From 7275e5e6e10a4086c908697232286797ca3feaca Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Fri, 3 Oct 2025 15:40:36 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AEcan?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 assets/User_code/device/dm_imu.c   | 1 -
 assets/User_code/device/motor_dm.c | 6 ++----
 assets/User_code/device/motor_lk.c | 3 ---
 assets/User_code/device/motor_lz.c | 2 --
 assets/User_code/device/motor_rm.c | 1 -
 5 files changed, 2 insertions(+), 11 deletions(-)

diff --git a/assets/User_code/device/dm_imu.c b/assets/User_code/device/dm_imu.c
index e05c1de..18b05e5 100644
--- a/assets/User_code/device/dm_imu.c
+++ b/assets/User_code/device/dm_imu.c
@@ -166,7 +166,6 @@ int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
         .dlc = 4,
     };
     memcpy(frame.data, tx_data, 4);
-    BSP_CAN_WaitTxMailboxEmpty(imu->param.can, 1); // 等待发送邮箱空闲
     int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
     return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
 }
diff --git a/assets/User_code/device/motor_dm.c b/assets/User_code/device/motor_dm.c
index b394d59..a77656f 100644
--- a/assets/User_code/device/motor_dm.c
+++ b/assets/User_code/device/motor_dm.c
@@ -133,7 +133,7 @@ static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output)
     frame.dlc = 8;
     memcpy(frame.data, data, 8);
     
-    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+
     return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -163,7 +163,6 @@ static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) {
     frame.dlc = 8;
     memcpy(frame.data, data, 8);
     
-    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
     return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -190,7 +189,6 @@ static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) {
     frame.dlc = 4;
     memcpy(frame.data, data, 4);
     
-    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
     return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -460,7 +458,7 @@ int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param){
     frame.data[5] = 0xFF;
     frame.data[6] = 0xFF;
     frame.data[7] = 0xFC;
-    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+
     return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
diff --git a/assets/User_code/device/motor_lk.c b/assets/User_code/device/motor_lk.c
index c7911d6..c26878e 100644
--- a/assets/User_code/device/motor_lk.c
+++ b/assets/User_code/device/motor_lk.c
@@ -253,7 +253,6 @@ int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) {
     tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF);
     tx_frame.data[6] = 0x00;
     tx_frame.data[7] = 0x00;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -279,7 +278,6 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
     tx_frame.data[5] = 0x00;
     tx_frame.data[6] = 0x00;
     tx_frame.data[7] = 0x00;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -299,7 +297,6 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
     tx_frame.data[5] = 0x00;
     tx_frame.data[6] = 0x00;
     tx_frame.data[7] = 0x00;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
diff --git a/assets/User_code/device/motor_lz.c b/assets/User_code/device/motor_lz.c
index eb55f36..3b79542 100644
--- a/assets/User_code/device/motor_lz.c
+++ b/assets/User_code/device/motor_lz.c
@@ -134,7 +134,6 @@ static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *dat
     } else {
         memset(tx_frame.data, 0, dlc);
     }
-    BSP_CAN_WaitTxMailboxEmpty(can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -369,7 +368,6 @@ int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *m
     uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX);
     data[6] = (raw_kd >> 8) & 0xFF;
     data[7] = raw_kd & 0xFF;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
 }
 
diff --git a/assets/User_code/device/motor_rm.c b/assets/User_code/device/motor_rm.c
index e38073a..ba10434 100644
--- a/assets/User_code/device/motor_rm.c
+++ b/assets/User_code/device/motor_rm.c
@@ -291,7 +291,6 @@ int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
         default:
             return DEVICE_ERR;
     }
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }