pyxcp 0.25.4__cp313-cp313-win_amd64.whl

pyxcp/master/master.py

@@ -0,0 +1,2641 @@
+#!/usr/bin/env python
+"""Lowlevel API reflecting available XCP services.
+
+.. note:: For technical reasons the API is split into two parts;
+          common methods (this file) and a Python version specific part.
+
+.. [1] XCP Specification, Part 2 - Protocol Layer Specification
+"""
+
+import functools
+import logging
+import struct
+import traceback
+import warnings
+from contextlib import suppress
+from typing import Any, Callable, Collection, Dict, Optional, TypeVar
+
+from pyxcp.daq_stim.stim import DaqEventInfo, Stim
+
+from pyxcp import checksum, types
+from pyxcp.constants import (
+    makeBytePacker,
+    makeByteUnpacker,
+    makeDLongPacker,
+    makeDLongUnpacker,
+    makeDWordPacker,
+    makeDWordUnpacker,
+    makeWordPacker,
+    makeWordUnpacker,
+)
+from pyxcp.master.errorhandler import (
+    SystemExit,
+    disable_error_handling,
+    is_suppress_xcp_error_log,
+    set_suppress_xcp_error_log,
+    wrapped,
+)
+from pyxcp.transport.base import create_transport
+from pyxcp.utils import decode_bytes, delay, short_sleep
+
+# Type variables for better type hinting
+T = TypeVar("T")
+R = TypeVar("R")
+
+
+def broadcasted(func: Callable):
+    """"""
+    return func
+
+
+class SlaveProperties(dict):
+    """Container class for fixed parameters, like byte-order, maxCTO, ...
+
+    This class extends dict to provide attribute-style access to dictionary items.
+    """
+
+    def __init__(self, *args: Any, **kws: Any) -> None:
+        """Initialize a new SlaveProperties instance.
+
+        Parameters
+        ----------
+        *args : Any
+            Positional arguments passed to dict.__init__
+        **kws : Any
+            Keyword arguments passed to dict.__init__
+        """
+        super().__init__(*args, **kws)
+
+    def __getattr__(self, name: str) -> Any:
+        """Get an attribute by name.
+
+        Parameters
+        ----------
+        name : str
+            The name of the attribute to get
+
+        Returns
+        -------
+        Any
+            The value of the attribute
+        """
+        return self[name]
+
+    def __setattr__(self, name: str, value: Any) -> None:
+        """Set an attribute by name.
+
+        Parameters
+        ----------
+        name : str
+            The name of the attribute to set
+        value : Any
+            The value to set
+        """
+        self[name] = value
+
+    def __getstate__(self) -> dict:
+        """Get the state of the object for pickling.
+
+        Returns
+        -------
+        dict
+            The state of the object
+        """
+        return self
+
+    def __setstate__(self, state: dict) -> None:
+        """Set the state of the object from unpickling.
+
+        Parameters
+        ----------
+        state : dict
+            The state to set
+        """
+        self.update(state)  # Use update instead of direct assignment
+
+
+class Master:
+    """Common part of lowlevel XCP API.
+
+    This class provides methods for interacting with an XCP slave device.
+    It handles the communication protocol and provides a high-level API
+    for sending commands and receiving responses.
+
+    Parameters
+    ----------
+    transport_name : str | None
+        XCP transport layer name ['can', 'eth', 'sxi']
+    config : Any
+        Configuration object containing transport and general settings
+    policy : Any, optional
+        Policy object for handling frames, by default None
+    transport_layer_interface : Any, optional
+        Custom transport layer interface, by default None
+    """
+
+    def __init__(self, transport_name: str | None, config: Any, policy: Any = None,
+                 transport_layer_interface: Any = None) -> None:
+        """Initialize a new Master instance.
+
+        Parameters
+        ----------
+        transport_name : str | None
+            XCP transport layer name ['can', 'eth', 'sxi']
+        config : Any
+            Configuration object containing transport and general settings
+        policy : Any, optional
+            Policy object for handling frames, by default None
+        transport_layer_interface : Any, optional
+            Custom transport layer interface, by default None
+
+        Raises
+        ------
+        ValueError
+            If transport_name is None
+        """
+        if transport_name is None:
+            raise ValueError("No transport-layer selected")  # Never reached -- to keep type-checkers happy.
+
+        # Initialize basic properties
+        self.ctr: int = 0
+        self.succeeded: bool = True
+        self.config: Any = config.general
+        self.logger: logging.Logger = logging.getLogger("PyXCP")
+
+        # Configure error handling
+        disable_error_handling(self.config.disable_error_handling)
+
+        # Set up transport layer
+        self.transport_name: str = transport_name.lower()
+        transport_config: Any = config.transport
+        self.transport: BaseTransport = create_transport(transport_name, transport_config, policy,
+                                                         transport_layer_interface)
+
+        # Set up STIM (stimulation) support
+        self.stim: Stim = Stim(self.config.stim_support)
+        self.stim.clear()
+        self.stim.set_policy_feeder(self.transport.policy.feed)
+        self.stim.set_frame_sender(self.transport.block_request)
+
+        # In some cases the transport-layer needs to communicate with us.
+        self.transport.parent = self
+        self.service: Any = None
+
+        # Policies may issue XCP commands on their own.
+        self.transport.policy.xcp_master = self
+
+        # (D)Word (un-)packers are byte-order dependent
+        # -- byte-order is returned by CONNECT_Resp (COMM_MODE_BASIC)
+        self.BYTE_pack: Callable[[int], bytes] | None = None
+        self.BYTE_unpack: Callable[[bytes], tuple[int]] | None = None
+        self.WORD_pack: Callable[[int], bytes] | None = None
+        self.WORD_unpack: Callable[[bytes], tuple[int]] | None = None
+        self.DWORD_pack: Callable[[int], bytes] | None = None
+        self.DWORD_unpack: Callable[[bytes], tuple[int]] | None = None
+        self.DLONG_pack: Callable[[int], bytes] | None = None
+        self.DLONG_unpack: Callable[[bytes], tuple[int]] | None = None
+        self.AG_pack: Callable[[int], bytes] | None = None
+        self.AG_unpack: Callable[[bytes], tuple[int]] | None = None
+
+        # Initialize state variables
+        self.mta: types.MtaType = types.MtaType(None, None)
+        self.currentDaqPtr: Any = None
+        self.currentProtectionStatus: dict[str, bool] | None = None
+
+        # Configuration for seed and key
+        self.seed_n_key_dll: str | None = self.config.seed_n_key_dll
+        self.seed_n_key_function: Callable | None = self.config.seed_n_key_function
+        self.seed_n_key_dll_same_bit_width: bool = self.config.seed_n_key_dll_same_bit_width
+        self.disconnect_response_optional: bool = self.config.disconnect_response_optional
+
+        # Initialize slave properties
+        self.slaveProperties: SlaveProperties = SlaveProperties()
+        self.slaveProperties.pgmProcessor = SlaveProperties()
+        self.slaveProperties.transport_layer = self.transport_name.upper()
+
+    def __enter__(self):
+        """Context manager entry part.
+
+        This method is called when entering a context manager block.
+        It connects to the XCP slave and returns the Master instance.
+
+        Returns
+        -------
+        Master
+            The Master instance
+        """
+        self.transport.connect()
+        return self
+
+    def __exit__(
+            self, exc_type: type[BaseException] | None, exc_val: BaseException | None,
+            exc_tb
+    ) -> None:
+        """Context manager exit part.
+
+        This method is called when exiting a context manager block.
+        It closes the connection to the XCP slave and logs any exceptions.
+
+        Parameters
+        ----------
+        exc_type : type[BaseException] | None
+            The type of the exception that was raised, or None if no exception was raised
+        exc_val : BaseException | None
+            The exception instance that was raised, or None if no exception was raised
+        exc_tb : traceback.TracebackType | None
+            The traceback of the exception that was raised, or None if no exception was raised
+        """
+        # Close the connection to the XCP slave
+        self.close()
+
+        # Handle any exceptions that were raised
+        if exc_type is not None:
+            self.succeeded = False
+            self.logger.error("".join(traceback.format_exception(exc_type, exc_val, exc_tb)))
+
+    def _setService(self, service: Any) -> None:
+        """Record the currently processed service.
+
+        This method is called by the transport layer to record the
+        currently processed service.
+
+        Parameters
+        ----------
+        service : Any
+            The service being processed, typically a `pyxcp.types.Command`
+
+        Note
+        ----
+        Internal Function, only to be used by transport-layer.
+        """
+        self.service = service
+
+    def close(self) -> None:
+        """Close the transport layer connection.
+
+        This method finalizes the policy and closes the transport layer connection.
+        It should be called when the Master instance is no longer needed.
+        """
+        self.transport.policy.finalize()
+        self.transport.close()
+
+    # Mandatory Commands.
+    @wrapped
+    def connect(self, mode: int = 0x00) -> types.ConnectResponse:
+        """Build up connection to an XCP slave.
+
+        Before the actual XCP traffic starts a connection is required.
+        This method sends a CONNECT command to the slave and processes
+        the response to set up various properties of the slave.
+
+        Parameters
+        ----------
+        mode : int, optional
+            Connection mode, by default 0x00 (normal mode)
+
+        Returns
+        -------
+        types.ConnectResponse
+            Response object containing fundamental client properties
+
+        Note
+        ----
+        Every XCP slave supports at most one connection,
+        more attempts to connect are silently ignored.
+        """
+        # Send CONNECT command to the slave
+        response = self.transport.request(types.Command.CONNECT, mode & 0xFF)
+
+        # First get byte-order from partial response
+        result_partial = types.ConnectResponsePartial.parse(response)
+        byte_order = result_partial.commModeBasic.byteOrder
+
+        # Parse the full response with the correct byte order
+        result = types.ConnectResponse.parse(response, byteOrder=byte_order)
+
+        # Set up byte order dependent properties
+        self._setup_slave_properties(result, byte_order)
+
+        # Set up byte order dependent packers and unpackers
+        self._setup_packers_and_unpackers(byte_order)
+
+        # Set up address granularity dependent properties
+        self._setup_address_granularity()
+
+        return result
+
+    def _setup_slave_properties(self, result: types.ConnectResponse, byte_order: types.ByteOrder) -> None:
+        """Set up slave properties based on the connect response.
+
+        Parameters
+        ----------
+        result : types.ConnectResponse
+            The parsed connect response
+        byte_order : types.ByteOrder
+            The byte order reported by the slave
+        """
+        # Set basic properties
+        self.slaveProperties.byteOrder = byte_order
+        self.slaveProperties.maxCto = result.maxCto
+        self.slaveProperties.maxDto = result.maxDto
+
+        # Set resource support flags
+        self.slaveProperties.supportsPgm = result.resource.pgm
+        self.slaveProperties.supportsStim = result.resource.stim
+        self.slaveProperties.supportsDaq = result.resource.daq
+        self.slaveProperties.supportsCalpag = result.resource.calpag
+
+        # Set communication mode properties
+        self.slaveProperties.slaveBlockMode = result.commModeBasic.slaveBlockMode
+        self.slaveProperties.addressGranularity = result.commModeBasic.addressGranularity
+        self.slaveProperties.optionalCommMode = result.commModeBasic.optional
+
+        # Set version information
+        self.slaveProperties.protocolLayerVersion = result.protocolLayerVersion
+        self.slaveProperties.transportLayerVersion = result.transportLayerVersion
+
+        # Calculate derived properties
+        self.slaveProperties.maxWriteDaqMultipleElements = (
+            0 if self.slaveProperties.maxCto < 10 else int((self.slaveProperties.maxCto - 2) // 8)
+        )
+
+        # Initialize bytesPerElement (will be set in _setup_address_granularity)
+        self.slaveProperties.bytesPerElement = None
+
+    def _setup_packers_and_unpackers(self, byte_order: types.ByteOrder) -> None:
+        """Set up byte order dependent packers and unpackers.
