#include "RTE_CAN.h"
#include "CAN_Lib.h"
#include "CAN_APP.h"
#include "CAN_Communication_Matrix.h"
#include "Analog_Signals.h"
#include "RSCAN.h"
#include "Check_Ctrl.h"
#include "Display_Info.h"
#include "RTE_GPIO.h"
#include "Task.h"
extern uint8_t cycleflag;
const uint8_t crc8_table[256] = {
    0x00, 0x1D, 0x3A, 0x27, 0x74, 0x69, 0x4E, 0x53, 0xE8, 0xF5, 0xD2, 0xCF, 0x9C, 0x81, 0xA6, 0xBB,
    0xCD, 0xD0, 0xF7, 0xEA, 0xB9, 0xA4, 0x83, 0x9E, 0x25, 0x38, 0x1F, 0x02, 0x51, 0x4C, 0x6B, 0x76,
    0x87, 0x9A, 0xBD, 0xA0, 0xF3, 0xEE, 0xC9, 0xD4, 0x6F, 0x72, 0x55, 0x48, 0x1B, 0x06, 0x21, 0x3C,
    0x4A, 0x57, 0x70, 0x6D, 0x3E, 0x23, 0x04, 0x19, 0xA2, 0xBF, 0x98, 0x85, 0xD6, 0xCB, 0xEC, 0xF1,
    0x13, 0x0E, 0x29, 0x34, 0x67, 0x7A, 0x5D, 0x40, 0xFB, 0xE6, 0xC1, 0xDC, 0x8F, 0x92, 0xB5, 0xA8,
    0xDE, 0xC3, 0xE4, 0xF9, 0xAA, 0xB7, 0x90, 0x8D, 0x36, 0x2B, 0x0C, 0x11, 0x42, 0x5F, 0x78, 0x65,
    0x94, 0x89, 0xAE, 0xB3, 0xE0, 0xFD, 0xDA, 0xC7, 0x7C, 0x61, 0x46, 0x5B, 0x08, 0x15, 0x32, 0x2F,
    0x59, 0x44, 0x63, 0x7E, 0x2D, 0x30, 0x17, 0x0A, 0xB1, 0xAC, 0x8B, 0x96, 0xC5, 0xD8, 0xFF, 0xE2,
    0x26, 0x3B, 0x1C, 0x01, 0x52, 0x4F, 0x68, 0x75, 0xCE, 0xD3, 0xF4, 0xE9, 0xBA, 0xA7, 0x80, 0x9D,
    0xEB, 0xF6, 0xD1, 0xCC, 0x9F, 0x82, 0xA5, 0xB8, 0x03, 0x1E, 0x39, 0x24, 0x77, 0x6A, 0x4D, 0x50,
    0xA1, 0xBC, 0x9B, 0x86, 0xD5, 0xC8, 0xEF, 0xF2, 0x49, 0x54, 0x73, 0x6E, 0x3D, 0x20, 0x07, 0x1A,
    0x6C, 0x71, 0x56, 0x4B, 0x18, 0x05, 0x22, 0x3F, 0x84, 0x99, 0xBE, 0xA3, 0xF0, 0xED, 0xCA, 0xD7,
    0x35, 0x28, 0x0F, 0x12, 0x41, 0x5C, 0x7B, 0x66, 0xDD, 0xC0, 0xE7, 0xFA, 0xA9, 0xB4, 0x93, 0x8E,
    0xF8, 0xE5, 0xC2, 0xDF, 0x8C, 0x91, 0xB6, 0xAB, 0x10, 0x0D, 0x2A, 0x37, 0x64, 0x79, 0x5E, 0x43,
    0xB2, 0xAF, 0x88, 0x95, 0xC6, 0xDB, 0xFC, 0xE1, 0x5A, 0x47, 0x60, 0x7D, 0x2E, 0x33, 0x14, 0x09,
    0x7F, 0x62, 0x45, 0x58, 0x0B, 0x16, 0x31, 0x2C, 0x97, 0x8A, 0xAD, 0xB0, 0xE3, 0xFE, 0xD9, 0xC4
};
uint8_t CRC8_CheckSum(uint8_t data[], uint8_t len)    
{
    uint8_t crc = 0xFFu;  // 初始值为0xFF

    for (uint8_t i = 0; i < len; i++) {
        crc = crc8_table[crc ^ data[i]];  // 逐字节查表
    }
    
    return crc ^ 0xFFu;  // 最终异或0xFF
}
uint8_t CrcCheckSum(uint8_t *data, uint8_t len)
{
    uint8_t crc        = 0xff;
    uint8_t CRC_POLY   = 0x2f;
    uint8_t crcxor     = 0xff;
    uint8_t bit_index  = 0;
    uint8_t byte_index = 0;

    for ( byte_index = 0; byte_index < len; ++byte_index )
    {
        crc ^= data [ byte_index ];
        for ( bit_index = 0; bit_index < 8; ++bit_index )
        {
            if ( (crc & 0x80) != 0 )
                crc = (crc << 1) ^ CRC_POLY;
            else
                crc = (crc << 1);
        }
    }

    crc = crc ^ crcxor;

    return crc;
}

void Can_Write_Fun_APP(void)
{
}

void Can_Abort_Confirm(uint32_t Identifier, uint8_t TransferStatus)
{
}

void CAN_QuickTimer_Init(void)
{
}

void NODE_26D_SET_Confirm(void)
{
}

void Can_BusOff_Fun(void)
{
}

void Can_BusOffRecover(void)
{
}

void Can_Set_Buff_260(uint8_t CopyData [])
{

}

void Can_Set_Buff_280(uint8_t CopyData [])
{

}

void Can_Set_Buff_380(uint8_t CopyData [])
{

}

void Can_Set_Buff_385(uint8_t CopyData [])
{

}

void Can_Set_Buff_52E(uint8_t CopyData [])
{

}

void Can_Set_Buff_69B(uint8_t CopyData [])
{

}

void Can_Set_Buff_28A(uint8_t CopyData [])
{

}

void Can_Set_Buff_2E1(uint8_t CopyData [])
{

}
void Can_Set_Buff_228(uint8_t CopyData [])
{

}

void Can_Set_Buff_211(uint8_t CopyData [])
{

}
void Can_Set_Buff_341(uint8_t CopyData [])
{

}
void Can_Set_Buff_128(uint8_t CopyData [])
{

}
void Can_Set_Buff_24A(uint8_t CopyData [])
{

}
void Can_Set_Buff_35A(uint8_t CopyData [])
{

}

void Can_Set_Buff_135(uint8_t CopyData [])
{

}
void Can_Set_Buff_153(uint8_t CopyData [])
{

}
void Can_Set_Buff_131(uint8_t CopyData [])
{

}
void Can_Set_Buff_139(uint8_t CopyData [])
{

}
void Can_Set_Buff_431(uint8_t CopyData [])
{

}
void Can_Set_Buff_5e0(uint8_t CopyData [])
{

}
void Can_Set_Buff_236(uint8_t CopyData [])
{

}

void Can_Set_Buff_168(uint8_t CopyData [])
{

}
void Can_Set_Buff_0F6(uint8_t CopyData [])
{

}
void Can_Set_Buff_0E1(uint8_t CopyData [])
{

}
void Can_Set_Buff_036(uint8_t CopyData [])
{

}

void Can_Set_Buff_0B6(uint8_t CopyData [])
{

}

void Can_Set_Buff_320(uint8_t CopyData [])
{

}

void Can_Set_Buff_152(uint8_t CopyData [])
{

}

void Can_Set_Buff_1A1(uint8_t CopyData [])
{

}

void Can_Set_Buff_75F(uint8_t CopyData [])
{
}

void Can_Set_Buff_389(uint8_t CopyData [])
{

}
void init_CAN_Frame(CAN_Frame_st_t* msg, uint32_t can_id, uint8_t can_len, uint8_t can_frame_ide, const uint8_t* data)
{
    for (uint32_t i = 0; i < can_len; i++) {
        msg->unCANData.u8CANData[i] = 0;
    }

    msg->u32CANID = can_id;
    msg->u8CANLEN = can_len;
    // msg->u8CANFrameIDE = can_frame_ide;
    msg->u8CANFrameIDE = 0;
    for (uint32_t i = 0; i < can_len; i++) {
        msg->unCANData.u8CANData[i] = data[i];
    }
}

void can_mid(CAN_Frame_st_t Msg)
{
    CAN_Frame_st_t m_msg;

    init_CAN_Frame(&m_msg, Msg.u32CANID, Msg.u8CANLEN, Msg.u8CANFrameIDE, Msg.unCANData.u8CANData);

    RSCAN0_CH4_Set_FIFO0_Data(&m_msg);
}

uint8_t Meterfieldstep = 0;
void Meter_field_display(uint8_t Meter_field_step)
{
    CAN_Frame_st_t m_msg10;
    uint8_t data10[8] = {0, 0, 0, 0, 0, 0, 0, 0};//米字段起始消息

    CAN_Frame_st_t m_msg11;
    uint8_t data11[8] = {0, 0, 0, 0, 0, 0, 0, 0};//米字段发送数据

