258 lines
6.3 KiB
C++
258 lines
6.3 KiB
C++
#ifndef __MESSAGEDECODER_H_
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#define __MESSAGEDECODER_H_
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#include "communication/message/include/message.h"
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#include "communication/message/include/canmessage.h"
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#include "communication/include/network.h"
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#include <queue>
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#include <vector>
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#include <memory>
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namespace icsneo {
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class MessageDecoder {
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public:
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bool input(const std::vector<uint8_t>& bytes);
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std::vector<std::shared_ptr<Message>> output();
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private:
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enum class ReadState {
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SearchForHeader,
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ParseHeader,
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ParseLongStylePacketHeader,
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GetData
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};
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ReadState state = ReadState::SearchForHeader;
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int currentIndex = 0;
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int messageLength = 0;
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int headerSize = 0;
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bool checksum = false;
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bool gotGoodMessages = false; // Tracks whether we've ever gotten a good message
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Message message;
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std::deque<uint8_t> bytes;
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void processMessage(const Message& message);
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std::vector<std::shared_ptr<Message>> processedMessages;
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typedef uint16_t icscm_bitfield;
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struct CoreMiniMsg {
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CANMessage toCANMessage(Network netid);
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union {
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uint16_t CxTRB0SID16;
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struct
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{
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icscm_bitfield IDE : 1;
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icscm_bitfield SRR : 1;
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icscm_bitfield SID : 11;
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icscm_bitfield NETWORKINDEX : 3;//DO NOT CLOBBER THIS
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} CxTRB0SID;
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struct
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{
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icscm_bitfield : 13;
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icscm_bitfield EDL : 1;
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icscm_bitfield BRS : 1;
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icscm_bitfield ESI : 1;
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} CxTRB0FD;
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struct
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{
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icscm_bitfield ErrRxOnlyBreak : 1;
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icscm_bitfield ErrRxOnlyBreakSync : 1;
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icscm_bitfield ID : 11;
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icscm_bitfield NETWORKINDEX : 3;//DO NOT CLOBBER THIS
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} CxLIN3;
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struct
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{
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uint8_t D8;
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uint8_t options : 4;
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uint8_t TXMSG : 1;
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uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
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} C1xJ1850;
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struct
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{
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uint8_t D8;
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uint8_t options : 4;
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uint8_t TXMSG : 1;
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uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
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} C1xISO;
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struct
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{
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uint8_t D8;
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uint8_t options : 4;
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uint8_t TXMSG : 1;
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uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
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} C1xJ1708;
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struct
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{
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icscm_bitfield FCS_AVAIL : 1;
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icscm_bitfield RUNT_FRAME : 1;
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icscm_bitfield DISABLE_PADDING : 1;
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icscm_bitfield PREEMPTION_ENABLED : 1;
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icscm_bitfield MPACKET_TYPE : 4;
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icscm_bitfield MPACKET_FRAG_CNT : 2;
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icscm_bitfield : 6;
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} C1xETH;
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struct
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{
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uint16_t ID : 11;
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uint16_t STARTUP : 1;
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uint16_t SYNC : 1;
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uint16_t NULL_FRAME : 1;
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uint16_t PAYLOAD_PREAMBLE : 1;
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uint16_t RESERVED_0 : 1;
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} C1xFlex;
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struct
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{
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uint8_t daqType;
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uint8_t ethDaqRes1;
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} C1xETHDAQ;
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};
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union {
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uint16_t CxTRB0EID16;
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struct
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{
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icscm_bitfield EID : 12;
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icscm_bitfield TXMSG : 1;
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icscm_bitfield TXAborted : 1;
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icscm_bitfield TXLostArb : 1;
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icscm_bitfield TXError : 1;
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} CxTRB0EID;
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struct
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{
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uint8_t LINByte9;
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uint8_t ErrTxRxMismatch : 1;
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uint8_t TxChkSumEnhanced : 1;
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uint8_t TXMaster : 1;
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uint8_t TXSlave : 1;
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uint8_t ErrRxBreakNot0 : 1;
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uint8_t ErrRxBreakTooShort : 1;
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uint8_t ErrRxSyncNot55 : 1;
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uint8_t ErrRxDataGreater8 : 1;
