00;
            break;
        }
        case 0x26:
        {
            Data[0] = Byte0Num;
            Data[1] = (ebcd_Nr_swapBatt >> 8) & 0xFF;
            Data[2] = ebcd_Nr_swapBatt & 0xFF;
            Data[3] = (ebcd_Nr_swapSucBatt >> 8) & 0xFF;
            Data[4] = ebcd_Nr_swapSucBatt;
            Data[5] = 0x00;
            Data[6] = 0x00;
            Data[7] = 0x00;
            break;
        }
        case 0x27:
        {
            Data[0] = Byte0Num;
            Data[1] = ebcd_st_errTable1;
            Data[2] = ebcd_st_errTable2;
            Data[3] = ebcd_st_errTable3;
            Data[4] = 0x00;
            Data[5] = 0x00;
            Data[6] = 0x00;
            Data[7] = 0x00;
            break;
        }
        default:
            break;
        }
        break;
    }
    case 0x03: //主机数据类型3的应答 共5条
    {
        vcud_st_handbrake = VCU_St_ParkBrakeSw;
        vcud_st_footbrake = (VCU_St_BrakePedal > 0);
        vcud_st_gear = VCU_St_Gear;
        vcud_st_vcuComun = (VcuRxLongError[0] != 1);
        vcud_st_carStart = VCU_State_Veh;
        vcud_st_Steer = 0x00;   // TBD
        vcud_M_accDrv = 0 * 10; // TBD
        if (VCU_St_VinRecv == 0x07)
        {
            memcpy(vcuv_Num_vin, VCU_Num_VIN, 17);
        }
        switch (Byte0Num)
        {
        case 0x31:
        {
            Data[0] = Byte0Num;
            Data[1] = vcud_st_handbrake;
            Data[2] = vcud_st_footbrake;
            Data[3] = vcud_st_gear;
            Data[4] = vcud_st_vcuComun;
            Data[5] = vcud_st_carStart;
            Data[6] = vcud_st_Steer;
            Data[7] = 0x00;
            break;
        }
        case 0x32:
        {
            Data[0] = Byte0Num;
            Data[1] = vcuv_Num_vin[0];
            Data[2] = vcuv_Num_vin[1];
            Data[3] = vcuv_Num_vin[2];
            Data[4] = vcuv_Num_vin[3];
            Data[5] = vcuv_Num_vin[4];
            Data[6] = vcuv_Num_vin[5];
            Data[7] = 0x00;
            break;
        }
        case 0x33:
        {
            Data[0] = Byte0Num;
            Data[1] = vcuv_Num_vin[6];
            Data[2] = vcuv_Num_vin[7];
            Data[3] = vcuv_Num_vin[8];
            Data[4] = vcuv_Num_vin[9];
            Data[5] = vcuv_Num_vin[10];
            Data[6] = vcuv_Num_vin[11];
            Data[7] = 0x00;
            break;
        }
        case 0x34:
        {
            Data[0] = Byte0Num;
            Data[1] = vcuv_Num_vin[12];
            Data[2] = vcuv_Num_vin[13];
            Data[3] = vcuv_Num_vin[14];
            Data[4] = vcuv_Num_vin[15];
            Data[5] = vcuv_Num_vin[16];
            Data[6] = 0x00;
            Data[7] = 0x00;
            break;
        }
        case 0x35:
        {
            Data[0] = Byte0Num;
            Data[1] = (vcud_M_accDrv >> 24) & 0xFF;
            Data[2] = (vcud_M_accDrv >> 16) & 0xFF;
            Data[3] = (vcud_M_accDrv >> 8) & 0xFF;
            Data[4] = (vcud_M_accDrv)&0xFF;
            Data[5] = vcud_P_airSensorForward;
            Data[6] = vcud_P_airSensorBack;
            Data[7] = 0x00;
            break;
        }
