#include "MAIN.H"
#include "user.H"
//can信息

UnInfCan    UnInfCan_1  _at_ 0xF5E8;
UnSwSample  UnSwSample_1 = {0};
UnSwOut	    UnSwOut_1    = {0};

//CAN发送周期
uword             CntCan_1    = 0;
bit               FlgCan_1    = 0;
//第一次采集到有效数据指示
bit FlgOneTime = 0;

uword RgCanPerid = 1000;

//PWM 20181227
ubyte PwmH[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};

uword adc_result = 0;

//RAM重启保存标志
ubyte RestartDataFlg1    _at_ 0xF5E7;
ubyte RestartDataFlg2    _at_ 0xF600;
//KGF保存数据
uword RestartDataKGF     _at_ 0xF5E5;

MotorDirection  motor_dir;
MotorState      motor_sta;

ubyte           can_error_cnt = 0;
	
ubyte           can_error_flg = 0;										  
//-----------------------------------------------------------------------
//RTC定时器
//-----------------------------------------------------------------------
void RTCProcess(void)
{
//************************************************************************
//////CAN发送周期
	if(FlgCan_1){CntCan_1++;if(CntCan_1 >= RgCanPerid){FlgCan_1=0; CntCan_1=0;}}else{CntCan_1=0;}

//************************************************************************
}
//初始化完成发送CAN帧	20210706

//ubyte *pStt,	发送数据，只发送两个字节 
void InitCanTransmit(ubyte InitCanTransmit1,ubyte InitCanTransmit2)
{
  ubyte InitCanTransmitbuf[8] = {0,0,0,0,0,0,0,0};
//----------------------------------------------------------------
	InitCanTransmitbuf[0] = 0;
	InitCanTransmitbuf[1] = 0;
	InitCanTransmitbuf[2] = InitCanTransmit1;
	InitCanTransmitbuf[3] = InitCanTransmit2;
	InitCanTransmitbuf[4] = 0;
	InitCanTransmitbuf[5] = 0;
	InitCanTransmitbuf[6] = 0;
	InitCanTransmitbuf[7] = 0;

//	CAN_waitTransmit(DF_SwTx);//不需要等待上一帧发送完成，因为这是第一次发送
////	Password();

	CAN_vLoadData(DF_SwTxInit, (ulong *)(InitCanTransmitbuf)); // 装载数据
	CAN_vTransmit(DF_SwTxInit);  
}
//输出PWM	20181227
/*
ubyte *pStt,	状态机变量
bit Cmd,			状态机输入，1，根据PwmH的值来决定输出，0，输出0
bit Out,			状态机输出
ubyte *pCnt,	定时计数器
ubyte *pPwmH	状态机参数，PWM的高电平时间
*/ 
bit funcPwmOut(ubyte *pStt,bit Cmd,ubyte *pCnt,ubyte *pPwmH)
{
ubyte PwmL = 0; 
bit Out = 0;
//------------------------------------------------------------------------------------------------
	if((*pPwmH) > dfPwmH)(*pPwmH) = dfPwmH;	 //限制最大值
	PwmL = dfPwmH - (*pPwmH);//计算PWM低电平

	if((1 == Cmd) )
	{
		if(0 == (*pPwmH))	 //高电平为0，表示PWM无效，由Cmd来控制，Cmd为1输出1，Cmd为0，输出0
		{
			Out = 1;
			(*pStt) = 0;	
		}
		else
		{
			switch((*pStt))
			{
				case 0:
					(*pCnt) = 0;
					(*pStt) = 1;
					Out = 1;
				break;
				case 1:
					if((*pCnt) >= (*pPwmH))
					{
						(*pCnt) = 0;
						(*pStt) = 2;
						Out = 0;
					}
					else
					{
					 	(*pCnt)++;
						(*pStt) = 1;
						Out = 1;
					}
				break;
				case 2:
					if((*pCnt) >= PwmL)
					{
						(*pCnt) = 0;
						(*pStt) = 1;
						Out = 1;
					}
					else
					{
					 	(*pCnt)++;
						(*pStt) = 2;
						Out = 0;
					}
				break;
		//-----------------------------------------------------
				default:;
			}//switch
		}//else
	}//if
	else 
	{
		Out = 0;		
		(*pStt) = 0;
	}
	return Out;
}


