重写8字节指令

Signed-off-by: huhui <huhui@sharkgulf.com>

Applications/foc/commands.h

@@ -81,6 +81,39 @@ typedef struct {
 }foc_cmd_body_t;
 
 #pragma  pack (push,1)
+
+typedef struct {
+	//0-15 bit
+	u16    start   :2; //1:stop, 2:start, 0&3:ignore
+	u16    gear    :3; //0-6 gear, 7:ignore
+	u16    idc     :11;//0-1024A， 0x7FF:ignore
+	//16-31 bit
+	u16    ebrk_lvl:4; //0-14, 0xF:ignore
+	u16    brkpower:2; //1:disable, 2:enable, 3:ignore
+	u16    etcs    :2; //1:disable, 2:enable, 3:ignore
+	u16    epm     :2; //1:disable, 2:enable
+	u16    epm_dir :2; //0:stop, 1:back, 2 forword
+	//32-47 bit
+	u16    cruise  :2; //1:disable, 2:enable
+	u16    inc     :2; //1:dec, 2:inc
+	u16    spd_rel :12;
+	//48-63 bit
+	u16    res;    //when response, this is the error code
+}cmd_2A01_t;
+
+typedef struct {
+	//0-15 bit
+	u16 status;
+	//16-31 bit
+	u16 vdc    :9;
+	u16 mot_ll :2; //motor temp limiter level
+	u16 mos_ll :2; //mos   temp limiter level
+	//16-47 bit
+	s16 idc;
+	//48-63 bit
+	s16 rpm;
+}indicat_2A02_t;
+
 typedef struct {
 	u8 start_stop; //1: start, 2: stop
 }foc_start_cmd_t;