 And here's another question from Vazjan. Hi, how to connect a motor controller SMEACX144 via CAN bus to a STM Nucleo L476RG board to read the parameters like RPM, temperature, currents and so on? Okay, hello. First we have to assume that the controller is an external device that communicates over a CAN bus. It supports the CAN Open protocol via the process data objects. So if you want to connect it to the Nucleo board, you need to equip the Nucleo board with a CAN transceiver, which would be the extra connection because the CAN transceivers are not naturally implemented on the Nucleos. This is the hardware part. The software part means that you need to implement the CAN Open protocol on the STM32 microcontroller. There exist options that you can buy or obtain for free from the web. And you will need on top to understand the PDO objects and decode them or ask the motor controller to get this data. So you need to assemble all these three parts together to be able to obtain this task.