    if(Meter_field_step == 4)
    {
        if(Meterfieldstep == 0)
        {
            data10[0] = 0x00;        //6A0起始
            init_CAN_Frame(&m_msg10, 0x6A0, 8, 1, data10);
            can_mid(m_msg10);
            // Meterfieldstep ++;
        }
        else if(Meterfieldstep == 1)
        {
            data11[0] = 0x10;        //6A0起始
            data11[1] = 0x0A;
            data11[2] = 0xFF;
            data11[3] = 0x00;
            data11[4] = 0x01;
            data11[5] = 0x03;
            data11[6] = 0x45;
            data11[7] = 0x00;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            // Meterfieldstep =0;
        }
        else if(Meterfieldstep == 2)
        {
            data11[0] = 0x20;        //6A0起始
            data11[1] = 0x05;
            data11[2] = 0x01;
            data11[3] = 0x01;
            data11[4] = 0x00;
            data11[5] = 0x55;
            data11[6] = 0x55;
            data11[7] = 0x55;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            Meterfieldstep =0;
        }
        // else if(Meterfieldstep == 3)
        // {
        //     data11[0] = 0x21;        //6A0起始
        //     data11[1] = 0x31;
        //     data11[2] = 0x31;
        //     data11[3] = 0x31;
        //     data11[4] = 0x31;
        //     data11[5] = 0x31;
        //     data11[6] = 0x31;
        //     data11[7] = 0x31;
        //     init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
        //     can_mid(m_msg11);
        //     Meterfieldstep ++;
        // }
        // else if(Meterfieldstep == 4)
        // {
        //     data11[0] = 0x22;        //6A0起始
        //     data11[1] = 0x31;
        //     data11[2] = 0x31;
        //     data11[3] = 0x31;
        //     data11[4] = 0x31;
        //     data11[5] = 0x31;
        //     data11[6] = 0x31;
        //     data11[7] = 0x31;
        //     init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
        //     can_mid(m_msg11);
        //     Meterfieldstep  = 0;
        // }
    }
    else if(Meter_field_step == 5)
    {
         if(Meterfieldstep == 0)
        {
            data10[0] = 0x00;        //6A0起始
            init_CAN_Frame(&m_msg10, 0x6A0, 8, 1, data10);
            can_mid(m_msg10);
            // Meterfieldstep ++;
        }
        else if(Meterfieldstep == 1)
        {
            data11[0] = 0x10;        //6A0起始
            data11[1] = 0x0E;
            data11[2] = 0xFF;
            data11[3] = 0x00;
            data11[4] = 0x01;
            data11[5] = 0x03;
            data11[6] = 0x45;
            data11[7] = 0x00;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            // Meterfieldstep =0;
        }
        else if(Meterfieldstep == 2)
        {
            data11[0] = 0x20;        //6A0起始
            data11[1] = 0x05;
            data11[2] = 0x01;
            data11[3] = 0x00;
            data11[4] = 0x00;
            data11[5] = 0x05;
            data11[6] = 0x1B;
            data11[7] = 0x01;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            Meterfieldstep =3;
        }
         else if(Meterfieldstep == 3)
        {
            data11[0] = 0x21;        //6A0起始
            data11[1] = 0x00;
            data11[2] = 0x55;
            data11[3] = 0x55;
            data11[4] = 0x55;
            data11[5] = 0x55;
            data11[6] = 0x55;
            data11[7] = 0x55;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            Meterfieldstep =0;
        }
    }
    else if(Meter_field_step == 6)
    {
                 if(Meterfieldstep == 0)
        {
            data10[0] = 0x00;        //6A0起始
            init_CAN_Frame(&m_msg10, 0x6A0, 8, 1, data10);
            can_mid(m_msg10);
            // Meterfieldstep ++;
        }
        else if(Meterfieldstep == 1)
        {
            data11[0] = 0x10;        //6A0起始
            data11[1] = 0x0E;
            data11[2] = 0xFF;
            data11[3] = 0x00;
            data11[4] = 0x01;
            data11[5] = 0x03;
            data11[6] = 0x45;
            data11[7] = 0x00;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            // Meterfieldstep =0;
        }
        else if(Meterfieldstep == 2)
        {
            data11[0] = 0x20;        //6A0起始
            data11[1] = 0x05;
            data11[2] = 0x01;
            data11[3] = 0x00;
            data11[4] = 0x00;
            data11[5] = 0x05;
            data11[6] = 0x1B;
            data11[7] = 0x00;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            Meterfieldstep =3;
        }
         else if(Meterfieldstep == 3)
        {
            data11[0] = 0x21;        //6A0起始
            data11[1] = 0x00;
            data11[2] = 0x55;
            data11[3] = 0x55;
            data11[4] = 0x55;
            data11[5] = 0x55;
            data11[6] = 0x55;
            data11[7] = 0x55;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            Meterfieldstep =0;
        }
    }
    else if(Meter_field_step == 7)
    {
        if(Meterfieldstep == 0)
        {
            data10[0] = 0x00;        //6A0起始
            init_CAN_Frame(&m_msg10, 0x6A0, 8, 1, data10);
            can_mid(m_msg10);
            // Meterfieldstep ++;
        }
        else if(Meterfieldstep == 1)
        {
            data11[0] = 0x10;        //6A0起始
            data11[1] = 0x16;
            data11[2] = 0xFF;
            data11[3] = 0x00;
            data11[4] = 0x01;
            data11[5] = 0x03;
            data11[6] = 0x45;
            data11[7] = 0x00;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            // Meterfieldstep =0;
        }
        else if(Meterfieldstep == 2)
        {
            data11[0] = 0x20;        //6A0起始
            data11[1] = 0x05;
            data11[2] = 0x01;
            data11[3] = 0x01;
            data11[4] = 0x00;
            data11[5] = 0x05;
            data11[6] = 0x1B;
            data11[7] = 0x01;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            Meterfieldstep =3;
        }
         else if(Meterfieldstep == 3)
        {
            data11[0] = 0x21;        //6A0起始
            data11[1] = 0x00;
            data11[2] = 0x05;
            data11[3] = 0x02;
            data11[4] = 0x01;
            data11[5] = 0x00;
            data11[6] = 0x05;
            data11[7] = 0x08;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            Meterfieldstep =4;
        }
             else if(Meterfieldstep == 4)
        {
            data11[0] = 0x22;        //6A0起始
            data11[1] = 0x01;
            data11[2] = 0x00;
            data11[3] = 0x55;
            data11[4] = 0x55;
            data11[5] = 0x55;
            data11[6] = 0x55;
            data11[7] = 0x55;
            init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
            can_mid(m_msg11);
            Meterfieldstep =0;
        }
    }
    // else if(Meter_field_step == 5)
    // {
    //     if(Meterfieldstep == 0)
    //     {
    //         data10[0] = 0x00;        //6A0起始
    //         init_CAN_Frame(&m_msg10, 0x6A0, 8, 1, data10);
    //         can_mid(m_msg10);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 1)
    //     {
    //         data11[0] = 0x10;        //6A0起始
    //         data11[1] = 0x19;
    //         data11[2] = 0xFF;
    //         data11[3] = 0x00;
    //         data11[4] = 0x01;
    //         data11[5] = 0x03;
    //         data11[6] = 0x45;
    //         data11[7] = 0x00;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 2)
    //     {
    //         data11[0] = 0x20;        //6A0起始
    //         data11[1] = 0x02;
    //         data11[2] = 0x00;
    //         data11[3] = 0x00;
    //         data11[4] = 0x35;
    //         data11[5] = 0x35;
    //         data11[6] = 0x35;
    //         data11[7] = 0x35;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 3)
    //     {
    //         data11[0] = 0x21;        //6A0起始
    //         data11[1] = 0x35;
    //         data11[2] = 0x35;
    //         data11[3] = 0x35;
    //         data11[4] = 0x35;
    //         data11[5] = 0x35;
    //         data11[6] = 0x35;
    //         data11[7] = 0x35;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 4)
    //     {
    //         data11[0] = 0x22;        //6A0起始
    //         data11[1] = 0x35;
    //         data11[2] = 0x35;
    //         data11[3] = 0x35;
    //         data11[4] = 0x35;
    //         data11[5] = 0x35;
    //         data11[6] = 0x35;
    //         data11[7] = 0x35;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep  = 0;
    //     }
    // }
    // else if(Meter_field_step == 6)
    // {
    //     if(Meterfieldstep == 0)
    //     {
    //         data10[0] = 0x00;        //6A0起始
    //         init_CAN_Frame(&m_msg10, 0x6A0, 8, 1, data10);
    //         can_mid(m_msg10);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 1)
    //     {
    //         data11[0] = 0x10;        //6A0起始
    //         data11[1] = 0x19;
    //         data11[2] = 0xFF;
    //         data11[3] = 0x00;
    //         data11[4] = 0x01;
    //         data11[5] = 0x03;
    //         data11[6] = 0x45;
    //         data11[7] = 0x00;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 2)
    //     {
    //         data11[0] = 0x20;        //6A0起始
    //         data11[1] = 0x02;
    //         data11[2] = 0x00;
    //         data11[3] = 0x00;
    //         data11[4] = 0x36;
    //         data11[5] = 0x36;
    //         data11[6] = 0x36;
    //         data11[7] = 0x36;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 3)
    //     {
    //         data11[0] = 0x21;        //6A0起始
    //         data11[1] = 0x36;
    //         data11[2] = 0x36;
    //         data11[3] = 0x36;
    //         data11[4] = 0x36;
    //         data11[5] = 0x36;
    //         data11[6] = 0x36;
    //         data11[7] = 0x36;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 4)
    //     {
    //         data11[0] = 0x22;        //6A0起始
    //         data11[1] = 0x36;
    //         data11[2] = 0x36;
    //         data11[3] = 0x36;
    //         data11[4] = 0x36;
    //         data11[5] = 0x36;
    //         data11[6] = 0x36;
    //         data11[7] = 0x36;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep  = 0;
    //     }
    // }
    // else if(Meter_field_step == 7)
    // {
    //     if(Meterfieldstep == 0)
    //     {
    //         data10[0] = 0x00;        //6A0起始
    //         init_CAN_Frame(&m_msg10, 0x6A0, 8, 1, data10);
    //         can_mid(m_msg10);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 1)
    //     {
    //         data11[0] = 0x10;        //6A0起始
    //         data11[1] = 0x19;
    //         data11[2] = 0xFF;
    //         data11[3] = 0x00;
    //         data11[4] = 0x01;
    //         data11[5] = 0x03;
    //         data11[6] = 0x45;
    //         data11[7] = 0x00;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 2)
    //     {
    //         data11[0] = 0x20;        //6A0起始
    //         data11[1] = 0x02;
    //         data11[2] = 0x00;
    //         data11[3] = 0x00;
    //         data11[4] = 0x37;
    //         data11[5] = 0x37;
    //         data11[6] = 0x37;
    //         data11[7] = 0x37;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 3)
    //     {
    //         data11[0] = 0x21;        //6A0起始
    //         data11[1] = 0x37;
    //         data11[2] = 0x37;
    //         data11[3] = 0x37;
    //         data11[4] = 0x37;
    //         data11[5] = 0x37;
    //         data11[6] = 0x37;
    //         data11[7] = 0x37;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 4)
    //     {
    //         data11[0] = 0x22;        //6A0起始
    //         data11[1] = 0x37;
    //         data11[2] = 0x37;
    //         data11[3] = 0x37;
    //         data11[4] = 0x37;
    //         data11[5] = 0x37;
    //         data11[6] = 0x37;
    //         data11[7] = 0x37;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep  = 0;
    //     }
    // }
    // else if(Meter_field_step == 8)
    // {
    //     if(Meterfieldstep == 0)
    //     {
    //         data10[0] = 0x00;        //6A0起始
    //         init_CAN_Frame(&m_msg10, 0x6A0, 8, 1, data10);
    //         can_mid(m_msg10);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 1)
    //     {
    //         data11[0] = 0x10;        //6A0起始
    //         data11[1] = 0x19;
    //         data11[2] = 0xFF;
    //         data11[3] = 0x00;
    //         data11[4] = 0x01;
    //         data11[5] = 0x03;
    //         data11[6] = 0x45;
    //         data11[7] = 0x00;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 2)
    //     {
    //         data11[0] = 0x20;        //6A0起始
    //         data11[1] = 0x02;
    //         data11[2] = 0x00;
    //         data11[3] = 0x00;
    //         data11[4] = 0x38;
    //         data11[5] = 0x38;
    //         data11[6] = 0x38;
    //         data11[7] = 0x38;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 3)
    //     {
    //         data11[0] = 0x21;        //6A0起始
    //         data11[1] = 0x38;
    //         data11[2] = 0x38;
    //         data11[3] = 0x38;
    //         data11[4] = 0x38;
    //         data11[5] = 0x38;
    //         data11[6] = 0x38;
    //         data11[7] = 0x38;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep ++;
    //     }
    //     else if(Meterfieldstep == 4)
    //     {
    //         data11[0] = 0x22;        //6A0起始
    //         data11[1] = 0x38;
    //         data11[2] = 0x38;
    //         data11[3] = 0x38;
    //         data11[4] = 0x38;
    //         data11[5] = 0x38;
    //         data11[6] = 0x38;
    //         data11[7] = 0x38;
    //         init_CAN_Frame(&m_msg11, 0x6A2, 8, 1, data11);
    //         can_mid(m_msg11);
    //         Meterfieldstep  = 0;
    //     }
    // }
}

