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/**
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*
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* tCANFDData structure
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*
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* @file
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* Copyright © Audi Electronic Venture GmbH. All rights reserved
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*
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* $Author: EWEIRAE $
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* $Date: 2015-11-01 14:30:25 +0200 (Mi, 08 Jul 2015) $
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* $Revision: 37491 $
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*
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* @remarks
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*
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*/
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#ifndef _CANFD_TYPES_HEADER_
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#define _CANFD_TYPES_HEADER_
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#include "can_types.h"
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namespace adtf_devicetb
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{
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/// object identifier for the raw can fd media sample with the default class implementation
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/// adtf_devicetb::cMediaSampleCanFD
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#define OID_ADTF_MEDIA_SAMPLE_CANFD "adtf.sample.canfd_message"
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/// object identifier for the raw can fd media type (see class adtf_devicetb::IMediaTypeCANFD).
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#define OID_ADTF_MEDIA_TYPE_CANFD "adtf.type.canfd"
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/// interface identifier for the can fd media type (see interface adtf_devicetb::IMediaTypeCANFD).
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#define IID_ADTF_MEDIA_TYPE_CANFD "iid.type_canfd"
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/// sub type for new can fd data (major Type is MEDIA_TYPE_CAN 0x0200)
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#define MEDIA_SUBTYPE_CANFD_DATA 0x0004
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/**
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* The ADTF Default CANFD Media Type description of adtf_devicetb::tADTFMediaTypeCANFD structure in
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* DDL Version 1.0+.
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* @see ADTF_MEDIA_DESC_MEDIATYPE_CANFD
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*/
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#define ADTF_MEDIA_DESC_MEDIATYPE_CANFD_DDL1 "<structs>" \
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ADTF_MEDIA_DESC_MEDIA_TYPEINFO_DDL1 \
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" <struct name=\"" OID_ADTF_MEDIA_TYPE_CANFD "\" version=\"1\" alignment=\"1\">" \
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" <element type=\"tMediaTypeInfo\" name=\"sMediatype\" bytepos=\"0\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tChar\" name=\"strChannelID\" bytepos=\"12\" arraysize=\"256\" byteorder=\"LE\" alignment=\"1\"/>" \
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" </struct>" \
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"</structs>"
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/**
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* The ADTF Default CAN FD Media Type description.
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* @see ADTF_MEDIA_DESC_MEDIATYPE_CANFD_DDL1
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*/
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#define ADTF_MEDIA_DESC_MEDIATYPE_CANFD ADTF_MEDIA_DESC_MEDIATYPE_CANFD_DDL1
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/**
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* This Macro is the type name of the adtf_devicetb::tCANFDData to describe media samples
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* submitted on a pin (adtf::IPin).
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* Set these description on the Media Type (adtf::IMediaTypeDescription of the IMediatype set on pin).
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*/
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#define ADTF_MEDIA_DESC_CANFDDATA "tCANFDData"
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/**
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* This Macro defines the description of a adtf_devicetb::tCANFDData structure
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* used within CAN FD MediaSamples of type OID_ADTF_MEDIA_SAMPLE_CANFD
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* used for ADTF_MEDIA_DESC_CANFDMESSAGE_DESCRIPTION in Version 1.0+.
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*/
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#define ADTF_MEDIA_DESC_CANFDDATA_DESCRIPTION_DDL1 "<struct name=\"" ADTF_MEDIA_DESC_CANFDDATA "\" alignment=\"1\" version=\"1\">" \
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" <element type=\"tUInt8\" name=\"ui8Tag\" bytepos=\"0\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt8\" name=\"ui8Channel\" bytepos=\"1\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt64\" name=\"tmTimeStamp\" bytepos=\"2\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt32\" name=\"ui32Id\" bytepos=\"10\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt8\" name=\"ui8Length\" bytepos=\"14\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt8\" name=\"ui8Reserved\" bytepos=\"15\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt16\" name=\"ui16Flags\" bytepos=\"16\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt16\" name=\"ui16Reserved\" bytepos=\"18\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt32\" name=\"ui32Reserved\" bytepos=\"20\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt8\" name=\"aui8Data\" bytepos=\"24\" arraysize=\"64\" byteorder=\"LE\" alignment=\"1\"/>" \
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"</struct>"
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/**
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* This Macro defines the description of a adtf_devicetb::tCANFDData structure
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* used within CAN MediaSamples of type OID_ADTF_MEDIA_SAMPLE_CANFD
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* used for ADTF_MEDIA_DESC_CANFDMESSAGE_DESCRIPTION in Version 2.0.
