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 "FuncLayerAPI.h"
#include "can.h"
#include "canAppl.h"
#include "CodePara.h"
#include "flash_master.h"
#include "i2c_master.h"
#include "power.h"
#include "api.h"
#include "api_rt.h"
static const ULONG Crc32Table[256] = {
    0x00000000U, 0x04C11DB7U, 0x09823B6EU, 0x0D4326D9U, 0x130476DCU, 0x17C56B6BU, 0x1A864DB2U, 0x1E475005U, 0x2608EDB8U, 0x22C9F00FU, 0x2F8AD6D6U, 0x2B4BCB61U,
    0x350C9B64U, 0x31CD86D3U, 0x3C8EA00AU, 0x384FBDBDU, 0x4C11DB70U, 0x48D0C6C7U, 0x4593E01EU, 0x4152FDA9U, 0x5F15ADACU, 0x5BD4B01BU, 0x569796C2U, 0x52568B75U,
    0x6A1936C8U, 0x6ED82B7FU, 0x639B0DA6U, 0x675A1011U, 0x791D4014U, 0x7DDC5DA3U, 0x709F7B7AU, 0x745E66CDU, 0x9823B6E0U, 0x9CE2AB57U, 0x91A18D8EU, 0x95609039U,
    0x8B27C03CU, 0x8FE6DD8BU, 0x82A5FB52U, 0x8664E6E5U, 0xBE2B5B58U, 0xBAEA46EFU, 0xB7A96036U, 0xB3687D81U, 0xAD2F2D84U, 0xA9EE3033U, 0xA4AD16EAU, 0xA06C0B5DU,
    0xD4326D90U, 0xD0F37027U, 0xDDB056FEU, 0xD9714B49U, 0xC7361B4CU, 0xC3F706FBU, 0xCEB42022U, 0xCA753D95U, 0xF23A8028U, 0xF6FB9D9FU, 0xFBB8BB46U, 0xFF79A6F1U,
    0xE13EF6F4U, 0xE5FFEB43U, 0xE8BCCD9AU, 0xEC7DD02DU, 0x34867077U, 0x30476DC0U, 0x3D044B19U, 0x39C556AEU, 0x278206ABU, 0x23431B1CU, 0x2E003DC5U, 0x2AC12072U,
    0x128E9DCFU, 0x164F8078U, 0x1B0CA6A1U, 0x1FCDBB16U, 0x018AEB13U, 0x054BF6A4U, 0x0808D07DU, 0x0CC9CDCAU, 0x7897AB07U, 0x7C56B6B0U, 0x71159069U, 0x75D48DDEU,
    0x6B93DDDBU, 0x6F52C06CU, 0x6211E6B5U, 0x66D0FB02U, 0x5E9F46BFU, 0x5A5E5B08U, 0x571D7DD1U, 0x53DC6066U, 0x4D9B3063U, 0x495A2DD4U, 0x44190B0DU, 0x40D816BAU,
    0xACA5C697U, 0xA864DB20U, 0xA527FDF9U, 0xA1E6E04EU, 0xBFA1B04BU, 0xBB60ADFCU, 0xB6238B25U, 0xB2E29692U, 0x8AAD2B2FU, 0x8E6C3698U, 0x832F1041U, 0x87EE0DF6U,
    0x99A95DF3U, 0x9D684044U, 0x902B669DU, 0x94EA7B2AU, 0xE0B41DE7U, 0xE4750050U, 0xE9362689U, 0xEDF73B3EU, 0xF3B06B3BU, 0xF771768CU, 0xFA325055U, 0xFEF34DE2U,
    0xC6BCF05FU, 0xC27DEDE8U, 0xCF3ECB31U, 0xCBFFD686U, 0xD5B88683U, 0xD1799B34U, 0xDC3ABDEDU, 0xD8FBA05AU, 0x690CE0EEU, 0x6DCDFD59U, 0x608EDB80U, 0x644FC637U,
    0x7A089632U, 0x7EC98B85U, 0x738AAD5CU, 0x774BB0EBU, 0x4F040D56U, 0x4BC510E1U, 0x46863638U, 0x42472B8FU, 0x5C007B8AU, 0x58C1663DU, 0x558240E4U, 0x51435D53U,
    0x251D3B9EU, 0x21DC2629U, 0x2C9F00F0U, 0x285E1D47U, 0x36194D42U, 0x32D850F5U, 0x3F9B762CU, 0x3B5A6B9BU, 0x0315D626U, 0x07D4CB91U, 0x0A97ED48U, 0x0E56F0FFU,
    0x1011A0FAU, 0x14D0BD4DU, 0x19939B94U, 0x1D528623U, 0xF12F560EU, 0xF5EE4BB9U, 0xF8AD6D60U, 0xFC6C70D7U, 0xE22B20D2U, 0xE6EA3D65U, 0xEBA91BBCU, 0xEF68060BU,
    0xD727BBB6U, 0xD3E6A601U, 0xDEA580D8U, 0xDA649D6FU, 0xC423CD6AU, 0xC0E2D0DDU, 0xCDA1F604U, 0xC960EBB3U, 0xBD3E8D7EU, 0xB9FF90C9U, 0xB4BCB610U, 0xB07DABA7U,
    0xAE3AFBA2U, 0xAAFBE615U, 0xA7B8C0CCU, 0xA379DD7BU, 0x9B3660C6U, 0x9FF77D71U, 0x92B45BA8U, 0x9675461FU, 0x8832161AU, 0x8CF30BADU, 0x81B02D74U, 0x857130C3U,
    0x5D8A9099U, 0x594B8D2EU, 0x5408ABF7U, 0x50C9B640U, 0x4E8EE645U, 0x4A4FFBF2U, 0x470CDD2BU, 0x43CDC09CU, 0x7B827D21U, 0x7F436096U, 0x7200464FU, 0x76C15BF8U,
    0x68860BFDU, 0x6C47164AU, 0x61043093U, 0x65C52D24U, 0x119B4BE9U, 0x155A565EU, 0x18197087U, 0x1CD86D30U, 0x029F3D35U, 0x065E2082U, 0x0B1D065BU, 0x0FDC1BECU,
    0x3793A651U, 0x3352BBE6U, 0x3E119D3FU, 0x3AD08088U, 0x2497D08DU, 0x2056CD3AU, 0x2D15EBE3U, 0x29D4F654U, 0xC5A92679U, 0xC1683BCEU, 0xCC2B1D17U, 0xC8EA00A0U,
    0xD6AD50A5U, 0xD26C4D12U, 0xDF2F6BCBU, 0xDBEE767CU, 0xE3A1CBC1U, 0xE760D676U, 0xEA23F0AFU, 0xEEE2ED18U, 0xF0A5BD1DU, 0xF464A0AAU, 0xF9278673U, 0xFDE69BC4U,
    0x89B8FD09U, 0x8D79E0BEU, 0x803AC667U, 0x84FBDBD0U, 0x9ABC8BD5U, 0x9E7D9662U, 0x933EB0BBU, 0x97FFAD0CU, 0xAFB010B1U, 0xAB710D06U, 0xA6322BDFU, 0xA2F33668U,
    0xBCB4666DU, 0xB8757BDAU, 0xB5365D03U, 0xB1F740B4U};


