diff --git a/User/bsp/fdcan.c b/User/bsp/fdcan.c
index b2782c6..7510f12 100644
--- a/User/bsp/fdcan.c
+++ b/User/bsp/fdcan.c
@@ -65,25 +65,21 @@ typedef struct BSP_FDCAN_QueueNode {
 } BSP_FDCAN_QueueNode_t;
 
 /* Private variables -------------------------------------------------------- */
-//static BSP_FDCAN_QueueNode_t *queue_list = NULL;
-//static osMutexId_t queue_mutex = NULL;
-//static void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void);
-//static bool inited = false;
-//static BSP_FDCAN_IdParser_t id_parser = NULL;
-//static BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM];
-BSP_FDCAN_QueueNode_t *queue_list = NULL;
-osMutexId_t queue_mutex = NULL;
-void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void);
-bool inited = false;
-BSP_FDCAN_IdParser_t id_parser = NULL;
-BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM];
+static BSP_FDCAN_QueueNode_t *queue_list = NULL;
+static osMutexId_t queue_mutex = NULL;
+static void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void);
+static bool inited = false;
+static BSP_FDCAN_IdParser_t id_parser = NULL;
+static BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM];
+static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
+
 /* Private function prototypes ---------------------------------------------- */
 static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan);
 static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id);
 static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size);
 static void BSP_FDCAN_RxFifo0Callback(void);
 static void BSP_FDCAN_RxFifo1Callback(void);
-// static void BSP_FDCAN_TxCompleteCallback(void);
+static void BSP_FDCAN_TxCompleteCallback(void);
 static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header);
 static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type);
 static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan);
@@ -93,20 +89,20 @@ static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan);
 
 /* Private functions -------------------------------------------------------- */
 static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan) {
-    if (hfdcan == NULL) return BSP_FDCAN_ERR;
-    if (hfdcan->Instance == FDCAN1) return BSP_FDCAN_1;
-    else if (hfdcan->Instance == FDCAN2) return BSP_FDCAN_2;
-    else if (hfdcan->Instance == FDCAN3) return BSP_FDCAN_3;
-    else return BSP_FDCAN_ERR;
+  if (hfdcan == NULL) return BSP_FDCAN_ERR;
+  if (hfdcan->Instance == FDCAN1) return BSP_FDCAN_1;
+  else if (hfdcan->Instance == FDCAN2) return BSP_FDCAN_2;
+  else if (hfdcan->Instance == FDCAN3) return BSP_FDCAN_3;
+  else return BSP_FDCAN_ERR;
 }
 
 static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id) {
-    BSP_FDCAN_QueueNode_t *node = queue_list;
-    while (node != NULL) {
-        if (node->fdcan == fdcan && node->can_id == can_id) return node->queue;
-        node = node->next;
-    }
-    return NULL;
+  BSP_FDCAN_QueueNode_t *node = queue_list;
+  while (node != NULL) {
+    if (node->fdcan == fdcan && node->can_id == can_id) return node->queue;
+    node = node->next;
+  }
+  return NULL;
 }
 
 static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size) {
@@ -135,213 +131,208 @@ static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_
 }
 
 static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header) {
-    if (header->RxFrameType == FDCAN_REMOTE_FRAME) {
-        return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_REMOTE : BSP_FDCAN_FRAME_STD_REMOTE;
-    } else {
-        return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_DATA : BSP_FDCAN_FRAME_STD_DATA;
-    }
+  if (header->RxFrameType == FDCAN_REMOTE_FRAME) {
+    return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_REMOTE : BSP_FDCAN_FRAME_STD_REMOTE;
+  } else {
+    return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_DATA : BSP_FDCAN_FRAME_STD_DATA;
+  }
 }
 
 static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type) {
-    (void)frame_type;
-    return original_id;
+  (void)frame_type;
+  return original_id;
 }
 
 static uint32_t BSP_FDCAN_EncodeDLC(uint8_t dlc) {
-    if (dlc <= 8) return dlc;
-    if (dlc <= 12) return FDCAN_DLC_BYTES_12;
-    if (dlc <= 16) return FDCAN_DLC_BYTES_16;
-    if (dlc <= 20) return FDCAN_DLC_BYTES_20;
-    if (dlc <= 24) return FDCAN_DLC_BYTES_24;
-    if (dlc <= 32) return FDCAN_DLC_BYTES_32;
-    if (dlc <= 48) return FDCAN_DLC_BYTES_48;
-    return FDCAN_DLC_BYTES_64;
+  if (dlc <= 8) return dlc;
+  if (dlc <= 12) return FDCAN_DLC_BYTES_12;
+  if (dlc <= 16) return FDCAN_DLC_BYTES_16;
+  if (dlc <= 20) return FDCAN_DLC_BYTES_20;
+  if (dlc <= 24) return FDCAN_DLC_BYTES_24;
+  if (dlc <= 32) return FDCAN_DLC_BYTES_32;
+  if (dlc <= 48) return FDCAN_DLC_BYTES_48;
+  return FDCAN_DLC_BYTES_64;
 }
 
