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#include <bios.h>
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#include <bios.h>
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#include <serial.h>
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static int app_putchar(char c, FILE *stream);
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#define APP_TYPE    0xf001
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static int app_getchar(FILE *stream);
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#define APP_VERSION 0x0001
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static FILE mystdio = FDEV_SETUP_STREAM(app_putchar, app_getchar,
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                                         _FDEV_SETUP_RW);
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static int app_putchar(char c, FILE *stream) {
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    bios->debug_putchar(c);
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    return 0;
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}
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static int app_getchar(FILE *stream) {
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    return bios->debug_getchar();
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}
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void can_receive(Can_Message_t *msg) {
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void can_receive(Can_Message_t *msg) {
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    printf("candata!\n");
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    printf("candata!\n");
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}
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}
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int main(void)
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int main(void)
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{
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{
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    unsigned long time;
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    unsigned long time;
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    unsigned long time1 = bios->timebase_get();
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    unsigned long time1 = bios->timebase_get();
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    unsigned long time2 = bios->timebase_get();
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    unsigned long time2 = bios->timebase_get();
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    sei();
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    sei();
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    stdout = &mystdio;
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    stdin = &mystdio;
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    Serial_Init();
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    Can_Message_t txMsg;
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    Can_Message_t txMsg;
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    txMsg.Id = 100;
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    txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
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    txMsg.DataLength = 0;
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    txMsg.DataLength = 4;
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    txMsg.RemoteFlag = 0;
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    txMsg.RemoteFlag = 0;
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    txMsg.ExtendedFlag = 1;
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    txMsg.ExtendedFlag = 1;
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    txMsg.Data.words[0] = APP_TYPE;
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    txMsg.Data.words[1] = APP_VERSION;
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    //set up callback for candata
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    //set up callback for candata
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    bios->can_callback = &can_receive;
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    bios->can_callback = &can_receive;
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    // Send CAN_NMT_APP_START
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    bios->can_send(&txMsg);
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    printf("AVR Test Application\n");
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    printf("AVR Test Application\n");
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    printf("Using AVR BIOS version %x\n", bios->version);
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    printf("Using AVR BIOS version %x\n", bios->version);
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    txMsg.Id = (CAN_TST << CAN_SHIFT_CLASS) | NODE_ID;
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    txMsg.Data.dwords[0] = 0x01020304;
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    txMsg.Data.dwords[1] = 0xfffefdfc;
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    txMsg.DataLength = 8;
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    while (1) {
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    while (1) {
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        time = bios->timebase_get();
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        time = bios->timebase_get();
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        if ((time - time1) >= 2000) {
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        if ((time - time1) >= 2000) {
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            //test-send a canmessage
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            //test-send a canmessage
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            bios->can_send(&txMsg);
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            bios->can_send(&txMsg);
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            time1 = time;
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            time1 = time;
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            printf("Two seconds passed, time is now %d.\n", (int)time);
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            printf("Two seconds passed, time is now %ld.\n", time);
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        }
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        if ((time - time2) >= 20000) {
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            time2 = time;
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            printf("Will now hang node.\n");
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            cli();
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        }
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        }
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    }
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    }
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    return 0;
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    return 0;
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}
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}