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Rev 434 Rev 436
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using System;
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using System;
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using System.Collections.Generic;
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using System.Collections.Generic;
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using System.Text;
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using System.Text;
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public class CanPacket {
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public class CanPacket {
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    private byte pktclass = 0;
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    private byte pktclass = 0;
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    private byte type = 0;
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//  private byte type = 0;
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    private byte sid = 0;
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//  private byte sid = 0;
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    private byte rid = 0;
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//  private byte rid = 0;
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    private byte data_length = 0;
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    private byte data_length = 0;
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    private ulong id = 0;
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    private ulong id = 0;
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    private byte[] data = new byte[8];
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    private byte[] data = new byte[8];
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    private byte ext = 0;
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    private byte ext = 0;
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    private byte rtr = 0;
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    private byte rtr = 0;
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    public CanPacket(byte[] raw,uint startIndex) {
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    public CanPacket(byte[] raw,uint startIndex) {
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        // 17 bytes, a packet.
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        // 17 bytes, a packet.
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        // UART_START_BYTE id[0] id[1] id[2] id[3] extended remote_request data_length d[0] d[1] d[2] d[3] d[4] d[5] d[6] d[7] UART_END_BYTE
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        // UART_START_BYTE id[0] id[1] id[2] id[3] extended remote_request data_length d[0] d[1] d[2] d[3] d[4] d[5] d[6] d[7] UART_END_BYTE
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        /*
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        /*
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        * 000CCCCx TTTTTTTT SSSSSSSS RRRRRRRR
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        * 000CCCCx TTTTTTTT SSSSSSSS RRRRRRRR
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        *
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        *
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        * <CLASS> = 00011110 00000000 00000000 00000000 = 0x1E000000    NMT, ...
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        * <CLASS> = 00011110 00000000 00000000 00000000 = 0x1E000000    NMT, ...
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        * <TYPE>  = 00000000 11111111 00000000 00000000 = 0x00FF0000    NMT[CAN_NMT_PGM_START, CAN_ID_NMT_PGM_ACK, ...]
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        * <TYPE>  = 00000000 11111111 00000000 00000000 = 0x00FF0000    NMT[CAN_NMT_PGM_START, CAN_ID_NMT_PGM_ACK, ...]
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        * <SID>   = 00000000 00000000 11111111 00000000 = 0x0000FF00    Sender ID
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        * <SID>   = 00000000 00000000 11111111 00000000 = 0x0000FF00    Sender ID
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        * <RID>   = 00000000 00000000 00000000 11111111 = 0x000000FF    Receiver ID
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        * <RID>   = 00000000 00000000 00000000 11111111 = 0x000000FF    Receiver ID
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        *
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        *
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        */
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        */
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        ulong addr = (((ulong)raw[startIndex + 3]) << 24) + (((ulong)raw[startIndex + 2]) << 16) + (((ulong)raw[startIndex + 1]) << 8) + (((ulong)raw[startIndex + 0]));
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        ulong addr = (((ulong)raw[startIndex + 3]) << 24) + (((ulong)raw[startIndex + 2]) << 16) + (((ulong)raw[startIndex + 1]) << 8) + (((ulong)raw[startIndex + 0]));
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        this.id = addr;
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        this.id = addr;
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        this.pktclass = (byte)((addr & 0x1E000000) >> 25);
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        this.pktclass = (byte)((addr & 0x1E000000) >> 25);
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        this.type =  (byte)((addr & 0x00FF0000) >> 16);
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//      this.type =  (byte)((addr & 0x00FF0000) >> 16);
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        this.sid =    (byte)((addr & 0x0000FF00) >> 8);
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//      this.sid =    (byte)((addr & 0x0000FF00) >> 8);
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        this.rid =    (byte)((addr & 0x000000FF));
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//      this.rid =    (byte)((addr & 0x000000FF));
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        this.data_length = raw[startIndex + 6];
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        this.data_length = raw[startIndex + 6];
