#include "uds_config.h"
#include "uds_nvm.h"
#include "BSP_CAN.h"
#if BOOTLOADER_CODE_FLAG == 0

#else

#endif


//INT32U g_ulRand=0;
DIDs gDIDCache;


//uint8_t g_testerprogramdateflag = false;
//uint8_t g_testerserialnubnerflag = false;

//extern INT8U strMcuAppst[4];
//extern INT8U strMcuAppDate[4];
extern INT32U ParseCanRxCnt;
extern uint32_t FBL_AppSize;


//_HSCANERROR HsCanError;
uint32_t g_ulCanStatus;
 
VehicleInfo2UdsType vehicleInfo2uds;

UdsInfo2VehicleType udsInfo2Vehicle={true,true,true,true,true};

//UdsInfo2VehicleType udsInfo2Vehicle = {
//    .NcmRxEnable = true,
//    .NcmTxEnable = true,
//    .NmcmRxEnable = true,
//    .NmcmTxEnable = true,
//    .UdsOffLine = true,
//};
 

uint8_t diagStart_InitTimer = 0;
uint8_t diagStart_Timer = 0;
DTC_STRUCT dtcComm;
DTC_StatusType dtcStatusBak;
DTC_Fault_Flags faultInfo;       //故障信息
DTC_Options dtcOptions;
const uint32_t DTC_LIST_TABLE[DTC_ID_NUM] = {
    DTC_FOREACH(GENERATE_DTC_VALUE_ARRAY)
};


void DID_SignalInit(void)
{
    uint8_t i;
    uint8_t index;
    uint16_t size;
    uint8_t *cachePtr, *didPtr;
    uint8_t *nvmDidPtr;
    DIDS_NvmType *dids;

    EE_Read(NVM_IMAGE_DID_ADDR, (uint8_t **)&dids);
    cachePtr = (uint8_t *)&gDIDCache;

    for (i = 0; i < DID_StoreInFlash_NUM; i++) {
        index = GetDIDIndexByID(DIDStoreInFlashId[i]);

        if (index != 0xff) {
            didPtr = cachePtr + DIDOffset[index];
            size = DIDStoreInFlashSize[i];
            nvmDidPtr = (uint8_t *)dids + DIDStoreInFlashOffset[i];

            if (CRC16_DataCheck(nvmDidPtr, size) == 0) {
                memcpy(didPtr, nvmDidPtr, size);
            }
        }
    }

#if BOOTLOADER_CODE_FLAG == 0
    memcpy(gDIDCache.DID_BootSoftware, (uint8_t *)GetBootloaderSwVersionAddress(), \
           DIDSize[BootSoftware]);
#endif
}

void DTC_SignalInit(void)
{
#if BOOTLOADER_CODE_FLAG == 0
    uint8_t index;
    uint8_t size;
    DTCS_NvmType *dtc, *dtcBak;

    EE_Read(NVM_IMAGE_DTC_ADDR, (uint8_t **)&dtc);
    size = sizeof(DTC_RecordDataBufType);

    for (index = 0; index < DTC_ID_NUM; index++) {
        if (CRC16_DataCheck((uint8_t *)&dtc->DTC_Status.recordData[index], size - 2) == 0) {
            memcpy((uint8_t *)&dtcComm.DTCStatus.recordData[index], (uint8_t *)&dtc->DTC_Status.recordData[index], size);
            memcpy((uint8_t *)&dtcStatusBak.recordData[index], (uint8_t *)&dtc->DTC_Status.recordData[index], size);
        }

        if (dtcComm.DTCStatus.recordData[index].status == ((1 << DTC_STATUS_Test_Failed) | (1 << DTC_STATUS_Confirmed_DTC))) {
            faultInfo.w |= 1 << index;
        }
    }

    diagStart_InitTimer = DIAG_START_INIT_TIME;
    diagStart_Timer = DIAG_START_TIME;
    dtcOptions.w = 0xffffffff;
#endif
}

void UDS_ServiceInit(void)
{
    //ECU 上电或复位后默认处于闭锁状态，且需启动 10s 的安全访问延时时间，同时错误计数器重置为零。
    UdsService.KeyErrLockTimer = 10;
    UdsService.KeyLockFlg = true;
    UdsService.KeyErrCnt = 0;

    UdsService.SessionDiagModel = _UDS_DEFAULT_SESSION;
    UdsService.SeedKeyIsOK = 0;
    UdsService.AlreadSendSeed = false;
    UdsService.SessionTimer = 0;
    UdsService.NcmDisRxAndTx = 0;
    UdsService.NmcmDisRxAndTx = 0;
    UdsService.DisDTCRecord = 0;
	

   
}

void DTC_SignalRecover(void)
{

}


void GenRand(void)
{

}


#if BOOTLOADER_CODE_FLAG == 0

void SnapshotRecordLoad(DTC_RecordDataBufType *record)
{
	record->snapshot = vehicleInfo2uds.Snapshot;
}

uint8_t SnapshotRecordFill(uint8_t *data, DTC_SnapshotType *snapshot)
{
    uint8_t j = 0;

