#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"
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 rolaconter = 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};


    switch (MENU_CHECK_STEP)
    {
        case  1://步骤1
            data1[2] = 0X60;//无效
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[0] = 0;
            // data2[5] = 1;
            /*转速*/
            data2[2] = 0x0F;
            data2[3] = 0xA0;
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 0 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6);
            break;
        case  2:
            data1[2] = 0X60;//无效
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0x01;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[0] = 0;
            // data2[5] = 1;
            /*转速*/
            data2[2] = 0x1F;
            data2[3] = 0x40;
            data2[4] = 0x97;//水温
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 0 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6);
            break;
        case  3:
            data1[2] = 0x20;//WORK
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[0] = 0;
            // data2[5] = 1;
            /*转速*/
            data2[2] = 0x2E;
            data2[3] = 0xE0;
            data2[4] = 0xDF;//水温
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 0 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6);
            break;
        case 4:
            data1[2] = 0X60;//无效
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[0] = 0;
            // data2[5] = 1;
            /*转速*/
            data2[2] = 0x3E;
            data2[3] = 0x80;
            data2[4] = 0xEC;//水温
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 0 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6);
            break;
        case 5:
             data1[2] = 0X60;//无效
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[0] = 0;
            // data2[5] = 1;
            /*转速*/
            data2[2] = 0x4E;
            data2[3] = 0x20;
            data2[4] = 0xEC;//水温
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 0 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6);
            break;
        case 6:
            data1[2] = 0X60;//无效
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[0] = 0;
            // data2[5] = 1;
            /*转速*/
            data2[2] = 0x5D;
            data2[3] = 0xC0;
            data2[4] = 0xEC;//水温
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 0 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6);
            break;
        case 7:
             data1[2] = 0X60;//无效
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[0] = 0;
            // data2[5] = 1;
            /*转速*/
            data2[2] = 0x6D;
            data2[3] = 0x60;
            data2[4] = 0xEC;//水温
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 0 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6);
            break;
        case 8:
            data1[2] = 0X60;//无效
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[0] = 0;
            // data2[5] = 1;
            /*转速*/
            data2[2] = 0x7D;
            data2[3] = 0x00;
            data2[4] = 0xEC;//水温
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 0 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6);
            break;
        case 9:
            data1[2] = 0X60;//无效
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[0] = 0;
            // data2[5] = 1;
            /*转速*/
            data2[2] = 0x8C;
            data2[3] = 0xA0;
            data2[4] = 0xEC;//水温
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 

            data5[1] = 1 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6);
            break;
        case 10:
            data1[2] = 0X60;//无效
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[0] = 0;
            // data2[5] = 1;
            /*转速*/
            data2[2] = 0x9C;
            data2[3] = 0x40;
            data2[4] = 0xEC;//水温
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 0 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6);
            break;
        case 11:
            data1[2] = 0x40;//sport
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[2] = 0x9C;
            data2[3] = 0x40;
            data2[4] = 0xEC;//水温
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 0 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6); 
            
            break;
        case 12://进不去
            data1[2] = 0x00;//normal
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[2] = 0x9C;
            data2[3] = 0x40;
            data2[4] = 0xEC;//水温
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 0 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6); 
            break;
        case 13:
            data1[2] = 0;
            data1[3] = 0x19;
            data1[4] = 0x98;
            data1[5] = 0;
            data1[6] = (rolaconter<<4);;
            data1[7] = CRC8_CheckSum(data1,7);
            init_CAN_Frame(&m_msg1, 0x111, 8, 1, data1); 
        
            data2[2] = 0x9C;
            data2[3] = 0x40;
            init_CAN_Frame(&m_msg2, 0x110, 8, 1, data2); 

            data3[1] = 0;
            init_CAN_Frame(&m_msg3, 0x113, 8, 1, data3); 

            data4[0] = 0;
            data4[1] = 1;
            data4[2] = 1;
            data4[3] = 0;
            data4[4] = 0;
            data4[5] = 0;
            data4[6] = 0;
            data4[7] = 0;
            init_CAN_Frame(&m_msg4, 0x212, 8, 1, data4); 