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} CxLIN;
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struct
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{
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uint8_t D9;
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uint8_t D10;
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} C2xJ1850;
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struct
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{
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uint8_t D9;
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uint8_t D10;
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} C2xISO;
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struct
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{
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uint8_t D9;
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uint8_t D10;
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} C2xJ1708;
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struct
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{
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uint16_t txlen : 12;
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uint16_t TXMSG : 1;
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uint16_t : 3;
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} C2xETH;
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struct
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{
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uint16_t HDR_CRC_10 : 1;
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uint16_t PAYLOAD_LEN : 7;
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uint16_t RESERVED_1 : 4;
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uint16_t TXMSG : 1;
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uint16_t RESERVED_2 : 3;
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} C2xFlex;
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};
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union {
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// For use by CAN
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uint16_t CxTRB0DLC16;
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struct
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{
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icscm_bitfield DLC : 4;
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icscm_bitfield RB0 : 1;
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icscm_bitfield IVRIF : 1;
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icscm_bitfield HVEnable : 1;// must be cleared before passing into CAN driver
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icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
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icscm_bitfield RB1 : 1;
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icscm_bitfield RTR : 1;
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icscm_bitfield EID : 6;
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} CxTRB0DLC;
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struct
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{
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icscm_bitfield len : 4;
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icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
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icscm_bitfield UpdateSlaveOnce : 1;
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icscm_bitfield HasUpdatedSlaveOnce : 1;
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icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
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icscm_bitfield BusRecovered : 1;
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icscm_bitfield SyncFerr : 1;//!< We got framing error in our sync byte.
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icscm_bitfield MidFerr : 1;//!< We got framing error in our message id.
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icscm_bitfield SlaveByteFerr : 1;//!< We got framing error in one of our slave bytes.
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icscm_bitfield TxAborted : 1;//!< This transmit was aborted.
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icscm_bitfield breakOnly : 1;
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icscm_bitfield : 2;
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} CxLIN2;
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// For use by JVPW
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struct
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{
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icscm_bitfield len : 4;
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icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
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icscm_bitfield just_tx_timestamp : 1;
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icscm_bitfield first_seg : 1;
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icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
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icscm_bitfield D11 : 8;
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} C3xJ1850;
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// For use by the ISO/KEYWORD
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struct
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{
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icscm_bitfield len : 4;
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icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
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icscm_bitfield FRM : 1;
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icscm_bitfield INIT : 1;
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icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
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icscm_bitfield D11 : 8;
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} C3xISO;
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struct
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{
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icscm_bitfield len : 4;
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icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
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icscm_bitfield FRM : 1;
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icscm_bitfield : 1;
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icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
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icscm_bitfield pri : 8;
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} C3xJ1708;
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struct
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{
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uint16_t rsvd;
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} C3xETH;
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struct
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{
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uint16_t CYCLE : 6;
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uint16_t HDR_CRC_9_0 : 10;
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} C3xFlex;
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};
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unsigned char CxTRB0Dall[8];
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union {
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uint16_t CxTRB0STAT;
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uint16_t J1850_TX_ID;
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};
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union {
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struct
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{
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uint32_t uiTimeStamp10uS;
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union {
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uint32_t uiTimeStamp10uSMSB;
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struct
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{
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unsigned : 28;
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unsigned res_0s : 3;// must be 0!!!
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unsigned bIsExtended : 1;// always 1 for CoreMiniMsgExtended.
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};
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};
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};
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int64_t uiTimeStampLarge;
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uint8_t uiTimeStampBytes[8];
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};
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};
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};
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}
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#endif |