void can_submit(void)
{
    //车速
    CAN_Frame_st_t m_msg1;// 车速 母线电流
    uint8_t data1[8] = {0, 0, 0, 0, 0, 0, 0, 0};//0x0C20FFD2

    //氛围灯
    CAN_Frame_st_t m_msg2;// 氛围灯 报警器报警状态 整车状态 自动大灯功能设置
    uint8_t data2[8] = {0, 0, 0, 0, 0, 0, 0, 0};//0x0C10FFD3

    CAN_Frame_st_t m_msg3;// 氛围灯 整车操作状态反馈
    uint8_t data3[8] = {0, 0, 0, 0, 0, 0, 0, 0};//0x0C22FFD2

    //时间
    CAN_Frame_st_t m_msg4;
    uint8_t data4[8] = {0, 0, 0, 0, 0, 0, 0, 0};//0x0C50FFD0

    //功率
    CAN_Frame_st_t m_msg5;// 总电池电压
    uint8_t data5[8] = {0, 0, 0, 0, 0, 0, 0, 0};//0x0C10FFD1

    //故障灯
    CAN_Frame_st_t m_msg6;
    uint8_t data6[8] = {0, 0, 0, 0, 0, 0, 0, 0};//0x0C50FFD2

    CAN_Frame_st_t m_msg7;
    uint8_t data7[8] = {0, 0, 0, 0, 0, 0, 0, 0};//0x0C50FFD2

    CAN_Frame_st_t m_msg9;
    uint8_t data9[8] = {0, 0, 0, 0, 0, 0, 0, 0};//786掉线

    CAN_Frame_st_t m_msg8;
    uint8_t data8[8] = {0, 0, 0, 0, 0, 0, 0, 0};//786掉线

    // if((MENU_CHECK_STEP != 2) && (MENU_CHECK_STEP != 6))
    // {
    //     data4[0] = 0x00;        //ABS
    //     init_CAN_Frame(&m_msg4, 0x153, 8, 1, data4);
    //     can_mid(m_msg4);
    // }

    // Meter_field_display(MENU_CHECK_STEP);

    switch (MENU_CHECK_STEP)
    {
            case  1:
            /* 车速 */
            data1[2] = 0x00;
            data1[3] = 0x00;
            init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

            /* 时间 */
            data2[3] = 0xFF;
            init_CAN_Frame(&m_msg2, 0x687, 8, 1, data2); 

            data3[2]=0x64;
            init_CAN_Frame(&m_msg3, 0x180, 8, 1, data3);

            data4[0] = 0x14;        //ABS
            init_CAN_Frame(&m_msg4, 0x261, 8, 1, data4);

            data5[4] = 0x40;        //发动机无法启动指示灯
            data5[1]=0x07;
            data5[2]=0xD0;
            init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

            data6[2] = 0x00;        //配置为AB
            data6[4] = 0x00;        //ASR指示灯
            init_CAN_Frame(&m_msg6, 0x200, 8, 1, data6);

            data7[5] = 0x80;        //侧支架指示灯，发动机故障
            init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

            data9[0]=0x00;
             init_CAN_Frame(&m_msg9, 0x130, 8, 1, data9);

              data8[5]=0x00;
             init_CAN_Frame(&m_msg8, 0x330, 8, 1, data8);
            
            break;
        case  2:
           data1[2] = 0x4D;
            data1[3] = 0xB4;
            init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

            /* 时间 */
            data2[3] = 0xFF;
            init_CAN_Frame(&m_msg2, 0x687, 8, 1, data2); 

            data3[2]=0x64;
            init_CAN_Frame(&m_msg3, 0x180, 8, 1, data3);

            data4[0] = 0x14;        //ABS
            init_CAN_Frame(&m_msg4, 0x261, 8, 1, data4);

            data5[4] = 0x40;        //发动机无法启动指示灯
            data5[1]=0x07;
            data5[2]=0xD0;
            init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

            data6[2] = 0x00;        //配置为AB
            data6[4] = 0x00;        //ASR指示灯
            init_CAN_Frame(&m_msg6, 0x200, 8, 1, data6);

            data7[5] = 0x80;        //侧支架指示灯，发动机故障
            init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

            data9[0]=0x00;
             init_CAN_Frame(&m_msg9, 0x130, 8, 1, data9);

              data8[5]=0x00;
             init_CAN_Frame(&m_msg8, 0x330, 8, 1, data8);
            break;
        case  3:
         data1[2] = 0x4D;
            data1[3] = 0xB4;
            init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

            /* 时间 */
            data2[4] = 0x0B;
            init_CAN_Frame(&m_msg2, 0x687, 8, 1, data2); 

            data3[2]=0x64;
            init_CAN_Frame(&m_msg3, 0x180, 8, 1, data3);

            data4[0] = 0x18;        //ABS
            init_CAN_Frame(&m_msg4, 0x261, 8, 1, data4);

            data5[4] = 0x00;        //发动机无法启动指示灯
           data5[1]=0x07;
            data5[2]=0xD0;
            init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

            data6[2] = 0x00;        //配置为AB
            data6[4] = 0x00;        //ASR指示灯
            init_CAN_Frame(&m_msg6, 0x200, 8, 1, data6);

            data7[5] = 0x84;        //侧支架指示灯，发动机故障
            init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

            data9[0]=0x00;
             init_CAN_Frame(&m_msg9, 0x130, 8, 1, data9);
                data8[5]=0x00;
             init_CAN_Frame(&m_msg8, 0x330, 8, 1, data8);

            break;
        case  4:
         data1[2] = 0x4D;
            data1[3] = 0xB4;
            init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

            /* 时间 */
            data2[3] = 0xFF;
            init_CAN_Frame(&m_msg2, 0x687, 8, 1, data2); 

            data3[2]=0x9C;
            init_CAN_Frame(&m_msg3, 0x180, 8, 1, data3);

            data4[0] = 0x14;        //ABS
            init_CAN_Frame(&m_msg4, 0x261, 8, 1, data4);

            data5[4] = 0x40;        //发动机无法启动指示灯
            data5[1]=0x07;
            data5[2]=0xD0;
            init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

            data6[4] = 0xC0;        //ASR指示灯
            init_CAN_Frame(&m_msg6, 0x200, 8, 1, data6);

            data7[5] = 0x00;        //侧支架指示灯，发动机故障
            init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

            data9[0]=0x00;
             init_CAN_Frame(&m_msg9, 0x130, 8, 1, data9);
                data8[5]=0x00;
             init_CAN_Frame(&m_msg8, 0x330, 8, 1, data8);

            break;
        case 5:
           data1[2] = 0x4D;
            data1[3] = 0xB4;
            init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

            /* 时间 */
            data2[3] = 0xFF;
            init_CAN_Frame(&m_msg2, 0x687, 8, 1, data2); 

            data3[2]=0x64;
            init_CAN_Frame(&m_msg3, 0x180, 8, 1, data3);

            data4[0] = 0x14;        //ABS
            init_CAN_Frame(&m_msg4, 0x261, 8, 1, data4);

            data5[4] = 0x40;        //发动机无法启动指示灯
            data5[1]=0x07;
            data5[2]=0xD0;
            init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

            data6[2] = 0x00;        //配置为AB
            data6[4] = 0x00;        //ASR指示灯
            init_CAN_Frame(&m_msg6, 0x200, 8, 1, data6);

            data7[5] = 0x80;        //侧支架指示灯，发动机故障
            init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

            data9[0]=0x00;
             init_CAN_Frame(&m_msg9, 0x130, 8, 1, data9);

              data8[5]=0x00;
             init_CAN_Frame(&m_msg8, 0x330, 8, 1, data8);
            break;
        case 6:
            data1[2] = 0x4D;
            data1[3] = 0xB4;
            init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

            /* 时间 */
            data2[3] = 0xFF;
            init_CAN_Frame(&m_msg2, 0x687, 8, 1, data2); 

            data3[2]=0x64;
            init_CAN_Frame(&m_msg3, 0x180, 8, 1, data3);

            data4[0] = 0x14;        //ABS
            init_CAN_Frame(&m_msg4, 0x261, 8, 1, data4);

            data5[4] = 0x40;        //发动机无法启动指示灯
            data5[1]=0x07;
            data5[2]=0xD0;
            init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

            data6[2] = 0x00;        //配置为AB
            data6[4] = 0x00;        //ASR指示灯
            init_CAN_Frame(&m_msg6, 0x200, 8, 1, data6);

            data7[5] = 0x80;        //侧支架指示灯，发动机故障
            init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

            data9[0]=0x00;
             init_CAN_Frame(&m_msg9, 0x130, 8, 1, data9);

              data8[5]=0x00;
             init_CAN_Frame(&m_msg8, 0x330, 8, 1, data8);
            break;
        // case 6:
        //    /* 车速 */
        //     data1[2] = 0x38;
        //     data1[3] = 0xCC;
        //     init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

