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#include "bios_funs.h"
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#include "bios_funs.h"
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#include "avr_cfg.h"
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#include "avr_cfg.h"
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#include <inttypes.h>
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#include <inttypes.h>
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#include <avr/io.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include <avr/wdt.h>
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#include <avr/wdt.h>
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#include <avr/pgmspace.h>
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#include <avr/pgmspace.h>
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#include <stdio.h>
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#include <stdio.h>
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#include "flash.h"
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#include "flash.h"
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#include "vectors.h" // Must be included after sfr_defs.h
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#include "vectors.h" // Must be included after sfr_defs.h but before any ISR()
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#include "can.h"
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 12 
 
12 
//---------------------------------------------------------------------------
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//---------------------------------------------------------------------------
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// Globals
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// Globals
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 15 
 
15 
volatile long gMilliSecTick;
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volatile long gMilliSecTick;
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 17 
 
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//---------------------------------------------------------------------------
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//---------------------------------------------------------------------------
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// Function definitions for the exported interface
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// Function definitions for the exported interface
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 20 
 
20 
void reset(void) {
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void reset(void) {
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    //Just loop and let the watchdog reset
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    //Just loop and let the watchdog reset
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    cli();
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    cli();
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    while(1);
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    while(1);
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};
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};
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 26 
 
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void bios_putchar(char c) {
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void bios_putchar(char c) {
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    UART_PUTCHAR(c);
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    UART_PUTCHAR(c);
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};
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};
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 30 
 
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char bios_getchar(void) {
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char bios_getchar(void) {
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    char c;
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    char c;
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    UART_GETCHAR(c)
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    UART_GETCHAR(c)
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    return c;
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    return c;
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};
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};
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 36 
 
36 
long timebase_get(void) {
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long timebase_get(void) {
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    uint8_t sreg;
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    uint8_t sreg;
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    long res;
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    long res;
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    //Disable interrupts while reading tick count
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    //Disable interrupts while reading tick count
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    sreg=SREG;
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    sreg=SREG;
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    cli();
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    cli();
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44 
    res = gMilliSecTick;
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    res = gMilliSecTick;
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    SREG=sreg;
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    SREG=sreg;
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    return res;
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    return res;
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}
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}
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51 
//---------------------------------------------------------------------------
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//---------------------------------------------------------------------------
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// Function definitions for the private functions
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// Function definitions for the private functions
53 
 
 54 
 
54 
static int console_getchar(FILE *stream) {
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static int console_getchar(FILE *stream) {
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    return bios_getchar();
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    return bios_getchar();
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}
 57 
}
57 
 
 58 
 
58 
static int console_putchar(char c, FILE *stream) {
 59 
static int console_putchar(char c, FILE *stream) {
59 
    bios_putchar(c);
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    bios_putchar(c);
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    return 0;
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    return 0;
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}
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}
62 
 
 63 
 
63 
static FILE bios_stdio = FDEV_SETUP_STREAM(console_putchar, console_getchar,
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static FILE bios_stdio = FDEV_SETUP_STREAM(console_putchar, console_getchar,
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                                         _FDEV_SETUP_RW);
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                                         _FDEV_SETUP_RW);
65 
   
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66 
 
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67 
//---------------------------------------------------------------------------
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//---------------------------------------------------------------------------
68 
// Interrupt Service Routines
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// Interrupt Service Routines
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// Read app_vectors.h!
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// Read app_vectors.h!
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ISR(TIMEBASE_VECTOR) {
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ISR(TIMEBASE_VECTOR) {
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    TIMEBASE_COUNTER -= TIMEBASE_RELOAD;
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    TIMEBASE_COUNTER -= TIMEBASE_RELOAD;
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    gMilliSecTick++;
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    gMilliSecTick++;
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    wdt_reset();
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    wdt_reset();
75 
}
 76 
}
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 77 
 
77 
int main() {
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int main() {
78 
    void (*app_reset)(void) = 0;
 79 
    void (*app_reset)(void) = 0;
79 
   
 80 
   
80 
    // Setup USART for debug channel
 81 
    // Setup USART for debug channel
81 
    UART_INIT();
 82 
    UART_INIT();
82 
    stdout = &bios_stdio;
 83 
    stdout = &bios_stdio;
83 
    stdin = &bios_stdio;
 84 
    stdin = &bios_stdio;
84 
   
 85 
   
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    // Initialize a suitable hardware timer to create a 1KHz interrupt.
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    // Initialize a suitable hardware timer to create a 1KHz interrupt.
86 
    TIMEBASE_INIT();
 87 
    TIMEBASE_INIT();
87 
   
