592 lines
14 KiB
C
592 lines
14 KiB
C
//
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// Created by cfif on 16.03.2024.
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//
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#ifndef CAN_MODULE_CAN_FRAME_XCP_H
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#define CAN_MODULE_CAN_FRAME_XCP_H
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#include "SerialPortFrameIO.h"
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#include "CanSerialPortFrame.h"
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#include "LoggerToSerialPort.h"
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#include "CmsisRtosThreadUtils.h"
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#include "SystemMutexCmsis.h"
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typedef enum {
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XCP_ERR_CMD_SYNCH = 0x00,
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XCP_ERR_CMD_BUSY = 0x10,
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XCP_ERR_DAQ_ACTIVE = 0x11,
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XCP_ERR_PGM_ACTIVE = 0x12,
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XCP_ERR_CMD_UNKNOWN = 0x20,
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XCP_ERR_CMD_SYNTAX = 0x21,
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XCP_ERR_OUT_OF_RANGE = 0x22,
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XCP_ERR_WRITE_PROTECTED = 0x23,
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XCP_ERR_ACCESS_DENIED = 0x24,
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XCP_ERR_ACCESS_LOCKED = 0x25,
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XCP_ERR_PAGE_NOT_VALID = 0x26,
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XCP_ERR_MODE_NOT_VALID = 0x27,
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XCP_ERR_SEGMENT_NOT_VALID = 0x28,
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XCP_ERR_SEQUENCE = 0x29,
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XCP_ERR_DAQ_CONFIG = 0x2A,
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XCP_ERR_MEMORY_OVERFLOW = 0x30,
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XCP_ERR_GENERIC = 0x31,
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XCP_ERR_VERIFY = 0x32,
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XCP_ERR_RESOURCE_TEMPORARY_NOT_ACCESSIBLE = 0x33,
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XCP_ERR_SUBCMD_UNKNOWN = 0x34
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} eXcpError;
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typedef enum {
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XCP_COMMAND_CONNECT = 0xFF,
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XCP_COMMAND_DISCONNECT = 0xFE,
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XCP_COMMAND_GET_STATUS = 0xFD,
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XCP_COMMAND_SYNCH = 0xFC,
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XCP_GET_COMM_MODE_INFO = 0xFB,
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XCP_GET_SEED = 0xF8,
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XCP_UNLOCK = 0xF7,
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XCP_COMMAND_SET_MTA = 0xF6,
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XCP_COMMAND_UPLOAD = 0xF5,
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XCP_COMMAND_SHORT_UPLOAD = 0xF4,
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XCP_COMMAND_DOWNLOAD = 0xF0,
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XCP_COMMAND_DOWNLOAD_NEXT = 0xEF,
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XCP_COMMAND_DOWNLOAD_MAX = 0xEE,
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XCP_CLEAR_DAQ_LIST = 0xE3,
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XCP_GET_DAQ_LIST_INFO = 0xD8,
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XCP_FREE_DAQ = 0xD6,
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XCP_ALLOC_DAQ = 0xD5,
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XCP_ALLOC_ODT = 0xD4,
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XCP_ALLOC_ODT_ENTRY = 0xD3,
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XCP_SET_DAQ_PTR = 0xE2,
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XCP_WRITE_DAQ = 0xE1,
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XCP_SET_DAQ_LIST_MODE = 0xE0,
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XCP_START_STOP_DAQ_LIST = 0xDE,
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XCP_START_STOP_SYNCH = 0xDD,
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} eXcpTypeCommand;
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typedef enum {
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XCP_STOP = 0,
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XCP_START = 1,
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XCP_SELECT = 2
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} eXcpDAQ_Mode;
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typedef enum {
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XCP_SYNC_STOP_ALL = 0,
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XCP_SYNC_START_SEL = 1,
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XCP_SYNC_STOP_SEL = 2
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} eXcpDAQ_Sync_Mode;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t CAL_PAG: 1; // CALibration and PAGing
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uint8_t reserve1: 1;
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uint8_t DAQ: 1; // DAQ lists supported
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uint8_t STIM: 1; // STIMulation
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uint8_t PGM: 1; // Flash programming
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uint8_t reserve2: 1;
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uint8_t reserve3: 1;
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uint8_t reserve4: 1;
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uint8_t BYTE__ORDER: 1; // 0 - Intel
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uint8_t ADDRESS_GRANULARITY_0: 1;
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uint8_t ADDRESS_GRANULARITY_1: 1;
