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<h1>/home/epimerde/documents/tc11/CanFestival-3/include/pdo.h File Reference</h1><code>#include &lt;<a class="el" href="win32_2applicfg_8h-source.html">applicfg.h</a>&gt;</code><br>
<code>#include &lt;<a class="el" href="def_8h-source.html">def.h</a>&gt;</code><br>
<code>#include &quot;<a class="el" href="data_8h-source.html">data.h</a>&quot;</code><br>

<p>
<a href="pdo_8h-source.html">Go to the source code of this file.</a><table border="0" cellpadding="0" cellspacing="0">
<tr><td></td></tr>
<tr><td colspan="2"><br><h2>Data Structures</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">struct &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="structstruct__s__process__var.html">struct_s_process_var</a></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">struct &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="structstruct__s__PDO.html">struct_s_PDO</a></td></tr>

<tr><td colspan="2"><br><h2>Typedefs</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">typedef <a class="el" href="structstruct__s__process__var.html">struct_s_process_var</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="pdo_8h.html#cebb3b4d895da8e726cc7eddb6035e6f">s_process_var</a></td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">typedef <a class="el" href="structstruct__s__PDO.html">struct_s_PDO</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="pdo_8h.html#7f9085f960c6632e8c79537abac9a9ff">s_PDO</a></td></tr>

<tr><td colspan="2"><br><h2>Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">UNS8&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="pdo_8h.html#a6774c219dc64c1cec4b4721ba23e15a">sendPDO</a> (<a class="el" href="structstruct__CO__Data.html">CO_Data</a> *d, <a class="el" href="structstruct__s__PDO.html">s_PDO</a> pdo, UNS8 request)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">UNS8&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="pdo_8h.html#298b8291fa35cca22264cf8a70bf138a">PDOmGR</a> (<a class="el" href="structstruct__CO__Data.html">CO_Data</a> *d, UNS32 cobId)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">UNS8&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="pdo_8h.html#b9c82d949045cb7f52ed40d0ee8c7bf1">buildPDO</a> (<a class="el" href="structstruct__CO__Data.html">CO_Data</a> *d, UNS16 index)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">UNS8&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="pdo_8h.html#cc08547009d3d2755d2291999941694c">sendPDOrequest</a> (<a class="el" href="structstruct__CO__Data.html">CO_Data</a> *d, UNS32 cobId)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">UNS8&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="pdo_8h.html#ae7d661cd3ef7adf93a0d08fdb15b7f2">proceedPDO</a> (<a class="el" href="structstruct__CO__Data.html">CO_Data</a> *d, <a class="el" href="structMessage.html">Message</a> *m)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">UNS8&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="pdo_8h.html#07ff33d0d2e6b1070bf3c27578006e8d">sendPDOevent</a> (<a class="el" href="structstruct__CO__Data.html">CO_Data</a> *d, void *variable)</td></tr>

<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="pdo_8h.html#e468510c9f77f502207d961d26389918">CopyBits</a> (UNS8 NbBits, UNS8 *SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8 *DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)</td></tr>

</table>
<hr><h2>Typedef Documentation</h2>
<a class="anchor" name="7f9085f960c6632e8c79537abac9a9ff"></a><!-- doxytag: member="pdo.h::s_PDO" ref="7f9085f960c6632e8c79537abac9a9ff" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structstruct__s__PDO.html">struct_s_PDO</a> <a class="el" href="structstruct__s__PDO.html">s_PDO</a>          </td>
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<p>
The PDO structure 
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<a class="anchor" name="cebb3b4d895da8e726cc7eddb6035e6f"></a><!-- doxytag: member="pdo.h::s_process_var" ref="cebb3b4d895da8e726cc7eddb6035e6f" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structstruct__s__process__var.html">struct_s_process_var</a> <a class="el" href="structstruct__s__process__var.html">s_process_var</a>          </td>
        </tr>
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<p>

</div>
</div><p>
<hr><h2>Function Documentation</h2>
<a class="anchor" name="b9c82d949045cb7f52ed40d0ee8c7bf1"></a><!-- doxytag: member="pdo.h::buildPDO" ref="b9c82d949045cb7f52ed40d0ee8c7bf1" args="(CO_Data *d, UNS16 index)" -->
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          <td class="memname">UNS8 buildPDO           </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structstruct__CO__Data.html">CO_Data</a> *&nbsp;</td>
          <td class="paramname"> <em>d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UNS16&nbsp;</td>
          <td class="paramname"> <em>index</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td width="100%"></td>
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<p>
Prepare the PDO defined at index to be sent by PDOmGR Copy all the data to transmit in process_var *pwCobId : returns the value of the cobid. (subindex 1) Return 0 or 0xFF if error. 
