first rough structure

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main.h

00001 // CAN ID define
00002 #define Trq_send_ID 0xA0          // Rx, 100Hz, CAN ID for FL motor high speed feedback
00003 #define Id_cmd_ID 0xA1          // Rx, 100Hz, CAN ID for FR motor high speed feedback
00004 #define Iq_cmd_ID 0xA2          // Rx, 100Hz, CAN ID for RL motor high speed feedback
00005 
00006 
00007 //10/100Hz
00008 uint8_t HSTick = 0;                 // High speed tick
00009 uint8_t LSTick = 0;
00010 uint8_t HST_EXFL = 0;               // High speed execution flag
00011 uint8_t LST_EXFL = 0;
00012 
00013 float Trq_send = 0;
00014 float Id_cmd = 0;
00015 float Iq_cmd = 0;
00016 
00017 //function declaration
00018 void CAN_init(void);            //Initial CAN frequency filter...
00019 void Rx_CAN1(void);             //CAN RX handler
00020 void Tx_High_CAN1(void);        //Send out low speed heart beat for logging
00021 void Tx_Low_CAN1(void);         //Send out high speed heart beat for logging
00022 void CANpendTX(void);           //Helper function for CAN Tx
00023 
00024 //CAN msg bank
00025 char    temp_msg[8] = {0,0,0,0,0,0,0,0};