        default:
            break;
        }
        break;
    }
    case 0x04: //主机数据类型4的应答 共16条
    {
        bcud_st_bcuComun = (BcuRxLongError[4] != 0x01);
        bcud_pct_bcuSoh = BMS_PackSOH;
        bcud_V_battU = BMS_BattVolt;
        if (BMS_Mode == 2)
        {
            bcud_st_hvWork = 2;
        }
        else if (BMS_Mode == 1)
        {
            bcud_st_hvWork = 0;
        }
        else
        {
            bcud_st_hvWork = 3;
        }
        bcud_st_bcuMainRelay = BMS_StPosRly;
        bcud_pct_soc = (UINT16)(BMS_PackSOC * 4);
        memcpy(bcuv_Num_battSn, BMS_SN, sizeof(BMS_SN));
        bcud_Q_snglChrg = BMS_SingleCharCapy;
        bcud_E_snglChrg = BMS_SingleCharEngy;
        bcud_Q_accRecovry = BMS_TotalBackCharCapy;
        bcud_E_accRecovry = BMS_TotalBackCharEngy;
        bcud_Q_accSwapBatt = BMS_TotalStaCharCapy;
        bcud_E_accSwapBatt = BMS_TotalStaCharEngy;
        bcud_Q_accPlugInChrg = BMS_TotalGunCharCapy;
        bcud_E_accPlugInChrg = BMS_TotalGunCharEngy;
        bcud_Q_accDischrg = BMS_TotalDisCharCapy;
        bcud_E_accDischrg = BMS_TotalDisCharEngy;
        bcud_Q_accChrg = BMS_TotalCharCapy;
        bcud_E_accChrg = BMS_TotalCharEngy;
        switch (Byte0Num)
        {
        case 0x40:
        {
            Data[0] = Byte0Num;
            Data[1] = (bcud_E_accPlugInChrg >> 24) & 0xFF;
            Data[2] = (bcud_E_accPlugInChrg >> 16) & 0xFF;
            Data[3] = (bcud_E_accPlugInChrg >> 8) & 0xFF;
            Data[4] = (bcud_E_accPlugInChrg)&0xFF;
            Data[5] = 0x00;
            Data[6] = 0x00;
            Data[7] = 0x00;
            break;
        }
        case 0x41:
        {
            Data[0] = Byte0Num;
            Data[1] = (bcud_Q_accChrg >> 24) & 0xFF;
            Data[2] = (bcud_Q_accChrg >> 16) & 0xFF;
            Data[3] = (bcud_Q_accChrg >> 8) & 0xFF;
            Data[4] = (bcud_Q_accChrg)&0xFF;
            Data[5] = bcud_st_bcuComun;
            Data[6] = bcud_st_hvWork;
            Data[7] = 0x00;
            break;
        }
        case 0x42:
        {
            Data[0] = Byte0Num;
            Data[1] = (bcud_Q_accDischrg >> 24) & 0xFF;
            Data[2] = (bcud_Q_accDischrg >> 16) & 0xFF;
            Data[3] = (bcud_Q_accDischrg >> 8) & 0xFF;
            Data[4] = (bcud_Q_accDischrg)&0xFF;
            Data[5] = bcud_st_bcuMainRelay;
            Data[6] = bcud_pct_bcuSoh;
            Data[7] = 0x00;
            break;
        }
        case 0x43:
        {
            Data[0] = Byte0Num;
            Data[1] = (bcud_E_accChrg >> 24) & 0xFF;
            Data[2] = (bcud_E_accChrg >> 16) & 0xFF;
            Data[3] = (bcud_E_accChrg >> 8) & 0xFF;
            Data[4] = (bcud_E_accChrg)&0xFF;
            Data[5] = (bcud_V_battU >> 8) & 0xFF;
            Data[6] = (bcud_V_battU)&0xFF;
            Data[7] = 0x00;
            break;
        }
        case 0x44:
        {
            Data[0] = Byte0Num;
            Data[1] = (bcud_E_accDischrg >> 24) & 0xFF;
            Data[2] = (bcud_E_accDischrg >> 16) & 0xFF;
            Data[3] = (bcud_E_accDischrg >> 8) & 0xFF;
