NB_APP_Code/src/UDSService.c

#include "bsp.h"
#include "bsp_custom.h"
#include "osasys.h"
#include "ostask.h"
#include "queue.h"
#include "ps_event_callback.h"
#include "cmisim.h"
#include "cmimm.h"
#include "cmips.h"
#include "sockets.h"
#include "psifevent.h"
#include "ps_lib_api.h"
#include "lwip/netdb.h"
#include <cis_def.h>
#include "debug_log.h"
#include "slpman_ec616.h"
#include "plat_config.h"
#include "ec_tcpip_api.h"
#include "hal_module_adapter.h"
#include "UartTask.h"
#include "MainTask.h"
#include "app.h"
#include "CANTask.h"
#include "UDSService.h"


//
extern UartReadMsgType UartReadMsg;
extern osMutexId_t UartMutex;

void UDS_Service(void);
void UDS_CAN_Update(void);
BOOL UDSClearFotaDownloadRegion(void);
BOOL UDSAskforDownLoadData(void);
extern void appSaveConfigValue(void);


UINT8	UDSService[2];
UINT8	UDSSubService[2];
UINT8	UDSSubServiceActionCode[2];
UINT8 	UDSSwitch = 0;
UINT8   UDSDialogMode = 0;
UINT8   UDSBattSN[BATT_SN_LEN];

UINT16  updateDifferDataByteLen = 0;

//each package means 100 bytes, max PackageCounter = updateDifferDataByteLen%100 + 1
UINT16  updateDifferDataPackageCounter = 0;  

//each slice means 4 bytes, max SliceCounter = 25;
UINT16  updateDifferDataSliceCounter = 0;


UINT8   updateDataBuffer[100];

extern UINT8 BattSN[BATT_SN_LEN];


void UDS_Service()
{
	UINT8 i,j,k = 0;
	INT8 ret = 0;
	BOOL boolRet = false;
	static UINT8 snFlag = 0;
	static UINT32 sliceCounterFlag = 0;
	UINT16 tempSliceCounter=0;
	static UINT8 counter=0;  
	CAN_Msg_Type UDSAnswer ={0};
	static UINT8 battInfo[8*14] = {0};
	
	//UartReadMsg Uart_Recv_Msg;
	//UINT8 temp00[94] ={0x00,0x0E,0x00,0x05,0x0D,0xDE,0x0D,0xDE,0x0D,0xDE,0x0D,0xDE,0x0D,0x7A,0x0D,0xDE,0x0D,0xDE,0x0D,0xDE,0x0D,0xDE,0x0D,0xDE,0x0E,0x42,0x0D,0xDE,0x0D,0xDE,0x0D,0xDE,0x13,0x38,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x21,0x00,0x24,0x00,0x26,0x00,0x22,0x00,0x24,0x00,0x00,0x00,0x00,0x6e,0x78,0x00,0x00,0x00,0x00,0x00,0x5F,0x00,0x62,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x13,0x74,0x0E,0x42,0x0D,0x7A,0x00,0x00};
	//MEMCPY(battInfo, temp00, 94);
	
	//while(true)
	//{
		//if(UDSSwitch == 1)
		{
			for(i=0; i<2; i++)
			{
				if(CanRxMsg[i].Id == 0x7A0)
					{
					switch (UDSService[i])
						{
							case 0x10:
								if(UDSSubService[i] == 0x01)
								{
									if(UDSDialogMode == 0x01 || UDSDialogMode==0x02)
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x04;
										UDSAnswer.Data[1] = 0x78;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0x00;
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
										UDSSwitch = 0;
										UDSDialogMode = 1;
									}
									else
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x05;
										UDSAnswer.Data[1] = 0x7F;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0xFF;
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
									}
								}
								else if(UDSSubService[i] == 0x02)
								{
									UDSAnswer.Id = 0x7A8;
									UDSAnswer.DLC = 8;
									UDSAnswer.Data[0] = 0x04;
									UDSAnswer.Data[1] = 0x78;
									UDSAnswer.Data[2] = UDSService[i];
									UDSAnswer.Data[3] = UDSSubService[i];
									UDSAnswer.Data[4] = 0x00;
									UDSAnswer.Data[5] = 0x00;
									UDSAnswer.Data[6] = 0x00;
									UDSAnswer.Data[7] = 0x00;
									UDSSwitch = 1;
									UDSDialogMode = 2;
									ret = HAL_Can_Transmit(UDSAnswer);
								}
								else if(UDSSubService[i] == 0x03)
								{
									if(UDSSwitch == 1)
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x04;
										UDSAnswer.Data[1] = 0x78;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0x00;
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
										UDSSwitch = 1;
										UDSDialogMode = 3;
			                		}
			                		else
			                		{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x05;
										UDSAnswer.Data[1] = 0x7F;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0xFF;				//the dialog mode error
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
			                		}

