diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx
index 54c15c6..28b9eeb 100644
--- a/MDK-ARM/R2.uvoptx
+++ b/MDK-ARM/R2.uvoptx
@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>6</nTsel>
+        <nTsel>3</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+        <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
@@ -140,7 +140,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name>(105=-1,-1,-1,-1,0)</Name>
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf
index acddb4c..653d200 100644
Binary files a/MDK-ARM/R2/R2.axf and b/MDK-ARM/R2/R2.axf differ
diff --git a/User/device/can_use.c b/User/device/can_use.c
index 4010af2..b256dba 100644
--- a/User/device/can_use.c
+++ b/User/device/can_use.c
@@ -32,7 +32,7 @@
 #define CAN_M3508_MAX_ABS_CUR (20)
 #define CAN_M2006_MAX_ABS_CUR (10)
 
-#define CAN_ENCODER_RESOLUTION (32768) //欧艾迪编码器分辨率
+#define CAN_ENCODER_RESOLUTION (4096) //欧艾迪编码器分辨率
 
  CAN_RawRx_t raw_rx1;//原始的can数据
  CAN_RawRx_t raw_rx2;
@@ -93,7 +93,8 @@ void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback,
 	    { 
 				case 0x01:
 				feedback->ecd =raw[3]|raw[4]<<8|raw[5]<<16|raw[6]<<24;
-				feedback->angle=(fp32)feedback->ecd*360/CAN_ENCODER_RESOLUTION-151.0f;
+				feedback->angle=(fp32)(4089-(fp32)feedback->ecd)/(4089-3861)*(70.0f-50.0f)+50.0f;
+				
 				break;
 			}
 		}