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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};
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