1.初版can comm已经实现; 2.修改了电机\bsp_can\usart的初始化实现

application/cmd/chassis_cmd.h

@@ -1,25 +1,25 @@
-#ifndef _CHASSIS_BOARD_CMD_H_
-#define _CHASSIS_BOARD_CMD_H_
-#include <buzzer.h>
-#include <can_recv.h>
-#include <can_send.h>
-#include <robot_def.h>
-#include <stdint.h>
-class chassis_board_cmd {
-   private:
-    Robot_mode robot_mode;                //机器人状态
-    cmd_chassis chassis_control;          //发送给底盘的控制量
-    upload_chassis* chassis_upload_data;  //底盘模块回传数据
-    chassis_board_send board_send;        //发送给云台主控的数据
-    can_send<chassis_board_send> sender;  //板间通信发送
-    can_recv<gimbal_board_send> recver;   //板间通信接收
-    gimbal_board_send* board_recv;        //板间通信接收数据指针
-    void* referee;                        //裁判系统（尚未完成）
-    buzzer board_buzzer;                  //蜂鸣器
-    uint8_t robot_ready;                  //底盘板是否准备好
-   public:
-    chassis_board_cmd();
-    void update();
-};
+// #ifndef _CHASSIS_BOARD_CMD_H_
+// #define _CHASSIS_BOARD_CMD_H_
+// #include <buzzer.h>
+// #include <can_recv.h>
+// #include <can_send.h>
+// #include <robot_def.h>
+// #include <stdint.h>
+// class chassis_board_cmd {
+//    private:
+//     Robot_mode robot_mode;                //机器人状态
+//     cmd_chassis chassis_control;          //发送给底盘的控制量
+//     upload_chassis* chassis_upload_data;  //底盘模块回传数据
+//     chassis_board_send board_send;        //发送给云台主控的数据
+//     can_send<chassis_board_send> sender;  //板间通信发送
+//     can_recv<gimbal_board_send> recver;   //板间通信接收
+//     gimbal_board_send* board_recv;        //板间通信接收数据指针
+//     void* referee;                        //裁判系统（尚未完成）
+//     buzzer board_buzzer;                  //蜂鸣器
+//     uint8_t robot_ready;                  //底盘板是否准备好
+//    public:
+//     chassis_board_cmd();
+//     void update();
+// };
 
-#endif
+// #endif