//根据接收的CAN缓冲区数据驱动相应ＬＥＤ指示灯。
void LedDr(void)
{
static ubyte RgSTT[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
static ubyte CntTime[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
  ubyte i = 0;
//------------------------------------------------------------------------------------------------

	dfOut_01 = funcPwmOut(&RgSTT[0 ],dfCmd_01,&CntTime[0 ],&PwmH[0 ]);	
	dfOut_02 = funcPwmOut(&RgSTT[1 ],dfCmd_02,&CntTime[1 ],&PwmH[1 ]);	
	dfOut_03 = funcPwmOut(&RgSTT[2 ],dfCmd_03,&CntTime[2 ],&PwmH[2 ]);	
	dfOut_04 = funcPwmOut(&RgSTT[3 ],dfCmd_04,&CntTime[3 ],&PwmH[3 ]);	
	dfOut_05 = funcPwmOut(&RgSTT[4 ],dfCmd_05,&CntTime[4 ],&PwmH[4 ]);	
	dfOut_06 = funcPwmOut(&RgSTT[5 ],dfCmd_06,&CntTime[5 ],&PwmH[5 ]);	
	dfOut_07 = funcPwmOut(&RgSTT[6 ],dfCmd_07,&CntTime[6 ],&PwmH[6 ]);	
	dfOut_08 = funcPwmOut(&RgSTT[7 ],dfCmd_08,&CntTime[7 ],&PwmH[7 ]);	
	dfOut_09 = funcPwmOut(&RgSTT[8 ],dfCmd_09,&CntTime[8 ],&PwmH[8 ]);	
	dfOut_10 = funcPwmOut(&RgSTT[9 ],dfCmd_10,&CntTime[9 ],&PwmH[9 ]);	
	dfOut_11 = funcPwmOut(&RgSTT[10],dfCmd_11,&CntTime[10],&PwmH[10]);	
	dfOut_12 = funcPwmOut(&RgSTT[11],dfCmd_12,&CntTime[11],&PwmH[11]);	
	dfOut_13 = funcPwmOut(&RgSTT[12],dfCmd_13,&CntTime[12],&PwmH[12]);	
	dfOut_14 = funcPwmOut(&RgSTT[13],dfCmd_14,&CntTime[13],&PwmH[13]);	
	dfOut_15 = funcPwmOut(&RgSTT[14],dfCmd_15,&CntTime[14],&PwmH[14]);	
	dfOut_16 = funcPwmOut(&RgSTT[15],dfCmd_16,&CntTime[15],&PwmH[15]);	

	i = dfOut_02;										  //20210906保存IO口状态 解决KGF重启指示灯闪烁问题
  RestartDataKGF = dfOut_01;
	RestartDataKGF = RestartDataKGF + (i<<1);  
	i = dfOut_03;
	RestartDataKGF = RestartDataKGF + (i<<2); 
	i = dfOut_04;
	RestartDataKGF = RestartDataKGF + (i<<3);
	i = dfOut_05;
	RestartDataKGF = RestartDataKGF + (i<<4); 
	i = dfOut_06;
	RestartDataKGF = RestartDataKGF + (i<<5);
	i = dfOut_07;
	RestartDataKGF = RestartDataKGF + (i<<6); 
	i = dfOut_08;
	RestartDataKGF = RestartDataKGF + (i<<7);
	i = dfOut_09;
	RestartDataKGF = RestartDataKGF + (i<<8); 
	i = dfOut_10;
	RestartDataKGF = RestartDataKGF + (i<<9);
	i = dfOut_11;
	RestartDataKGF = RestartDataKGF + (i<<10); 
	i = dfOut_12;
	RestartDataKGF = RestartDataKGF + (i<<11);
	i = dfOut_13;
	RestartDataKGF = RestartDataKGF + (i<<12); 
	i = dfOut_14;
	RestartDataKGF = RestartDataKGF + (i<<13);
	i = dfOut_15;
	RestartDataKGF = RestartDataKGF + (i<<14); 
	i = dfOut_16;
	RestartDataKGF = RestartDataKGF + (i<<15);
}
//can错误处理
void CanErrorProcess(void)
{
	ubyte ubNSRL = 0;
	ubyte ubNSRH = 0;
	ubyte ubResetLEC = 0x3F;
//-------------------------------------------
	EA            =  0;

