488 lines
12 KiB
C
488 lines
12 KiB
C
/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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/** \file
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* \brief
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* Headerfile for esc.h
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*/
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#ifndef __esc__
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#define __esc__
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#include <cc.h>
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#include "config.h"
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#define ESCREG_ADDRESS 0x0010
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#define ESCREG_DLSTATUS 0x0110
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#define ESCREG_ALCONTROL 0x0120
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#define ESCREG_ALSTATUS 0x0130
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#define ESCREG_ALERROR 0x0134
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#define ESCREG_ALEVENT 0x0220
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#define ESCREG_ALEVENT_SM_MASK 0x0310
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#define ESCREG_ALEVENT_SMCHANGE 0x0010
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#define ESCREG_ALEVENT_CONTROL 0x0001
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#define ESCREG_ALEVENT_SM2 0x0400
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#define ESCREG_ALEVENT_SM3 0x0800
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#define ESCREG_WDSTATUS 0x0440
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#define ESCREG_SM0 0x0800
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#define ESCREG_SM0STATUS (ESCREG_SM0 + 5)
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#define ESCREG_SM0PDI (ESCREG_SM0 + 7)
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#define ESCREG_SM1 (ESCREG_SM0 + 0x08)
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#define ESCREG_SM2 (ESCREG_SM0 + 0x10)
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#define ESCREG_SM3 (ESCREG_SM0 + 0x18)
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#define ESCREG_LOCALTIME 0x0910
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#define ESCREG_SMENABLE_BIT 0x01
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#define ESCREG_AL_STATEMASK 0x001f
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#define ESCREG_AL_ALLBUTINITMASK 0x0e
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#define ESCREG_AL_ERRACKMASK 0x0f
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#define ESCinit 0x01
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#define ESCpreop 0x02
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#define ESCboot 0x03
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#define ESCsafeop 0x04
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#define ESCop 0x08
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#define ESCerror 0x10
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#define INIT_TO_INIT 0x11
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#define INIT_TO_PREOP 0x21
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#define INIT_TO_BOOT 0x31
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#define INIT_TO_SAFEOP 0x41
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#define INIT_TO_OP 0x81
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#define PREOP_TO_INIT 0x12
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#define PREOP_TO_PREOP 0x22
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#define PREOP_TO_BOOT 0x32
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#define PREOP_TO_SAFEOP 0x42
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#define PREOP_TO_OP 0x82
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#define BOOT_TO_INIT 0x13
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#define BOOT_TO_PREOP 0x23
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#define BOOT_TO_BOOT 0x33
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#define BOOT_TO_SAFEOP 0x43
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#define BOOT_TO_OP 0x83
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#define SAFEOP_TO_INIT 0x14
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#define SAFEOP_TO_PREOP 0x24
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#define SAFEOP_TO_BOOT 0x34
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#define SAFEOP_TO_SAFEOP 0x44
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#define SAFEOP_TO_OP 0x84
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#define OP_TO_INIT 0x18
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#define OP_TO_PREOP 0x28
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#define OP_TO_BOOT 0x38
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#define OP_TO_SAFEOP 0x48
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#define OP_TO_OP 0x88
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#define ALERR_NONE 0x0000
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#define ALERR_INVALIDSTATECHANGE 0x0011
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#define ALERR_UNKNOWNSTATE 0x0012
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#define ALERR_BOOTNOTSUPPORTED 0x0013
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#define ALERR_INVALIDBOOTMBXCONFIG 0x0015
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#define ALERR_INVALIDMBXCONFIG 0x0016
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#define ALERR_INVALIDSMCONFIG 0x0017
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#define ALERR_WATCHDOG 0x001B
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#define ALERR_INVALIDOUTPUTSM 0x001D
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#define ALERR_INVALIDINPUTSM 0x001E
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#define MBXERR_SYNTAX 0x0001
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#define MBXERR_UNSUPPORTEDPROTOCOL 0x0002
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#define MBXERR_INVALIDCHANNEL 0x0003
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#define MBXERR_SERVICENOTSUPPORTED 0x0004
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#define MBXERR_INVALIDHEADER 0x0005
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#define MBXERR_SIZETOOSHORT 0x0006
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#define MBXERR_NOMOREMEMORY 0x0007
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#define MBXERR_INVALIDSIZE 0x0008
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#define ABORT_NOTOGGLE 0x05030000
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#define ABORT_UNKNOWN 0x05040001
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#define ABORT_UNSUPPORTED 0x06010000
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#define ABORT_WRITEONLY 0x06010001
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#define ABORT_READONLY 0x06010002
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#define ABORT_NOOBJECT 0x06020000
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#define ABORT_TYPEMISMATCH 0x06070010
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#define ABORT_NOSUBINDEX 0x06090011
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#define ABORT_GENERALERROR 0x08000000
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#define ABORT_NOTINTHISSTATE 0x08000022
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#define MBXstate_idle 0x00
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#define MBXstate_inclaim 0x01
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#define MBXstate_outclaim 0x02
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#define MBXstate_outreq 0x03
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#define MBXstate_outpost 0x04
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#define MBXstate_backup 0x05
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#define MBXstate_again 0x06
