33 lines
992 B
C
33 lines
992 B
C
#ifndef __CToC_H
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#define __CToC_H
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#include "main.h"
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#include "M3508.h"
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#define CToC_MasterID1 0x019//ID1
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#define CToC_SlaveID1 0x149//ID1
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#define CToC_SlaveID2 0x189//ID2
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//中断回调函数
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//判断接受对象的ID-符合条件-完成解码-发送数据包
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//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
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//定义函数
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#define get_motor_measure(ptr, data) \
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{ \
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(ptr)->last_ecd = (ptr)->ecd; \
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(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
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(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
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(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
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(ptr)->temperate = (data)[6]; \
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}
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extern uint8_t CToC_SlaveSendRefereeSystemData(void);
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extern void can_filter_init(void);
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extern void CToC_CANDataProcess(uint32_t ID,uint8_t *Data);
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extern void Update_Motor_Measure(uint8_t motor_id, motor_measure_t* measure);
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extern void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
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#endif |