motor_ctl-4/User project/3.BasicFunction/Source/can.c

/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            asr.c
 Partner Filename:    asr.h
 Description:         Automatic speed regulator
 Complier:            IAR Embedded Workbench for ARM 7.80, IAR Systems.
 CPU TYPE :           STM32F30x
*************************************************************************
 Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
*************************************************************************
Revising History (ECL of this file):

************************************************************************/

/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef _CAN_C_
#define _CAN_C_
#endif
/************************************************************************
 Included File:
*************************************************************************/
#include "stdlib.h"
#include "string.h"
#include "gd32f30x.h"
#include "torquesensor.h"
#include "FuncLayerAPI.h"
#include "can.h"
#include "canAppl.h"
#include "CodePara.h"
#include "flash_master.h"
#include "i2c_master.h"
#include "power.h"

const uint32_t Crc32Table[256] = {
    0x00000000, 0x04C11DB7, 0x09823B6E, 0x0D4326D9, 0x130476DC, 0x17C56B6B, 0x1A864DB2, 0x1E475005, 0x2608EDB8, 0x22C9F00F, 0x2F8AD6D6, 0x2B4BCB61,
    0x350C9B64, 0x31CD86D3, 0x3C8EA00A, 0x384FBDBD, 0x4C11DB70, 0x48D0C6C7, 0x4593E01E, 0x4152FDA9, 0x5F15ADAC, 0x5BD4B01B, 0x569796C2, 0x52568B75,
    0x6A1936C8, 0x6ED82B7F, 0x639B0DA6, 0x675A1011, 0x791D4014, 0x7DDC5DA3, 0x709F7B7A, 0x745E66CD, 0x9823B6E0, 0x9CE2AB57, 0x91A18D8E, 0x95609039,
    0x8B27C03C, 0x8FE6DD8B, 0x82A5FB52, 0x8664E6E5, 0xBE2B5B58, 0xBAEA46EF, 0xB7A96036, 0xB3687D81, 0xAD2F2D84, 0xA9EE3033, 0xA4AD16EA, 0xA06C0B5D,
    0xD4326D90, 0xD0F37027, 0xDDB056FE, 0xD9714B49, 0xC7361B4C, 0xC3F706FB, 0xCEB42022, 0xCA753D95, 0xF23A8028, 0xF6FB9D9F, 0xFBB8BB46, 0xFF79A6F1,
    0xE13EF6F4, 0xE5FFEB43, 0xE8BCCD9A, 0xEC7DD02D, 0x34867077, 0x30476DC0, 0x3D044B19, 0x39C556AE, 0x278206AB, 0x23431B1C, 0x2E003DC5, 0x2AC12072,
    0x128E9DCF, 0x164F8078, 0x1B0CA6A1, 0x1FCDBB16, 0x018AEB13, 0x054BF6A4, 0x0808D07D, 0x0CC9CDCA, 0x7897AB07, 0x7C56B6B0, 0x71159069, 0x75D48DDE,
    0x6B93DDDB, 0x6F52C06C, 0x6211E6B5, 0x66D0FB02, 0x5E9F46BF, 0x5A5E5B08, 0x571D7DD1, 0x53DC6066, 0x4D9B3063, 0x495A2DD4, 0x44190B0D, 0x40D816BA,
    0xACA5C697, 0xA864DB20, 0xA527FDF9, 0xA1E6E04E, 0xBFA1B04B, 0xBB60ADFC, 0xB6238B25, 0xB2E29692, 0x8AAD2B2F, 0x8E6C3698, 0x832F1041, 0x87EE0DF6,
    0x99A95DF3, 0x9D684044, 0x902B669D, 0x94EA7B2A, 0xE0B41DE7, 0xE4750050, 0xE9362689, 0xEDF73B3E, 0xF3B06B3B, 0xF771768C, 0xFA325055, 0xFEF34DE2,
    0xC6BCF05F, 0xC27DEDE8, 0xCF3ECB31, 0xCBFFD686, 0xD5B88683, 0xD1799B34, 0xDC3ABDED, 0xD8FBA05A, 0x690CE0EE, 0x6DCDFD59, 0x608EDB80, 0x644FC637,
    0x7A089632, 0x7EC98B85, 0x738AAD5C, 0x774BB0EB, 0x4F040D56, 0x4BC510E1, 0x46863638, 0x42472B8F, 0x5C007B8A, 0x58C1663D, 0x558240E4, 0x51435D53,
    0x251D3B9E, 0x21DC2629, 0x2C9F00F0, 0x285E1D47, 0x36194D42, 0x32D850F5, 0x3F9B762C, 0x3B5A6B9B, 0x0315D626, 0x07D4CB91, 0x0A97ED48, 0x0E56F0FF,
    0x1011A0FA, 0x14D0BD4D, 0x19939B94, 0x1D528623, 0xF12F560E, 0xF5EE4BB9, 0xF8AD6D60, 0xFC6C70D7, 0xE22B20D2, 0xE6EA3D65, 0xEBA91BBC, 0xEF68060B,
    0xD727BBB6, 0xD3E6A601, 0xDEA580D8, 0xDA649D6F, 0xC423CD6A, 0xC0E2D0DD, 0xCDA1F604, 0xC960EBB3, 0xBD3E8D7E, 0xB9FF90C9, 0xB4BCB610, 0xB07DABA7,
    0xAE3AFBA2, 0xAAFBE615, 0xA7B8C0CC, 0xA379DD7B, 0x9B3660C6, 0x9FF77D71, 0x92B45BA8, 0x9675461F, 0x8832161A, 0x8CF30BAD, 0x81B02D74, 0x857130C3,
    0x5D8A9099, 0x594B8D2E, 0x5408ABF7, 0x50C9B640, 0x4E8EE645, 0x4A4FFBF2, 0x470CDD2B, 0x43CDC09C, 0x7B827D21, 0x7F436096, 0x7200464F, 0x76C15BF8,
    0x68860BFD, 0x6C47164A, 0x61043093, 0x65C52D24, 0x119B4BE9, 0x155A565E, 0x18197087, 0x1CD86D30, 0x029F3D35, 0x065E2082, 0x0B1D065B, 0x0FDC1BEC,
    0x3793A651, 0x3352BBE6, 0x3E119D3F, 0x3AD08088, 0x2497D08D, 0x2056CD3A, 0x2D15EBE3, 0x29D4F654, 0xC5A92679, 0xC1683BCE, 0xCC2B1D17, 0xC8EA00A0,
    0xD6AD50A5, 0xD26C4D12, 0xDF2F6BCB, 0xDBEE767C, 0xE3A1CBC1, 0xE760D676, 0xEA23F0AF, 0xEEE2ED18, 0xF0A5BD1D, 0xF464A0AA, 0xF9278673, 0xFDE69BC4,
    0x89B8FD09, 0x8D79E0BE, 0x803AC667, 0x84FBDBD0, 0x9ABC8BD5, 0x9E7D9662, 0x933EB0BB, 0x97FFAD0C, 0xAFB010B1, 0xAB710D06, 0xA6322BDF, 0xA2F33668,
    0xBCB4666D, 0xB8757BDA, 0xB5365D03, 0xB1F740B4};


