From 1330079d3ae4f80688b07d1263a4f6ee5cc6ef42 Mon Sep 17 00:00:00 2001
From: sunbeam <fcb1995@163.com>
Date: Tue, 11 Mar 2025 17:05:32 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=BA=A7=E6=A4=85=E6=8C=89?=
 =?UTF-8?q?=E6=91=A9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 cva_asw_m0146/cva_asw_m0146.ewp               |   7 +
 cva_asw_m0146/cva_asw_m0146.ewt               |   6 +
 .../settings/cva_asw_m0146.Debug.cspy.bat     |   4 +-
 .../settings/cva_asw_m0146.Debug.cspy.ps1     |   4 +-
 .../settings/cva_asw_m0146.Debug.driver.xcl   |   2 +-
 .../settings/cva_asw_m0146.Debug.general.xcl  |   8 +-
 cva_asw_m0146/settings/cva_asw_m0146.dnx      |   7 +-
 cva_asw_m0146/src/CANmatrix/dbc/说明.txt      |   7 +-
 cva_asw_m0146/src/LIN_Master/LIN_Master.c     | 557 ++++++++++++++++++
 cva_asw_m0146/src/LIN_Master/LIN_Master.h     |  37 ++
 cva_asw_m0146/src/LIN_Master/SeatMassage.c    | 291 +++++++++
 cva_asw_m0146/src/LIN_Master/SeatMassage.h    |  37 ++
 cva_asw_m0146/src/appTask.c                   |  29 +-
 cva_asw_m0146/src/canuser.c                   |  14 +
 cva_asw_m0146/src/canuser.h                   |   1 +
 cva_asw_m0146/src/extern.c                    |   6 +-
 cva_asw_m0146/src/hwctrl.c                    |  32 +-
 cva_asw_m0146/src/key.c                       |   9 +
 cva_asw_m0146/src/key.h                       |   1 +
 cva_asw_m0146/src/main.c                      |   8 +-
 20 files changed, 1043 insertions(+), 24 deletions(-)
 create mode 100644 cva_asw_m0146/src/LIN_Master/LIN_Master.c
 create mode 100644 cva_asw_m0146/src/LIN_Master/LIN_Master.h
 create mode 100644 cva_asw_m0146/src/LIN_Master/SeatMassage.c
 create mode 100644 cva_asw_m0146/src/LIN_Master/SeatMassage.h

diff --git a/cva_asw_m0146/cva_asw_m0146.ewp b/cva_asw_m0146/cva_asw_m0146.ewp
index 5d8df4a..a6203a7 100644
--- a/cva_asw_m0146/cva_asw_m0146.ewp
+++ b/cva_asw_m0146/cva_asw_m0146.ewp
@@ -369,6 +369,7 @@
                     <state>$PROJ_DIR$\src\CANmatrix\usr</state>
                     <state>$PROJ_DIR$\src\fee</state>
                     <state>$PROJ_DIR$\SDK\middleware\nvm\fee</state>
+                    <state>$PROJ_DIR$\src\LIN_Master</state>
                 </option>
                 <option>
                     <name>CCStdIncCheck</name>
@@ -3061,11 +3062,17 @@
         <file>
             <name>$PROJ_DIR$\src\key.c</name>
         </file>
+        <file>
+            <name>$PROJ_DIR$\src\LIN_Master\LIN_Master.c</name>
+        </file>
         <file>
             <name>$PROJ_DIR$\src\main.c</name>
         </file>
         <file>
             <name>$PROJ_DIR$\src\MotorCtrl.c</name>
         </file>
+        <file>
+            <name>$PROJ_DIR$\src\LIN_Master\SeatMassage.c</name>
+        </file>
     </group>
 </project>
diff --git a/cva_asw_m0146/cva_asw_m0146.ewt b/cva_asw_m0146/cva_asw_m0146.ewt
index 6177857..ced51df 100644
--- a/cva_asw_m0146/cva_asw_m0146.ewt
+++ b/cva_asw_m0146/cva_asw_m0146.ewt
@@ -3684,11 +3684,17 @@
         <file>
             <name>$PROJ_DIR$\src\key.c</name>
         </file>
+        <file>
+            <name>$PROJ_DIR$\src\LIN_Master\LIN_Master.c</name>
+        </file>
         <file>
             <name>$PROJ_DIR$\src\main.c</name>
         </file>
         <file>
             <name>$PROJ_DIR$\src\MotorCtrl.c</name>
         </file>
+        <file>
+            <name>$PROJ_DIR$\src\LIN_Master\SeatMassage.c</name>
+        </file>
     </group>
 </project>
diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat
index 1f65c7c..bad3168 100644
--- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat
+++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat
@@ -25,7 +25,7 @@ if not "%~1" == "" goto debugFile
 
 @echo on 
 
-"E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
+"D:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCBproject\DMK-RP-01\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\FCBproject\DMK-RP-01\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
 
 @echo off 
 goto end 
@@ -34,7 +34,7 @@ goto end
 
 @echo on 
 
-"E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" "--debug_file=%~1" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
+"D:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCBproject\DMK-RP-01\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" "--debug_file=%~1" --backend -f "F:\FCBproject\DMK-RP-01\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
 
 @echo off 
 :end
\ No newline at end of file
diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1 b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1
index 8eaae2d..f14c94d 100644
--- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1
+++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1
@@ -23,9 +23,9 @@
 
 if ($debugfile -eq "")
 {
-& "E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
+& "D:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCBproject\DMK-RP-01\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\FCBproject\DMK-RP-01\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
 }
 else
 {
-& "E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --debug_file=$debugfile --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
+& "D:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCBproject\DMK-RP-01\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --debug_file=$debugfile --backend -f "F:\FCBproject\DMK-RP-01\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
 }
diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl b/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl
index ffd29cb..7a6d40b 100644
--- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl
+++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl
@@ -6,7 +6,7 @@
 
 "-p" 
 
-"E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf" 
+"D:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf" 
 
 "--semihosting" 
 
diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl b/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl
index e6c2ce3..9cc57e3 100644
--- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl
+++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl
@@ -1,10 +1,10 @@
-"E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armPROC.dll" 
+"D:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armPROC.dll" 
 
-"E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armJLINK.dll" 
+"D:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armJLINK.dll" 
 
-"F:\FCB_project\RP-01\CODE\cva_asw_m0146\Debug_FLASH\Exe\app_m146.out" 
+"F:\FCBproject\DMK-RP-01\RP-01\cva_asw_m0146\Debug_FLASH\Exe\app_m146.out" 
 
---plugin="E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armbat.dll" 
+--plugin="D:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armbat.dll" 
 
