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 *
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 *
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 * @param c
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 * @param c
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 *      The received UART byte.
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 *      The received UART byte.
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 */
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 */
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void UartParseByte(uint8_t c) {
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void UartParseByte(uint8_t c) {
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    static CanMessage_t cm;
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    static Can_Message_t cm;
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    static uint8_t waitingMessage = 0;
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    static uint8_t waitingMessage = 0;
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    static uint32_t startTime = 0;
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    static uint32_t startTime = 0;
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    static int8_t count = 0;
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    static int8_t count = 0;
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    /* 50ms timeout */
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    /* 50ms timeout */
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    if (waitingMessage && TimebasePassedTimeMS(startTime) > 50) {
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    if (waitingMessage && Timebase_PassedTimeMillis(startTime) > 50) {
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        waitingMessage = 0;
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        waitingMessage = 0;
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    }
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    }
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    if (waitingMessage) {
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    if (waitingMessage) {
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        /* save start time */
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        /* save start time */
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        startTime = TimebaseCurrentTime();
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        startTime = Timebase_CurrentTime();
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        /* UART END */
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        /* UART END */
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        if (count >= 15) {
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        if (count >= 15) {
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            if (c == UART_END_BYTE) {
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            if (c == UART_END_BYTE) {
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                PORTC ^= (1<<PC0);
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                PORTC ^= (1<<PC0);
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                CanSend(&cm);
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                Can_Send(&cm);
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            }
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            }
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            waitingMessage = 0;
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            waitingMessage = 0;
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            return;
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            return;
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        }
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        }
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        /* data */
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        /* data */
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        }
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        }
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    }
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    }
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    if (c == UART_START_BYTE && !waitingMessage) {
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    if (c == UART_START_BYTE && !waitingMessage) {
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        waitingMessage = 1;
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        waitingMessage = 1;
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        startTime = TimebaseCurrentTime();
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        startTime = Timebase_CurrentTime();
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        count = 0;
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        count = 0;
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        cm.Id = 0;
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        cm.Id = 0;
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        return;
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        return;
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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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 * Main Program
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 * Main Program
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 *---------------------------------------------------------------------------*/
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 *---------------------------------------------------------------------------*/
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int main(void) {
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int main(void) {
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    TimebaseInit();
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    Timebase_Init();
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    UartInit();
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    Uart_Init();
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    CanInit(CAN_BITRATE_1M);
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    Can_Init();
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    DDRC = 1<<PC1 | 1<<PC0;
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    DDRC = 1<<PC1 | 1<<PC0;
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    PORTC = (1<<PC1) | (1<<PC0);
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    PORTC = (1<<PC1) | (1<<PC0);
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    sei();
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    sei();
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    CanMessage_t rxMsg;
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    Can_Message_t rxMsg;
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    uint16_t rxByte;
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    uint16_t rxByte;
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    uint8_t i = 0;
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    uint8_t i = 0;
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    /* main loop */
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    /* main loop */
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    while (1) {
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    while (1) {
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        /* any new CAN messages received? */
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        /* any new CAN messages received? */
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        if (CanReceive(&rxMsg) == CAN_OK) {
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        if (Can_Receive(&rxMsg) == CAN_OK) {
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            PORTC ^= (1<<PC1);
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            PORTC ^= (1<<PC1);
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            /* send message to CanWatcher */
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            /* send message to CanWatcher */
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            uart_putc(UART_START_BYTE);
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            uart_putc(UART_START_BYTE);
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            uart_putc((uint8_t)rxMsg.Id);
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            uart_putc((uint8_t)rxMsg.Id);
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            uart_putc((uint8_t)(rxMsg.Id>>8));
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            uart_putc((uint8_t)(rxMsg.Id>>8));