</div>
</div><p>
<a class="anchor" name="e468510c9f77f502207d961d26389918"></a><!-- doxytag: member="pdo.h::CopyBits" ref="e468510c9f77f502207d961d26389918" args="(UNS8 NbBits, UNS8 *SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8 *DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)" -->
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          <td class="memname">void CopyBits           </td>
          <td>(</td>
          <td class="paramtype">UNS8&nbsp;</td>
          <td class="paramname"> <em>NbBits</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UNS8 *&nbsp;</td>
          <td class="paramname"> <em>SrcByteIndex</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UNS8&nbsp;</td>
          <td class="paramname"> <em>SrcBitIndex</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UNS8&nbsp;</td>
          <td class="paramname"> <em>SrcBigEndian</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UNS8 *&nbsp;</td>
          <td class="paramname"> <em>DestByteIndex</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UNS8&nbsp;</td>
          <td class="paramname"> <em>DestBitIndex</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UNS8&nbsp;</td>
          <td class="paramname"> <em>DestBigEndian</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td width="100%"></td>
        </tr>
      </table>
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<p>
Definition at line <a class="el" href="pdo_8c-source.html#l00376">376</a> of file <a class="el" href="pdo_8c-source.html">pdo.c</a>.
<p>
References <a class="el" href="hcs12_2applicfg_8h-source.html#l00129">INTEGER8</a>, and <a class="el" href="hcs12_2applicfg_8h-source.html#l00139">UNS8</a>.
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<a class="anchor" name="298b8291fa35cca22264cf8a70bf138a"></a><!-- doxytag: member="pdo.h::PDOmGR" ref="298b8291fa35cca22264cf8a70bf138a" args="(CO_Data *d, UNS32 cobId)" -->
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          <td class="memname">UNS8 PDOmGR           </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structstruct__CO__Data.html">CO_Data</a> *&nbsp;</td>
          <td class="paramname"> <em>d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UNS32&nbsp;</td>
          <td class="paramname"> <em>cobId</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td width="100%"></td>
        </tr>
      </table>
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<p>
Prepare a PDO frame transmission, whose different parameters are stored in process_var table, to the slave. bus_id is hardware dependant call the function sendPDO return the result of the function sendPDO or 0xFF if error 
<p>
Definition at line <a class="el" href="pdo_8c-source.html#l00061">61</a> of file <a class="el" href="pdo_8c-source.html">pdo.c</a>.
<p>
References <a class="el" href="pdo_8h-source.html#l00044">struct_s_PDO::cobId</a>, <a class="el" href="pdo_8h-source.html#l00033">struct_s_process_var::count</a>, <a class="el" href="timer_8h-source.html#l00045">struct_s_timer_entry::d</a>, <a class="el" href="pdo_8h-source.html#l00037">struct_s_process_var::data</a>, <a class="el" href="pdo_8h-source.html#l00046">struct_s_PDO::data</a>, <a class="el" href="pdo_8h-source.html#l00045">struct_s_PDO::len</a>, <a class="el" href="hcs12_2applicfg_8h-source.html#l00190">MSG_WAR</a>, <a class="el" href="def_8h-source.html#l00055">NOT_A_REQUEST</a>, <a class="el" href="data_8h-source.html#l00086">struct_CO_Data::process_var</a>, <a class="el" href="pdo_8c-source.html#l00027">sendPDO()</a>, and <a class="el" href="hcs12_2applicfg_8h-source.html#l00139">UNS8</a>.
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<a class="anchor" name="ae7d661cd3ef7adf93a0d08fdb15b7f2"></a><!-- doxytag: member="pdo.h::proceedPDO" ref="ae7d661cd3ef7adf93a0d08fdb15b7f2" args="(CO_Data *d, Message *m)" -->
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          <td class="memname">UNS8 proceedPDO           </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structstruct__CO__Data.html">CO_Data</a> *&nbsp;</td>
          <td class="paramname"> <em>d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structMessage.html">Message</a> *&nbsp;</td>
          <td class="paramname"> <em>m</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td width="100%"></td>
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Compute a PDO frame reception bus_id is hardware dependant return 0xFF if error, else return 0 
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Definition at line <a class="el" href="pdo_8c-source.html#l00187">187</a> of file <a class="el" href="pdo_8c-source.html">pdo.c</a>.