+
+        Parameters
+        ----------
+        byte_order : types.ByteOrder
+            The byte order reported by the slave
+        """
+        # Determine byte order prefix for struct format strings
+        byte_order_prefix = "<" if byte_order == types.ByteOrder.INTEL else ">"
+
+        # Create packers and unpackers for different data types
+        self.BYTE_pack = makeBytePacker(byte_order_prefix)
+        self.BYTE_unpack = makeByteUnpacker(byte_order_prefix)
+        self.WORD_pack = makeWordPacker(byte_order_prefix)
+        self.WORD_unpack = makeWordUnpacker(byte_order_prefix)
+        self.DWORD_pack = makeDWordPacker(byte_order_prefix)
+        self.DWORD_unpack = makeDWordUnpacker(byte_order_prefix)
+        self.DLONG_pack = makeDLongPacker(byte_order_prefix)
+        self.DLONG_unpack = makeDLongUnpacker(byte_order_prefix)
+
+    def _setup_address_granularity(self) -> None:
+        """Set up address granularity dependent properties and packers/unpackers."""
+        # Set up address granularity dependent packers and unpackers
+        if self.slaveProperties.addressGranularity == types.AddressGranularity.BYTE:
+            self.AG_pack = struct.Struct("<B").pack
+            self.AG_unpack = struct.Struct("<B").unpack
+            self.slaveProperties.bytesPerElement = 1
+        elif self.slaveProperties.addressGranularity == types.AddressGranularity.WORD:
+            self.AG_pack = self.WORD_pack
+            self.AG_unpack = self.WORD_unpack
+            self.slaveProperties.bytesPerElement = 2
+        elif self.slaveProperties.addressGranularity == types.AddressGranularity.DWORD:
+            self.AG_pack = self.DWORD_pack
+            self.AG_unpack = self.DWORD_unpack
+            self.slaveProperties.bytesPerElement = 4
+            # self.connected = True
+        status = self.getStatus()
+        if status.sessionStatus.daqRunning:
+            # TODO: resume
+            self.startStopSynch(0x00)
+
+    @wrapped
+    def disconnect(self) -> bytes:
+        """Release the connection to the XCP slave.
+
+        This method sends a DISCONNECT command to the slave, which releases
+        the connection. Thereafter, no further communication with the slave
+        is possible (besides `connect`).
+
+        Returns
+        -------
+        bytes
+            The raw response from the slave, typically empty
+
+        Note
+        -----
+        - If DISCONNECT is currently not possible, ERR_CMD_BUSY will be returned.
+        - While XCP spec. requires a response, this behavior can be made optional by adding
+            - `DISCONNECT_RESPONSE_OPTIONAL = true` (TOML)
+            - `"DISCONNECT_RESPONSE_OPTIONAL": true` (JSON)
+            to your configuration file.
+        """
+        # Send DISCONNECT command to the slave
+        if self.disconnect_response_optional:
+            response = self.transport.request_optional_response(types.Command.DISCONNECT)
+        else:
+            response = self.transport.request(types.Command.DISCONNECT)
+
+        return response
+
+    @wrapped
+    def getStatus(self) -> types.GetStatusResponse:
+        """Get current status information of the slave device.
+
+        This method sends a GET_STATUS command to the slave and processes
+        the response to get information about the current status of the slave.
+        This includes the status of the resource protection, pending store
+        requests and the general status of data acquisition and stimulation.
+
+        Returns
+        -------
+        types.GetStatusResponse
+            Response object containing status information
+        """
+        # Send GET_STATUS command to the slave
+        response = self.transport.request(types.Command.GET_STATUS)
+
+        # Parse the response with the correct byte order
+        result = types.GetStatusResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+        # Update the current protection status
+        self._setProtectionStatus(result.resourceProtectionStatus)
+
+        return result
+
+    @wrapped
+    def synch(self) -> bytes:
+        """Synchronize command execution after timeout conditions.
+
+        This method sends a SYNCH command to the slave, which synchronizes
+        command execution after timeout conditions. This is useful when
+        the slave has timed out and needs to be resynchronized.
+
+        Returns
+        -------
+        bytes
+            The raw response from the slave
+        """
+        # Send SYNCH command to the slave
+        response = self.transport.request(types.Command.SYNCH)
+        return response
+
+    @wrapped
+    def getCommModeInfo(self) -> types.GetCommModeInfoResponse:
+        """Get optional information on different Communication Modes supported
+        by the slave.
+
+        This method sends a GET_COMM_MODE_INFO command to the slave and processes
+        the response to get information about the communication modes supported
+        by the slave.
+
+        Returns
+        -------
+        types.GetCommModeInfoResponse
+            Response object containing communication mode information
+        """
+        # Send GET_COMM_MODE_INFO command to the slave
+        response = self.transport.request(types.Command.GET_COMM_MODE_INFO)
+
+        # Parse the response with the correct byte order
+        result = types.GetCommModeInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+        # Update slave properties with communication mode information
+        self._update_comm_mode_properties(result)
+
+        return result
+
+    def _update_comm_mode_properties(self, result: types.GetCommModeInfoResponse) -> None:
+        """Update slave properties with communication mode information.
+
+        Parameters
+        ----------
+        result : types.GetCommModeInfoResponse
+            The parsed GET_COMM_MODE_INFO response
+        """
+        # Set optional communication mode properties
+        self.slaveProperties.interleavedMode = result.commModeOptional.interleavedMode
+        self.slaveProperties.masterBlockMode = result.commModeOptional.masterBlockMode
+
+        # Set basic communication properties
+        self.slaveProperties.maxBs = result.maxBs
+        self.slaveProperties.minSt = result.minSt
+        self.slaveProperties.queueSize = result.queueSize
+        self.slaveProperties.xcpDriverVersionNumber = result.xcpDriverVersionNumber
+
+    @wrapped
+    def getId(self, mode: int) -> types.GetIDResponse:
+        """Get identification information from the slave device.
+
+        This command is used for automatic session configuration and for
+        slave device identification. It sends a GET_ID command to the slave
+        and processes the response to get identification information.
+
+        Parameters
+        ----------
+        mode : int
+            The following identification types may be requested:
+            - 0        ASCII text
+            - 1        ASAM-MC2 filename without path and extension
+            - 2        ASAM-MC2 filename with path and extension
+            - 3        URL where the ASAM-MC2 file can be found
+            - 4        ASAM-MC2 file to upload
+            - 128..255 User defined
+
+        Returns
+        -------
+        types.GetIDResponse
+            Response object containing identification information
+        """
+        # Send GET_ID command to the slave
+        response = self.transport.request(types.Command.GET_ID, mode)
+        result = types.GetIDResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        result.length = self.DWORD_unpack(response[3:7])[0]
+
+        return result
+
+    @wrapped
+    def setRequest(self, mode: int, session_configuration_id: int) -> bytes:
+        """Request to save data to non-volatile memory.
+
+        This method sends a SET_REQUEST command to the slave, which requests
+        the slave to save data to non-volatile memory. The data to be saved
+        is specified by the mode parameter.
+
+        Parameters
+        ----------
+        mode : int (bitfield)
+            - 1  Request to store calibration data
+            - 2  Request to store DAQ list, no resume
+            - 4  Request to store DAQ list, resume enabled
+            - 8  Request to clear DAQ configuration
+        session_configuration_id : int
+            Identifier for the session configuration
+
+        Returns
+        -------
+        bytes
+            The raw response from the slave
+        """
+        # Send SET_REQUEST command to the slave
+        # Split the session_configuration_id into high and low bytes
+        return self.transport.request(
+            types.Command.SET_REQUEST,
+            mode,
+            session_configuration_id >> 8,  # High byte
+            session_configuration_id & 0xFF,  # Low byte
+        )
+
+    @wrapped
+    def getSeed(self, first: int, resource: int) -> types.GetSeedResponse:
+        """Get seed from slave for unlocking a protected resource.
+
+        This method sends a GET_SEED command to the slave, which returns a seed
+        that can be used to generate a key for unlocking a protected resource.
+        The seed is used as input to a key generation algorithm, and the resulting
+        key is sent back to the slave using the unlock method.
+
+        Parameters
+        ----------
+        first : int
+            - 0 - first part of seed
+            - 1 - remaining part
+        resource : int
+            - Mode == 0 - Resource to unlock
+            - Mode == 1 - Don't care
+
+        Returns
+        -------
+        types.GetSeedResponse
+            Response object containing the seed
+
+        Note
+        ----
+        For CAN transport, the seed may be split across multiple frames if it's
+        longer than the maximum DLC. In this case, the first byte of the response
+        indicates the remaining seed size, and the master must call getSeed
+        multiple times until the complete seed is received.
+        """
+        # Send GET_SEED command to the slave
+        response = self.transport.request(types.Command.GET_SEED, first, resource)
+
+        # Handle CAN-specific seed format
+        if self.transport_name == "can":
+            # For CAN it might happen that the seed is longer than the max DLC
+            # In this case the first byte will be the current remaining seed size
+            # followed by the seed bytes that can fit in the current frame
+            size, seed = response[0], response[1:]
+
+            # Truncate seed if necessary
+            if size < len(seed):
+                seed = seed[:size]
+
+            # Create and populate response object
+            reply = types.GetSeedResponse.parse(
+                types.GetSeedResponse.build({"length": size, "seed": bytes(size)}),
+                byteOrder=self.slaveProperties.byteOrder,
+            )
+            reply.seed = seed
+            return reply
+        else:
+            # For other transports, parse the response directly
+            return types.GetSeedResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def unlock(self, length: int, key: bytes) -> types.ResourceType:
+        """Send key to slave for unlocking a protected resource.
+
+        This method sends an UNLOCK command to the slave, which attempts to
+        unlock a protected resource using the provided key. The key is generated
+        from the seed obtained using the getSeed method.
+
+        Parameters
+        ----------
+        length : int
+            Indicates the (remaining) number of key bytes
+        key : bytes
+            The key bytes to send to the slave
+
+        Returns
+        -------
+        types.ResourceType
+            Response object containing the resource protection status
+
+        Note
+        ----
+        The master has to use :meth:`unlock` in a defined sequence together
+        with :meth:`getSeed`. The master can only send an :meth:`unlock` sequence
+        if previously there was a :meth:`getSeed` sequence. The master has
+        to send the first `unlocking` after a :meth:`getSeed` sequence with
+        a Length containing the total length of the key.
+        """
+        # Send UNLOCK command to the slave
+        response = self.transport.request(types.Command.UNLOCK, length, *key)
+
+        # Parse the response with the correct byte order
+        result = types.ResourceType.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+        # Update the current protection status
+        self._setProtectionStatus(result)
+
+        return result
+
+    @wrapped
+    def setMta(self, address: int, address_ext: int = 0x00) -> bytes:
+        """Set Memory Transfer Address in slave.
