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  1. #ifndef CANID_H_
  2. #define CANID_H_
  3.  
  4. //---------------------------------------------------------------------------
  5. // CAN standard ID definitions
  6.  
  7. #define CAN_MASK_STD_TYPE   0x780
  8. #define CAN_SHIFT_STD_TYPE  7
  9. #define CAN_MASK_STD_ID     0x07F
  10. #define CAN_SHIFT_STD_ID    0
  11. #define CAN_STD_SYNC        //data = {time:32}
  12. #define CAN_STD_ECHO        //data = any. recipient replies with data inverted.
  13. #define CAN_STD_IDRP        //sent with either ID=0 and data = {UUID:64} or ID=x and no data.
  14.                             //the node with matching ID or UUID replies with a complete IDRP frame.
  15. #define CAN_STD_CMD         //data = {command:16, [parameters: 0-48]}
  16. #define CAN_STD_DATA        //data = cmd specific
  17. #define CAN_STD_INFO        //data = {infotype:8, flags:8, biosver:16, [apptype:16, appver:16]}
  18.                             //sent at startup, after ID has been determined
  19. //---------------------------------------------------------------------------
  20. // CAN extended ID definitions
  21.  
  22. #define CAN_MASK_CLASS      0x1E000000
  23. #define CAN_SHIFT_CLASS     25
  24. //------------------------------------
  25. #define CAN_NMT             0x00UL
  26. #define CAN_MASK_NMT_TYPE   0x00FF0000
  27. #define CAN_SHIFT_NMT_TYPE  16
  28. #define CAN_MASK_NMT_SID    0x0000FF00
  29. #define CAN_SHIFT_NMT_SID   8
  30. #define CAN_MASK_NMT_RID    0x000000FF
  31. #define CAN_SHIFT_NMT_RID   0
  32. #define CAN_NMT_TIME        0x00UL  //D0:3 UNIX_TIME, D4:7 {YY:6, MM:4, DD:5, hh:5, mm:6, ss:6}
  33. #define CAN_NMT_RESET       0x04UL
  34. #define CAN_NMT_BIOS_START  0x08UL  //D0: VER7:0, D1:VER15:8, D2: 0 if no app, >0 if app
  35. #define CAN_NMT_PGM_START   0x0CUL  //D0: ADR7:0, D1:ADR15:8, D2:ADR23:16, D3:ADR31:24
  36. #define CAN_NMT_PGM_DATA    0x10UL  //D0: OFS7:0, D1: OFS15:8, D(n+2): DATAn7:0 [n=0..x] [x=0..5]
  37. #define CAN_NMT_PGM_END     0x14UL  //D0: CRC7:0, D1: CRC15:8
  38. #define CAN_NMT_PGM_COPY    0x18UL  //D0: SRC7:0, D1:SRC15:8, D0: DST7:0, D1:DST15:8, D0: LEN7:0, D1:LEN15:8
  39. #define CAN_NMT_PGM_ACK     0x1CUL  //D0: OFS7:0, D1: OFS15:8
  40. #define CAN_NMT_PGM_NACK    0x20UL  //D0: OFS7:0, D1: OFS15:8
  41. #define CAN_NMT_START_APP   0x24UL
  42. #define CAN_NMT_APP_START   0x28UL  //D0: ID7:0, D1:ID15:8, D2: VER7:0, D3:VER15:8
  43. #define CAN_NMT_HEARTBEAT   0x2CUL
  44. //------------------------------------
  45. #define CAN_SNS             0x02UL
  46. #define CAN_MASK_SNS_TYPE   0x01FF8000
  47. #define CAN_SHIFT_SNS_TYPE  15
  48. #define CAN_MASK_SNS_ID     0x00007E00
  49. #define CAN_SHIFT_SNS_ID    9
  50. #define CAN_MASK_SNS_SID    0x000001FF
  51. #define CAN_SHIFT_SNS_SID   0
  52. //------------------------------------
  53. #define CAN_ACT             0x04UL
  54. #define CAN_MASK_ACT_TYPE   0x01FF8000
  55. #define CAN_SHIFT_ACT_TYPE  15
  56. #define CAN_MASK_ACT_ID     0x00007E00
  57. #define CAN_SHIFT_ACT_ID    9
  58. #define CAN_MASK_ACT_SID    0x000001FF
  59. #define CAN_SHIFT_ACT_SID   0
  60. //------------------------------------
  61. #define CAN_PKT             0x06UL
  62. //------------------------------------
  63. #define CAN_CON             0x08UL
  64. //------------------------------------
  65. #define CAN_TST             0x0FUL
  66. //------------------------------------
  67.  
  68. //---------------------------------------------------------------------------
  69. // CAN ID definitions for NMT messages
  70.  
  71. #define CAN_ID_NMT_BIOS_START  ((CAN_NMT << CAN_SHIFT_CLASS) \
  72.                               | (CAN_NMT_BIOS_START << CAN_SHIFT_NMT_TYPE) \
  73.                               | (NODE_ID << CAN_SHIFT_NMT_SID))
  74. #define CAN_ID_NMT_PGM_ACK     ((CAN_NMT << CAN_SHIFT_CLASS) \
  75.                               | (CAN_NMT_PGM_ACK << CAN_SHIFT_NMT_TYPE) \
  76.                               | (NODE_ID << CAN_SHIFT_NMT_SID))
  77. #define CAN_ID_NMT_PGM_NACK    ((CAN_NMT << CAN_SHIFT_CLASS) \
  78.                               | (CAN_NMT_PGM_NACK << CAN_SHIFT_NMT_TYPE) \
  79.                               | (NODE_ID << CAN_SHIFT_NMT_SID))
  80.  
  81. #define CAN_APPTYPES_IRRECEIVER     0xf010
  82. #define CAN_APPTYPES_RELAY          0xf015
  83. #define CAN_APPTYPES_SERVO          0xf020
  84. #define CAN_APPTYPES_SENSOR         0xf025
  85. #define CAN_APPTYPES_IRTRANSMITTER  0xf030
  86. #define CAN_APPTYPES_RGBLED         0xf035
  87.  
  88. // CAN ID definitions for SNS messages
  89. #define SNS_TYPE_STATUS               0x10L
  90. #define SNS_TYPE_IR                   0x12L
  91. #define SNS_TYPE_TEMPERATURE          0x14L
  92. #define SNS_TYPE_LIGHT                0x18L
  93.  
  94. #define SNS_ID_RELAY_STATUS           0x0BL
  95. #define SNS_ID_SERVO_STATUS           0x0dL
  96.  
  97.  
  98.  
  99. // CAN ID definitions for ACT messages
  100. #define ACT_TYPE_RELAY         0x01L
  101.  
  102. #define ACT_TYPE_SERVO         0x02L
  103.  
  104. #define ACT_TYPE_RGBLED        0x03L
  105.  
  106.  
  107. #endif /*CANID_H_*/
  108.