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