        //     /* 时间 */
        //     data2[3] = 0x71;
        //     data2[4] = 0x17;
        //     init_CAN_Frame(&m_msg2, 0x600, 8, 1, data2); 
        //     data3[0] = 0x2D;        //手机电量
        //     data3[1] = 0xC4;        //未接指示灯，音乐
        //     data3[3] = 0x0C;        //加热手柄指示灯
        //     init_CAN_Frame(&m_msg3, 0x687, 8, 1, data3);

        //     data4[0] = 0x20;        //ABS
        //     init_CAN_Frame(&m_msg4, 0x261, 8, 1, data4);

        //     data5[4] = 0x40;        //发动机无法启动指示灯
        //       data5[1]=0x1D;
        //     data5[2]=0x4C;
        //     init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

        //     data6[2] = 0xCC;              
        //     init_CAN_Frame(&m_msg6, 0x180, 8, 1, data6);

        //     data7[5] = 0x80;        //侧支架指示灯
        //     init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

        //     break;
        // case 7:
        //     /* 车速 */
        //     data1[2] = 0x3C;
        //     data1[3] = 0xD8;
        //     init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

        //     /* 时间 */
        //     data2[3] = 0x73;
        //     data2[4] = 0x17;
        //     init_CAN_Frame(&m_msg2, 0x600, 8, 1, data2); 
        //     data3[0] = 0x2E;        //手机电量
        //     data3[1] = 0x04;
        //     data3[3] = 0x0C;        //加热手柄指示灯
        //     init_CAN_Frame(&m_msg3, 0x687, 8, 1, data3);

        //     data4[2] = 0x6C;        //水温
        //     init_CAN_Frame(&m_msg4, 0x180, 8, 1, data4);

        //     data5[4] = 0x40;        //发动机无法启动指示灯
        //       data5[1]=0x21;
        //     data5[2]=0x34;
        //     init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

        //     data6[2] = 0xAB;        //配置为AB
        //     data6[4] = 0xD0;        //ASR指示灯
        //     init_CAN_Frame(&m_msg6, 0x200, 8, 1, data6);

        //     data7[5] = 0x80;        //侧支架指示灯
        //     init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

        //     break;
        // case 8:
        //     /* 车速 */
        //     data1[2] = 0x41;
        //     data1[3] = 0x51;
        //     init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

        //     /* 时间 */
        //     data2[3] = 0x75;
        //     data2[4] = 0x17;
        //     init_CAN_Frame(&m_msg2, 0x600, 8, 1, data2); 
        //     data3[0] = 0x2E;        //手机电量
        //     data3[1] = 0x04;
        //     data3[3] = 0x0C;        //加热手柄指示灯
        //     init_CAN_Frame(&m_msg3, 0x687, 8, 1, data3);

        //     data4[2] = 0x6C;        //水温
        //     init_CAN_Frame(&m_msg4, 0x180, 8, 1, data4);

        //     data5[4] = 0x40;        //发动机无法启动指示灯
        //       data5[1]=0x25;
        //     data5[2]=0x0C;
        //     init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

        //     data6[2] = 0xAB;        //配置为AB
        //     data6[4] = 0x00;        //ASR指示灯
        //     init_CAN_Frame(&m_msg6, 0x200, 8, 1, data6);

        //     data7[5] = 0x08;        //侧支架指示灯
        //     init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

        //     break;
        case 7:
        data1[2] = 0x4D;
            data1[3] = 0xB4;
            init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

            /* 时间 */
            data2[3] = 0x00;
            // data2[4] = 0x0B;
            init_CAN_Frame(&m_msg2, 0x687, 8, 1, data2); 

            data3[2]=0x9C;
            init_CAN_Frame(&m_msg3, 0x180, 8, 1, data3);

            data4[0] = 0x08;        //ABS
            init_CAN_Frame(&m_msg4, 0x261, 8, 1, data4);

            data5[4] = 0x00;        //发动机无法启动指示灯
          data5[1]=0x2E;
            data5[2]=0xE0;
            init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

            data6[2] = 0x9A;        //配置为AB
            data6[4] = 0xD0;        //ASR指示灯
            init_CAN_Frame(&m_msg6, 0x200, 8, 1, data6);

            data7[5] = 0x14;        //侧支架指示灯，发动机故障
            init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

             data9[0]=0x00;
             init_CAN_Frame(&m_msg9, 0x130, 8, 1, data9);
                data8[5]=0x80;
             init_CAN_Frame(&m_msg8, 0x330, 8, 1, data8);
             break;
        case 8:
           data1[2] = 0x52;
            data1[3] = 0x08;
            init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

            /* 时间 */
            data2[3] = 0x00;
            // data2[4] = 0x0B;
            init_CAN_Frame(&m_msg2, 0x687, 8, 1, data2); 

            data3[2]=0x00;
            init_CAN_Frame(&m_msg3, 0x180, 8, 1, data3);

            data4[0] = 0x00;        //ABS
            init_CAN_Frame(&m_msg4, 0x261, 8, 1, data4);

            data5[4] = 0x00;        //发动机无法启动指示灯
          data5[1]=0x00;
            data5[2]=0x00;
            init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

            data6[2] = 0x00;        //配置为AB
            data6[4] = 0x00;        //ASR指示灯
            init_CAN_Frame(&m_msg6, 0x200, 8, 1, data6);

            data7[5] = 0x00;        //侧支架指示灯，发动机故障
            init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

             data9[0]=0x00;
             init_CAN_Frame(&m_msg9, 0x130, 8, 1, data9);
                data8[5]=0x80;
             init_CAN_Frame(&m_msg8, 0x330, 8, 1, data8);
            break;
         case 9:
            data1[2] = 0x00;
            data1[3] = 0x00;
            init_CAN_Frame(&m_msg1, 0x260, 8, 1, data1);

            /* 时间 */
            data2[3] = 0xFF;
            init_CAN_Frame(&m_msg2, 0x687, 8, 1, data2); 

            data3[2]=0x64;
            init_CAN_Frame(&m_msg3, 0x180, 8, 1, data3);

            data4[0] = 0x14;        //ABS
            init_CAN_Frame(&m_msg4, 0x261, 8, 1, data4);

            data5[4] = 0x40;        //发动机无法启动指示灯
            data5[1]=0x07;
            data5[2]=0xD0;
            init_CAN_Frame(&m_msg5, 0x120, 8, 1, data5);

            data6[2] = 0x00;        //配置为AB
            data6[4] = 0x00;        //ASR指示灯
            init_CAN_Frame(&m_msg6, 0x200, 8, 1, data6);

            data7[5] = 0x80;        //侧支架指示灯，发动机故障
            init_CAN_Frame(&m_msg7, 0x100, 8, 1, data7);

            data9[0]=0x00;
             init_CAN_Frame(&m_msg9, 0x130, 8, 1, data9);

              data8[5]=0x00;
             init_CAN_Frame(&m_msg8, 0x330, 8, 1, data8);
            break;
        default:
            break;
    }
    if(MENU_CHECK_STEP != 0 && MENU_CHECK_STEP<8)
    {
        can_mid(m_msg1);
        can_mid(m_msg2);
        can_mid(m_msg3);
        can_mid(m_msg4);
        can_mid(m_msg5);
        can_mid(m_msg6);
        can_mid(m_msg7);
        can_mid(m_msg9);
        can_mid(m_msg8);

    }
    else if(MENU_CHECK_STEP == 8)
    {
        can_mid(m_msg1);
        can_mid(m_msg2);
        can_mid(m_msg3);
        can_mid(m_msg4);
        can_mid(m_msg5);
        can_mid(m_msg6);
        can_mid(m_msg7);
        can_mid(m_msg9);
        can_mid(m_msg8);
    }
}
uint8_t u8get714msg[8];
uint8_t u8getSWmsg[8];
uint8_t u8getUIDmsg[8];
uint8_t SWtestresult = 0;
uint8_t HWtestresult = 0;
uint8_t PNtestresult = 0;
uint8_t ruanjianbanbenhao[8];
uint8_t ruanjianinsidebanbenhao[13];
uint8_t ruanjianoutsidebanbenhao[25];
uint8_t yingjianinbanbenhao[7];
uint8_t yingjianoutbanbenhao[9];
uint8_t lingjianhao[5];
uint8_t lingjianhaodisplay[9];
uint8_t UIDcode1[33];
uint8_t UIDcode2[33];
uint8_t zhenduanstep = 0;
void Get_SW_msg(void);
void Get_HW_msg(void);
void Get_PN_msg(void);
extern uint8_t getmsgfinish;
extern uint32_t send0x714time;
uint8_t readstopflag;
uint8_t begin714;
uint8_t UIDdelay;
uint8_t UDSStep;
uint8_t H630BUFFER[10];
uint8_t BOOT2[9];
uint8_t HWin[5];
uint8_t HWout[8];
void send_0x714_fuc()
{

    CAN_Frame_st_t m_msg8;
    uint8_t data8[8] = {0, 0, 0, 0, 0, 0, 0, 0};

    switch (zhenduanstep)
    {
        case 0:
            if(UIDdelay < 15)
            {
                UIDdelay++;
            }
            else
            {
                data8[0] = 0x03;
                data8[1] = 0x22;
                data8[2] = 0x10;
                data8[3] = 0x24;
                data8[4] = 0xAA;
                data8[5] = 0xAA;
                data8[6] = 0xAA;
                data8[7] = 0xAA;
                init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
                can_mid(m_msg8);
                // zhenduanstep++;
            }
            break;
        case 1:
            data8[0] = 0x30;
            data8[1] = 0x00;
            data8[2] = 0x00;
            data8[3] = 0xAA;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);
            // zhenduanstep++;
            break;
        case 2:
            zhenduanstep++;
        break;
        case 3:
            data8[0] = 0x03;
            data8[1] = 0x22;
            data8[2] = 0xF1;
            data8[3] = 0x81;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);
            // zhenduanstep++;
            break;
        case 4:
            data8[0] = 0x30;
            data8[1] = 0x00;
            data8[2] = 0x00;
            data8[3] = 0xAA;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);    
            zhenduanstep++;
            break;
        case 5:
            zhenduanstep++;
            break;
        case 6:
            data8[0] = 0x03;
            data8[1] = 0x22;
            data8[2] = 0xF1;
            data8[3] = 0xF0;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);
            // zhenduanstep++;
            break;
        case 7:
            data8[0] = 0x30;
            data8[1] = 0x00;
            data8[2] = 0x00;
            data8[3] = 0xAA;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);    
            zhenduanstep++;
            break;
              case 8:
            data8[0] = 0x03;
            data8[1] = 0x22;
            data8[2] = 0xF1;
            data8[3] = 0x80;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);
            // zhenduanstep++;
            break;
        case 9:
            data8[0] = 0x30;
            data8[1] = 0x00;
            data8[2] = 0x00;
            data8[3] = 0xAA;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);    
            zhenduanstep++;
            break;
          case 10:
            data8[0] = 0x03;
            data8[1] = 0x22;
            data8[2] = 0x10;
            data8[3] = 0x28;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);
            // zhenduanstep++;
            break;
        case 11:
            data8[0] = 0x30;
            data8[1] = 0x00;
            data8[2] = 0x00;
            data8[3] = 0xAA;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);    
            zhenduanstep++;
            break;  
            case 12:
            data8[0] = 0x03;
            data8[1] = 0x22;
            data8[2] = 0x10;
            data8[3] = 0x29;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);
            // zhenduanstep++;
            break;
        case 13:
            data8[0] = 0x30;
            data8[1] = 0x00;
            data8[2] = 0x00;
            data8[3] = 0xAA;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);    
            zhenduanstep++;
            break;