    data[j++] = (uint8_t)(0x4703 >> 8);
    data[j++] = (uint8_t)(0x4703 & 0x00ff);
    data[j++] = snapshot->PowerMode;
    data[j++] = (uint8_t)(0x4706 >> 8);
    data[j++] = (uint8_t)(0x4706 & 0x00ff);
    data[j++] = snapshot->TolOdometerH;
    data[j++] = snapshot->TolOdometerM;
    data[j++] = snapshot->TolOdometerL;
    data[j++] = (uint8_t)(0x470A >> 8);
    data[j++] = (uint8_t)(0x470A & 0x00ff);
    data[j++] = snapshot->DateSec & 0x3f;
    data[j++] = snapshot->DateMin & 0x3f;
    data[j++] = snapshot->DateHour & 0x1f;
    data[j++] = snapshot->DateDay & 0x1f;
    data[j++] = snapshot->DateMonth & 0x1f;
    data[j++] = snapshot->DateYear & 0x3f;
    data[j++] = (uint8_t)(0x470E >> 8);
    data[j++] = (uint8_t)(0x470E & 0x00ff);
    data[j++] = snapshot->VehSpeedH;
    data[j++] = snapshot->VehSpeedL;
    data[j++] = (uint8_t)(0x470F >> 8);
    data[j++] = (uint8_t)(0x470F & 0x00ff);
    data[j++] = snapshot->BatVolt;
    data[j++] = (uint8_t)(0x4710 >> 8);
    data[j++] = (uint8_t)(0x4710 & 0x00ff);
    data[j++] = (uint8_t)(snapshot->SOC >> 8);
    data[j++] = (uint8_t)(snapshot->SOC >> 0);

    return j;
}

uint8_t DiagDtcSnapshotRecordFill(uint8_t sub_func, DTC_MaskRecordTpye mask_record,
            uint8_t snap_record_num, DTC_RecordDataBufType *record_data, uint8_t *data_buf, uint8_t *length)
{
    uint8_t ii = 0;
    uint8_t ret = 1;

    if (snap_record_num == 1 || snap_record_num == 0xff) {
        data_buf[(*length)++] = DIAG_SERVE_READ_DTC|0x40;
        data_buf[(*length)++] = sub_func;

        for (ii=0; ii<DTC_ID_NUM; ii++) {
            if ((mask_record.dtc & 0x00ffffff) == DTC_LIST_TABLE[ii]) {
                ret = 0;
                data_buf[(*length)++] = mask_record.DTCHightByte;
                data_buf[(*length)++] = mask_record.DTCMiddleByte;
                data_buf[(*length)++] = mask_record.DTCLowByte;
                data_buf[(*length)++] = record_data[ii].status;

                switch (snap_record_num) {
                    case 0x01:
                    case 0xff:
                        if (record_data[ii].extended.FaultCounter == 0) {
                            break;
                        }
                        data_buf[(*length)++] = 1;
                        data_buf[(*length)++] = 6;	
                        *length += SnapshotRecordFill(&data_buf[*length], &record_data[ii].snapshot);
                        break;
                    }
                break;
            }
        }
    }
    return ret;
}

uint8_t DiagDtcExtendedDataRecordFill(uint8_t subFunc, DTC_MaskRecordTpye mask_record,
            uint8_t extended_record_num, DTC_RecordDataBufType *record_data, uint8_t *data_buf, uint8_t *length)
{
    uint8_t ii = 0;
    uint8_t ret = 1;

    if (extended_record_num == 0x01 \
        || extended_record_num == 0xff) {
        data_buf[(*length)++] = DIAG_SERVE_READ_DTC|0x40;
        data_buf[(*length)++] = subFunc;

        for (ii=0; ii<DTC_ID_NUM; ii++) {
            if ((mask_record.dtc & 0x00ffffff) == DTC_LIST_TABLE[ii]) {
                ret = 0;
                data_buf[(*length)++] = mask_record.DTCHightByte;
                data_buf[(*length)++] = mask_record.DTCMiddleByte;
                data_buf[(*length)++] = mask_record.DTCLowByte;
                data_buf[(*length)++] = record_data[ii].status;

                switch (extended_record_num) {
                case 0x01:
                case 0xff:
                    data_buf[(*length)++] = 0x01;
                    data_buf[(*length)++] = record_data[ii].extended.FaultCounter;
                    data_buf[(*length)++] = record_data[ii].extended.FaultCounterOfAge;
                    data_buf[(*length)++] = record_data[ii].extended.FaultAgingCounter;
                    break;
                }
                break;
            }
        }
    }
    return ret;
}

void IO_InputOutputRelease(void)
{

}

void DiagUpdateDtcValue(uint8_t index, uint8_t status)
{
    DTC_RecordDataBufType *dtc_record_data;

    dtc_record_data = &dtcComm.DTCStatus.recordData[index];

    if (index >= DTC_ID_NUM) {
        return;
    }
    if (dtc_record_data->status != status) {
		if (status == ((1<<DTC_STATUS_Test_Failed) | (1<<DTC_STATUS_Confirmed_DTC))) {
			SnapshotRecordLoad(dtc_record_data);
			
			if (dtc_record_data->extended.FaultCounter != 0xff) {
				dtc_record_data->extended.FaultCounter ++;
			}
		}
		dtc_record_data->extended.FaultAgingCounter = 0;
	}

    dtc_record_data->status = status;
}


//电压正且非busoff、电源ON下
void DiagFaultsMonitor(void)
{

    if (faultInfo.b.fECU_VOLTAGE_HIGH)return;

    if (faultInfo.b.fECU_VOLTAGE_LOW)return;

    if (CheckIsIgnON()) {

    	if (vehicleInfo2uds.InOverVoltFault) {
    		faultInfo.b.fINPUT_OVERVOLTAGE = 1;
    	} else {
    		faultInfo.b.fINPUT_OVERVOLTAGE = 0;
    	}

    	if (vehicleInfo2uds.InUnderVoltFault) {
    		faultInfo.b.fINPUT_UNDERVOLTAGE = 1;
    	} else {
    		faultInfo.b.fINPUT_UNDERVOLTAGE = 0;
    	}

    	if (vehicleInfo2uds.OutOverVoltFault) {
    		faultInfo.b.fOUTPUT_OVERVOLTAGE = 1;
    	} else {
    		faultInfo.b.fOUTPUT_OVERVOLTAGE = 0;
    	}