	CAN_pushAMRegs();              // push the CAN Access Mediator Registers
	SFR_PAGE(_su0, SST0);          // switch to page 0

	CAN_vWriteCANAddress(CAN_NSR0);
	CAN_vReadEN();
	ubNSRL = CAN_DATA0;
	ubNSRH = CAN_DATA1;
	if (ubNSRL & 0x20)      // if ALERT
	{
		CAN_vInit();
	}
	if (ubNSRL & 0x07)  // if LEC
	{
		ubResetLEC = 0x38;
	}
	//// Reset LEC, TXOK, RXOK, ALERT, EWRN, BOFF, LLE, LOE (if set)
	CAN_vWriteCANAddress(CAN_NSR0); // Addressing CAN_NSR0
	CAN_DATA0   =  ~(ubNSRL & ubResetLEC);       // load CAN_NSR0 status register[7-0]
	CAN_DATA1   =  ~(ubNSRH);       // load CAN_NSR0 status register[15-8]
	CAN_vWriteEN(D0_VALID+D1_VALID);  // Data0 and Data1 are Valid for

	SFR_PAGE(_su0, RST0);          // restore the old SCU page
	CAN_popAMRegs();               // restore the CAN Access Mediator Registers

	EA            =  1;
}


////效验算法
//void Password(void)
//{
//	ubyte i;
////---------------------------------
//	for(i=0;i<5;i++)
//	{
//		UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][3];//CAN 第0个字节
//		UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][2];//CAN 第1个字节
//		UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][1];//CAN 第2个字节
//		UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][0];//CAN 第3个字节
//		UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][7];//CAN 第4个字节
//		UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][6];//CAN 第5个字节
//		UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][5];//CAN 第6个字节
//	}
//}


void CanTransmit(void)
{
//	ulong i;
//-----------------	--------
	CAN_waitTransmit(DF_SwTx);//发送前等待上一帧发送完毕，这样不会丢帧
//	Password();

	CAN_vLoadData(DF_SwTx, (ulong *)(&UnInfCan_1.ArrData.Arr[0][0])); // 装载数据
	CAN_vTransmit(DF_SwTx);
}