            Data[4] = (bcud_E_accDischrg)&0xFF;
            Data[5] = (bcud_pct_soc >> 8) & 0xFF;
            Data[6] = (bcud_pct_soc)&0xFF;
            Data[7] = 0x00;
            break;
        }
        case 0x45:
        {
            Data[0] = Byte0Num;
            Data[1] = bcuv_Num_battSn[0];
            Data[2] = bcuv_Num_battSn[1];
            Data[3] = bcuv_Num_battSn[2];
            Data[4] = bcuv_Num_battSn[3];
            Data[5] = bcuv_Num_battSn[4];
            Data[6] = bcuv_Num_battSn[5];
            Data[7] = 0x00;
            break;
        }
        case 0x46:
        {
            Data[0] = Byte0Num;
            Data[1] = bcuv_Num_battSn[6];
            Data[2] = bcuv_Num_battSn[7];
            Data[3] = bcuv_Num_battSn[8];
            Data[4] = bcuv_Num_battSn[9];
            Data[5] = bcuv_Num_battSn[10];
            Data[6] = bcuv_Num_battSn[11];
            Data[7] = 0x00;
            break;
        }
        case 0x47:
        {
            Data[0] = Byte0Num;
            Data[1] = bcuv_Num_battSn[12];
            Data[2] = bcuv_Num_battSn[13];
            Data[3] = bcuv_Num_battSn[14];
            Data[4] = bcuv_Num_battSn[15];
            Data[5] = bcuv_Num_battSn[16];
            Data[6] = bcuv_Num_battSn[17];
            Data[7] = 0x00;
            break;
        }
        case 0x48:
        {
            Data[0] = Byte0Num;
            Data[1] = bcuv_Num_battSn[18];
            Data[2] = bcuv_Num_battSn[19];
            Data[3] = bcuv_Num_battSn[20];
            Data[4] = bcuv_Num_battSn[21];
            Data[5] = bcuv_Num_battSn[22];
            Data[6] = bcuv_Num_battSn[23];
            Data[7] = 0x00;
            break;
        }
        case 0x49:
        {
            Data[0] = Byte0Num;
            Data[1] = bcuv_Num_battSn[24];
            Data[2] = bcuv_Num_battSn[25];
            Data[3] = bcuv_Num_battSn[26];
            Data[4] = bcuv_Num_battSn[27];
            Data[5] = bcuv_Num_battSn[28];
            Data[6] = bcuv_Num_battSn[29];
            Data[7] = 0x00;
            break;
        }
        case 0x4A:
        {
            Data[0] = Byte0Num;
            Data[1] = bcuv_Num_battSn[30];
            Data[2] = bcuv_Num_battSn[31];
            Data[3] = 0x00;
            Data[4] = 0x00;
            Data[5] = 0x00;
            Data[6] = 0x00;
            Data[7] = 0x00;
            break;
        }
        case 0x4B:
        {
            Data[0] = Byte0Num;
            Data[1] = (bcud_Q_snglChrg >> 8) & 0xFF;
            Data[2] = (bcud_Q_snglChrg)&0xFF;
            Data[3] = (bcud_Q_accRecovry >> 24) & 0xFF;
            Data[4] = (bcud_Q_accRecovry >> 16) & 0xFF;
            Data[5] = (bcud_Q_accRecovry >> 8) & 0xFF;
            Data[6] = (bcud_Q_accRecovry)&0xFF;
            Data[7] = 0x00;
            break;
        }
        case 0x4C:
        {
            Data[0] = Byte0Num;
            Data[1] = (bcud_Q_accSwapBatt >> 24) & 0xFF;
            Data[2] = (bcud_Q_accSwapBatt >> 16) & 0xFF;
            Data[3] = (bcud_Q_accSwapBatt >> 8) & 0xFF;
            Data[4] = (bcud_Q_accSwapBatt)&0xFF;
