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  1. #ifndef CANID_H_
  2. #define CANID_H_
  3.  
  4. #ifdef MODULE_APPLICATION
  5. #include "moduleid.h"
  6. #endif
  7.  
  8. //---------------------------------------------------------------------------
  9. // CAN ID definitions
  10.  
  11. #define CAN_MASK_CLASS      0x1E000000
  12. #define CAN_SHIFT_CLASS     25
  13. //------------------------------------
  14. #define CAN_NMT             0x00UL
  15. #define CAN_MASK_NMT_TYPE   0x00FF0000
  16. #define CAN_SHIFT_NMT_TYPE  16
  17. #define CAN_MASK_NMT_SID    0x0000FF00
  18. #define CAN_SHIFT_NMT_SID   8
  19. #define CAN_MASK_NMT_RID    0x000000FF
  20. #define CAN_SHIFT_NMT_RID   0
  21. #define CAN_NMT_TIME        0x00UL  //D0:3 UNIX_TIME, D4:7 {YY:6, MM:4, DD:5, hh:5, mm:6, ss:6}
  22. #define CAN_NMT_RESET       0x04UL
  23. #define CAN_NMT_BIOS_START  0x08UL  //D0: VER7:0, D1:VER15:8, D2: 0 if no app, >0 if app
  24. #define CAN_NMT_PGM_START   0x0CUL  //D0: ADR7:0, D1:ADR15:8, D2:ADR23:16, D3:ADR31:24
  25. #define CAN_NMT_PGM_DATA    0x10UL  //D0: OFS7:0, D1: OFS15:8, D(n+2): DATAn7:0 [n=0..x] [x=0..5]
  26. #define CAN_NMT_PGM_END     0x14UL  //D0: CRC7:0, D1: CRC15:8
  27. #define CAN_NMT_PGM_COPY    0x18UL  //D0: SRC7:0, D1:SRC15:8, D0: DST7:0, D1:DST15:8, D0: LEN7:0, D1:LEN15:8
  28. #define CAN_NMT_PGM_ACK     0x1CUL  //D0: OFS7:0, D1: OFS15:8
  29. #define CAN_NMT_PGM_NACK    0x20UL  //D0: OFS7:0, D1: OFS15:8
  30. #define CAN_NMT_START_APP   0x24UL
  31. #define CAN_NMT_APP_START   0x28UL  //D0: ID7:0, D1:ID15:8, D2: VER7:0, D3:VER15:8
  32. #define CAN_NMT_HEARTBEAT   0x2CUL
  33. //------------------------------------
  34. #define CAN_SNS             0x02UL
  35. #define CAN_MASK_SNS_TYPE   0x01FF8000
  36. #define CAN_SHIFT_SNS_TYPE  15
  37. #define CAN_MASK_SNS_ID     0x00007E00
  38. #define CAN_SHIFT_SNS_ID    9
  39. #define CAN_MASK_SNS_SID    0x000001FF
  40. #define CAN_SHIFT_SNS_SID   0
  41. //------------------------------------
  42. #define CAN_ACT             0x04UL
  43. #define CAN_MASK_ACT_TYPE   0x01FF8000
  44. #define CAN_SHIFT_ACT_TYPE  15
  45. #define CAN_MASK_ACT_ID     0x00007E00
  46. #define CAN_SHIFT_ACT_ID    9
  47. #define CAN_MASK_ACT_SID    0x000001FF
  48. #define CAN_SHIFT_ACT_SID   0
  49. //------------------------------------
  50. #define CAN_PKT             0x06UL
  51. //------------------------------------
  52. #define CAN_CON             0x08UL
  53. #define CAN_CHN             0x0AUL
  54. #define CAN_TST             0x0FUL
  55.  
  56. //--------------------------------------------------------------------
  57.  
  58.  
  59.  