								}
								else if(UDSSubService[i] == 0x11)   //make NB software reset
								{
									if(UDSDialogMode = 2)
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x04;
										UDSAnswer.Data[1] = 0x78;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0x00;
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
										osDelay(100);
										appSaveNVMData();
										appSetCFUN(0);
										osDelay(1000);
			                			EC_SystemReset();
			                		}
			                		else
			                		{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x05;
										UDSAnswer.Data[1] = 0x7F;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0xFF;				//the dialog mode error
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
			                		}
								}								
								else
								{
									UDSAnswer.Id = 0x7A8;
									UDSAnswer.DLC = 8;
									UDSAnswer.Data[0] = 0x05;
									UDSAnswer.Data[1] = 0x7F;
									UDSAnswer.Data[2] = UDSService[i];
									UDSAnswer.Data[3] = UDSSubService[i];
									UDSAnswer.Data[4] = 0xEE;  //the sub service is not surported
									UDSAnswer.Data[5] = 0x00;
									UDSAnswer.Data[6] = 0x00;
									UDSAnswer.Data[7] = 0x00;
									ret = HAL_Can_Transmit(UDSAnswer);
								}
								break;
							case 0x22:
								if(UDSDialogMode == 2)
								{
									if(UDSSubService[i] == 0x01)		//check the sw of NB
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x06;
										UDSAnswer.Data[1] = 0x78;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = SWVERSION>>8;
										UDSAnswer.Data[5] = SWVERSION;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
									}
									else if(UDSSubService[i] == 0x02)  //check the hw of NB
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x06;
										UDSAnswer.Data[1] = 0x78;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = HWVERSION>>8;
										UDSAnswer.Data[5] = HWVERSION;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
									}
									else if(UDSSubService[i] == 0x03)  //check the SN number
									{	
										UDSAnswer.DLC = 8;
										switch(UDSSubServiceActionCode[i])
										{
											case 00:
												UDSAnswer.Id = 0x20;
												for(k=0; k<8; k++)
												{
													UDSAnswer.Data[k] = AppNVMData.battSN[k+8*0];
												}
												ret = HAL_Can_Transmit(UDSAnswer);
												break;
												
											case 01:
												UDSAnswer.Id = 0x21;
												for(k=0; k<8; k++)
												{
													UDSAnswer.Data[k] = AppNVMData.battSN[k+8*1];
												}
												ret = HAL_Can_Transmit(UDSAnswer);
												break;

											case 02:
												UDSAnswer.Id = 0x22;
												UDSAnswer.Data[0] = AppNVMData.battSN[16];;
												for(k=1; k<8; k++)
												{
													UDSAnswer.Data[k] = 0x00;
												}
												ret = HAL_Can_Transmit(UDSAnswer);
												break;
											default:
											break;
											
										}
									#ifdef USING_PRINTF
										printf("ID = %x\nData = ",UDSAnswer.Id);
										for (int ii = 0; ii < 8; ii++)
										{
											printf("%x  ", UDSAnswer.Data[ii]);
										}
										printf("\n");
									#endif
									}
									else if(UDSSubService[i] == 0x04)  //check the batt message
									{
									/*
										if(UDSSubService[i] == 0x00)
										{
											ret = xQueuePeek(UartReadQueueHandle,&Uart_Recv_Msg,1000);
										}
										if(ret)
										{
											//the uart_recv_msg.len = 5+(0x21+CellNum+TempNum)*2 = 5+(33+17+7)*2 = 	5+ 114(max);114>112(14*8)	
											UINT8* p = (UINT8*)Uart_Recv_Msg.dataPtr+3;
											MEMCPY(battInfo, p, 14*8);																			
										}
										*/
										osStatus_t result = osMutexAcquire(UartMutex, osWaitForever);
										if(CanRxMsg[i].Data[2] == 0x00)
										{
											memcpy(battInfo,UartReadMsg.data,14*8);
											#ifdef USING_PRINTF
											printf("battInfo=\n");
											for(int jj = 0;jj<14*8;jj++)
												printf("%x ",battInfo[jj]);
											printf("\n");
											#endif
										}
										osMutexRelease(UartMutex);

