File content as of revision 32:e70407021ad2:

#include "IOobjects.h"
#include "runTime.h"
#include "outDiagnostics.h"
#include "serviceCAN.h"

int main() {
    wdt.kick(0.11);                     // Kick the watchdog timer, set the timeout to 110ms
    pc.baud(921600);
    pc.printf("\r\n\r\nSys Mgmt Reset\r\n");
    can.mode(FIFO);                     // Use FIFO mode
    NVIC_SetPriority(TIMER3_IRQn, 2);   // Decrease timer3 priority (mbed timer, rtos)
    NVIC_SetPriority(UART0_IRQn, 1);    // Decrease serial priority to give CAN higher priority
    
    // Did a watchdog reset occur since last power cycle?
    if (wdt.checkFlag()) {
        data.watchdogReset = true;
        pc.printf("Watchdog Reset\r\n");
    }

    // Start the 10Hz data thread
    Thread gather_10Hz(runTime::thread_gather_10Hz, 0, osPriorityHigh);
    
    // Start the 100Hz data timer (more time critical than thread)
    Thread gather_100Hz(runTime::thread_gather_100Hz, 0, osPriorityRealtime);

    // Start the serial, CAN threads
    Thread serial_out(outDiagnostics::thread_serialOut, 0, osPriorityAboveNormal, 6000);     // Allocate 6kB RAM stack
    Thread can_out(outDiagnostics::thread_canOut, 0, osPriorityAboveNormal);            // Allocate 256B RAM stack
    
    // Background task
    while(1) {
        // Service CAN and Xbee logic
        if (canbus::serviceCAN());
    }
}