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uint8_t reserve5: 1;
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uint8_t reserve6: 1;
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uint8_t reserve7: 1;
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uint8_t SLAVE_BLOCK_MODE: 1;
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uint8_t OPTIONAL: 1;
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uint8_t MAX_CTO_;
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uint16_t MAX_DTO_;
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uint8_t XCP_PROTOCOL_VER;
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uint8_t XCP_TRANSPORT_VER;
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} eXcpCommand_CONNECT;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t STORE_CAL_REQ: 1;
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uint8_t reserve1: 1;
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uint8_t STORE_DAQ_REQ: 1;
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uint8_t CLEAR_DAQ_REQ: 1;
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uint8_t reserve2: 1;
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uint8_t reserve3: 1;
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uint8_t DAQ_RUNNING: 1;
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uint8_t RESUME: 1;
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uint8_t CAL_PAG: 1;
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uint8_t reserve5: 1;
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uint8_t DAQ: 1;
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uint8_t STIM: 1;
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uint8_t PGM: 1;
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uint8_t reserve6: 1;
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uint8_t reserve7: 1;
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uint8_t reserve8: 1;
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uint8_t STATE_NUMBER;
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uint32_t SESSION_CONFIGURATION_ID;
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} eXcpCommand_GET_STATUS;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t RESERVED1;
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uint8_t MASTER_BLOCK_MODE: 1;
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uint8_t INTERLEAVED_MODE: 1;
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uint8_t RESERVED2: 6;
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uint8_t RESERVED3;
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uint8_t MAX_BS;
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uint8_t MIN_ST;
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uint8_t QUEUE_SIZE;
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uint8_t VERSION;
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} eXcpCommand_GET_COMM_MODE_INFO;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t COUNT;
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} eXcpCommand_Upload;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t COUNT;
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uint8_t RESERVED;
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uint8_t ADR_EX;
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uint32_t ADR;
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} eXcpCommand_SHORT_UPLOAD;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t MODE;
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uint8_t RESOURCE;
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} eXcpCommand_REQ_GET_SEED;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t LEN;
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uint32_t KEY;
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} eXcpCommand_GET_SEED;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t LEN;
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uint32_t KEY;
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} eXcpCommand_REQ_UNLOCK;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint16_t RESERVED;
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uint8_t ADR_EX;
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uint32_t ADR;
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} eXcpCommand_SET_MTA;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t COUNT;
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} eXcpCommand_Download;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint16_t DAQ_LIST_NUMBER;
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} eXcpCommand_Get_DAQ_List_Info_Request;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t RESERVED;
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uint16_t DAQ_LIST_NUMBER;
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uint8_t ODT_NUMBER;
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uint8_t ODT_ENTRY_NUMBER;
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} eXcpCommand_SET_DAQ_PTR;
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#define PROGRAM_MASTER_BLOCK_MODE 1
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#define PROGRAM_MAX_SECTOR 8
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#define MAX_CTO 8
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#define MAX_DTO 8
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#define BODY_MAX_LEN (MAX_DTO - 2)
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#define MAX_DAO 20
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#define MAX_ODT 10
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#define MAX_ODT_ENTRIES_SIZE 7
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#define MAX_EVENT_CHANNEL 2
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typedef struct {
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uint8_t DATA[BODY_MAX_LEN];
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} tXCP_DATA_STIM;
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typedef struct {
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uint8_t ODT_ENTRIES_COUNT;
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tXCP_DATA_STIM DATA_STM[MAX_ODT_ENTRIES_SIZE];
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uint8_t DATA_STM_COUNTER;