//CAN发送一帧
void CanTX(void)
{
//-----------------------------------
//	if(1 == SwOut09)UnInfCan_1.ArrData.Arr[0][3] |= 0x01;else UnInfCan_1.ArrData.Arr[0][3]  &= (~0x01);		//KGF1		//20200303修改为与接收到的数据一致，反馈与接收到时数据为一致
//	if(1 == SwOut10)UnInfCan_1.ArrData.Arr[0][3] |= 0x02;else UnInfCan_1.ArrData.Arr[0][3]  &= (~0x02);		//KGF2		
//	if(1 == SwOut04)UnInfCan_1.ArrData.Arr[0][3] |= 0x04;else UnInfCan_1.ArrData.Arr[0][3]  &= (~0x04);		//KGF3
//	if(1 == SwOut03)UnInfCan_1.ArrData.Arr[0][3] |= 0x08;else UnInfCan_1.ArrData.Arr[0][3]  &= (~0x08);		//KGF4
//	if(1 == SwOut06)UnInfCan_1.ArrData.Arr[0][3] |= 0x10;else UnInfCan_1.ArrData.Arr[0][3]  &= (~0x10);		//KGF5
//	if(1 == SwOut05)UnInfCan_1.ArrData.Arr[0][3] |= 0x20;else UnInfCan_1.ArrData.Arr[0][3]  &= (~0x20);		//KGF6
//	if(1 == SwOut15)UnInfCan_1.ArrData.Arr[0][3] |= 0x40;else UnInfCan_1.ArrData.Arr[0][3]  &= (~0x40);		//KGF7
//	if(1 == SwOut16)UnInfCan_1.ArrData.Arr[0][3] |= 0x80;else UnInfCan_1.ArrData.Arr[0][3]  &= (~0x80);		//KGF8
//	if(1 == SwOut13)UnInfCan_1.ArrData.Arr[0][2] |= 0x01;else UnInfCan_1.ArrData.Arr[0][2]  &= (~0x01);		//KGF9
//	if(1 == SwOut14)UnInfCan_1.ArrData.Arr[0][2] |= 0x02;else UnInfCan_1.ArrData.Arr[0][2]  &= (~0x02);		//KGF10
//	if(1 == SwOut08)UnInfCan_1.ArrData.Arr[0][2] |= 0x04;else UnInfCan_1.ArrData.Arr[0][2]  &= (~0x04);		//KGF11
//	if(1 == SwOut07)UnInfCan_1.ArrData.Arr[0][2] |= 0x08;else UnInfCan_1.ArrData.Arr[0][2]  &= (~0x08);		//KGF12
//	if(1 == SwOut02)UnInfCan_1.ArrData.Arr[0][2] |= 0x10;else UnInfCan_1.ArrData.Arr[0][2]  &= (~0x10);		//KGF13
//	if(1 == SwOut01)UnInfCan_1.ArrData.Arr[0][2] |= 0x20;else UnInfCan_1.ArrData.Arr[0][2]  &= (~0x20);		//KGF14
//	if(1 == SwOut11)UnInfCan_1.ArrData.Arr[0][2] |= 0x40;else UnInfCan_1.ArrData.Arr[0][2]  &= (~0x40);		//KGF15
//	if(1 == SwOut12)UnInfCan_1.ArrData.Arr[0][2] |= 0x80;else UnInfCan_1.ArrData.Arr[0][2]  &= (~0x80);		//KGF16

//	if(1 == SwIn01 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x01);else UnInfCan_1.ArrData.Arr[0][1] |= 0x01;		//Dia01  20200225修改为0数据变为1,1数据变为0，这样大CPU方便处理
//	if(1 == SwIn02 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x02);else UnInfCan_1.ArrData.Arr[0][1] |= 0x02;		//Dia02
//	if(1 == SwIn03 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x04);else UnInfCan_1.ArrData.Arr[0][1] |= 0x04;		//Dia03
//	if(1 == SwIn04 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x08);else UnInfCan_1.ArrData.Arr[0][1] |= 0x08;		//Dia04
//	if(1 == SwIn05 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x10);else UnInfCan_1.ArrData.Arr[0][1] |= 0x10;		//Dia05
//	if(1 == SwIn06 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x20);else UnInfCan_1.ArrData.Arr[0][1] |= 0x20;		//Dia06
//	if(1 == SwIn07 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x40);else UnInfCan_1.ArrData.Arr[0][1] |= 0x40;		//Dia07	  
//	if(1 == SwIn08 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x80);else UnInfCan_1.ArrData.Arr[0][1] |= 0x80;		//Dia08			


  UnInfCan_1.ArrData.Arr[0][3] = UnInfCan_1.ArrData.ArrRX[0][0];
  UnInfCan_1.ArrData.Arr[0][2] = UnInfCan_1.ArrData.ArrRX[0][1];	
  UnInfCan_1.ArrData.Arr[0][1] = motor_sta;	

