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 * Includes
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 * Includes
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 *---------------------------------------------------------------------------*/
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 *---------------------------------------------------------------------------*/
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/* system files */
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/* system files */
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#include <avr/io.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include <avr/wdt.h>
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#include <stdio.h>
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#include <stdio.h>
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/* lib files */
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/* lib files */
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#include <bios.h>
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#include <bios.h>
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#include <tc1047.h>
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#include <tc1047.h>
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#include <rc_servo.h>
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#include <rc_servo.h>
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#include <eqlazer_funcdefs.h>
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#include <eqlazer_funcdefs.h>
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/* defines */
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/* defines */
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#define NUMBER_OF_RCS 1
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#define NODE_ID     0x03L // FIXME ändras för varje nod
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#define NODE_ID     0x03L // FIXME ändras för varje nod
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#define GROUP_ID    0x01L // ^
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#define GROUP_ID    0x01L // ^
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#define FAILSAFE_MODE       0x0F
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#define FAILSAFE_MODE       0x0F
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#define FAILSAFE_TRESHOLD   60  /* Degrees celcius when nodeBlinds goes into failsafe mode */
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#define FAILSAFE_TRESHOLD   60  /* Degrees celcius when nodeBlinds goes into failsafe mode */
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#define BLINDS_TURN_LEFT    0x01
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#define BLINDS_TURN_LEFT    0x01
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#define BLINDS_TURN_RIGHT   0x02
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#define BLINDS_TURN_RIGHT   0x02
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#define STEPS_PER_TURN_PERIOD   10 /* number of steps for each adjustment */
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#define STEPS_PER_TURN_PERIOD   10 /* number of steps for each adjustment */
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#define TURN_PERIOD             100 /* ms */
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#define TURN_PERIOD             100 /* ms */
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#define STATUS_SEND_PERIOD      10000 /* ms */
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#define STATUS_SEND_PERIOD      5000 /* ms */
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#define FAILSAFE_SEND_PERIOD    10000 /* ms */
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#define FAILSAFE_SEND_PERIOD    10000 /* ms */
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#define BOUNCE_TIME             10 /* ms */
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#define BOUNCE_TIME             10 /* ms */
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#define SERVO_FEED_TIME         2000 /* ms */
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#define SERVO_FEED_TIME         2000 /* ms */
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#define BUTTON1                 1
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#define BUTTON1                 1
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#define BUTTON2                 2
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#define BUTTON2                 2
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            servoToTurn,
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            servoToTurn,
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            turnDirection = BLINDS_TURN_STOP; /* Specifies direction to turn or stopped */
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            turnDirection = BLINDS_TURN_STOP; /* Specifies direction to turn or stopped */
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    uint32_t boardTemperature = 0;
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    uint32_t boardTemperature = 0;
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    uint32_t timeStamp = 0, timeStampTurn = 0, servoFeed_timeStamp = 0;
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    uint32_t timeStamp = 0, timeStampTurn = 0, servoFeed_timeStamp = 0;
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    sei();
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    adcTemperatureInit();
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    adcTemperatureInit();
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    rcServoInit();
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    rcServoInit();
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#if defined(TWO_BUTTON_MODE)
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#if defined(TWO_BUTTON_MODE)
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    /*
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    /*
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     * Initialize buttons
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     * Initialize buttons
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     * It is possible to use ie. sensors instead
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     * It is possible to use ie. sensors instead
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     * but then change this
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     * but then change this
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#endif
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#endif
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    /* Set output and turn off the servo current feed */
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    /* Set output and turn off the servo current feed */
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    DDRC |= (1<<DDC0);
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    DDRC |= (1<<DDC0);
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    PORTC &= ~(1<<PC0);
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    PORTC &= ~(1<<PC0);
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    sei();
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//  sei();
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    txMsg.RemoteFlag = 0;
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    txMsg.RemoteFlag = 0;
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    txMsg.ExtendedFlag = 1;
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    txMsg.ExtendedFlag = 1;
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    txMsg.Id = (CLASS_SNS << CLASS_MASK_BITS)|(SNS_ACT_STATUS_SERVO << TYPE_MASK_BITS)|(NODE_ID << SID_MASK_BITS);
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    txMsg.Id = (CLASS_SNS << CLASS_MASK_BITS)|(SNS_ACT_STATUS_SERVO << TYPE_MASK_BITS)|(NODE_ID << SID_MASK_BITS);
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                    }
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                    }
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                }
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                }
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                msg_received = FALSE;
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                msg_received = FALSE;
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        }
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        }
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        if( bios->timebase_get() - timeStamp  >= STATUS_SEND_PERIOD ){
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        if( (bios->timebase_get() - timeStamp)  >= STATUS_SEND_PERIOD ){
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            timeStamp = bios->timebase_get();
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            timeStamp = bios->timebase_get();
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            /* Send blinds status to CAN */
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            /* Send blinds status to CAN */
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            boardTemperature = getTC1047temperature();
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            boardTemperature = getTC1047temperature();
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