CAN Protocol Analysis 1.1v Update log: 1. Updated the part of reading motor data. 2. Added CAN related section. 1.2v Update log: 1. Add the function of resetting motor zero position for CAN. 2. Add CAN function to save settings. 3. Add cycle return motor position, speed and torque function. 1.3v Update log: 1. Adapt the 1.4v pins of ASRock main control board. 2. Add 2-way can configuration. 3. Added parameter to select can port on all control functions. 4. Added motor brake and motor stop commands. 5. Removed the detailed code in the ht_can document. 6. Added common type (unit) instructions. 1.4 Update Log. 1. use F4 microcontroller to complete the control to the motor; 2. the control board is DM_MC_1.0; 3. Remove the unreasonable naming in the code.