drivers/ecos_lpc2138_sja1000/canOpenDriver.c
author lbessard
Wed, 10 Jan 2007 17:42:34 +0100
changeset 64 c72dd78e547f
parent 18 2fc8aa46980b
permissions -rw-r--r--
Bug reported by Dean corrected
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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 Author: Christian Fortin (canfestival@canopencanada.ca)
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#include <stdlib.h>
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#include <sys/time.h>
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#include <signal.h>
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#include <cyg/kernel/kapi.h>
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#include <cyg/hal/hal_arch.h>
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#include "applicfg.h"
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#include <data.h>
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#include <def.h>
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#include <can.h>
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#include <can_driver.h>
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#include <objdictdef.h>
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#include <objacces.h>
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#include "lpc2138_pinout.h"
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#include "lpc2138_defs.h"
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#include "lpc2138.h"
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#include "sja1000.h"
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#include "time_slicer.h"
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/*
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	SEND/RECEIVE
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*/
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CAN_HANDLE canOpen(s_BOARD *board)
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{
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	return NULL;
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}
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/***************************************************************************/
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int canClose(CAN_HANDLE fd0)
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{
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	return 0;
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}
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UNS8 canReceive(CAN_HANDLE fd0, Message *m)
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/*
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Message *m :
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	typedef struct {
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	  SHORT_CAN cob_id;     // l'ID du mesg
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	  UNS8 rtr;             // remote transmission request. 0 if not rtr,
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        	                // 1 for a rtr message
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	  UNS8 len;             // message length (0 to 8)
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	  UNS8 data[8];         // data
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	} Message;
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Fill the structure "Message" with data from the CAN receive buffer
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return : 0
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*/
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{
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/*
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	the sja1000 must be set to the PeliCAN mode
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*/
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    m->cob_id.w = sja1000_read(16) + (sja1000_read(17)<<8); // IO_PORTS_16(CAN0 + CANRCVID) >> 5
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    m->rtr = (sja1000_read(17) >> 4) & 0x01; // (IO_PORTS_8(CAN0 + CANRCVID + 1) >> 4) & 0x01; 
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    m->len = sja1000_read(18);
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    m->data[0] = sja1000_read(19);
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    m->data[1] = sja1000_read(20);
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    m->data[2] = sja1000_read(21);
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    m->data[3] = sja1000_read(22);
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    m->data[4] = sja1000_read(23);
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    m->data[5] = sja1000_read(24);
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    m->data[6] = sja1000_read(25);
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    m->data[7] = sja1000_read(26);
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    sja1000_write(CMR, 1<<RRB );        // release fifo
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    return 0;
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}
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UNS8 canSend(CAN_HANDLE fd0, Message *m)
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/*
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Message *m :
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	typedef struct {
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	  SHORT_CAN cob_id;     // l'ID du mesg
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	  UNS8 rtr;                     // remote transmission request. 0 if not rtr,
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        	                        // 1 for a rtr message
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	  UNS8 len;                     // message length (0 to 8)
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	  UNS8 data[8];         // data
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	} Message;
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Send the content of the structure "Message" to the CAN transmit buffer
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return : 0 if OK, 1 if error
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*/
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{
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    unsigned char rec_buf;
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    do
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    {
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        rec_buf = sja1000_read(SR);
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    }
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    while ( (rec_buf & (1<<TBS))==0);           // loop until TBS high
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    sja1000_write(16, m->cob_id.w & 0xff); 
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    sja1000_write(17, (m->cob_id.w >> 8) & 0xff);
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    sja1000_write(18, m->len);
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    sja1000_write(19, m->data[0]); // tx data 1
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    sja1000_write(20, m->data[1]); // tx data 2
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    sja1000_write(21, m->data[2]); // tx data 3
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    sja1000_write(22, m->data[3]); // tx data 4
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    sja1000_write(23, m->data[4]); // tx data 5
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    sja1000_write(24, m->data[5]); // tx data 6
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    sja1000_write(25, m->data[6]); // tx data 7
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    sja1000_write(26, m->data[7]); // tx data 8
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    sja1000_write(CMR,( (0<<SRR) | (0<<CDO) | (0<<RRB) | (0<<AT) | (1<<TR)));
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    do
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    {
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        rec_buf = sja1000_read(SR);
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    }
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    while ( (rec_buf & (1<<TBS))==0);           // loop until TBS high
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    return 0;
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}
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/*
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	SEQUENTIAL I/O TO FLASH
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	those functions are for continous writing and read
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*/
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int nvram_open(void)
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{
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	return iat_init();
0
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}
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void nvram_close(void)
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{
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	iat_end();
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}
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void nvram_set_pos(UNS32 pos)
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/* set the current position in the NVRAM to pos */
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{
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}