 static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan) {
-    if (fdcan >= BSP_FDCAN_NUM) return;
-    tx_queues[fdcan].head = 0;
-    tx_queues[fdcan].tail = 0;
+  if (fdcan >= BSP_FDCAN_NUM) return;
+  tx_queues[fdcan].head = 0;
+  tx_queues[fdcan].tail = 0;
 }
 
 static bool BSP_FDCAN_TxQueuePush(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) {
-    if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false;
-    BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan];
-    uint32_t next_head = (queue->head + 1) % BSP_FDCAN_TX_QUEUE_SIZE;
-    if (next_head == queue->tail) return false;
-    queue->buffer[queue->head] = *msg;
-    queue->head = next_head;
-    return true;
+  if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false;
+  BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan];
+  uint32_t next_head = (queue->head + 1) % BSP_FDCAN_TX_QUEUE_SIZE;
+  if (next_head == queue->tail) return false;
+  queue->buffer[queue->head] = *msg;
+  queue->head = next_head;
+  return true;
 }
 
 static bool BSP_FDCAN_TxQueuePop(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) {
-    if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false;
-    BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan];
-    if (queue->head == queue->tail) return false;
-    *msg = queue->buffer[queue->tail];
-    queue->tail = (queue->tail + 1) % BSP_FDCAN_TX_QUEUE_SIZE;
-    return true;
+  if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false;
+  BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan];
+  if (queue->head == queue->tail) return false;
+  *msg = queue->buffer[queue->tail];
+  queue->tail = (queue->tail + 1) % BSP_FDCAN_TX_QUEUE_SIZE;
+  return true;
 }
 
 static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan) {
-    if (fdcan >= BSP_FDCAN_NUM) return true;
-    return tx_queues[fdcan].head == tx_queues[fdcan].tail;
+  if (fdcan >= BSP_FDCAN_NUM) return true;
+  return tx_queues[fdcan].head == tx_queues[fdcan].tail;
 }
 
 static void BSP_FDCAN_TxCompleteCallback(void) {
-    for (int i = 0; i < BSP_FDCAN_NUM; i++) {
-        BSP_FDCAN_t fdcan = (BSP_FDCAN_t)i;
-        FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan);
-        if (hfdcan == NULL) continue;
-        // 消费所有 TX EVENT FIFO 事件，防止堵塞
-        FDCAN_TxEventFifoTypeDef tx_event;
-        while (HAL_FDCAN_GetTxEvent(hfdcan, &tx_event) == HAL_OK) {
-            // 可在此统计 MessageMarker、ID、时间戳等
-        }
-        // 续写软件队列到硬件 FIFO
-        BSP_FDCAN_TxMessage_t msg;
-        while (!BSP_FDCAN_TxQueueIsEmpty(fdcan)) {
-            if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) == 0) break;
-            if (!BSP_FDCAN_TxQueuePop(fdcan, &msg)) break;
-            HAL_StatusTypeDef res = HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &msg.header, msg.data);
-            if (res != HAL_OK) {
-                break;
-            }
-        }
+  for (int i = 0; i < BSP_FDCAN_NUM; i++) {
+    BSP_FDCAN_t fdcan = (BSP_FDCAN_t)i;
+    FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan);
+    if (hfdcan == NULL) continue;
+    // 消费所有 TX EVENT FIFO 事件，防止堵塞
+    FDCAN_TxEventFifoTypeDef tx_event;
+    while (HAL_FDCAN_GetTxEvent(hfdcan, &tx_event) == HAL_OK) {
+        // 可在此统计 MessageMarker、ID、时间戳等
     }
+    // 续写软件队列到硬件 FIFO
+    BSP_FDCAN_TxMessage_t msg;
+    while (!BSP_FDCAN_TxQueueIsEmpty(fdcan)) {
+      if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) == 0) break;
+      if (!BSP_FDCAN_TxQueuePop(fdcan, &msg)) break;
+      HAL_StatusTypeDef res = HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &msg.header, msg.data);
+      if (res != HAL_OK) {
+        break;
+      }
+    }
+  }
 }
-static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
 