										UDSAnswer.Id = 0x30+UDSSubServiceActionCode[i];
										UDSAnswer.DLC = 8;

										MEMCPY(UDSAnswer.Data, &(battInfo[UDSSubServiceActionCode[i]*8]),8);
										ret = HAL_Can_Transmit(UDSAnswer);
										#ifdef USING_PRINTF
										printf("ID = %x\nData = ",UDSAnswer.Id);
										for (int ij = 0; ij < 8; ij++)
										{
											printf("%x  ", UDSAnswer.Data[ij]);
										}
										printf("\n");
										#endif
									}
									else if(UDSSubService[i] == 0x05)  //check the enviroment temp of NB
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x08;
										UDSAnswer.Data[1] = 0x78;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0x00;//gNtcDev.NTCvalue[2+NTC_Channel2];
										UDSAnswer.Data[5] = 0x00;//gNtcDev.NTCvalue[2+NTC_Channel3];
										UDSAnswer.Data[6] = 0x00;//gNtcDev.NTCvalue[2+NTC_Channel4];
										UDSAnswer.Data[7] = 0x00;//gNtcDev.NTCvalue[2+NTC_Channel5];
										ret = HAL_Can_Transmit(UDSAnswer);
										
									}									
									else if(UDSSubService[i] == 0x06)	//check the tcp link of NB
									{
										

										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x06;
										UDSAnswer.Data[1] = 0x78;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = socContext.status;
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
									}
									else if(UDSSubService[i] == 0x07)  //check the GPS link of NB
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x05;
										UDSAnswer.Data[1] = 0x78;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = GpsData[1];  //gps satellite num(uint8), should be modified
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
									}	
									else
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x05;
										UDSAnswer.Data[1] = 0x7F;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0xEE;  //the sub service is not surported
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
									}
								}
								else	//当前会话模式错误
								{
									UDSAnswer.Id = 0x7A8;
									UDSAnswer.DLC = 8;
									UDSAnswer.Data[0] = 0x05;
									UDSAnswer.Data[1] = 0x7F;
									UDSAnswer.Data[2] = UDSService[i];
									UDSAnswer.Data[3] = UDSSubService[i];
									UDSAnswer.Data[4] = 0xFF;
									UDSAnswer.Data[5] = 0x00;
									UDSAnswer.Data[6] = 0x00;
									UDSAnswer.Data[7] = 0x00;
									ret = HAL_Can_Transmit(UDSAnswer);
								}
								break;
							case 0x2E:
								if(UDSDialogMode == 2)
								{
									if(UDSSubService[i] == 0x03)
									{
										if(UDSSubServiceActionCode[i] == 0x00 && snFlag == 0x00)
										{
											for(j=0; j<5; j++)
											{
												UDSBattSN[j+5*0] = CanRxMsg[i].Data[j+3];
											}	
											snFlag = snFlag|0x01;
										}
										else if(UDSSubServiceActionCode[i] == 0x01 && snFlag == 0x01)
										{
											for(j=0; j<5; j++)
											{
												UDSBattSN[j+5*1] = CanRxMsg[i].Data[j+3];
											}
											snFlag = snFlag|0x02;
										}
										else if(UDSSubServiceActionCode[i] == 0x02 && snFlag == 0x03)
										{
											for(j=0; j<5; j++)
											{
												UDSBattSN[j+5*2] = CanRxMsg[i].Data[j+3];
											}
											snFlag = snFlag|0x04;
										}
										else if(UDSSubServiceActionCode[i] == 0x03 && snFlag == 0x07)
										{
											for(j=0; j<2; j++)
											{
												UDSBattSN[j+5*3] = CanRxMsg[i].Data[j+3];
											}
											snFlag = snFlag|0x08;
										}

										if(snFlag == 0x0F)
										{
											UDSAnswer.Id = 0x7A8;
											UDSAnswer.DLC = 8;
											UDSAnswer.Data[0] = 0x04;
											UDSAnswer.Data[1] = 0x78;
											UDSAnswer.Data[2] = UDSService[i];
											UDSAnswer.Data[3] = UDSSubService[i];
											UDSAnswer.Data[4] = 0x00;
											UDSAnswer.Data[5] = 0x00;
											UDSAnswer.Data[6] = 0x00;
											UDSAnswer.Data[7] = 0x00;
											snFlag = 0;