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#define COE_DEFAULTLENGTH 0x0a
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#define COE_HEADERSIZE 0x0a
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#define COE_SEGMENTHEADERSIZE 0x03
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#define COE_SDOREQUEST 0x02
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#define COE_SDORESPONSE 0x03
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#define COE_SDOINFORMATION 0x08
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#define COE_COMMAND_SDOABORT 0x80
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#define COE_COMMAND_UPLOADREQUEST 0x40
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#define COE_COMMAND_UPLOADRESPONSE 0x40
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#define COE_COMMAND_UPLOADSEGMENT 0x00
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#define COE_COMMAND_UPLOADSEGREQ 0x60
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#define COE_COMMAND_DOWNLOADRESPONSE 0x60
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#define COE_COMMAND_LASTSEGMENTBIT 0x01
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#define COE_SIZE_INDICATOR 0x01
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#define COE_EXPEDITED_INDICATOR 0x02
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#define COE_COMPLETEACCESS 0x10
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#define COE_TOGGLEBIT 0x10
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#define COE_INFOERROR 0x07
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#define COE_GETODLISTRESPONSE 0x02
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#define COE_GETODRESPONSE 0x04
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#define COE_ENTRYDESCRIPTIONRESPONSE 0x06
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#define COE_VALUEINFO_ACCESS 0x01
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#define COE_VALUEINFO_OBJECT 0x02
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#define COE_VALUEINFO_MAPPABLE 0x04
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#define COE_VALUEINFO_TYPE 0x08
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#define COE_VALUEINFO_DEFAULT 0x10
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#define COE_VALUEINFO_MINIMUM 0x20
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#define COE_VALUEINFO_MAXIMUM 0x40
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#define COE_MINIMUM_LENGTH 8
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#define MBXHSIZE sizeof(_MBXh)
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#define MBXDSIZE MBXSIZE-MBXHSIZE
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#define MBXERR 0x00
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#define MBXAOE 0x01
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#define MBXEOE 0x02
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#define MBXCOE 0x03
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#define MBXFOE 0x04
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#define MBXODL 0x10
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#define MBXOD 0x20
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#define MBXED 0x30
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#define MBXSEU 0x40
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#define MBXSED 0x50
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#define SMRESULT_ERRSM0 0x01
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#define SMRESULT_ERRSM1 0x02
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#define SMRESULT_ERRSM2 0x04
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#define SMRESULT_ERRSM3 0x08
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#define FOE_ERR_NOTDEFINED 0x8000
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#define FOE_ERR_NOTFOUND 0x8001
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#define FOE_ERR_ACCESS 0x8002
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#define FOE_ERR_DISKFULL 0x8003
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#define FOE_ERR_ILLEGAL 0x8004
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#define FOE_ERR_PACKETNO 0x8005
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#define FOE_ERR_EXISTS 0x8006
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#define FOE_ERR_NOUSER 0x8007
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#define FOE_ERR_BOOTSTRAPONLY 0x8008
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#define FOE_ERR_NOTINBOOTSTRAP 0x8009
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#define FOE_ERR_NORIGHTS 0x800A
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#define FOE_ERR_PROGERROR 0x800B
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#define FOE_OP_RRQ 1
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#define FOE_OP_WRQ 2
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#define FOE_OP_DATA 3
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#define FOE_OP_ACK 4
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#define FOE_OP_ERR 5
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#define FOE_OP_BUSY 6
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#define FOE_READY 0
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#define FOE_WAIT_FOR_ACK 1
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#define FOE_WAIT_FOR_FINAL_ACK 2
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#define FOE_WAIT_FOR_DATA 3
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// Attention! this struct is always little-endian
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typedef struct CC_PACKED
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{
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uint16_t PSA;
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uint16_t Length;
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#if defined(EC_LITTLE_ENDIAN)
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uint8_t Mode:2;
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uint8_t Direction:2;
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uint8_t IntECAT:1;
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uint8_t IntPDI:1;
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uint8_t WTE:1;
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uint8_t R1:1;
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uint8_t IntW:1;
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uint8_t IntR:1;
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uint8_t R2:1;
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uint8_t MBXstat:1;
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uint8_t BUFstat:2;
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uint8_t R3:2;
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uint8_t ECsm:1;
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uint8_t ECrep:1;
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uint8_t ECr4:4;
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uint8_t EClatchEC:1;
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uint8_t EClatchPDI:1;
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uint8_t PDIsm:1;
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uint8_t PDIrep:1;
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uint8_t PDIr5:6;
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#endif
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#if defined(EC_BIG_ENDIAN)
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uint8_t R1:1;
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uint8_t WTE:1;
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uint8_t IntPDI:1;
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uint8_t IntECAT:1;
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uint8_t Direction:2;
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uint8_t Mode:2;
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uint8_t R3:2;
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uint8_t BUFstat:2;