//中断服务函数
void CAN_Rx_ISR(CAN_Buf_TypeDef *ptCANRx, UBYTE ucLength)
{
    for (UBYTE i = 0; i < ucLength; i++)
    {
         *((*ptCANRx).pcBufAddr + (*ptCANRx).ucBufWrInde) = pRxMsg->rx_data[i]; /* parasoft-suppress MISRA2004-17_4 "本项目无法更改，后续避免非数组索引指针运算" */

         ++((*ptCANRx).ucBufWrInde);
        if ((*ptCANRx).ucBufWrInde >= (*ptCANRx).ucBufSize)
        {
            (*ptCANRx).ucBufWrInde = 0;
        }

        ++((*ptCANRx).ucBufCnt);
        if ((*ptCANRx).ucBufCnt > (*ptCANRx).ucBufSize)
        {
            (*ptCANRx).ucBufCnt = (*ptCANRx).ucBufSize;
            (*ptCANRx).ucBufOvf = 1;
        }
    }
}

static UWORD LastPacketLen, PacketNum;
static ULONG OVtim;
void  CAN_SendData(UWORD ID, const UBYTE Data[], UWORD Length)
{
    UBYTE  i, j;
    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
            
            if (OVtim >= 0XFFF)
            {
                return;
            }
        }
        //发送最后一个数据包
        pTxMsg->tx_dlen = (UBYTE)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++;
        }

