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#include <inttypes.h>

#include <avr/interrupt.h>

#include <stdio.h>

#include <bios.h>

#include <serial.h>

#define APP_TYPE    0xf001

#define APP_VERSION 0x0001

void can_receive(Can_Message_t *msg) {

    printf("candata!\n");

}

int main(void)

{

    unsigned long time;

    unsigned long time1 = bios->timebase_get();

    sei();

    Serial_Init();

    Can_Message_t txMsg;

    txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);

    txMsg.DataLength = 4;

    txMsg.RemoteFlag = 0;

    txMsg.ExtendedFlag = 1;

    txMsg.Data.words[0] = APP_TYPE;

    txMsg.Data.words[1] = APP_VERSION;

    //set up callback for candata

    bios->can_callback = &can_receive;

    // Send CAN_NMT_APP_START

    bios->can_send(&txMsg);

    printf("AVR Test Application\n");

    printf("Using AVR BIOS version %x\n", bios->version);

    txMsg.Id = (CAN_TST << CAN_SHIFT_CLASS) | NODE_ID;

    //txMsg.Data.dwords[0] = 0x01020304;

    //txMsg.Data.dwords[1] = 0xfffefdfc;

    txMsg.DataLength = 4;

    while (1) {

        time = bios->timebase_get();

        if ((time - time1) >= 2000) {

            //test-send a canmessage

            txMsg.Data.bytes[0] = time & 0x000000FF;

            txMsg.Data.bytes[1] = (time & 0x0000FF00)>>8;

            txMsg.Data.bytes[2] = (time & 0x00FF0000)>>16;

            txMsg.Data.bytes[3] = (time & 0xFF000000)>>24;

            bios->can_send(&txMsg);

            time1 = time;

            printf("Two seconds passed, time is now %ld.\n", time);

        }

    }

    return 0;

}