+
+        This method sends a SET_MTA command to the slave, which sets the
+        Memory Transfer Address (MTA) to the specified address. The MTA is
+        used by various commands that transfer data between the master and
+        the slave.
+
+        Parameters
+        ----------
+        address : int
+            The memory address to set
+        address_ext : int, optional
+            The address extension, by default 0x00
+
+        Returns
+        -------
+        bytes
+            The raw response from the slave
+
+        Note
+        ----
+        The MTA is used by :meth:`buildChecksum`, :meth:`upload`, :meth:`download`, :meth:`downloadNext`,
+        :meth:`downloadMax`, :meth:`modifyBits`, :meth:`programClear`, :meth:`program`, :meth:`programNext`
+        and :meth:`programMax`.
+        """
+        # Keep track of MTA (needed for error-handling)
+        self.mta = types.MtaType(address, address_ext)
+
+        # Pack the address into bytes
+        addr = self.DWORD_pack(address)
+
+        # Send SET_MTA command to the slave
+        return self.transport.request(types.Command.SET_MTA, 0, 0, address_ext, *addr)
+
+    @wrapped
+    def upload(self, length: int) -> bytes:
+        """Transfer data from slave to master.
+
+        This method sends an UPLOAD command to the slave, which transfers
+        data from the slave to the master. The data is read from the memory
+        address specified by the MTA, which must be set before calling this
+        method.
+
+        Parameters
+        ----------
+        length : int
+            Number of elements (address granularity) to upload
+
+        Returns
+        -------
+        bytes
+            The uploaded data
+
+        Note
+        ----
+        Address is set via :meth:`setMta` (Some services like :meth:`getID` also set the MTA).
+        """
+        # Calculate the number of bytes to upload
+        byte_count = length * self.slaveProperties.bytesPerElement
+
+        # Send UPLOAD command to the slave
+        response = self.transport.request(types.Command.UPLOAD, length)
+
+        # Handle block mode for large uploads
+        if byte_count > (self.slaveProperties.maxCto - 1):
+            # Receive the remaining bytes in block mode
+            block_response = self.transport.block_receive(length_required=(byte_count - len(response)))
+            response += block_response
+        # Handle CAN-specific upload format
+        elif self.transport_name == "can":
+            # Larger sizes will send in multiple CAN messages
+            # Each valid message will start with 0xFF followed by the upload bytes
+            # The last message might be padded to the required DLC
+            remaining_bytes = byte_count - len(response)
+            while remaining_bytes:
+                if len(self.transport.resQueue):
+                    data = self.transport.resQueue.popleft()
+                    response += data[1: remaining_bytes + 1]
+                    remaining_bytes = byte_count - len(response)
+                else:
+                    short_sleep()
+        return response
+
+    @wrapped
+    def shortUpload(self, length: int, address: int, address_ext: int = 0x00) -> bytes:
+        """Transfer data from slave to master with address information.
+
+        This method sends a SHORT_UPLOAD command to the slave, which transfers
+        data from the slave to the master. Unlike the :meth:`upload` method,
+        this method includes the address information in the command, so it
+        doesn't require setting the MTA first.
+
+        Parameters
+        ----------
+        length : int
+            Number of elements (address granularity) to upload
+        address : int
+            The memory address to read from
+        address_ext : int, optional
+            The address extension, by default 0x00
+
+        Returns
+        -------
+        bytes
+            The uploaded data
+        """
+        # Pack the address into bytes
+        addr = self.DWORD_pack(address)
+
+        # Calculate the number of bytes to upload
+        byte_count = length * self.slaveProperties.bytesPerElement
+        max_byte_count = self.slaveProperties.maxCto - 1
+
+        # Check if the requested byte count exceeds the maximum
+        if byte_count > max_byte_count:
+            self.logger.warn(f"SHORT_UPLOAD: {byte_count} bytes exceeds the maximum value of {max_byte_count}.")
+
+        # Send SHORT_UPLOAD command to the slave
+        response = self.transport.request(types.Command.SHORT_UPLOAD, length, 0, address_ext, *addr)
+
+        # Return only the requested number of bytes
+        return response[:byte_count]
+
+    @wrapped
+    def buildChecksum(self, blocksize: int) -> types.BuildChecksumResponse:
+        """Build checksum over memory range.
+
+        This method sends a BUILD_CHECKSUM command to the slave, which calculates
+        a checksum over a memory range. The memory range starts at the address
+        specified by the MTA and has a size of `blocksize` elements.
+
+        Parameters
+        ----------
+        blocksize : int
+            The number of elements (address granularity) to include in the checksum
+
+        Returns
+        -------
+        types.BuildChecksumResponse
+            Response object containing the checksum information
+
+        Note
+        ----
+        Address is set via :meth:`setMta`
+
+        See Also
+        --------
+        :mod:`~pyxcp.checksum`
+        """
+        # Pack the blocksize into bytes
+        bs = self.DWORD_pack(blocksize)
+
+        # Send BUILD_CHECKSUM command to the slave
+        response = self.transport.request(types.Command.BUILD_CHECKSUM, 0, 0, 0, *bs)
+
+        # Parse the response with the correct byte order
+        return types.BuildChecksumResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def transportLayerCmd(self, sub_command: int, *data: bytes) -> bytes:
+        """Execute transfer-layer specific command.
+
+        This method sends a TRANSPORT_LAYER_CMD command to the slave, which
+        executes a transport-layer specific command. The exact behavior of
+        this command depends on the transport layer being used.
+
+        Parameters
+        ----------
+        sub_command : int
+            The sub-command to execute
+        *data : bytes
+            Variable number of data bytes to send with the command
+
+        Returns
+        -------
+        bytes
+            The raw response from the slave, or None if no response is expected
+
+        Note
+        ----
+        For details refer to XCP specification.
+        """
+        # Send TRANSPORT_LAYER_CMD command to the slave
+        return self.transport.request_optional_response(types.Command.TRANSPORT_LAYER_CMD, sub_command, *data)
+
+    @wrapped
+    def userCmd(self, sub_command: int, data: bytes) -> bytes:
+        """Execute proprietary command implemented in your XCP client.
+
+        This method sends a USER_CMD command to the slave, which executes
+        a proprietary command implemented in the XCP client. The exact behavior
+        of this command depends on the XCP client vendor.
+
+        Parameters
+        ----------
+        sub_command : int
+            The sub-command to execute
+        data : bytes
+            The data bytes to send with the command
+
+        Returns
+        -------
+        bytes
+            The raw response from the slave
+
+        Note
+        ----
+        For details refer to your XCP client vendor.
+        """
+        # Send USER_CMD command to the slave
+        return self.transport.request(types.Command.USER_CMD, sub_command, *data)
+
+    @wrapped
+    def getVersion(self) -> types.GetVersionResponse:
+        """Get version information from the slave.
+
+        This method sends a GET_VERSION command to the slave, which returns
+        detailed information about the implemented protocol layer version
+        of the XCP slave and the transport layer currently in use.
+
+        Returns
+        -------
+        types.GetVersionResponse
+            Response object containing version information
+        """
+        # Send GET_VERSION command to the slave
+        response = self.transport.request(types.Command.GET_VERSION)
+
+        # Parse the response with the correct byte order
+        result = types.GetVersionResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+        # Update slave properties with version information
+        self._update_version_properties(result)
+
+        return result
+
+    def _update_version_properties(self, result: types.GetVersionResponse) -> None:
+        """Update slave properties with version information.
+
+        Parameters
+        ----------
+        result : types.GetVersionResponse
+            The parsed GET_VERSION response
+        """
+        # Set version information
+        self.slaveProperties.protocolMajor = result.protocolMajor
+        self.slaveProperties.protocolMinor = result.protocolMinor
+        self.slaveProperties.transportMajor = result.transportMajor
+        self.slaveProperties.transportMinor = result.transportMinor
+
+    def fetch(self, length: int, limit_payload: int = None) -> bytes:  # TODO: pull
+        """Convenience function for data-transfer from slave to master.
+
+        This method transfers data from the slave to the master in chunks,
+        handling the details of breaking up large transfers into smaller
+        pieces. It's not part of the XCP Specification but provides a
+        convenient way to fetch data.
+
+        Parameters
+        ----------
+        length : int
+            The number of bytes to fetch
+        limit_payload : int, optional
+            Transfer less bytes than supported by transport-layer, by default None
+
+        Returns
+        -------
+        bytes
+            The fetched data
+
+        Raises
+        ------
+        ValueError
+            If limit_payload is less than 8 bytes
+
+        Note
+        ----
+        Address is not included because of services implicitly setting
+        address information like :meth:`getID`.
+        """
+        # Validate limit_payload
+        if limit_payload is not None and limit_payload < 8:
+            raise ValueError(f"Payload must be at least 8 bytes - given: {limit_payload}")
+
+        # Determine maximum payload size
+        slave_block_mode = self.slaveProperties.slaveBlockMode
+        max_payload = 255 if slave_block_mode else self.slaveProperties.maxCto - 1
+
+        # Apply limit_payload if specified
+        payload = min(limit_payload, max_payload) if limit_payload else max_payload
+
+        # Calculate number of chunks and remaining bytes
+        chunk_size = payload
+        chunks = range(length // chunk_size)
+        remaining = length % chunk_size
+
+        # Fetch data in chunks
+        result = []
+        for _ in chunks:
+            data = self.upload(chunk_size)
+            result.extend(data[:chunk_size])
+
+        # Fetch remaining bytes
+        if remaining:
+            data = self.upload(remaining)
+            result.extend(data[:remaining])
+
+        return bytes(result)
+
+    pull = fetch  # fetch() may be completely replaced by pull() someday.
+
+    def push(self, address: int, address_ext: int, data: bytes, callback: Callable[[int], None] | None = None) -> None:
+        """Convenience function for data-transfer from master to slave.
+
+        This method transfers data from the master to the slave in chunks,
+        handling the details of breaking up large transfers into smaller
+        pieces. It's not part of the XCP Specification but provides a
+        convenient way to push data.
+
+        Parameters
+        ----------
+        address : int
+            The memory address to write to
+        address_ext : int
+            The address extension
+        data : bytes
+            The data bytes to write
+        callback : Callable[[int], None], optional
+            A callback function that is called with the percentage of completion,
+            by default None
+
+        Note
+        ----
+        This method uses the download and downloadNext methods internally.
+        """
+        # Use the generalized downloader to transfer the data
+        self._generalized_downloader(
+            address=address,
+            address_ext=address_ext,
+            data=data,
+            maxCto=self.slaveProperties.maxCto,
+            maxBs=self.slaveProperties.maxBs,
+            minSt=self.slaveProperties.minSt,
+            master_block_mode=self.slaveProperties.masterBlockMode,
+            dl_func=self.download,
+            dl_next_func=self.downloadNext,
+            callback=callback,
+        )
+
+    def flash_program(self, address: int, data: bytes, callback: Callable[[int], None] | None = None) -> None:
+        """Convenience function for flash programming.
+
+        This method programs flash memory on the slave in chunks, handling
+        the details of breaking up large transfers into smaller pieces.
+        It's not part of the XCP Specification but provides a convenient
+        way to program flash memory.
