From ef4ba6a7e195e7573ede0b4f62aaa5fc4d09f2e4 Mon Sep 17 00:00:00 2001
From: xzb <223@qq.com>
Date: Fri, 17 Nov 2023 17:10:15 +0800
Subject: [PATCH 1/2] balise btm

---
 third_party/message/can_btm_time_sync_rsp.go | 97 ++++++++++++++++++++
 1 file changed, 97 insertions(+)
 create mode 100644 third_party/message/can_btm_time_sync_rsp.go

diff --git a/third_party/message/can_btm_time_sync_rsp.go b/third_party/message/can_btm_time_sync_rsp.go
new file mode 100644
index 0000000..77afddd
--- /dev/null
+++ b/third_party/message/can_btm_time_sync_rsp.go
@@ -0,0 +1,97 @@
+package message
+
+// BtmTimeSyncCheckFrame BTM发往ATP的时间校验帧
+type BtmTimeSyncCheckFrame struct {
+	//帧ID
+	FId CanFrameId
+	//T2时刻
+	//当收到某一流水号的ATP查询帧后，BTM将记录接收到该查询帧的时间值做为T2时刻。
+	T2 uint32
+	//T3时刻
+	//BTM将在T3时刻发送回复帧给ATP，并保持流水号与ATP查询帧一致。
+	T3 uint32
+}
+
+func NewBtmTimeSyncCheckFrame(sn byte) *BtmTimeSyncCheckFrame {
+	return &BtmTimeSyncCheckFrame{
+		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, CAN_FRAME_TIME_SYNC_RSP, sn),
+	}
+}
+func (f *BtmTimeSyncCheckFrame) Decode(reader CanBitsReader) bool {
+	//
+	if !f.FId.Decode(reader) {
+		return false
+	}
+	//T2
+	t21, t21Ok := reader.ReadByte()
+	if !t21Ok {
+		return false
+	}
+	t22, t22Ok := reader.ReadByte()
+	if !t22Ok {
+		return false
+	}
+	t23, t23Ok := reader.ReadByte()
+	if !t23Ok {
+		return false
+	}
+	t24, t24Ok := reader.ReadByte()
+	if !t24Ok {
+		return false
+	}
+	f.T2 = 0
+	f.T2 |= uint32(t21) << 24
+	f.T2 |= uint32(t22) << 16
+	f.T2 |= uint32(t23) << 8
+	f.T2 |= uint32(t24)
+	//T3
+	t31, t31Ok := reader.ReadByte()
+	if !t31Ok {
+		return false
+	}
+	t32, t32Ok := reader.ReadByte()
+	if !t32Ok {
+		return false
+	}
+	t33, t33Ok := reader.ReadByte()
+	if !t33Ok {
+		return false
+	}
+	t34, t34Ok := reader.ReadByte()
+	if !t34Ok {
+		return false
+	}
+	f.T3 = 0
+	f.T3 |= uint32(t31) << 24
+	f.T3 |= uint32(t32) << 16
+	f.T3 |= uint32(t33) << 8
+	f.T3 |= uint32(t34)
+	//
+	return true
+}
+func (f *BtmTimeSyncCheckFrame) Encode() CanBusData {
+	writer := NewCanBitsWriter(12)
+	f.FId.Encode(writer)
+	//
+	timeByteMsk := uint32(0x00_00_00_ff)
+	//t2
+	t21 := byte((f.T2 >> 24) & timeByteMsk)
+	t22 := byte((f.T2 >> 16) & timeByteMsk)
+	t23 := byte((f.T2 >> 8) & timeByteMsk)
+	t24 := byte(f.T2 & timeByteMsk)
+	writer.AddByte(t21)
+	writer.AddByte(t22)
+	writer.AddByte(t23)
+	writer.AddByte(t24)
+	//t3
+	t31 := byte((f.T3 >> 24) & timeByteMsk)
+	t32 := byte((f.T3 >> 16) & timeByteMsk)
+	t33 := byte((f.T3 >> 8) & timeByteMsk)
+	t34 := byte(f.T3 & timeByteMsk)
+	writer.AddByte(t31)
+	writer.AddByte(t32)
+	writer.AddByte(t33)
+	writer.AddByte(t34)
+	//
+	return writer.(CanBusData)
+}

From 268e93ca88b736ca0ec0e87c56896c261c380a18 Mon Sep 17 00:00:00 2001
From: xzb <223@qq.com>
Date: Fri, 17 Nov 2023 18:00:53 +0800
Subject: [PATCH 2/2] balise btm

---
 third_party/message/can_btm_data.go | 46 +++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)
 create mode 100644 third_party/message/can_btm_data.go

diff --git a/third_party/message/can_btm_data.go b/third_party/message/can_btm_data.go
new file mode 100644
index 0000000..d4f1854
--- /dev/null
+++ b/third_party/message/can_btm_data.go
@@ -0,0 +1,46 @@
+package message
+
+//数据帧（0x80+扩展类型）,一个CAN帧只能存储8个字节，对于一个应答器报文，分片到多个CAN数据帧中
+
+// BtmDataMessageFrame 数据帧-应答器报文
+// offset = [0x00,0x0c] 共13个即可用于存储应答器报文的共104个字节
+type BtmDataMessageFrame struct {
+	//帧ID
+	FId CanFrameId
+	//8字节,应答器报文片段
+	Message []byte
+}
+
+// BtmDataMessageTimeAFrame 数据帧-时间戳A
+// offset = 0x0d
+type BtmDataMessageTimeAFrame struct {
+	//帧ID
+	FId CanFrameId
+	//时间戳A
+	TimeA uint32
+	//CRC
+	Crc32A uint32
+}
+
+// BtmDataMessageTimeBFrame 数据帧-时间戳B
+// offset = 0x0e
+type BtmDataMessageTimeBFrame struct {
+	//帧ID
+	FId CanFrameId
+	//时间戳B
+	TimeB uint32
+	//CRC
+	Crc32B uint32
+}
+
+// BtmDataMessageEndFrame 数据帧-结束
+// offset = 0x7f
+type BtmDataMessageEndFrame struct {
+	//帧ID
+	FId CanFrameId
+	//TK time B
+	TkB uint32
+	//CRC32C校验包含对状态应答帧与数据帧的总校验，总共为8×17-4=132字节，4-即Crc32C
+	//1个状态应答帧 + 13个BtmDataMessageFrame + 1个BtmDataMessageTimeAFrame + 1个BtmDataMessageTimeBFrame + 1个BtmDataMessageEndFrame
+	Crc32C uint32
+}