 
 
diff --git a/cva_asw_m0146/settings/cva_asw_m0146.dnx b/cva_asw_m0146/settings/cva_asw_m0146.dnx
index d34d668..e4ef483 100644
--- a/cva_asw_m0146/settings/cva_asw_m0146.dnx
+++ b/cva_asw_m0146/settings/cva_asw_m0146.dnx
@@ -22,11 +22,11 @@
     </JLinkDriver>
     <PlDriver>
         <FirstRun>0</FirstRun>
-        <MemConfigValue>E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf</MemConfigValue>
+        <MemConfigValue>D:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf</MemConfigValue>
     </PlDriver>
     <ArmDriver>
-        <EnforceMemoryConfiguration>1</EnforceMemoryConfiguration>
         <EnableCache>0</EnableCache>
+        <EnforceMemoryConfiguration>1</EnforceMemoryConfiguration>
     </ArmDriver>
     <DebugChecksum>
         <Checksum>1315671368</Checksum>
@@ -153,7 +153,8 @@
     <Breakpoints2>
         <Bp0>_ 1 "EMUL_CODE" "{$PROJ_DIR$\src\fee\MemoryTask.c}.49.9" 0 0 1 "" 0 "" 0</Bp0>
         <Bp1>_ 1 "EMUL_CODE" "{$PROJ_DIR$\src\fee\MemoryTask.c}.96.13" 0 0 1 "" 0 "" 0</Bp1>
-        <Count>2</Count>
+        <Bp2>_ 1 "EMUL_CODE" "{$PROJ_DIR$\src\LIN_Master\SeatMassage.c}.20.1" 0 0 1 "" 0 "" 0</Bp2>
+        <Count>3</Count>
     </Breakpoints2>
     <Aliases>
         <Count>0</Count>
diff --git a/cva_asw_m0146/src/CANmatrix/dbc/说明.txt b/cva_asw_m0146/src/CANmatrix/dbc/说明.txt
index 4a281a5..a6f4909 100644
--- a/cva_asw_m0146/src/CANmatrix/dbc/说明.txt
+++ b/cva_asw_m0146/src/CANmatrix/dbc/说明.txt
@@ -1,8 +1,3 @@
 参考https://github.com/astand/c-coderdbc
 生成指令
-./coderdbc.exe -dbc DMK-RP-01_CAN_V0.1.dbc -out ./gen/ -drvname CANmatrix -nodeutils -rw -driverdir -gendate
-
-打包
-tar -czvf CANmatrix.tar.gz  CANmatrix
-或
-zip -r CANmatrix.zip CANmatrix
\ No newline at end of file
+./coderdbc.exe -dbc DMK-RP-01_CAN_V0.1.dbc -out ./ -drvname CANmatrix -nodeutils -rw -driverdir -gendate
diff --git a/cva_asw_m0146/src/LIN_Master/LIN_Master.c b/cva_asw_m0146/src/LIN_Master/LIN_Master.c
new file mode 100644
index 0000000..9f5020f
--- /dev/null
+++ b/cva_asw_m0146/src/LIN_Master/LIN_Master.c
@@ -0,0 +1,557 @@
+/*******************************************************************************
+* the includes
+******************************************************************************/
+#include "LIN_Master.h"
+
+
+/*******************************************************************************
+* the defines
+******************************************************************************/
+
+/* the LIN baud rate */
+#define LIN_BAUD_RATE               (19200u)
+
+/* one lin frame data size */
+#define LIN_DATA_SIZE               (8u)
+/* lin frame sync header */
+#define LIN_SYNC_HEADER             (0x55)
+
+/* the client requests ID */
+#define LIN_ID_DIAG_MASTER_REQ      (0x3C)
+/* the server response ID */
+#define LIN_ID_DIAG_SLAVE_RESP      (0x3D)
+
+#define LIN_FRAME_NUM       (5u)
+
+/* add parity for frame id */
+#define MAKE_PARITY         (0u)
+/* check parity for frame pid */
+#define CHECK_PARITY        (1u)
+
+#define GETBIT(A,B)         ((A >> B) & 0x01)           //get bit B in A
+
+#define TIMER_UNIT_US       (1000u)
+
+/*******************************************************************************
+* the typedefs
+******************************************************************************/
+typedef enum {
+    LIN_STATE_IDLE = 0u,
+    LIN_STATE_BREAK,
+    LIN_STATE_SYNC_HEDADER,
+    LIN_STATE_PID,
+    LIN_STATE_TX_DATA,
+    LIN_STATE_RX_DATA,
+    LIN_STATE_CHECKSUM
+}Lin_StateType;
+
+typedef enum {
+    LINSTACK_CHECKSUM_CLASSIC = 0,
+    LINSTACK_CHECKSUM_ENHANCED,
+
+    LINSTACK_CHECKSUM_NUM
+}Lin_CheckSumType;
+
+typedef enum
+{
+    LIN_RES_PUB     = 0x00U,    /*!< Publisher response */
+    LIN_RES_SUB     = 0x01U     /*!< Subscriber response */
+} lin_ResponseType;
+
+typedef enum
+{
+    LIN_FRM_UNCD  = 0x00U,  /*!< Unconditional frame */
+    LIN_FRM_EVNT  = 0x01U,  /*!< Event triggered frame */
+    LIN_FRM_SPRDC = 0x10U,  /*!< Sporadic frame */
+    LIN_FRM_DIAG  = 0x11U   /*!< Diagnostic frame */
+} lin_FrameType;
+
+typedef struct {
+    uint8_t data[LIN_DATA_SIZE];
+    uint8_t checkSum;
+}Lin_FrameDataType;
+
+typedef struct {
+    uint8_t             frameId;        /*!< frame identifier */
+    lin_FrameType       frameType;      /*!< frame type */
+    uint8_t             frameLen;       /*!< frame data length */
+    lin_ResponseType    resType;        /*!< response type */
+    uint8_t             *pFrameData;    /*!< frame data buffer point */
+    uint8_t             updatingFlag;   /*!< frame data updating flag */
+}Lin_FrameInfoType;
+
+/*******************************************************************************
+* the globals
+******************************************************************************/
+extern McuType mcu;
+
+static Lin_FrameDataType linTxData;
+static Lin_FrameDataType linRxData;
+
+static uint8_t linTxDataCnt = 0;
+static uint8_t linRxDataCnt = 0;
+
+static uint8_t linFrameData[LIN_FRAME_NUM][LIN_DATA_SIZE];
+static uint8_t linFrameDataBackup[LIN_DATA_SIZE];
+
+static Lin_FrameInfoType   linFrameInfoTab[LIN_FRAME_NUM] = {
+    {0x10, LIN_FRM_UNCD, 2, LIN_RES_PUB, &linFrameData[0][0], 0x00},
+    {0x20, LIN_FRM_UNCD, 8, LIN_RES_SUB, &linFrameData[1][0], 0x00},
+    {0x21, LIN_FRM_UNCD, 8, LIN_RES_SUB, &linFrameData[2][0], 0x00},
+    {0x30, LIN_FRM_UNCD, 8, LIN_RES_SUB, &linFrameData[3][0], 0x00},
+    {0x31, LIN_FRM_UNCD, 8, LIN_RES_SUB, &linFrameData[4][0], 0x00},
+};
+
+uint8_t gCurFrameIdx = 0;
+
+Lin_StateType linState = LIN_STATE_IDLE;
+
+/* time stamp variable unit 1ms */
+volatile uint32_t gTime1msCnt = 0;
+
+/* the timeout counter of lin communication */
+volatile uint32_t linComTimeoutCnt = 0;
+
+uint32_t linMaxHeaderTimeout = 0;
+uint32_t linMaxFrameResTimeout = 0;
+
+
+/*******************************************************************************
+* the const
+******************************************************************************/
+
+
+
+/*******************************************************************************
+* the functions
+******************************************************************************/