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uint8_t BIT_OFFSET[MAX_ODT_ENTRIES_SIZE];
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uint8_t ADR_EXT[MAX_ODT_ENTRIES_SIZE];
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uint8_t ODT_ENTRIES_SIZE[MAX_ODT_ENTRIES_SIZE];
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uint32_t ODT_ENTRIES_ADR[MAX_ODT_ENTRIES_SIZE];
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} tXCP_ODT_ENTRIES;
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//typedef struct {
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// uint8_t ALTERNATING;
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// uint8_t DIRECTION;
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// uint8_t DTO_CTR;
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// uint8_t TIMESTAMP;
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// uint8_t PID_OFF;
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// uint8_t TRANSMISSION_RATE_PRESCALER;
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// uint8_t DAQ_LIST_PRIORITY;
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// uint8_t COUNTER;
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//} tXCP_EVENT_CHANNEL;
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typedef struct {
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uint8_t SELECTED;
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uint8_t RUNNING;
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uint8_t ODT_COUNT;
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uint16_t EVENT_CHANNEL;
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uint8_t ALTERNATING;
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uint8_t DIRECTION;
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uint8_t DTO_CTR;
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uint8_t TIMESTAMP;
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uint8_t PID_OFF;
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uint8_t TRANSMISSION_RATE_PRESCALER;
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uint8_t DAQ_LIST_PRIORITY;
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uint8_t PRESCALER_COUNTER;
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uint8_t IS_STIM_RECEIVED;
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tXCP_ODT_ENTRIES ODT_NUMBER[MAX_ODT];
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} tXCP_DAQ;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t PREDEFINED: 1;
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uint8_t EVENT_FIXED: 1;
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uint8_t DAQ: 1;
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uint8_t STIM: 1;
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uint8_t RESERVER: 4;
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uint8_t MAX_ODT_;
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uint8_t MAX_ODT_ENTRIES_;
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uint16_t FIXED_EVENT;
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} eXcpCommand_Get_DAQ_List_Info;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t RESERVED;
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uint16_t DAQ_LIST_NUMBER;
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uint8_t ODT_NUMBER;
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uint8_t ODT_ENTRIES_COUNT;
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} eXcpCommand_DAQ_Alloc_ODR_Entry;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t BIT_OFFSET;
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uint16_t ODT_ENTRY_SIZE;
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uint8_t ADR_EXT;
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uint32_t ADR;
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} eXcpCommand_WRITE_DAQ;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t ALTERNATING: 1;
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uint8_t DIRECTION: 1;
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uint8_t RESERVED1: 1;
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uint8_t DTO_CTR: 1;
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uint8_t TIMESTAMP: 1;
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uint8_t PID_OFF: 1;
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uint8_t RESERVED2: 1;
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uint8_t RESERVED3: 1;
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uint16_t DAQ_LIST_NUMBER;
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uint16_t EVENT_CHANNEL_NUMBER;
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uint8_t TRANSMISSION_RATE_PRESCALER;
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uint8_t DAQ_LIST_PRIORITY;
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} eXcpCommand_SET_DAQ_LIST_MODE;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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eXcpDAQ_Mode MODE;
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uint16_t DAQ_LIST_NUMBER;
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} eXcpCommand_START_STOP_DAQ_LIST;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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eXcpDAQ_Sync_Mode MODE;
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} eXcpCommand_START_STOP_SYNCH;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t RESERVED;
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uint16_t DAQ_COUNT;
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} eXcpCommand_ALLOC_DAQ;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t RESERVED;
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uint8_t DAQ_LIST_NUMBER;
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uint8_t ODT_COUNT;
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} eXcpCommand_ALLOC_ODT;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t RESERVED;
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uint8_t DAQ_LIST_NUMBER;
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uint8_t ODT_NUMBER;
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uint8_t ODT_ENTRIES_COUNT;
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} eXcpCommand_ALLOC_ODT_ENTRY;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t DAQ_CONFIG_TYPE: 1;