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void nvram_new_firmware()
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{
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/*
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	this function is called whenever a new firmware is about
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	to be written in the NVRAM
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*/
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	data_addr = regs_page[1] + regs_page[4]*NVRAM_BLOCK_SIZE;
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	if (data_addr > NVRAM_MAX_SIZE)
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		data_addr = NVRAM_BLOCK_SIZE;
0
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}
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int _get_data_len(int type)
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{
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	int len = 0; /* number of bytes */
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	switch(type)
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	{
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		case  boolean:
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			len = 1;
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			break;
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		case  int8:
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		case  uint8:
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			len = 1;
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			break;
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		case  int16:
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		case  uint16:
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			len = 2;
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			break;
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		case  int24:
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		case  uint24:
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			len = 3;
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			break;
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		case  int32:
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		case  uint32:
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		case  real32:
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			len = 4;
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			break;
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		case  int40:
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		case  uint40:
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			len = 5;
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			break;
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		case  int48:
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		case  uint48:
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			len = 6;
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			break;
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		case  int56:
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		case  uint56:
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			len = 7;
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			break;
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		case  int64:
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		case  uint64:
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		case  real64:
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			len = 8;
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			break;
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#if 0
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/* TO DO */
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		case  visible_string:
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		case  octet_string:
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		case  unicode_string:
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		case  time_of_day:
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		case  time_difference:
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#endif
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	}
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	return len;
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}
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3
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char nvram_write_data(int type, int access_attr, void *data)
0
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/* return 0 if successfull */
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{
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	int len = _get_data_len(type);
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	if (data_len+len > NVRAM_BLOCK_SIZE)
0
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	{
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		iat_flash_write_page(data_addr);
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		data_len = 0;
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		data_addr += NVRAM_BLOCK_SIZE; 
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		/* wrap-around address pointer */
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		if (data_addr > NVRAM_MAX_SIZE)
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			data_addr = NVRAM_BLOCK_SIZE;
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		data_num_pages++;
0
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	}
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	memcpy(((char *)data_page)+data_len, data, len);
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	data_len += len;
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	return 0;
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}
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char nvram_read_data(int type, int access_attr, void *data)
0
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/* return 0 if successful */
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{
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	int len = _get_data_len(type);
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	if (data_len+len > NVRAM_BLOCK_SIZE)
0
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	{
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		data_addr += NVRAM_BLOCK_SIZE;
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		/* wrap-around address pointer */
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		if (data_addr > NVRAM_MAX_SIZE)
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			data_addr = NVRAM_BLOCK_SIZE;
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0
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		iat_flash_read_page(data_addr);
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		data_len = 0;		
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	}
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	memcpy(data, ((char *)data_page)+data_len, len);
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	data_len += len;
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	return 0;
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}
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3
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/*
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	NVRAM registers at block 0
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	pos        description
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	0          version of the current dictionnary
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	1          starting address for data block
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	2          date of last writing
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	3          address of the previous dictionnary          
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	4          size in pages of the current dict
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*/
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void nvram_write_reg(UNS32 reg, UNS16 pos)
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/* write reg at the position in the data block 0 */
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{
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	regs_page[pos] = reg;
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}
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UNS32 nvram_read_reg(UNS16 pos)
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/* read reg at the position in the data block 0 */
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{
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	return regs_page[pos];
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}
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0
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/*
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	LED
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*/
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3
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void led_set_redgreen(UNS8 bits)
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/* bits : each bit of this uns8 is assigned a led 
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          0=off, 1=on
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*/
0
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{
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	lpc2138_redgreenled_set(bits);
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}
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