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#include <inttypes.h>
#include <avr/interrupt.h>
#include <stdio.h>
#include <string.h>
#include <drivers/can/stdcan.h>
#include <config.h> // All configuration parameters
#include <bios.h>   // BIOS interface declarations, including CAN structure and ID defines.
#include <drivers/timer/timer.h>

%INCLUDE

int main(void)
{
    StdCan_Msg_t rxMsg; // Message storage

    // Enable interrupts as early as possible
    sei();
    
    Timer_Init();

    StdCan_Init();
    
    Timer_SetTimeout(APP_HEARTBEAT_TIMER, STDCAN_HEARTBEAT_PERIOD, TimerTypeFreeRunning, StdCan_SendHeartbeat);
    
    %INIT

    while (1)
    {
        %PROCESS
    
        if (StdCan_Get(&rxMsg) == StdCan_Ret_OK)
        {
            if (    StdCan_Ret_class(rxMsg.Header) == CAN_CLASS_MODULE_NMT &&
                StdCan_Ret_direction(rxMsg.Header) == DIR_TO_OWNER &&
                rxMsg.Header.Command == CAN_CMD_MODULE_NMT_LIST &&
                rxMsg.Data[0] == NODE_HW_ID_BYTE0 &&
                rxMsg.Data[1] == NODE_HW_ID_BYTE1 &&
                rxMsg.Data[2] == NODE_HW_ID_BYTE2 &&
                rxMsg.Data[3] == NODE_HW_ID_BYTE3)
            {
                %LIST
            }
            else
            {
                %HANDLEMSG
            }
        }
    }
    
    return 0;
}