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.