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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 679 | noddan | 1 | #include <inttypes.h> |
| 2 | #include <avr/interrupt.h> |
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| 3 | #include <stdio.h> |
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| 4 | #include <string.h> |
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| 5 | #include <config.h> // All configuration parameters |
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| 6 | #include <bios.h> // BIOS interface declarations, including CAN structure and ID defines. |
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| 7 | #include <drivers/timer/timer.h> |
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| 8 | |||
| 9 | #include <drivers/lcd/glcd/ks0108.h> |
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| 10 | #include <drivers/lcd/glcd/font.h> |
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| 11 | |||
| 12 | #include <avr/pgmspace.h> |
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| 13 | |||
| 14 | #define APP_TYPE 0xf001 |
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| 15 | #define APP_VERSION 0x0002 |
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| 16 | |||
| 17 | |||
| 18 | |||
| 19 | |||
| 20 | /* Left half of the LCD */ |
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| 21 | |||
| 22 | static unsigned char Splash_left[] PROGMEM = { |
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| 23 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x7F,0x7F, |
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| 24 | 0x7F,0x7F,0x7F,0x7F,0x7F,0x7F,0xFF,0xFF, |
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| 25 | 0xFF,0xFF,0x7F,0x7F,0x3F,0xBF,0x3F,0x1F, |
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| 26 | 0x3F,0x3F,0x3F,0x7F,0xFF,0xBF,0x1F,0x47, |
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| 27 | 0x87,0x07,0x07,0x07,0x27,0x77,0x77,0x67, |
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| 28 | 0xE7,0xE7,0xE7,0xC7,0x87,0x07,0x07,0x07, |
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| 29 | 0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x87, |
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| 30 | 0xC7,0xF7,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 31 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xEF,0xEF,0x7F, |
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| 32 | 0x7F,0x7F,0x7F,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 33 | 0xFF,0xFF,0xFF,0xBF,0xFF,0xFF,0xFF,0xFF, |
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| 34 | 0x3F,0x7F,0x7F,0x7F,0x3F,0x3F,0x3F,0x1F, |
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| 35 | 0x1F,0x1F,0x1F,0x1F,0x0F,0x1F,0x1F,0x1F, |
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| 36 | 0x3F,0x3F,0x3F,0x3F,0x3F,0x7F,0x7F,0x7F, |
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| 37 | 0x7F,0x3F,0x3F,0x7F,0x7F,0x7F,0x7F,0x7F, |
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| 38 | 0x7F,0xFF,0xFF,0xFF,0x7F,0x7F,0xFF,0xFF, |
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| 39 | 0xFE,0xFE,0xFE,0xFF,0xFF,0xFF,0xF8,0xF8, |
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| 40 | 0xF0,0xF0,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8, |
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| 41 | 0xF0,0xE0,0xC0,0x80,0x00,0x00,0x00,0x00, |
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| 42 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x0C, |
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| 43 | 0x0C,0x0E,0x1C,0x3F,0x0F,0x03,0x00,0x04, |
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| 44 | 0x04,0x87,0xCF,0x9F,0xFF,0xFE,0xFC,0xF8, |
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| 45 | 0xF8,0xFC,0xFE,0xFE,0xFF,0xFF,0xFF,0xFF, |
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| 46 | 0xFF,0xFD,0xFF,0xFF,0xFF,0xDF,0xCF,0x1F, |
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| 47 | 0x3F,0x3F,0x13,0x03,0x01,0x10,0x1C,0x0C, |
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| 48 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 49 | 0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x00, |
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| 50 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 51 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 52 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 53 | 0x00,0x90,0xF8,0xF8,0xF8,0xF8,0xF8,0xCC, |
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| 54 | 0xE0,0xF0,0xF8,0xF8,0xF8,0xFC,0xFC,0xFE, |
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| 55 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 56 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 57 | 0xFF,0xFF,0xFF,0xFF,0xF8,0xF0,0xE0,0xE0, |
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| 58 | 0xC0,0x80,0x00,0x00,0x00,0x80,0xC0,0xC0, |
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| 59 | 0xE0,0xE0,0xC0,0xE0,0xF0,0xFC,0xFE,0xFE, |
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| 60 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 61 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 62 | 0xFF,0xFF,0xFF,0x3F,0x1F,0x09,0x01,0x00, |
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| 63 | 0x04,0x06,0x06,0x06,0x0E,0x1C,0x1E,0x18, |
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| 64 | 0x1C,0x18,0x19,0x19,0x01,0x03,0x00,0x00, |
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| 65 | 0x00,0x07,0x46,0x00,0x00,0x80,0x80,0x80, |
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| 66 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 67 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 68 | 0x00,0x00,0x84,0xFC,0xF8,0xF4,0xFE,0xFE, |