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        ext = (byte)(0x0f & raw[startIndex + 4]);
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        ext = (byte)(0x0f & raw[startIndex + 4]);
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        rtr = (byte)(0x0f & raw[startIndex + 5]);
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        rtr = (byte)(0x0f & raw[startIndex + 5]);
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        for (int i = 0; i < 8; i++) this.data[i] = raw[startIndex + 7 + i];
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        for (int i = 0; i < 8; i++) this.data[i] = raw[startIndex + 7 + i];
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    }
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    }
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    public CanPacket(string raw) {
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    public CanPacket(string raw) {
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    }
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    }
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    public CanPacket(byte pktclass, byte type, byte sid, byte rid, byte data_length, byte[] data, byte rtr, byte ext) {
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//  public CanPacket(byte pktclass, byte type, byte sid, byte rid, byte data_length, byte[] data, byte rtr, byte ext) {
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        this.pktclass=pktclass;
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//      this.pktclass=pktclass;
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        this.type=type;
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//      this.type=type;
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        this.sid=sid;
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//      this.sid=sid;
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        this.rid=rid;
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//      this.rid=rid;
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        this.data_length=data_length;
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//      this.data_length=data_length;
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        for(int i=0;i<8;i++) this.data[i]=data[i];
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//      for(int i=0;i<8;i++) this.data[i]=data[i];
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        this.ext = (byte)(0x0f & ext);
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//      this.ext = (byte)(0x0f & ext);
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        this.rtr = (byte)(0x0f & rtr);
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//      this.rtr = (byte)(0x0f & rtr);
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    }
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//  }
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    public override int GetHashCode() {
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    public override int GetHashCode() {
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        return base.GetHashCode();
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        return base.GetHashCode();
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    }
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    }
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    public override bool  Equals(Object obj) {
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    public override bool  Equals(Object obj) {
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        CanPacket cpm = (CanPacket)obj;
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        CanPacket cpm = (CanPacket)obj;
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        byte[] bytes = cpm.getData();
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        byte[] bytes = cpm.getData();
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        for(int i=0;i<8;i++) if (this.data[i]!=bytes[i]) return false;
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        for(int i=0;i<8;i++) if (this.data[i]!=bytes[i]) return false;
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        return (this.pktclass==cpm.getPktClass() && this.type==cpm.getType() && this.sid==cpm.getSid() && this.sid==cpm.getRid() && this.data_length==cpm.getDataLength());
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        return (this.id==cpm.getId() && this.data_length==cpm.getDataLength());
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    }
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    }
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    public ulong getId() { return this.id; }
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    public ulong getId() { return this.id; }
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    public byte getPktClass(){ return this.pktclass; }
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    public byte getPktClass(){ return this.pktclass; }
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    public uint getType(){ return this.type; }
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//  public uint getType(){ return this.type; }
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    public uint getSid(){ return this.sid; }
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//  public uint getSid(){ return this.sid; }
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    public uint getRid(){ return this.sid; }
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//  public uint getRid(){ return this.sid; }
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    public byte getDataLength(){ return this.data_length; }
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    public byte getDataLength(){ return this.data_length; }
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    public byte[] getData(){ return this.data; }
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    public byte[] getData(){ return this.data; }
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    public override string ToString() {
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//  public override string ToString() {
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        string str = "";
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//      string str = "";
- 
 