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*/
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#define ADTF_MEDIA_DESC_CANFDDATA_ENUM_DDL2 "<enums>" \
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"<enum name=\"eMessageTag\" type=\"tUInt8\">" \
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"<element name=\"MT_Data\" value=\"0\" />" \
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"<element name=\"MT_Status\" value=\"1\" />" \
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"</enum>" \
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"<enum name=\"eDataFlags\" type=\"tUInt16\">" \
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"<element name=\"DF_ERROR_FRAME\" value=\"1\" />" \
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"<element name=\"DF_NONE\" value=\"0\" />" \
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"<element name=\"DF_REMOTE_FRAME\" value=\"2\" />" \
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"<element name=\"DF_TX_COMPLETED\" value=\"4\" />" \
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"<element name=\"DF_FLEXIBLE_DATARATE\" value=\"8\" />" \
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"</enum>" \
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"</enums>"
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#define ADTF_MEDIA_DESC_CANFDDATA_DESCRIPTION_DDL2 "<?xml version=\"1.0\" encoding=\"iso-8859-1\" standalone=\"no\"?>"\
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"<adtf:ddl xmlns:adtf=\"adtf\">"\
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ADTF_MEDIA_DESC_CANFDDATA_ENUM_DDL2 \
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"<structs>"\
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"<struct name=\"" ADTF_MEDIA_DESC_CANFDDATA "\" alignment=\"1\" version=\"1\">" \
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" <element type=\"eMessageTag\" name=\"ui8Tag\" bytepos=\"0\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt8\" name=\"ui8Channel\" bytepos=\"1\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt64\" name=\"tmTimeStamp\" bytepos=\"2\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt32\" name=\"ui32Id\" bytepos=\"10\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt8\" name=\"ui8Length\" bytepos=\"14\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt8\" name=\"ui8Reserved\" bytepos=\"15\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"eDataFlags\" name=\"ui16Flags\" bytepos=\"16\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt16\" name=\"ui16Reserved\" bytepos=\"18\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt32\" name=\"ui32Reserved\" bytepos=\"20\" arraysize=\"1\" byteorder=\"LE\" alignment=\"1\"/>" \
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" <element type=\"tUInt8\" name=\"aui8Data\" bytepos=\"24\" arraysize=\"64\" byteorder=\"LE\" alignment=\"1\"/>" \
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"</struct>"\
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"</structs>"\
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"</adtf:ddl>"
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/**
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* This Macro defines the description of a adtf_devicetb::tCANFDData structure
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* used within ADTF adtf::cMediaSampleCanFD.
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* @see ADTF_MEDIA_DESC_CANFDMESSAGE_DESCRIPTION_DDL2.
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*/
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#define ADTF_MEDIA_DESC_CANFDDATA_DESCRIPTION ADTF_MEDIA_DESC_CANFDDATA_DESCRIPTION_DDL2
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#pragma pack(push, 1)
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/**
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* The Default structure that describe the ADTF CAN FD Type cMediaTypeCANFD.
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* The Media Description of this structure is defined within Macro ADTF_MEDIA_DESC_MEDIATYPE_CANFD.
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*/
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struct tADTFMediaTypeCANFD
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{
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/// Default media type
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adtf::tMediaTypeInfo sMediatype;
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/// Symbolic name of the channel
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tChar strChannelID[256];
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};
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/**
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* The CAN FD Type Interface extends the default adtf media type
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* to add CAN FD specific data descriptions.
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* <table>
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* <tr> <td> Interface Identifier (IID) </td> <td> IID_ADTF_MEDIA_TYPE_CANFD </td> </tr>
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* </table>
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*/
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class IMediaTypeCANFD : virtual public adtf::IMediaType
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{
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public:
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/**
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* Set the symbolic name of the channel
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* @param strChannelID [in] New symbolic name
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* @result Standard Result Code
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*/
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virtual tResult SetChannelID(const char* strChannelID) = 0;
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/**
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* Returns the current symbolic name of the channel
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* @result Pointer to symbolic name
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*/
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virtual const tChar* GetChannelID() const = 0;
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};
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/**
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* The CAN FD data structure is used by CAN FD MediaSamples of type OID_ADTF_MEDIA_SAMPLE_CANFD
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* use following code within your filter:
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* \code
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*
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* //...
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* cObjectPtr<IMediaSample> pCANFDSample;
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* RETURN_IF_FAILED(AllocMediaSample((tVoid**)&pCANFDSample, OID_ADTF_MEDIA_SAMPLE_CANFD, IID_ADTF_MEDIA_SAMPLE));
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* adtf_devicetb::tCANFDData sCANFDMessage;
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*
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* //... fill your CAN message with the data
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*
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* RETURN_IF_FAILED(pCANFDSample->Update(_clock->GetStreamTime(), &sCANFDMessage, sizeof(tCANFDData), 0));
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*
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* //...