+
+/*! \brief Computes maximum header timeout
+ *
+ * Theader_Maximum = 1.4 * THeader_Nominal, THeader_Nominal = 34 * TBit,
+ * (13 nominal bits of break;   1 nominal bit of break delimiter; 10 bits for SYNC and 10 bits of PID)
+ * TIMER_UNIT_US is in micro second
+ *
+ * \param[in] baudRate LIN network baud rate
+ *
+ * \return    maximum timeout for the selected baud rate
+ *
+ * Implements : lin_calc_max_header_timeout_cnt_Activity
+ */
+static uint32_t Lin_CalcMaxHeaderTimeoutCnt(uint32_t baudRate)
+{
+    return ((14U * 34U * 100000U / (TIMER_UNIT_US * baudRate)) + 1U);
+}
+
+
+/*! \brief Computes the maximum response timeout
+ *
+ * TResponse_Maximum = 1.4 * TResponse_Nominal, TResponse_Nominal = 10 * (NData+ 1) * TBit
+ *
+  * \param[in] baudRate LIN network baud rate
+ *             size     frame size in bytes
+ *
+ * \return maximum response timeout for the given baud rate and frame size
+ *
+ * Implements : lin_calc_max_res_timeout_cnt_Activity
+ */
+static uint32_t Lin_CalcMaxResTimeoutCnt(uint32_t baudRate, uint8_t size)
+{
+    uint32_t bitNum = 14U * (1U + size);
+
+    return ((bitNum * 1000000U / (TIMER_UNIT_US * baudRate)) + 1U);
+}
+
+/*! \brief The lin PID parity.
+ * \param[in] PID:Pid or Id
+ *            typeAction:
+ *            0 : make parity
+ *            1 : check parity
+ * \return none
+ */
+uint8_t Lin_PidParity(uint8_t PID, uint8_t typeAction)
+{
+    uint8_t parity;
+    uint8_t retVal;
+
+    parity = (uint8_t)(((0xFFU & (GETBIT(PID, 0U) ^ GETBIT(PID, 1U) ^ GETBIT(PID, 2U) ^ GETBIT(PID, 4U))) << 6U) |
+                       ((0xFFU ^ (GETBIT(PID, 1U) ^ GETBIT(PID, 3U) ^ GETBIT(PID, 4U) ^ GETBIT(PID, 5U))) << 7U));
+
+    /* Check if action is checking parity bits */
+    if (CHECK_PARITY == typeAction)
+    {
+        /* If parity bits are incorrect */
+        if ((PID & 0xC0U) != parity)
+        {
+            /* Return 0xFF if parity bits are incorrect */
+            retVal = 0xFFU;
+        }
+        /* If parity bits are correct */
+        else
+        {
+            /* Return ID if parity bits are correct */
+            retVal = (uint8_t)(PID & 0x3FU);
+        }
+    }
+    /* If action is making parity bits */
+    else
+    {
+        /* Return PID in case of making parity bits */
+        retVal = (uint8_t)(PID | parity);
+    }
+
+    return retVal;
+}
+
+/*! \brief get lin frame index.
+ * \param[in]   frameId: lin frame identifier
+ * \return      frame index
+ */
+uint8_t Lin_GetFrameIndex(uint8_t frameId)
+{
+    uint8_t i = 0;
+    uint8_t retVal = 0xFF;
+
+    for(i = 0; i < LIN_FRAME_NUM; i++)
+    {
+        if(frameId == linFrameInfoTab[i].frameId)
+        {
+            retVal = i;
+            break;
+        }
+    }
+
+    return retVal;
+}
+
+/*! \brief The lin data checksum function.
+ * \param[in] CheckSumType:
+ *              0: standard checksum
+ *              1: enhanced checksum
+ *            pid: frame pid
+ *            pData: pointer to the data of Lin_FrameType
+ *            dataLen: data length
+ * \return none
+ */
+uint8_t Lin_CalculateChecksum(Lin_CheckSumType checkSumType, const uint8_t frameId, const uint8_t* pData, uint8_t dataLen)
+{
+    uint16_t tCheckSum = 0;
+    uint8_t i = 0;
+
+    if ((checkSumType == LINSTACK_CHECKSUM_ENHANCED) && \
+            (frameId != LIN_ID_DIAG_MASTER_REQ) && (frameId != LIN_ID_DIAG_SLAVE_RESP))
+    {
+        tCheckSum = Lin_PidParity(frameId, MAKE_PARITY);
+    }
+
+    for (i = 0; i < dataLen; i++)
+    {
+        tCheckSum += pData[i];
+
+        tCheckSum = tCheckSum > 0xFF ? ((tCheckSum + 1) & 0x00FF) : tCheckSum;
+    }
+
+    tCheckSum = ~tCheckSum;
+
+    return (uint8_t)(tCheckSum & 0xFF);
+}
+
+/*! \brief set lin response data.
+ * \param[in]   pFrameInfoFromTab: point to the data will be send
+ *              pFrame: point to send structure
+ * \return none
+ */
+void lin_SetResponse(Lin_FrameInfoType *pFrameInfoFromTab, Lin_FrameDataType *pFrame)
+{
+    uint8_t i = 0;
+
+    for(i = 0; i < pFrameInfoFromTab->frameLen; i++)
+    {
+        if(0 != (pFrameInfoFromTab->updatingFlag & (1 << i)))
+        {
+            pFrame->data[i] = linFrameDataBackup[i];
+        }
+        else
+        {
+            pFrame->data[i] = pFrameInfoFromTab->pFrameData[i];
+        }
+    }
+
+    pFrame->checkSum = Lin_CalculateChecksum(LINSTACK_CHECKSUM_ENHANCED, pFrameInfoFromTab->frameId, &pFrame->data[0], pFrameInfoFromTab->frameLen);
+}
+
+/*! \brief The uart0 for lin send request function.
+ * \param[in] none
+ * \return none
+ */
+void LinMastertxIsrRequest(void)
+{
+    if (linState == LIN_STATE_IDLE)
+    {
+        UartDrv_SetInterruptReq(&mcu.uartDrv0, UARTDRV_ISR_SRC_TX_SYNC_BREAK, true);
+        linComTimeoutCnt = linMaxHeaderTimeout + linMaxFrameResTimeout;
+        linState = LIN_STATE_BREAK;
+        UartDrv_SendLinBreakField(&mcu.uartDrv0);
+    }
+}
+
+/*! \brief The uart0 for lin send interrupt handling function.
+ * \param[in] none
+ * \return none
+ */
+void LinMasterTxIsrRoutine(void)
+{
+    if (UartDrv_GetStatus(&mcu.uartDrv0, UARTDRV_STATUS_SBRKD))
+    {
+        /* The break signal has been transmitted successfully */
+        UartDrv_ClearStatus(&mcu.uartDrv0, UARTDRV_STATUS_SBRKD);
+
+        linTxDataCnt = 0;
+
+        /* send the sync-header(0x55) */
+        linState = LIN_STATE_SYNC_HEDADER;
+        UartDrv_TxData(&mcu.uartDrv0, LIN_SYNC_HEADER);
+    }
+}
+
+/*! \brief The uart0 for lin receive interrupt handling function.
+ * \param[in] none
+ * \return none
+ */
+void LinMasterRxIsrRoutine(void)
+{
+    uint8_t i = 0;
+    uint8_t rcvData = 0;
+    uint8_t rcvCheckSum = 0;
+    uint8_t clcCheckSum = 0;
+    uint8_t pid = 0;
+    uint8_t frameId = 0;
+    uint8_t txFreeCnt = 0;
+    uint8_t rxCnt = 0;
+
+    if (UartDrv_GetStatus(&mcu.uartDrv0, UARTDRV_STATUS_RDRF))
+    {
+        if (UartDrv_IsInterruptEnabled(&mcu.uartDrv0, UARTDRV_ISR_SRC_RX_FULL) == true)
+        {
+            switch(linState)
+            {
+            case LIN_STATE_SYNC_HEDADER:        /* wait to receive lin sync header */
+                rcvData = (uint8_t)(UartDrv_RxData(&mcu.uartDrv0) & 0xFF);