            Data[5] = 0x00;
            Data[6] = 0x00;
            Data[7] = 0x00;
            break;
        }
        case 0x4D:
        {
            Data[0] = Byte0Num;
            Data[1] = (bcud_E_snglChrg >> 8) & 0xFF;
            Data[2] = (bcud_E_snglChrg)&0xFF;
            Data[3] = (bcud_E_accRecovry >> 24) & 0xFF;
            Data[4] = (bcud_E_accRecovry >> 16) & 0xFF;
            Data[5] = (bcud_E_accRecovry >> 8) & 0xFF;
            Data[6] = (bcud_E_accRecovry)&0xFF;
            Data[7] = 0x00;
            break;
        }
        case 0x4E:
        {
            Data[0] = Byte0Num;
            Data[1] = (bcud_E_accSwapBatt >> 24) & 0xFF;
            Data[2] = (bcud_E_accSwapBatt >> 16) & 0xFF;
            Data[3] = (bcud_E_accSwapBatt >> 8) & 0xFF;
            Data[4] = (bcud_E_accSwapBatt)&0xFF;
            Data[5] = 0x00;
            Data[6] = 0x00;
            Data[7] = 0x00;
            break;
        }
        case 0x4F:
        {
            Data[0] = Byte0Num;
            Data[1] = (bcud_Q_accPlugInChrg >> 24) & 0xFF;
            Data[2] = (bcud_Q_accPlugInChrg >> 16) & 0xFF;
            Data[3] = (bcud_Q_accPlugInChrg >> 8) & 0xFF;
            Data[4] = (bcud_Q_accPlugInChrg)&0xFF;
            Data[5] = 0x00;
            Data[6] = 0x00;
            Data[7] = 0x00;
            break;
        }
        default:
            break;
        }
        break;
    }
    case 0x05:
    {
        Data[0] = 0x51;
        Data[1] = 0x00;
        Data[2] = 0x00;
        Data[3] = 0x00;
        Data[4] = 0x00;
        Data[5] = 0x00;
        Data[6] = 0x00;
        Data[7] = 0x00;
        break;
    }
    default:
        Data[0] = 0x00;
        Data[1] = 0x00;
        Data[2] = 0x00;
        Data[3] = 0x00;
        Data[4] = 0x00;
        Data[5] = 0x00;
        Data[6] = 0x00;
        Data[7] = 0x00;
        break;
    }
}

/**
 * @brief : Ebc通过Can2接受到的协议解码
 * @param {uint8} CmdIdx
 * @return {*}
 */
void Can2ProtocolDecode(uint32 Can2ID, uint8 Data[])
{
    switch (Can2ID)
    {
    case 0x1CEF0000:
    {
        Can2DataDecode(Data);
        bled_flg_bleConn = 1;
        bled_flg_bleDisconn = 0;
        bled_st_dataTrans = 1;
        break;
    }
    case 0x1CEF0001:
    {
        bled_Nr_softVer = (Data[0] << 24) | (Data[1] << 16) | (Data[2] << 8) | (Data[3]);
        break;
    }
    case 0x1CEF0002:
    {
        if (Data[0] == 0x01 && Data[1] == 0x01)
        {
            bled_flg_bleConn = 1;
            bled_flg_bleDisconn = 0;
        }
        else if (Data[0] == 0x01 && Data[1] == 0x02)
        {
            bled_flg_bleConn = 0;
            bled_flg_bleDisconn = 1;
        }
        break;
    }
    case 0x1C00ECEA: // UDS检测ID
    {
        Uds_Service(Data);
        break;
    }
    default:
        break;
    }
}
/**
 * @brief : Ebc通过can2接收到的数据解码,Ble->Ebc
 * @param {*}
 * @return {*}
 */
void Can2DataDecode(uint8 Data[])
{
    uint8 CmdIndex = Data[0];
    ebcd_st_toBleAns = CmdIndex;
    ebcd_flg_Can2SendEnbale = TRUE; //所有的信息均立即回复
    switch (CmdIndex)
    {
    case 0x01: //心跳数据，为了维持通讯
    {
        bled_flg_Heart = 1;