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*
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*
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* \endcode
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*
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*/
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struct tCANFDData
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{
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/**
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* This enum specifies the different kinds of messages
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* that may be contained in the union
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*/
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enum eMessageTag
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{
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MT_Data = 0, //!< Data
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MT_Status = 1, //!< Status
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};
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/**
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* CAN FD message flags
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*/
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enum eDataFlags
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{
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DF_NONE = 0 //!< Standard flags
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, DF_ERROR_FRAME = 1 //!< Indicates an error frame
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, DF_REMOTE_FRAME = 2 //!< Indicates a remote frame
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, DF_TX_COMPLETED = 4 //!< Notification for successful message transmission
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, DF_EXTENDED_DATA_LENGTH = 8 //!< Indicates FlexibleData-Rate (FDF Flexible Datarate Format Indicator)
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, DF_CAN_FD_FORMAT_IDENTIFIER = DF_EXTENDED_DATA_LENGTH //!< same as Extended Data Length
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, DF_BAUD_RATE_SWITCH = 16 //!< Indicates that the Message uses Flexible Datarate
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, DF_SET_CAN_FD_AND_BRS = DF_CAN_FD_FORMAT_IDENTIFIER | DF_BAUD_RATE_SWITCH //!< Helper to Set Extended Data Length and Baud Rate Switch at once
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, DF_ERROR_STATE_INDICATOR = 32 //!< EDI Bit Indicates an Error-active state at the CAN FD Node
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};
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/**
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* CAN FD bus state flags.
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*/
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enum eBusStatus
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{
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BS_OFFLINE = 1, //!< Bus is offline
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BS_ERROR_PASSIVE = 2, //!< One of the error counters has reached the error level.
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BS_ERROR_WARNING = 4, //!< One of the error counters has reached the warning level.
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BS_ERROR_ACTIVE = 8 //!< Bus is online
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};
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/**
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* CAN FD message id masks. These masks should be used to check for extended or standard messages
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* and to get the correct identifier from ui32Id in tData.
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*/
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enum eMsgId
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{
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MSG_IDMASK_BASE = 0x000007FF //!< Message IDs for base frame format use 11 bit identifiers
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, MSG_IDMASK_EXTENDED = 0x1FFFFFFF //!< Message IDs for extended frame format use 29 bit identifiers
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, MSG_EXTENDED_FLAG = 0x80000000 //!< Extended CAN messages are marked by bit 31
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};
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/**
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* CAN FD message header structure
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*/
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struct tMessageHeader
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{
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tUInt8 ui8Tag; //!< Type of contained message (see eMessageTag)
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tUInt8 ui8Channel; //!< Channel that received this message
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tTimeStamp tmTimeStamp; //!< Hardware timestamp in micro seconds
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};
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/**
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* CAN FD message data structure
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*/
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struct tData
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{
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tUInt32 ui32Id; //!< id of can message. For extended CAN messages bit 31 is set. Use the members of the enum eMsgId to get the identifier and check for extended messages.
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tUInt8 ui8Length; //!< length of data [0..8,12,16,20,24,32,48,64] @attention DLC on Physical layer is coded differently
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tUInt8 ui8Reserved; //!< reserved, should be zero
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tUInt16 ui16Flags; //!< Flags @see eDataFlags
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tUInt16 ui16Reserved; //!< reserved, should be zero
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tUInt32 ui32Reserved; //!< reserved, should be zero
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tUInt8 aui8Data[64]; //!< data field
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};
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/**
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* CAN FD bus status structure
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*/
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struct tStatus
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{
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tUInt32 ui32BitRate; //!< Arbitration or nominal CAN FD bus bitrate
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tUInt32 ui32RxBitCount; //!< Count of received bits
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tUInt32 ui32TxBitCount; //!< Count of transmitted bits
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tUInt16 ui16RxErrorCounter; //!< Error counter for the receive section of the CAN controller.
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tUInt16 ui16TxErrorCounter; //!< Error counter for the transmit section of the CAN controller.
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tUInt8 ui8BusStatus; //!< Flags @see eBusStatus
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tUInt8 ui8Reserved; //!< reserved, should be zero
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tUInt32 ui32DataBitRate; //!< alternate Bitrate used for Data in CAN FD messages with BRS flag set.
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tUInt8 aui8Reserved[56]; //!< reserved, should be Zero
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};
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tMessageHeader sHeader; //!< CAN message header structure
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union
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{
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tData sData; //!< used when ui8Tag == MT_Data
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tStatus sStatus; //!< used when ui8Tag == MT_Status
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};
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};
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#pragma pack(pop)
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} //adtf_devicetb
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//*************************************************************************************************
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#endif // _CANFD_TYPES_HEADER_
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