添加文件1和文件2

Mecanum Wheel moving project 1/Core/Inc/CToC.h

@@ -0,0 +1,33 @@
+#ifndef __CToC_H
+#define __CToC_H
+#include "main.h"  
+#include "M3508.h"
+
+
+#define CToC_MasterID1	0x019//ID1
+
+#define CToC_SlaveID1	0x149//ID1
+#define CToC_SlaveID2	0x189//ID2
+//<2F>жϻص<CFBB><D8B5><EFBFBD><EFBFBD><EFBFBD>
+//<2F>жϽ<D0B6><CFBD>ܶ<EFBFBD><DCB6><EFBFBD><EFBFBD><EFBFBD>ID-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><><EFBFBD>ɽ<EFBFBD><C9BD><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
+//motor_chassis<69><73>motor_measure_t <20><><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD>飬<EFBFBD><E9A3AC><EFBFBD><EFBFBD>װ<EFBFBD>е<EFBFBD><D0B5><EFBFBD>ת<EFBFBD>ӽǶȣ<C7B6><C8A3><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>ת<EFBFBD>٣<EFBFBD><D9A3><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¶<EFBFBD>
+//<2F><><EFBFBD>庯<EFBFBD><E5BAAF>
+#define get_motor_measure(ptr, data) \
+ { \
+ (ptr)->last_ecd = (ptr)->ecd; \
+ (ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
+ (ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
+ (ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
+ (ptr)->temperate = (data)[6]; \
+ }
+
+
+extern uint8_t CToC_SlaveSendRefereeSystemData(void); 
+extern void can_filter_init(void);                  
+extern void CToC_CANDataProcess(uint32_t ID,uint8_t *Data); 
+extern void Update_Motor_Measure(uint8_t motor_id, motor_measure_t* measure); 
+extern void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);                  
+
+
+
+#endif