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| 69 | 0xF7,0xFB,0xFE,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 70 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 71 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 72 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 73 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 74 | 0xFF,0xFF,0xFF,0xFC,0xFC,0xFC,0xFD,0xF9, |
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| 75 | 0xF9,0xF3,0xFF,0xFF,0x5F,0x0F,0x0F,0x0F, |
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| 76 | 0x0F,0x0F,0x1F,0x3F,0x3F,0x3F,0xFF,0xFF, |
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| 77 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 78 | 0xFF,0xFF,0xF0,0xE0,0xC0,0xC0,0xC0,0xC0, |
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| 79 | 0xC0,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00, |
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| 80 | 0x00,0x00,0x00,0x00,0x00,0x03,0x06,0x00, |
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| 81 | 0x88,0xC8,0xFC,0xFC,0xFE,0xFF,0xFF,0xFF, |
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| 82 | 0xFF,0xFE,0xF0,0xE0,0xF8,0xFC,0xFE,0xFF, |
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| 83 | 0xFE,0xFC,0xF8,0x30,0x30,0xE0,0xF6,0x7F, |
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| 84 | 0x3F,0x3F,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 85 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 86 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 87 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 88 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 89 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 90 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 91 | 0xFF,0xFF,0xFF,0xFD,0xF0,0xE0,0xC0,0x00, |
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| 92 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 93 | 0x01,0x01,0xF1,0xFB,0xFF,0xFF,0xFF,0xFF, |
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| 94 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 95 | 0xFF,0xFF,0xFF,0xFE,0x98,0x00,0x00,0x00, |
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| 96 | 0x00,0x00,0x00,0x00,0x80,0xC0,0xFE,0x7F, |
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| 97 | 0x1F,0xDF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 98 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 99 | 0xFF,0xFF,0xFF,0xFE,0xFC,0xFF,0xFF,0xFE, |
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| 100 | 0xFE,0x7F,0x7E,0x3F,0x1F,0x1F,0x0F,0x0F, |
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| 101 | 0x3D,0x39,0x19,0x3B,0x7F,0xFF,0xFF,0xFF, |
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| 102 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 103 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 104 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 105 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 106 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 107 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x0F,0x00, |
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| 108 | 0x00,0x80,0xC0,0xE0,0xF0,0xF8,0xFC,0xFE, |
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| 109 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 110 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 111 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFC,0xF0,0xF0, |
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| 112 | 0xF0,0xF0,0xF8,0xFC,0xFF,0xFF,0xFF,0xFF, |
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| 113 | 0xFE,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 114 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 115 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 116 | 0xFC,0xF0,0xF0,0xF0,0xF8,0xF8,0xF8,0xF0, |
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| 117 | 0xF0,0xE0,0xC0,0xC0,0xE0,0xF0,0xFF,0xFF, |
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| 118 | 0xFF,0xFF,0xFF,0xFF,0x7F,0xFF,0xDF,0xFF, |
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| 119 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 120 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 121 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 122 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 123 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xF8,0xF8, |
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| 124 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 125 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 126 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 127 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 128 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 129 | 0xFF,0x7F,0x7F,0x7F,0xFF,0xFF,0xFF,0xFF, |
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| 130 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x7F,0x7F, |
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| 131 | 0x7F,0x7F,0x7F,0x7F,0x7F,0x7F,0x7F,0x7F, |
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| 132 | 0x7F,0x7F,0x7F,0x7F,0x7F,0x7F,0x7F,0x7F, |
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| 133 | 0x7F,0x7F,0x7F,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 134 | 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, |
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| 135 | 0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07, |
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| 136 | 0x07,0x07,0x07,0x07,0x07,0x07,0x03,0x03, |
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| 137 | 0x03,0x03,0x03,0x03,0x03,0x03,0x03,0x03, |
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| 138 | 0x03,0x03,0x03,0x03,0x03,0x01,0x03,0x03, |