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References <a class="el" href="can_8h-source.html#l00042">Message::cob_id</a>, <a class="el" href="pdo_8c-source.html#l00376">CopyBits()</a>, <a class="el" href="pdo_8h-source.html#l00033">struct_s_process_var::count</a>, <a class="el" href="timer_8h-source.html#l00045">struct_s_timer_entry::d</a>, <a class="el" href="can_8h-source.html#l00046">Message::data</a>, <a class="el" href="pdo_8h-source.html#l00037">struct_s_process_var::data</a>, <a class="el" href="data_8h-source.html#l00050">struct_CO_Data::firstIndex</a>, <a class="el" href="objacces_8c-source.html#l00145">getODentry()</a>, <a class="el" href="data_8h-source.html#l00051">struct_CO_Data::lastIndex</a>, <a class="el" href="can_8h-source.html#l00045">Message::len</a>, <a class="el" href="hcs12_2applicfg_8h-source.html#l00177">MSG_ERR</a>, <a class="el" href="hcs12_2applicfg_8h-source.html#l00190">MSG_WAR</a>, <a class="el" href="def_8h-source.html#l00055">NOT_A_REQUEST</a>, <a class="el" href="data_8h-source.html#l00048">struct_CO_Data::objdict</a>, <a class="el" href="def_8h-source.html#l00031">OD_SUCCESSFUL</a>, <a class="el" href="objdictdef_8h-source.html#l00118">s_quick_index::PDO_RCV</a>, <a class="el" href="objdictdef_8h-source.html#l00119">s_quick_index::PDO_RCV_MAP</a>, <a class="el" href="objdictdef_8h-source.html#l00120">s_quick_index::PDO_TRS</a>, <a class="el" href="objdictdef_8h-source.html#l00121">s_quick_index::PDO_TRS_MAP</a>, <a class="el" href="pdo_8c-source.html#l00061">PDOmGR()</a>, <a class="el" href="objdictdef_8h-source.html#l00100">td_subindex::pObject</a>, <a class="el" href="data_8h-source.html#l00086">struct_CO_Data::process_var</a>, <a class="el" href="objdictdef_8h-source.html#l00107">td_indextable::pSubindex</a>, <a class="el" href="def_8h-source.html#l00054">REQUEST</a>, <a class="el" href="objacces_8c-source.html#l00257">setODentry()</a>, <a class="el" href="def_8h-source.html#l00113">state1</a>, <a class="el" href="def_8h-source.html#l00114">state2</a>, <a class="el" href="def_8h-source.html#l00116">state4</a>, <a class="el" href="def_8h-source.html#l00117">state5</a>, <a class="el" href="objdictdef_8h-source.html#l00080">TRANS_EVENT</a>, <a class="el" href="objdictdef_8h-source.html#l00079">TRANS_RTR</a>, <a class="el" href="objdictdef_8h-source.html#l00078">TRANS_RTR_SYNC</a>, <a class="el" href="hcs12_2applicfg_8h-source.html#l00140">UNS16</a>, <a class="el" href="hcs12_2applicfg_8h-source.html#l00141">UNS32</a>, <a class="el" href="hcs12_2applicfg_8h-source.html#l00139">UNS8</a>, and <a class="el" href="can_8h-source.html#l00036">SHORT_CAN::w</a>.
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<a class="anchor" name="a6774c219dc64c1cec4b4721ba23e15a"></a><!-- doxytag: member="pdo.h::sendPDO" ref="a6774c219dc64c1cec4b4721ba23e15a" args="(CO_Data *d, s_PDO pdo, UNS8 request)" -->
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          <td class="memname">UNS8 sendPDO           </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structstruct__CO__Data.html">CO_Data</a> *&nbsp;</td>
          <td class="paramname"> <em>d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structstruct__s__PDO.html">s_PDO</a>&nbsp;</td>
          <td class="paramname"> <em>pdo</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UNS8&nbsp;</td>
          <td class="paramname"> <em>request</em></td><td>&nbsp;</td>
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          <td>)</td>
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Transmit a PDO data frame on the bus bus_id pdo is a structure which contains the pdo to transmit bus_id is hardware dependant return canSend(bus_id,&amp;m) or 0xFF if error request can take the value REQUEST or NOT_A_REQUEST 
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Definition at line <a class="el" href="pdo_8c-source.html#l00027">27</a> of file <a class="el" href="pdo_8c-source.html">pdo.c</a>.
