#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
//中断回调函数
//判断接受对象的ID-符合条件-完成解码-发送数据包
//motor_chassis：motor_measure_t 类型的数组，其中装有电机转子角度，电机转子转速，控制电流，温度
//定义函数
#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