From 9ebf54e0b24c3d1ba2400ba4c0838d1ef6000a16 Mon Sep 17 00:00:00 2001
From: Xiaocheng <2544262366@qq.com>
Date: Sat, 14 Mar 2026 23:28:31 +0800
Subject: [PATCH] =?UTF-8?q?=E8=A7=A3=E5=86=B3=E4=BA=86CAN=E7=88=86?=
 =?UTF-8?q?=E7=82=B8?=
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---
 Core/Src/can.c         | 2 +-
 User/device/supercap.c | 6 +++---
 User/module/chassis.c  | 2 ++
 lll0121.ioc            | 3 ++-
 4 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/Core/Src/can.c b/Core/Src/can.c
index fd6e45e..1603a9e 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -49,7 +49,7 @@ void MX_CAN1_Init(void)
   hcan1.Init.AutoWakeUp = DISABLE;
   hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
-  hcan1.Init.TransmitFifoPriority = DISABLE;
+  hcan1.Init.TransmitFifoPriority = ENABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
   {
     Error_Handler();
diff --git a/User/device/supercap.c b/User/device/supercap.c
index ef09738..019c62f 100644
--- a/User/device/supercap.c
+++ b/User/device/supercap.c
@@ -55,7 +55,7 @@ int8_t SuperCap_Init(void)
         return DEVICE_OK;  // 已经初始化过
     }
 
-    if (BSP_CAN_RegisterId( BSP_CAN_1 , SUPERCAP_RX_ID, 3) != BSP_OK) {
+    if (BSP_CAN_RegisterId( BSP_CAN_2, SUPERCAP_RX_ID, 3) != BSP_OK) {
         return DEVICE_ERR;
     }
     
@@ -72,7 +72,7 @@ int8_t SuperCap_Update(void)
     BSP_CAN_Message_t rx_msg;
 
     // 从CAN队列获取数据
-    if (BSP_CAN_GetMessage( BSP_CAN_1 , SUPERCAP_RX_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
+    if (BSP_CAN_GetMessage( BSP_CAN_2, SUPERCAP_RX_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
         // 处理接收到的数据
         transfer_SuperCap_measure(rx_msg.data);
         return DEVICE_OK;
@@ -151,7 +151,7 @@ int8_t CAN_TX_SuperCapData(CAN_SuperCapTXDataTypeDef * TX_Temp)
 		tx_frame.data[6] = 0;
 		tx_frame.data[7] = 0;
 		
-		return BSP_CAN_TransmitStdDataFrame( BSP_CAN_1 , &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+		return BSP_CAN_TransmitStdDataFrame( BSP_CAN_2 , &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
 /**
diff --git a/User/module/chassis.c b/User/module/chassis.c
index 24bcb83..4e6d452 100644
--- a/User/module/chassis.c
+++ b/User/module/chassis.c
@@ -359,6 +359,7 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
   c->dt = (float)(now - c->last_wakeup) / 1000.0f; /* 计算两次调用的时间间隔，单位秒 */
   c->last_wakeup = now;
 
+  c->ctrl_mode = c_cmd->ctrl_mode;
   /*设置底盘模式*/
   if (Chassis_SetMode(c, c_cmd->mode,now) != CHASSIS_OK)
   {
@@ -499,5 +500,6 @@ void Chassis_Setoutput(Chassis_t *c)
   // MOTOR_RM_SetOutput(&(c->param->motor_3508_param[0]), 1.0f);
   MOTOR_RM_Ctrl(&(c->param->motor_3508_param[0]));
   MOTOR_RM_Ctrl(&(c->param->motor_6020_param[0]));
+  // MOTOR_RM_Ctrl(&(c->param->motor_6020_param[3]));
 
 }
diff --git a/lll0121.ioc b/lll0121.ioc
index 670f37e..6a6c9f5 100644
--- a/lll0121.ioc
+++ b/lll0121.ioc
@@ -7,9 +7,10 @@ CAN1.BS2=CAN_BS2_7TQ
 CAN1.CalculateBaudRate=1000000
 CAN1.CalculateTimeBit=1000
 CAN1.CalculateTimeQuantum=71.42857142857143
-CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,NART
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,NART,TXFP
 CAN1.NART=ENABLE
 CAN1.Prescaler=3
+CAN1.TXFP=ENABLE
 CAN2.BS1=CAN_BS1_6TQ
 CAN2.BS2=CAN_BS2_7TQ
 CAN2.CalculateBaudRate=1000000