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#include <inttypes.h>
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#include <inttypes.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include <stdio.h>
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#include <stdio.h>
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#include <string.h>
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#include <string.h>
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#include <config.h> // All configuration parameters
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#include <config.h> // All configuration parameters
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#include <bios.h>   // BIOS interface declarations, including CAN structure and ID defines.
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#include <bios.h>   // BIOS interface declarations, including CAN structure and ID defines.
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#include <drivers/uart/serial.h>
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#include <drivers/uart/serial.h>
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#include <drivers/timer/timebase.h>
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#include <drivers/timer/timer.h>
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#define APP_TYPE    0xf001
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#define APP_TYPE    0xf001
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#define APP_VERSION 0x0001
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#define APP_VERSION 0x0002
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// A simple message "queue", with space for one message only.
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// A simple message "queue", with space for one message only.
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// These are declared volatile to tell the compiler not to optimize away accesses.
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// These are declared volatile to tell the compiler not to optimize away accesses.
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volatile Can_Message_t rxMsg; // Message storage
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volatile Can_Message_t rxMsg; // Message storage
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volatile uint8_t rxMsgFull;   // Synchronization flag
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volatile uint8_t rxMsgFull;   // Synchronization flag
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// CAN message reception callback.
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// CAN message reception callback.
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// This function runs with interrupts disabled, keep it as short as possible.
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// This function runs with interrupts disabled, keep it as short as possible.
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void can_receive(Can_Message_t *msg) {
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void can_receive(Can_Message_t *msg) {
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    if (!rxMsgFull) {
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    if (!rxMsgFull) {
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        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
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        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
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        rxMsgFull = 1;
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        rxMsgFull = 1;
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    }
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    }
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}
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// Timer callback function used for some timer tests
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void timer_callback(uint8_t timer) {
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    Can_Message_t msg;
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    msg.ExtendedFlag = 1;
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    msg.Id = (CAN_TST << CAN_SHIFT_CLASS) | NODE_ID;
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    msg.RemoteFlag = 0;
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    msg.DataLength = 1;
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    msg.Data.bytes[0] = timer;
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    BIOS_CanSend(&msg);
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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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{
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{
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    // Enable interrupts as early as possible
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    // Enable interrupts as early as possible
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    sei();
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    sei();
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    Timebase_Init();
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    Timer_Init();
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    Serial_Init();
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    Serial_Init();
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    unsigned long time, time1 = Timebase_CurrentTime();
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    unsigned long time;
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    Can_Message_t txMsg;
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    Can_Message_t txMsg;
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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.DataLength = 4;
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    txMsg.DataLength = 4;
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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.Data.words[0] = APP_TYPE;
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    txMsg.Data.words[0] = APP_TYPE;
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    txMsg.Data.words[1] = APP_VERSION;
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    txMsg.Data.words[1] = APP_VERSION;
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    // Set up callback for CAN reception, this is optional if only sending is required.
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    // Set up callback for CAN reception, this is optional if only sending is required.
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    BIOS_CanCallback = &can_receive;
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    BIOS_CanCallback = &can_receive;
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    // Send CAN_NMT_APP_START
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    // Send CAN_NMT_APP_START
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    BIOS_CanSend(&txMsg);
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    BIOS_CanSend(&txMsg);
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    printf("AVR Test Application\n");
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    printf("AVR Test Application\n");
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    printf("Using AVR BIOS version %x\n", BIOS_VERSION);
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    printf("Using AVR BIOS version %x\n", BIOS_VERSION);
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    txMsg.Id = (CAN_TST << CAN_SHIFT_CLASS) | NODE_ID;
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    txMsg.Id = (CAN_TST << CAN_SHIFT_CLASS) | NODE_ID;
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    txMsg.Data.dwords[0] = 0x01020304;
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    txMsg.Data.dwords[0] = 0x01020304;
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    txMsg.DataLength = 8;
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    txMsg.DataLength = 8;
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    // Set up three timers (assume at least three has been defined)
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    // The timeout is specified in ticks, which is equal to ms if
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    // the tick frequency is set to 1000.
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    Timer_SetTimeout(0, 2000, TimerTypeFreeRunning, 0);
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    Timer_SetTimeout(1, 10768, TimerTypeOneShot, &timer_callback);
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    Timer_SetTimeout(2, 3141, TimerTypeFreeRunning, &timer_callback);
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    while (1) {
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    while (1) {
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        time = Timebase_CurrentTime();
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        if ((time - time1) >= 2000) {
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        if (Timer_Expired(0)) {
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            time1 = time;
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            // Send a CAN message
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            // Send a CAN message
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            time = Timer_GetTicks();
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            txMsg.Data.dwords[1] = time;
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            txMsg.Data.dwords[1] = time;
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            BIOS_CanSend(&txMsg);
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            BIOS_CanSend(&txMsg);
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            printf("Two seconds passed, time is now %ld.\n", time);
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            printf("Two seconds passed, time is now %ld.\n", time);
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        }
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        }
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        if (rxMsgFull) {
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        if (rxMsgFull) {
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            // Print the received message
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            // Print the received message
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            printf("RX: ID=%08lx, DLC=%u, EXT=%u, RTR=%u, data={ ",
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            printf("RX: ID=%08lx, DLC=%u, EXT=%u, RTR=%u, data={ ",
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                    rxMsg.Id,
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                    rxMsg.Id,
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                    (uint16_t)rxMsg.DataLength,
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                    (uint16_t)rxMsg.DataLength,
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                    (uint16_t)rxMsg.ExtendedFlag,
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                    (uint16_t)rxMsg.ExtendedFlag,
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                    (uint16_t)rxMsg.RemoteFlag);
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                    (uint16_t)rxMsg.RemoteFlag);
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            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
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            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
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                printf("%02x ", rxMsg.Data.bytes[i]);
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                printf("%02x ", rxMsg.Data.bytes[i]);
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            }
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            }
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            printf("}\n");
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            printf("}\n");
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            rxMsgFull = 0; //  
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            rxMsgFull = 0; //  
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        }
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        }
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    }
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    }
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    return 0;
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    return 0;
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}
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}
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