	UnInfCan_1.ArrData.Arr[0][0] = can_error_flg;
	UnInfCan_1.ArrData.Arr[0][7] = 0;
	UnInfCan_1.ArrData.Arr[0][6] = 0;
	UnInfCan_1.ArrData.Arr[0][5] = (ubyte)(adc_result>>8);
	UnInfCan_1.ArrData.Arr[0][4] = (ubyte)(adc_result);

	CanTransmit();
}



/*-------- 电机控制函数 --------*/
// 电机正转（通道0工作）
void motorForward(void) 
{
	CC6_vLoadChannelShadowRegister_CC6_CHANNEL_0(0x0960*1/255);//这个是50us  UnInfCan_1.ArrData.ArrRX[0][1]
	CC6_vLoadChannelShadowRegister_CC6_CHANNEL_1(0x0960);//这个是50us	
  CC6_vEnableShadowTransfer_CC6_TIMER_12();
	CC6_vEnableShadowTransfer_CC6_TIMER_13();
}

// 电机反转（通道1工作）
void motorReverse(void) 
{
	CC6_vLoadChannelShadowRegister_CC6_CHANNEL_0(0x0960);//这个是50us
	CC6_vLoadChannelShadowRegister_CC6_CHANNEL_1(0x0960*1/255);//这个是50us	
  CC6_vEnableShadowTransfer_CC6_TIMER_12();
	CC6_vEnableShadowTransfer_CC6_TIMER_13();
}

// 电机停止（所有通道关闭）
void motorStop(void) 
{
	CC6_vLoadChannelShadowRegister_CC6_CHANNEL_0(0x0960);//这个是50us
	CC6_vLoadChannelShadowRegister_CC6_CHANNEL_1(0x0960);//这个是50us	
  CC6_vEnableShadowTransfer_CC6_TIMER_12();
	CC6_vEnableShadowTransfer_CC6_TIMER_13();
}

// 电机停止（所有通道关闭）
void motorStop1(void) 
{
	CC6_vLoadChannelShadowRegister_CC6_CHANNEL_0(0x0960*UnInfCan_1.ArrData.ArrRX[0][1]/255);//这个是50us  UnInfCan_1.ArrData.ArrRX[0][1]	
	CC6_vLoadChannelShadowRegister_CC6_CHANNEL_1(0x0960*UnInfCan_1.ArrData.ArrRX[0][1]/255);//这个是50us		
  CC6_vEnableShadowTransfer_CC6_TIMER_12();
	CC6_vEnableShadowTransfer_CC6_TIMER_13();
}


// 电机状态机函数
// 电机状态机函数
void motorStateMachine(MotorState *current_state, 
                      MotorDirection direction_cmd,
                      bool over_current)
{
	switch (*current_state)
	{
		// 停止状态
		case MOTOR_STOPPED:
				if (over_current) {
						*current_state = MOTOR_FAULT;
						motorStop();
				}
				else if (direction_cmd == DIR_FORWARD) {
						*current_state = MOTOR_FORWARD;
						motorForward();
				}
				else if (direction_cmd == DIR_REVERSE) {
						*current_state = MOTOR_REVERSE;
						motorReverse();
				}
				else {
						motorStop();  // 确保停止（处理其他无效值）
				}
				break;
				
		// 正转状态
		case MOTOR_FORWARD:
				if (over_current) {
						*current_state = MOTOR_FAULT;
						motorStop();
				}
				else if (direction_cmd != DIR_FORWARD) {
						*current_state = MOTOR_STOPPED;
						motorStop();
				}
				// 否则保持正转状态
				break;
				
		// 反转状态
		case MOTOR_REVERSE:
				if (over_current) {
						*current_state = MOTOR_FAULT;
						motorStop();
				}
				else if (direction_cmd != DIR_REVERSE) {
						*current_state = MOTOR_STOPPED;
						motorStop();
				}
				// 否则保持反转状态
				break;
				
