添加了can的发送超时控制,添加了所有application层的文档和注释

modules/motor/DJImotor/dji_motor.c

@@ -288,7 +288,7 @@ void DJIMotorControl()
     {
         if (sender_enable_flag[i])
         {
-            CANTransmit(&sender_assignment[i]);
+            CANTransmit(&sender_assignment[i],1);
         }
     }
 }

modules/motor/HTmotor/HT04.c

@@ -16,7 +16,7 @@ static void HTMotorSetMode(HTMotor_Mode_t cmd, HTMotorInstance *motor)
     static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
     buf[7] = (uint8_t)cmd;
     memcpy(motor->motor_can_instace->tx_buff, buf, sizeof(buf));
-    CANTransmit(motor->motor_can_instace);
+    CANTransmit(motor->motor_can_instace,1);
 }
 
 /* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
@@ -144,7 +144,7 @@ void HTMotorControl()
         { // 若该电机处于停止状态,直接将发送buff置零
             memset(motor_can->tx_buff + 6, 0, sizeof(uint16_t));
         }
-        CANTransmit(motor_can);
+        CANTransmit(motor_can,1);
     }
 }
 

modules/motor/LKmotor/LK9025.c

@@ -117,7 +117,7 @@ void LKMotorControl()
 
     if (idx) // 如果有电机注册了
     {
-        CANTransmit(sender_instance);
+        CANTransmit(sender_instance,1);
     }
 }
 

modules/motor/motor_def.h

@@ -29,9 +29,9 @@ typedef enum
     ANGLE_LOOP = 0b0100,
 
     // only for checking
-    _ = 0b0011,
-    __ = 0b0110,
-    ___ = 0b0111
+    SPEED_AND_CURRENT_LOOP = 0b0011,
+    ANGLE_AND_SPEED_LOOP = 0b0110,
+    ALL_THREE_LOOP = 0b0111
 } Closeloop_Type_e;
 
 typedef enum
@@ -80,7 +80,6 @@ typedef struct
 {
     float *other_angle_feedback_ptr; // 其他反馈来源的反馈数据指针
     float *other_speed_feedback_ptr;
-    // float *angle_foward_ptr; //前馈数据指针
     // float *speed_foward_ptr;
     // float *current_foward_ptr;