+
+        Parameters
+        ----------
+        address : int
+            The memory address to program
+        data : bytes
+            The data bytes to program
+        callback : Callable[[int], None], optional
+            A callback function that is called with the percentage of completion,
+            by default None
+
+        Note
+        ----
+        This method uses the program and programNext methods internally.
+        It automatically uses the programming-specific parameters from the
+        slave properties (maxCtoPgm, maxBsPgm, minStPgm, masterBlockMode).
+        """
+        # Use the generalized downloader to program the flash
+        self._generalized_downloader(
+            address=address,
+            data=data,
+            maxCto=self.slaveProperties.pgmProcessor.maxCtoPgm,
+            maxBs=self.slaveProperties.pgmProcessor.maxBsPgm,
+            minSt=self.slaveProperties.pgmProcessor.minStPgm,
+            master_block_mode=self.slaveProperties.pgmProcessor.masterBlockMode,
+            dl_func=self.program,
+            dl_next_func=self.programNext,
+            callback=callback,
+        )
+
+    def _generalized_downloader(
+            self,
+            address: int,
+            address_ext: int,
+            data: bytes,
+            maxCto: int,
+            maxBs: int,
+            minSt: int,
+            master_block_mode: bool,
+            dl_func: Callable[[bytes, int, bool], Any],
+            dl_next_func: Callable[[bytes, int, bool], Any],
+            callback: Callable[[int], None] | None = None,
+    ) -> None:
+        """Generic implementation for downloading data to the slave.
+
+        This method is a generic implementation for downloading data to the slave.
+        It handles the details of breaking up large transfers into smaller pieces,
+        and supports both master block mode and normal mode.
+
+        Parameters
+        ----------
+        address : int
+            The memory address to write to
+        address_ext : int
+            The address extension
+        data : bytes
+            The data bytes to write
+        maxCto : int
+            Maximum Command Transfer Object size
+        maxBs : int
+            Maximum Block Size
+        minSt : int
+            Minimum Separation Time in 100µs units
+        master_block_mode : bool
+            Whether to use master block mode
+        dl_func : Callable[[bytes, int, bool], Any]
+            Function to use for the first download packet
+        dl_next_func : Callable[[bytes, int, bool], Any]
+            Function to use for subsequent download packets
+        callback : Callable[[int], None], optional
+            A callback function that is called with the percentage of completion,
+            by default None
+        """
+        # Set the Memory Transfer Address
+        self.setMta(address, address_ext)
+
+        # Convert minSt from 100µs units to seconds
+        minSt_seconds = minSt / 10000.0
+
+        # Create a partial function for block downloading
+        block_downloader = functools.partial(
+            self._block_downloader,
+            dl_func=dl_func,
+            dl_next_func=dl_next_func,
+            minSt=minSt_seconds,
+        )
+
+        # Calculate total length and maximum payload size
+        total_length = len(data)
+        if master_block_mode:
+            max_payload = min(maxBs * (maxCto - 2), 255)
+        else:
+            max_payload = maxCto - 2
+
+        # Initialize offset
+        offset = 0
+
+        # Handle master block mode
+        if master_block_mode:
+            self._download_master_block_mode(data, total_length, max_payload, offset, block_downloader, callback)
+        # Handle normal mode
+        else:
+            self._download_normal_mode(data, total_length, max_payload, offset, dl_func, callback)
+
+    def _download_master_block_mode(
+            self,
+            data: bytes,
+            total_length: int,
+            max_payload: int,
+            offset: int,
+            block_downloader: Callable[[bytes], Any],
+            callback: Callable[[int], None] | None = None,
+    ) -> None:
+        """Download data using master block mode.
+
+        Parameters
+        ----------
+        data : bytes
+            The data bytes to write
+        total_length : int
+            The total length of the data
+        max_payload : int
+            Maximum payload size
+        offset : int
+            Starting offset in the data
+        block_downloader : Callable[[bytes], Any]
+            Function to use for downloading blocks
+        callback : Callable[[int], None], optional
+            A callback function that is called with the percentage of completion,
+            by default None
+        """
+        remaining = total_length
+        blocks = range(total_length // max_payload)
+        percent_complete = 1
+        remaining_block_size = total_length % max_payload
+
+        # Process full blocks
+        for _ in blocks:
+            block = data[offset: offset + max_payload]
+            block_downloader(block)
+            offset += max_payload
+            remaining -= max_payload
+
+            # Call callback if provided
+            if callback and remaining <= total_length - (total_length / 100) * percent_complete:
+                callback(percent_complete)
+                percent_complete += 1
+
+        # Process remaining partial block
+        if remaining_block_size:
+            block = data[offset: offset + remaining_block_size]
+            block_downloader(block)
+            if callback:
+                callback(percent_complete)
+
+    def _download_normal_mode(
+            self,
+            data: bytes,
+            total_length: int,
+            max_payload: int,
+            offset: int,
+            dl_func: Callable[[bytes, int, bool], Any],
+            callback: Callable[[int], None] | None = None,
+    ) -> None:
+        """Download data using normal mode.
+
+        Parameters
+        ----------
+        data : bytes
+            The data bytes to write
+        total_length : int
+            The total length of the data
+        max_payload : int
+            Maximum payload size
+        offset : int
+            Starting offset in the data
+        dl_func : Callable[[bytes, int, bool], Any]
+            Function to use for downloading
+        callback : Callable[[int], None], optional
+            A callback function that is called with the percentage of completion,
+            by default None
+        """
+        chunk_size = max_payload
+        chunks = range(total_length // chunk_size)
+        remaining = total_length % chunk_size
+        percent_complete = 1
+        callback_remaining = total_length
+
+        # Process full chunks
+        for _ in chunks:
+            block = data[offset: offset + max_payload]
+            dl_func(block, max_payload, last=False)
+            offset += max_payload
+            callback_remaining -= chunk_size
+
+            # Call callback if provided
+            if callback and callback_remaining <= total_length - (total_length / 100) * percent_complete:
+                callback(percent_complete)
+                percent_complete += 1
+
+        # Process remaining partial chunk
+        if remaining:
+            block = data[offset: offset + remaining]
+            dl_func(block, remaining, last=True)
+            if callback:
+                callback(percent_complete)
+
+    def _block_downloader(
+            self,
+            data: bytes,
+            dl_func: Callable[[bytes, int, bool], Any] | None = None,
+            dl_next_func: Callable[[bytes, int, bool], Any] | None = None,
+            minSt: float = 0.0,
+    ) -> None:
+        """Re-usable block downloader for transferring data in blocks.
+
+        This method breaks up a block of data into packets and sends them
+        using the provided download functions. It handles the details of
+        calculating packet sizes, setting the 'last' flag, and applying
+        the minimum separation time between packets.
+
+        Parameters
+        ----------
+        data : bytes
+            The data bytes to download
+        dl_func : Callable[[bytes, int, bool], Any] | None, optional
+            Function to use for the first download packet,
+            usually :meth:`download` or :meth:`program`, by default None
+        dl_next_func : Callable[[bytes, int, bool], Any] | None, optional
+            Function to use for subsequent download packets,
+            usually :meth:`downloadNext` or :meth:`programNext`, by default None
+        minSt : float, optional
+            Minimum separation time between frames in seconds, by default 0.0
+        """
+        # Calculate sizes and offsets
+        length = len(data)
+        max_packet_size = self.slaveProperties.maxCto - 2  # Command ID + Length
+        packets = range(length // max_packet_size)
+        offset = 0
+        remaining = length % max_packet_size
+        remaining_block_size = length
+
+        # Process full packets
+        index = 0
+        for index in packets:
+            # Extract packet data
+            packet_data = data[offset: offset + max_packet_size]
+
+            # Determine if this is the last packet
+            last = (remaining_block_size - max_packet_size) == 0
+
+            # Send packet using appropriate function
+            if index == 0:
+                # First packet: use dl_func and transmit the complete length
+                dl_func(packet_data, length, last)
+            else:
+                # Subsequent packets: use dl_next_func
+                dl_next_func(packet_data, remaining_block_size, last)
+
+            # Update offsets and remaining size
+            offset += max_packet_size
+            remaining_block_size -= max_packet_size
+
+            # Apply minimum separation time
+            delay(minSt)
+
+        # Process remaining partial packet
+        if remaining:
+            # Extract remaining data
+            packet_data = data[offset: offset + remaining]
+
+            # Send packet using appropriate function
+            if index == 0:
+                # If there were no full packets, use dl_func
+                # (length of data is smaller than maxCto - 2)
+                dl_func(packet_data, remaining, last=True)
+            else:
+                # Otherwise use dl_next_func
+                dl_next_func(packet_data, remaining, last=True)
+
+            # Apply minimum separation time
+            delay(minSt)
+
+    @wrapped
+    def download(self, data: bytes, block_mode_length: int | None = None, last: bool = False):
+        """Transfer data from master to slave.
+
+        Parameters
+        ----------
+        data : bytes
+            Data to send to slave.
+        block_mode_length : int or None
+            for block mode, the download request must contain the length of the whole block,
+            not just the length in the current packet. The whole block length can be given here for block-mode
+            transfers. For normal mode, the length indicates the actual packet's payload length.
+
+        Note
+        ----
+        Adress is set via :meth:`setMta`
+        """
+
+        if block_mode_length is None or last:
+            # standard mode
+            length = len(data)
+            response = self.transport.request(types.Command.DOWNLOAD, length, *data)
+            return response
+        else:
+            # block mode
+            if not isinstance(block_mode_length, int):
+                raise TypeError("block_mode_length must be int!")
+            self.transport.block_request(types.Command.DOWNLOAD, block_mode_length, *data)
+            return None
+
+    @wrapped
+    def downloadNext(self, data: bytes, remaining_block_length: int, last: bool = False):
+        """Transfer data from master to slave (block mode).
+
+        Parameters
+        ----------
+        data : bytes
+        remainingBlockLength : int
+            This parameter has to be given the remaining length in the block
+        last : bool
+            The block mode implementation shall indicate the last packet in the block with this parameter, because
+            the slave device will send the response after this.
+        """
+
+        if last:
+            # last DOWNLOAD_NEXT packet in a block: the slave device has to send the response after this.
+            response = self.transport.request(types.Command.DOWNLOAD_NEXT, remaining_block_length, *data)
+            return response
+        else:
+            # the slave device won't respond to consecutive DOWNLOAD_NEXT packets in block mode,
+            # so we must not wait for any response
+            self.transport.block_request(types.Command.DOWNLOAD_NEXT, remaining_block_length, *data)
+            return None
+
+    @wrapped
+    def downloadMax(self, data: bytes):
+        """Transfer data from master to slave (fixed size).
+
+        Parameters
+        ----------
+        data : bytes
+        """
+        return self.transport.request(types.Command.DOWNLOAD_MAX, *data)
+
+    @wrapped
+    def shortDownload(self, address: int, address_ext: int, data: bytes):
+        length = len(data)
+        addr = self.DWORD_pack(address)
+        return self.transport.request(types.Command.SHORT_DOWNLOAD, length, 0, address_ext, *addr, *data)
+
+    @wrapped
+    def modifyBits(self, shift_value: int, and_mask: int, xor_mask: int):
+        # A = ( (A) & ((~((dword)(((word)~MA)<<S))) )^((dword)(MX<<S)) )
+        am = self.WORD_pack(and_mask)
+        xm = self.WORD_pack(xor_mask)
+        return self.transport.request(types.Command.MODIFY_BITS, shift_value, *am, *xm)
+
+    # Page Switching Commands (PAG)
+    @wrapped
+    def setCalPage(self, mode: int, logical_data_segment: int, logical_data_page: int):
+        """Set calibration page.