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    // Enable watchdog timer to protect against an application locking the
 89 
    // Enable watchdog timer to protect against an application locking the
89 
    // node by leaving interrupts disabled.
90 
    // node by leaving interrupts disabled.
90 
    wdt_enable(WDTO_500MS);
 91 
    wdt_enable(WDTO_500MS);
91 
   
 92 
   
92 
    // Move interrupt vectors to start of bootloader section and enable interrupts
 93 
    // Move interrupt vectors to start of bootloader section and enable interrupts
93 
    IVSEL_REG = _BV(IVCE);
 94 
    IVSEL_REG = _BV(IVCE);
94 
    IVSEL_REG = _BV(IVSEL);
 95 
    IVSEL_REG = _BV(IVSEL);
95 
    sei();
 96 
    sei();
96 
   
 97 
   
97 
    printf("AVR BIOS\n");
 98 
    printf("AVR BIOS\n");
98 
   
 99 
   
99 
    if (pgm_read_word(0) != 0xffff) {
 100 
    if (pgm_read_word(0) != 0xffff) {
100 
        printf("Starting application.\n");
 101 
        printf("Starting application.\n");
101 
        app_reset();
 102 
        app_reset();
102 
    }
 103 
    }
103 
   
 104 
   
104 
    printf("No application found.\n");
 105 
    printf("No application found.\n");
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 106 
   
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 107 
    printf("\n------------------------------------------------------------\n");
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 108 
    printf(  "   CAN Test: Periodic Transmission\n");
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 109 
    printf(  "------------------------------------------------------------\n");
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 110 
   
- 
 
 111 
    printf("CanInit...");
- 
 
 112 
    if (Can_Init() != CAN_OK) {
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 113 
        printf("FAILED!\n");
- 
 
 114 
    }
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 115 
    else {
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 116 
        printf("OK!\n");
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 117 
    }
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 118 
   
- 
 
 119 
    uint32_t timeStamp = 0;
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 120 
   
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    Can_Message_t txMsg;
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 122 
    Can_Message_t rxMsg;
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 123 
    //The databytes are just what happens to be in the memory. They are never set.
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 124 
    txMsg.RemoteFlag = 0;
- 
 
 125 
    txMsg.ExtendedFlag = 1;
- 
 
 126 
#define NODENUMBER 2
- 
 
 127 
#if NODENUMBER == 1
- 
 
 128 
    txMsg.Id = 16;
- 
 
 129 
    txMsg.DataLength = 2;
- 
 
 130 
#elif NODENUMBER == 2
- 
 
 131 
    txMsg.Id = 32;
- 
 
 132 
    txMsg.DataLength = 5;
- 
 
 133 
#else
- 
 
 134 
# error NODENUMBER not set!
- 
 
 135 
#endif
- 
 
 136 
   
- 
 
 137 
    uint8_t i;
- 
 
 138 
    /* main loop */
- 
 
 139 
    while (1) {
- 
 
 140 
        /* service the CAN routines */
- 
 
 141 
        Can_Service();
- 
 
 142 
       
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 143 
        /* send CAN message and check for CAN errors once every second */
- 
 
 144 
        if ((timebase_get() - timeStamp) >= 1000) {
- 
 
 145 
            timeStamp = timebase_get();
- 
 
 146 
            /* send txMsg */
- 
 
 147 
            txMsg.Id++;
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 148 
            Can_Send(&txMsg);
- 
 
 149 
        }
- 
 
 150 
       
- 
 
 151 
        /* check if any messages have been received */
- 
 
 152 
        while (Can_Receive(&rxMsg) == CAN_OK) {
- 
 
 153 
            printf("BIOS Received: ID=%lx, DLC=%u, EXT=%u, RTR=%u, ", rxMsg.Id, (uint16_t)(rxMsg.DataLength), (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
- 
 
 154 
            printf("data={ ");
- 
 
 155 
            for (i=0; i<rxMsg.DataLength; i++) {
- 
 
 156 
                printf("%x ", rxMsg.Data.bytes[i]);
- 
 
 157 
            }
- 
 
 158 
            printf("}\n");
- 
 
 159 
           
- 
 
 160 
            if (rxMsg.Id % 20 == 19) reset();
- 
 
 161 
        }
- 
 
 162 
    }
- 
 
 163 
 
105 
    return 0;
 164 
    return 0;
106 
}
 165 
}
107 
 
 166