    	if (vehicleInfo2uds.OutUnderVoltFault) {
    		faultInfo.b.fOUTPUT_UNDERVOLTAGE = 1;
    	} else {
    		faultInfo.b.fOUTPUT_UNDERVOLTAGE = 0;
    	}

    	if (vehicleInfo2uds.InOverCurFault) {
    		faultInfo.b.fINPUT_OVERCURRENT = 1;
    	} else {
    		faultInfo.b.fINPUT_OVERCURRENT = 0;
    	}

    	if (vehicleInfo2uds.OutOverCurFault) {
    		faultInfo.b.fOUTPUT_OVERCURRENT = 1;
    	} else {
    		faultInfo.b.fOUTPUT_OVERCURRENT = 0;
    	}

    	if (vehicleInfo2uds.OverTemperture) {
    		faultInfo.b.fOVERTEMPERTURE = 1;
    	} else {
    		faultInfo.b.fOVERTEMPERTURE = 0;
    	}
    	
        if (CheckIsCanBusoff()) {
            if (vehicleInfo2uds.BusoffCnt >= 8)
            {
                faultInfo.b.fECU_ENTER_BUSOFF = 1;
            }
        } else {
            faultInfo.b.fECU_ENTER_BUSOFF = 0;
        }

        if (CheckIsCanBusoff())return;
    }

}

void GetBatteryStatus(void)
{

    if (CheckIsBatteryHigh()) {
        faultInfo.b.fECU_VOLTAGE_HIGH = 1;
    } else {
        faultInfo.b.fECU_VOLTAGE_HIGH = 0;
    }

    if (CheckIsBatteryLow()) {
        faultInfo.b.fECU_VOLTAGE_LOW = 1;
    } else {
        faultInfo.b.fECU_VOLTAGE_LOW = 0;
    }

}

void DtcAging_Process(void)
{
    uint8_t index;
    DTC_RecordDataBufType *dtc_record_data;
    static uint8_t ignStsBak = 1;

    if (ignStsBak != vehicleInfo2uds.IgnSts) {
        ignStsBak = vehicleInfo2uds.IgnSts;

        if (vehicleInfo2uds.IgnSts) {
            for (index = 0; index < DTC_ID_NUM; index++) {
                dtc_record_data = &dtcComm.DTCStatus.recordData[index];
                if (dtc_record_data->status == (1 << DTC_STATUS_Confirmed_DTC)) {
                    dtc_record_data->extended.FaultAgingCounter++;
                    if (dtc_record_data->extended.FaultAgingCounter >= 40) {
                        dtc_record_data->extended.FaultAgingCounter = 0;
                        dtc_record_data->status = 0;
                        if (dtc_record_data->extended.FaultCounterOfAge != 0xff) {
                            dtc_record_data->extended.FaultCounterOfAge++;
                        }
                    }
                }
            }
        }
    }
}

void ClearHardwareFault(void)
{
	UdsApi_HardwareFault_ForceClear();
}

void GetFaultInfo(void)
{
    uint8_t shift, status;
    uint8_t size;
    uint16_t crc16;
    DTC_Fault_Flags littleFault;
    DTC_RecordDataBufType *pDtcRecordData;
    static uint32_t timer_500ms = 0;

    GetBatteryStatus();

    if (diagStart_InitTimer > 0) {  //电压正常后才计数
        diagStart_InitTimer --;

        return;
    }

    DiagFaultsMonitor();

    if (UdsService.DisDTCRecord) {
        return;
    }

    DtcAging_Process();

    if (DTC_ID_NUM <= 32) {
        //littleFault.w= BigLittleSwap32(faultInfo.w);
        littleFault.w = faultInfo.w;

        for (shift = 0; shift < DTC_ID_NUM; shift++) {

            if ((littleFault.w >> shift) & 0x00000001) {
                status = (1 << DTC_STATUS_Test_Failed) | (1 << DTC_STATUS_Confirmed_DTC); //当前故障
            } else {
                status = dtcComm.DTCStatus.recordData[shift].status & (~(1 << DTC_STATUS_Test_Failed));
            }

            DiagUpdateDtcValue(shift, status);
        }
    } else {
        //超出32个的，需要特殊处理
    }

    if (++timer_500ms > 50) {
        timer_500ms = 0;
        size = sizeof(DTC_RecordDataBufType);

        for (shift = 0; shift < DTC_ID_NUM; shift++) {
            pDtcRecordData = &dtcComm.DTCStatus.recordData[shift];

            if (pDtcRecordData->status != dtcStatusBak.recordData[shift].status \
                /*|| dtcComm.DTCStatus.recordData[shift].extended.FaultCounterOfAge != dtcStatusBak.recordData[shift].extended.FaultCounterOfAge*/) {
                crc16 = CRC_Cal16_WithCfg((uint8_t *)pDtcRecordData, size - 2);
                pDtcRecordData->crc16[0] = (uint8_t)crc16;
                pDtcRecordData->crc16[1] = (uint8_t)(crc16 >> 8);

                dtcStatusBak.recordData[shift].status = pDtcRecordData->status;
                EE_Write(NVM_IMAGE_DTC_ADDR + (size * shift), (uint8_t *)pDtcRecordData, size, NULL);
            }
        }
    }
    