+
+        Parameters
+        ----------
+        mode : int (bitfield)
+            - 0x01 - The given page will be used by the slave device application.
+            - 0x02 - The slave device XCP driver will access the given page.
+            - 0x80 - The logical segment number is ignored. The command applies to all segments
+        logicalDataSegment : int
+        logicalDataPage : int
+        """
+        return self.transport.request(types.Command.SET_CAL_PAGE, mode, logical_data_segment, logical_data_page)
+
+    @wrapped
+    def getCalPage(self, mode: int, logical_data_segment: int):
+        """Get calibration page
+
+        Parameters
+        ----------
+        mode : int
+        logicalDataSegment : int
+        """
+        response = self.transport.request(types.Command.GET_CAL_PAGE, mode, logical_data_segment)
+        return response[2]
+
+    @wrapped
+    def getPagProcessorInfo(self):
+        """Get general information on PAG processor.
+
+        Returns
+        -------
+        `pydbc.types.GetPagProcessorInfoResponse`
+        """
+        response = self.transport.request(types.Command.GET_PAG_PROCESSOR_INFO)
+        return types.GetPagProcessorInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getSegmentInfo(self, mode: int, segment_number: int, segment_info: int, mapping_index: int):
+        """Get specific information for a segment.
+
+        Parameters
+        ----------
+        mode : int
+            - 0 = get basic address info for this segment
+            - 1 = get standard info for this segment
+            - 2 = get address mapping info for this segment
+
+        segmentNumber : int
+        segmentInfo : int
+            Mode 0:
+                - 0 = address
+                - 1 = length
+
+            Mode 1:
+                - don't care
+
+            Mode 2:
+                - 0 = source address
+                - 1 = destination address
+                - 2 = length address
+
+        mappingIndex : int
+            - Mode 0: don't care
+            - Mode 1: don't care
+            - Mode 2: identifier for address mapping range that mapping_info belongs to.
+
+        """
+        response = self.transport.request(
+            types.Command.GET_SEGMENT_INFO,
+            mode,
+            segment_number,
+            segment_info,
+            mapping_index,
+        )
+        if mode == 0:
+            return types.GetSegmentInfoMode0Response.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        elif mode == 1:
+            return types.GetSegmentInfoMode1Response.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        elif mode == 2:
+            return types.GetSegmentInfoMode2Response.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getPageInfo(self, segment_number: int, page_number: int):
+        """Get specific information for a page.
+
+        Parameters
+        ----------
+        segmentNumber : int
+        pageNumber : int
+        """
+        response = self.transport.request(types.Command.GET_PAGE_INFO, 0, segment_number, page_number)
+        return (
+            types.PageProperties.parse(bytes([response[0]]), byteOrder=self.slaveProperties.byteOrder),
+            response[1],
+        )
+
+    @wrapped
+    def setSegmentMode(self, mode: int, segment_number: int):
+        """Set mode for a segment.
+
+        Parameters
+        ----------
+        mode : int (bitfield)
+            1 = enable FREEZE Mode
+        segmentNumber : int
+        """
+        return self.transport.request(types.Command.SET_SEGMENT_MODE, mode, segment_number)
+
+    @wrapped
+    def getSegmentMode(self, segment_number: int):
+        """Get mode for a segment.
+
+        Parameters
+        ----------
+        segmentNumber : int
+        """
+        response = self.transport.request(types.Command.GET_SEGMENT_MODE, 0, segment_number)
+        if response:
+            return response[1]
+
+    @wrapped
+    def copyCalPage(self, src_segment: int, src_page: int, dst_segment: int, dst_page: int):
+        """Copy page.
+
+        Parameters
+        ----------
+        srcSegment : int
+        srcPage : int
+        dstSegment : int
+        dstPage : int
+        """
+        return self.transport.request(types.Command.COPY_CAL_PAGE, src_segment, src_page, dst_segment, dst_page)
+
+    # DAQ
+
+    @wrapped
+    def setDaqPtr(self, daq_list_number: int, odt_number: int, odt_entry_number: int):
+        self.currentDaqPtr = types.DaqPtr(daq_list_number, odt_number, odt_entry_number)  # Needed for errorhandling.
+        daq_list = self.WORD_pack(daq_list_number)
+        response = self.transport.request(types.Command.SET_DAQ_PTR, 0, *daq_list, odt_number, odt_entry_number)
+        self.stim.setDaqPtr(daq_list_number, odt_number, odt_entry_number)
+        return response
+
+    @wrapped
+    def clearDaqList(self, daq_list_number: int):
+        """Clear DAQ list configuration.
+
+        Parameters
+        ----------
+        daqListNumber : int
+        """
+        daq_list = self.WORD_pack(daq_list_number)
+        result = self.transport.request(types.Command.CLEAR_DAQ_LIST, 0, *daq_list)
+        self.stim.clearDaqList(daq_list_number)
+        return result
+
+    @wrapped
+    def writeDaq(self, bit_offset: int, entry_size: int, address_ext: int, address: int):
+        """Write element in ODT entry.
+
+        Parameters
+        ----------
+        bitOffset : int
+            Position of bit in 32-bit variable referenced by the address and
+            extension below
+        entrySize : int
+        addressExt : int
+        address : int
+        """
+        addr = self.DWORD_pack(address)
+        result = self.transport.request(types.Command.WRITE_DAQ, bit_offset, entry_size, address_ext, *addr)
+        self.stim.writeDaq(bit_offset, entry_size, address_ext, address)
+        return result
+
+    @wrapped
+    def setDaqListMode(self, mode: int, daq_list_number: int, event_channel_number: int, prescaler: int, priority: int):
+        dln = self.WORD_pack(daq_list_number)
+        ecn = self.WORD_pack(event_channel_number)
+        self.stim.setDaqListMode(mode, daq_list_number, event_channel_number, prescaler, priority)
+        return self.transport.request(types.Command.SET_DAQ_LIST_MODE, mode, *dln, *ecn, prescaler, priority)
+
+    @wrapped
+    def getDaqListMode(self, daq_list_number: int):
+        """Get mode from DAQ list.
+
+        Parameters
+        ----------
+        daqListNumber : int
+
+        Returns
+        -------
+        `pyxcp.types.GetDaqListModeResponse`
+        """
+        dln = self.WORD_pack(daq_list_number)
+        response = self.transport.request(types.Command.GET_DAQ_LIST_MODE, 0, *dln)
+        return types.GetDaqListModeResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def startStopDaqList(self, mode: int, daq_list_number: int):
+        """Start /stop/select DAQ list.
+
+        Parameters
+        ----------
+        mode : int
+            0 = stop
+            1 = start
+            2 = select
+        daqListNumber : int
+        """
+        dln = self.WORD_pack(daq_list_number)
+        response = self.transport.request(types.Command.START_STOP_DAQ_LIST, mode, *dln)
+        self.stim.startStopDaqList(mode, daq_list_number)
+        first_pid = types.StartStopDaqListResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        self.stim.set_first_pid(daq_list_number, first_pid.firstPid)
+        return first_pid
+
+    @wrapped
+    def startStopSynch(self, mode: int):
+        """Start/stop DAQ lists (synchronously).
+
+        Parameters
+        ----------
+        mode : int
+            0 = stop all
+            1 = start selected
+            2 = stop selected
+        """
+        res = self.transport.request(types.Command.START_STOP_SYNCH, mode)
+        self.stim.startStopSynch(mode)
+        return res
+
+    @wrapped
+    def writeDaqMultiple(self, daq_elements: dict):
+        """Write multiple elements in ODT.
+
+        Parameters
+        ----------
+        daqElements : list of `dict` containing the following keys: *bitOffset*, *size*, *address*, *addressExt*.
+        """
+        if len(daq_elements) > self.slaveProperties.maxWriteDaqMultipleElements:
+            raise ValueError(f"At most {self.slaveProperties.maxWriteDaqMultipleElements} daqElements are permitted.")
+        data = bytearray()
+        data.append(len(daq_elements))
+
+        for daq_element in daq_elements:
+            data.extend(types.DaqElement.build(daq_element, byteOrder=self.slaveProperties.byteOrder))
+
+        return self.transport.request(types.Command.WRITE_DAQ_MULTIPLE, *data)
+
+    # optional
+    @wrapped
+    def getDaqClock(self):
+        """Get DAQ clock from slave.
+
+        Returns
+        -------
+        int
+            Current timestamp, format specified by `getDaqResolutionInfo`
+        """
+        response = self.transport.request(types.Command.GET_DAQ_CLOCK)
+        result = types.GetDaqClockResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        return result.timestamp
+
+    @wrapped
+    def readDaq(self):
+        """Read element from ODT entry.
+
+        Returns
+        -------
+        `pyxcp.types.ReadDaqResponse`
+        """
+        response = self.transport.request(types.Command.READ_DAQ)
+        return types.ReadDaqResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getDaqProcessorInfo(self):
+        """Get general information on DAQ processor.
+
+        Returns
+        -------
+        `pyxcp.types.GetDaqProcessorInfoResponse`
+        """
+        response = self.transport.request(types.Command.GET_DAQ_PROCESSOR_INFO)
+        return types.GetDaqProcessorInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getDaqResolutionInfo(self):
+        """Get general information on DAQ processing resolution.
+
+        Returns
+        -------
+        `pyxcp.types.GetDaqResolutionInfoResponse`
+        """
+        response = self.transport.request(types.Command.GET_DAQ_RESOLUTION_INFO)
+        return types.GetDaqResolutionInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getDaqListInfo(self, daq_list_number: int):
+        """Get specific information for a DAQ list.
+
+        Parameters
+        ----------
+        daqListNumber : int
+        """
+        dln = self.WORD_pack(daq_list_number)
+        response = self.transport.request(types.Command.GET_DAQ_LIST_INFO, 0, *dln)
+        return types.GetDaqListInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getDaqEventInfo(self, event_channel_number: int):
+        """Get specific information for an event channel.
+
+        Parameters
+        ----------
+        eventChannelNumber : int
+
+        Returns
+        -------
+        `pyxcp.types.GetEventChannelInfoResponse`
+        """
+        ecn = self.WORD_pack(event_channel_number)
+        response = self.transport.request(types.Command.GET_DAQ_EVENT_INFO, 0, *ecn)
+        return types.GetEventChannelInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dtoCtrProperties(self, modifier: int, event_channel: int, related_event_channel: int, mode: int):
+        """DTO CTR properties
+
+        Parameters
+        ----------
+        modifier :
+        eventChannel : int
+        relatedEventChannel : int
+        mode :
+
+        Returns
+        -------
+        `pyxcp.types.DtoCtrPropertiesResponse`
+        """
+        data = bytearray()
+        data.append(modifier)
+        data.extend(self.WORD_pack(event_channel))
+        data.extend(self.WORD_pack(related_event_channel))
+        data.append(mode)
+        response = self.transport.request(types.Command.DTO_CTR_PROPERTIES, *data)
+        return types.DtoCtrPropertiesResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def setDaqPackedMode(
+            self, daq_list_number: int, daq_packed_mode: int, dpm_timestamp_mode: int = None,
+            dpm_sample_count: int = None
+    ):
+        """Set DAQ List Packed Mode.