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uint8_t MBXstat:1;
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uint8_t R2:1;
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uint8_t IntR:1;
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uint8_t IntW:1;
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uint8_t EClatchPDI:1;
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uint8_t EClatchEC:1;
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uint8_t ECr4:4;
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uint8_t ECrep:1;
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uint8_t ECsm:1;
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uint8_t PDIr5:6;
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uint8_t PDIrep:1;
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uint8_t PDIsm:1;
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#endif
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} _ESCsm;
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/* Attention! this struct is always little-endian */
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typedef struct CC_PACKED
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{
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uint16_t PSA;
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uint16_t Length;
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uint8_t Command;
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uint8_t Status;
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uint8_t ActESC;
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uint8_t ActPDI;
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} _ESCsm2;
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typedef struct CC_PACKED
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{
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uint16_t PSA;
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uint16_t Length;
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uint8_t Command;
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} _ESCsmCompact;
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typedef struct CC_PACKED
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{
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uint16_t ALevent;
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uint16_t ALstatus;
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uint16_t ALcontrol;
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uint16_t ALerror;
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uint16_t DLstatus;
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uint16_t address;
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uint8_t mbxcnt;
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uint8_t mbxincnt;
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uint8_t mbxoutpost;
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uint8_t mbxbackup;
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uint8_t xoe;
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uint8_t txcue;
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uint8_t mbxfree;
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uint8_t segmented;
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void *data;
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uint16_t entries;
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uint16_t frags;
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uint16_t fragsleft;
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#if defined(EC_LITTLE_ENDIAN)
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uint8_t r1:1;
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uint8_t toggle:1;
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uint8_t r2:6;
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#endif
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#if defined(EC_BIG_ENDIAN)
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uint8_t r2:6;
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uint8_t toggle:1;
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uint8_t r1:1;
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#endif
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uint8_t SMtestresult;
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int16_t temp;
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uint16_t wdcnt;
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uint32_t PrevTime;
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uint32_t Time;
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_ESCsm SM[4];
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} _ESCvar;
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typedef struct CC_PACKED
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{
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uint16_t length;
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uint16_t address;
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#if defined(EC_LITTLE_ENDIAN)
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uint8_t channel:6;
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uint8_t priority:2;
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uint8_t mbxtype:4;
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uint8_t mbxcnt:4;
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#endif
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#if defined(EC_BIG_ENDIAN)
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uint8_t priority:2;
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uint8_t channel:6;
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uint8_t mbxcnt:4;
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uint8_t mbxtype:4;
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#endif
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} _MBXh;
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typedef struct CC_PACKED
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{
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_MBXh header;
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uint8_t b[MBXDSIZE];
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} _MBX;
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typedef struct CC_PACKED
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{
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uint16_t numberservice;
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} _COEh;
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typedef struct CC_PACKED
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{
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#if defined(EC_LITTLE_ENDIAN)
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uint8_t opcode:7;
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uint8_t incomplete:1;
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#endif
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#if defined(EC_BIG_ENDIAN)
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uint8_t incomplete:1;
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uint8_t opcode:7;
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#endif
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uint8_t reserved;
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uint16_t fragmentsleft;
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} _INFOh;
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typedef struct CC_PACKED
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{
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_MBXh mbxheader;
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uint16_t type;
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uint16_t detail;
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} _MBXerr;
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typedef struct CC_PACKED
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{
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_MBXh mbxheader;
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_COEh coeheader;
