From 29ec7321982b2c0b891cf95c2914b39e19e10614 Mon Sep 17 00:00:00 2001
From: Markus Suevern <msuevern@dspace.de>
Date: Fri, 24 Oct 2025 11:38:02 +0200
Subject: [PATCH] Update FlexRay documentation and header to include Slot ID
 for COLLISION_AVOIDANCE_SYMBOL

---
 docs/4_4_3_flexray.adoc    | 15 +++++++++++----
 headers/fmi3LsBusFlexRay.h |  4 +++-
 2 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/docs/4_4_3_flexray.adoc b/docs/4_4_3_flexray.adoc
index fea2c719..7e131d33 100644
--- a/docs/4_4_3_flexray.adoc
+++ b/docs/4_4_3_flexray.adoc
@@ -106,14 +106,16 @@ h|Length
 
 |Symbol
 |0x50
-|:= 11 +
+|:= 13 +
 (4 bytes)
 |Cycle ID +
 (1 byte)
 |Channel +
 (1 byte)
-6+|Type +
+1+|Type +
 (1 byte)
+5+|Slot ID +
+(2 byte)
 
 |====
 
@@ -610,7 +612,7 @@ h|Description
 3+|Operation representing a symbol transmitted in the FlexRay symbol window.
 h|OP Code [hex]
 3+|0x50
-.6+h|Content h|Argument h|Length h|Description
+.7+h|Content h|Argument h|Length h|Description
 |OP Code
 |4 bytes
 |Contains the OP Code (0x50) of the operation.
@@ -618,7 +620,7 @@ h|OP Code [hex]
 |Length
 |4 bytes
 |Defines the cumulative length of all arguments in bytes.
-The following applies for this operation: `Length = 11`.
+The following applies for this operation: `Length = 13`.
 
 |Cycle ID
 |1 byte
@@ -633,6 +635,10 @@ If a FlexRay cycle is not yet running (for example when initiating a startup thr
 |1 byte
 |The specified symbol type, based on <<table-flexray-symbol-type-values, the table below>>.
 
+|Slot ID
+|2 byte
+|The Slot ID of the startup frame. In case of `COLLISION_AVOIDANCE_SYMBOL`, the slot ID of the startup frame to be sent must be specified.
+
 h|Behavior
 3+|The specified operation shall be produced by a Network FMU and distributed to all participants, except the <<low-cut-flexray-symbol-operation, `Symbol`>> operation initiator, of the bus using the Bus Simulation.
 Depending on the simulation details, the Bus Simulation might respond with a <<low-cut-flexray-bus-error-operation, `Bus Error`>> operation.
@@ -767,6 +773,7 @@ For starting the FlexRay communication, a coldstart Network FMU shall send a <<l
 A Bus Simulation must forward the <<low-cut-flexray-symbol-operation, `Symbol`>> operation immediately to the other Network FMUs.
 Network FMUs receiving a `COLLISION_AVOIDANCE_SYMBOL` are not allowed to send the <<low-cut-flexray-symbol-operation, `Symbol`>> operation likewise from this point onwards.
 The first communication cycle is then started by sending the <<low-cut-flexray-start-communication-operation, `Start Communication`>> operation.
+If more than one Network FMU receives a `COLLISION_AVOIDANCE_SYMBOL` at the same time, only the Network FMU with the lowest startup frame `Slot ID` is allowed to send the `Start Communication` operation afterwards.
 Network FMUs must synchronize their internal FlexRay clock based on the received <<table-flexray-bus-start-start-time-parameter,`Start Time`>>.
 
 .Startup initiated by a coldstart Network FMU.
diff --git a/headers/fmi3LsBusFlexRay.h b/headers/fmi3LsBusFlexRay.h
index ac67fc4f..27dfb158 100644
--- a/headers/fmi3LsBusFlexRay.h
+++ b/headers/fmi3LsBusFlexRay.h
@@ -524,10 +524,12 @@ typedef struct
     fmi3LsBusFlexRayCycleId cycleId;      /**< The cycle the symbol is transmitted in. */
     fmi3LsBusFlexRayChannel channel;      /**< The channel(s) on which the symbol is transmitted. */
     fmi3LsBusFlexRaySymbolType type;      /**< The type of symbol. */
+    fmi3LsBusFlexRaySlotId slotId;        /**< The slot ID of the startup-frame in cases of a COLLISION_AVOIDANCE_SYMBOL */
+
 } fmi3LsBusFlexRayOperationSymbol;
 
 #if FMI3_LS_BUS_CHECK_OPERATION_SIZE == 1
-static_assert(sizeof(fmi3LsBusFlexRayOperationSymbol) == (8 + 1 + 1 + 1),
+static_assert(sizeof(fmi3LsBusFlexRayOperationSymbol) == (8 + 1 + 1 + 1 + 2),
               "'fmi3LsBusFlexRayOperationSymbol' does not match the expected data size");
 #endif