		// 故障状态（过流保护）
		case MOTOR_FAULT:
				// 只有在停止命令时才能退出故障状态
				if (direction_cmd == DIR_STOP) {
						*current_state = MOTOR_STOPPED;
				}
				// 否则保持故障状态，电机保持停止
				motorStop();
				break;
				
		default:
				// 异常处理
				*current_state = MOTOR_STOPPED;
				motorStop();
				break;
	}
}


//CAN发送接收
void CanRXTX(void)
{
	stCAN_SWObj StrCanRx = {0};
	uword tmp = 0;
	ubyte i = 0,j = 0;
	static ubyte first_sta = 0;
	bool over_current1  = 0;
	
	
//------------------------------------
	
	if(0 == first_sta)
	{
		first_sta = 1;
		// 启动并行ADC请求（假设通道0x80对应实际物理通道）
		ADC_vStartParReqChNum(0x80);  
		// 设置加载事件（需确认函数参数）
		ADC_vSetLoadEvent();		
	}
	
	// 等待转换完成（需明确仲裁槽号）
	if(0 == ADC_ubBusy())
	{
		UnInfCan_1.ArrData.Arr[0][3] ++; 	
		// 获取结果
		adc_result = ADC_uwGetResultData0(); 		
		
		// 启动并行ADC请求（假设通道0x80对应实际物理通道）
		ADC_vStartParReqChNum(0x80);  
		// 设置加载事件（需确认函数参数）
		ADC_vSetLoadEvent();  
	}

	if(CAN_ubNewData(DF_SwRx))
	{
		CAN_vGetMsgObj(DF_SwRx, &StrCanRx);

		UnInfCan_1.ArrData.ArrRX[0][3] = StrCanRx.ulDATAL.ubDB[0];
		UnInfCan_1.ArrData.ArrRX[0][2] = StrCanRx.ulDATAL.ubDB[1];
		UnInfCan_1.ArrData.ArrRX[0][1] = StrCanRx.ulDATAL.ubDB[2];
		UnInfCan_1.ArrData.ArrRX[0][0] = StrCanRx.ulDATAL.ubDB[3];
		UnInfCan_1.ArrData.ArrRX[0][7] = StrCanRx.ulDATAH.ubDB[0];
		UnInfCan_1.ArrData.ArrRX[0][6] = StrCanRx.ulDATAH.ubDB[1];
		UnInfCan_1.ArrData.ArrRX[0][5] = StrCanRx.ulDATAH.ubDB[2];
		UnInfCan_1.ArrData.ArrRX[0][4] = StrCanRx.ulDATAH.ubDB[3];

		CAN_vReleaseObj(DF_SwRx);

		//CAN发送周期	50-5000ms
		tmp = (uword)UnInfCan_1.ArrData.ArrRX[0][6];
		tmp = (tmp << 8);
		tmp |= ((uword)UnInfCan_1.ArrData.ArrRX[0][7]);
		if(tmp >= 50)RgCanPerid = tmp;
		if(tmp >= 5000)RgCanPerid = 5000;
		
	}

	// 读取方向控制信号（根据您的硬件接口）
	if (1 == UnInfCan_1.BitData.D21 && 0 == UnInfCan_1.BitData.D22) 
	{
			motor_dir = DIR_FORWARD;
	} 
	else if (0 == UnInfCan_1.BitData.D21 && 1 == UnInfCan_1.BitData.D22) 
	{
			motor_dir = DIR_REVERSE;
	} 
	else 
	{
			motor_dir = DIR_STOP;
	}	
	
	if(adc_result < OVRE_CURRENT_MAX)//过流状态采集到的是低电平，正常是高电平。
	{
		over_current1 = 1;
	}
	else 
	{
		over_current1 = 0;		
	}
	
  motorStateMachine(&motor_sta, motor_dir, over_current1);	//处理电机
	
	if(CAN_ubNewData(DF_SwRxPwm))
	{
		CAN_vGetMsgObj(DF_SwRxPwm, &StrCanRx);