//中断服务函数
void CAN_Rx_ISR(CAN_Buf_TypeDef *ptCANRx, uint8_t ucLength)
{
    for (uint8_t i = 0; i < ucLength; i++)
    {
         *((*ptCANRx).pcBufAddr + (*ptCANRx).ucBufWrInde) = pRxMsg->rx_data[i];
        if (++(*ptCANRx).ucBufWrInde >= (*ptCANRx).ucBufSize)
        {
            (*ptCANRx).ucBufWrInde = 0;
        }
        if (++(*ptCANRx).ucBufCnt > (*ptCANRx).ucBufSize)
        {
            (*ptCANRx).ucBufCnt = (*ptCANRx).ucBufSize;
            (*ptCANRx).ucBufOvf = 1;
        }
    }
}

uint16_t LastPacketLen, PacketNum;
uint8_t  i, j;
uint32_t OVtim;

UWORD CAN_DELYA;
UWORD MailState;
void  CAN_SendData(uint16_t ID, uint8_t *Data, uint16_t Length)
{

    if (Length > 0)
    {
        //计算分包个数
        LastPacketLen = Length % 8; //最后一个数据包长度
        if (LastPacketLen == 0)
        {
            LastPacketLen = 8;
            PacketNum = Length / 8;
        }
        else
        {
            PacketNum = Length / 8 + 1;
        }
        //开始发送数据
        pTxMsg->tx_sfid = ID;
        pTxMsg->tx_ft = CAN_FT_DATA;
        pTxMsg->tx_ff = CAN_FF_STANDARD;
    
        //发送前（PacketNum - 1）个数据包
        for (i = 0; i < (PacketNum - 1); i++)
        {
            pTxMsg->tx_dlen = 8;         
            for (j = 0; j < 8; j++)
            {
                pTxMsg->tx_data[j] = Data[8 * i + j];
            }   
            can_ubMbox = can_message_transmit(CAN0, pTxMsg);
            
            OVtim = 0;

            while((can_transmit_states(CAN0,can_ubMbox) != CAN_TRANSMIT_OK) && (OVtim < 0XFFF))
            {
                OVtim++;
            } //等待发送结束
            
            MailState = can_transmit_states(CAN0,can_ubMbox);
            if (OVtim >= 0XFFF)
                return;
        }
        //发送最后一个数据包
        pTxMsg->tx_dlen = LastPacketLen;
        
        for (j = 0; j < LastPacketLen; j++)
        {
            pTxMsg->tx_data[j] = Data[8 * i + j];
        }
        can_ubMbox = can_message_transmit(CAN0, pTxMsg);

        OVtim = 0;
        
        while((can_transmit_states(CAN0,can_ubMbox) != CAN_TRANSMIT_OK) && (OVtim < 0XFFF))
            OVtim++; //等待发送结束
        if (OVtim >= 0XFFF)
            return;
    }
}
uint8_t CanSendData[255], CanSendData_CRC_Buf[255];