        ebcd_flg_Can2SendEnbale = TRUE;
        break;
    }
    case 0x02: //获取换电控制器信息
    {
        bled_flg_getEbcData = 1;
        ebcd_flg_Can2SendEnbale = TRUE;
        break;
    }
    case 0x03: //获得车辆信息
    {
        bled_flg_getVcuData = 1;
        ebcd_flg_Can2SendEnbale = TRUE;
        break;
    }
    case 0x04: //获取电池信息
    {
        bled_flg_getBmsData = 1;
        ebcd_flg_Can2SendEnbale = TRUE;
        break;
    }
    case 0x05: //握手
    {
        bled_flg_handShake = 1;
        ebcd_flg_Can2SendEnbale = TRUE;
        break;
    }
    case 0x06: //解锁
    {
        bled_flg_unlockCmd = Data[1];
        bled_flg_lockCmd = 0;
        break;
    }
    case 0x07: //锁紧
    {
        bled_flg_lockCmd = Data[1];
        bled_flg_unlockCmd = 0;
        break;
    }
    case 0x08: //完成换电
    {
        bled_flg_swapBattDone = 1;
        break;
    }
    case 0x09: //强制解锁，强制上升
    {
        bled_flg_unlockCmdForce = Data[1];
        bled_flg_topAscendCmdForce = Data[2];
        break;
    }
    case 0x0A: //强制锁紧，强制下降
    {
        bled_flg_lockCmdForce = Data[1];
        bled_flg_topDescendCmdForce = Data[2];
        break;
    }
    case 0x0B: //回到行车状态
    {
        bled_flg_backToDrv = 1;
        break;
    }
    case 0x0C: //顶板举升
    {
        bled_flg_topAscendCmd = Data[1];
        break;
    }
    case 0x0D: //顶板下降
    {
        bled_flg_topDescendCmd = Data[1];
        break;
    }
    case 0x0E: //换电开始自动解锁
    {
        bled_flg_autoUnlock = 1;
        break;
    }
    case 0x0F: //换电完成自动锁紧
    {
        bled_flg_autoLock = 1;
        break;
    }
    case 0x10: //除尘开始
    {
        bled_flg_openDustReCmd = 1;
        break;
    }
    case 0x11: //除尘关闭
    {
        bled_flg_closeDustReCmd = 1;
        break;
    }
    case 0x12: //切换到无线通信状态
    {
        break;
    }
    case 0x13: //进入换电状态
    {
        bled_flg_toSwapMod = 1;
        break;
    }
    case 0x14: //急停指令
    {
        bled_flg_safeStopCmd = 1;
        break;
    } //新增需要改数组
    default:
        break;
    }
}
static uint8 udsMode = 0; // uds 模式
uint32 EbcAppSw = 0x00000101;
void Uds_Service(uint8 *Data)
{
    UdsAnsType UdsAns;
    memset((uint8 *)&UdsAns, 0x00, sizeof(UdsAns));
    UdsAns.UdsSer = *(Data + 0);
    UdsAns.UdsSubSer = *(Data + 1);
    switch (UdsAns.UdsSer)
    {
    case 0x10: //模式选择
    {
        if (*(Data + 1) == 0x01)
        {
            udsMode = 1;
            UdsPosAns(UdsAns);
        }
        else if (*(Data + 1) == 0x02)
        {
            if (udsMode == 1 || udsMode == 2)
            {
                udsMode = 2;
                UdsPosAns(UdsAns);
            }
            else
            {
                udsMode = 0;
                UdsNegAns(UdsAns);
            }
        }
        else
        {
            udsMode = 0;
            UdsNegAns(UdsAns);
        }
        break;
    }
    case 0x22: //查询
    {
        if (udsMode == 2)
        {
            switch (UdsAns.UdsSubSer)
            {
            case 0x01: //版本号查询
            {
                UdsAns.Seq = 0;
                UdsAns.Data1 = EbcAppSw >> 24;
