470 lines
18 KiB
C
470 lines
18 KiB
C
//
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// Created by cfif on 20.01.2026.
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//
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#include "CanUds.h"
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#include "CanPorts.h"
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#include "StatusData.h"
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#include "memory.h"
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#include "TesterPresent_3e.h"
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#include "DiagnosticSessionControl_10.h"
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#define LOG_SIGN "CAN_UDS"
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#define LOGGER env->logger
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bool ReceivedCan_func(void *arg, can_rx_message_type *canFrame) {
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tCanUds *env = arg;
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return false;
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}
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void ReceivedTP_func(void *arg, tCanTP_data *data) {
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tCanUds *env = arg;
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if (data->data[0] == UDS_TesterPresent) {
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tTesterPresent testerPresent;
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testerPresent.ServiceId = data->data[0] | 0b1000000;
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testerPresent.zeroSubFunction = data->data[1] & 0b1111111;
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CanSerialPortFrameTpTransmit(&env->canSerialPortFrameTp, (uint8_t *) &testerPresent,
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sizeof(tTesterPresent), PROTOCOL_CAN_ADR_UDS, WAIT_FRAME_WRITE);
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return;
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}
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osStatus_t status = osMessageQueuePut(env->queue, data, 0, 0U);
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if (status != osOK) {
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LoggerInfoStatic(LOGGER, LOG_SIGN, "Ошибка добавления в очередь addCommandQueue")
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}
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}
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// начало ----------------------------- Сессия -------------------------------------------------------------
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// начало ----------------------------- Сессия -------------------------------------------------------------
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// начало ----------------------------- Сессия -------------------------------------------------------------
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static uint8_t DiagnosticSessionControl_10(tCanUds *env) {
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tDiagnosticSessionsType *diagnosticSessionsType = (tDiagnosticSessionsType *) env->dataResponse;
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diagnosticSessionsType->ServiceId = env->data.data[0] | 0b1000000;
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diagnosticSessionsType->diagnosticSessionType = env->data.data[1] & 0b1111111;
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diagnosticSessionsType->sessionParameterRecord[0] = 0;
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diagnosticSessionsType->sessionParameterRecord[1] = 0x32;
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diagnosticSessionsType->sessionParameterRecord[2] = 0x01;
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diagnosticSessionsType->sessionParameterRecord[3] = 0xF4;
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return sizeof(tDiagnosticSessionsType);
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}
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// конец ----------------------------- Сессия --------------------------------------------------------------
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// конец ----------------------------- Сессия --------------------------------------------------------------
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// конец ----------------------------- Сессия --------------------------------------------------------------
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// начало --------------------------- Чтение ---------------------------------------------------------
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// начало --------------------------- Чтение ---------------------------------------------------------
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// начало --------------------------- Чтение ---------------------------------------------------------
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static uint8_t ReadDataByIdentifier_22(tCanUds *env) {
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uint8_t dataIdentifier_hi = env->data.data[1];
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uint8_t dataIdentifier_lo = env->data.data[2];
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uint16_t dataIdentifier = (dataIdentifier_hi << 8) | dataIdentifier_lo;
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if (dataIdentifier_hi == 0xCF) {
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if (uds_ReadDataByIdentifier_22_com[dataIdentifier_lo].data != NULL) {
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uint8_t response_size = uds_ReadDataByIdentifier_22_com[dataIdentifier_lo].size;
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env->dataResponse[0] = env->data.data[0] | 0b1000000;
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env->dataResponse[1] = dataIdentifier_hi;
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env->dataResponse[2] = dataIdentifier_lo;
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memcpy(&env->dataResponse[3], uds_ReadDataByIdentifier_22_com[dataIdentifier_lo].data, response_size);
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return response_size;
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}
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if (dataIdentifier_lo == 0xFF) {
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env->dataResponse[0] = env->data.data[0] | 0b1000000;
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env->dataResponse[1] = dataIdentifier_hi;
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env->dataResponse[2] = dataIdentifier_lo;
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memcpy(&env->dataResponse[3], uds_ReadDataByIdentifier_22_com[dataIdentifier_lo].data, response_size);
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}
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}
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}
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// конец --------------------------- Чтение ---------------------------------------------------------
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// конец --------------------------- Чтение ---------------------------------------------------------
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// конец --------------------------- Чтение ---------------------------------------------------------
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// начало --------------------------- Запись ---------------------------------------------------------
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// начало --------------------------- Запись ---------------------------------------------------------
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// начало --------------------------- Запись ---------------------------------------------------------
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static uint8_t WriteDataByIdentifier_2E(tCanUds *env) {
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}
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// конец --------------------------- Запись ---------------------------------------------------------
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// конец --------------------------- Запись ---------------------------------------------------------
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// конец --------------------------- Запись ---------------------------------------------------------
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const eUds_com uds_com[256] = {
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{DiagnosticSessionControl_10, "DiagnosticSessionControl_10"},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{ReadDataByIdentifier_22, "ReadDataByIdentifier_22"},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{WriteDataByIdentifier_2E, "WriteDataByIdentifier_2E"},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""}
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};
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void CanUds(tCanUds *env) {
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for (;;) {
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osStatus_t status = osMessageQueueGet(env->queue, &env->data, 0, 1000);
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if (status == osOK) {
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uint8_t com = env->data.data[0];
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if (uds_com[com].func != NULL) {
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uint8_t response_size = uds_com[com].func(env);
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if (response_size) {
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CanSerialPortFrameTpTransmit(&env->canSerialPortFrameTp, env->dataResponse,
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response_size, PROTOCOL_CAN_ADR_UDS, WAIT_FRAME_WRITE);
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}
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} else {
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asm("nop");
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}
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}
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}
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}
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void CanSerialPortCanUds_Start(tCanUds *env) {
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ThreadBlock_Start(env->T_can_Uds, env, CanUds);
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CanSerialPortFrameTp_Start(&env->canSerialPortFrameTp);
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}
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void CanUds_Init(
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tCanUds *env,
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tSerialPortFrameIO *CanIO,
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tLoggerInterface *logger) {
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env->logger = logger;
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env->CanIO = CanIO;
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env->filterIdCount = 0;
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env->queue = osMessageQueueNew(CAN_US_QUEUE_SIZE, sizeof(tCanTP_data), NULL);
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env->filterReqId[0] = 0;
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env->filterReqId[1] = 0;
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env->filterReqId[2] = 0;
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env->filterReqId[3] = 0;
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env->filterReqId[4] = 0;
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env->filterReqId[5] = 0;
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env->filterReqId[6] = 0;
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env->filterRespId[0] = 0;
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env->filterRespId[1] = 0;
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env->filterRespId[2] = 0;
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env->filterRespId[3] = 0;
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env->filterRespId[4] = 0;
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env->filterRespId[5] = 0;
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env->filterRespId[6] = 0;
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env->filterDirReq[0] = 0;
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env->filterDirReq[1] = 0;
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env->filterDirReq[2] = 0;
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env->filterDirReq[3] = 0;
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env->filterDirReq[4] = 0;
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env->filterDirReq[5] = 1;
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env->filterDirReq[6] = 0;
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CanSerialPortFrameTpInit(
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&env->canSerialPortFrameTp,
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ReceivedCan_func,
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env,
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ReceivedTP_func,
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env,
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env->CanIO,
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(tCanTP_data *) &env->canTP_Ext_data,
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sizeof(env->canTP_Ext_data.data),
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env->logger,
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env->filterIdCount,
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env->filterReqId,
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env->filterRespId,
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env->filterDirReq
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);
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InitThreadBlock(env->T_can_Uds, "CanUds", osPriorityNormal);
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}; |