void SendData(uint16_t ID, uint8_t Mode, uint16_t Command, uint8_t *Data)
{
    uint32_t CRC_Result = 0x00000000;
    uint8_t  DataLength;
    DataLength = (uint8_t)(Command & 0xFF);
    CanSendData[0] = FRAME_BEGIN1;
    CanSendData[1] = FRAME_BEGIN2;
    CanSendData[2] = Mode;
    CanSendData[3] = DataLength + 2;
    CanSendData[4] = (uint8_t)((Command >> 8) & 0xFF);
    CanSendData[5] = DataLength;
    memcpy(CanSendData + 6, Data, DataLength);
    CanSendData_CRC_Buf[0] = FRAME_BEGIN1;
    CanSendData_CRC_Buf[1] = FRAME_BEGIN2;
    CanSendData_CRC_Buf[2] = (uint8_t)(ID >> 8);
    CanSendData_CRC_Buf[3] = (uint8_t)(ID & 0xFF);
    memcpy(CanSendData_CRC_Buf + 4, CanSendData + 2, DataLength + 4);
    CRC_Result = CRC32_Calculate(CanSendData_CRC_Buf, DataLength + 8); //帧头2bytes + ID 2bytes + 模式 1byte + 命令段长度 1byte + 命令字 2bytes
    CanSendData[6 + DataLength] = (uint8_t)((CRC_Result >> 24) & 0xFF);
    CanSendData[7 + DataLength] = (uint8_t)((CRC_Result >> 16) & 0xFF);
    CanSendData[8 + DataLength] = (uint8_t)((CRC_Result >> 8) & 0xFF);
    CanSendData[9 + DataLength] = (uint8_t)(CRC_Result & 0xFF);
    CanSendData[10 + DataLength] = FRAME_END;
    CAN_SendData(ID, CanSendData, DataLength + 11);
}

//从队列读取一个字节
uint8_t cd_ReadChar(CAN_Buf_TypeDef *ptCANRx, uint8_t ucNum)
{
    uint8_t  ucData;
    uint16_t i;
    i = ucNum;
    if ((*ptCANRx).ucBufCnt >= ucNum)
    {
        i += (*ptCANRx).ucBufRdInde;
        if (i >= (*ptCANRx).ucBufSize)
        {
            i -= ((*ptCANRx).ucBufSize);
        }
    }
    else
    {
        i = 0;
    }
    ucData = *((*ptCANRx).pcBufAddr + i);
    return ucData;
}

//从队列删除一个字节

void cd_DelChar(CAN_Buf_TypeDef *ptCANRx, uint8_t ucNum)
{
    uint16_t i;
    if ((*ptCANRx).ucBufCnt >= ucNum)
    {
        //        __HAL_CAN_DISABLE_IT(&hcan, CAN_IT_FMP0);//关接收中断
      
          can_interrupt_disable(CAN0, CAN_INT_RFNE0);
//        CAN_ITConfig(CAN1, CAN_IT_FMP0, DISABLE);
        
        (*ptCANRx).ucBufCnt -= ucNum;
        //        __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);//开接收中断
        
        can_interrupt_enable(CAN0, CAN_INT_RFNE0);
//        CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
        i = ucNum;
        i += (*ptCANRx).ucBufRdInde;
        if (i >= (*ptCANRx).ucBufSize)
        {
            i -= (*ptCANRx).ucBufSize;
        }
        (*ptCANRx).ucBufRdInde = i;
    }
    else
    {
        //        __HAL_CAN_DISABLE_IT(&hcan, CAN_IT_FMP0);//关接收中断
      
        can_interrupt_disable(CAN0, CAN_INT_RFNE0);
//        CAN_ITConfig(CAN1, CAN_IT_FMP0, DISABLE);
        
        i = (*ptCANRx).ucBufCnt;
        (*ptCANRx).ucBufCnt = 0;
        //        __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);//开接收中断
        
        can_interrupt_enable(CAN0, CAN_INT_RFNE0);
//        CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
        i += (*ptCANRx).ucBufRdInde;
        if (i >= (*ptCANRx).ucBufSize)
        {
            i -= (*ptCANRx).ucBufSize;
        }
        (*ptCANRx).ucBufRdInde = i;
    }
}