+
+                /* Check the sync header */
+                if (rcvData == LIN_SYNC_HEADER)
+                {
+                    pid = Lin_PidParity(linFrameInfoTab[gCurFrameIdx].frameId, MAKE_PARITY);
+                    UartDrv_TxData(&mcu.uartDrv0, pid);
+                    linState = LIN_STATE_PID;
+                }
+                else
+                {
+                    linState = LIN_STATE_IDLE;
+                }
+                break;
+            case LIN_STATE_PID:                 /* wait to receive lin pid */
+                rcvData = (uint8_t)(UartDrv_RxData(&mcu.uartDrv0) & 0xFF);
+                frameId = Lin_PidParity(rcvData, CHECK_PARITY);
+                if(frameId != linFrameInfoTab[gCurFrameIdx].frameId)
+                {
+                    linState = LIN_STATE_IDLE;
+                    break;
+                }
+
+                if(LIN_RES_PUB == linFrameInfoTab[gCurFrameIdx].resType)
+                {
+                    lin_SetResponse(&linFrameInfoTab[gCurFrameIdx], &linTxData);
+
+                    linState = LIN_STATE_TX_DATA;
+
+                    linTxDataCnt = 0;
+                    txFreeCnt = 4u - UartDrv_GetTxCounter(&mcu.uartDrv0);
+                    for(i = 0; i < txFreeCnt; i++)
+                    {
+                        UartDrv_TxData(&mcu.uartDrv0, linTxData.data[linTxDataCnt]);
+                        linTxDataCnt++;
+                        if(linTxDataCnt >= linFrameInfoTab[gCurFrameIdx].frameLen)
+                        {
+                            UartDrv_TxData(&mcu.uartDrv0, linTxData.checkSum);
+                            linState = LIN_STATE_CHECKSUM;
+                            break;
+                        }
+                    }
+                }
+                else if(LIN_RES_SUB == linFrameInfoTab[gCurFrameIdx].resType)
+                {
+                    linRxDataCnt = 0;
+                    linState = LIN_STATE_RX_DATA;
+                }
+                else
+                {
+                    linState = LIN_STATE_IDLE;
+                }
+                break;
+            case LIN_STATE_TX_DATA:
+                rxCnt = UartDrv_GetRxCounter(&mcu.uartDrv0);
+                for(i = 0; i < rxCnt; i++)
+                {
+                    (uint8_t)(UartDrv_RxData(&mcu.uartDrv0) & 0xFF);
+                }
+
+                txFreeCnt = 4u - UartDrv_GetTxCounter(&mcu.uartDrv0);
+                for(i = 0; i < txFreeCnt; i++)
+                {
+                    if(linTxDataCnt >= linFrameInfoTab[gCurFrameIdx].frameLen)
+                    {
+                        UartDrv_TxData(&mcu.uartDrv0, linTxData.checkSum);
+                        linState = LIN_STATE_CHECKSUM;
+                        break;
+                    }
+                    else
+                    {
+                        UartDrv_TxData(&mcu.uartDrv0, linTxData.data[linTxDataCnt]);
+                        linTxDataCnt++;
+                    }
+                }
+                break;
+            case LIN_STATE_RX_DATA:
+                rxCnt = UartDrv_GetRxCounter(&mcu.uartDrv0);
+                for(i = 0; i < rxCnt; i++)
+                {
+                    rcvData = (uint8_t)(UartDrv_RxData(&mcu.uartDrv0) & 0xFF);
+                    linRxData.data[linRxDataCnt] = rcvData;
+                    linRxDataCnt++;
+                    if(linRxDataCnt >= linFrameInfoTab[gCurFrameIdx].frameLen)
+                    {
+                        linState = LIN_STATE_CHECKSUM;
+                        break;
+                    }
+                }
+                break;
+            case LIN_STATE_CHECKSUM:                /* wait to receive lin checksum */
+                rcvCheckSum = (uint8_t)(UartDrv_RxData(&mcu.uartDrv0) & 0xFF);
+
+                if(LIN_RES_SUB == linFrameInfoTab[gCurFrameIdx].resType)
+                {
+                    clcCheckSum = Lin_CalculateChecksum(LINSTACK_CHECKSUM_ENHANCED, linFrameInfoTab[gCurFrameIdx].frameId, &linRxData.data[0], linRxDataCnt);
+                    if (clcCheckSum == rcvCheckSum)
+                    {
+                        memcpy(linFrameInfoTab[gCurFrameIdx].pFrameData, &linRxData.data[0], linRxDataCnt);
+                    }
+                }
+
+                linState = LIN_STATE_IDLE;
+                break;
+            default:
+                UartDrv_ClearRxFifo(&mcu.uartDrv0);
+                break;
+            }
+        }
+    }
+
+    if(linState == LIN_STATE_IDLE)
+    {
+        UartDrv_EnableLineBreakDetect(&mcu.uartDrv0, true);
+    }
+}
+
+/*! \brief This is a part of SysTick Interrupt Handler for lin timeout check.
+ * \param[in] none
+ * \return none
+ */
+void Lin_TimeoutService(void)
+{
+    switch(linState)
+    {
+    case LIN_STATE_BREAK:
+    case LIN_STATE_SYNC_HEDADER:
+    case LIN_STATE_PID:
+    case LIN_STATE_TX_DATA:
+    case LIN_STATE_RX_DATA:
+    case LIN_STATE_CHECKSUM:
+        linComTimeoutCnt--;
+        if(0 == linComTimeoutCnt)
+        {
+            linState = LIN_STATE_IDLE;
+
+            UartDrv_EnableLineBreakDetect(&mcu.uartDrv0, true);
+
+            linComTimeoutCnt = linMaxFrameResTimeout;
+        }
+        break;
+    default:
+        break;
+    }
+}
+
+/*! \brief The uart0 lin master init function.
+ * \param[in] none
+ * \return none
+ */
+void Uart0_LinMaster_Init(void)
+{
+    UartDrv_InitCfgType uartInitCfg;
+
+    /* PORT and pins as ALT4 (UART tx rx) */
+    PinsDrv_SetMuxModeSel(&mcu.ptc, 2, PINSDRV_MUX_ALT4);       /* Uart rx */
+    PinsDrv_SetMuxModeSel(&mcu.ptc, 3, PINSDRV_MUX_ALT4);       /* Uart tx */
+    PinsDrv_SetMuxModeSel(&mcu.ptc, 13, PINSDRV_MUX_AS_GPIO);   /* LIN module control */
+    PinsDrv_SetPinDirection(&mcu.ptc, 13, 1);                   /* set to output */
+    PinsDrv_WritePin(&mcu.ptc, 13, 1);                          /* set to high to active lin transceiver */
+
+    /* Configure uart module */
+    UartDrv_GetDefaultConfig(&uartInitCfg);
+    uartInitCfg.basicParameters.baudRate = LIN_BAUD_RATE;
+    uartInitCfg.extendFeatures.cosplayer = UARTDRV_COSPLAY_LIN;