}


void ClearDtc(void)
{
    uint8_t shift;
    uint16_t crc16;
    DTC_RecordDataBufType *pDtcRecordData;

    faultInfo.w = 0;

    for (shift = 0; shift < DTC_ID_NUM; shift++) {
        pDtcRecordData = &dtcComm.DTCStatus.recordData[shift];

        memset((uint8_t *)pDtcRecordData, 0x00, sizeof(DTC_RecordDataBufType) - 2);
        crc16 = CRC_Cal16_WithCfg((uint8_t *)pDtcRecordData, sizeof(DTC_RecordDataBufType) - 2);
        pDtcRecordData->crc16[0] = (uint8_t)crc16;
        pDtcRecordData->crc16[1] = (uint8_t)(crc16 >> 8);
    }

    memcpy((uint8_t *)&dtcStatusBak, (uint8_t *)&dtcComm.DTCStatus, sizeof(DTC_StatusType));
    EE_Write(NVM_IMAGE_DTC_ADDR, (uint8_t *)&dtcComm.DTCStatus, sizeof(DTC_StatusType), NULL);
    ClearHardwareFault();
}


bool GetDtcStatusMask(uint8_t *pOut, uint8_t *len, uint8_t subFunc, uint8_t mask)
{
    bool retValue = FALSE;
    uint8_t ii = 0;
    uint8_t j = 0;

    dtcComm.DTCcount.map = 0;
    pOut[j++] = DIAG_SERVE_READ_DTC | 0x40;
    pOut[j++] = subFunc;
    pOut[j++] = DTC_STATUS_Support_Bit_Status;

    //注意 因为没有ECU高低压DTC，故从index2开始读取
    for (ii = 2; ii < DTC_ID_NUM; ii++) {
        /*if (((dtcComm.DTCStatus[ii]&DTC_STATUS_Support_Bit_Status) == (mask&DTC_STATUS_Support_Bit_Status))\
        ||(subFunc == DTC_ReportSupportedDTCs))*/
        if ((dtcComm.DTCStatus.recordData[ii].status & mask) \
            || (dtcComm.DTCStatus.recordData[ii].status == mask)\
            || (subFunc == DTC_ReportSupportedDTCs)) {
            if ((dtcOptions.w >> ii) & 0x00000001) {
                retValue = TRUE;
                dtcComm.DTCcount.map++;
                pOut[j++] = (uint8_t)(DTC_LIST_TABLE[ii] >> 16);
                pOut[j++] = (uint8_t)(DTC_LIST_TABLE[ii] >> 8);
                pOut[j++] = (uint8_t)(DTC_LIST_TABLE[ii] >> 0);
                pOut[j++] = dtcComm.DTCStatus.recordData[ii].status;
            }
        }
    }

    *len = j;
    return retValue;
}
#endif

void DiagDIDStoreFlash(uint16_t id)
{
    uint8_t didIndex, nvmDidIndex;
    //uint16_t offset;
    uint16_t size;
    uint8_t *cachePtr, *didPtr, *nvmDidPtr = NULL;
    uint16_t crc16;
    bool storage_flag = false;

    nvmDidIndex = GetDIDStoreInFlashIndexByID(id);

    if (nvmDidIndex != 0xFF) {
        didIndex = GetDIDIndexByID(id);

        if (didIndex != 0xFF) {
            size = DIDSize[didIndex];
            cachePtr = (uint8_t *)&gDIDCache;
            didPtr = cachePtr + DIDOffset[didIndex];
            crc16 = CRC_Cal16_WithCfg(didPtr, size);
            didPtr[size] = (uint8_t)crc16;
            size++;
            didPtr[size] = (uint8_t)(crc16 >> 8);
            size++;
            nvmDidPtr = (uint8_t *)NVM_IMAGE_DID_ADDR + DIDStoreInFlashOffset[nvmDidIndex];

            if (nvmDidPtr != NULL) {
                EE_Write(nvmDidPtr, didPtr, size, NULL);
            }
        }
    }
}

void IgnChangeProcess(void)
{
    static uint8_t ignStsBak = 1;

    if (ignStsBak != vehicleInfo2uds.IgnSts) {
        ignStsBak = vehicleInfo2uds.IgnSts;

        if (vehicleInfo2uds.IgnSts) {
            UdsService.KeyErrLockTimer = 10;
            UdsService.KeyLockFlg = true;
            UdsService.KeyErrCnt = 0;
            UdsService.SeedKeyIsOK = 0;
        }
    }
}

void CheckDtcHsCanError(void)
{
#if BOOTLOADER_CODE_FLAG == 0
    static uint16_t Timer10msCnt = 0;

#endif


#if BOOTLOADER_CODE_FLAG == 0

    if (++Timer10msCnt >= 10) {
        Timer10msCnt = 0;
        GetFaultInfo();
        IgnChangeProcess();
    }
    gDIDCache.DID_ActiveDiagnosticSession[0] = UdsService.SessionDiagModel;

#endif

    if ((UdsService.UdsTxFlg == true) && (UdsService.UdsTxCompFlg == true)) {
        UdsService.UdsTxFlg = false;
        UdsService.UdsTxCompFlg = false;
        HAL_UDS_Tx_Callback();
        //UdsQueueCanOut();
        UdsService.TxCompFlg = true;
        //Debug("HAL_UDS_Tx_Callback \r\n"); //
    }
}

#if BOOTLOADER_CODE_FLAG == 0
INT8U Get0x19SerDiagData(INT8U *pOut, INT8U Type, INT8U *pdata)
{
    INT8U RstLen = 0;
//    INT16U i=0;
//    INT32U dtc_code = 0;
//    INT8U num = 0;
    uint8_t dtcReportSubFunction;
    uint8_t dtcRecordNumber;
    uint8_t dtcStatusMask;
    DTC_MaskRecordTpye dtcMaskRecord;

    dtcReportSubFunction = Type;
    dtcStatusMask = pdata[1];

    switch (dtcReportSubFunction) {
        case DTC_ReportNumberOfDTCByStatusMask:
        case DTC_ReportDTCByStatusMask:
        case DTC_ReportSupportedDTCs:
            if (GetDtcStatusMask(pOut, &RstLen, dtcReportSubFunction, dtcStatusMask) == FALSE) {
                RstLen = 0;
                pOut[RstLen++] = DIAG_SERVE_READ_DTC | 0x40; //0x59;
                pOut[RstLen++] = dtcReportSubFunction;
                pOut[RstLen++] = DTC_STATUS_Support_Bit_Status;
            }

