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#define CAN_NMT_PGM_ACK     0x05UL  //D0: OFS7:0, D1: OFS15:8
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#define CAN_NMT_PGM_ACK     0x05UL  //D0: OFS7:0, D1: OFS15:8
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#define CAN_NMT_PGM_NACK    0x06UL  //D0: OFS7:0, D1: OFS15:8
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#define CAN_NMT_PGM_NACK    0x06UL  //D0: OFS7:0, D1: OFS15:8
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#define CAN_NMT_START_APP   0x07UL
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#define CAN_NMT_START_APP   0x07UL
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#define CAN_NMT_APP_START   0x08UL  //D0: ID7:0, D1:ID15:8, D2: VER7:0, D3:VER15:8
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#define CAN_NMT_APP_START   0x08UL  //D0: ID7:0, D1:ID15:8, D2: VER7:0, D3:VER15:8
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#define CAN_NMT_HEARTBEAT   0x09UL
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#define CAN_NMT_HEARTBEAT   0x09UL
- 
 
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#define CAN_NMT_PGM_COPY    0x0FUL  //D0: SRC7:0, D1:SRC15:8, D0: DST7:0, D1:DST15:8, D0: LEN7:0, D1:LEN15:8
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//------------------------------------
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//------------------------------------
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#define CAN_SNS             0x02UL
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#define CAN_SNS             0x02UL
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#define CAN_MASK_SNS_FUNCC  0x01FF8000
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#define CAN_MASK_SNS_FUNCC  0x01FF8000
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#define CAN_SHIFT_SNS_FUNCC 15
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#define CAN_SHIFT_SNS_FUNCC 15
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#define CAN_MASK_SNS_NID    0x00007E00
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#define CAN_MASK_SNS_NID    0x00007E00