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#define BLINDS_TURN_STOP    0x00
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#define BLINDS_TURN_STOP    0x00
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#define BLINDS_TURN_CCW     0x01
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#define BLINDS_TURN_CCW     0x01
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#define BLINDS_TURN_CW      0x02
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#define BLINDS_TURN_CW      0x02
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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 STATUS_SEND_PERIOD      5000 // 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 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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#define SERVO_FEED_PORT         PORTD
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#define SERVO_FEED_PORT         PORTC
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#define SERVO_FEED_DDR          DDRD
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#define SERVO_FEED_DDR          DDRC
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#define SERVO_FEED_PIN          PD2
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#define SERVO_FEED_PIN          PC0
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#define APP_TYPE    CAN_APPTYPES_SERVO
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#define APP_TYPE    CAN_APPTYPES_SERVO
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#define APP_VERSION 0x0001
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#define APP_VERSION 0x0001
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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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    uint8_t temp_id;
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    uint8_t temp_id, servoid;
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    uint16_t acttype, servoid;
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    uint16_t acttype;
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    uint8_t //blindsStatus, /* Position (-128 to 127) */
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    uint8_t //blindsStatus, /* Position (-128 to 127) */
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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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    PCICR |= (1<<PCIE2);
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    PCICR |= (1<<PCIE2);
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    /* Unmask PD1 and SERVO_FEED_PIN */
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    /* Unmask PD1 and SERVO_FEED_PIN */
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    PCMSK2 |= (1<<PCINT16) | (1<<PCINT17);
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    PCMSK2 |= (1<<PCINT16) | (1<<PCINT17);
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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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    SERVO_FEED_DDR |= (1<<SERVO_FEED_PIN);
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    //SERVO_FEED_DDR |= (1<<SERVO_FEED_PIN);
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    SERVO_FEED_PORT &= ~(1<<SERVO_FEED_PIN);
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    //SERVO_FEED_PORT &= ~(1<<SERVO_FEED_PIN);
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    txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
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    txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
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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.DataLength = 4;
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    txMsg.DataLength = 4;
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                            turnDirection = (rxMsg.Data.bytes[0]&0x80)?BLINDS_TURN_CW:BLINDS_TURN_CCW; // FIXME riktning beroende på positivt eller negativt tal?
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                            turnDirection = (rxMsg.Data.bytes[0]&0x80)?BLINDS_TURN_CW:BLINDS_TURN_CCW; // FIXME riktning beroende på positivt eller negativt tal?
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                            servoToTurn = temp_id;
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                            servoToTurn = temp_id;
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                            servoFeed_timeStamp = Timebase_CurrentTime();
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                            servoFeed_timeStamp = Timebase_CurrentTime();
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                        }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_STOP ){
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                        }else if(rxMsg.Data.bytes[1] == BLINDS_CMD_STOP ){
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                            // Stop turning
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                            // Stop turning
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                            turnDirection = BLINDS_TURN_STOP;
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                            turnDirection = BLINDS_TURN_STOP;
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                        }/*else if(rxMsg.Data.bytes[0] == BLINDS_CMD_STATUS){
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                        }/*else if(rxMsg.Data.bytes[0] == BLINDS_CMD_STATUS){