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         * message in the queue.
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         * message in the queue.
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         */
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         */
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    }
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    }
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}
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}
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StdCan_Ret_t StdCan_Init(Node_Desc_t* node_desc)
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StdCan_Ret_t StdCan_Init()
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{
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{
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    StdCan_Ret_t retval;
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    StdCan_Ret_t retval;
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    /* Reset all queue variables. */
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    /* Reset all queue variables. */
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    RxQ_Rd_idx = 0;
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    RxQ_Rd_idx = 0;
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    /* Set up Startup message format. */
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    /* Set up Startup message format. */
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    Startup.ExtendedFlag = 1;
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    Startup.ExtendedFlag = 1;
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    Startup.RemoteFlag = 0;
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    Startup.RemoteFlag = 0;
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    Startup.DataLength = 4;
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    Startup.DataLength = 4;
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    Startup.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
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    Startup.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE);
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    Startup.Data.bytes[1] = APP_TYPE&0xff;
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    Startup.Data.bytes[0] = NODE_HW_ID&0xff;
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    Startup.Data.bytes[0] = (APP_TYPE>>8)&0xff;
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    Startup.Data.bytes[1] = (NODE_HW_ID>>8)&0xff;
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    Startup.Data.bytes[3] = APP_VERSION&0xff;
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    Startup.Data.bytes[2] = (NODE_HW_ID>>16)&0xff;
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    Startup.Data.bytes[2] = (APP_VERSION>>8)&0xff;
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    Startup.Data.bytes[3] = (NODE_HW_ID>>24)&0xff;
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    /* Try to send it. */
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    /* Try to send it. */
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    Can_Send(&Startup);
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    Can_Send(&Startup);
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#endif
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#endif
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    Can_Msg.DataLength = msg->Length;
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    Can_Msg.DataLength = msg->Length;
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    for (n = 0; n < msg->Length; n++) {
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    for (n = 0; n < msg->Length; n++) {
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        Can_Msg.Data.bytes[n] = msg->Data[n];
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        Can_Msg.Data.bytes[n] = msg->Data[n];
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    }
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    }
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    if (Can_Send(&Can_Msg) == CAN_OK)
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    if (Can_Send(&Can_Msg) == CAN_OK) {
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        Can_Process(&Can_Msg);
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        return StdCan_Ret_OK;
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        return StdCan_Ret_OK;
- 
 
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    }
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    else
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    else
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        return StdCan_Ret_Full;
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        return StdCan_Ret_Full;
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}
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}
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void StdCan_SendHeartbeat(uint8_t n)
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void StdCan_SendHeartbeat(uint8_t n)
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    Can_Message_t Heartbeat;
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    Can_Message_t Heartbeat;
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    /* Set up Heartbeat message format. */
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    /* Set up Heartbeat message format. */
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    Heartbeat.ExtendedFlag = 1;
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    Heartbeat.ExtendedFlag = 1;
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    Heartbeat.RemoteFlag = 0;
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    Heartbeat.RemoteFlag = 0;
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    Heartbeat.DataLength = 0;
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    Heartbeat.DataLength = 4;
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    Heartbeat.Id = (CAN_NMT << CAN_SHIFT_CLASS)
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    Heartbeat.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_HEARTBEAT << CAN_SHIFT_NMT_TYPE);
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                 | (CAN_NMT_HEARTBEAT << CAN_SHIFT_NMT_TYPE)
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    Heartbeat.Data.bytes[0] = NODE_HW_ID&0xff;
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    Heartbeat.Data.bytes[1] = (NODE_HW_ID>>8)&0xff;
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    Heartbeat.Data.bytes[2] = (NODE_HW_ID>>16)&0xff;
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                 | (NODE_ID << CAN_SHIFT_NMT_SID);
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    Heartbeat.Data.bytes[3] = (NODE_HW_ID>>24)&0xff;
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    /* Try to send it. */
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    /* Try to send it. */
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    Can_Send(&Heartbeat);
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    Can_Send(&Heartbeat);
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}
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}
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