main.cpp

#include <mbed.h>
#include "pins.h"
#include "setup.h"
#include "peripherals.h"
#include "can_struct.h"
#include "CAN/can_id.h"
#include "CAN/can_data.h"
#include "can_buffer.h"
void heartbeat() {
	if(common.toggleHeartbeatLED())
		common.writeCANMessage(makeMessage(BRIZO_CAN::DEMO_HEART.ID, timer.read_us()));
}

void checkCANController() {
    common.checkCANController();
}

void setup() {
	common.setupCAN();
	common.setupLEDs(&led1, &led2, &led3, &led4);
	timing.addCallback(BRIZO_CAN::DEMO_HEART.RATE / 2, heartbeat);
	timing.addCallback(CHECK_CAN_RATE_US, checkCANController);

	bool wdt_reset;
	common.startTimingCommon(&timing, &wdt_reset);
	if(wdt_reset){

	}
}

void shutdown_method() {

	while(1) {
		wdt.feed();
	}
}

int main() {
	setup();
	uint32_t last_task_1_time = timing.onTick(NULL);
	CANMessage msg;
	bool shutdown = false;
	while (!shutdown) {
        bool overflow;
        uint32_t now = common.loopTime(&timing, &overflow);
        while(!common.readCANMessage(msg)) {
        	common.toggleReceiveCANLED();
        }
        if(timing.tickThreshold(last_task_1_time, HEARTBEAT_RATE_US)){
            led_heartbeat.write(!led_heartbeat.read());
        }
	}
	shutdown_method();
}