From 2355c8c51878f9093aa1bc678a0eaceacd07ccbf Mon Sep 17 00:00:00 2001
From: xzb <223@qq.com>
Date: Thu, 16 Nov 2023 18:12:46 +0800
Subject: [PATCH] balise btm

---
 third_party/message/balise_btm.go | 38 +++++++++++++++++++++++++++++--
 1 file changed, 36 insertions(+), 2 deletions(-)

diff --git a/third_party/message/balise_btm.go b/third_party/message/balise_btm.go
index 9038948..c576609 100644
--- a/third_party/message/balise_btm.go
+++ b/third_party/message/balise_btm.go
@@ -80,6 +80,9 @@ func NewAtpRequestFrame(sn byte) *AtpRequestFrame {
 	return &AtpRequestFrame{
 		FId: *NewCanFrameId(CAN_ADDR_REQ_BTM, CAN_ADDR_REQ_ATP, CAN_FRAME_ATP_REQ, sn),
 	}
+}
+func (f *AtpRequestFrame) Decode(bits *CanBits) {
+
 }
 func (f *AtpRequestFrame) Encode() *CanBits {
 	bits := NewCanBits(12)
@@ -103,12 +106,43 @@ func (f *AtpRequestFrame) Encode() *CanBits {
 	bits.AddBits(byte(f.Speed>>8), 4)
 	bits.AddByte(byte(f.Speed))
 	//时间
-
+	timeArr := make([]byte, 4, 4)
+	timeArr[0] = byte(f.time >> 24)
+	timeArr[1] = byte(f.time >> 16)
+	timeArr[2] = byte(f.time >> 8)
+	timeArr[3] = byte(f.time)
+	for _, timeByte := range timeArr {
+		bits.AddByte(timeByte)
+	}
+	//crc
+	crc16 := calculateAtpReqCrc16(timeArr)
+	bits.AddByte(byte(crc16 >> 8))
+	bits.AddByte(byte(crc16))
 	//
 	return bits
 }
 
-/////////////////////////////////////////////
+///////////////////// CRC ////////////////////////
+
+const (
+	CAN_CRC16_ATPREQ = 0x11021
+)
+
+var (
+	crc16AtpReqTable []uint32 = nil
+)
+
+func CanCreateCrcTable() {
+	if crc16AtpReqTable == nil {
+		crc16AtpReqTable = CreateCrcTable(CAN_CRC16_ATPREQ, 16, false)
+	}
+}
+func calculateAtpReqCrc16(data []byte) uint16 {
+	crc := CrcTableBased(data, 16, 0, false, false, 0, crc16AtpReqTable)
+	return uint16(crc)
+}
+
+///////////////////// bit 流处理 ////////////////////////
 
 // CanBits 可以在CAN总线上传输的bit流
 // 按bit位来存储数据