#include "uds_config.h"
#include "bsp_can.h"


#if BOOTLOADER_CODE_FLAG == 0
//#include "nm_can.h"
#endif


_QueueCan0Tx QueueCan0Tx;
_QueueCan0Rx UdsQueueData;


INT8U gAppCanTxErrFlg=0;

INT8U gUdsBusOffCanOutBak=0;

bool bCan0InitOkFlg;

extern void HAL_UDS_Tx_Callback(void);
extern xchrTime ign1;
extern xchrTime ign3;
INT32U TestCanRxCnt=0,TestCanRxCntBak=0;
INT32U ParseCanRxCnt=0;


void DealCanProc(void)
{
  
    bCan0InitOkFlg=true;

    return;
}

void DealCanProc_bussoff(void)
{
	
}

void ParseUdsCan(can_msg_t pCanMsg)
{
    UdsService.IsUdsFlg=true;
    UdsService.SessionTimer=0;

    //Debug("Can Bus Off 00\r\n");
    switch(pCanMsg.id)
    {
        case UDS_PHY_TX_ID://NAMS Request 0x787 Response 0x78F
           UdsService.CanID = UDS_PHY_TX_ID;
           HAL_UDS_PHY_Rx_Callback(pCanMsg.data,pCanMsg.dlc);
           break;
        case UDS_FUN_TX_ID:
           UdsService.CanID = UDS_FUN_TX_ID;
           HAL_UDS_FUN_Rx_Callback(pCanMsg.data,pCanMsg.dlc);
           break;
        default:
            break;
    }
}


INT8U checkPin(INT8U bcheck,xchrTime *pt,INT8U g)
{
  if((bcheck==0)&&(pt->state!='L'))
  {
    pt->Time1++;
    if(pt->Time1>=g) //
    {
      pt->state='L';
      return('L');
    }
  }
  else if((bcheck==1)&&(pt->state!='H'))
  {
    pt->Time2++;
    if(pt->Time2>=g) //
    {
      pt->state='H';
      return('H');
    }
  }
  else
  {
    pt->Time1=pt->Time2=0;
  }
  return(0);
}




void UdsQueueCanIn(can_msg_t RxCanMsg)
{
#if BOOTLOADER_CODE_FLAG == 0
  	//if(CAN_Status == DisableTxAndRx) return;
#endif	
	  if(RxCanMsg.id == UDS_FUN_TX_ID || RxCanMsg.id == UDS_PHY_TX_ID )
		{
			if(UdsQueueData.In>=CAN0_MAX_RX) UdsQueueData.In=0;	
			UdsQueueData.CanMsg[UdsQueueData.In].id = RxCanMsg.id;
			UdsQueueData.CanMsg[UdsQueueData.In].dlc = RxCanMsg.dlc;
			UdsQueueData.CanMsg[UdsQueueData.In].flag = RxCanMsg.flag;
			memcpy((void *)&UdsQueueData.CanMsg[UdsQueueData.In].data[0],(void *)&RxCanMsg.data[0],8);
			UdsQueueData.In++;
		}		
    return;
}


void TxQueueCan0In(can_msg_t TxCanMsg)
{
    //if(('L' == ign1.state)&&(acc_status == _ACC_NORMAL))
   // if((('L' == ign3.state)||('L' == ign1.state)))
    {
        if(QueueCan0Tx.In>=CAN0_MAX_RX) QueueCan0Tx.In=0;

        QueueCan0Tx.CanMsg[QueueCan0Tx.In].id = TxCanMsg.id;
        QueueCan0Tx.CanMsg[QueueCan0Tx.In].dlc = TxCanMsg.dlc;
        QueueCan0Tx.CanMsg[QueueCan0Tx.In].flag = TxCanMsg.flag;
        memcpy((void *)&QueueCan0Tx.CanMsg[QueueCan0Tx.In].data[0],(void *)&TxCanMsg.data[0],8);
        QueueCan0Tx.In++;
    }
    return;
}

can_msg_t TxCan0Bak;


void TxQueueCan0Out(void)
{
//	can_msg_t canmsg = {0};
    //if(UdsService.EnRxAndTx) return;
    if(g_ulCanStatus) return;

    if(TRUE != CanRxConStatus()) return;

    while( QueueCan0Tx.In != QueueCan0Tx.Out )
    {
        if(QueueCan0Tx.Out >= CAN0_MAX_RX)
        {
            QueueCan0Tx.Out=0;
        }
        
//		canmsg.id = QueueCan0Tx.CanMsg[QueueCan0Tx.Out].id;
//		canmsg.dlc = QueueCan0Tx.CanMsg[QueueCan0Tx.Out].dlc;
//		memcpy(canmsg.data,QueueCan0Tx.CanMsg[QueueCan0Tx.Out].data,8);
		UdsApi_MsgQueueOut(QueueCan0Tx.CanMsg[QueueCan0Tx.Out]);
		UdsService.UdsTxCompFlg=true;
		UdsService.TxUdsChann=0;
		QueueCan0Tx.Out++;
      			
        break;
    }
}

extern void DTC_SignalInit(void);
extern void DID_SignalInit(void);
extern void UDS_ServiceInit(void);

void UdsProcTask(void) 
{
//	static INT8U Timer10MsCnt = 0;
	static INT16U Timer1000MsCnt = 0;
	static INT16U Timer200MsCnt = 0;
	static INT16U Timer20MsCnt = 0;
	static INT8U  InitFlag = 0;
	
	if(InitFlag == 0)
	{
    UdsApi_ParaInit();
		// DID_SignalInit();
		// DTC_SignalInit();
		UDS_ServiceInit();
		InitFlag = 1;
	}

	//等待复位，不处理UDS其他任务
	if (UdsService.ResetMcuFlg) {
	    if(UdsService.RstTimer) {
	        UdsService.RstTimer--;
	    } else {
	    	UdsService.ResetMcuFlg = false;
	        NVIC_SystemReset();
	    }
	    return;
    }
	
	if(++Timer1000MsCnt >= 4)
	{
		Timer1000MsCnt = 0;
		UDS_Demo_Services_Start();
		UdsService.StartFlg=true;
		UdsService.FrameType=0;
		UdsQueueCanOut();
		Timer20MsCnt = 0;
	}

	if (++Timer200MsCnt >= CALL_RATE_TP) 
	{
		Timer200MsCnt = 0;
		UDS_Demo_Services_Sequence();
		HAL_UDS_Periodic_Task();
		if((FIRST_FRAME == UdsService.FrameType)||((CONSECUTIVE_FRAME == UdsService.FrameType)))
		{
			if(++Timer20MsCnt>=CALL_RATE_TP)
			{
				Timer20MsCnt=0;
				UdsQueueCanOut();
			}
		}
	}

	TxQueueCan0Out();
	GotoDefaultSession();
	CheckDtcHsCanError();
	UDS_Nrc78PostProcessing();
	return;
}













//"${workspace_loc:/${ProjName}/SDK}"