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uint8_t command;
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uint16_t index;
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uint8_t subindex;
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uint32_t size;
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} _COEsdo;
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typedef struct CC_PACKED
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{
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_MBXh mbxheader;
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_COEh coeheader;
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_INFOh infoheader;
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uint16_t index;
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uint16_t datatype;
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uint8_t maxsub;
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uint8_t objectcode;
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char name;
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} _COEobjdesc;
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typedef struct CC_PACKED
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{
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_MBXh mbxheader;
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_COEh coeheader;
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_INFOh infoheader;
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uint16_t index;
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uint8_t subindex;
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uint8_t valueinfo;
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uint16_t datatype;
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uint16_t bitlength;
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uint16_t access;
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char name;
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} _COEentdesc;
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typedef struct CC_PACKED
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{
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uint8_t opcode;
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uint8_t reserved;
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union
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{
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uint32_t password;
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uint32_t packetnumber;
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uint32_t errorcode;
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};
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} _FOEh;
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#define FOEHSIZE (sizeof(_FOEh))
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#define FOE_DATA_SIZE (MBXSIZEBOOT - (MBXHSIZE+FOEHSIZE))
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typedef struct CC_PACKED
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{
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_MBXh mbxheader;
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_FOEh foeheader;
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union
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{
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char filename[FOE_DATA_SIZE];
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uint8_t data[FOE_DATA_SIZE];
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char errortext[FOE_DATA_SIZE];
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};
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} _FOE;
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/* state definition in mailbox
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* 0 : idle
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* 1 : claimed for inbox
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* 2 : claimed for outbox
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* 3 : request post outbox
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* 4 : outbox posted not send
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* 5 : backup outbox
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* 6 : mailbox needs to be transmitted again
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*/
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typedef struct
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{
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uint8_t state;
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} _MBXcontrol;
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typedef struct esc_cfg
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{
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void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
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void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
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} esc_cfg_t;
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void ESC_config (esc_cfg_t * cfg);
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void ESC_ALerror (uint16_t errornumber);
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void ESC_ALstatus (uint8_t status);
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void ESC_SMstatus (uint8_t n);
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uint8_t ESC_WDstatus (void);
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uint8_t ESC_claimbuffer (void);
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uint8_t ESC_startmbx (uint8_t state);
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void ESC_stopmbx (void);
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void MBX_error (uint16_t error);
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uint8_t ESC_mbxprocess (void);
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void ESC_xoeprocess (void);
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uint8_t ESC_startinput (uint8_t state);
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void ESC_stopinput (void);
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uint8_t ESC_startoutput (uint8_t state);
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void ESC_stopoutput (void);
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void ESC_state (void);
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/* From hardware file */
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void ESC_read (uint16_t address, void *buf, uint16_t len);
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void ESC_write (uint16_t address, void *buf, uint16_t len);
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void ESC_init (const void * arg);
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void ESC_reset (void);
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/* From application */
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extern void APP_safeoutput ();
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extern volatile _ESCvar ESCvar;
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extern _MBX MBX[MBXBUFFERS];
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extern _MBXcontrol MBXcontrol[MBXBUFFERS];
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extern uint8_t MBXrun;
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extern uint16_t SM2_sml, SM3_sml;
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typedef struct
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{
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uint8_t state;
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} _App;
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#define APPSTATE_IDLE 0x00
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#define APPSTATE_INPUT 0x01
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#define APPSTATE_OUTPUT 0x02
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extern _App App;
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#endif
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