/*
 * msp_DC_CAN.h
 *
 *  Created on: 2024年6月21日
 *      Author: SQ-X
 */

#ifndef INC_MSP_MSP_DC_CAN_H_
#define INC_MSP_MSP_DC_CAN_H_

#include "BSP/bsp_include.h"

extern const int16_t Speed[11];

typedef struct
 {


  	 int8_t for_flag;
     int8_t back_flag;
     int8_t left_flag;
     int8_t right_flag;

     int32_t working_start1_stop2;
//     int32_t working_stop;

     int32_t Vertical_change_road_up1_down2_close0;
     int32_t test_start1_stop0;

     int32_t Motor_Speed_Level;
     int16_t Motor_Speed_Level_Meter;
     int32_t Open_Up1_Down2;

//     int8_t motor_speed_level;
     int32_t Change_road_dis_ten; //换道距离十位
     int32_t Change_road_dis_single; //换道距离个位
     int32_t EMERGENCY_STOP;

 	int16_t Motor1_Error;				//左电机报警信息
 	int16_t Motor2_Error;				//右电机报警信息

 	int16_t Fore_Back_Value;					//前进后退
 	int16_t Left_Right_Value;					//左转右转


 }SP_MSP_DH_CAN_Parameters;


 uint8_t GF_MSP_DH_CAN_Init(uint8_t FDCAN_CH, SP_MSP_DH_CAN_Parameters* MotorP);
 void  GF_MSP_DH_40022_CAN_Inquiry(double Gyro_angle );



#endif /* INC_MSP_MSP_DC_CAN_H_ */
