Add wrapper for STM32

Author: BrechtSerckx

src/ODriveSTM32CAN.hpp

@@ -0,0 +1,35 @@
+#pragma once
+
+#include "ODriveCAN.h"
+#include <STM32_CAN.h>
+
+using CanMsg = CAN_message_t;
+
+// Must be defined by the application
+void onCanMessage(const CanMsg& msg);
+
+static bool sendMsg(STM32_CAN& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
+  CanMsg msg;
+  msg.id = id;
+  msg.len = length;
+  if (data) {
+    for (int i = 0; i < length; ++i) {
+      msg.buf[i] = data[i];
+    }
+  }
+  return can_intf.write(msg) >= 0;
+}
+
+static void onReceive(const CanMsg& msg, ODriveCAN& odrive) {
+    odrive.onReceive(msg.id, msg.len, msg.buf);
+}
+
+static void pumpEvents(STM32_CAN& intf, int max_events = 100) {
+    // max_events prevents an infinite loop if messages come at a high rate
+    CanMsg msg;
+    while (intf.read(msg) && max_events--) {
+        onCanMessage(msg);
+    }
+}
+
+CREATE_CAN_INTF_WRAPPER(STM32_CAN)