											MEMCPY(AppNVMData.battSN, UDSBattSN, BATT_SN_LEN);											
										}
										else
										{
											UDSAnswer.Id = 0x7A8;
											UDSAnswer.DLC = 8;
											UDSAnswer.Data[0] = 0x05;
											UDSAnswer.Data[1] = 0x3E;
											UDSAnswer.Data[2] = UDSService[i];
											UDSAnswer.Data[3] = UDSSubService[i];
											UDSAnswer.Data[4] = snFlag;	
											UDSAnswer.Data[5] = 0x00;
											UDSAnswer.Data[6] = 0x00;
											UDSAnswer.Data[7] = 0x00;
										}
										ret = HAL_Can_Transmit(UDSAnswer);
									}
									else
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x05;
										UDSAnswer.Data[1] = 0x7F;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0xEE;			//the sub service is not surported
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
									}
									break;
								}
								else if(UDSDialogMode==3)
								{
									if(UDSSubService[i] == 0x0F) //程序更新配置信息写入
									{										
										updateDifferDataByteLen = (CanRxMsg[i].Data[2]<<8)|(CanRxMsg[i].Data[3]);
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x04;
										UDSAnswer.Data[1] = 0x78;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0x00;			
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
									}
									else
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x05;
										UDSAnswer.Data[1] = 0x7F;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0xEE;			//the sub service is not surported
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
									}
								}						
								
								else
								{
									UDSAnswer.Id = 0x7A8;
									UDSAnswer.DLC = 8;
									UDSAnswer.Data[0] = 0x05;
									UDSAnswer.Data[1] = 0x7F;
									UDSAnswer.Data[2] = UDSService[i];
									UDSAnswer.Data[3] = UDSSubService[i];
									UDSAnswer.Data[4] = 0xFF;				//the dialog mode error
									UDSAnswer.Data[5] = 0x00;
									UDSAnswer.Data[6] = 0x00;
									UDSAnswer.Data[7] = 0x00;
									ret = HAL_Can_Transmit(UDSAnswer);
								}
									break;
							case 0x31:
								if(UDSDialogMode == 3)
								{
									if(UDSSubService[i] == 0x0F)
									{
										if(UDSSubServiceActionCode[i] == 0x01)
										{
											//Clear the Flash
											boolRet = UDSClearFotaDownloadRegion();
											//if ok
											
											UDSAnswer.Id = 0x7A8;
											UDSAnswer.DLC = 8;
											UDSAnswer.Data[0] = 0x05;
											UDSAnswer.Data[1] = 0x78;
											UDSAnswer.Data[2] = UDSService[i];
											UDSAnswer.Data[3] = UDSSubService[i];
											UDSAnswer.Data[4] = (UINT8)boolRet;  // true:01, false: 00			
											UDSAnswer.Data[5] = 0x00;
											UDSAnswer.Data[6] = 0x00;
											UDSAnswer.Data[7] = 0x00;
											ret = HAL_Can_Transmit(UDSAnswer);						
										}
										else
										{
											UDSAnswer.Id = 0x7A8;
											UDSAnswer.DLC = 8;
											UDSAnswer.Data[0] = 0x06;
											UDSAnswer.Data[1] = 0x7F;
											UDSAnswer.Data[2] = UDSService[i];
											UDSAnswer.Data[3] = UDSSubService[i];
											UDSAnswer.Data[4] = UDSSubServiceActionCode[i];		
											UDSAnswer.Data[5] = 0xFF;					//the uds subservice action code is not surpported
											UDSAnswer.Data[6] = 0x00;
											UDSAnswer.Data[7] = 0x00;
											ret = HAL_Can_Transmit(UDSAnswer);			
										}
										