                UdsAns.Data2 = EbcAppSw >> 16;
                UdsAns.Data3 = EbcAppSw >> 8;
                UdsAns.Data4 = EbcAppSw;
                UdsPosAns(UdsAns);
                break;
            }
            case 0x02: //解锁状态查询
            {
                UdsAns.Seq = 0;
                UdsAns.Data1 = ebcd_st_unlockSensor;
                UdsAns.Data2 = 0x00;
                UdsAns.Data3 = 0x00;
                UdsAns.Data4 = 0x00;
                UdsPosAns(UdsAns);
                break;
            }
            case 0x03: //锁紧状态查询
            {
                UdsAns.Seq = 0;
                UdsAns.Data1 = ebcd_st_lockSensor;
                UdsAns.Data2 = 0x00;
                UdsAns.Data3 = 0x00;
                UdsAns.Data4 = 0x00;
                UdsPosAns(UdsAns);
                break;
            }
            case 0x04: //落座状态查询
            {
                UdsAns.Seq = 0;
                UdsAns.Data1 = ebcd_st_pedstSensor;
                UdsAns.Data2 = 0x00;
                UdsAns.Data3 = 0x00;
                UdsAns.Data4 = 0x00;
                UdsPosAns(UdsAns);
                break;
            }
            case 0x05: //互锁状态查询
            {
                UdsAns.Seq = 0;
                UdsAns.Data1 = ((m_flg_HVlock1 & 0x01) << 1) | (m_flg_HVlock2 & 0x01);
                UdsAns.Data2 = 0x00;
                UdsAns.Data3 = 0x00;
                UdsAns.Data4 = 0x00;
                UdsPosAns(UdsAns);
                break;
            }
            case 0x06: //气压值查询
            {
                UdsAns.Seq = 0;
                UdsAns.Data1 = ebcd_P_airSensor;
                UdsAns.Data2 = 0x00;
                UdsAns.Data3 = 0x00;
                UdsAns.Data4 = 0x00;
                UdsPosAns(UdsAns);
                break;
            }
            case 0x07: //锁紧压力查询
            {
                UdsAns.Seq = 0;
                UdsAns.Data1 = Test_LockPressure >> 8;
                UdsAns.Data2 = Test_LockPressure;
                UdsAns.Data3 = 0x00;
                UdsAns.Data4 = 0x00;
                UdsPosAns(UdsAns);
                break;
            }
            case 0x08: //锁紧次数查询
            {
                UdsAns.Seq = 0;
                UdsAns.Data1 = ManuControlTimes >> 8;
                UdsAns.Data2 = ManuControlTimes;
                UdsAns.Data3 = 0x00;
                UdsAns.Data4 = 0x00;
                UdsPosAns(UdsAns);
                break;
            }
            case 0x09: //温度数据查询
            {
                UdsAns.Seq = 0;
                UdsAns.Data1 = ebcd_T_plugin[0];
                UdsAns.Data2 = ebcd_T_plugin[1];
                UdsAns.Data3 = ebcd_T_plugin[2];
                UdsAns.Data4 = ebcd_T_plugin[3];
                UdsPosAns(UdsAns);
                break;
            }
            default:
                UdsNegAns(UdsAns);
                break;
            }
        }
        else
        {
            UdsNegAns(UdsAns);
        }
        break;
    }
    case 0x27: //控制
    {
        if (udsMode == 2)
        {
            switch (UdsAns.UdsSubSer)
            {
