Update README

README.md

@@ -4,7 +4,7 @@ You can add this library to your project by either cloning it or adding it as a
 
 ---
 
-### Add as a submodule (recommended)
+## Add as a submodule (recommended)
 To **add mmr_can as a submodule**, go into your project folder and run
 ```
 git submodule add https://github.com/mmr-driverless/mmr_can.git Drivers/MMR_CAN
@@ -16,3 +16,64 @@ mmr_can will be cloned inside the `Drivers` folder
 After adding the submodule, right click on your project's name from within the STM32CubeIDE, then `Properties (last option) > C/C++ General > Paths and Symbols`
 
 You'll see a list of directories on the right, click on `Add`, then type `Drivers/MMR_CAN/Inc` and press enter
+
+
+# Examples
+
+## Setup
+
+Configure the CAN peripheral in the _.ioc_ file, then call the following initialization function
+inside _main_.
+
+```c
+#include "mmr_can.h"
+
+int main() {
+  // MX_CAN_INIT()...
+  
+  if (MMR_CAN_BasicSetupAndStart(&hcan) != HAK_OK) {
+    Error_Handler();
+  }
+
+  // while (1) {...
+}
+```
+
+## Sending a message
+```c
+void sendAMessage() {
+  // my_data_type data = something;
+  uint16_t data = 123;
+  MmrCanPacket packet = {
+    .data = (uint8_t*)(&data),
+    .length = sizeof(data),
+    .header.messageId = MMR_CAN_MESSAGE_ID_<ID>,
+  };
+
+  if (MMR_CAN_Send(&hcan, packet) != HAL_OK) {
+    ; // Error
+  }
+}
+```
+
+## Receiving a message
+```c
+void receiveAMessage() {
+  CanRxBuffer buffer = {};
+  MmrCanMessage message = {
+    .store = buffer,
+  };
+
+  MmrResult result = MMR_CAN_TryReceive(&hcan, &message);
+  if (result == MMR_RESULT_ERROR) {
+    ; // Error
+  }
+  else if (result == MMR_RESULT_PENDING) {
+    return;
+  }
+
+  if (message.header.messageId == MMR_CAN_MESSAGE_ID<TARGET_ID>) {
+    uint16_t data = *(uint16_t*)buffer;
+  }
+}
+```