//解析队列数据，严格按照通信协议格式
uint8_t CAN_RevData[255], CAN_RevData_CRC_Buf[255];
void    CAN_RxData_Process(CAN_Buf_TypeDef *ptCANRx, uint16_t TimeOutCnt)
{
    uint8_t  Mode, CmdLength, DataLength;
    uint16_t Cmd, i;
    uint32_t CrcResult, CrcData;
    uint8_t  FrameBegin1, FrameBegin2;
    if (ptCANRx->ucBufCnt >= 11)
    {
        //读取帧头
        FrameBegin1 = cd_ReadChar(ptCANRx, 0);
        CAN_RevData_CRC_Buf[0] = FrameBegin1;
        FrameBegin2 = cd_ReadChar(ptCANRx, 1);
        CAN_RevData_CRC_Buf[1] = FrameBegin2;
        if ((FrameBegin1 == FRAME_BEGIN1) && (FrameBegin2 == FRAME_BEGIN2))
        {
            CAN_RevData_CRC_Buf[2] = (uint8_t)((ptCANRx->ucBufID >> 8) & 0xFF);
            CAN_RevData_CRC_Buf[3] = (uint8_t)(ptCANRx->ucBufID & 0xFF);
            //读取帧模式
            Mode = cd_ReadChar(ptCANRx, 2);
            CAN_RevData_CRC_Buf[4] = Mode;
            if ((Mode == MODE_READ) || (Mode == MODE_WRITE) || (Mode == MODE_REPORT))
            {
                //读取命令段长度和命令字
                CmdLength = cd_ReadChar(ptCANRx, 3);
                CAN_RevData_CRC_Buf[5] = CmdLength;
                Cmd = (cd_ReadChar(ptCANRx, 4) << 8) + cd_ReadChar(ptCANRx, 5);
                CAN_RevData_CRC_Buf[6] = (uint8_t)((Cmd >> 8) & 0xFF);
                CAN_RevData_CRC_Buf[7] = (uint8_t)(Cmd & 0xFF);
                DataLength = cd_ReadChar(ptCANRx, 5);
                if ((CmdLength - DataLength) == 2)
                {
                    if (ptCANRx->ucBufCnt < (CmdLength + 9)) //帧头2bytes  + 模式1byte + 命令段长度1byte + 校验位4bytes + 帧尾1byte
                    {
                        if (ptCANRx->IsWaitRX_Flag == FALSE)
                        {
                            ptCANRx->DelayTimeCnt = cp_ulSystickCnt; // SysTick_GetCounter()
                            ptCANRx->IsWaitRX_Flag = TRUE;
                        }
                        if ((cp_ulSystickCnt - ptCANRx->DelayTimeCnt) > TimeOutCnt) //超时，单位ms
                        {
                            cd_DelChar(ptCANRx, ptCANRx->ucBufCnt);
                            ptCANRx->IsWaitRX_Flag = FALSE;
                        }
                        return;
                    }
                    else
                    {
                        ptCANRx->IsWaitRX_Flag = FALSE;
                        //接收到完整正确数据包
                        for (i = 0; i < DataLength; i++) //读取数据段
                        {
                            CAN_RevData[i] = cd_ReadChar(ptCANRx, 6 + i);
                            CAN_RevData_CRC_Buf[8 + i] = CAN_RevData[i];
                        }
                        CrcData = (cd_ReadChar(ptCANRx, 6 + DataLength) << 24) + (cd_ReadChar(ptCANRx, 7 + DataLength) << 16) +
                                  (cd_ReadChar(ptCANRx, 8 + DataLength) << 8) + cd_ReadChar(ptCANRx, 9 + DataLength);
                        CrcResult = CRC32_Calculate(CAN_RevData_CRC_Buf, 8 + DataLength);
                        if ((CrcData - CrcResult) == 0) // 比较校验
                        {
                            //数据处理
                            DataProcess(ptCANRx->ucBufID, Mode, Cmd, CAN_RevData); // Mode为帧模式，Cmd为命令字，Data为数据段
                            cd_DelChar(ptCANRx, CmdLength + 9);
                            return;
                        }
                        cd_DelChar(ptCANRx, 1);
                    }
                }
                else
                {
                    cd_DelChar(ptCANRx, 1);
                }
            }
            else
            {
                cd_DelChar(ptCANRx, 1);
            }
        }
        else
        {
            cd_DelChar(ptCANRx, 1);
        }
    }
}

// CAN数据解任务，定时执行
void CanRx_Process(void)
{
    CAN_RxData_Process(&CAN_RxBuf_Struct_PBU, 500);
    CAN_RxData_Process(&CAN_RxBuf_Struct_BMS, 500);
    CAN_RxData_Process(&CAN_RxBuf_Struct_HMI, 500);
    CAN_RxData_Process(&CAN_RxBuf_Struct_CDL, 500);
}