  60. //---------------------------------------------------------------------------
  61. // CAN ID definitions for NMT messages
  62. #ifdef NODE_ID
  63. #define CAN_ID_NMT_BIOS_START  ((CAN_NMT << CAN_SHIFT_CLASS) \
  64.                               | (CAN_NMT_BIOS_START << CAN_SHIFT_NMT_TYPE) \
  65.                               | ((uint32_t)NODE_ID << CAN_SHIFT_NMT_SID))
  66. #define CAN_ID_NMT_PGM_ACK     ((CAN_NMT << CAN_SHIFT_CLASS) \
  67.                               | (CAN_NMT_PGM_ACK << CAN_SHIFT_NMT_TYPE) \
  68.                               | ((uint32_t)NODE_ID << CAN_SHIFT_NMT_SID))
  69. #define CAN_ID_NMT_PGM_NACK    ((CAN_NMT << CAN_SHIFT_CLASS) \
  70.                               | (CAN_NMT_PGM_NACK << CAN_SHIFT_NMT_TYPE) \
  71.                               | ((uint32_t)NODE_ID << CAN_SHIFT_NMT_SID))
  72. #else
  73. #define CAN_ID_NMT_BIOS_START  ((CAN_NMT << CAN_SHIFT_CLASS) \
  74.                               | (CAN_NMT_BIOS_START << CAN_SHIFT_NMT_TYPE))
  75. #define CAN_ID_NMT_PGM_ACK     ((CAN_NMT << CAN_SHIFT_CLASS) \
  76.                               | (CAN_NMT_PGM_ACK << CAN_SHIFT_NMT_TYPE))
  77. #define CAN_ID_NMT_PGM_NACK    ((CAN_NMT << CAN_SHIFT_CLASS) \
  78.                               | (CAN_NMT_PGM_NACK << CAN_SHIFT_NMT_TYPE))
  79. #endif
  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. #define CAN_APPTYPES_FANCONTROLLER  0xf040
  88. #define CAN_APPTYPES_LCD        0xf045
  89. #define CAN_APPTYPES_CANGW      0xf04a
  90. #define CAN_APPTYPES_SERIALTRANSCEIVER  0xf050
  91.  
  92. // CAN ID definitions for SNS messages
  93. #define SNS_TYPE_STATUS             0x10L
  94. #define SNS_TYPE_IR                 0x12L
  95. #define SNS_TYPE_TEMPERATURE        0x14L
  96. #define SNS_TYPE_LIGHT              0x18L
  97. #define SNS_TYPE_PHONENR            0x1aL
  98. #define SNS_TYPE_PRESSURE           0x1bL
  99. #define SNS_TYPE_VOLTAGE            0x1cL
  100. #define SNS_TYPE_ROTSPEED           0x1dL
  101. #define SNS_TYPE_VELOCITY           0x1eL
  102. #define SNS_TYPE_FUELCONS           0x1fL
  103. #define SNS_TYPE_SERIAL             0x20L
  104.  
  105. #define SNS_ID_RELAY_STATUS           0x0BL
  106. #define SNS_ID_SERVO_STATUS           0x0dL
  107.  
  108. //Definitions of precision of different sensors
  109. #define SNS_DECPOINT_TEMPERATURE    0x04
  110. #define SNS_DECPOINT_PRESSURE       0x06
  111. #define SNS_DECPOINT_ROTSPEED       0x02
  112. #define SNS_DECPOINT_VOLTAGE        0x06
  113. #define SNS_DECPOINT_VELOCITY       0x02
  114. #define SNS_DECPOINT_FUELCONS       0x06
  115.  
  116.  
  117. // CAN ID definitions for ACT messages
  118. #define ACT_TYPE_RELAY          0x01L
  119. #define ACT_TYPE_SERVO          0x02L
  120. #define ACT_TYPE_RGBLED         0x03L
  121. #define ACT_TYPE_IR             0x04L
  122. #define ACT_TYPE_LCD            0x05L
  123. #define ACT_TYPE_FAN            0x06L
  124. #define ACT_TYPE_SERIAL         0x07L
  125.  
  126.  
  127. #endif /*CANID_H_*/
  128.