		UnInfCan_1.ArrData.ArrRX[1][2] = StrCanRx.ulDATAL.ubDB[0];
		UnInfCan_1.ArrData.ArrRX[1][3] = StrCanRx.ulDATAL.ubDB[1];
		UnInfCan_1.ArrData.ArrRX[1][0] = StrCanRx.ulDATAL.ubDB[2];
		UnInfCan_1.ArrData.ArrRX[1][1] = StrCanRx.ulDATAL.ubDB[3];
		UnInfCan_1.ArrData.ArrRX[1][6] = StrCanRx.ulDATAH.ubDB[0];
		UnInfCan_1.ArrData.ArrRX[1][7] = StrCanRx.ulDATAH.ubDB[1];
		UnInfCan_1.ArrData.ArrRX[1][4] = StrCanRx.ulDATAH.ubDB[2];
		UnInfCan_1.ArrData.ArrRX[1][5] = StrCanRx.ulDATAH.ubDB[3];

		CAN_vReleaseObj(DF_SwRxPwm);
		//接收的数据保存到PWM数据结构中20181227
		PwmH[0 ] = (ubyte)UnInfCan_1.BitData.Pwm_01;
		PwmH[1 ] = (ubyte)UnInfCan_1.BitData.Pwm_02;
		PwmH[2 ] = (ubyte)UnInfCan_1.BitData.Pwm_03;
		PwmH[3 ] = (ubyte)UnInfCan_1.BitData.Pwm_04;
		PwmH[4 ] = (ubyte)UnInfCan_1.BitData.Pwm_05;
		PwmH[5 ] = (ubyte)UnInfCan_1.BitData.Pwm_06;
		PwmH[6 ] = (ubyte)UnInfCan_1.BitData.Pwm_07;
		PwmH[7 ] = (ubyte)UnInfCan_1.BitData.Pwm_08;
		PwmH[8 ] = (ubyte)UnInfCan_1.BitData.Pwm_09;
		PwmH[9 ] = (ubyte)UnInfCan_1.BitData.Pwm_10;
		PwmH[10] = (ubyte)UnInfCan_1.BitData.Pwm_11;
		PwmH[11] = (ubyte)UnInfCan_1.BitData.Pwm_12;
		PwmH[12] = (ubyte)UnInfCan_1.BitData.Pwm_13;
		PwmH[13] = (ubyte)UnInfCan_1.BitData.Pwm_14;
		PwmH[14] = (ubyte)UnInfCan_1.BitData.Pwm_15;
		PwmH[15] = (ubyte)UnInfCan_1.BitData.Pwm_16;


//		UnInfCan_1.ArrData.Arr[0][3] = UnInfCan_1.ArrData.ArrRX[1][0];
//		UnInfCan_1.ArrData.Arr[0][2] = UnInfCan_1.ArrData.ArrRX[1][1];
//		UnInfCan_1.ArrData.Arr[0][1] = UnInfCan_1.ArrData.ArrRX[1][2];	20200225注释不更新诊断数据
//		UnInfCan_1.ArrData.Arr[0][0] = UnInfCan_1.ArrData.ArrRX[1][3];
//		UnInfCan_1.ArrData.Arr[0][7] = UnInfCan_1.ArrData.ArrRX[1][4];
//		UnInfCan_1.ArrData.Arr[0][6] = UnInfCan_1.ArrData.ArrRX[1][5];
//		UnInfCan_1.ArrData.Arr[0][5] = UnInfCan_1.ArrData.ArrRX[1][6];
//		UnInfCan_1.ArrData.Arr[0][4] = UnInfCan_1.ArrData.ArrRX[1][7];
//		CanTransmit();

	}
		//接收一帧，调用一次点灯程序。
//		LedDr();

//100ms发送一帧
	if(!FlgCan_1)
	{
		FlgCan_1 = 1;
		CanTX();
	}
	
	
	if( (0x40 == can_error_cnt) || (0x80 == can_error_cnt) )//20250625判断是否出现总线错误
	{
		 can_error_flg = can_error_cnt;
		 CAN_vInit();
		 can_error_cnt = 0;
	}
	

}