feat: 增加can总线和步进电机指令绑定

app/by_messy.c

@@ -0,0 +1,38 @@
+#include "by_messy.h"
+
+#include <string.h>
+#include "by_stepper.h"
+#include "by_can.h"
+
+void by_messy_loop(void)
+{
+}
+
+void by_messy_int(void)
+{
+  can_rx_message_type can_rx_message_struct;
+  can_message_receive(CAN1, CAN_RX_FIFO0, &can_rx_message_struct);
+
+  // 接收到位置控制帧
+  if (0x006 == can_rx_message_struct.standard_id) {
+    uint8_t mode        = 0;
+    uint8_t speed       = 0;
+    float position_temp = 0;
+
+    memcpy(&mode, can_rx_message_struct.data, 1);
+    memcpy(&speed, can_rx_message_struct.data + 1, 1);
+    memcpy(&position_temp, can_rx_message_struct.data + 2, 4);
+
+    by_stepper_set_speed((stepper_speed_t)speed);
+
+    if (0 == mode) {
+      by_stepper_set_position_millimeter(position_temp);
+    } else if (1 == mode) {
+      by_stepper_add_position_millimeter(position_temp);
+    }
+  } else if (0x007 == can_rx_message_struct.standard_id) {
+    if (CAN_TFT_REMOTE == can_rx_message_struct.frame_type) {
+      by_can_send_stdd(0x007, &running_flag, 1, 0);
+    }
+  }
+}