        if (OVtim >= 0XFFF)
        {
            return;
        }

     }
}


static UBYTE CanSendData[255], CanSendData_CRC_Buf[255];
void SendData(UWORD ID, UBYTE Mode, UWORD Command, const UBYTE *Data)
{
    ULONG CRC_Result = 0x00000000U;
    UBYTE  DataLength;
    DataLength = (UBYTE)(Command & 0xFF);
    CanSendData[0] = FRAME_BEGIN1;
    CanSendData[1] = FRAME_BEGIN2;
    CanSendData[2] = Mode;
    CanSendData[3] = DataLength + 2;
    CanSendData[4] = (UBYTE)((Command >> 8) & 0xFF);
    CanSendData[5] = DataLength;
    if((DataLength)> (255 - 6))
    {
    	DataLength = 255 - 6;
    }
    memcpy(CanSendData + 6, Data, DataLength);
    CanSendData_CRC_Buf[0] = FRAME_BEGIN1;
    CanSendData_CRC_Buf[1] = FRAME_BEGIN2;
    CanSendData_CRC_Buf[2] = (UBYTE)(ID >> 8);
    CanSendData_CRC_Buf[3] = (UBYTE)(ID & 0xFF);
    if((DataLength + 4 )> (255 - 4))
    {
    	DataLength = 251 - 4 - 4;
    }
    memcpy(CanSendData_CRC_Buf + 4, CanSendData + 2, DataLength + 4);
    CRC_Result = CRC32_Calculate(CanSendData_CRC_Buf, DataLength + 8); //֡ͷ2bytes + ID 2bytes + ģʽ 1byte + ����γ��� 1byte + ������ 2bytes
    CanSendData[6 + DataLength] = (UBYTE)((CRC_Result >> 24) & 0xFF);
    CanSendData[7 + DataLength] = (UBYTE)((CRC_Result >> 16) & 0xFF);
    CanSendData[8 + DataLength] = (UBYTE)((CRC_Result >> 8) & 0xFF);
    CanSendData[9 + DataLength] = (UBYTE)(CRC_Result & 0xFF);
    CanSendData[10 + DataLength] = FRAME_END;
    CAN_SendData(ID, CanSendData, DataLength + 11);
}

UBYTE cd_ReadChar(const CAN_Buf_TypeDef *ptCANRx, UBYTE ucNum)
{
    UBYTE  ucData;
    UWORD i;
    i = ucNum;
    if ((*ptCANRx).ucBufCnt >= ucNum)
    {
        i += (*ptCANRx).ucBufRdInde;
        if (i >= (*ptCANRx).ucBufSize)
        {
            i -= (*ptCANRx).ucBufSize;
        }
    }
    else
    {
        i = 0;
    }
    ucData = *((*ptCANRx).pcBufAddr + i); /* parasoft-suppress MISRA2004-17_4 "本项目无法更改，后续避免非数组索引指针运算" */
    return ucData;
}

//从队列删除一个字节

void cd_DelChar(CAN_Buf_TypeDef *ptCANRx, UBYTE ucNum)
{
    UWORD 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 = (UBYTE)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 = (UBYTE)i;
    }
}