void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t *Data)
{
    uint8_t DataLength;
    DataLength = (uint8_t)(Cmd & 0x00FF);
    switch (ID)
    {
    //处理BMS发送的指令
    case ID_BMS_BC:
    case ID_BMS_TO_MC: 
    {
        switch (Cmd)
        {
        case 0x1010: // BMS运行信息
        {
            //更新电池运行信息
            memcpy(&BMS_RunInfo.Voltage, Data, DataLength);
            MC_RunInfo.SOC = BMS_RunInfo.SOC;
            break;
        }
        case 0x1308: //关机指令
        {
            //电池关闭电源前控制器存储数据
            power_stPowStateOut.powerstate = POWER_OFF;
            power_stPowStateOut.blPowerStartupFlg = FALSE;
            //发送关机就绪信号
            SendData(ID_MC_BC, MODE_REPORT, 0x1305, (uint8_t *)"READY");
            break;
        }
        default:
            break;
        }
        break;
    }
    //处理OBC发送的指令
    case ID_PBU_BC:
    case ID_PBU_TO_MC: 
    {
        switch (Cmd)
        {
        case 0x1008: // OBC关机指令
        {
            //仪表关闭电源前控制器存储数据
            power_stPowStateOut.powerstate = POWER_OFF;
            power_stPowStateOut.blPowerStartupFlg = FALSE;
            //发送关机就绪信号
            SendData(ID_MC_BC, MODE_REPORT, 0x1305, (uint8_t *)"READY");
            break;
        }
        // OBC发送给MC的指令
        case 0x3002: //控制电机指令
        {
            memcpy(&MC_ControlCode.GearSt, Data, DataLength);
            MC_RunInfo.GearSt = MC_ControlCode.GearSt;           //当前助力档位更新
            MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch; //大灯状态更新
            SendData(ID_MC_BC, MODE_REPORT, 0x1020, (uint8_t *)&MC_RunInfo.BikeSpeed);
            ulOBC_ComTimeOutCount = cp_ulSystickCnt;
            break;
        }
        case 0x3105: 
        {
            if (power_stPowStateOut.powerstate == POWER_ON_END)
            {
                SendData(ID_MC_TO_PBU, MODE_REPORT, 0x1305, (uint8_t *)"READY");
            }
            break;
        }
        case 0x3300: // OBC设置用户参数
        {
            OBC_SetCustomPara.uwWheelPerimeter = ass_stParaCong.uwWheelPerimeter;
            OBC_SetCustomPara.StartUpMod = ass_stParaCong.uwStartMode;
            OBC_SetCustomPara.BikeSpeedLimit = ass_stParaCong.uwAssistMaxSpdKmH;
            OBC_SetCustomPara.DeltDiameter = ass_stParaCong.swDeltPerimeter;
            OBC_SetCustomPara.AssistMod = ass_stParaSet.uwAsssistSelectNum;
            OBC_SetCustomPara.AutoPowerOffTime = ass_stParaCong.uwAutoPowerOffTime;
            SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5408, (uint8_t *)&OBC_SetCustomPara.uwWheelPerimeter);
            break;
        }
        case 0x3408: // OBC设置用户参数
        {
            OBC_SetCustomPara.DeltDiameter = Data[0];
            OBC_SetCustomPara.StartUpMod = Data[1];
            OBC_SetCustomPara.AssistMod = Data[2];
            OBC_SetCustomPara.AutoPowerOffTime = Data[3];
            ass_stParaCong.swDeltPerimeter = OBC_SetCustomPara.DeltDiameter;
            ass_stParaCong.uwStartMode = OBC_SetCustomPara.StartUpMod;
            ass_stParaSet.uwAsssistSelectNum = OBC_SetCustomPara.AssistMod;
            ass_stParaCong.uwAutoPowerOffTime = OBC_SetCustomPara.AutoPowerOffTime;
            MC_UpcInfo.stBikeInfo.uwSaveFlg = TRUE;
            MC_UpcInfo.stBikeInfo.swWheelSizeAdjust = OBC_SetCustomPara.DeltDiameter;
            MC_UpcInfo.stBikeInfo.uwStartMode = OBC_SetCustomPara.StartUpMod;
            MC_UpcInfo.stBikeInfo.uwAutoPowerOffTime =  OBC_SetCustomPara.AutoPowerOffTime; 
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaBikeInfoUpdateFlg = TRUE;            
            cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
            cp_stFlg.ParaSaveEEFlg = TRUE;                   
            SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5303, (uint8_t *)"ACK");
            break;
        }
        case 0x3500: //查询骑行历史
        {
            SendData(ID_MC_BC, MODE_REPORT, 0x1510, (uint8_t *)&MC_RideLog.ODO_Km);
            break;
        }
        case 0x3605: // OBC清除TRIP信息
        {
            if (strncmp("CLEAR", (char *)Data, DataLength) == 0)
            {
                MC_RideLog.TRIP_Km = 0;
                MC_RideLog.TRIP_Time = 0;
                SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5303, (uint8_t *)"ACK");
                MC_RunInfo.Ride_Km = 0;
                MC_RunInfo.Ride_Time = 0;
                cp_stHistoryPara.ulTripSum=0;
                cp_stHistoryPara.ulTripSumTime=0;
            }
            break;
        }
        case 0x3900: //返回电机版本信息
        {
            SendData(ID_MC_BC, MODE_REPORT, 0x1240, (uint8_t *)MC_VerInfo.Mode);
            SendData(ID_MC_BC, MODE_REPORT, 0x1720, (uint8_t*)Firmware_Special);
            break;
        }
        case 0x3A02: //OBC按键状态
        {
            OBC_ButtonStatus.Reserver = Data[0];
            OBC_ButtonStatus.ButtonStatu.KeyStatus = Data[1];
            OBC_ButtonStatus.ulButtonSetTimeCnt = cp_ulSystickCnt;
            break;
        }
        default:
            break;
        }
        break;
    }
    //处理上位机发送的指令
    case ID_CDL_BC:
    case ID_CDL_TO_MC: 
    {
        switch (Cmd)
        {
        case 0xF000: // 上位机握手指令 返回应答指令
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xF000, (uint8_t *)0);
            break;
        }

        case 0x1200: //查询电机版本信息
        {
            SendData(ID_MC_BC, MODE_REPORT, 0x1240, (uint8_t *)MC_VerInfo.Mode);
            SendData(ID_MC_BC, MODE_REPORT, 0x1720, (uint8_t*)Firmware_Special);
            break;
        }
        case 0x1300: //查询自定义字符串1
        {
            SendData(ID_MC_BC, MODE_REPORT, 0xA610, (uint8_t *)MC_RsASSCII.CustomASCII1);
            break;
        }
        case 0x1410: //写入自定义字符串1
        {
            memcpy(MC_RsASSCII.CustomASCII1, Data, DataLength);
            //执行存储操作
            memcpy(flash_stPara.ubRsASSCII.CustomASCII1, MC_RsASSCII.CustomASCII1, sizeof(MC_RsASSCII.CustomASCII1));
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x1500: //查询自定义字符串2
        {
            SendData(ID_MC_BC, MODE_REPORT, 0xA710, (uint8_t *)MC_RsASSCII.CustomASCII2);
            break;
        }
        case 0x1610: //写入自定义字符串2
        {
            memcpy(MC_RsASSCII.CustomASCII2, Data, DataLength);
            //执行存储操作
            memcpy(flash_stPara.ubRsASSCII.CustomASCII2, MC_RsASSCII.CustomASCII2, sizeof(MC_RsASSCII.CustomASCII2));
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x1700: //查询自定义字符串3
        {
            SendData(ID_MC_BC, MODE_REPORT, 0xA810, (uint8_t *)MC_RsASSCII.CustomASCII3);
            break;
        }
        case 0x1810: //写入自定义字符串3
        {
            memcpy(MC_RsASSCII.CustomASCII3, Data, DataLength);
            //执行存储操作
            memcpy(flash_stPara.ubRsASSCII.CustomASCII3, MC_RsASSCII.CustomASCII3, sizeof(MC_RsASSCII.CustomASCII3));
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x1901: //写入电机工作模式
        {
            MC_WorkMode = *Data; // 0-关闭定时发送，1-开启定时发送
            break;
        }