            data5[1] = 1 ;
            init_CAN_Frame(&m_msg5, 0x282, 8, 1, data5); 

            data6[4] = 2;
            init_CAN_Frame(&m_msg6, 0x091, 8, 1, data6); 
            break;
        // case 14:
        //     // while(1)
        //     // {
        //     //     ;//这里让芯片复位要不然的话重新走仪表配置流程有点麻烦，复位的话可以直接省去修改很多条件
        //     // }
        //     break;
        default:
            break;
    }
    if(MENU_CHECK_STEP != 0 && MENU_CHECK_STEP<=13)
    {
        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);
    }
    if(rolaconter<15)
    {
        rolaconter++;
    }
    else
    {
        rolaconter = 0;
    }
    
}
uint8_t u8get714msg[8];
uint8_t u8getSWmsg[8];
uint8_t SWtestresult = 0;
uint8_t HWtestresult = 0;
uint8_t PNtestresult = 0;
uint8_t ruanjianbanbenhao[8];
uint8_t yingjianbanbenhao[8];
uint8_t lingjianhao[21];
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;
uint32_t GenerateKey(uint8_t *Seed)
{
    const uint8_t Xor[4] = {0x34, 0x66, 0x2E, 0x8D};
    uint8_t key_array[4], Cal[4];
    uint32_t key_value;

    for (size_t i = 0; i < 4; i++)
    {
        Cal[i] = Seed[i] ^ Xor[i];
    }

    key_array[0] = ((Cal[2] & 0xF0) << 4) | (Cal[3] & 0xF0);
    key_array[1] = ((Cal[3] & 0x2F) << 2) | (Cal[1] & 0x03);
    key_array[2] = ((Cal[1] & 0xFC) >> 2) | (Cal[0] & 0xC0);
    key_array[3] = ((Cal[0] & 0x0F) << 4) | (Cal[2] & 0x0F);

    key_value = ((uint32_t)key_array[0] << 24U);
    key_value = key_value | ((uint32_t)key_array[1] << 16U);
    key_value = key_value | ((uint32_t)key_array[2] << 8U);
    key_value = key_value | (uint32_t)key_array[3];

    return (key_value);
}
uint8_t u8_seedresult[4];
uint8_t u8_seednum[4] = {0};
uint32_t u8_finalseed = 0;
uint8_t u8_get_seed_msg(void)
{
    static u8_GetSeedResult = 0;
    if(u8_GetSeedResult == 1)
    {
        return 1;
    }
    u8get714msg[0] = Get_CAN_CH0_ID_794_byte0_Sig();
    u8get714msg[1] = Get_CAN_CH0_ID_794_byte1_Sig();
    u8get714msg[2] = Get_CAN_CH0_ID_794_byte2_Sig();
    u8get714msg[3] = Get_CAN_CH0_ID_794_byte3_Sig();
    u8get714msg[4] = Get_CAN_CH0_ID_794_byte4_Sig();
    u8get714msg[5] = Get_CAN_CH0_ID_794_byte5_Sig();
    u8get714msg[6] = Get_CAN_CH0_ID_794_byte6_Sig();
    u8get714msg[7] = Get_CAN_CH0_ID_794_byte7_Sig();
    if(u8get714msg[1] == 0x67 && u8get714msg[2] == 0x01)
    {
        memcpy(u8_seednum,&u8get714msg[3],4);
        u8_finalseed = GenerateKey(u8_seednum);
        u8_seedresult[0] = (uint8_t)(u8_finalseed >> 24);
        u8_seedresult[1] = (uint8_t)(u8_finalseed >> 16);
        u8_seedresult[2] = (uint8_t)(u8_finalseed >> 8);
        u8_seedresult[3] = (uint8_t)u8_finalseed ;
        u8_GetSeedResult = 1;
        
    }
    return u8_GetSeedResult;
    // getseedresult = 1;
}
void send_0x714_fuc()
{