//解析队列数据，严格按照通信协议格式
static UBYTE CAN_RevData[255], CAN_RevData_CRC_Buf[255];
void    CAN_RxData_Process(CAN_Buf_TypeDef *ptCANRx, UWORD TimeOutCnt)
{
    UBYTE  Mode, CmdLength, DataLength;
    UWORD Cmd, i;
    ULONG CrcResult, CrcData;
    UBYTE  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] = (UBYTE)((ptCANRx->ucBufID >> 8) & 0xFF);
            CAN_RevData_CRC_Buf[3] = (UBYTE)(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 =(UWORD)((UWORD)cd_ReadChar(ptCANRx, 4) << 8) + cd_ReadChar(ptCANRx, 5);
                CAN_RevData_CRC_Buf[6] = (UBYTE)((Cmd >> 8) & 0xFF);
                CAN_RevData_CRC_Buf[7] = (UBYTE)(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, (UBYTE)(6 + i));
                            CAN_RevData_CRC_Buf[8 + i] = CAN_RevData[i];
                        }
                        CrcData = ((ULONG)cd_ReadChar(ptCANRx, 6 + DataLength) << 24) + ((ULONG)cd_ReadChar(ptCANRx, 7 + DataLength) << 16) +
                        		((ULONG)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(UWORD ID, UBYTE Mode, UWORD Cmd, UBYTE Data[]) /* parasoft-suppress METRICS-28 "本项目圈复杂度无法更改，后续避免" */
{ /* parasoft-suppress GJB5369-4_2_2_2 "本项目函数行数无法更改，后续应避免" */
    UBYTE DataLength;
    DataLength = (UBYTE)(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, (UBYTE *)"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, (UBYTE *)"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 = (UBYTE)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, (UBYTE *)&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, (UBYTE *)"READY");
            }
            break;
        }
        case 0x3300: // OBC设置用户参数
        {
            OBC_SetCustomPara.uwWheelPerimeter = (UBYTE)ass_stParaCong.uwWheelPerimeter;
            OBC_SetCustomPara.StartUpMod = (UBYTE)ass_stParaCong.uwStartMode;
            OBC_SetCustomPara.BikeSpeedLimit = (UBYTE)ass_stParaCong.uwAssistMaxSpdKmH;
            OBC_SetCustomPara.DeltDiameter =(SBYTE) ass_stParaCong.swDeltPerimeter;
            OBC_SetCustomPara.AssistMod = (UBYTE)ass_stParaSet.uwAsssistSelectNum;
            OBC_SetCustomPara.AutoPowerOffTime = (UBYTE)ass_stParaCong.uwAutoPowerOffTime;
            SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5408, (UBYTE *)&OBC_SetCustomPara.uwWheelPerimeter);
            break;
        }
        case 0x3408: // OBC设置用户参数
        {
            OBC_SetCustomPara.DeltDiameter = (SBYTE)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 = 1;
            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, (UBYTE *)"ACK");
            break;
        }
        case 0x3500: //查询骑行历史
        {
            SendData(ID_MC_BC, MODE_REPORT, 0x1510, (UBYTE *)&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, (UBYTE *)"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, (UBYTE *)MC_VerInfo.Mode);
            SendData(ID_MC_BC, MODE_REPORT, 0x1720, (UBYTE*)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, (UBYTE *)0);
            break;
        }

        case 0x1200: //查询电机版本信息
        {
            SendData(ID_MC_BC, MODE_REPORT, 0x1240, (UBYTE *)MC_VerInfo.Mode);
            SendData(ID_MC_BC, MODE_REPORT, 0x1720, (UBYTE*)Firmware_Special);
            break;
        }
        case 0x1300: //查询自定义字符串1
        {
            SendData(ID_MC_BC, MODE_REPORT, 0xA610, (UBYTE *)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, (UBYTE *)"ACK");
            break;
        }
        case 0x1500: //查询自定义字符串2
        {
            SendData(ID_MC_BC, MODE_REPORT, 0xA710, (UBYTE *)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, (UBYTE *)"ACK");
            break;
        }
        case 0x1700: //查询自定义字符串3
        {
            SendData(ID_MC_BC, MODE_REPORT, 0xA810, (UBYTE *)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, (UBYTE *)"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, (UBYTE *)&MC_UpcInfo.stHistoryInfo.uwOpenTimes);
            break;
        }
        case 0x1F00: //查询电机生产信息
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA520, (UBYTE *)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, (UBYTE *)"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, (UBYTE *)"ACK");
            break;
        }
        case 0x2420: //写入电机生产信息
        {
            memcpy(&MC_MacInfo, 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, (UBYTE *)"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, (UBYTE *)"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, (UBYTE *)"ACK");
                }
                
                iGpio_Write(HW_GPIO_POWERLOCK_PIN,iGpio_LowLevel);
            }
            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, (UBYTE *)"ACK");
                }
                
                iGpio_Write(HW_GPIO_POWERLOCK_PIN,iGpio_LowLevel);
            }
            break;
        }
        case 0x2802: //控制指令
        {
            memcpy(&MC_ControlCode.GearSt, Data, DataLength);
            MC_RunInfo.GearSt = (UBYTE)MC_ControlCode.GearSt; //当前助力档位更新
            MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch;
            SendData(ID_MC_BC, MODE_REPORT, 0x1020, (UBYTE *)&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
            {
                ULONG DataLength, AddressBegin, AddressEnd;
                AddressBegin = ((ULONG)Data[0] << 24) + ((ULONG)Data[1] << 16) + ((ULONG)Data[2] << 8) + ((ULONG)Data[3]);
                AddressEnd = ((ULONG)Data[4] << 24) + ((ULONG)Data[5] << 16) + ((ULONG)Data[6] << 8) + ((ULONG)Data[7]);
                if(AddressBegin <= AddressEnd)
                {
                    DataLength = AddressEnd - AddressBegin+ 1;
                    memcpy((UBYTE*)(Data + 8), (UBYTE*)(AddressBegin), (uint32_t)DataLength); /* parasoft-suppress MISRA2004-17_1 "本项目无法更改，后续避免未指向数组的指针运算" */
                    SendData((UWORD)ID_MC_TO_CDL, (UBYTE)MODE_REPORT, (UWORD)(0xAB08 + DataLength), (UBYTE*)Data);
                }                   
            }while(0);
            break;
        }
        case 0x2E00: //查询骑行历史信息
        {
            SendData(ID_MC_BC, MODE_REPORT, 0x1510, (UBYTE *)&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, (UBYTE *)"ACK");
                }
                