            if (dtcReportSubFunction == DTC_ReportNumberOfDTCByStatusMask) {
                RstLen = 0;
                pOut[RstLen++] = DIAG_SERVE_READ_DTC | 0x40; //0x59;
                pOut[RstLen++] = dtcReportSubFunction;
                pOut[RstLen++] = DTC_STATUS_Support_Bit_Status;
                pOut[RstLen++] = ISO15031_6_DTCformat;
                pOut[RstLen++] = dtcComm.DTCcount.b.DTCcountHighByte;
                pOut[RstLen++] = dtcComm.DTCcount.b.DTCcountLowByte;
            }

            break;

        case DTC_ReportDTCSnapshotRecordByDTCNumber:
            dtcMaskRecord.DTCHightByte = pdata[1];
            dtcMaskRecord.DTCMiddleByte = pdata[2];
            dtcMaskRecord.DTCLowByte = pdata[3];
            dtcRecordNumber = pdata[4];
            if (DiagDtcSnapshotRecordFill(dtcReportSubFunction, dtcMaskRecord, dtcRecordNumber,
                    dtcComm.DTCStatus.recordData, pOut, &RstLen) == 0) {

            }
            break;
        case DTC_ReportDTCExtendedDataRecordByDTCNumber:
            dtcMaskRecord.DTCHightByte = pdata[1];
            dtcMaskRecord.DTCMiddleByte = pdata[2];
            dtcMaskRecord.DTCLowByte = pdata[3];
            dtcRecordNumber = pdata[4];
            if (DiagDtcExtendedDataRecordFill(dtcReportSubFunction, dtcMaskRecord, dtcRecordNumber,
                    dtcComm.DTCStatus.recordData, pOut, &RstLen) == 0) {

            }
            break;
        default:
            break;
    }

    return RstLen;
}
#endif



INT16U Get0x22SerDiagData(INT8U *pOut)
{
    INT16U RstLen = 0;
    INT16U ReqId = 0;
//    INT16U length = 0;
    uint8_t i;
    uint8_t *cachePtr;
    uint8_t size;

    ReqId = ((UdsService.ReqCmdBuf[0] << 8) + UdsService.ReqCmdBuf[1]);

    pOut[RstLen++] = 0x62;
    pOut[RstLen++] = ((ReqId >> 8) & 0xFF);
    pOut[RstLen++] = (ReqId & 0xFF);

    cachePtr = (uint8_t *)&gDIDCache;

    for (i = 0; i < DID_NUM; i++) {
        if (ReqId == DIDId[i]) {
            break;
        }
    }

    if (i == DID_NUM) {
        RstLen = 2;
    } else {
#if BOOTLOADER_CODE_FLAG

        if (!CheckIsSupportBootloaderRead_Sid22(ReqId)) {
            RstLen = 2;
        }

#endif
    }

    if (RstLen != 2) {
        size = DIDSize[i];

        memcpy(&pOut[RstLen], (cachePtr + DIDOffset[i]), size);
        RstLen += size;
    }

    return RstLen;
}

#if BOOTLOADER_CODE_FLAG

INT8U Set0x36DiagData(INT8U *pIn, INT16U PLen, INT8U *pOut, INT16U *RLen)
{
    uint8_t /*i=0,*/ucErrCode = 0;
    uint8_t sn = 0;


    sn = pIn[0];
    UdsUpData.totalRecvLength += (UdsService.RxDlc - 2);

    if (CheckIsBatteryHigh()) {
        ucErrCode = 0x92;
    } else if (CheckIsBatteryLow()) {
        ucErrCode = 0x93;
    } else if (UdsService.RxDlc > (FMC_PAGE_SIZE + 2)) {
        ucErrCode = 0x13;
    } else if ((UdsUpData.DownloadSeq != DOWNLOAD_SEQUENCE_34) && (UdsUpData.DownloadSeq != DOWNLOAD_SEQUENCE_36)) {
        ucErrCode = 0x24;
    } else if (sn != UdsUpData.Sn) {
        ucErrCode = 0x73;
    } else if (UdsUpData.totalRecvLength > FBL_AppSize) {
        ucErrCode = 0x71;
    } else {
        UdsUpData.RxProgramFlag = true;
        UdsUpData.DownloadSeq = DOWNLOAD_SEQUENCE_36;
        memcpy(UdsUpData.Buf, &TP_Buffer[2], (UdsService.RxDlc - 2));
        ucErrCode = 0x78;
    }

    return ucErrCode;

}
#endif

INT8U Set0x31DiagData(INT8U *pIn, INT16U PLen, INT8U *pOut, INT16U *RLen)
{

    uint8_t service_buf[50];
    uint8_t /*i=0,*/ucErrCode = 0, ucRsp = 0;
    uint16_t ReqId = 0;
    uint16_t dlen = 0;
    uint8_t result = 0;
 static bool routineStartFlg = false;
	
    if (UdsService.RxDlc < 4) {
		return 0x13;
	}
    
    ucRsp = pIn[0];
    ReqId = pIn[1] << 8 | pIn[2];

    service_buf[dlen++] = 0x71;
    service_buf[dlen++] = pIn[0];
    service_buf[dlen++] = pIn[1];
    service_buf[dlen++] = pIn[2];
#if BOOTLOADER_CODE_FLAG == 0

