The software includes a monitor program , an initialization module , a watchdog module , a data fusion module , a can transmission module , a quadrature encoder pulse count module and an a / d interrupt service program 該系統(tǒng)軟件包括監(jiān)控程序、初始化模塊、看門狗模塊、數(shù)據(jù)融合模塊、 can通信模塊、數(shù)字量采集模塊、正交編碼脈沖計數(shù)模塊和a d中斷服務程序。