									}
									else
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x05;
										UDSAnswer.Data[1] = 0x7F;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0xEE;			//the sub service is not surpported
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
									}
								}
								else
								{
									UDSAnswer.Id = 0x7A8;
									UDSAnswer.DLC = 8;
									UDSAnswer.Data[0] = 0x05;
									UDSAnswer.Data[1] = 0x7F;
									UDSAnswer.Data[2] = UDSService[i];
									UDSAnswer.Data[3] = UDSSubService[i];
									UDSAnswer.Data[4] = 0xFF;				//the dialog mode error
									UDSAnswer.Data[5] = 0x00;
									UDSAnswer.Data[6] = 0x00;
									UDSAnswer.Data[7] = 0x00;
									ret = HAL_Can_Transmit(UDSAnswer);

								}
								break;
							case 0x34:  //ask for download update data
								if(UDSDialogMode == 3)
								{
									if(UDSSubService[i] == 0x0F)
									{
										//ask for download the update data
											boolRet = UDSAskforDownLoadData();
											//if ok
											
											UDSAnswer.Id = 0x7A8;
											UDSAnswer.DLC = 8;
											UDSAnswer.Data[0] = 0x05;
											UDSAnswer.Data[1] = 0x78;
											UDSAnswer.Data[2] = UDSService[i];
											UDSAnswer.Data[3] = UDSSubService[i];
											UDSAnswer.Data[4] = (UINT8)boolRet;  // true:01, false: 00			
											UDSAnswer.Data[5] = 0x00;
											UDSAnswer.Data[6] = 0x00;
											UDSAnswer.Data[7] = 0x00;
											ret = HAL_Can_Transmit(UDSAnswer);
									}
									else
									{
										UDSAnswer.Id = 0x7A8;
										UDSAnswer.DLC = 8;
										UDSAnswer.Data[0] = 0x05;
										UDSAnswer.Data[1] = 0x7F;
										UDSAnswer.Data[2] = UDSService[i];
										UDSAnswer.Data[3] = UDSSubService[i];
										UDSAnswer.Data[4] = 0xEE;			//the sub service is not surported
										UDSAnswer.Data[5] = 0x00;
										UDSAnswer.Data[6] = 0x00;
										UDSAnswer.Data[7] = 0x00;
										ret = HAL_Can_Transmit(UDSAnswer);
									}
								}
								else
								{
									UDSAnswer.Id = 0x7A8;
									UDSAnswer.DLC = 8;
									UDSAnswer.Data[0] = 0x05;
									UDSAnswer.Data[1] = 0x7F;
									UDSAnswer.Data[2] = UDSService[i];
									UDSAnswer.Data[3] = UDSSubService[i];
									UDSAnswer.Data[4] = 0xFF;				//the dialog mode error
									UDSAnswer.Data[5] = 0x00;
									UDSAnswer.Data[6] = 0x00;
									UDSAnswer.Data[7] = 0x00;
									ret = HAL_Can_Transmit(UDSAnswer);

								}
								break;
							case 0x36:  //download the update data
								if(UDSSubService[i] == 0x0F)
								{
									counter++;  //记录报文数量
									
									tempSliceCounter =  (CanRxMsg[i].Data[2]<<8)|(CanRxMsg[i].Data[3]);
									printf("tempSliceCounter = %x\n",tempSliceCounter);
									// updateDifferDataByteLen
									if(tempSliceCounter < (updateDifferDataPackageCounter+1)*25 && tempSliceCounter>=updateDifferDataPackageCounter*25)
									{
										updateDifferDataSliceCounter = tempSliceCounter % 25;
										for(j=0;j<4;j++)
										{
											updateDataBuffer[updateDifferDataSliceCounter*4+j] = CanRxMsg[i].Data[4+j];
										}								
										
										if(updateDifferDataSliceCounter>0)
										{
											sliceCounterFlag = sliceCounterFlag |(0x01<<updateDifferDataSliceCounter);
										}
										else
										{
											sliceCounterFlag = sliceCounterFlag |0x01;
										}
										
										printf("sliceCounterFlag = %x\n",sliceCounterFlag);
										
