File content as of revision 36:0afc0fc8f86b:

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

//#define DEBUG_MODE

void thread_watchDog(void const* args) {
    tempData.wdtThreadId = Thread::gettid();
#ifdef DEBUG_MODE
    wdt.kick();
#else
    wdt.kick(WDT_TIME);
#endif
    while(1) {
        Thread::signal_wait(0x1F);
        wdt.kick();
    }   
}

int main() {
    pc.baud(BAUD);
    pc.format(8, SerialBase::None, 2);      // 2 Stop bits, reduce bad serial packets
    pc.printf("\033[2J\033[2J\r\n");        // Clear screen
    
    can.mode(FIFO);
    NVIC_SetPriority(TIMER0_IRQn, 0);
    NVIC_SetPriority(PWM1_IRQn, 1);
    NVIC_SetPriority(CAN_IRQn, 2);
    NVIC_SetPriority(UART0_IRQn, 3);
    NVIC_SetPriority(TIMER3_IRQn, 4);

    bool normalReset = true;
    // Did a watchdog reset occur since last power cycle?
    if (wdt.checkFlag()) {
        wdt.clearFlag();                    // Clear flag
        data.watchdogReset = true;
        pc.printf("Sys Mgmt Watchdog Reset\r\n");
        normalReset=false;
    }
    // Did a brownout reset occur since last power cycle?
    if (LPC_SC->RSID & (1<<3)) {
        LPC_SC->RSID = (1<<3);              // Clear flag
        pc.printf("Sys Mgmt Brownout Reset\r\n");
        normalReset=false;
    }
    // Print normal reset string
    if (normalReset) pc.printf("Sys Mgmt Reset\r\n");
        
    // Start the watchdog check-in thread
    Thread watchdogCheck(thread_watchDog, 0, osPriorityRealtime, 128);
        
    // Start the 100Hz data timer (priotity high)
    RtosTimer sample(runTime::thread_sample, osTimerPeriodic);
    sample.start(FAST_LOOP*1000);
    
    // Start the serial, CAN threads
    Thread serial_out(outDiagnostics::thread_serialOut, 0, osPriorityBelowNormal);
    Thread can_out(outDiagnostics::thread_canOut, 0, osPriorityBelowNormal, 512);
    
    // Start the input polling thread
    Thread getInputs(inCommands::thread_getInputs, 0, osPriorityLow);
        
    // Main task
    while(1) {
        runTime::gather(0);
        osSignalSet((osThreadId)(tempData.wdtThreadId), 1<<0);      // Signal watchdog thread
        Thread::wait(GATHER_LOOP*1000);
    }
}