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/*
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/*
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 * $Id: bios.c 1631 2010-12-02 15:08:08Z linlun $
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 * $Id: bios.c 1641 2010-12-05 22:37:37Z nattgris $
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 */
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 */
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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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#if defined(AUTOSTART)
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#if defined(AUTOSTART)
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            autostart_cnt++;
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            autostart_cnt++;
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#endif
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#endif
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        }
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        }
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        if (((msg->Id & CAN_MASK_NMT_TYPE)>>CAN_SHIFT_NMT_TYPE) == CAN_NMT_RESET && msg->DataLength == 4 &&
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        if (((msg->Id & CAN_MASK_NMT_TYPE)>>CAN_SHIFT_NMT_TYPE) == CAN_NMT_RESET
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                && msg->DataLength == 4
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                && msg->Data.bytes[0] == (hwid&0xff)
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                msg->Data.bytes[0] == (hwid&0xff) && msg->Data.bytes[1] == ((hwid>>8)&0xff) &&
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                && msg->Data.bytes[1] == ((hwid>>8)&0xff)
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                && msg->Data.bytes[2] == ((hwid>>16)&0xff)
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                msg->Data.bytes[2] == ((hwid>>16)&0xff) && msg->Data.bytes[3] == ((hwid>>24)&0xff) ) {
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                && msg->Data.bytes[3] == ((hwid>>24)&0xff)) {
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            BIOS_Reset();
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            BIOS_Reset();
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        }
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        }
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        // Copy message to bios buffer if bios is done with the previous message.
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        // Copy message to bios buffer if bios is done with the previous message.
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        // This is also a check to see if bios is still running. When app is
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        // This is also a check to see if bios is still running. When app is
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        // started, bios_msg_full is never reset to 0 so the check fails and all
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        // started, bios_msg_full is never reset to 0 so the check fails and all
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        nmt_type = (bios_msg.Id & CAN_MASK_NMT_TYPE)>>CAN_SHIFT_NMT_TYPE;
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        nmt_type = (bios_msg.Id & CAN_MASK_NMT_TYPE)>>CAN_SHIFT_NMT_TYPE;
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        switch (bios_state) {
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        switch (bios_state) {
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        case BIOS_APP:
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        case BIOS_APP:
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            //if (nmt_type == CAN_NMT_START_APP) {
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            //if (nmt_type == CAN_NMT_START_APP) {
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            if (nmt_type == CAN_NMT_START_APP && bios_msg.DataLength == 4 &&
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            if (nmt_type == CAN_NMT_START_APP
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                    && bios_msg.DataLength == 4
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                    && bios_msg.Data.bytes[0] == (hwid&0xff)
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                    bios_msg.Data.bytes[0] == (hwid&0xff) && bios_msg.Data.bytes[1] == ((hwid>>8)&0xff) &&
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                    && bios_msg.Data.bytes[1] == ((hwid>>8)&0xff)
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                    && bios_msg.Data.bytes[2] == ((hwid>>16)&0xff)
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                    bios_msg.Data.bytes[2] == ((hwid>>16)&0xff) && bios_msg.Data.bytes[3] == ((hwid>>24)&0xff) ) {
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                    && bios_msg.Data.bytes[3] == ((hwid>>24)&0xff)) {
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                app_reset(); // Will never return
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                app_reset(); // Will never return
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            }
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            }
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            // Fall through
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            // Fall through
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        case BIOS_NOAPP:
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        case BIOS_NOAPP:
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            //if (nmt_type == CAN_NMT_PGM_START) {
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            //if (nmt_type == CAN_NMT_PGM_START) {
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            if (nmt_type == CAN_NMT_PGM_START && bios_msg.DataLength == 8 &&
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            if (nmt_type == CAN_NMT_PGM_START
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                    && bios_msg.DataLength == 8
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                    && bios_msg.Data.bytes[4] == (hwid&0xff)
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                    bios_msg.Data.bytes[4] == (hwid&0xff) && bios_msg.Data.bytes[5] == ((hwid>>8)&0xff) &&
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                    && bios_msg.Data.bytes[5] == ((hwid>>8)&0xff)
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                    && bios_msg.Data.bytes[6] == ((hwid>>16)&0xff)
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                    bios_msg.Data.bytes[6] == ((hwid>>16)&0xff) && bios_msg.Data.bytes[7] == ((hwid>>24)&0xff) ) {
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                    && bios_msg.Data.bytes[7] == ((hwid>>24)&0xff)) {
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                // Set base address
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                // Set base address
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                base_addr = bios_msg.Data.words[0];
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                base_addr = bios_msg.Data.words[0];
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                flash_init(pagebuf);
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                flash_init(pagebuf);
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                //send CAN_NMT_PGM_ACK(offset)
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                //send CAN_NMT_PGM_ACK(offset)
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                tx_msg.Id = CAN_ID_NMT_PGM_ACK;
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                tx_msg.Id = CAN_ID_NMT_PGM_ACK;