        // case 6:
        //     data8[0] = 0x03;
        //     data8[1] = 0x22;
        //     data8[2] = 0xF1;
        //     data8[3] = 0x91;
        //     data8[4] = 0xAA;
        //     data8[5] = 0xAA;
        //     data8[6] = 0xAA;
        //     data8[7] = 0xAA;
        //     init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
        //     can_mid(m_msg8);
        //     zhenduanstep++;
        //     break;
        // case 7:
        //     data8[0] = 0x30;
        //     data8[1] = 0x00;
        //     data8[2] = 0x00;
        //     data8[3] = 0xAA;
        //     data8[4] = 0xAA;
        //     data8[5] = 0xAA;
        //     data8[6] = 0xAA;
        //     data8[7] = 0xAA;
        //     init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
        //     can_mid(m_msg8);
        //     zhenduanstep++;
        //     break;
        // case 8:
        //     data8[0] = 0x03;
        //     data8[1] = 0x22;
        //     data8[2] = 0xF1;
        //     data8[3] = 0x93;
        //     data8[4] = 0xAA;
        //     data8[5] = 0xAA;
        //     data8[6] = 0xAA;
        //     data8[7] = 0xAA;
        //     init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
        //     can_mid(m_msg8);
        //     zhenduanstep++;
        //     break;
        // case 9:
        //     data8[0] = 0x30;
        //     data8[1] = 0x00;
        //     data8[2] = 0x00;
        //     data8[3] = 0xAA;
        //     data8[4] = 0xAA;
        //     data8[5] = 0xAA;
        //     data8[6] = 0xAA;
        //     data8[7] = 0xAA;
        //     init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
        //     can_mid(m_msg8);
        //     Get_HWOUT_msg();
        //     zhenduanstep++;
        //     break;
        // case 10:
        //     data8[0] = 0x03;
        //     data8[1] = 0x22;
        //     data8[2] = 0xF1;
        //     data8[3] = 0x87;
        //     data8[4] = 0xAA;
        //     data8[5] = 0xAA;
        //     data8[6] = 0xAA;
        //     data8[7] = 0xAA;
        //     init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
        //     can_mid(m_msg8);
            // zhenduanstep++;
            // UIDdelay=0;
            // zhenduanstep=0;
            // break;
        default:
            UIDdelay=0;
            zhenduanstep=0;
            writeflag=1;
            break;
    }

}

uint8_t UIDNumber[19] = {84,89,87,0,0,0,0,0,0,0,0,0,0,1,2,0,2,5,0xFF};
uint8_t UIDNumber2[15] = {0,5,2,2,0,0,0,0,0,0,0,0,0,0,0xFF};
uint8_t change = 13;
uint8_t writeflag = 0;
uint8_t UIDStep;
uint8_t UIDTime;
uint8_t seedresult[4] = {0};
void get_seed_msg(void);
uint8_t getseedresult = 0;
uint8_t waittime = 0;

void UIDWrite(void)
{
    Readf=1;
    CAN_Frame_st_t m_msg8;
    uint8_t data8[8] = {0, 0, 0, 0, 0, 0, 0, 0};
    if(UIDStep == 2)
    {
        waittime++;
        if(waittime > 120)
        {
            waittime = 0;
            UIDStep = 0;
        }
    }

    switch (UIDStep)
    {
        case 0:
            data8[0] = 0x02;
            data8[1] = 0x10;
            data8[2] = 0x03;
            data8[3] = 0xAA;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);
            // UIDStep++;
            break;
        case 1:
            data8[0] = 0x02;
            data8[1] = 0x27;
            data8[2] = 0x01;
            data8[3] = 0xAA;
            data8[4] = 0xAA;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);
            UIDStep++;
            break;
        case 2:
            get_seed_msg();
            if(getseedresult == 1)
            {
                UIDStep++;
                getseedresult = 0;
            }
            break;
        case 3:
            waittime = 0;
            data8[0] = 0x06;
            data8[1] = 0x27;
            data8[2] = 0x02;
            data8[3] = seedresult[0];
            data8[4] = seedresult[1];
            data8[5] = seedresult[2];
            data8[6] = seedresult[3];
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);
            // UIDStep++;
            break;
        case 4:
            data8[0] = 0x04;
            data8[1] = 0x2E;
            data8[2] = 0x01;
            data8[3] = 0x56;
            data8[4] = 0x01;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);
            // UIDStep++;
            break;
        // case 5:
            // // u8getUIDmsg[0] = Get_CAN_CH0_ID_72d_byte0_Sig();
            // // u8getUIDmsg[1] = Get_CAN_CH0_ID_72d_byte1_Sig();
            // // u8getUIDmsg[2] = Get_CAN_CH0_ID_72d_byte2_Sig();
            // // u8getUIDmsg[3] = Get_CAN_CH0_ID_72d_byte3_Sig();
            // // u8getUIDmsg[4] = Get_CAN_CH0_ID_72d_byte4_Sig();
            // // u8getUIDmsg[5] = Get_CAN_CH0_ID_72d_byte5_Sig();
            // // u8getUIDmsg[6] = Get_CAN_CH0_ID_72d_byte6_Sig();
            // // u8getUIDmsg[7] = Get_CAN_CH0_ID_72d_byte7_Sig();
            // // if((u8getUIDmsg[0] == 0x30) && (u8getUIDmsg[2] == 0x14))
            // // {
            //     data8[0] = 0x21;
            //     data8[1] = UIDNumber[3];
            //     data8[2] = UIDNumber[4];
            //     data8[3] = UIDNumber2[0];
            //     data8[4] = UIDNumber2[1];
            //     data8[5] = UIDNumber2[2];
            //     data8[6] = UIDNumber2[3];
            //     data8[7] = UIDNumber2[4];
            //     init_CAN_Frame(&m_msg8, 0x7D2, 8, 1, data8); 
            //     can_mid(m_msg8);
            //     UIDStep++;
            // }
            // else
            // {
            //     UIDStep = 0;
            //     writeflag = 0;
            // }
            // break;
        // case 6:
        //     data8[0] = 0x22;
        //     data8[1] = UIDNumber2[5];
        //     data8[2] = UIDNumber2[6];
        //     data8[3] = UIDNumber2[7];
        //     data8[4] = UIDNumber2[8];
        //     data8[5] = 0x00;
        //     data8[6] = 0x00;
        //     data8[7] = 0xAA;
        //     init_CAN_Frame(&m_msg8, 0x7D2, 8, 1, data8); 
        //     can_mid(m_msg8);
        //     UIDStep++;
        //     break;
          case 5:
            data8[0] = 0x04;
            data8[1] = 0x2E;
            data8[2] = 0x01;
            data8[3] = 0x84;
            data8[4] = 0x01;
            data8[5] = 0xAA;
            data8[6] = 0xAA;
            data8[7] = 0xAA;
            init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
            can_mid(m_msg8);
            // UIDStep++;
            break;
        // case 6:
           
        //   data8[0] = 0x03;
        // data8[1] = 0x22;
        // data8[2] = 0x01;
        // data8[3] = 0x56;
        // data8[4] = 0xAA;
        // data8[5] = 0xAA;
        // data8[6] = 0xAA;
        // data8[7] = 0xAA;
        // init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
        // can_mid(m_msg8);
        // case 7:
        //  data8[0] = 0x30;
        // data8[1] = 0x00;
        // data8[2] = 0x00;
        // data8[3] = 0xAA;
        // data8[4] = 0xAA;
        // data8[5] = 0xAA;
        // data8[6] = 0xAA;
        // data8[7] = 0xAA;
        // init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
        // can_mid(m_msg8);
        
        // UIDStep++;
        //   case 8:
           
        //   data8[0] = 0x03;
        // data8[1] = 0x22;
        // data8[2] = 0x01;
        // data8[3] = 0x84;
        // data8[4] = 0xAA;
        // data8[5] = 0xAA;
        // data8[6] = 0xAA;
        // data8[7] = 0xAA;
        // init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
        // can_mid(m_msg8);
        // case 9:
        //  data8[0] = 0x30;
        // data8[1] = 0x00;
        // data8[2] = 0x00;
        // data8[3] = 0xAA;
        // data8[4] = 0xAA;
        // data8[5] = 0xAA;
        // data8[6] = 0xAA;
        // data8[7] = 0xAA;
        // init_CAN_Frame(&m_msg8, 0x7E3, 8, 1, data8); 
        // can_mid(m_msg8);
        