+    ClockDrv_GetFreq(&mcu.clockDrv, CLOCKDRV_UART0, &uartInitCfg.basicParameters.busClockFreq);
+    /* Set the configuration */
+    UartDrv_SetConfig(&mcu.uartDrv0, &uartInitCfg);
+
+    UartDrv_SetRxWater(&mcu.uartDrv0, 0);
+    UartDrv_SetRxWater(&mcu.uartDrv0, 0);
+
+    UartDrv_SetInterruptReq(&mcu.uartDrv0, UARTDRV_ISR_SRC_TX_SYNC_BREAK, true);
+    UartDrv_SetInterruptReq(&mcu.uartDrv0, UARTDRV_ISR_SRC_RX_FULL, true);
+
+    /* Enable all the uart0 interrupts in the NVIC interrupt controller */
+    IrqDrv_EnableIrq(UART0_RxTx_IRQn);
+
+    linMaxHeaderTimeout = Lin_CalcMaxHeaderTimeoutCnt(LIN_BAUD_RATE);
+    linMaxFrameResTimeout = Lin_CalcMaxResTimeoutCnt(LIN_BAUD_RATE, 8);
+
+    linComTimeoutCnt = linMaxHeaderTimeout + linMaxFrameResTimeout;
+
+    linState = LIN_STATE_IDLE;
+}
+
+void LIN_UpdateTxData(uint8_t frameid,uint8_t dataid,uint8_t data)
+{
+    linFrameDataBackup[dataid] = linFrameInfoTab[frameid].pFrameData[dataid];
+    linFrameInfoTab[frameid].updatingFlag |= (0x01 << dataid);
+    linFrameInfoTab[frameid].pFrameData[dataid] = data;
+    linFrameInfoTab[frameid].updatingFlag &= ~(0x01 << dataid);
+}
+
+void LIN_Master_task(void)
+{
+    //LIN_UpdateTxData()
+
+    /* request send LIN data */
+    LinMastertxIsrRequest();
+    /*
+    gCurFrameIdx++;
+    if(gCurFrameIdx >= LIN_FRAME_NUM)
+    {
+        gCurFrameIdx = 0;
+    }
+    */
+}
+
+/*! \brief The uart0 interrupt handling function.
+ * \param[in] none
+ * \return none
+ */
+void UART0_RxTx_Handler(void)
+{
+    LinMasterTxIsrRoutine();
+    LinMasterRxIsrRoutine();
+}
+
diff --git a/cva_asw_m0146/src/LIN_Master/LIN_Master.h b/cva_asw_m0146/src/LIN_Master/LIN_Master.h
new file mode 100644
index 0000000..f9e779e
--- /dev/null
+++ b/cva_asw_m0146/src/LIN_Master/LIN_Master.h
@@ -0,0 +1,37 @@
+#ifndef __LIN_MASTER_H__
+#define __LIN_MASTER_H__
+
+/*******************************************************************************
+* the includes
+******************************************************************************/
+#include "Mcu.h"
+
+/*******************************************************************************
+* the defines
+******************************************************************************/
+
+
+
+/*******************************************************************************
+* the typedefs
+******************************************************************************/
+
+
+
+/*******************************************************************************
+* the globals
+******************************************************************************/
+
+
+
+/*******************************************************************************
+* the functions
+******************************************************************************/
+
+void Lin_TimeoutService(void);
+void Uart0_LinMaster_Init(void);
+void LIN_Master_task(void);
+void LIN_UpdateTxData(uint8_t frameid,uint8_t dataid,uint8_t data);
+
+#endif
+
diff --git a/cva_asw_m0146/src/LIN_Master/SeatMassage.c b/cva_asw_m0146/src/LIN_Master/SeatMassage.c
new file mode 100644
index 0000000..a381575
--- /dev/null
+++ b/cva_asw_m0146/src/LIN_Master/SeatMassage.c
@@ -0,0 +1,291 @@
+/*******************************************************************************
+* the includes
+******************************************************************************/
+#include "SeatMassage.h"
+#include "LIN_Master.h"
+#include "scm_canmatrix-binutil.h"
+/*******************************************************************************
+* the defines
+******************************************************************************/
+
+
+
+/*******************************************************************************
+* the typedefs
+******************************************************************************/
+typedef struct 
+{
+    // Solenoid Valve 电磁阀
+    uint8_t SV1:1;
+    uint8_t SV2:1;
+    uint8_t SV3:1;
+    uint8_t SV4:1;
+    uint8_t SV5:1;
+    uint8_t SV6:1;
+    uint8_t SV7:1;
+    uint8_t SV8:1;
+
+    uint8_t SV9:1;
+    uint8_t SV10:1;
+    uint8_t SV11:1;
+    uint8_t SV12:1;
+    uint8_t SV13:1;
+    uint8_t SV14:1;
+
+    uint8_t AP:1;
+    uint8_t V2_12V:1;
+}SM_CTRL_Type;
+
+typedef union 
+{
+    uint8_t rawdata[2];
+    SM_CTRL_Type msg;
+
+}SM_CTRL_Data_Type;
+
+typedef enum
+{
+    SM_INIT,
+    SM_OFF,
+    SM_RUN1,
+    SM_RUN2,
+    SM_RUN3,
+    SM_STATE_NUM
+}SM_state_Type;
+
+
+/*******************************************************************************
+* the globals
+******************************************************************************/
+SM_CTRL_Data_Type SM_CTRL_data;
+static SM_state_Type SM_state,SM_last_state;
+
+/*******************************************************************************
+* the const
+******************************************************************************/
+
+
+
+/*******************************************************************************
+* the functions
+******************************************************************************/
+
+static void UpdateLinMsg(SM_CTRL_Data_Type* data)
+{
+    LIN_UpdateTxData(0,0,data->rawdata[0]);
+    LIN_UpdateTxData(0,1,data->rawdata[1]);
+}
+
+static void SM_OFF_task(void)
+{
+    SM_CTRL_data.rawdata[0] = 0;
+    SM_CTRL_data.rawdata[1] = 0;
+    UpdateLinMsg(&SM_CTRL_data);
+    SM_last_state=SM_state;
+}
+static void SM_RUN1_task(void)//50ms
+{
+    static uint16_t run_counter;
+    static uint8_t runstate;
+    
+    if(SM_last_state!=SM_state)
+    {
+        runstate = 0;
+        run_counter = 0;
+        SM_last_state=SM_state;
+    }
+    switch (runstate)
+    {
+    case 0:
+        SM_CTRL_data.rawdata[0] = 0x01;
+        SM_CTRL_data.rawdata[1] = 0x00;
+        run_counter++;
+        if (run_counter > 60)
+        {
+            run_counter = 0;
+            runstate++;
+        }
+        break;
+    case 1:
+        SM_CTRL_data.rawdata[0] = 0x02;
+        SM_CTRL_data.rawdata[1] = 0x00;
+        run_counter++;
+        if (run_counter > 60)
+        {
+            run_counter = 0;
+            runstate++;
+        }
+        break;
+    case 2:
