From 72395bd0c1e478e80ba60b671465851e764c8c69 Mon Sep 17 00:00:00 2001
From: "@CarlWachter" <carlwachter@web.de>
Date: Fri, 16 Feb 2024 14:41:58 +0100
Subject: [PATCH] Controller init updated

---
 src/can_bus.cpp | 4 ++--
 src/startup.cpp | 5 +++++
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/can_bus.cpp b/src/can_bus.cpp
index 2fd2cdc..78ad971 100644
--- a/src/can_bus.cpp
+++ b/src/can_bus.cpp
@@ -6,9 +6,9 @@ namespace sta
 {
 	namespace tacos
 	{
-		CanBus::CanBus(CAN_HandleTypeDef * handle)
+		CanBus::CanBus(STM32CanController * controller)
 			: TacosThread{"Can Bus", STA_TACOS_CAN_BUS_PRIORITY},
-			  canBusController_{handle},
+			  canBusController_{controller},
 			  canSysDataQueue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH},
 			  canBusDataQueue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH},
               canBus_{&canBusController_, HAL_GetTick, dummy::handleSysMessage, dummy::handleDataMessage}
diff --git a/src/startup.cpp b/src/startup.cpp
index 8556665..b312a93 100644
--- a/src/startup.cpp
+++ b/src/startup.cpp
@@ -125,6 +125,11 @@ namespace sta
 			Watchdog::instance()->start();
 		}
 #endif // STA_TACOS_WATCHDOG_ENABLED
+		STA_WEAK
+		CanController * getCanController(){
+			extern CAN_HandleTypeDef hcan1;
+			return new STM32CanController(&hcan1);
+		}
 	}  // namespace tacos