diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h
index 261faac..155863b 100644
--- a/User/bsp/TopDefine.h
+++ b/User/bsp/TopDefine.h
@@ -28,7 +28,8 @@
 //================任务通知,时间组================//
 //事件组
 #define EVENT_RC    (1<<1)
-#define EVENT_CAN   (1<<2)
+#define EVENT_CAN1  (1<<2)
+#define EVENT_CAN2  (1<<3)
 
 //================任务通知================//
 //运球
diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c
index c2f4edb..3906496 100644
--- a/User/device/djiMotor.c
+++ b/User/device/djiMotor.c
@@ -215,15 +215,13 @@ static osThreadId_t thread_alert;
 void Dji_Motor_CB()
 {
   HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
+  osThreadFlagsSet(thread_alert, EVENT_CAN1);
 
-  osThreadFlagsSet(thread_alert, EVENT_CAN);
- // osEventFlagsSet(eventReceive, EVENT_CAN);
 }
 void can2_Motor_CB(void)
 {
   HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &rx_header, rx_data);
-
-  //osThreadFlagsSet(thread_alert, EVENT_CAN);
+  osThreadFlagsSet(thread_alert, EVENT_CAN2);
 }
 
 /**
@@ -234,9 +232,6 @@ void can2_Motor_CB(void)
 void djiInit(void)
 {
   thread_alert = osThreadGetId();
-
-  
-
   BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
                           Dji_Motor_CB);
   BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
@@ -250,11 +245,9 @@ void djiInit(void)
 */
 uint32_t waitNewDji() 
 {
-  // return osEventFlagsWait(
-	// 			eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever);
+  // 等待CAN1或CAN2任意一个事件
   return osThreadFlagsWait(
-    EVENT_CAN, osFlagsWaitAll, osWaitForever);
-
+    EVENT_CAN1 | EVENT_CAN2, osFlagsWaitAny, osWaitForever);
 }
 #endif
 
diff --git a/User/task/encodeCan.cpp b/User/task/encodeCan.cpp
index 261904d..e82dff5 100644
--- a/User/task/encodeCan.cpp
+++ b/User/task/encodeCan.cpp
@@ -26,7 +26,7 @@ void FunctionCan(void *argument)
      task_struct.stack_water_mark.can = osThreadGetStackSpace(osThreadGetId()); 
     
   #endif 
-        waitNewDji();
+        //waitNewDji();
         djiMotorEncode();
         can2MotorEncode();
 
diff --git a/User/task/userTask.h b/User/task/userTask.h
index 89353a7..8411584 100644
--- a/User/task/userTask.h
+++ b/User/task/userTask.h
@@ -14,7 +14,7 @@ extern "C" {
 
 /* 所有任务都要define一个“任务运行频率”和“初始化延时” */
 #define TASK_FREQ_SHOOT (500u)
-#define TASK_FREQ_CAN (1500u)
+#define TASK_FREQ_CAN (500u)
 #define TASK_FREQ_AI (500u)
 #define TASK_FREQ_BALL (500u)