+        SM_CTRL_data.rawdata[0] = 0x04;
+        SM_CTRL_data.rawdata[1] = 0x00;
+        run_counter++;
+        if (run_counter > 60)
+        {
+            run_counter = 0;
+            runstate++;
+        }
+        break;
+    case 3:
+        SM_CTRL_data.rawdata[0] = 0x08;
+        SM_CTRL_data.rawdata[1] = 0x00;
+        run_counter++;
+        if (run_counter > 60)
+        {
+            run_counter = 0;
+            runstate++;
+        }
+        break;
+    case 4:
+        SM_CTRL_data.rawdata[0] = 0x10;
+        SM_CTRL_data.rawdata[1] = 0x00;
+        run_counter++;
+        if (run_counter > 60)
+        {
+            run_counter = 0;
+            runstate++;
+        }
+        break;
+    case 5:
+        SM_CTRL_data.rawdata[0] = 0x20;
+        SM_CTRL_data.rawdata[1] = 0x00;
+        run_counter++;
+        if (run_counter > 60)
+        {
+            run_counter = 0;
+            runstate++;
+        }
+        break;
+    case 6:
+        SM_CTRL_data.rawdata[0] = 0x40;
+        SM_CTRL_data.rawdata[1] = 0x00;
+        run_counter++;
+        if (run_counter > 60)
+        {
+            run_counter = 0;
+            runstate++;
+        }
+        break;
+    case 7:
+        SM_CTRL_data.rawdata[0] = 0x80;
+        SM_CTRL_data.rawdata[1] = 0x00;
+        run_counter++;
+        if (run_counter > 60)
+        {
+            run_counter = 0;
+            runstate++;
+        }
+        break;
+    case 8:
+        SM_CTRL_data.rawdata[0] = 0x00;
+        SM_CTRL_data.rawdata[1] = 0x01;
+        run_counter++;
+        if (run_counter > 60)
+        {
+            run_counter = 0;
+            runstate++;
+        }
+        break;
+    case 9:
+        SM_CTRL_data.rawdata[0] = 0x00;
+        SM_CTRL_data.rawdata[1] = 0x02;
+        run_counter++;
+        if (run_counter > 60)
+        {
+            run_counter = 0;
+            runstate++;
+        }
+        break;
+    default:
+        runstate = 0;
+        break;
+    }
+    SM_CTRL_data.msg.V2_12V = 1;
+    SM_CTRL_data.msg.AP = 1;
+    UpdateLinMsg(&SM_CTRL_data);
+}
+static void SM_RUN2_task(void)
+{
+    static uint16_t run_counter;
+    static uint8_t runstate;
+    SM_CTRL_data.msg.V2_12V = 1;
+    SM_CTRL_data.msg.AP = 1;
+    UpdateLinMsg(&SM_CTRL_data);
+}
+static void SM_RUN3_task(void)
+{
+    static uint16_t run_counter;
+    static uint8_t runstate;
+    SM_CTRL_data.msg.V2_12V = 1;
+    SM_CTRL_data.msg.AP = 1;
+    UpdateLinMsg(&SM_CTRL_data);
+}
+
+void SeatMassage_Init(void)
+{
+    SM_CTRL_data.msg.SV1 = 1;
+    SM_CTRL_data.msg.AP = 1;
+    UpdateLinMsg(&SM_CTRL_data);
+}
+
+void SeatMassage_task(void)
+{
+    switch (SM_state)
+    {
+    case SM_INIT:
+        SM_state = SM_OFF;
+        break;
+    case SM_OFF:
+        SM_OFF_task();
+        break;
+    case SM_RUN1:
+        SM_RUN1_task();
+        break;
+    case SM_RUN2:
+        SM_RUN2_task();
+        break;
+    case SM_RUN3:
+        SM_RUN3_task();
+        break;
+    default:
+        SM_state = SM_OFF;
+        break;
+    }
+    if (SM_state > SM_INIT && SM_state < SM_STATE_NUM)
+    {
+        scm_canmatrix_tx.SCM_STATE.ZY_MSSG_STATE = SM_state-1;
+    }
+    else
+    {
+        scm_canmatrix_tx.SCM_STATE.ZY_MSSG_STATE = 0;
+    }
+    
+}
+
+void SeatMassage_ReqRun(uint8_t state)
+{
+    if (state < 3)
+    {
+        SM_state = SM_RUN1 + state;
+    }
+    
+}
+
+void SeatMassage_ReqOFF(void)
+{
+    SM_state = SM_OFF;
+}
+
+void SeatMassage_ReqNext(void)
+{
+    if (SM_state == SM_OFF)
+    {
+        SM_state = SM_RUN1;
+    }
+    else
+    {
+        SM_state = SM_OFF;
+    }
+    
+    
+}
\ No newline at end of file
diff --git a/cva_asw_m0146/src/LIN_Master/SeatMassage.h b/cva_asw_m0146/src/LIN_Master/SeatMassage.h
new file mode 100644
index 0000000..d9534ac
--- /dev/null
+++ b/cva_asw_m0146/src/LIN_Master/SeatMassage.h
@@ -0,0 +1,37 @@
+#ifndef __SEATMASSAGE_H__
+#define __SEATMASSAGE_H__
+
+/*******************************************************************************
+* the includes
+******************************************************************************/
+#include "Mcu.h"
+
+/*******************************************************************************
+* the defines
+******************************************************************************/
+
+
+
+/*******************************************************************************
+* the typedefs
+******************************************************************************/
+
+
+
+/*******************************************************************************
+* the globals
+******************************************************************************/
+
+
+
+/*******************************************************************************
+* the functions
+******************************************************************************/
+void SeatMassage_Init(void);
+void SeatMassage_ReqOFF(void);
+void SeatMassage_ReqRun(uint8_t state);
+void SeatMassage_task(void);
+void SeatMassage_ReqNext(void);
+
+#endif
+
diff --git a/cva_asw_m0146/src/appTask.c b/cva_asw_m0146/src/appTask.c
index d1b9325..bbd5719 100644
--- a/cva_asw_m0146/src/appTask.c
+++ b/cva_asw_m0146/src/appTask.c
@@ -14,6 +14,8 @@
 #include "scm_canmatrix-binutil.h"
 #include "FanHeat.h"
 #include "MemoryTask.h"
+#include "LIN_Master.h"
+#include "SeatMassage.h"
 /*******************************************************************************
  * the defines
  ******************************************************************************/
@@ -74,7 +76,27 @@ void SysTick_Handler(void)
     gSystick1msEvent++;
     timer_1ms++;
     Uds_Tick(&udsObj);
+    Lin_TimeoutService();
 }
+
+void PowerOnTask(void)
+{
+    static uint16_t powerOnCnt=0;
+    static uint8_t flagSBCInitClr=0;
+    if (powerOnCnt <= 20)
+    {
+        powerOnCnt++;
+    }
+    
+    
+    if (powerOnCnt > 20 && flagSBCInitClr ==0)
+    {
+        flagSBCInitClr = 1;
+        SBC_Write_Reg(SBC_SYS_STATUS_CTRL_0, 0, NULL);
+    }
+    
+}
+
 void appTask(void)
 {
     if(gSystick1msEvent > 0u)
@@ -99,6 +121,7 @@ void appTask(void)
         