+
+        Parameters
+        ----------
+        daqListNumber : int
+        daqPackedMode : int
+        """
+        params = []
+        dln = self.WORD_pack(daq_list_number)
+        params.extend(dln)
+        params.append(daq_packed_mode)
+
+        if daq_packed_mode == 1 or daq_packed_mode == 2:
+            params.append(dpm_timestamp_mode)
+            dsc = self.WORD_pack(dpm_sample_count)
+            params.extend(dsc)
+
+        return self.transport.request(types.Command.SET_DAQ_PACKED_MODE, *params)
+
+    @wrapped
+    def getDaqPackedMode(self, daq_list_number: int):
+        """Get DAQ List Packed Mode.
+
+        This command returns information of the currently active packed mode of
+        the addressed DAQ list.
+
+        Parameters
+        ----------
+        daqListNumber : int
+        """
+        dln = self.WORD_pack(daq_list_number)
+        response = self.transport.request(types.Command.GET_DAQ_PACKED_MODE, *dln)
+        return types.GetDaqPackedModeResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    # dynamic
+    @wrapped
+    def freeDaq(self):
+        """Clear dynamic DAQ configuration."""
+        result = self.transport.request(types.Command.FREE_DAQ)
+        self.stim.freeDaq()
+        return result
+
+    @wrapped
+    def allocDaq(self, daq_count: int):
+        """Allocate DAQ lists.
+
+        Parameters
+        ----------
+        daqCount : int
+            number of DAQ lists to be allocated
+        """
+        dq = self.WORD_pack(daq_count)
+        result = self.transport.request(types.Command.ALLOC_DAQ, 0, *dq)
+        self.stim.allocDaq(daq_count)
+        return result
+
+    @wrapped
+    def allocOdt(self, daq_list_number: int, odt_count: int):
+        dln = self.WORD_pack(daq_list_number)
+        result = self.transport.request(types.Command.ALLOC_ODT, 0, *dln, odt_count)
+        self.stim.allocOdt(daq_list_number, odt_count)
+        return result
+
+    @wrapped
+    def allocOdtEntry(self, daq_list_number: int, odt_number: int, odt_entries_count: int):
+        dln = self.WORD_pack(daq_list_number)
+        result = self.transport.request(types.Command.ALLOC_ODT_ENTRY, 0, *dln, odt_number, odt_entries_count)
+        self.stim.allocOdtEntry(daq_list_number, odt_number, odt_entries_count)
+        return result
+
+    # PGM
+    @wrapped
+    def programStart(self):
+        """Indicate the beginning of a programming sequence.
+
+        Returns
+        -------
+        `pyxcp.types.ProgramStartResponse`
+        """
+        response = self.transport.request(types.Command.PROGRAM_START)
+        result = types.ProgramStartResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        self.slaveProperties.pgmProcessor.commModePgm = result.commModePgm
+        self.slaveProperties.pgmProcessor.maxCtoPgm = result.maxCtoPgm
+        self.slaveProperties.pgmProcessor.maxBsPgm = result.maxBsPgm
+        self.slaveProperties.pgmProcessor.minStPgm = result.minStPgm
+        self.slaveProperties.pgmProcessor.queueSizePgm = result.queueSizePgm
+        self.slaveProperties.pgmProcessor.slaveBlockMode = result.commModePgm.slaveBlockMode
+        self.slaveProperties.pgmProcessor.interleavedMode = result.commModePgm.interleavedMode
+        self.slaveProperties.pgmProcessor.masterBlockMode = result.commModePgm.masterBlockMode
+        return result
+
+    @wrapped
+    def programClear(self, mode: int, clear_range: int):
+        """Clear a part of non-volatile memory.
+
+        Parameters
+        ----------
+        mode : int
+            0x00 = the absolute access mode is active (default)
+            0x01 = the functional access mode is active
+        clearRange : int
+        """
+        cr = self.DWORD_pack(clear_range)
+        response = self.transport.request(types.Command.PROGRAM_CLEAR, mode, 0, 0, *cr)
+        # ERR_ACCESS_LOCKED
+        return response
+
+    @wrapped
+    def program(self, data: bytes, block_length: int, last: bool = False):
+        """Parameters
+        ----------
+        data : bytes
+            Data to send to slave.
+        block_mode_length : int
+            the program request must contain the length of the whole block, not just the length
+            in the current packet.
+        last : bool
+            Indicates that this is the only packet in the block, because
+            the slave device will send the response after this.
+
+        Note
+        ----
+        Adress is set via :meth:`setMta`
+        """
+        # d = bytearray()
+        # d.append(len(data))
+        # if self.slaveProperties.addressGranularity == types.AddressGranularity.DWORD:
+        #    d.extend(b"\x00\x00")  # alignment bytes
+        # for e in data:
+        #    d.extend(self.AG_pack(e))
+        if last:
+            # last PROGRAM_NEXT packet in a block: the slave device has to send the response after this.
+            response = self.transport.request(types.Command.PROGRAM, block_length, *data)
+            return response
+        else:
+            # the slave device won't respond to consecutive PROGRAM_NEXT packets in block mode,
+            # so we must not wait for any response
+            self.transport.block_request(types.Command.PROGRAM, block_length, *data)
+            return None
+
+    @wrapped
+    def programReset(self, wait_for_optional_response=True):
+        """Indicate the end of a programming sequence."""
+        if wait_for_optional_response:
+            return self.transport.request_optional_response(types.Command.PROGRAM_RESET)
+        else:
+            return self.transport.request(types.Command.PROGRAM_RESET)
+
+    @wrapped
+    def getPgmProcessorInfo(self):
+        """Get general information on PGM processor."""
+        response = self.transport.request(types.Command.GET_PGM_PROCESSOR_INFO)
+        result = types.GetPgmProcessorInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        self.slaveProperties.pgmProcessor.pgmProperties = result.pgmProperties
+        self.slaveProperties.pgmProcessor.maxSector = result.maxSector
+        return result
+
+    @wrapped
+    def getSectorInfo(self, mode: int, sector_number: int):
+        """Get specific information for a sector."""
+        response = self.transport.request(types.Command.GET_SECTOR_INFO, mode, sector_number)
+        if mode == 0 or mode == 1:
+            return types.GetSectorInfoResponseMode01.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        elif mode == 2:
+            return types.GetSectorInfoResponseMode2.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def programPrepare(self, codesize):
+        """Prepare non-volatile memory programming."""
+        cs = self.WORD_pack(codesize)
+        return self.transport.request(types.Command.PROGRAM_PREPARE, 0x00, *cs)
+
+    @wrapped
+    def programFormat(self, compression_method: int, encryption_method: int, programming_method: int,
+                      access_method: int):
+        return self.transport.request(
+            types.Command.PROGRAM_FORMAT,
+            compression_method,
+            encryption_method,
+            programming_method,
+            access_method,
+        )
+
+    @wrapped
+    def programNext(self, data: bytes, remaining_block_length: int, last: bool = False):
+        # d = bytearray()
+        # d.append(len(data))
+        # if self.slaveProperties.addressGranularity == types.AddressGranularity.DWORD:
+        #    d.extend(b"\x00\x00")  # alignment bytes
+        # for e in data:
+        #    d.extend(self.AG_pack(e))
+        if last:
+            # last PROGRAM_NEXT packet in a block: the slave device has to send the response after this.
+            response = self.transport.request(types.Command.PROGRAM_NEXT, remaining_block_length, *data)
+            return response
+        else:
+            # the slave device won't respond to consecutive PROGRAM_NEXT packets in block mode,
+            # so we must not wait for any response
+            self.transport.block_request(types.Command.PROGRAM_NEXT, remaining_block_length, *data)
+            return None
+
+    @wrapped
+    def programMax(self, data: bytes):
+        d = bytearray()
+        if self.slaveProperties.addressGranularity == types.AddressGranularity.WORD:
+            d.extend(b"\x00")  # alignment bytes
+        elif self.slaveProperties.addressGranularity == types.AddressGranularity.DWORD:
+            d.extend(b"\x00\x00\x00")  # alignment bytes
+        for e in data:
+            d.extend(self.AG_pack(e))
+        return self.transport.request(types.Command.PROGRAM_MAX, *d)
+
+    @wrapped
+    def programVerify(self, ver_mode: int, ver_type: int, ver_value: int):
+        data = bytearray()
+        data.extend(self.WORD_pack(ver_type))
+        data.extend(self.DWORD_pack(ver_value))
+        return self.transport.request(types.Command.PROGRAM_VERIFY, ver_mode, *data)
+
+    # DBG
+
+    @wrapped
+    def dbgAttach(self):
+        """Returns detailed information about the implemented version of the SW-DBG feature of the XCP slave
+
+        Returns
+        -------
+        `pyxcp.types.DbgAttachResponse`
+        """
+        response = self.transport.request(types.Command.DBG_ATTACH)
+        return types.DbgAttachResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgGetVendorInfo(self):
+        """"""
+        response = self.transport.request(types.Command.DBG_GET_VENDOR_INFO)
+        return types.DbgGetVendorInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgGetModeInfo(self):
+        """"""
+        response = self.transport.request(types.Command.DBG_GET_MODE_INFO)
+        return types.DbgGetModeInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgGetJtagId(self):
+        """"""
+        response = self.transport.request(types.Command.DBG_GET_JTAG_ID)
+        return types.DbgGetJtagIdResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgHaltAfterReset(self):
+        """"""
+        return self.transport.request(types.Command.DBG_HALT_AFTER_RESET)
+
+    @wrapped
+    def dbgGetHwioInfo(self, index: int):
+        """"""
+        response = self.transport.request(types.Command.DBG_GET_HWIO_INFO, index)
+        return types.DbgGetHwioInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgSetHwioEvent(self, index: int, trigger: int):
+        """"""
+        return self.transport.request(types.Command.DBG_SET_HWIO_EVENT, index, trigger)
+
+    @wrapped
+    def dbgHwioControl(self, pins):
+        """"""
+        d = bytearray()
+        d.extend(self.BYTE_pack(len(pins)))
+        for p in pins:
+            d.extend(self.BYTE_pack(p[0]))  # index
+            d.extend(self.BYTE_pack(p[1]))  # state
+            d.extend(self.WORD_pack(p[2]))  # frequency
+
+        response = self.transport.request(types.Command.DBG_HWIO_CONTROL, *d)
+        return types.DbgHwioControlResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgExclusiveTargetAccess(self, mode: int, context: int):
+        """"""
+        return self.transport.request(types.Command.DBG_EXCLUSIVE_TARGET_ACCESS, mode, context)
+
+    @wrapped
+    def dbgSequenceMultiple(self, mode: int, num: int, *seq):
+        """"""
+        response = self.transport.request(types.Command.DBG_SEQUENCE_MULTIPLE, mode, self.WORD_pack(num), *seq)
+        return types.DbgSequenceMultipleResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgLlt(self, num: int, mode: int, *llts):
+        """"""
+        response = self.transport.request(types.Command.DBG_LLT, num, mode, *llts)
+        return types.DbgLltResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgReadModifyWrite(self, tri: int, width: int, address: int, mask: int, data: int):
+        """"""
+        d = bytearray()
+        d.extend(b"\x00")
+        d.append(tri)
+        d.append(width)