        // UIDStep++;
        default:
             writeflag = 0;
            UIDStep = 0;
            writebeing = 1;
            UIDresult = 0;
            Writef=0;
           Readf=0;

            break;
    }
}

void Get_ID_0x794_Msg(void)
{

}

void Get_SWIN_msg(void)
{
    u8getSWmsg[0] = Get_CAN_CH0_ID_7EB_byte0_Sig();
    u8getSWmsg[1] = Get_CAN_CH0_ID_7EB_byte1_Sig();
    u8getSWmsg[2] = Get_CAN_CH0_ID_7EB_byte2_Sig();
    u8getSWmsg[3] = Get_CAN_CH0_ID_7EB_byte3_Sig();
    u8getSWmsg[4] = Get_CAN_CH0_ID_7EB_byte4_Sig();
    u8getSWmsg[5] = Get_CAN_CH0_ID_7EB_byte5_Sig();
    u8getSWmsg[6] = Get_CAN_CH0_ID_7EB_byte6_Sig();
    u8getSWmsg[7] = Get_CAN_CH0_ID_7EB_byte7_Sig();

    if((u8getSWmsg[0] == 0x10) && (u8getSWmsg[4] == 0x24))
    {
        memset(ruanjianinsidebanbenhao,0xFF,sizeof(ruanjianinsidebanbenhao));
        ruanjianinsidebanbenhao[0] = u8getSWmsg[5];
        ruanjianinsidebanbenhao[1] = u8getSWmsg[6];
        ruanjianinsidebanbenhao[2] = u8getSWmsg[7];
    }
    else if(u8getSWmsg[0] == 0x21)
    {
        ruanjianinsidebanbenhao[3] = u8getSWmsg[1];
        ruanjianinsidebanbenhao[4] = u8getSWmsg[2];
        ruanjianinsidebanbenhao[5] = u8getSWmsg[3];
        ruanjianinsidebanbenhao[6] = u8getSWmsg[4];
        ruanjianinsidebanbenhao[7] = u8getSWmsg[5];
        ruanjianinsidebanbenhao[8] = u8getSWmsg[6];
        ruanjianinsidebanbenhao[9] = u8getSWmsg[7];
    }
    else if(u8getSWmsg[0] == 0x22)
    {
        ruanjianinsidebanbenhao[10] = u8getSWmsg[1];
        ruanjianinsidebanbenhao[11] = u8getSWmsg[2];
        ruanjianinsidebanbenhao[12] = 0xFF;
        General_Number_Disp(ruanjianinsidebanbenhao, 03, 50);
        UDSStep = 1;
    }
}

void Get_SWOUT_msg(void)
{
    u8getSWmsg[0] = Get_CAN_CH0_ID_7EB_byte0_Sig();
    u8getSWmsg[1] = Get_CAN_CH0_ID_7EB_byte1_Sig();
    u8getSWmsg[2] = Get_CAN_CH0_ID_7EB_byte2_Sig();
    u8getSWmsg[3] = Get_CAN_CH0_ID_7EB_byte3_Sig();
    u8getSWmsg[4] = Get_CAN_CH0_ID_7EB_byte4_Sig();
    u8getSWmsg[5] = Get_CAN_CH0_ID_7EB_byte5_Sig();
    u8getSWmsg[6] = Get_CAN_CH0_ID_7EB_byte6_Sig();
    u8getSWmsg[7] = Get_CAN_CH0_ID_7EB_byte7_Sig();

    if((u8getSWmsg[0] == 0x10) && (u8getSWmsg[4] == 0x94))
    {
        memset(ruanjianoutsidebanbenhao,0xFF,sizeof(ruanjianoutsidebanbenhao));
        ruanjianoutsidebanbenhao[0] = u8getSWmsg[5];
        ruanjianoutsidebanbenhao[1] = u8getSWmsg[6];
        ruanjianoutsidebanbenhao[2] = u8getSWmsg[7];
    }
    else if(u8getSWmsg[0] == 0x21)
    {
        ruanjianoutsidebanbenhao[3] = u8getSWmsg[1];
        ruanjianoutsidebanbenhao[4] = u8getSWmsg[2];
        ruanjianoutsidebanbenhao[5] = u8getSWmsg[3];
        ruanjianoutsidebanbenhao[6] = u8getSWmsg[4];
        ruanjianoutsidebanbenhao[7] = u8getSWmsg[5];
        ruanjianoutsidebanbenhao[8] = u8getSWmsg[6];
        ruanjianoutsidebanbenhao[9] = u8getSWmsg[7];
    }
    else if(u8getSWmsg[0] == 0x22)
    {
        ruanjianoutsidebanbenhao[10] = u8getSWmsg[1];
        ruanjianoutsidebanbenhao[11] = u8getSWmsg[2];
        ruanjianoutsidebanbenhao[12] = u8getSWmsg[3];
        ruanjianoutsidebanbenhao[13] = u8getSWmsg[4];
        ruanjianoutsidebanbenhao[14] = u8getSWmsg[5];
        ruanjianoutsidebanbenhao[15] = u8getSWmsg[6];
        ruanjianoutsidebanbenhao[16] = u8getSWmsg[7];
    }
    else if(u8getSWmsg[0] == 0x23)
    {
        ruanjianoutsidebanbenhao[17] = u8getSWmsg[1];
        ruanjianoutsidebanbenhao[18] = u8getSWmsg[2];
        ruanjianoutsidebanbenhao[19] = u8getSWmsg[3];
        ruanjianoutsidebanbenhao[20] = u8getSWmsg[4];
        ruanjianoutsidebanbenhao[21] = u8getSWmsg[5];
        ruanjianoutsidebanbenhao[22] = u8getSWmsg[6];
        ruanjianoutsidebanbenhao[23] = u8getSWmsg[7];
        ruanjianoutsidebanbenhao[24] = 0xFF;
        // General_Number_Disp(ruanjianoutsidebanbenhao, 03, 100);
        UDSStep = 2;
    }
}
void Get_HWIN_msg(void)
{
    u8getSWmsg[0] = Get_CAN_CH0_ID_7EB_byte0_Sig();
    u8getSWmsg[1] = Get_CAN_CH0_ID_7EB_byte1_Sig();
    u8getSWmsg[2] = Get_CAN_CH0_ID_7EB_byte2_Sig();
    u8getSWmsg[3] = Get_CAN_CH0_ID_7EB_byte3_Sig();
    u8getSWmsg[4] = Get_CAN_CH0_ID_7EB_byte4_Sig();
    u8getSWmsg[5] = Get_CAN_CH0_ID_7EB_byte5_Sig();
    u8getSWmsg[6] = Get_CAN_CH0_ID_7EB_byte6_Sig();
    u8getSWmsg[7] = Get_CAN_CH0_ID_7EB_byte7_Sig();
    if((u8getSWmsg[0] == 0x10) && (u8getSWmsg[4] == 0x91))
    {
        memset(yingjianinbanbenhao,0xFF,sizeof(yingjianinbanbenhao));
        yingjianinbanbenhao[0] = u8getSWmsg[5];
        yingjianinbanbenhao[1] = u8getSWmsg[6];
        yingjianinbanbenhao[2] = u8getSWmsg[7];
    }
    else if(u8getSWmsg[0] == 0x21)
    {
        yingjianinbanbenhao[3] = u8getSWmsg[1];
        yingjianinbanbenhao[4] = u8getSWmsg[2];
        yingjianinbanbenhao[5] = u8getSWmsg[3];
        yingjianinbanbenhao[6] = 0xFF;
        // General_Number_Disp(yingjianinbanbenhao, 03, 175);
        UDSStep = 3;
    }
}

void Get_HWOUT_msg(void)
{
    u8getSWmsg[0] = Get_CAN_CH0_ID_7EB_byte0_Sig();
    u8getSWmsg[1] = Get_CAN_CH0_ID_7EB_byte1_Sig();
    u8getSWmsg[2] = Get_CAN_CH0_ID_7EB_byte2_Sig();
    u8getSWmsg[3] = Get_CAN_CH0_ID_7EB_byte3_Sig();
    u8getSWmsg[4] = Get_CAN_CH0_ID_7EB_byte4_Sig();
    u8getSWmsg[5] = Get_CAN_CH0_ID_7EB_byte5_Sig();
    u8getSWmsg[6] = Get_CAN_CH0_ID_7EB_byte6_Sig();
    u8getSWmsg[7] = Get_CAN_CH0_ID_7EB_byte7_Sig();
    if((u8getSWmsg[0] == 0x10) && (u8getSWmsg[4] == 0x93))
    {
        memset(yingjianoutbanbenhao,0xFF,sizeof(yingjianoutbanbenhao));
        yingjianoutbanbenhao[0] = u8getSWmsg[5];
        yingjianoutbanbenhao[1] = u8getSWmsg[6];
        yingjianoutbanbenhao[2] = u8getSWmsg[7];
    }
    else if(u8getSWmsg[0] == 0x21)
    {
        yingjianoutbanbenhao[3] = u8getSWmsg[1];
        yingjianoutbanbenhao[4] = u8getSWmsg[2];
        yingjianoutbanbenhao[5] = u8getSWmsg[3];
        yingjianoutbanbenhao[6] = u8getSWmsg[4];
        yingjianoutbanbenhao[7] = u8getSWmsg[5];
        yingjianoutbanbenhao[8] = 0xFF;
        // General_Number_Disp(yingjianoutbanbenhao, 03, 225);
        UDSStep = 4;
    }
}
uint8_t PNresult = 0;
uint8_t lingjianhao1[9] = {1,0x0D,0,0,5,5,4,3,0xff};
// uint8_t lingjianhao1 [10] = {2,13,2,5,97,0,5,2,8,0xff};
void Get_PN_msg(void)
{
    u8getSWmsg[0] = Get_CAN_CH0_ID_7EB_byte0_Sig();
    u8getSWmsg[1] = Get_CAN_CH0_ID_7EB_byte1_Sig();
    u8getSWmsg[2] = Get_CAN_CH0_ID_7EB_byte2_Sig();
    u8getSWmsg[3] = Get_CAN_CH0_ID_7EB_byte3_Sig();
    u8getSWmsg[4] = Get_CAN_CH0_ID_7EB_byte4_Sig();
    u8getSWmsg[5] = Get_CAN_CH0_ID_7EB_byte5_Sig();
    u8getSWmsg[6] = Get_CAN_CH0_ID_7EB_byte6_Sig();
    u8getSWmsg[7] = Get_CAN_CH0_ID_7EB_byte7_Sig();
    if((u8getSWmsg[0] == 0x07) && (u8getSWmsg[3] == 0x87))
    {
        memset(lingjianhao,0xFF,sizeof(lingjianhao));
        lingjianhao[0] = u8getSWmsg[4];
        lingjianhao[1] = u8getSWmsg[5];
        lingjianhao[2] = u8getSWmsg[6];
        lingjianhao[3] = u8getSWmsg[7];
        lingjianhao[4] = 0xFF;
        lingjianhaodisplay[0] = lingjianhao[0] / 16;
        lingjianhaodisplay[1] = lingjianhao[0] % 16;
        lingjianhaodisplay[2] = lingjianhao[1] / 16;
        lingjianhaodisplay[3] = lingjianhao[1] % 16;
        lingjianhaodisplay[4] = lingjianhao[2] / 16;
        lingjianhaodisplay[5] = lingjianhao[2] % 16;
        lingjianhaodisplay[6] = lingjianhao[3] / 16;
        lingjianhaodisplay[7] = lingjianhao[3] % 16;
        lingjianhaodisplay[8] = 0xff;
        // General_Number_Disp_No_Conver(lingjianhaodisplay, 03, 275);
        UDSStep = 5;
    }
}
uint8_t writebeing = 1;
uint8_t UIDresult = 0;
void Get_UID_msg(void)
{
    // u8get714msg[0] = Get_CAN_CH0_ID_7A9_byte0_Sig();
    // u8get714msg[1] = Get_CAN_CH0_ID_7A9_byte1_Sig();
    // u8get714msg[2] = Get_CAN_CH0_ID_7A9_byte2_Sig();
    // u8get714msg[3] = Get_CAN_CH0_ID_7A9_byte3_Sig();
    // u8get714msg[4] = Get_CAN_CH0_ID_7A9_byte4_Sig();
    // u8get714msg[5] = Get_CAN_CH0_ID_7A9_byte5_Sig();
    // u8get714msg[6] = Get_CAN_CH0_ID_7A9_byte6_Sig();
    // u8get714msg[7] = Get_CAN_CH0_ID_7A9_byte7_Sig();
    // if((u8get714msg[0] == 0x10) && (u8get714msg[4] == 0x01) && (UIDresult == 0))
    // {
    //     memset(UIDcode1,0xFF,sizeof(UIDcode1));
    //     // memcpy(UIDcode1,&u8get714msg[1],32);
    //     UIDcode1[0] = u8get714msg[5];
    //     UIDcode1[1] = u8get714msg[6];
    //     UIDcode1[2] = u8get714msg[7];
    //     UIDresult = 1;
    // }
    // if((u8get714msg[0] == 0x21) && (UIDresult == 1))
    // {
    //    UIDcode1[3] = u8get714msg[1];
    //    UIDcode1[4] = u8get714msg[2];
    //    UIDcode1[5] = u8get714msg[3];
    //    UIDcode1[6] = u8get714msg[4];
    //    UIDcode1[7] = u8get714msg[5];
    //    UIDcode1[8] = u8get714msg[6];
    //    UIDcode1[9] = u8get714msg[7];
    //    UIDresult = 2;
    // }
    // else if((u8get714msg[0] == 0x22) && (UIDresult == 2))
    // {
    //     UIDcode1[10] = u8get714msg[1];
    //     UIDcode1[11] = u8get714msg[2];
    //     UIDcode1[12] = u8get714msg[3];
    //     UIDcode1[13] = u8get714msg[4];
    //     UIDcode1[14] = u8get714msg[5];
    //     UIDcode1[15] = u8get714msg[6];
    //     UIDcode1[16] = u8get714msg[7];
    //     UIDresult = 3;
    // }
    // else if((u8get714msg[0] == 0x23) && (UIDresult == 3))
    // {
    //     UIDcode1[17] = u8get714msg[1];
    //     UIDcode1[18] = u8get714msg[2];
    //     UIDcode1[19] = u8get714msg[3];
    //     UIDcode1[20] = u8get714msg[4];
    //     UIDcode1[21] = u8get714msg[5];
    //     UIDcode1[22] = u8get714msg[6];
    //     UIDcode1[23] = u8get714msg[7];
    //     UIDresult = 4;
    // }
    // else if((u8get714msg[0] == 0x24) && (UIDresult == 4))
    // {
    //     UIDcode1[24] = u8get714msg[1];
    //     UIDcode1[25] = u8get714msg[2];
    //     UIDcode1[26] = u8get714msg[3];
    //     UIDcode1[27] = u8get714msg[4];
    //     UIDcode1[28] = u8get714msg[5];
    //     UIDcode1[29] = u8get714msg[6];
    //     UIDcode1[30] = u8get714msg[7];
    //     UIDresult = 5;
    // }
    // else if((u8get714msg[0] == 0x25) && (UIDresult == 5))
    // {
    //     UIDcode1[31] = u8get714msg[1];
    //     UIDcode1[32] = 0xFF;
    //     // for(int i = 0;i<33;i++)
    //     // {
    //     //     if(UIDcode2[i] != UIDcode1[i])
    //     //     {
    //     UIDresult = 6;
    //     if(writebeing)
    //     {
    //         General_Number_Disp(UIDcode1, 95, 225);
    //         writebeing = 0;
    //     }