         if (gSystick1msCnt % 10 == 0)
         {
+            LIN_Master_task();
             MotorCtrl_Maintask();
             FanHeatMainTaks();
         }
@@ -106,7 +129,9 @@ void appTask(void)
         if (gSystick1msCnt % 50 == 0)
         {
             SBC_WD_Trigger();
-
+            WdgDrv_Refresh(&mcu.wdgDrv);
+            PowerOnTask();
+            SeatMassage_task();
         }
         
         if(gSystick1msCnt % 1000 == 0)
@@ -136,6 +161,8 @@ void appTaskInit(void)
     FanHeatInit();
 
     MemoryTaskInit();
+
+    SeatMassage_Init();
 }
 
 
diff --git a/cva_asw_m0146/src/canuser.c b/cva_asw_m0146/src/canuser.c
index dddabc6..e702f77 100644
--- a/cva_asw_m0146/src/canuser.c
+++ b/cva_asw_m0146/src/canuser.c
@@ -19,6 +19,7 @@ typedef enum
     UDS_MSG_IDX_STD_ECU_DEBUG2,
     UDS_MSG_IDX_STD_ECU_DEBUG3,
     UDS_MSG_IDX_STD_ECU_DEBUG4,
+    UDS_MSG_IDX_STD_TX_TEST,
     UDS_MSG_IDX_NUM
 } Uds_MsgIdIdxType;
 
@@ -139,6 +140,7 @@ const FlexCanDrv_MsgCfgType msgCfgObj[UDS_MSG_IDX_NUM] = {
     {UDS_MSG_IDX_STD_ECU_DEBUG2,1, APP_TX_ECU_DEBUG2_MSG_ID,false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
     {UDS_MSG_IDX_STD_ECU_DEBUG3,1, APP_TX_ECU_DEBUG3_MSG_ID,false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
     {UDS_MSG_IDX_STD_ECU_DEBUG4,1, APP_TX_ECU_DEBUG4_MSG_ID,false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
+    {UDS_MSG_IDX_STD_TX_TEST   ,1, 0x222                   ,false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
 };
 
 
@@ -226,6 +228,18 @@ void MsgTask(UdsType *obj)//1ms task
 }
 
 /************************************* CAN *****************************************/
+static uint8_t testdata[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
+void TxTestMsg (uint8_t * data)
+{
+    if (data != NULL)
+    {
+        for (uint8_t i = 0; i < 8; i++)
+        {
+            testdata[i] = data[i];
+        }
+    }
+    FlexCanBoot_TxMessage(0x222,testdata,8);
+}
 int8_t FlexCanBoot_TxMessage(uint32_t msgId, const uint8_t* pData, uint8_t size)
 {
     FlexCanDrv_MsgObjType txMsgObj;
diff --git a/cva_asw_m0146/src/canuser.h b/cva_asw_m0146/src/canuser.h
index a928859..626306c 100644
--- a/cva_asw_m0146/src/canuser.h
+++ b/cva_asw_m0146/src/canuser.h
@@ -45,6 +45,7 @@ void FlexCanBoot_Init(void);
 int8_t FlexCanBoot_TxMessage(uint32_t msgId, const uint8_t* pData, uint8_t size);
 bool FlexCanBoot_ReadoutMsg(FlexCan_FrameStructureType* pRxMsgObj);
 void MsgTask(UdsType *obj);
+void TxTestMsg (uint8_t * data);
 
 void GetRxMsgData(uint16_t msgId, uint8_t* pData, uint8_t Size);
 void SetTxMsgData(uint16_t msgId, uint8_t* pData, uint8_t Size);
diff --git a/cva_asw_m0146/src/extern.c b/cva_asw_m0146/src/extern.c
index 8f4befb..d9c20c8 100644
--- a/cva_asw_m0146/src/extern.c
+++ b/cva_asw_m0146/src/extern.c
@@ -33,7 +33,8 @@ typedef struct
     uint8_t appBuildTime[12];
     uint8_t appBuildDate[16];
     uint8_t appSW_VERSION[16];
-    uint8_t reverse[16];
+    uint8_t appSW_Debug;
+    uint8_t reverse[15];
 } app_CfgInfoType;//64 byte
 