        case 0x1E00: //查询历史信息
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB74C, (uint8_t *)&MC_UpcInfo.stHistoryInfo.uwOpenTimes);
            break;
        }
        case 0x1F00: //查询电机生产信息
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA520, (uint8_t *)MC_MacInfo.Manufacturer);
            break;
        }
        case 0x2210: //写入电机型号
        {
            memcpy(MC_VerInfo.Mode, Data, DataLength);
            //执行存储操作
            memcpy(flash_stPara.ubMotorVersion, MC_VerInfo.Mode, sizeof(flash_stPara.ubMotorVersion));
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x2310: //写入电机SN
        {
            memcpy(MC_VerInfo.SN_Num, Data, DataLength);
            //执行存储操作
            memcpy(flash_stPara.ubSN, MC_VerInfo.SN_Num, sizeof(flash_stPara.ubSN));
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x2420: //写入电机生产信息
        {
            memcpy(MC_MacInfo.Manufacturer, Data, DataLength);
            //执行存储操作
            memcpy(flash_stPara.ubProdInfo.Manufacturer, MC_MacInfo.Manufacturer, sizeof(flash_stPara.ubProdInfo));
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x2505: //复位指令
        {
            if (strncmp("RESET", (char *)Data, DataLength) == 0)
            {
                //执行关机，需硬件重启
                power_stPowStateOut.powerstate = POWER_OFF;
                power_stPowStateOut.blPowerStartupFlg = FALSE;
                PowerOffDTimeOut = cp_ulSystickCnt;
                SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            }
            break;
        }
        case 0x2605: //系统清除
        {
            if (strncmp("CLEAR", (char *)Data, DataLength) == 0)
            {
                flash_voParaInit();

                DISABLE_IRQ;
                /* Parameter default value write*/ 
                i2c_voDefaultWriteBuffer();
                i2c_voInfoWrite2EE(&i2c_stTXCoef, &i2c_stTXOut);

                CodeHistoryParaDelete();
                mn_voEEHistoryParaUpdate();
                i2c_voHistoryWriteBuffer();
                i2c_voHistoryWrite2EE(&i2c_stTXCoef, &i2c_stTXOut);

                ENABLE_IRQ;

                if (I2C_EE_ComuFltFlg != TRUE)
                {
                    SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
                }
                
                IO_POWERLOCK_OFF;
//                GPIOC->ODR &= ~(1 << POWER_LOCK_PORT);
            }
            break;
        }
        case 0x2708: //参数还原
        {
            if (strncmp("RECOVERY", (char *)Data, DataLength) == 0)
            {
                flash_voParaInit();
                DISABLE_IRQ;
                /* Parameter default value write*/ 
                i2c_voDefaultWriteBuffer();
                i2c_voInfoWrite2EE(&i2c_stTXCoef, &i2c_stTXOut);
                cp_stFlg.ParaSaveEEFlg = FALSE;
                ENABLE_IRQ;
                if (I2C_EE_ComuFltFlg != TRUE)
                {
                    SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
                }
                
                IO_POWERLOCK_OFF;
//                GPIOC->ODR &= ~(1 << POWER_LOCK_PORT);
            }
            break;
        }
        case 0x2802: //控制指令
        {
            memcpy(&MC_ControlCode.GearSt, Data, DataLength);
            MC_RunInfo.GearSt = MC_ControlCode.GearSt; //当前助力档位更新
            MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch;
            SendData(ID_MC_BC, MODE_REPORT, 0x1020, (uint8_t *)&MC_RunInfo.BikeSpeed);
            break;
        }

        case 0x2C01: //控制指令
        {
            MC_MotorSPD_rpm_Percent = *Data;
            break;
        }
        case 0x2D08: //读取存储器指定地址数据
        {
            do
            {
                uint32_t DataLength, AddressBegin, AddressEnd;
                AddressBegin = (uint32_t)((Data[0] << 24) + (Data[1] << 16) + (Data[2] << 8) + (Data[3]));
                AddressEnd = (uint32_t)((Data[4] << 24) + (Data[5] << 16) + (Data[6] << 8) + (Data[7]));
                if(AddressBegin <= AddressEnd)
                {
                    DataLength = AddressEnd - AddressBegin+ 1;
                    memcpy((uint8_t*)(Data + 8), (uint8_t*)(AddressBegin), DataLength);
                    SendData(ID_MC_TO_CDL, MODE_REPORT, (0xAB08 + DataLength), (uint8_t*)Data);	
                }                   
            }while(0);
            break;
        }
        case 0x2E00: //查询骑行历史信息
        {
            SendData(ID_MC_BC, MODE_REPORT, 0x1510, (uint8_t *)&MC_RideLog.ODO_Km);
            break;
        }
        case 0x3909: 
        {
            if (strncmp("LOG CLEAR", (char *)Data, DataLength) == 0)
            {
                CodeHistoryParaDelete();
                MC_RideLog.TRIP_Km = 0;
                MC_RideLog.TRIP_Time = 0;
                MC_RideLog.ODO_Km = 0;
                MC_RideLog.ODO_Time = 0;
                cp_stHistoryPara.ulTripSum=0;
                cp_stHistoryPara.ulTripSumTime=0;
                cp_stHistoryPara.ulODOTrip = 0;
                cp_stHistoryPara.ulODOTime = 0;
                DISABLE_IRQ;
                mn_voEEHistoryParaUpdate();
                i2c_voHistoryWriteBuffer();
                i2c_voHistoryWrite2EE(&i2c_stTXCoef, &i2c_stTXOut);
                ENABLE_IRQ;
                if (I2C_EE_ComuFltFlg != TRUE)
                {
                    SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
                }
                
