steering-wheel/Core/Src/vehicle.c

#include "vehicle.h"

#include "main.h"
#include "ui.h"

#include "FT_CAN_AL.h"

#include "stm32h7xx.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_fdcan.h"
#include "stm32h7xx_hal_gpio.h"
#include "tx_api.h"

void vehicle_thread_entry(ULONG hfdcan_addr) {
  ftcan_init((void *)hfdcan_addr);
  ftcan_add_filter(0x123, 0x7FF);

  while (1) {
    uint8_t data[] = {0xFF, 0xEE};
    ftcan_transmit(0x456, data, 2);
    tx_thread_sleep(10);
  }
}

void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
  if (id == 0x123) {
    HAL_GPIO_TogglePin(STATUS2_GPIO_Port, STATUS2_Pin);
  }
}