    //     if(UIDNumber2[13] < 9)
    //     {
    //         UIDNumber2[13]++;
    //     }
    //     else
    //     {
    //         UIDNumber2[13] = 0;
    //         if(UIDNumber2[12] < 9)
    //         {
    //             UIDNumber2[12]++;
    //         }
    //         else
    //         {
    //             UIDNumber2[12] = 0;
    //             if(UIDNumber2[11] < 9)
    //             {
    //                 UIDNumber2[11]++;
    //             }
    //             else
    //             {
    //                 UIDNumber2[11] = 0;
    //                 if(UIDNumber2[10] < 9)
    //                 {
    //                     UIDNumber2[10]++;
    //                 }
    //                 else
    //                 {
    //                     UIDNumber2[10] = 0;
    //                     if(UIDNumber2[9] < 9)
    //                     {
    //                         UIDNumber2[9]++;
    //                     }
    //                     else
    //                     {
    //                         UIDNumber2[9] = 0;
    //                     }
    //                 }
    //             }
    //         }
    //     }     
    //     //     }
    //     // }
    //     // for(int i = 0;i<33;i++)
    //     // {
    //     //     UIDcode2[i] = UIDcode1[i];
    //     // }
    //     // UIDresult = 6;
    //     // zhenduanstep = 12;
    // }
    // // else if((u8get714msg[0] == 0x02) && (UIDresult == 6))
    // // {
    // //     zhenduanstep = 9;
    // // }
}


uint32_t ValidSeedKey;
const uint32_t diagKeyP2 = 0x8ADB2275;
const uint32_t diagKeyP1 = 0x354EAF42;
uint8_t Key[4];
uint8_t seed_result[4]; 
uint32_t GenerateKey(uint8_t *Seed)
{
    uint32_t seed_val = 0;
    
    
    seed_val = ((uint32_t)Seed[3] << 24u) + ((uint32_t)Seed[2] << 16u) + ((uint32_t)Seed[1] << 8u)  + ((uint32_t)Seed[0]);
    
    uint32_t temp = seed_val * diagKeyP2;
    temp = diagKeyP1 ^ temp;
    
    Key[0] = (uint8_t)(temp);
    Key[1] = (uint8_t)((temp >> 8u)) ;
    Key[2] = (uint8_t)((temp >> 16u));
    Key[3] = (uint8_t)((temp >> 24u));
    
    ValidSeedKey =((uint32_t)Key[3] << 24u) + ((uint32_t)Key[2] << 16u) + ((uint32_t)Key[1] << 8u)  + ((uint32_t)Key[0]);
    
    return ValidSeedKey;


    // unsigned char i = 0u;
	// unsigned char T1[4u] = { 0u };
	// unsigned char T2[4u] = { 0u };
	// unsigned char Xor[4u] = { 0u };
    // unsigned char arr[4u] = { 0u };
	// unsigned char KeyConst[4u] = { 0u };
	// unsigned char KeyConst_L1[4u] = { 0xACu, 0x89u, 0x18u, 0xF2u };
    // unsigned char iSeedArray[4u] = { 0u };
    // for (i = 0u; i < 4u; i++)
	// {
    //     iSeedArray[i] = Seed[i];
    // }

	// Xor[0u] = iSeedArray[2u];
	// Xor[1u] = iSeedArray[3u];
	// Xor[2u] = iSeedArray[0u];
	// Xor[3u] = iSeedArray[1u];

	// for (i = 0u; i < 4u; i++)
	// {
	// 	KeyConst[i] = KeyConst_L1[i];
	// }

	// for (i = 0u; i < 4u; i++)
	// {
	// 	T1[i] = iSeedArray[i] ^ KeyConst[i];
	// 	T2[i] = Xor[i] ^ KeyConst[i];
	// 	arr[i] = (T1[i] + T2[i]) & 0xFFu;
	// }
    // ValidSeedKey = ((uint32_t)arr[0u] <<24u) + ((uint32_t)arr[1u] << 16u) + ((uint32_t)arr[2u] << 8u) + ((uint32_t)arr[3u] );
    // return ValidSeedKey;
}

// void CalculateKey(void)
// {
//     unsigned char i = 0u;
//     unsigned char T1[4u] = { 0u };
//     unsigned char T2[4u] = { 0u };
//     unsigned char Xor[4u] = { 0u };
//     unsigned char arr[4u] = { 0u };
//     unsigned char KeyConst[4u] = { 0u };
//     unsigned char KeyConst_L1[4u] = { 0xACu, 0x89u, 0x18u, 0xF2u };
//     unsigned char iSeedArray[4u] = { 0u };
//     for (i = 0u; i < 4u; i++)
//     {
//         iSeedArray[i] = Seed[i];
//     }

//     Xor[0u] = iSeedArray[2u];
//     Xor[1u] = iSeedArray[3u];
//     Xor[2u] = iSeedArray[0u];
//     Xor[3u] = iSeedArray[1u];

//     for (i = 0u; i < 4u; i++)
//     {
//         KeyConst[i] = KeyConst_L1[i];
//     }

//     for (i = 0u; i < 4u; i++)
//     {
//         T1[i] = iSeedArray[i] ^ KeyConst[i];
//         T2[i] = Xor[i] ^ KeyConst[i];
//         arr[i] = (T1[i] + T2[i]) & 0xFFu;
//     }
//     ValidSeedKey = ((uint32_t)arr[0u] <<24u) + ((uint32_t)arr[1u] << 16u) + ((uint32_t)arr[2u] << 8u) + ((uint32_t)arr[3u] );
//    
// }
uint8_t chaengUDSstep = 0;
uint8_t seednum[4] = {0};
uint32_t UDS_time = 0;
extern uint32_t fakedelay;
uint8_t resettime = 0;
extern uint32_t fakedelay;
uint32_t resetpowtime = 0;
uint32_t FUresetpowtime = 0;
uint8_t fuelreset1 = 0;
uint8_t fuelreset2 = 0;
uint8_t fuelreset3 = 0;
uint8_t fuelreset4 = 0;
void resetpowerfuel(void)
{
    // if(FUresetpowtime < 100)
    // {
    //     FUresetpowtime++;
    //     POWER_CTRL_KL30   = 0u;  //B+
    //     POWER_CTRL_KL15   = 0u;  //KL15
    // }
    // else
    // {
    //     POWER_CTRL_KL30   = 1u;  //B+
    //     POWER_CTRL_KL15   = 1u;  //KL15
    //     FUresetpowtime = 0;
    //     if(fuelreset1 == 1)
    //     {
    //         fuelreset1 = 2;
    //     }
    //     else if(fuelreset2 == 1)
    //     {
    //         fuelreset2 = 2;
    //     }
    //     else if(fuelreset3 == 1)
    //     {
    //         fuelreset3 = 2;
    //     }
    //     else if(fuelreset4 == 1)
    //     {
    //         fuelreset4 = 2;
    //     }
    //     else
    //     {
    //         ;
    //     }

