From b5180002a7fb4248761583556a70c6646445c3c7 Mon Sep 17 00:00:00 2001
From: CarlWachter <carlwachter@web.de>
Date: Tue, 30 Apr 2024 15:44:28 +0200
Subject: [PATCH] README: Instructions for CAN

---
 README.md | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index c99602f..97ea1a7 100644
--- a/README.md
+++ b/README.md
@@ -65,4 +65,18 @@ PS: For not officially supported chips use this as the include:
 #include <sta/devices/stm32/mcu/common.hpp>
 #define STA_MCU_LITTLE_ENDIAN
 #define STA_PLATFORM_STM32
-```
\ No newline at end of file
+```
+## Setting up the CAN Bus
+
+To enable the CAN Bus two things need to be done:
+1. Enable CAN in the IOC with the RX0 and RX1 Interrupts enabled.
+2. Add the following code to the `sta/config.hpp` file: 
+```
+#define STA_CAN_BUS_ENABLE
+```
+PS: For not officially supported chips add this:
+```
+#define STA_STM32_CAN_HANDLE {YOUR_HCAN_HANDLE}
+```
+
+After this messages will automatically be forwarded to the task with it's ID. To send messages use the interface defined in `tacos.hpp`.
\ No newline at end of file