 /*******************************************************************************
@@ -51,6 +52,7 @@ __root const app_CfgInfoType app_info = {
     .appBuildTime = __TIME__,//0x00010404
     .appBuildDate = __DATE__,//0x00010410
     .appSW_VERSION = "SW0101_20241220",
+    .appSW_Debug = 0xff,//0x55为量产模式，其它为debug模式
 };
 
 
@@ -99,4 +101,6 @@ void extHardwareReset(void)
 void extSortwareReset(void)
 {
     ResetDrv_SoftwareResetModule(&mcu.resetDrv,RESETDRV_SWRESET_SYS);
+    
+    
 }
\ No newline at end of file
diff --git a/cva_asw_m0146/src/hwctrl.c b/cva_asw_m0146/src/hwctrl.c
index 98d1d12..052456c 100644
--- a/cva_asw_m0146/src/hwctrl.c
+++ b/cva_asw_m0146/src/hwctrl.c
@@ -7,7 +7,7 @@
 #include "string.h"
 #include "irq_drv.h"
 #include "canuser.h"
-
+#include "LIN_Master.h"
 
 /*******************************************************************************
  * the defines
@@ -112,6 +112,11 @@ static void hw_clock_init()
     ClockDrv_ConfigureClock(&mcu.clockDrv, CLOCKDRV_DMA, &clockConfig);
 
     ClockDrv_ConfigureClock(&mcu.clockDrv, CLOCKDRV_PWMLITE0, &clockConfig);
+
+    /* SOSC_DIV2 For Uart2 module clock source */
+    clockConfig.gating = true;
+    clockConfig.source = CLOCKDRV_SOSC_DIV2;
+    ClockDrv_ConfigureClock(&mcu.clockDrv, CLOCKDRV_UART0, &clockConfig);
 }
 
 
@@ -276,11 +281,33 @@ static void PWM_Init(void)
     /* Enable PWM Module */
     PwmLiteDrv_EnableModule(&mcu.pwmLiteDrv0);
 }
+static void Watchdog_Init(void)
+{
+    /* Refresh wdg */
+    WdgDrv_Refresh(&mcu.wdgDrv);
+
+    /* Initialize WDG drivers */
+    WdgDrv_ConfigureType wdgConfigParams;
+    WdgDrv_GetDefaultConfig(&wdgConfigParams);
+    wdgConfigParams.clkSource       = WDGDRV_CLK_SRC_LPO128K;
+    wdgConfigParams.winEnable       = false;
+    wdgConfigParams.prescalerEnable = false;
+    wdgConfigParams.enable          = true;
+    wdgConfigParams.intEnable       = false;
+    wdgConfigParams.updateEnable    = true;
+    wdgConfigParams.stopModeEnable  = false;
+    wdgConfigParams.timeoutValue    = 12800;
+    wdgConfigParams.windowValue     = 1000;
+    WdgDrv_Configure(&mcu.wdgDrv, &wdgConfigParams);
+    //NVIC_EnableIRQ(WDOG_IRQn);
+}
 
 void hw_init(void)
 {
     uint32_t                     gCpuClockFrequency       = 0;
 
+    Watchdog_Init();
+
     hw_clock_init();
 
     SEGGER_RTT_printf(0,"-----SPI_INIT-----\n");
@@ -300,6 +327,9 @@ void hw_init(void)
     ADC_Init();
 
     PWM_Init();
+
+    Uart0_LinMaster_Init();
+
     SEGGER_RTT_printf(0,"-----InitFinished-----\n");
 }
 
diff --git a/cva_asw_m0146/src/key.c b/cva_asw_m0146/src/key.c
index d0dc288..471d557 100644
--- a/cva_asw_m0146/src/key.c
+++ b/cva_asw_m0146/src/key.c
@@ -2,6 +2,7 @@
 #include "key.h"
 #include "scm_canmatrix-binutil.h"
 #include "MotorCtrl.h"
+#include "SeatMassage.h"
 
 static uint8_t GetSigState(KEY_ID_type key_id);
 
@@ -127,6 +128,8 @@ static uint8_t GetSigState(KEY_ID_type key_id)
         return scm_canmatrix_rx.Panel_Key.KEY_MEMORY_3;
     case KEY_RESET:
         return scm_canmatrix_rx.Panel_Key.KEY_RESET;
+    case KEY_SM:
+        return scm_canmatrix_rx.Panel_Key.KEY_ZY_MSSG;
     default:
         return 0;
     }
@@ -260,6 +263,12 @@ void KeyProTask(void)//5ms
     {
         StartAutoCal();
     }
+
+    if (getKeyPressFlag(KEY_SM) == KEY_PRESSED)
+    {
+        SeatMassage_ReqNext();
+    }
+    
     
 }
 
diff --git a/cva_asw_m0146/src/key.h b/cva_asw_m0146/src/key.h
index b6e0ff8..9586c75 100644
--- a/cva_asw_m0146/src/key.h
+++ b/cva_asw_m0146/src/key.h
@@ -26,6 +26,7 @@ typedef enum
     KEY_MEMORY_2,
     KEY_MEMORY_3,
     KEY_RESET,
+    KEY_SM,//seat massage
     KEY_NUM,
 }KEY_ID_type;
 
diff --git a/cva_asw_m0146/src/main.c b/cva_asw_m0146/src/main.c
index 521192a..7679fec 100644
--- a/cva_asw_m0146/src/main.c
+++ b/cva_asw_m0146/src/main.c
@@ -60,7 +60,7 @@ McuType                      mcu;
 
 
 
-
+//uint8_t testdata[8] = {0};
 int main(void)
 {
     
@@ -72,10 +72,12 @@ int main(void)
     SEGGER_RTT_Init();
 
     hw_init();
-
+    IrqDrv_EnableGlobalInterrupt();
+    TxTestMsg(NULL);
     appTaskInit();
 
-    IrqDrv_EnableGlobalInterrupt();
+    
+    SBC_WD_Trigger();
     SEGGER_RTT_printf(0,"-----init success-----\n");
     while(1)
     {