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| 139 | 0x03,0x03,0x03,0x03,0x03,0x01,0x01,0x00, |
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| 140 | 0x00,0x00,0x07,0x07,0x07,0x07,0x07,0x07, |
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| 141 | 0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07, |
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| 142 | 0x07,0x03,0x03,0x01,0x01,0x01,0x01,0x01, |
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| 143 | 0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01, |
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| 144 | 0x01,0x01,0x01,0x00,0x00,0x00,0x00,0x00, |
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| 145 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 146 | 0x01,0x01,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 147 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 148 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 149 | 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, |
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| 150 | 0x00,0x01,0x05,0x05,0x07,0x07,0x07,0x07 |
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| 151 | }; |
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| 152 | |||
| 153 | uint16_t ixa = 0; |
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| 154 | uint8_t jxa = 0; |
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| 155 | |||
| 156 | |||
| 157 | // A simple message "queue", with space for one message only. |
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| 158 | // These are declared volatile to tell the compiler not to optimize away accesses. |
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| 159 | volatile Can_Message_t rxMsg; // Message storage |
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| 160 | volatile uint8_t rxMsgFull; // Synchronization flag |
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| 161 | |||
| 162 | // CAN message reception callback. |
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| 163 | // This function runs with interrupts disabled, keep it as short as possible. |
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| 164 | void can_receive(Can_Message_t *msg) { |
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| 165 | if (!rxMsgFull) { |
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| 166 | memcpy((void*)&rxMsg, msg, sizeof(rxMsg)); |
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| 167 | rxMsgFull = 1; |
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| 168 | } |
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| 169 | } |
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| 170 | |||
| 171 | // Timer callback function used for some timer tests |
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| 172 | void timer_callback(uint8_t timer) { |
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| 173 | Can_Message_t msg; |
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| 174 | |||
| 175 | msg.ExtendedFlag = 1; |
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| 176 | msg.Id = (CAN_TST << CAN_SHIFT_CLASS) | NODE_ID; |
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| 177 | msg.RemoteFlag = 0; |
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| 178 | msg.DataLength = 1; |
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| 179 | msg.Data.bytes[0] = timer; |
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| 180 | |||
| 181 | BIOS_CanSend(&msg); |
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| 182 | } |
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| 183 | |||
| 184 | int main(void) |
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| 185 | { |
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| 186 | |||
| 187 | |||
| 188 | |||
| 189 | |||
| 190 | //Initiera utgŒngar |
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| 191 | |||
| 192 | DDRB |= (1<<7)|(1<<2)|(1<<1)|(1<<0); |
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| 193 | |||
| 194 | |||
| 195 | DDRC |= (1<<5)|(1<<4); |
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| 196 | |||
| 197 | |||
| 198 | DDRD |= (1<<7)|(1<<6)|(1<<5)|(1<<4)|(1<<2)|(1<<1)|(1<<0); |
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| 199 | |||
| 200 | |||
| 201 | // Enable interrupts as early as possible |
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| 202 | sei(); |
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| 203 | |||
| 204 | unsigned long time; |
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| 205 | |||
| 206 | Can_Message_t txMsg; |
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| 207 | txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID); |
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| 208 | txMsg.DataLength = 4; |
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| 209 | txMsg.RemoteFlag = 0; |
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| 210 | txMsg.ExtendedFlag = 1; |
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| 211 | txMsg.Data.words[0] = APP_TYPE; |
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| 212 | txMsg.Data.words[1] = APP_VERSION; |
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| 213 | |||
| 214 | // Set up callback for CAN reception, this is optional if only sending is required. |
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| 215 | BIOS_CanCallback = &can_receive; |
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| 216 | // Send CAN_NMT_APP_START |
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| 217 | BIOS_CanSend(&txMsg); |
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| 218 | |||
| 219 | |||
| 220 | |||
| 221 | /* Kukgrejer frŒn apetech-libbet |