                IO_POWERLOCK_OFF;
//                GPIOC->ODR &= ~(1 << POWER_LOCK_PORT);
            }
            break;
        }
        ////////////////////////////////////////
        case 0x3A00: 
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB226, (uint8_t *)&MC_UpcInfo.stMotorInfo.uwPolePairs);
            break;
        }
        case 0x3B28: 
        {
            memcpy(&MC_UpcInfo.stMotorInfo, Data, DataLength);
            if (MC_UpcInfo.stMotorInfo.uwSaveFlg == 1)
            {
                cp_stFlg.ParaSaveEEFlg = TRUE;
            }
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
            cp_stFlg.ParaMInfoUpdateFlg = TRUE;
            cp_stFlg.ParaMotorDriveUpdateFinishFlg = TRUE;
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x3C00: 
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB31A, (uint8_t *)&MC_UpcInfo.stBikeInfo.uwWheelPerimeter);
            break;
        }
        case 0x3D1C: //写入整车参数
        {
            memcpy(&MC_UpcInfo.stBikeInfo, Data, DataLength);
            if (MC_UpcInfo.stBikeInfo.uwSaveFlg == 1)
            {
                cp_stFlg.ParaSaveEEFlg = TRUE;
            }
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaBikeInfoUpdateFlg = TRUE;
            cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x3E00: 
        {
            MC_UpcInfo.stMContorlInfo.uwSPIPosOffsetOrigin = spi_stResolverOut.swSpiThetaOffsetOrignPu;
            MC_UpcInfo.stMContorlInfo.uwSPIPosOffsetNow = spi_stResolverOut.swSpiThetaOffsetPu;
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB420, (uint8_t *)&MC_UpcInfo.stMContorlInfo.uwSPIPosOffsetOrigin);
            break;
        }
        case 0x3F22: 
        {
            memcpy(&MC_UpcInfo.stMContorlInfo, Data, DataLength);
            if (MC_UpcInfo.stMContorlInfo.uwSaveFlg == 1)
            {
                cp_stFlg.ParaSaveEEFlg = TRUE;
            }
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaMCInfoUpdateFlg = TRUE;
            cp_stFlg.ParaMotorDriveUpdateFinishFlg = TRUE;
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x4000:
        {
            MC_UpcInfo.stSensorInfo.uwTorSensorOffsetOrigin = torsensor_stTorSensorCof.uwTorqueOffsetOrign;
            MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow1 = torsensor_stTorSensorCof.uwTorqueOffsetNow1;
            MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow2 = torsensor_stTorSensorCof.uwTorqueOffsetNow2;
            MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow3 = torsensor_stTorSensorCof.uwTorqueOffsetNow3;
            MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow4 = torsensor_stTorSensorCof.uwTorqueOffsetNow4;
            MC_UpcInfo.stSensorInfo.uwBikeTorMaxNm = torsensor_stTorSensorCof.uwMaxSensorTorquePu;
            MC_UpcInfo.stSensorInfo.uwBikeTor1StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep1RealNm;
            MC_UpcInfo.stSensorInfo.uwBikeTor1StepADC = torsensor_stTorSensorCof.uwBikeTorStep1ADC;
            MC_UpcInfo.stSensorInfo.uwBikeTor2StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep2RealNm;
            MC_UpcInfo.stSensorInfo.uwBikeTor2StepADC = torsensor_stTorSensorCof.uwBikeTorStep2ADC;
            MC_UpcInfo.stSensorInfo.uwBikeTor3StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep3RealNm;
            MC_UpcInfo.stSensorInfo.uwBikeTor3StepADC = torsensor_stTorSensorCof.uwBikeTorStep3ADC;
            MC_UpcInfo.stSensorInfo.uwBikeTor4StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep4RealNm;
            MC_UpcInfo.stSensorInfo.uwBikeTor4StepADC = torsensor_stTorSensorCof.uwBikeTorStep4ADC;
            MC_UpcInfo.stSensorInfo.uwCadSensorPulseNm = cadence_stFreGetCof.uwNumbersPulses;
            MC_UpcInfo.stSensorInfo.uwBikeSpdSensorPulseNm = bikespeed_stFreGetCof.uwNumbersPulses;    
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB528, (uint8_t *)&MC_UpcInfo.stSensorInfo.uwTorSensorOffsetOrigin);
            break;
        }
        case 0x4104: 
        {
            UWORD SAVETemp[2];
            memcpy(&SAVETemp, Data, DataLength);
            if (SAVETemp[0] == 1)
            {
                MC_UpcInfo.stSensorInfo.uwBikeTor1StepRealNm = SAVETemp[1];
                MC_UpcInfo.stSensorInfo.uwBikeTor1StepADC = hw_uwADC0[7]; //hw_uwADC1[0];//torsensor_stTorSensorOut.uwTorqueReg;
                SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            }
            else if (SAVETemp[0] == 2)
            {
                MC_UpcInfo.stSensorInfo.uwBikeTor2StepRealNm = SAVETemp[1];
                MC_UpcInfo.stSensorInfo.uwBikeTor2StepADC = hw_uwADC0[7];//hw_uwADC1[0];//torsensor_stTorSensorOut.uwTorqueReg;
                SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            }
            else if (SAVETemp[0] == 3)
            {
                MC_UpcInfo.stSensorInfo.uwBikeTor3StepRealNm = SAVETemp[1];
                MC_UpcInfo.stSensorInfo.uwBikeTor3StepADC = hw_uwADC0[7]; //hw_uwADC1[0];//torsensor_stTorSensorOut.uwTorqueReg;
                SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            }
            else if (SAVETemp[0] == 4)
            {
                MC_UpcInfo.stSensorInfo.uwBikeTor4StepRealNm = SAVETemp[1];
                MC_UpcInfo.stSensorInfo.uwBikeTor4StepADC = hw_uwADC0[7]; //hw_uwADC1[0];//torsensor_stTorSensorOut.uwTorqueReg;
                SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            }
            else
            {}

