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Device: FlexRay: Add additional configuration options for Controller and Cluster
This commit is contained in:
Thomas Stoddard
committed by
Kyle Schwarz
Kyle Schwarz
parent
5f16adc103
commit
6a32823a0f
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"""
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FlexRay coldstart example using icsneopy library.
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Demonstrates coldstart capability where one FlexRay device can start
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the network without needing other devices connected.
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CRITICAL COLDSTART REQUIREMENTS:
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1. key_slot_used_for_startup = True
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2. key_slot_used_for_sync = True
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3. set_allow_coldstart(True)
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4. Each controller needs a unique key_slot_id
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5. Proper bus termination (required for FlexRay)
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"""
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import icsneopy
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import time
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def get_coldstart_controller_config(slot_id):
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"""
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Create FlexRay controller configuration for COLDSTART.
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The three critical settings for coldstart are marked below.
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"""
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config = icsneopy.FlexRay.Controller.Configuration()
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config.accept_startup_range_microticks = 160
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config.allow_halt_due_to_clock = True
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config.allow_passive_to_active_cycle_pairs = 15
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config.cluster_drift_damping = 2
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config.channel_a = True
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config.channel_b = True
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config.decoding_correction_microticks = 56
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config.delay_compensation_a_microticks = 28
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config.delay_compensation_b_microticks = 28
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config.extern_offset_correction_control = 0
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config.extern_rate_correction_control = 0
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config.extern_offset_correction_microticks = 0
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config.extern_rate_correction_microticks = 0
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# CRITICAL FOR COLDSTART: Set the key slot ID
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config.key_slot_id = slot_id
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config.key_slot_only_enabled = False
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# CRITICAL FOR COLDSTART: Enable startup and sync on key slot
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config.key_slot_used_for_startup = True # Required for coldstart
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config.key_slot_used_for_sync = True # Required for coldstart
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config.latest_tx_minislot = 226
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config.listen_timeout = 401202
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config.macro_initial_offset_a = 7
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config.macro_initial_offset_b = 7
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config.micro_initial_offset_a = 36
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config.micro_initial_offset_b = 36
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config.micro_per_cycle = 200000
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config.mts_on_a = False
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config.mts_on_b = False
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config.offset_correction_out_microticks = 189
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config.rate_correction_out_microticks = 601
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config.second_key_slot_id = 0
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config.two_key_slot_mode = False
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config.wakeup_pattern = 55
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config.wakeup_on_channel_b = False
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return config
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def get_cluster_config():
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"""Create FlexRay cluster configuration."""
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config = icsneopy.FlexRay.Cluster.Configuration()
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config.speed = icsneopy.FlexRay.Cluster.SpeedType.FLEXRAY_BAUDRATE_10M
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config.strobe_point_position = icsneopy.FlexRay.Cluster.SPPType.FLEXRAY_SPP_5
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config.action_point_offset = 4
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config.casr_x_low_max = 64
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config.cold_start_attempts = 8
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config.cycle_duration_micro_sec = 5000
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config.dynamic_slot_idle_phase_minislots = 1
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config.listen_noise_macroticks = 4
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config.macroticks_per_cycle = 5000
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config.macrotick_duration_micro_sec = 1
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config.max_without_clock_correction_fatal = 2
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config.max_without_clock_correction_passive = 2
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config.minislot_action_point_offset_macroticks = 4
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config.minislot_duration_macroticks = 10
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config.network_idle_time_macroticks = 40
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config.network_management_vector_length_bytes = 1
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config.number_of_minislots = 0
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config.number_of_static_slots = 32
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config.offset_correction_start_macroticks = 4991
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config.payload_length_of_static_slot_in_words = 67
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config.static_slot_macroticks = 155
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config.symbol_window_macroticks = 0
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config.symbol_window_action_point_offset_macroticks = 0
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config.sync_frame_id_count_max = 15
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config.transmission_start_sequence_duration_bits = 11
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config.wakeup_rx_idle_bits = 40
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config.wakeup_rx_low_bits = 40
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config.wakeup_rx_window_bits = 301
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config.wakeup_tx_active_bits = 60
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config.wakeup_tx_idle_bits = 180
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return config
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def flexray_coldstart():
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"""Perform FlexRay coldstart operation."""