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uint8_t PRESCALER_SUPPORTED: 1;
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uint8_t RESUME_SUPPORTED: 1;
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uint8_t BIT_STIM_SUPPORTED: 1;
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uint8_t TIMESTAMP_SUPPORTED: 1;
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uint8_t PID_OFF_SUPPORTED: 1;
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uint8_t OVERLOAD_MSB: 1;
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uint8_t OVERLOAD_EVENT: 1;
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uint16_t MAX_DAQ;
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uint16_t MAX_EVENT_CHANNEL_;
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uint8_t MIN_DAQ;
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uint8_t Optimisation_Type_0: 1;
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uint8_t Optimisation_Type_1: 1;
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uint8_t Optimisation_Type_2: 1;
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uint8_t Optimisation_Type_3: 1;
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uint8_t Address_Extension_ODT: 1;
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uint8_t Address_Extension_DAQ: 1;
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uint8_t Identification_Field_Type_0: 1;
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uint8_t Identification_Field_Type_1: 1;
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} eXcpCommand_GET_DAQ_PROCESSOR_INFO;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t GRANULARITY_ODT_ENTRY_SIZE_DAQ;
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uint8_t MAX_ODT_ENTRY_SIZE_DAQ;
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uint8_t GRANULARITY_ODT_ENTRY_SIZE_STIM;
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uint8_t MAX_ODT_ENTRY_SIZE_STIM;
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uint8_t TIMESTAMP_MODE;
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uint16_t TIMESTAMP_TICKS;
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} eXcpCommand_GET_DAQ_RESOLUTION_INFO;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t RESERVED;
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uint16_t DAQ_LIST_NUMBER;
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} eXcpCommand_GET_DAQ_LIST_MODE_GET;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t SELECTED: 1;
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uint8_t DIRECTION: 1;
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uint8_t RESERVED1: 1;
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uint8_t DTO_CTR: 1;
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uint8_t TIMESTAMP: 1;
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uint8_t PID_OFF: 1;
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uint8_t RUNNING: 1;
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uint8_t RESUME: 1;
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uint16_t RESERVED2;
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uint16_t CURRENT_EVENT_CHANNEL_NUMBER;
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uint8_t CURRENT_PRESCALER;
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uint8_t CURRENT_DAQ_LIST_PRIORITY;
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} eXcpCommand_GET_DAQ_LIST_MODE;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t RESERVED;
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uint16_t EVENT_CHANNEL_NUMBER;
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} eXcpCommand_GET_DAQ_EVENT_INFO_GET;
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typedef struct __attribute__ ((packed)) {
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uint8_t ODT;
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uint8_t DAQ;
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} eXcpCommand_GET_DAQ_STM;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t RESERVED1: 1;
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uint8_t RESERVED2: 1;
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uint8_t DAQ: 1;
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uint8_t STM: 1;
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uint8_t RESERVED3: 1;
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uint8_t RESERVED4: 1;
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uint8_t CONSISTENCY_DAQ: 1;
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uint8_t CONSISTENCY_EVENT: 1;
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uint8_t MAX_DAQ_LIST;
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uint8_t EVENT_CHANNEL_NAME_LENGTH;
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uint8_t EVENT_CHANNEL_TIME_CYCLE;
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uint8_t EVENT_CHANNEL_TIME_UNIT;
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uint8_t EVENT_CHANNEL_PRIORITY;
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} eXcpCommand_GET_DAQ_EVENT_INFO;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t RESERVED1;
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uint8_t MASTER_BLOCK_MODE: 1;
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uint8_t INTERLEAVED_MODE: 1;
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uint8_t RESERVED2: 1;
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uint8_t RESERVED3: 1;
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uint8_t RESERVED4: 1;
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uint8_t RESERVED5: 1;
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uint8_t SLAVE_BLOCK_MODE: 1;
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uint8_t RESERVED6: 1;
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uint8_t MAX_CTO_PGM;
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uint8_t MAX_BS_PGM;
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uint8_t MIN_ST_PGM;
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uint8_t QUEUE_SIZE_PGM;
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} eXcpCommand_PROGRAM_START;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t MODE;
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uint16_t RESERVED;