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

    if(MENU_CHECK_STEP != 0)
    {
        SWtestresult = 0;
        HWtestresult = 0;
        PNtestresult = 0;
    }
    switch (zhenduanstep)
    {
        case 0:
            data7[0] = 0x02;
            data7[1] = 0x10;
            data7[2] = 0x03;
            data7[3] = 0xAA;
            data7[4] = 0xAA;
            data7[5] = 0xAA;
            data7[6] = 0xAA;
            data7[7] = 0xAA;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            break;
        case 1:
            data7[0] = 0x02;
            data7[1] = 0x27;
            data7[2] = 0x01;
            data7[3] = 0xAA;
            data7[4] = 0xAA;
            data7[5] = 0xAA;
            data7[6] = 0xAA;
            data7[7] = 0xAA;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            break;
        case 2:
            if(u8_get_seed_msg() == 1)
            {
                zhenduanstep++;
            }
            
            break;
        case 3:
            data7[0] = 0x06;
            data7[1] = 0x27;
            data7[2] = 0x02;
            data7[3] = u8_seedresult[0];
            data7[4] = u8_seedresult[1];
            data7[5] = u8_seedresult[2];
            data7[6] = u8_seedresult[3];
            data7[7] = 0xAA;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            break;
        case 4:
            data7[0] = 0x10;
            data7[1] = 0x17;
            data7[2] = 0x2E;
            data7[3] = 0xF1;
            data7[4] = 0x87;
            data7[5] = 0x39;
            data7[6] = 0x44;
            data7[7] = 0x52;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            break;
        case 5:
            data7[0] = 0x21;
            data7[1] = 0x56;
            data7[2] = 0x2D;
            data7[3] = 0x31;
            data7[4] = 0x37;
            data7[5] = 0x31;
            data7[6] = 0x30;
            data7[7] = 0x30;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            break;
        case 6:
            data7[0] = 0x22;
            data7[1] = 0x30;
            data7[2] = 0x2D;
            data7[3] = 0x31;
            data7[4] = 0x34;
            data7[5] = 0x30;
            data7[6] = 0x30;
            data7[7] = 0x30;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            break;
        case 7:
            data7[0] = 0x23;
            data7[1] = 0x20;
            data7[2] = 0x20;
            data7[3] = 0x20;
            data7[4] = 0xAA;
            data7[5] = 0xAA;
            data7[6] = 0xAA;
            data7[7] = 0xAA;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            break;
        case 8:
            data7[0] = 0x03;
            data7[1] = 0x22;
            data7[2] = 0xF1;
            data7[3] = 0x95;
            data7[4] = 0xAA;
            data7[5] = 0xAA;
            data7[6] = 0xAA;
            data7[7] = 0xAA;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            break;
        case 9:
            data7[0] = 0x30;
            data7[1] = 0x00;
            data7[2] = 0x00;
            data7[3] = 0xAA;
            data7[4] = 0xAA;
            data7[5] = 0xAA;
            data7[6] = 0xAA;
            data7[7] = 0xAA;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            Get_SW_msg();
            break;
        case 10:
            Get_SW_msg();
            zhenduanstep++;
        break;
        case 11:
            data7[0] = 0x03;
            data7[1] = 0x22;
            data7[2] = 0xF1;
            data7[3] = 0x93;
            data7[4] = 0xAA;
            data7[5] = 0xAA;
            data7[6] = 0xAA;
            data7[7] = 0xAA;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            break;
        case 12:
            data7[0] = 0x30;
            data7[1] = 0x00;
            data7[2] = 0x00;
            data7[3] = 0xAA;
            data7[4] = 0xAA;
            data7[5] = 0xAA;
            data7[6] = 0xAA;
            data7[7] = 0xAA;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            break;
        case 13:
            Get_HW_msg();
            zhenduanstep++;
            break;
        case 14:
            data7[0] = 0x03;
            data7[1] = 0x22;
            data7[2] = 0xF1;
            data7[3] = 0x87;
            data7[4] = 0xAA;
            data7[5] = 0xAA;
            data7[6] = 0xAA;
            data7[7] = 0xAA;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            break;
        case 15:
            Get_PN_msg();
            data7[0] = 0x30;
            data7[1] = 0x00;
            data7[2] = 0x00;
            data7[3] = 0xAA;
            data7[4] = 0xAA;
            data7[5] = 0xAA;
            data7[6] = 0xAA;
            data7[7] = 0xAA;
            init_CAN_Frame(&m_msg7, 0x714, 8, 1, data7); 
            can_mid(m_msg7);
            zhenduanstep++;
            Get_PN_msg();
            break;
        case 16:
            Get_PN_msg();
            zhenduanstep++;
            break;
        default:
        zhenduanstep = 0;
        cycleflag = 0;
        getmsgfinish = 1;
        send0x714time = 0;
        break;
    }