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devices = icsneopy.find_all_devices()
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if not devices:
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raise RuntimeError("No devices found")
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# Find a device with FlexRay support
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device = None
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for dev in devices:
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if dev.get_extension("FlexRay"):
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device = dev
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break
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if not device:
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raise RuntimeError("No FlexRay-capable device found")
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print(f"Using device: {device.get_product_name()} {device.get_serial()}")
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try:
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# Get FlexRay controllers
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controllers = device.get_flexray_controllers()
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if not controllers:
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raise RuntimeError("Device has no FlexRay controllers")
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print(f"Device has {len(controllers)} FlexRay controller(s)")
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# Configure controllers for coldstart
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cluster_config = get_cluster_config()
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base_slot_id = 1
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for i, controller in enumerate(controllers):
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slot_id = base_slot_id + i
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controller_config = get_coldstart_controller_config(slot_id)
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print(f"\nConfiguring controller {i} for COLDSTART:")
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print(f" Key Slot ID: {slot_id}")
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print(f" Key Slot Used for Startup: {controller_config.key_slot_used_for_startup}")
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print(f" Key Slot Used for Sync: {controller_config.key_slot_used_for_sync}")
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# CRITICAL FOR COLDSTART: Enable coldstart capability
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controller.set_allow_coldstart(True)
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print(f" Allow Coldstart: True")
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# Configure to start when going online
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controller.set_start_when_going_online(True)
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# Set the configuration
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controller.set_configuration(cluster_config, controller_config)
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# Open device
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print("\nOpening device...")
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if not device.open():
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raise RuntimeError("Failed to open device")
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print("Device opened successfully")
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# Go online - this triggers coldstart
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print("\nGoing online (coldstart will initiate)...")
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if not device.go_online():
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raise RuntimeError("Failed to go online - check bus termination and configuration")
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print("Device online successfully!")
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print("\n" + "=" * 60)
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print("✓ FlexRay network started via COLDSTART")
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print("=" * 60)
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# Transmit test messages on the coldstart key slot
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print("\nTransmitting initial test messages...")
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for i in range(5):
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frame = icsneopy.FlexRayMessage()
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frame.network = icsneopy.Network(icsneopy.Network.NetID.FLEXRAY_01)
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frame.slotid = base_slot_id # Use the first key slot
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frame.cycle = 0
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frame.cycle_repetition = 1
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frame.channel = icsneopy.FlexRay.Channel.AB
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frame.data = (0xAA, 0xBB, 0xCC, 0xDD, i, i+1, i+2, i+3)
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if device.transmit(frame):
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print(f" ✓ Transmitted message {i+1}")
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else:
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print(f" ✗ Failed to transmit message {i+1}")
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time.sleep(0.1)
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print("\n" + "=" * 60)
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print("Network is now active and will stay alive.")
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print("You can now run transmit/receive examples in another terminal.")
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print("Press Ctrl+C to stop and shut down the network.")
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print("=" * 60)
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# Keep transmitting periodically to maintain network presence
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counter = 0
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try:
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while True:
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frame = icsneopy.FlexRayMessage()
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frame.network = icsneopy.Network(icsneopy.Network.NetID.FLEXRAY_01)
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frame.slotid = base_slot_id
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frame.cycle = 0
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frame.cycle_repetition = 1
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frame.channel = icsneopy.FlexRay.Channel.AB
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frame.data = (0xCA, 0xFE, 0xBA, 0xBE, counter & 0xFF,
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(counter >> 8) & 0xFF, (counter >> 16) & 0xFF, (counter >> 24) & 0xFF)
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device.transmit(frame)
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counter += 1
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time.sleep(1) # Transmit every second
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except KeyboardInterrupt:
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print("\n\nStopping coldstart node...")
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print("\n✓ Coldstart example completed successfully!")
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finally:
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device.close()
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if __name__ == "__main__":
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flexray_coldstart()
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