//    static bool routineStartFlg = false;

    if ((0x01 == ucRsp) || (0x02 == ucRsp) || (0x03 == ucRsp)) {
        ucErrCode = 0x31;
    } else {
        if (true == UdsService.PhyFlg) {
            UdsService.PhyFlg = false;
            ucErrCode = 0x12;
        }
    }
#else
    static uint32_t mem_addr, mem_size;
    static uint16_t checksum;
    if (0x01 == ucRsp) {
        if ((true == CheckUdsDlcIsOk(UdsService.RxDlc, 6) && (ReqId == 0xDA04))\
            || (true == CheckUdsDlcIsOk(UdsService.RxDlc, 12) && (ReqId == 0xFF00)) \
            || (true == CheckUdsDlcIsOk(UdsService.RxDlc, 14) && (ReqId == 0xFF01))) {
            if (UdsService.SeedKeyIsOK) {
                switch (ReqId) {
                    case 0xDA04://Check application program validation
                        if (UdsUpData.DownloadSeq == DOWNLOAD_SEQUENCE_37) {
                            UdsUpData.GetCrc = (pIn[3] << 8) + pIn[4];
                            result = 0x01;
                            service_buf[dlen++] = result;
                        } else {
                            ucErrCode = 0x22;
                        }
                        break;

                    case 0xFF00://擦除内存
                        UdsUpData.EraseAddress = (pIn[3] << 24) + (pIn[4] << 16) + (pIn[5] << 8) + pIn[6];
                        UdsUpData.EraseLength = (pIn[7] << 24) + (pIn[8] << 16) + (pIn[9] << 8) + pIn[10];

                        if (UdsUpData.EraseAddress != APP_FlashBaseAddress) {
                            ucErrCode = 0x72;
                            UdsUpData.RoutineEraseMemoryErr = true;
                        } else {
                            ucErrCode = 0x78;
                            UdsUpData.RxEraseFlg = true;
                            UdsUpData.RoutineEraseMemoryFlg = true;
                        }

                        break;

                    case 0xFF01://检查编程依赖性
                        mem_addr = (pIn[3] << 24) + (pIn[4] << 16) + (pIn[5] << 8) + pIn[6];
                        mem_size = (pIn[7] << 24) + (pIn[8] << 16) + (pIn[9] << 8) + pIn[10];
                        checksum = (pIn[11] << 8) + pIn[12];

                        result = 0x01;
                        service_buf[dlen++] = result;
                        break;

                    default:
                        break;
                }
            } else {
                ucErrCode = 0x33;
            }
        } else if ((ReqId == 0xDA04) || (ReqId == 0xFF00) || (ReqId == 0xFF01)) {
            ucErrCode = 0x13;
        } else {
            ucErrCode = 0x31;
        }
    } else if (0x03 == ucRsp) {
        if ((true == CheckUdsDlcIsOk(UdsService.RxDlc, 4) && (ReqId == 0xDA04))\
            || (true == CheckUdsDlcIsOk(UdsService.RxDlc, 4) && (ReqId == 0xFF00)) \
            || (true == CheckUdsDlcIsOk(UdsService.RxDlc, 4) && (ReqId == 0xFF01))) {
            if (UdsService.SeedKeyIsOK) {
                switch (ReqId) {
                    case 0xDA04:
                    case 0xFF01:
                        result = 0x02;
                        service_buf[dlen++] = result;
                        break;
                    case 0xFF00:
                        if (UdsUpData.EraseMemorySts == ERASE_MEMORY_STS_COMPLETED) {
                            result = 0x02;
                        } else if (UdsUpData.EraseMemorySts == ERASE_MEMORY_STS_IN_PROGRESS) {
                            result = 0x03;
                        } else {
                            result = 0x05;
                        }
                        service_buf[dlen++] = result;
                        break;
                    default:
                        break;
                }
            } else {
                ucErrCode = 0x33;
            }
        } else if ((ReqId == 0xDA04) || (ReqId == 0xFF00) || (ReqId == 0xFF01)) {
            ucErrCode = 0x13;
        } else {
            ucErrCode = 0x31;
        }
    } else if (0x02 == ucRsp) {
        if ((true == CheckUdsDlcIsOk(UdsService.RxDlc, 4) && (ReqId == 0xDA04))\
            || (true == CheckUdsDlcIsOk(UdsService.RxDlc, 4) && (ReqId == 0xFF00)) \
            || (true == CheckUdsDlcIsOk(UdsService.RxDlc, 4) && (ReqId == 0xFF01))) {
            if (UdsService.SeedKeyIsOK) {
                switch (ReqId) {
                    case 0xDA04:
                        if(UdsUpData.CalcCrc==UdsUpData.GetCrc) {
                            if ((UdsUpData.StackTopAdr & 0x2FFE0000 ) == MCU_RAM_StartAddress) {
                                if (STATUS_SUCCESS == ProgramApplicationSoftware(APP_FlashBaseAddress, (uint8_t*)&UdsUpData.StackTopAdr, 4)) {
                                    result = 0x01; 
                                } else {
                                    result = 0x02; 
                                }
                            }
                        }
                        service_buf[dlen++] = result;
                        break;
                    case 0xFF00:
                        UdsUpData.EraseMemoryFlg = false;
                        result = 0x04;
                        service_buf[dlen++] = result;
                        break;
                    case 0xFF01:
                        if ((UdsUpData.EraseAddress == mem_addr) \
                        || (UdsUpData.EraseLength == mem_size) \
                        || (UdsUpData.CalcCrc == checksum)) {
                            result = 0x01;
                        } else {
                            result = 0x02;
                        }
                        service_buf[dlen++] = result;
                        break;
                    default:
                        break;
                }
            } else {
                ucErrCode = 0x33;
            }
        } else if ((ReqId == 0xDA04) || (ReqId == 0xFF00) || (ReqId == 0xFF01)) {
            ucErrCode = 0x13;
        } else {
            ucErrCode = 0x31;
        }
    } else {
        if (true == UdsService.PhyFlg) {
            UdsService.PhyFlg = false;
            ucErrCode = 0x12;
        }
    }

#endif
    *RLen = dlen;

    if (ucErrCode == 0) {
        memcpy(pOut, service_buf, dlen);
    }

    return  ucErrCode;