            case 0x01: //循环测试开启
            {
                ebcd_flg_ebcManCtrlEn = 1;
                ebcd_flg_ebcManCtrlMode = 1;
                UdsPosAns(UdsAns);
                break;
            }
            case 0x02:
            {
                ebcd_flg_ebcManCtrlEn = 1;
                ebcd_flg_ebcManCtrlMode = 2;
                UdsPosAns(UdsAns);
                break;
            }
            case 0x03:
            {
                ebcd_flg_ebcManCtrlEn = 1;
                ebcd_flg_ebcManCtrlMode = 3;
                UdsPosAns(UdsAns);
                break;
            }
            case 0x04:
            {
            	ebcd_flg_ebcManCtrlEn = 0;
            	UdsPosAns(UdsAns);
            	break;
            }
            default:
                UdsNegAns(UdsAns);
                break;
            }
        }
        else
        {
            UdsNegAns(UdsAns);
        }
        break;
    }
    case 0x2E: //写入
    {
        if (udsMode == 2)
        {
            switch (UdsAns.UdsSubSer)
            {
            case 0x01:
            {
                LockDelayTime = (*(Data + 4) << 8) | *(Data + 5);
                UdsPosAns(UdsAns);
                EEPROMDrv_bSaveInstantUB = 1;
                break;
            }
            case 0x02:
            {
                UnlockDelayTime = (*(Data + 4) << 8) | *(Data + 5);
                UdsPosAns(UdsAns);
                EEPROMDrv_bSaveInstantUB = 1;
                break;
            }
            default:
                UdsNegAns(UdsAns);
                break;
            }
        }
        else
        {
            UdsNegAns(UdsAns);
        }
        break;
    }
    default:
        break;
    }
}
void UdsPosAns(UdsAnsType UdsAnsData)
{
    MCANDrv_infoMsgS_TYPE infoMsgS;
    infoMsgS.infoConfS.infoMsgParU.B.CAN = 2;
    infoMsgS.infoConfS.infoMsgParU.B.DIR = _MCAN_DIR_TX;
    infoMsgS.infoConfS.infoMsgParU.B.DLC = 8;
    infoMsgS.infoConfS.infoMsgParU.B.IDE = _MCAN_IDE_EXT;
    infoMsgS.infoConfS.infoMsgIDUI = 0x1C00EAECUL;
    infoMsgS.datMsgUBA[0] = 0x78;
    infoMsgS.datMsgUBA[1] = UdsAnsData.UdsSer;
    infoMsgS.datMsgUBA[2] = UdsAnsData.UdsSubSer;
    infoMsgS.datMsgUBA[3] = UdsAnsData.Seq;
    infoMsgS.datMsgUBA[4] = UdsAnsData.Data1;
    infoMsgS.datMsgUBA[5] = UdsAnsData.Data2;
    infoMsgS.datMsgUBA[6] = UdsAnsData.Data3;
    infoMsgS.datMsgUBA[7] = UdsAnsData.Data4;
    MCANDrv_SendMsg(infoMsgS);
}
void UdsNegAns(UdsAnsType UdsAnsData)
{
    MCANDrv_infoMsgS_TYPE infoMsgS;
    infoMsgS.infoConfS.infoMsgParU.B.CAN = 2;
    infoMsgS.infoConfS.infoMsgParU.B.DIR = _MCAN_DIR_TX;
    infoMsgS.infoConfS.infoMsgParU.B.DLC = 8;
    infoMsgS.infoConfS.infoMsgParU.B.IDE = _MCAN_IDE_EXT;
    infoMsgS.infoConfS.infoMsgIDUI = 0x1C00EAECUL;
    infoMsgS.datMsgUBA[0] = 0x7F;
    infoMsgS.datMsgUBA[1] = UdsAnsData.UdsSer;
    infoMsgS.datMsgUBA[2] = UdsAnsData.UdsSubSer;
    infoMsgS.datMsgUBA[3] = 0x00;
    infoMsgS.datMsgUBA[4] = 0x00;
    infoMsgS.datMsgUBA[5] = 0x00;
    infoMsgS.datMsgUBA[6] = 0x00;
    infoMsgS.datMsgUBA[7] = 0x00;
    MCANDrv_SendMsg(infoMsgS);
}