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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 <config.h>
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#include <config.h>
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#include <drivers/timer/timebase.h>
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#include <drivers/timer/timebase.h>
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#include <tc1047.h>
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#include <rc_servo.h>
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//#include <funcdefs.h>
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//#include <funcdefs.h>
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/* defines */
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/* defines */
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#define SERVOID_1 0xabc
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#define SERVOID_1 0x1
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#define SERVOID_2 0xbcd
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#define SERVOID_2 0x2
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#define SERVOID_3 0xcde
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#define SERVOID_3 0x3
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//#define GROUP_ID  0x01L // FIXME
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//#define GROUP_ID  0x01L // FIXME
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#define FAILSAFE_MODE       0x0F
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#define FAILSAFE_MODE       0x0F
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#define FAILSAFE_TRESHOLD   50  // Degrees celcius when nodeBlinds goes into failsafe mode
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#define FAILSAFE_TRESHOLD   50  // Degrees celcius when nodeBlinds goes into failsafe mode
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    while (1) {
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    while (1) {
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        // check if any messages have been received
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        // check if any messages have been received
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        if(rxMsgFull){
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        if(rxMsgFull){
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            if( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_ACT ){
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            if( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_ACT ){
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                // Actuator package
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                // Actuator package
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                acttype = (uint8_t)((rxMsg.Id & CAN_MASK_ACT_TYPE) >> CAN_SHIFT_ACT_TYPE);
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                acttype = (uint16_t)((rxMsg.Id & CAN_MASK_ACT_TYPE) >> CAN_SHIFT_ACT_TYPE);
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                servoid = (uint16_t)((rxMsg.Id & CAN_MASK_ACT_ID) >> CAN_SHIFT_ACT_ID);
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                servoid = (uint8_t)((rxMsg.Id & CAN_MASK_ACT_ID) >> CAN_SHIFT_ACT_ID);
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        // Check if it is command to control this servo
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        // Check if it is command to control this servo
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                if(acttype == ACT_TYPE_SERVO && (servoid == SERVOID_1 || servoid == SERVOID_2 || servoid == SERVOID_3)){
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                if(acttype == ACT_TYPE_SERVO && (servoid == SERVOID_1 || servoid == SERVOID_2 || servoid == SERVOID_3)){
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                    // This node that control a servo is adressed
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                    // This node that control a servo is adressed
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                    if(servoid == SERVOID_1){
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                    if(servoid == SERVOID_1){