    // }
}
void resetpower(void)
{

    // if(resetpowtime < 100)
    // {
    //     resetpowtime++;
    //     POWER_CTRL_KL30   = 0u;  //B+
    //     POWER_CTRL_KL15   = 0u;  //KL15
    // }
    // else
    // {
    //     POWER_CTRL_KL30   = 1u;  //B+
    //     POWER_CTRL_KL15   = 1u;  //KL15
        
    //     chaengUDSstep = 0;
    //     resettime = 1;
    // }
    // resetflag = 1;
}
void resetchangeUDSfuc(void)
{
    // if((MENU_CHECK_STEP == 0 || MENU_CHECK_STEP == 10) && resettime == 0)
    // {
        
        
    //     fakedelay = 0;
    //     UDS_time = 0;
    //     getseedresult = 0;
    //     fakedelay = 0;
    //     if(MENU_CHECK_STEP == 10)
    //     {
    //         resetpower();
    //     }
    //     else
    //     {
    //         resettime = 1;
    //         chaengUDSstep = 0;
    //     }
        
    // }
    // if(MENU_CHECK_STEP != 0 && MENU_CHECK_STEP != 10)
    // {
    //     resettime = 0;
    // }
}
uint8_t vspeedpeizhi = 0;
uint8_t trackmode = 0;
void change_UDS_DID(void)
{
    // if(MENU_CHECK_STEP != 0)
    // {
    //     vspeedpeizhi = 0x4;
    //     trackmode = 1;
    // }
    // else
    // {
    //     vspeedpeizhi = 0x3;
    //     trackmode = 0;
    // }
    // CAN_Frame_st_t m_msg;
    // uint8_t data[8] = {0, 0, 0, 0, 0, 0, 0, 0};
    // switch (chaengUDSstep)
    // {
    //     case 0:
    //     resetflag = 1;
    //         data[0] = 0x02;
    //         data[1] = 0x10;
    //         data[2] = 0x03;
    //         data[3] = 0xAA;
    //         data[4] = 0xAA;
    //         data[5] = 0xAA;
    //         data[6] = 0xAA;
    //         data[7] = 0xAA;
    //         init_CAN_Frame(&m_msg, 0x7A1, 8, 1, data); 
    //         can_mid(m_msg);
    //         POWER_CTRL_KL30   = 1u;  //B+
    //         POWER_CTRL_KL15   = 1u;  //KL15
    //         chaengUDSstep++;
    //         break;
    //     case 1:
    //         data[0] = 0x02;
    //         data[1] = 0x27;
    //         data[2] = 0x01;
    //         data[3] = 0xAA;
    //         data[4] = 0xAA;
    //         data[5] = 0xAA;
    //         data[6] = 0xAA;
    //         data[7] = 0xAA;
    //         init_CAN_Frame(&m_msg, 0x7A1, 8, 1, data); 
    //         can_mid(m_msg);
    //         chaengUDSstep++;
    //         break;
    //     case 2:
    //         get_seed_msg();
    //         if(getseedresult == 1)
    //         {
    //             chaengUDSstep++;
    //         }
            
    //         break;
    //     case 3:
    //         data[0] = 0x06;
    //         data[1] = 0x27;
    //         data[2] = 0x02;
    //         data[3] = seedresult[0];
    //         data[4] = seedresult[1];
    //         data[5] = seedresult[2];
    //         data[6] = seedresult[3];
    //         data[7] = 0xAA;
    //         init_CAN_Frame(&m_msg, 0x7A1, 8, 1, data); 
    //         can_mid(m_msg);
    //         chaengUDSstep++;
    //         break;
    //     case 4:
    //         data[0] = 0x10;
    //         data[1] = 0x13;
    //         data[2] = 0x2E;
    //         data[3] = 0xF0;
    //         data[4] = 0x10;
    //         data[5] = 0x03;
    //         data[6] = 0xBF;
    //         data[7] = 0xFD;
    //         init_CAN_Frame(&m_msg, 0x7A1, 8, 1, data); 
    //         can_mid(m_msg);
    //         chaengUDSstep++;
    //         break;
    //     case 5:
    //         data[0] = 0x21;
    //         data[1] = 0xE7;
    //         data[2] = vspeedpeizhi;//车速配置四:0x03 车速配置五：0x04
    //         data[3] = 0x03;
    //         data[4] = 0x98;
    //         data[5] = 0x20;
    //         data[6] = 0x00;
    //         data[7] = 0x00;
    //         init_CAN_Frame(&m_msg, 0x7A9, 8, 1, data); 
    //         can_mid(m_msg);
    //         chaengUDSstep++;
    //         break;
    //     case 6:
    //         data[0] = 0x22;
    //         data[1] = 0x00;
    //         data[2] = 0x00;
    //         data[3] = 0x00;
    //         data[4] = 0x00;
    //         data[5] = 0x00;
    //         data[6] = 0x00;
    //         data[7] = 0xAA;
    //         init_CAN_Frame(&m_msg, 0x7A9, 8, 1, data); 
    //         can_mid(m_msg);
    //         chaengUDSstep++;
    //         break;
    //     case 7:
    //     {//履带模式开关
    //         data[0] = 0x04;
    //         data[1] = 0x2E;
    //         data[2] = 0x03;
    //         data[3] = 0x0A;
    //         data[4] = trackmode;//1:开 0：关
    //         data[5] = 0xAA;
    //         data[6] = 0xAA;
    //         data[7] = 0xAA;
    //         init_CAN_Frame(&m_msg, 0x7A1, 8, 1, data); 
    //         can_mid(m_msg);
    //         chaengUDSstep++;
    //         break;
    //     }   

    //     case 8:
    //             // POWER_CTRL_KL30   = 0u;  //B+
    //             // POWER_CTRL_KL15   = 0u;  //KL15
    //             if(UDS_time < 100)
    //             {
    //                 UDS_time++;
    //             }
    //             else
    //             {
    //                 chaengUDSstep++;
    //             }
    //             break;
    //     case 9:
    //             POWER_CTRL_KL30   = 1u;  //B+
    //             POWER_CTRL_KL15   = 1u;  //KL15
    //             if(UDS_time < 50)
    //             {
    //                 UDS_time++;
    //             }
    //             else
    //             {
    //                 chaengUDSstep++;
    //             }
    //             break;
    //     default:
    //     cycleflag = 1;
    //     resetflag = 0;
    //     break;
    // }
}
uint32_t testseed;
void get_seed_msg(void)
{
    if(getseedresult == 1)
    {
        return ;
    }
   u8get714msg[0] = Get_CAN_CH0_ID_7EB_byte0_Sig();
    u8get714msg[1] = Get_CAN_CH0_ID_7EB_byte1_Sig();
    u8get714msg[2] = Get_CAN_CH0_ID_7EB_byte2_Sig();
    u8get714msg[3] = Get_CAN_CH0_ID_7EB_byte3_Sig();
    u8get714msg[4] = Get_CAN_CH0_ID_7EB_byte4_Sig();
    u8get714msg[5] = Get_CAN_CH0_ID_7EB_byte5_Sig();
    u8get714msg[6] = Get_CAN_CH0_ID_7EB_byte6_Sig();
    u8get714msg[7] = Get_CAN_CH0_ID_7EB_byte7_Sig();
    if(u8get714msg[1] == 0x67 && u8get714msg[2] == 0x01)
    {
        memcpy(seednum,&u8get714msg[3],4);
        testseed = GenerateKey(seednum);
        seedresult[3] = (uint8_t)(testseed >> 24);
        seedresult[2] = (uint8_t)(testseed >> 16);
        seedresult[1] = (uint8_t)(testseed >> 8);
        seedresult[0] = (uint8_t)testseed ;
        getseedresult = 1;
        
    }
    // getseedresult = 1;
}
uint8_t opentrackstep = 0;
void Opentracksta(void)
{
    // CAN_Frame_st_t m_msg;
    // uint8_t data[8] = {0, 0, 0, 0, 0, 0, 0, 0};
    // switch (opentrackstep)
    // {
    //     case 0:
    //         data[0] = 0x02;
    //         data[1] = 0x10;
    //         data[2] = 0x03;
    //         data[3] = 0xAA;
    //         data[4] = 0xAA;
    //         data[5] = 0xAA;
    //         data[6] = 0xAA;
    //         data[7] = 0xAA;
    //         init_CAN_Frame(&m_msg, 0x7A1, 8, 1, data); 
    //         can_mid(m_msg);
    //         chaengUDSstep++;
    //         break;
    //     case 1:
    //         data[0] = 0x02;
    //         data[1] = 0x27;
    //         data[2] = 0x01;
    //         data[3] = 0xAA;
    //         data[4] = 0xAA;
    //         data[5] = 0xAA;
    //         data[6] = 0xAA;
    //         data[7] = 0xAA;
    //         init_CAN_Frame(&m_msg, 0x7A1, 8, 1, data); 
    //         can_mid(m_msg);
    //         chaengUDSstep++;
    //         break;
    //     case 2:
    //         get_seed_msg();
    //         if(getseedresult == 1)
    //         {
    //             chaengUDSstep++;
    //         }
            
    //         break;
    //     case 3:
    //         data[0] = 0x06;
    //         data[1] = 0x27;
    //         data[2] = 0x02;
    //         data[3] = seedresult[0];
    //         data[4] = seedresult[1];
    //         data[5] = seedresult[2];
    //         data[6] = seedresult[3];
    //         data[7] = 0xAA;
    //         init_CAN_Frame(&m_msg, 0x7A1, 8, 1, data); 
    //         can_mid(m_msg);
    //         chaengUDSstep++;
    //         break;
    //     case 4:
    //     {
    //         data[0] = 0x04;
    //         data[1] = 0x2E;
    //         data[2] = 0x03;
    //         data[3] = 0x0A;
    //         data[4] = 0x01;
    //         data[5] = 0xAA;
    //         data[6] = 0xAA;
    //         data[7] = 0xAA;
    //         init_CAN_Frame(&m_msg, 0x7A1, 8, 1, data); 
    //         can_mid(m_msg);
    //         chaengUDSstep++;
    //         break;
    //     }   

    //     default:
    //     break;
    // }
}