}

void Get_ID_0x794_Msg(void)
{

}

void Get_SW_msg(void)
{
    if(SWtestresult == 1)
    {
        return ;
    }
    if(zhenduanstep == 9 || zhenduanstep == 10)
    {
        u8getSWmsg[0] = Get_CAN_CH0_ID_794_byte0_Sig();
        u8getSWmsg[1] = Get_CAN_CH0_ID_794_byte1_Sig();
        u8getSWmsg[2] = Get_CAN_CH0_ID_794_byte2_Sig();
        u8getSWmsg[3] = Get_CAN_CH0_ID_794_byte3_Sig();
        u8getSWmsg[4] = Get_CAN_CH0_ID_794_byte4_Sig();
        u8getSWmsg[5] = Get_CAN_CH0_ID_794_byte5_Sig();
        u8getSWmsg[6] = Get_CAN_CH0_ID_794_byte6_Sig();
        u8getSWmsg[7] = Get_CAN_CH0_ID_794_byte7_Sig();
    }

    if(u8getSWmsg[0] == 0x21 && (zhenduanstep == 9 || zhenduanstep == 10))
    {
        memcpy(ruanjianbanbenhao,&u8getSWmsg[1],7);
        ruanjianbanbenhao[7] = 0xFF;
        SWtestresult = 1;
        General_Number_Disp(ruanjianbanbenhao, 105, 25);  
    }

}

void Get_HW_msg(void)
{
    if(HWtestresult == 1)
    {
        return ;
    }
    u8get714msg[0] = Get_CAN_CH0_ID_794_byte0_Sig();
    u8get714msg[1] = Get_CAN_CH0_ID_794_byte1_Sig();
    u8get714msg[2] = Get_CAN_CH0_ID_794_byte2_Sig();
    u8get714msg[3] = Get_CAN_CH0_ID_794_byte3_Sig();
    u8get714msg[4] = Get_CAN_CH0_ID_794_byte4_Sig();
    u8get714msg[5] = Get_CAN_CH0_ID_794_byte5_Sig();
    u8get714msg[6] = Get_CAN_CH0_ID_794_byte6_Sig();
    u8get714msg[7] = Get_CAN_CH0_ID_794_byte7_Sig();
    if(u8get714msg[0] == 0x21 && zhenduanstep == 13)
    {
        memcpy(yingjianbanbenhao,&u8get714msg[1],7);
        yingjianbanbenhao[7] = 0xFF;
        HWtestresult = 1;
        General_Number_Disp(yingjianbanbenhao, 105, 50);  
        HWtestresult = 1;
    }
    
