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