                iGpio_Write(HW_GPIO_POWERLOCK_PIN,iGpio_LowLevel);
            }
            break;
        }
        ////////////////////////////////////////
        case 0x3A00: 
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB226, (UBYTE *)&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, (UBYTE *)"ACK");
            break;
        }
        case 0x3C00: 
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB31A, (UBYTE *)&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, (UBYTE *)"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, (UBYTE *)&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, (UBYTE *)"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, (UBYTE *)&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 = iAdc_GetResultPointer(0)[HW_ADC_TORQ_CH]; 
                SendData(ID_MC_BC, MODE_REPORT, 0xA903, (UBYTE *)"ACK");
            }
            else if (SAVETemp[0] == 2)
            {
                MC_UpcInfo.stSensorInfo.uwBikeTor2StepRealNm = SAVETemp[1];
                MC_UpcInfo.stSensorInfo.uwBikeTor2StepADC = iAdc_GetResultPointer(0)[HW_ADC_TORQ_CH]; 
                SendData(ID_MC_BC, MODE_REPORT, 0xA903, (UBYTE *)"ACK");
            }
            else if (SAVETemp[0] == 3)
            {
                MC_UpcInfo.stSensorInfo.uwBikeTor3StepRealNm = SAVETemp[1];
                MC_UpcInfo.stSensorInfo.uwBikeTor3StepADC = iAdc_GetResultPointer(0)[HW_ADC_TORQ_CH]; 
                SendData(ID_MC_BC, MODE_REPORT, 0xA903, (UBYTE *)"ACK");
            }
            else if (SAVETemp[0] == 4)
            {
                MC_UpcInfo.stSensorInfo.uwBikeTor4StepRealNm = SAVETemp[1];
                MC_UpcInfo.stSensorInfo.uwBikeTor4StepADC = iAdc_GetResultPointer(0)[HW_ADC_TORQ_CH]; 
                SendData(ID_MC_BC, MODE_REPORT, 0xA903, (UBYTE *)"ACK");
            }
            else
            {
            	//do noting
            }

            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); /* parasoft-suppress MISRA2004-17_1 "本项目无法更改，后续避免未指向数组的指针运算" */
            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, (UBYTE *)"ACK");
            break;
        }
        case 0x4304: 
        {
            memcpy(&MC_UpcInfo.stCurveOrderInfo, Data, DataLength);
            Can_AssistCoef_Read(&MC_UpcInfo.stCurveOrderInfo);
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB64C, (UBYTE *)&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, (UBYTE *)"ACK");
            break;
        }
        case 0x4500: 
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB83A, (UBYTE *)&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, (UBYTE *)"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, (UBYTE *)"ACK");  
            break;
        }
        case 0x4800: 
        {
            SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB904, (UBYTE *)&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, (UBYTE *)"ACK");
            break;
        }
        default:
            break;
        }
        break;
    }
    default:
        break;
    }
}

ULONG CRC32_Calculate(const UBYTE pData[], UWORD Length)
{
    ULONG nReg;
    ULONG nTemp = 0;
    UWORD i, n;

    nReg = 0xFFFFFFFFU;
    for (n = 0; n < Length; n++)
    {
        nReg ^= (ULONG)pData[n];
        for (i = 0; i < 4; i++)
        {
            nTemp = Crc32Table[(UBYTE)((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_ /* parasoft-suppress MISRA2004-19_6 "本项目中无法更改，后续避免使用" */
#endif
/*************************************************************************
 End of this File (EOF):
 !!!!!!Do not put anything after this part!!!!!!!!!!!
*************************************************************************/