devicenet.h File Reference

DeviceNet link-adaptation codec (DETWS_ENABLE_DEVICENET) - the CAN-specific layer of "CIP over CAN". More...

#include "ServerConfig.h"

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Detailed Description

DeviceNet link-adaptation codec (DETWS_ENABLE_DEVICENET) - the CAN-specific layer of "CIP over CAN".

DeviceNet (ODVA) carries CIP over classic CAN. The CIP application layer (services, EPATH, data) is the same one the EtherNet/IP codec uses, so build the message body with the existing cip_* functions (DETWS_ENABLE_CIP); this module supplies the DeviceNet-specific link adaptation that is NOT part of CIP:

• The 11-bit CAN identifier as a Message Group (1..4) + Message ID + MAC ID, per the DeviceNet identifier allocation:

  Group 1: 0  MsgID(4)  SourceMAC(6)              ids 0x000-0x3FF
  Group 2: 10 MAC(6)    MsgID(3)                  ids 0x400-0x5FF
  Group 3: 11 MsgID(3)  SourceMAC(6)              ids 0x600-0x7BF
  Group 4: 11111        MsgID(6)                  ids 0x7C0-0x7EF

• The explicit-message header octet (FRAG | XID | MAC ID).
• The fragmentation protocol (type + modulo-64 count) and a reassembler for explicit messages longer than one 8-octet frame.

Pure and host-tested. Drive it from the ESP32 TWAI peripheral or an MCP2515 over SPI to bridge a DeviceNet segment onto Wi-Fi.

Author

Douglas Quigg (dstroy0)

Date

2026

Definition in file devicenet.h.