}
uint8_t PNresult = 0;
void Get_PN_msg(void)
{
    if(PNtestresult == 1)
    {
        return ;
    }
    u8get714msg[0] = Get_CAN_CH0_ID_794_byte0_Sig();
    u8get714msg[1] = Get_CAN_CH0_ID_794_byte1_Sig();
    u8get714msg[2] = Get_CAN_CH0_ID_794_byte2_Sig();
    u8get714msg[3] = Get_CAN_CH0_ID_794_byte3_Sig();
    u8get714msg[4] = Get_CAN_CH0_ID_794_byte4_Sig();
    u8get714msg[5] = Get_CAN_CH0_ID_794_byte5_Sig();
    u8get714msg[6] = Get_CAN_CH0_ID_794_byte6_Sig();
    u8get714msg[7] = Get_CAN_CH0_ID_794_byte7_Sig();
    if(u8get714msg[0] == 0x10 && u8get714msg[4] == 0x87 && PNresult == 0)
    {
        memset(lingjianhao,0xFF,sizeof(lingjianhao));
        // memcpy(&lingjianhao[0],&u8get714msg[5],3);
        lingjianhao[0] = u8get714msg[5];
        lingjianhao[1] = u8get714msg[6];
        lingjianhao[2] = u8get714msg[7];
        PNresult = 1;
    }
    else if(u8get714msg[0] == 0x21 && PNresult == 1)
    {
    //    memcpy(&lingjianhao[3],&u8get714msg[1],7);
       lingjianhao[3] = u8get714msg[1];
       lingjianhao[4] = u8get714msg[2];
       lingjianhao[5] = u8get714msg[3];
       lingjianhao[6] = u8get714msg[4];
       lingjianhao[7] = u8get714msg[5];
       lingjianhao[8] = u8get714msg[6];
       lingjianhao[9] = u8get714msg[7];
       PNresult = 2;
    }
    else if(u8get714msg[0] == 0x22 && PNresult == 2)
    {
        // memcpy(&lingjianhao[10],&u8get714msg[1],7);
        lingjianhao[10] = u8get714msg[1];
        lingjianhao[11] = u8get714msg[2];
        lingjianhao[12] = u8get714msg[3];
        lingjianhao[13] = u8get714msg[4];
        lingjianhao[14] = u8get714msg[5];
        lingjianhao[15] = u8get714msg[6];
        // lingjianhao[16] = u8get714msg[7];
        PNresult = 3;
    }
    else if(u8get714msg[0] == 0x23 && PNresult == 3)
    {
        // lingjianhao[21] = 0xFF;
        // memcpy(&lingjianhao[17],&u8get714msg[1],7);
        General_Number_Disp(lingjianhao, 15, 100);  
        PNtestresult = 1;
    }
    

}


uint8_t chaengUDSstep = 0;
uint8_t getseedresult = 0;
uint8_t seednum[4] = {0};
uint8_t seedresult[4] = {0};
void get_seed_msg(void);
uint32_t UDS_time = 0;
extern uint32_t fakedelay;
uint8_t resettime = 0;
uint8_t resetflag = 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;
uint32_t Get_ODO_Value(void)
{
    return (uint32_t)((Get_Can_Ch0_ID_151_ODOH_Sig()<<16) | (Get_Can_Ch0_ID_151_ODOM_Sig() << 8) | Get_Can_Ch0_ID_151_ODOL_Sig());
}
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, 0x714, 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, 0x714, 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, 0x714, 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] = 0x02;
            data[6] = 0xBF;
            data[7] = 0xFD;
            init_CAN_Frame(&m_msg, 0x714, 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, 0x714, 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, 0x714, 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, 0x714, 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_794_byte0_Sig();
    u8get714msg[1] = Get_CAN_CH0_ID_794_byte1_Sig();
    u8get714msg[2] = Get_CAN_CH0_ID_794_byte2_Sig();
    u8get714msg[3] = Get_CAN_CH0_ID_794_byte3_Sig();
    u8get714msg[4] = Get_CAN_CH0_ID_794_byte4_Sig();
    u8get714msg[5] = Get_CAN_CH0_ID_794_byte5_Sig();
    u8get714msg[6] = Get_CAN_CH0_ID_794_byte6_Sig();
    u8get714msg[7] = Get_CAN_CH0_ID_794_byte7_Sig();
    if(u8get714msg[1] == 0x67 && u8get714msg[2] == 0x01)
    {
        memcpy(seednum,&u8get714msg[3],4);
        testseed = GenerateKey(seednum);
        seedresult[0] = (uint8_t)(testseed >> 24);
        seedresult[1] = (uint8_t)(testseed >> 16);
        seedresult[2] = (uint8_t)(testseed >> 8);
        seedresult[3] = (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, 0x714, 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, 0x714, 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, 0x714, 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, 0x714, 8, 1, data); 
            can_mid(m_msg);
            chaengUDSstep++;
            break;
        }   

        default:
        break;
    }
}