FOC开环调试成功

Robot_V2/device/Can.h

@@ -17,12 +17,6 @@ typedef union {
 	u8 b[4];
 } float_union_t;
 
-// 添加辅助函数用于将short类型数据打包到u8数组中
-static inline void pack_short_to_bytes(u8 *buffer, u16 offset, short value) {
-	buffer[offset] = (u8)(value & 0xFF);
-	buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
-}
-
 // 添加辅助函数用于将u16类型数据打包到u8数组中
 static inline void pack_u16_to_bytes(u8 *buffer, u16 offset, u16 value) {
 	buffer[offset] = (u8)(value & 0xFF);
@@ -38,6 +32,28 @@ static inline void pack_float_to_bytes(u8 *buffer, u16 offset,
 	buffer[offset + 3] = float_union.b[3];
 }
 
+// 添加辅助函数用于从u8数组中解包short类型数据
+static inline short unpack_bytes_to_short(u8 *buffer, u16 offset) {
+	short value = (short)(buffer[offset] | (buffer[offset + 1] << 8));
+	return value;
+}
+
+// 添加辅助函数用于从u8数组中解包u16类型数据
+static inline u16 unpack_bytes_to_u16(u8 *buffer, u16 offset) {
+	u16 value = (u16)(buffer[offset] | (buffer[offset + 1] << 8));
+	return value;
+}
+
+// 添加辅助函数用于从u8数组中解包float类型数据
+static inline float_union_t unpack_bytes_to_float(u8 *buffer, u16 offset) {
+	float_union_t float_union;
+	float_union.b[0] = buffer[offset];
+	float_union.b[1] = buffer[offset + 1];
+	float_union.b[2] = buffer[offset + 2];
+	float_union.b[3] = buffer[offset + 3];
+	return float_union;
+}
+
 u8 can_gpio_init(void);	// CAN引脚初始化
 void can_config(void);	// CAN初始化
 void canfd_config(void);// CANFD初始化