}

INT8U Set0x2EDidDiagData(INT8U *pIn, INT16U PLen)
{
    INT8U Rst = 0;
    INT16U ReqId = 0;

    ReqId = ((pIn[0] << 8) + pIn[1]);

#if BOOTLOADER_CODE_FLAG == 0
    if (ReqId == DIDId[VehicleIdentificationNumber]) {
        if(PLen == DIDSize[VehicleIdentificationNumber]) {
            if (UdsService.SeedKeyIsOK) {
                if (CheckVechileStatus()) {
                    memcpy(gDIDCache.DID_VehicleIdentificationNumber,&pIn[2],PLen);
                } else {
                    Rst = 0x22;
                }
            } else {
                Rst = 0x33;
            }
        } else {
            Rst = 0x13;
        }
    } else if (ReqId == DIDId[InputOvervoltageValue]) {
        if(PLen == DIDSize[InputOvervoltageValue]) {
            if (UdsService.SeedKeyIsOK) {
                if (CheckVechileStatus()) {
                    memcpy(gDIDCache.DID_InputOvervoltageValue,&pIn[2],PLen);
                } else {
                    Rst = 0x22;
                }
            } else {
                Rst = 0x33;
            }
        } else {
            Rst = 0x13;
        }
    } else if (ReqId == DIDId[InputUndervoltageValue]) {
        if(PLen == DIDSize[InputUndervoltageValue]) {
            if (UdsService.SeedKeyIsOK) {
                if (CheckVechileStatus()) {
                    memcpy(gDIDCache.DID_InputUndervoltageValue,&pIn[2],PLen);
                } else {
                    Rst = 0x22;
                }
            } else {
                Rst = 0x33;
            }
        } else {
            Rst = 0x13;
        }
    } else if (ReqId == DIDId[OutputOvervoltageValue]) {
        if(PLen == DIDSize[OutputOvervoltageValue]) {
            if (UdsService.SeedKeyIsOK) {
                if (CheckVechileStatus()) {
                    memcpy(gDIDCache.DID_OutputOvervoltageValue,&pIn[2],PLen);
                } else {
                    Rst = 0x22;
                }
            } else {
                Rst = 0x33;
            }
        } else {
            Rst = 0x13;
        }
    } else if (ReqId == DIDId[OutputUndervoltageValue]) {
        if(PLen == DIDSize[OutputUndervoltageValue]) {
            if (UdsService.SeedKeyIsOK) {
                if (CheckVechileStatus()) {
                    memcpy(gDIDCache.DID_OutputUndervoltageValue,&pIn[2],PLen);
                } else {
                    Rst = 0x22;
                }
            } else {
                Rst = 0x33;
            }
        } else {
            Rst = 0x13;
        }
    } else if (ReqId == DIDId[OutputOvercurrentFaultValue]) {
        if(PLen == DIDSize[OutputOvercurrentFaultValue]) {
            if (UdsService.SeedKeyIsOK) {
                if (CheckVechileStatus()) {
                    memcpy(gDIDCache.DID_OutputOvercurrentFaultValue,&pIn[2],PLen);
                } else {
                    Rst = 0x22;
                }
            } else {
                Rst = 0x33;
            }
        } else {
            Rst = 0x13;
        }
    } else if (ReqId == DIDId[InputOvercurrentFaultValue]) {
        if(PLen == DIDSize[InputOvercurrentFaultValue]) {
            if (UdsService.SeedKeyIsOK) {
                if (CheckVechileStatus()) {
                    memcpy(gDIDCache.DID_InputOvercurrentFaultValue,&pIn[2],PLen);
                } else {
                    Rst = 0x22;
                }
            } else {
                Rst = 0x33;
            }
        } else {
            Rst = 0x13;
        }
    } else if (ReqId == DIDId[OverTempertureProtectValue]) {
        if(PLen == DIDSize[OverTempertureProtectValue]) {
            if (UdsService.SeedKeyIsOK) {
                if (CheckVechileStatus()) {
                    memcpy(gDIDCache.DID_OverTempertureProtectValue,&pIn[2],PLen);
                } else {
                    Rst = 0x22;
                }
            } else {
                Rst = 0x33;
            }
        } else {
            Rst = 0x13;
        }
    } else {
        Rst = 0x31;
    }

#else
    if (ReqId == DIDId[TesterSerialNumber]) {
        if(PLen == DIDSize[TesterSerialNumber]) {
            if (UdsService.SeedKeyIsOK) {
                memcpy(gDIDCache.DID_TesterSerialNumber,&pIn[2],PLen);
            } else {
                Rst = 0x33;
            }
        } else {
            Rst = 0x13;
        }
    } else if (ReqId == DIDId[ProgrammingDate]) {
        if(PLen == DIDSize[ProgrammingDate]) {
            if (UdsService.SeedKeyIsOK) {
                memcpy(gDIDCache.DID_ProgrammingDate,&pIn[2],PLen);
            } else {
                Rst = 0x33;
            }
        } else {
            Rst = 0x13;
        }
    } else {
        Rst = 0x31;
    }

#endif

    if (Rst == 0) {
        DiagDIDStoreFlash(ReqId);
    }

    return Rst;
}

#if BOOTLOADER_CODE_FLAG == 0
INT8U Set0x2FDiagData(INT8U *pIn, INT16U PLen, INT8U *pOut, INT16U *RLen)
{
    INT8U ucErrCode = 0;
    
    return ucErrCode;
}
#endif

uint8_t seed_value[2] = {0};
uint8_t key_value[2] = {0};

void UdsQueueCanOut(void)
{
    //if(Frame_Tx_Complete != false) return;
    //if(TP_Tx_Message_DLC) return;
    while ((UdsQueueData.In != UdsQueueData.Out)) {
        if (UdsQueueData.Out >= CAN0_MAX_RX) {
            UdsQueueData.Out = 0;
        }

        gUdsBusOffCanOutBak = UdsQueueData.Out;
        ParseUdsCan(UdsQueueData.CanMsg[UdsQueueData.Out]);
        UdsQueueData.Out++;
        ParseCanRxCnt++;
        // break;
    }