+        d.extend(b"\x00\x00")
+        d.extend(self.DLONG_pack(address))
+        if width == 0x01:
+            d.extend(self.BYTE_pack(mask))
+            d.extend(self.BYTE_pack(data))
+        elif width == 0x02:
+            d.extend(self.WORD_pack(mask))
+            d.extend(self.WORD_pack(data))
+        elif width == 0x04:
+            d.extend(self.DWORD_pack(mask))
+            d.extend(self.DWORD_pack(data))
+        elif width == 0x08:
+            d.extend(self.DLONG_pack(mask))
+            d.extend(self.DLONG_pack(data))
+        response = self.transport.request(types.Command.DBG_READ_MODIFY_WRITE, *d)
+        return types.DbgReadModifyWriteResponse.parse(response, byteOrder=self.slaveProperties.byteOrder, width=width)
+
+    @wrapped
+    def dbgWrite(self, tri: int, width: int, address: int, data):
+        """"""
+        d = bytearray()
+        d.extend(b"\x00")
+        d.append(tri)
+        self._dbg_width = width
+        d.append(width)
+        d.extend(self.WORD_pack(len(data)))
+        d.extend(self.DLONG_pack(address))
+        for da in data:
+            if width == 0x01:
+                d.extend(self.BYTE_pack(da))
+            elif width == 0x02:
+                d.extend(self.WORD_pack(da))
+            elif width == 0x04:
+                d.extend(self.DWORD_pack(da))
+            elif width == 0x08:
+                d.extend(self.DLONG_pack(da))
+        return self.transport.request(types.Command.DBG_WRITE, *d)
+
+    @wrapped
+    def dbgWriteNext(self, num: int, data: int):
+        """"""
+        d = bytearray()
+        d.extend(b"\x00")
+        d.extend(self.WORD_pack(num))
+        d.extend(b"\x00\x00")
+        for i in range(num):
+            if self._dbg_width == 0x01:
+                d.extend(self.BYTE_pack(data[i]))
+            elif self._dbg_width == 0x02:
+                d.extend(self.WORD_pack(data[i]))
+            elif self._dbg_width == 0x04:
+                d.extend(self.DWORD_pack(data[i]))
+            elif self._dbg_width == 0x08:
+                d.extend(self.DLONG_pack(data[i]))
+        return self.transport.request(types.Command.DBG_WRITE_NEXT, *d)
+
+    @wrapped
+    def dbgWriteCan1(self, tri: int, address: int):
+        """"""
+        d = bytearray()
+        d.extend(self.BYTE_pack(tri))
+        d.extend(self.DWORD_pack(address))
+        return self.transport.request(types.Command.DBG_WRITE_CAN1, *d)
+
+    @wrapped
+    def dbgWriteCan2(self, width: int, num: int):
+        """"""
+        d = bytearray()
+        self._dbg_width = width
+        d.append(width)
+        d.extend(self.BYTE_pack(num))
+        return self.transport.request(types.Command.DBG_WRITE_CAN2, *d)
+
+    @wrapped
+    def dbgWriteCanNext(self, num: int, data: int):
+        """"""
+        d = bytearray()
+        d.extend(self.BYTE_pack(num))
+        for i in range(num):
+            if self._dbg_width == 0x01:
+                d.extend(self.BYTE_pack(data[i]))
+            elif self._dbg_width == 0x02:
+                d.extend(self.WORD_pack(data[i]))
+            elif self._dbg_width == 0x04:
+                d.extend(self.DWORD_pack(data[i]))
+            elif self._dbg_width == 0x08:
+                d.extend(self.DLONG_pack(data[i]))
+        return self.transport.request(types.Command.DBG_WRITE_CAN_NEXT, *d)
+
+    @wrapped
+    def dbgRead(self, tri: int, width: int, num: int, address: int):
+        """"""
+        d = bytearray()
+        d.extend(b"\x00")
+        d.extend(self.BYTE_pack(tri))
+        self._dbg_width = width
+        d.extend(self.BYTE_pack(width))
+        d.extend(self.WORD_pack(num))
+        d.extend(self.DLONG_pack(address))
+        response = self.transport.request(types.Command.DBG_READ, *d)
+        return types.DbgReadResponse.parse(response, byteOrder=self.slaveProperties.byteOrder, width=width)
+
+    @wrapped
+    def dbgReadCan1(self, tri: int, address: int):
+        """"""
+        d = bytearray()
+        d.extend(self.BYTE_pack(tri))
+        d.extend(self.DWORD_pack(address))
+        return self.transport.request(types.Command.DBG_READ_CAN1, *d)
+
+    @wrapped
+    def dbgReadCan2(self, width: int, num: int):
+        """"""
+        d = bytearray()
+        self._dbg_width = width
+        d.extend(self.BYTE_pack(width))
+        d.extend(self.BYTE_pack(num))
+        return self.transport.request(types.Command.DBG_READ_CAN2, *d)
+
+    @wrapped
+    def dbgGetTriDescTbl(self):
+        """"""
+        response = self.transport.request(types.Command.DBG_GET_TRI_DESC_TBL, b"\x00\x00\x00\x00\x00")
+        return types.DbgGetTriDescTblResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgLlbt(self, data):
+        """"""
+        d = bytearray()
+        d.extend(b"\x00")
+        d.extend(self.WORD_pack(len(data)))
+        for b in data:
+            d.extend(self.BYTE_pack(b))
+        response = self.transport.request(types.Command.DBG_LLBT, d)
+        return types.DbgLlbtResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def timeCorrelationProperties(self, set_properties: int, get_properties_request: int, cluster_id: int):
+        response = self.transport.request(
+            types.Command.TIME_CORRELATION_PROPERTIES, set_properties, get_properties_request, 0,
+            *self.WORD_pack(cluster_id)
+        )
+        return types.TimeCorrelationPropertiesResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    # Transport layer commands / CAN.
+
+    @broadcasted
+    @wrapped
+    def getSlaveID(self, mode: int):
+        response = self.transportLayerCmd(types.TransportLayerCommands.GET_SLAVE_ID, ord("X"), ord("C"), ord("P"), mode)
+        return types.GetSlaveIdResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    def getDaqId(self, daq_list_number: int):
+        response = self.transportLayerCmd(types.TransportLayerCommands.GET_DAQ_ID, *self.WORD_pack(daq_list_number))
+        # if response:
+        return types.GetDaqIdResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    def setDaqId(self, daq_list_number: int, identifier: int):
+        response = self.transportLayerCmd(
+            types.TransportLayerCommands.SET_DAQ_ID, *self.WORD_pack(daq_list_number), *self.DWORD_pack(identifier)
+        )
+        return response
+
+    # Convenience Functions.
+    def verify(self, addr, length):
+        """Convenience function for verification of a data-transfer from slave
+        to master (Not part of the XCP Specification).
+
+        Parameters
+        ----------
+        addr : int
+        length : int
+
+        Returns
+        -------
+        bool
+        """
+        self.setMta(addr)
+        cs = self.buildChecksum(length)
+        self.logger.debug(f"BuildChecksum return'd: 0x{cs.checksum:08X} [{cs.checksumType}]")
+        self.setMta(addr)
+        data = self.fetch(length)
+        cc = checksum.check(data, cs.checksumType)
+        self.logger.debug(f"Our checksum          : 0x{cc:08X}")
+        return cs.checksum == cc
+
+    def getDaqInfo(self, include_event_lists=True):
+        """Get DAQ information: processor, resolution, events."""
+        result = {}
+        dpi = self.getDaqProcessorInfo()
+        processorInfo = {
+            "minDaq": dpi["minDaq"],
+            "maxDaq": dpi["maxDaq"],
+            "properties": {
+                "configType": dpi["daqProperties"]["daqConfigType"],
+                "overloadEvent": dpi["daqProperties"]["overloadEvent"],
+                "overloadMsb": dpi["daqProperties"]["overloadMsb"],
+                "prescalerSupported": dpi["daqProperties"]["prescalerSupported"],
+                "pidOffSupported": dpi["daqProperties"]["pidOffSupported"],
+                "timestampSupported": dpi["daqProperties"]["timestampSupported"],
+                "bitStimSupported": dpi["daqProperties"]["bitStimSupported"],
+                "resumeSupported": dpi["daqProperties"]["resumeSupported"],
+            },
+            "keyByte": {
+                "identificationField": dpi["daqKeyByte"]["Identification_Field"],
+                "addressExtension": dpi["daqKeyByte"]["Address_Extension"],
+                "optimisationType": dpi["daqKeyByte"]["Optimisation_Type"],
+            },
+        }
+        result["processor"] = processorInfo
+
+        dri = self.getDaqResolutionInfo()
+        resolutionInfo = {
+            "timestampTicks": dri["timestampTicks"],
+            "maxOdtEntrySizeDaq": dri["maxOdtEntrySizeDaq"],
+            "maxOdtEntrySizeStim": dri["maxOdtEntrySizeStim"],
+            "granularityOdtEntrySizeDaq": dri["granularityOdtEntrySizeDaq"],
+            "granularityOdtEntrySizeStim": dri["granularityOdtEntrySizeStim"],
+            "timestampMode": {
+                "unit": dri["timestampMode"]["unit"],
+                "fixed": dri["timestampMode"]["fixed"],
+                "size": dri["timestampMode"]["size"],
+            },
+        }
+        result["resolution"] = resolutionInfo
+        channels = []
+        daq_events = []
+        if include_event_lists:
+            for ecn in range(dpi.maxEventChannel):
+                eci = self.getDaqEventInfo(ecn)
+                cycle = eci["eventChannelTimeCycle"]
+                maxDaqList = eci["maxDaqList"]
+                priority = eci["eventChannelPriority"]
+                time_unit = eci["eventChannelTimeUnit"]
+                consistency = eci["daqEventProperties"]["consistency"]
+                daq_supported = eci["daqEventProperties"]["daq"]
+                stim_supported = eci["daqEventProperties"]["stim"]
+                packed_supported = eci["daqEventProperties"]["packed"]
+                name = self.fetch(eci.eventChannelNameLength)
+                if name:
+                    name = decode_bytes(name)
+                channel = {
+                    "name": name,
+                    "priority": eci["eventChannelPriority"],
+                    "unit": eci["eventChannelTimeUnit"],
+                    "cycle": eci["eventChannelTimeCycle"],
+                    "maxDaqList": eci["maxDaqList"],
+                    "properties": {
+                        "consistency": consistency,
+                        "daq": daq_supported,
+                        "stim": stim_supported,
+                        "packed": packed_supported,
+                    },
+                }
+                daq_event_info = DaqEventInfo(
+                    name,
+                    types.EVENT_CHANNEL_TIME_UNIT_TO_EXP[time_unit],
+                    cycle,
+                    maxDaqList,
+                    priority,
+                    consistency,
+                    daq_supported,
+                    stim_supported,
+                    packed_supported,
+                )
+                daq_events.append(daq_event_info)
+                channels.append(channel)
+        result["channels"] = channels
+        self.stim.setDaqEventInfo(daq_events)
+        return result
+
+    def getCurrentProtectionStatus(self):
+        """"""
+        if self.currentProtectionStatus is None:
+            try:
+                status = self.getStatus()
+            except Exception as e:  # may temporary ERR_OUT_OF_RANGE
+                return {"dbg": None, "pgm": None, "stim": None, "daq": None, "calpag": None}
+            self._setProtectionStatus(status.resourceProtectionStatus)
+        return self.currentProtectionStatus
+
+    def _setProtectionStatus(self, protection):
+        """"""
+        self.currentProtectionStatus = {
+            "dbg": protection.dbg,
+            "pgm": protection.pgm,
+            "stim": protection.stim,
+            "daq": protection.daq,
+            "calpag": protection.calpag,
+        }
+
+    def cond_unlock(self, resources=None):
+        """Conditionally unlock resources, i.e. only unlock locked resources.
