Controller init updated

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}

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