										
									}

									if(counter == 25)
									{
										counter = 0;
										
										if(sliceCounterFlag == 0x1FFFFFF)
										{
											
											UDSAnswer.Id = 0x7A8;
											UDSAnswer.DLC = 8;
											UDSAnswer.Data[0] = 0x06;
											UDSAnswer.Data[1] = 0x78;
											UDSAnswer.Data[2] = UDSService[i];
											UDSAnswer.Data[3] = UDSSubService[i];
											UDSAnswer.Data[4] = tempSliceCounter>>8;				
											UDSAnswer.Data[5] = tempSliceCounter;
											UDSAnswer.Data[6] = 0x00;
											UDSAnswer.Data[7] = 0x00;
											ret = HAL_Can_Transmit(UDSAnswer);											
											
											sliceCounterFlag = 0x0;
											updateDifferDataPackageCounter++;
											printf("updateDifferDataPackageCounter = %d\n",updateDifferDataPackageCounter);

											printf("updateDataBuffer\n");
											for(k=0;k<100;k++)
											{
												printf("%x  ",updateDataBuffer[k]);
											}
											//BSP_QSPI_Write_Safe(updateDataBuffer,FLASH_FOTA_REGION_START+(updateDifferDataPackageCounter-1)*100,100);
											printf("startAddr = 0x%x,endAddr = 0x%x\n",
												FLASH_FOTA_REGION_START+(updateDifferDataPackageCounter-1)*100,FLASH_FOTA_REGION_START+updateDifferDataPackageCounter*100-1);
											memset(updateDataBuffer,0, 100);
										}
										else
										{
											UDSAnswer.Id = 0x7A8;
											UDSAnswer.DLC = 8;
											UDSAnswer.Data[0] = 0x08;
											UDSAnswer.Data[1] = 0x7F;
											UDSAnswer.Data[2] = UDSService[i];
											UDSAnswer.Data[3] = UDSSubService[i];
											UDSAnswer.Data[4] = sliceCounterFlag>>24;				
											UDSAnswer.Data[5] = sliceCounterFlag>>16;
											UDSAnswer.Data[6] = sliceCounterFlag>>8;
											UDSAnswer.Data[7] = sliceCounterFlag;
											ret = HAL_Can_Transmit(UDSAnswer);
											
											printf("updateDataBuffer\n");
											for(k=0;k<100;k++)
											{
												printf("%x  ",updateDataBuffer[k]);
											}
										}
									}
									
									
								}
								else
								{
									UDSAnswer.Id = 0x7A8;
									UDSAnswer.DLC = 8;
									UDSAnswer.Data[0] = 0x05;
									UDSAnswer.Data[1] = 0x7F;
									UDSAnswer.Data[2] = UDSService[i];
									UDSAnswer.Data[3] = UDSSubService[i];
									UDSAnswer.Data[4] = 0xEE;			//the sub service is not surported
									UDSAnswer.Data[5] = 0x00;
									UDSAnswer.Data[6] = 0x00;
									UDSAnswer.Data[7] = 0x00;
									ret = HAL_Can_Transmit(UDSAnswer);
								}
								break;
							case 0x37:  // exit the download
								 if(UDSSubService[i] == 0x0F)
								 {
									//
								 }
								 else
								 {
								 	UDSAnswer.Id = 0x7A8;
									UDSAnswer.DLC = 8;
									UDSAnswer.Data[0] = 0x05;
									UDSAnswer.Data[1] = 0x7F;
									UDSAnswer.Data[2] = UDSService[i];
									UDSAnswer.Data[3] = UDSSubService[i];
									UDSAnswer.Data[4] = 0xEE;			//the sub service is not surported
									UDSAnswer.Data[5] = 0x00;
									UDSAnswer.Data[6] = 0x00;
									UDSAnswer.Data[7] = 0x00;
									ret = HAL_Can_Transmit(UDSAnswer);
								}
								 
								break;
							default:
								UDSAnswer.Id = 0x7A8;
								UDSAnswer.DLC = 8;
								UDSAnswer.Data[0] = 0x04;
								UDSAnswer.Data[1] = 0x7F;
								UDSAnswer.Data[2] = UDSService[i];	//the serviece is not surpoted
								UDSAnswer.Data[3] = 0xFF;
								UDSAnswer.Data[4] = 0x00;				
								UDSAnswer.Data[5] = 0x00;
								UDSAnswer.Data[6] = 0x00;
								UDSAnswer.Data[7] = 0x00;
								ret = HAL_Can_Transmit(UDSAnswer);
								break;
								
						}
					}
				}
			}
	//}
	for(i=0; i<2; i++)
	{
		UDSService[i] = 0;
		UDSSubService[i] = 0;
	}

}

void UDS_CAN_Update()
{
	
	


}

BOOL UDSClearFotaDownloadRegion()
{
	
	return TRUE;
}

BOOL UDSAskforDownLoadData()
{

	return TRUE;
}