+
+        Precondition: Parameter "SEED_N_KEY_DLL" must be present and point to a valid DLL/SO.
+
+        Parameters
+        ----------
+        resources: str
+            Comma or space separated list of resources, e.g. "DAQ, CALPAG".
+            The names are not case-sensitive.
+            Valid identifiers are: "calpag", "daq", "dbg", "pgm", "stim".
+
+            If omitted, try to unlock every available resource.
+
+        Raises
+        ------
+        ValueError
+            Invalid resource name.
+
+        `dllif.SeedNKeyError`
+            In case of DLL related issues.
+        """
+        import re
+
+        from pyxcp.dllif import SeedNKeyError, SeedNKeyResult, getKey
+
+        MAX_PAYLOAD = self.slaveProperties["maxCto"] - 2
+
+        protection_status = self.getCurrentProtectionStatus()
+        if any(protection_status.values()) and (not (self.seed_n_key_dll or self.seed_n_key_function)):
+            raise RuntimeError(
+                "Neither seed-and-key DLL nor function specified, cannot proceed.")  # TODO: ConfigurationError
+        if resources is None:
+            result = []
+            if self.slaveProperties["supportsCalpag"]:
+                result.append("calpag")
+            if self.slaveProperties["supportsDaq"]:
+                result.append("daq")
+            if self.slaveProperties["supportsStim"]:
+                result.append("stim")
+            if self.slaveProperties["supportsPgm"]:
+                result.append("pgm")
+            resources = ",".join(result)
+        resource_names = [r.lower() for r in re.split(r"[ ,]", resources) if r]
+        for name in resource_names:
+            if name not in types.RESOURCE_VALUES:
+                raise ValueError(f"Invalid resource name {name!r}.")
+            if not protection_status[name]:
+                continue
+            resource_value = types.RESOURCE_VALUES[name]
+            result = self.getSeed(types.XcpGetSeedMode.FIRST_PART, resource_value)
+            seed = list(result.seed)
+            length = result.length
+            if length == 0:
+                continue
+            if length > MAX_PAYLOAD:
+                remaining = length - len(seed)
+                while remaining > 0:
+                    result = self.getSeed(types.XcpGetSeedMode.REMAINING, resource_value)
+                    seed.extend(list(result.seed))
+                    remaining -= result.length
+            self.logger.debug(f"Got seed {seed!r} for resource {resource_value!r}.")
+            if self.seed_n_key_function:
+                key = self.seed_n_key_function(resource_value, bytes(seed))
+                self.logger.debug(f"Using seed and key function {self.seed_n_key_function.__name__!r}().")
+                result = SeedNKeyResult.ACK
+            elif self.seed_n_key_dll:
+                self.logger.debug(f"Using seed and key DLL {self.seed_n_key_dll!r}.")
+                result, key = getKey(
+                    self.logger,
+                    self.config.custom_dll_loader,
+                    self.seed_n_key_dll,
+                    resource_value,
+                    bytes(seed),
+                    self.seed_n_key_dll_same_bit_width,
+                )
+            if result == SeedNKeyResult.ACK:
+                key = list(key)
+                self.logger.debug(f"Unlocking resource {resource_value!r} with key {key!r}.")
+                remaining = len(key)
+                while key:
+                    data = key[:MAX_PAYLOAD]
+                    key_len = len(data)
+                    self.unlock(remaining, data)
+                    key = key[MAX_PAYLOAD:]
+                    remaining -= key_len
+            else:
+                raise SeedNKeyError(f"SeedAndKey DLL returned: {SeedNKeyResult(result).name!r}")
+
+    def identifier(self, id_value: int) -> str:
+        """Return the identifier for the given value.
+        Use this method instead of calling `getId()` directly.
+
+        Parameters
+        ----------
+        id_value: int
+            For standard identifiers, use the constants from `pyxcp.types.XcpGetIdType`.
+
+        Returns
+        -------
+        str
+        """
+        gid = self.getId(id_value)
+        if (gid.mode & 0x01) == 0x01:
+            value = bytes(gid.identification or b"")
+        else:
+            value = self.fetch(gid.length)
+        return decode_bytes(value)
+
+    def id_scanner(self, scan_ranges: Collection[Collection[int]] | None = None) -> dict[str, str]:
+        """Scan for available standard identification types (GET_ID).
+
+        Parameters
+        ----------
+        scan_ranges: Optional[Collection[Collection[int]]]
+
+        - If parameter is omitted or `None` test every standard identification type (s. GET_ID service)
+          plus extensions by Vector Informatik.
+        - Else `scan_ranges` must be a list-of-list.
+            e.g: [[12, 80], [123], [240, 16, 35]]
+                - The first list is a range (closed interval).
+                - The second is a single value.
+                - The third is a value list.
+
+        Returns
+        -------
+        Dict[str, str]
+
+        """
+        result = {}
+
+        def make_generator(sr):
+            STD_IDS = {int(v): k for k, v in types.XcpGetIdType.__members__.items()}
+            if sr is None:
+                scan_range = STD_IDS.keys()
+            else:
+                scan_range = []
+                if not isinstance(sr, Collection):
+                    raise TypeError("scan_ranges must be of type `Collection`")
+                for element in sr:
+                    if not isinstance(element, Collection):
+                        raise TypeError("scan_ranges elements must be of type `Collection`")
+                    if not element:
+                        raise ValueError("scan_ranges elements cannot be empty")
+                    if len(element) == 1:
+                        scan_range.append(element[0])  # Single value
+                    elif len(element) == 2:
+                        start, stop = element  # Value range
+                        scan_range.extend(list(range(start, stop + 1)))
+                    else:
+                        scan_range.extend(element)  # Value list.
+            scan_range = sorted(frozenset(scan_range))
+
+            def generate():
+                for idx, id_value in enumerate(scan_range):
+                    if id_value in STD_IDS:
+                        name = STD_IDS[id_value]
+                    else:
+                        name = f"USER_{idx}"
+                    yield id_value, name,
+
+            return generate()
+
+        gen = make_generator(scan_ranges)
+        for id_value, name in gen:
+            # Avoid noisy warnings while probing
+            status, response = self.try_command(self.identifier, id_value, silent=True)
+            if status == types.TryCommandResult.OK and response:
+                result[name] = response
+                continue
+            if status == types.TryCommandResult.NOT_IMPLEMENTED:
+                # GET_ID not supported by the slave at all → stop scanning
+                break
+            if status == types.TryCommandResult.XCP_ERROR:
+                # Some IDs may not be supported; ignore typical probe errors
+                try:
+                    err = response.error_code
+                except Exception:
+                    err = None
+                if err in (types.XcpError.ERR_OUT_OF_RANGE, types.XcpError.ERR_CMD_SYNTAX):
+                    continue
+                # For any other XCP error, keep scanning (best-effort) instead of aborting
+                continue
+            if status == types.TryCommandResult.OTHER_ERROR:
+                raise RuntimeError(f"Error while scanning for ID {id_value}: {response!r}")
+        return result
+
+    @property
+    def start_datetime(self) -> int:
+        """"""
+        return self.transport.start_datetime
+
+    def try_command(self, cmd: Callable, *args, **kws) -> tuple[types.TryCommandResult, Any]:
+        """Call master functions and handle XCP errors more gracefuly.
+
+        Parameter
+        ---------
+        cmd: Callable
+        args: list
+            variable length arguments to `cmd`.
+        kws: dict
+            keyword arguments to `cmd`.
+
+            `extra_msg`: str
+                Additional info to log message (not passed to `cmd`).
+
+        Returns
+        -------
+
+        Note
+        ----
+        Mainly used for plug-and-play applications, e.g. `id_scanner` may confronted with `ERR_OUT_OF_RANGE` errors, which
+        is normal for this kind of applications -- or to test for optional commands.
+        Use carefuly not to hide serious error causes.
+        """
+        # Suppress logging of expected XCP negative responses during try_command
+        _prev_suppress = is_suppress_xcp_error_log()
+        set_suppress_xcp_error_log(True)
+        try:
+            extra_msg: str | None = kws.get("extra_msg")
+            if extra_msg:
+                kws.pop("extra_msg")
+            else:
+                extra_msg = ""
+            silent: bool | None = kws.get("silent")
+            if silent:
+                kws.pop("silent")
+            else:
+                silent = False
+            res = cmd(*args, **kws)
+        except SystemExit as e:
+            # restore suppression flag before handling
+            set_suppress_xcp_error_log(_prev_suppress)
+            # print(f"\tUnexpected error while executing command {cmd.__name__!r}: {e!r}")
+            if e.error_code == types.XcpError.ERR_CMD_UNKNOWN:
+                # This is a rather common use-case, so let the user know that there is some functionality missing.
+                if not silent:
+                    if extra_msg:
+                        self.logger.warning(f"Optional command {cmd.__name__!r} not implemented -- {extra_msg!r}")
+                    else:
+                        self.logger.warning(f"Optional command {cmd.__name__!r} not implemented.")
+                return (types.TryCommandResult.NOT_IMPLEMENTED, e)
+            else:
+                return (types.TryCommandResult.XCP_ERROR, e)
+        except Exception as e:
+            return (types.TryCommandResult.OTHER_ERROR, e)
+        else:
+            return (types.TryCommandResult.OK, res)
+        finally:
+            # Ensure suppression flag is restored even on success/other exceptions
+            with suppress(Exception):
+                set_suppress_xcp_error_log(_prev_suppress)
+
+
+def ticks_to_seconds(ticks, resolution):
+    """Convert DAQ timestamp/tick value to seconds.
+
+    Parameters
+    ----------
+    ticks: int
+
+    unit: `GetDaqResolutionInfoResponse` as returned by :meth:`getDaqResolutionInfo`
+    """
+    warnings.warn(
+        "ticks_to_seconds() deprecated, use factory :func:`make_tick_converter` instead.",
+        Warning,
+        stacklevel=1,
+    )
+    return (10 ** types.DAQ_TIMESTAMP_UNIT_TO_EXP[resolution.timestampMode.unit]) * resolution.timestampTicks * ticks
+
+
+def make_tick_converter(resolution):
+    """Make a function that converts tick count from XCP slave to seconds.
+
+    Parameters
+    ----------
+    resolution: `GetDaqResolutionInfoResponse` as returned by :meth:`getDaqResolutionInfo`
+
+    """
+    exponent = types.DAQ_TIMESTAMP_UNIT_TO_EXP[resolution.timestampMode.unit]
+    tick_resolution = resolution.timestampTicks
+    base = (10 ** exponent) * tick_resolution
+
+    def ticks_to_seconds(ticks):
+        """Convert DAQ timestamp/tick value to seconds.
+
+        Parameters
+        ----------
+        ticks: int
+
+        Returns
+        -------
+        float
+        """
+        return base * ticks
+
+    return ticks_to_seconds