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| 222 | // Wait a little while the display starts up |
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| 223 | for(volatile uint16_t i=0; i<15000; i++); |
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| 224 | |||
| 225 | // Initialize the LCD |
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| 226 | ks0108Init(0); |
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| 227 | |||
| 228 | // Select a font |
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| 229 | ks0108SelectFont(Arial_Bold_14, ks0108ReadFontData, BLACK); |
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| 230 | // Set a position |
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| 231 | ks0108GotoXY(15,10); |
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| 232 | // Print some text |
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| 233 | ks0108Puts_P(PSTR("KS0108-Treiber")); |
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| 234 | // a nice little round rect |
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| 235 | ks0108DrawRoundRect(5, 5, 117, 20, 8, BLACK); |
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| 236 | |||
| 237 | // Once again :) |
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| 238 | // Select a font |
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| 239 | ks0108SelectFont(Corsiva_12, ks0108ReadFontData, BLACK); |
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| 240 | // Set a position |
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| 241 | ks0108GotoXY(5,0); |
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| 242 | // Print some text |
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| 243 | ks0108Puts_P(PSTR("http://www.apetech.de\nmailto:me@apetech.de")); |
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| 244 | |||
| 245 | */ |
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| 246 | |||
| 247 | |||
| 248 | |||
| 249 | |||
| 250 | glcdPowerOn(); |
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| 251 | |||
| 252 | glcdSetXY(0,0); |
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| 253 | |||
| 254 | //glcdPutStr("This is a test....... Let us try another row.. And another.. And some more.."); |
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| 255 | |||
| 256 | for (jxa = 0; jxa< 8; jxa++){ |
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| 257 | glcdSetXY(0,jxa); |
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| 258 | for (ixa = 0; ixa < 128; ixa++){ |
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| 259 | glcdWriteData(pgm_read_byte((uint16_t)&Splash_left+ixa+jxa*128)); |
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| 260 | } |
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| 261 | } |
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| 262 | glcdSetXY(0,0); |
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| 263 | glcdPutStr("I can write text. This is cool. Yeah baby! Pixelina!"); |
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| 264 | |||
| 265 | /*glcdSetXY(5,5); |
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| 266 | glcdPutStr("I can write text."); |
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| 267 | glcdSetXY(8,10); |
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| 268 | glcdPutStr("Everywhere!"); |
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| 269 | */ |
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| 270 | |||
| 271 | while (1) { |
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| 272 | //glcdSetXY(0,0); |
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| 273 | //glcdPutStr("This is a test.... Let us try another row.. And another.. And some more.."); |
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| 274 | |||
| 275 | |||
| 276 | if (Timer_Expired(0)) { |
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| 277 | // Send a CAN message |
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| 278 | time = Timer_GetTicks(); |
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| 279 | txMsg.Data.dwords[1] = time; |
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| 280 | BIOS_CanSend(&txMsg); |
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| 281 | //printf("Two seconds passed, time is now %ld.\n", time); |
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| 282 | } |
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| 283 | |||
| 284 | if (rxMsgFull) { |
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| 285 | // Print the received message |
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| 286 | /* printf("RX: ID=%08lx, DLC=%u, EXT=%u, RTR=%u, data={ ", |
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| 287 | rxMsg.Id, |
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| 288 | (uint16_t)rxMsg.DataLength, |
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| 289 | (uint16_t)rxMsg.ExtendedFlag, |
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| 290 | (uint16_t)rxMsg.RemoteFlag); |
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| 291 | for (uint8_t i=0; i<rxMsg.DataLength; i++) { |
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| 292 | printf("%02x ", rxMsg.Data.bytes[i]); |
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| 293 | } |
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| 294 | printf("}\n");*/ |
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| 295 | rxMsgFull = 0; // |
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| 296 | } |
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| 297 | } |
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| 298 | |||
| 299 | return 0; |
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| 300 | } |