            cp_stFlg.ParaSaveEEFlg = TRUE;
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaSensorInfoUpdateFlg = TRUE;
            cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
            break;
        }
        case 0x420E: 
        {
            memcpy(&MC_UpcInfo.stSensorInfo.uwSaveFlg, Data, 2);
            memcpy(&MC_UpcInfo.stSensorInfo.uwCadSensorPulseNm, Data + 2, DataLength - 2);
            if (MC_UpcInfo.stSensorInfo.uwSaveFlg == 1)
            {
                cp_stFlg.ParaSaveEEFlg = TRUE;
            }
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaSensorInfoUpdateFlg = TRUE;
            cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x4304: 
        {
            memcpy(&MC_UpcInfo.stCurveOrderInfo, Data, DataLength);
            Can_AssistCoef_Read(&MC_UpcInfo.stCurveOrderInfo);
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB64C, (uint8_t *)&MC_UpcInfo.stAssistInfo.swStartupGain);
            break;
        }
        case 0x4450: 
        {
            memcpy(&MC_UpcInfo.stAssistInfo, Data, DataLength);
            Can_AssistCoef_Write(&MC_UpcInfo.stAssistInfo.stCurveOrderInfo);
            if (MC_UpcInfo.stAssistInfo.uwSaveFlg == 1)
            {

                cp_stFlg.ParaSaveEEFlg = TRUE;
            }
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaAInfoUpdateFlg = TRUE;
            cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x4500: 
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB83A, (uint8_t *)&MC_UpcInfo.stTestParaInfo.RunModelSelect);
            break;
        }
        case 0x463C: 
        {
            memcpy(&MC_UpcInfo.stTestParaInfo.uwTestParaSaveFlg, Data, DataLength);

            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.TestParaInfoUpdateFlg = TRUE;
            cp_stFlg.ParaMotorDriveUpdateFinishFlg = TRUE;
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        case 0x472E:
        {
            memcpy(&MC_UpcInfo.stSensorInfo.uwSaveFlg, Data, 30);
            if (MC_UpcInfo.stSensorInfo.uwSaveFlg == 1)
            {
                cp_stFlg.ParaSaveEEFlg = TRUE;
            }

            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaSensorInfoUpdateFlg = TRUE;
            cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");  
            break;
        }
        case 0x4800: 
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB904, (uint8_t *)&MC_UpcInfo.stTestParaInfo.uwEEFirstDefaultSetFlg);
            break;
        }
        case 0x4906: 
        {
            memcpy(&MC_UpcInfo.stTestParaInfo.uwSaveFlg, Data, DataLength);
            if(MC_UpcInfo.stTestParaInfo.uwSaveFlg == 1)
            {
                cp_stFlg.ParaSaveEEFlg = TRUE;
            }
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaMCInfoUpdateFlg = TRUE;
            cp_stFlg.ParaMotorDriveUpdateFinishFlg = TRUE;
            SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK");
            break;
        }
        default:
            break;
        }
        break;
    }
    default:
        break;
    }
}

uint32_t CRC32_Calculate(uint8_t *pData, uint16_t Length)
{
    uint32_t nReg;
    uint32_t nTemp = 0;
    uint16_t i, n;

    nReg = 0xFFFFFFFF;
    for (n = 0; n < Length; n++)
    {
        nReg ^= (uint32_t)pData[n];
        for (i = 0; i < 4; i++)
        {
            nTemp = Crc32Table[(uint8_t)((nReg >> 24) & 0xFF)];
            nReg <<= 8;
            nReg ^= nTemp;
        }
    }
    return nReg;
}

/************************************************************************
 Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************/
#ifdef _CAN_C_
#undef _CAN_C_
#endif
/*************************************************************************
 End of this File (EOF):
 !!!!!!Do not put anything after this part!!!!!!!!!!!
*************************************************************************/