Working CAN sending on TACOS via user space

App/Src/tasks/can_task.cpp

@@ -0,0 +1,42 @@
+/*
+ * can_task.cpp
+ *
+ *  Created on: 10 Dec 2023
+ *      Author: Carl
+ */
+
+#include <tasks/can_task.hpp>
+#include <sta/debug/debug.hpp>
+
+#include <cmsis_os2.h>
+
+namespace demo
+{
+	CanTask::CanTask(const char* name, CAN_HandleTypeDef * handle)
+		: TacosThread(name, osPriorityNormal), canController(handle)
+	{
+
+	}
+
+	void CanTask::init()
+	{
+
+		canController.start();
+
+		txHeader.id.format = sta::CanIdFormat::STD; // Set to EXT for extended ID
+		txHeader.id.sid = 0x30; // Set the standard ID or extended ID
+		txHeader.payloadLength = 8; // Set the payload length (max 8 bytes)
+
+		// Create your message payload
+		for (int i = 0; i < 8; ++i) {
+			payload[i] = i + 1;
+		}
+	}
+
+	void CanTask::func()
+	{
+		canController.sendFrame(txHeader, payload);
+		HAL_Delay(1000);
+	}
+} // namespace demo
+