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- 
 
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//      str = "pktclass: "+pktclass.ToString()+", type: "+type.ToString()+", sid: "+sid.ToString()+", rid: "+rid.ToString()+",data_length: "+data_length.ToString()+", data: ";
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//      for (int i = 0; i < 8; i++) str+=data[i].ToString()+" ";
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        str = "pktclass: "+pktclass.ToString()+", type: "+type.ToString()+", sid: "+sid.ToString()+", rid: "+rid.ToString()+",data_length: "+data_length.ToString()+", data: ";
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        for (int i = 0; i < 8; i++) str+=data[i].ToString()+" ";
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 - 
 
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        return str;
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//      return str;
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    }
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//  }
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    public string toRawString() {
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    public string toRawString() {
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        string returnstring = "PKT " + String.Format("{0:x8}", id);
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        string returnstring = "PKT " + String.Format("{0:x8}", id);
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        returnstring = returnstring + " " + String.Format("{0:x1}", ext) + " " + String.Format("{0:x1}", rtr);
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        returnstring = returnstring + " " + String.Format("{0:x1}", ext) + " " + String.Format("{0:x1}", rtr);
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        for (int i = 0; i < data_length; i++) {
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        for (int i = 0; i < data_length; i++) {
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            returnstring = returnstring + " " + String.Format("{0:x2}", data[i]);
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            returnstring = returnstring + " " + String.Format("{0:x2}", data[i]);
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        }
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        }
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        //returnstring = returnstring + "\n";
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        //returnstring = returnstring + "\n";
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        return returnstring;
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        return returnstring;
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    }
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    }
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    public byte[] getBytes() {
 104 
    public byte[] getBytes() {
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        byte[] bytes = new byte[15];
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        byte[] bytes = new byte[15];
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        // 17 bytes, a packet.
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        // 17 bytes, a packet.
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        // UART_START_BYTE id[0] id[1] id[2] id[3] extended remote_request data_length d[0] d[1] d[2] d[3] d[4] d[5] d[6] d[7] UART_END_BYTE
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        // UART_START_BYTE id[0] id[1] id[2] id[3] extended remote_request data_length d[0] d[1] d[2] d[3] d[4] d[5] d[6] d[7] UART_END_BYTE
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        /*
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        /*
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        * 000CCCCx TTTTTTTT SSSSSSSS RRRRRRRR
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        * 000CCCCx TTTTTTTT SSSSSSSS RRRRRRRR
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        *
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        *
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        * <CLASS> = 00011110 00000000 00000000 00000000 = 0x1E000000    NMT, ...
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        * <CLASS> = 00011110 00000000 00000000 00000000 = 0x1E000000    NMT, ...
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        * <TYPE>  = 00000000 11111111 00000000 00000000 = 0x00FF0000    NMT[CAN_NMT_PGM_START, CAN_ID_NMT_PGM_ACK, ...]
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        * <TYPE>  = 00000000 11111111 00000000 00000000 = 0x00FF0000    NMT[CAN_NMT_PGM_START, CAN_ID_NMT_PGM_ACK, ...]
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        * <SID>   = 00000000 00000000 11111111 00000000 = 0x0000FF00    Sender ID
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        * <SID>   = 00000000 00000000 11111111 00000000 = 0x0000FF00    Sender ID
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        * <RID>   = 00000000 00000000 00000000 11111111 = 0x000000FF    Receiver ID
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        * <RID>   = 00000000 00000000 00000000 11111111 = 0x000000FF    Receiver ID
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        *
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        *
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        */
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        */
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        ulong addr = (((ulong)this.pktclass)<<25)+(((ulong)this.type)<<16)+(((ulong)this.sid)<<8)+((ulong)this.rid);
 - 
 
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        bytes[3] = (byte)((addr & 0xFF000000) >> 24);
 120 
        bytes[3] = (byte)((id & 0xFF000000) >> 24);
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        bytes[2] = (byte)((addr & 0x00FF0000) >> 16);
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        bytes[2] = (byte)((id & 0x00FF0000) >> 16);
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        bytes[1] = (byte)((addr & 0x0000FF00) >> 8);
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        bytes[1] = (byte)((id & 0x0000FF00) >> 8);
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        bytes[0] = (byte)((addr & 0x000000FF));
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        bytes[0] = (byte)((id & 0x000000FF));
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        bytes[4]=1;
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        bytes[4]=ext;
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        bytes[5]=0;
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        bytes[5]=rtr;
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        bytes[6]=this.data_length;
 126 
        bytes[6]=this.data_length;
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        for(int i=0;i<8;i++) bytes[i+7]=this.data[i];
 127 
        for(int i=0;i<8;i++) bytes[i+7]=this.data[i];
129 
       
 128 
       
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        return bytes;
 129 
        return bytes;
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    }
 130 
    }
132 
   
 131 
   
133 
}
 132 
}
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