#ifndef __CAN_H
#define __CAN_H

#include "stm32f4xx.h"

#define CAN_Send_Flash_ID 0x1f4e5201
#define CAN_Send_Speed_ID 0x1f4e5301



#define CAN_RecDataMax 12

#define TRACK_P 1
#define TRACK_I 2
#define TRACK_D 3

#define BRUSH_P 4
#define BRUSH_I 5
#define BRUSH_D 6

#define LOWSPEED    7
#define HIGHSPEED   8
#define DIVIDI_RPM  9

#define MAXCURRENT  10
#define MAXTIME     11
#define REST_STM32  12

#define LEFT_TRACK  13
#define RIGHT_TRACK 14


#define PIXHAWK_REQURE  0xFF
#define SET_PARME       0xF0
#define RESPOND   			0xF1

extern u8 CAN_DATA_CNT;
extern u32 Init_Flash_Data;
extern u8 CAN_RecData[CAN_RecDataMax];
extern u8 CAN_RecData_i;
extern u8 CAN_RecData_Toggle;
extern u8 CAN_RecData_TID;

void CAN_Config(void);

void Send_Flash_Set(u8 num, u8 flag, float value);
float Rec_Flash_Set(u8 data[]);

void Send_CAN_DATA1(void);
void Send_CAN_DATA2(void);
void Send_CAN_DATA3(void);
void Send_CAN_DATA4(void);
void Send_CAN_DATA5(void);
void Send_CAN_DATA6(void);

//CAN1接收RX0中断使能
#define CAN1_RX0_INT_ENABLE    1               //0,不使能;1,使能.    

u8 CAN1_Send_Msg(u8* msg,u32 Can_ID,u8 len);   //发送数据
u8 CAN1_Receive_Msg(u8 *buf, u32 *id);

void CAN_NVIC_Config(u8 NVIC_IRQChannel, u8 pre, u8 sub);

void CAN_GPIO_Config(u32 RCC_APBnPeriphn, GPIO_TypeDef* GPIOx, u16 GPIO_Pin, u16 GPIO_PinSource, u8 GPIO_AF);

void CAN_Mod_Config(u32 RCC_APB1Periph, CAN_TypeDef* CANx, u32 EXTID, u32 MaskID);

void Send_Flash_Set(u8 num, u8 flag, float value);

void Send_CAN_MOTOR1DATA(void);

void Send_CAN_MOTOR2DATA(void);

void Send_CAN_MOTOR3DATA(void);

#endif