periodic_callbacks edited

projects/bridge_controller/l5_application/periodics/periodic_callbacks.c

 #include "periodic_callbacks.h"
-
 #include "board_io.h"
+#include "can_bus.h"
+#include "can_bus_initializer.h"
+#include "can_bus_message_handler.h"
 #include "gpio.h"
+#include "project.h"
+#include "sonar.h"
+#include <stdio.h>
 
 /******************************************************************************
  * Your board will reset if the periodic function does not return within its deadline
@@ -10,28 +15,25 @@
  */
 void periodic_callbacks__initialize(void) {
   // This method is invoked once when the periodic tasks are created
+  sonar__init();
+  can_bus__initializer(can1);
 }
 
-void periodic_callbacks__1Hz(uint32_t callback_count) {
-  gpio__toggle(board_io__get_led0());
-  // Add your code here
-}
+void periodic_callbacks__1Hz(uint32_t callback_count) {}
 
 void periodic_callbacks__10Hz(uint32_t callback_count) {
-  gpio__toggle(board_io__get_led1());
-  // Add your code here
-}
-void periodic_callbacks__100Hz(uint32_t callback_count) {
-  gpio__toggle(board_io__get_led2());
-  // Add your code here
+  can_handler__manage_mia_10hz();
+  can_handler__transmit_messages();
+  can_handler__handle_all_incoming_messages();
 }
 
+void periodic_callbacks__100Hz(uint32_t callback_count) {}
+
 /**
  * @warning
  * This is a very fast 1ms task and care must be taken to use this
  * This may be disabled based on intialization of periodic_scheduler__initialize()
  */
 void periodic_callbacks__1000Hz(uint32_t callback_count) {
-  gpio__toggle(board_io__get_led3());
   // Add your code here
 }
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