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uint32_t CLEAR_RANGE;
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} eXcpCommand_XCP_PROGRAM_CLEAR_209;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t COUNT;
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} eXcpCommand_Program_ProgramNext_208_202;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t ABSOLUTE_MODE: 1;
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uint8_t FUNCTIONAL_MODE: 1;
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uint8_t COMPRESSION_SUPPORTED: 1;
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uint8_t COMPRESSION_REQUIRED: 1;
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uint8_t ENCRYPTION_SUPPORTED: 1;
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uint8_t ENCRYPTION_REQUIRED: 1;
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uint8_t NON_SEQ_PGM_SUPPORTED: 1;
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uint8_t NON_SEQ_PGM_REQUIRED: 1;
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uint8_t MAX_SECTOR;
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} eXcpCommand_PGM_PROCESSOR_INFO_206;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t MODE;
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uint8_t SECTOR_NUMBER;
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} eXcpCommand_REQ_GET_SECTOR_INFO_205;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t CLEAR_SEQUENCE_NUMBER;
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uint8_t PROGRAM_SEQUENCE_NUMBER;
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uint8_t ABSOLUTE_MODE: 1;
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uint8_t FUNCTIONAL_MODE: 1;
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uint8_t PAGED_MODE: 1;
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uint8_t SEQUENTIAL_ONLY: 1;
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uint8_t ERASE_BEFORE_WRITE: 1;
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uint8_t VERIFY_AFTER_WRITE: 1;
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uint8_t RESERVED1: 1;
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uint8_t RESERVED2: 1;
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uint32_t SECTOR_INFO;
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} eXcpCommand_RESP_GET_SECTOR_INFO_205;
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typedef bool (xcp_clear_flash_func)(uint32_t firstPageAddr, uint32_t totalSize);
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typedef bool (xcp_write_flash_func)(uint32_t beginPageAddr, void *sourceRamAddr, uint32_t size);
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typedef struct {
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tSerialPortFrameIO *ioCanFrame;
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tLoggerInterface *logger;
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uint8_t RND;
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uint8_t ADR_EXT;
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uint32_t ADR_MTA;
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uint16_t DAQ_LIST_NUMBER;
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uint8_t ODT_NUMBER;
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uint8_t ODT_ENTRY_NUMBER;
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can_rx_message_type canFrame;
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uint8_t downloadRemaining;
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uint8_t response[8];
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uint8_t DATA[MAX_ODT_ENTRIES_SIZE * BODY_MAX_LEN];
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//tXCP_EVENT_CHANNEL EVENT_CHANNEL[MAX_EVENT_CHANNEL];
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tXCP_DAQ DAQ[MAX_DAO];
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uint16_t DAQ_COUNT;
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tRtcIO *rtcIO;
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osMutexId_t access;
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uint32_t startRamAdr;
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uint32_t endRamAdr;
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uint32_t startFlashAdr;
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uint32_t endFlashAdr;
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xcp_clear_flash_func *clear_flash_func;
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xcp_write_flash_func *write_flash_func;
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tStaticThreadBlock(512) T_can_Listener_XCP;
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tStaticThreadBlock(512) T_can_Listener_Dto_Stim_XCP;
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tStaticThreadBlock(512) T_can_Listener_Dto_Daq_XCP;
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} tCanSerialPortFrameXCP;
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typedef uint8_t (*xcp_func_ptr)(tCanSerialPortFrameXCP *env);
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void CanSerialPortFrameXcpInit(
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tCanSerialPortFrameXCP *env,
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tSerialPortFrameIO *ioCanFrame,
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tRtcIO *rtcIO,
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uint32_t startRamAddr,
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uint32_t endRamAdr,
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uint32_t startFlashAdr,
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uint32_t endFlashAdr,
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xcp_clear_flash_func *clear_flash_func,
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xcp_write_flash_func *write_flash_func,
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tLoggerInterface *logger
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);
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void CanXcpProcessing_Listener_Start(tCanSerialPortFrameXCP *env);
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#endif //CAN_MODULE_CAN_FRAME_XCP_H
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