From d7a56e656b200f5c5266368de6d27264d6ee298c Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sat, 20 Sep 2025 00:50:23 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9lk?=
MIME-Version: 1.0
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---
 assets/User_code/device/motor_lk.c | 6 +++---
 assets/User_code/device/motor_lz.c | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/assets/User_code/device/motor_lk.c b/assets/User_code/device/motor_lk.c
index d556c3c..c7911d6 100644
--- a/assets/User_code/device/motor_lk.c
+++ b/assets/User_code/device/motor_lk.c
@@ -253,7 +253,7 @@ 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_WaitForEmptyMailbox(param->can, 1);
+    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 +279,7 @@ 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 +299,7 @@ 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 7d6e048..eb55f36 100644
--- a/assets/User_code/device/motor_lz.c
+++ b/assets/User_code/device/motor_lz.c
@@ -369,7 +369,7 @@ 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_WaitForEmptyMailbox(param->can, 1);
+    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
 }