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References <a class="el" href="data_8h-source.html#l00090">struct_CO_Data::canHandle</a>, <a class="el" href="canOpenDriver_8c-source.html#l00505">canSend()</a>, <a class="el" href="can_8h-source.html#l00042">Message::cob_id</a>, <a class="el" href="pdo_8h-source.html#l00044">struct_s_PDO::cobId</a>, <a class="el" href="timer_8h-source.html#l00045">struct_s_timer_entry::d</a>, <a class="el" href="pdo_8h-source.html#l00046">struct_s_PDO::data</a>, <a class="el" href="can_8h-source.html#l00046">Message::data</a>, <a class="el" href="pdo_8h-source.html#l00045">struct_s_PDO::len</a>, <a class="el" href="can_8h-source.html#l00045">Message::len</a>, <a class="el" href="hcs12_2applicfg_8h-source.html#l00190">MSG_WAR</a>, <a class="el" href="data_8h-source.html#l00061">struct_CO_Data::nodeState</a>, <a class="el" href="def_8h-source.html#l00055">NOT_A_REQUEST</a>, <a class="el" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a>, <a class="el" href="def_8h-source.html#l00054">REQUEST</a>, <a class="el" href="can_8h-source.html#l00043">Message::rtr</a>, <a class="el" href="hcs12_2applicfg_8h-source.html#l00139">UNS8</a>, and <a class="el" href="can_8h-source.html#l00036">SHORT_CAN::w</a>.
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<a class="anchor" name="07ff33d0d2e6b1070bf3c27578006e8d"></a><!-- doxytag: member="pdo.h::sendPDOevent" ref="07ff33d0d2e6b1070bf3c27578006e8d" args="(CO_Data *d, void *variable)" -->
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          <td class="memname">UNS8 sendPDOevent           </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structstruct__CO__Data.html">CO_Data</a> *&nbsp;</td>
          <td class="paramname"> <em>d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">void *&nbsp;</td>
          <td class="paramname"> <em>variable</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
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<a class="anchor" name="cc08547009d3d2755d2291999941694c"></a><!-- doxytag: member="pdo.h::sendPDOrequest" ref="cc08547009d3d2755d2291999941694c" args="(CO_Data *d, UNS32 cobId)" -->
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          <td class="memname">UNS8 sendPDOrequest           </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structstruct__CO__Data.html">CO_Data</a> *&nbsp;</td>
          <td class="paramname"> <em>d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UNS32&nbsp;</td>
          <td class="paramname"> <em>cobId</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td width="100%"></td>
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Transmit a PDO request frame on the bus bus_id to the slave. bus_id is hardware dependant Returns 0xFF if error, other in success. 
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Definition at line <a class="el" href="pdo_8c-source.html#l00154">154</a> of file <a class="el" href="pdo_8c-source.html">pdo.c</a>.
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References <a class="el" href="pdo_8h-source.html#l00044">struct_s_PDO::cobId</a>, <a class="el" href="timer_8h-source.html#l00045">struct_s_timer_entry::d</a>, <a class="el" href="data_8h-source.html#l00050">struct_CO_Data::firstIndex</a>, <a class="el" href="data_8h-source.html#l00051">struct_CO_Data::lastIndex</a>, <a class="el" href="pdo_8h-source.html#l00045">struct_s_PDO::len</a>, <a class="el" href="hcs12_2applicfg_8h-source.html#l00190">MSG_WAR</a>, <a class="el" href="data_8h-source.html#l00048">struct_CO_Data::objdict</a>, <a class="el" href="objdictdef_8h-source.html#l00118">s_quick_index::PDO_RCV</a>, <a class="el" href="objdictdef_8h-source.html#l00100">td_subindex::pObject</a>, <a class="el" href="objdictdef_8h-source.html#l00107">td_indextable::pSubindex</a>, <a class="el" href="def_8h-source.html#l00054">REQUEST</a>, <a class="el" href="pdo_8c-source.html#l00027">sendPDO()</a>, <a class="el" href="hcs12_2applicfg_8h-source.html#l00140">UNS16</a>, <a class="el" href="hcs12_2applicfg_8h-source.html#l00141">UNS32</a>, and <a class="el" href="hcs12_2applicfg_8h-source.html#l00139">UNS8</a>.
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