    //return;
}


uint8_t GenerateSID27SeedValue(uint8_t *seed)
{
	uint32_t random;

	random *= UdsApi_GetRandom();
	seed[0] = (uint8_t)(random >> 0);
	seed[1] = (uint8_t)(random >> 16);
//	seed[2] = (uint8_t)(random >> 8);
//	seed[3] = (uint8_t)(random >> 0);
    return 0;
}

#if BOOTLOADER_CODE_FLAG
    extern void RAMFLASHInit(void);
#endif

uint16_t GenerateSID27KeyValue(uint16_t seed)
{
#define TOPBIT 0x8000
#define POLYNOM_1 0x8408
#define POLYNOM_2 0x8025
#define BITMASK 0x0080
#define INITIAL_REMINDER 0xFFFE
#define MSG_LEN 2 /* seed length in bytes */
    uint8_t bSeed[2];
    uint16_t remainder;
    uint8_t n;
    uint8_t i;
    bSeed[0] = (uint8_t)(seed >> 8); /* MSB */
    bSeed[1] = (uint8_t)seed; /* LSB */
    remainder = INITIAL_REMINDER;
    for (n = 0; n < MSG_LEN; n++) {
        /* Bring the next byte into the remainder. */
        remainder ^= ((bSeed[n]) << 8);
        /* Perform modulo-2 division, a bit at a time. */
        for (i = 0; i < 8; i++) {
            /* Try to divide the current data bit. */
            if (remainder & TOPBIT) {
                if(remainder & BITMASK) {
                    remainder = (remainder << 1) ^ POLYNOM_1;
                } else {
                    remainder = (remainder << 1) ^ POLYNOM_2;
                }
            } else {
                remainder = (remainder << 1);
            }
        }
    }
    /* The final remainder is the key */
    return remainder;
}

//extern EReturnMsg bsp_flash_erase_sector(INT32U nFlashAddr);
//extern EReturnMsg bsp_flash_write_buff(INT32U nFlashAddr, INT8U *pBuff, INT32U nLen);
//extern EReturnMsg bsp_flash_read_buff(INT32U nFlashAddr, INT8U *pBuff, INT32U nLen);

uint8_t EE_Write(uint8_t *pImage, const uint8_t *pData, uint32_t Len, void (*pCbFn)(uint32_t))
{
    uds_service_nvm_write(pImage, pData, Len, pCbFn);
    return TRUE;
}


uint8_t EE_Read(uint8_t *pImage, uint8_t **pData)
{
    if (NVM_IMAGE_DTC_ADDR == pImage) {
        *pData = (uint8_t *)NVM_IMAGE_DTC_ADDR;
    } else if (NVM_IMAGE_DID_ADDR == pImage) {
        *pData = (uint8_t *)NVM_IMAGE_DID_ADDR;
    } else {
        return FALSE;
    }

    return TRUE;
}

void SetUdsUpdataFlag(void)
{
#if (BOOTLOADER_CODE_FLAG == 0)
    SetExternProgrammingRequest();
#endif

}

#if BOOTLOADER_CODE_FLAG
#if APP_DATA_ENCRYPT_ENABLE

const unsigned char tea_key_table[]= {
    0xF0,0xD6,0x28,0xCC,0xBA,0x39,0x4E,0x30,
    0x8F,0x77,0x35,0xF6,0xCA,0x3E,0x99,0xBA,
};

void UdsEncryptDate_Crc32Cal_Init(void)
{
    CRC32_HwCal_04C11DB7_SegInit();
}

void UdsEncryptDate_Crc32Cal_Update(const u8 *pData, u32 size)
{
    CRC32_HwCal_04C11DB7_SegUpdata(pData, size);
}

uint32_t UdsEncryptDate_Crc32Cal_Final(void)
{
    return CRC32_HwCal_04C11DB7_SegFinal();
}

uint16_t UdsEncryptDate_Decrypt(uint8_t *src,uint16_t size_src)
{
    return decrypt(src, size_src, (uint8_t*)tea_key_table);
}

void UdsEncryptDate_Xor(uint8_t *src,uint16_t size_src)
{
    Xor_Opeartion(src, 0x20, size_src);
}

#endif
#endif

bool CheckVechileStatus(void)
{
    bool cbRst = false;
    uint16_t speed = WORD(vehicleInfo2uds.Snapshot.VehSpeedH, vehicleInfo2uds.Snapshot.VehSpeedL);

    if (speed <= 80) {
        cbRst = true;
    }

    return cbRst;
}

bool CheckIsBatteryLow(void)
{
    bool bRst = false;

    if (vehicleInfo2uds.BattLow) {
        bRst = true;
    }

    return bRst;
}

bool CheckIsBatteryHigh(void)
{
    bool bRst = false;

    if (vehicleInfo2uds.BattHigh) {
        bRst = true;
    }

    return bRst;
}

bool CheckIsIgnON(void)
{
    bool bRst = false;

    if (vehicleInfo2uds.IgnSts) {
        bRst = true;
    }

    return bRst;
}

//bool CheckIsIgnOff2ON(void)
//{
//  bool bRst=false;
//
//    if (vehicleInfo2uds.IgnOff2On) {
//      bRst = true;
//    }
//    return bRst;
//}
#if BOOTLOADER_CODE_FLAG == 0


bool CheckIsCanBusoff(void)
{
    bool bRst = false;

    if (vehicleInfo2uds.BusoffCnt) {
        bRst = true;
    }

    return bRst;
}

#endif