 static void BSP_FDCAN_RxFifo0Callback(void) {
-    FDCAN_RxHeaderTypeDef rx_header;
-    uint8_t rx_data[BSP_FDCAN_MAX_DLC];
-    for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) {
-        FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx);
-        if (hfdcan == NULL) continue;
-        while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) > 0) {
-            if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) {
-                uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff;
-                BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header);
-                uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type);
-                osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id);
-                if (queue != NULL) {
-                    BSP_FDCAN_Message_t msg;
-                    msg.frame_type = frame_type;
-                    msg.original_id = original_id;
-                    msg.parsed_id = parsed_id;
-                    uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF];
-                    msg.dlc = real_len;
-                    if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
-                    memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零
-                    memcpy(msg.data, rx_data, msg.dlc);
-                    osMessageQueuePut(queue, &msg, 0, 0);
-                }
-            } else {
-                break;
-            }
+  FDCAN_RxHeaderTypeDef rx_header;
+  uint8_t rx_data[BSP_FDCAN_MAX_DLC];
+  for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) {
+    FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx);
+    if (hfdcan == NULL) continue;
+    while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) > 0) {
+      if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) {
+        uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff;
+        BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header);
+        uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type);
+        osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id);
+        if (queue != NULL) {
+          BSP_FDCAN_Message_t msg;
+          msg.frame_type = frame_type;
+          msg.original_id = original_id;
+          msg.parsed_id = parsed_id;
+          uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF];
+          msg.dlc = real_len;
+          if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
+          memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零
+          memcpy(msg.data, rx_data, msg.dlc);
+          osMessageQueuePut(queue, &msg, 0, 0);
         }
+      } else {
+          break;
+      }
     }
+  }
 }
 
 static void BSP_FDCAN_RxFifo1Callback(void) {
-    FDCAN_RxHeaderTypeDef rx_header;
-    uint8_t rx_data[BSP_FDCAN_MAX_DLC];
-    static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
-    for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) {
-        FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx);
-        if (hfdcan == NULL) continue;
-        while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO1) > 0) {
-            if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) {
-                uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff;
-                BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header);
-                uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type);
-                osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id);
-                if (queue != NULL) {
-                    BSP_FDCAN_Message_t msg;
-                    msg.frame_type = frame_type;
-                    msg.original_id = original_id;
-                    msg.parsed_id = parsed_id;
-                    uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF];
-                    msg.dlc = real_len; 
-                    if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
-                    memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零
-                    memcpy(msg.data, rx_data, msg.dlc);
-                    osMessageQueuePut(queue, &msg, 0, 0);
-                }
-            } else {
-                break;
-            }
+  FDCAN_RxHeaderTypeDef rx_header;
+  uint8_t rx_data[BSP_FDCAN_MAX_DLC];
+  for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) {
+    FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx);
+    if (hfdcan == NULL) continue;
+    while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO1) > 0) {
+      if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) {
+        uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff;
+        BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header);
+        uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type);
+        osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id);
+        if (queue != NULL) {
+          BSP_FDCAN_Message_t msg;
+          msg.frame_type = frame_type;
+          msg.original_id = original_id;
+          msg.parsed_id = parsed_id;
+          uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF];
+          msg.dlc = real_len; 
+          if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
+          memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零
+          memcpy(msg.data, rx_data, msg.dlc);
+          osMessageQueuePut(queue, &msg, 0, 0);
         }
+      } else {
+          break;
+      }
     }
+  }
 }
 
 /* HAL Callback Stubs (map HAL FDCAN callbacks to user callbacks) */
 void HAL_FDCAN_TxEventFifoCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t TxEventFifoITs) {
-    BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
-    if (bsp_fdcan != BSP_FDCAN_ERR) {
-        if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB])
-            FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB]();
-    }
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB]();
+  }
 }
 
 void HAL_FDCAN_TxBufferCompleteCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) {
-    BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
-    if (bsp_fdcan != BSP_FDCAN_ERR) {
-        if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB])
-            FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB]();
-    }
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB]();
+  }
 }
 
 void HAL_FDCAN_TxBufferAbortCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) {
-    BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
-    if (bsp_fdcan != BSP_FDCAN_ERR) {
-        if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB])
-            FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB]();
-    }
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB]();
+  }
 }
 
 void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
-    BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
-    if (bsp_fdcan != BSP_FDCAN_ERR) {
-        if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB])
-            FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB]();
-    }
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB]();
+  }
 }
 
 void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) {
-    BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
-    if (bsp_fdcan != BSP_FDCAN_ERR) {
-        if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB])
-            FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB]();
-    }
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB]();
+  }
 }
 
 void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef *hfdcan) {
-    BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
-    if (bsp_fdcan != BSP_FDCAN_ERR) {
-        if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB])
-            FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB]();
-    }
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB]();
+  }
 }
 
 /* Exported functions ------------------------------------------------------- */
 int8_t BSP_FDCAN_Init(void) {
-    if (inited) return BSP_ERR_INITED;
+  if (inited) return BSP_ERR_INITED;
 
-    memset(FDCAN_Callback, 0, sizeof(FDCAN_Callback));
+  memset(FDCAN_Callback, 0, sizeof(FDCAN_Callback));
+  for (int i = 0; i < BSP_FDCAN_NUM; i++) BSP_FDCAN_TxQueueInit((BSP_FDCAN_t)i);
+  id_parser = BSP_FDCAN_DefaultIdParser;
+  queue_mutex = osMutexNew(NULL);
+  if (queue_mutex == NULL) return BSP_ERR;
 
-    for (int i = 0; i < BSP_FDCAN_NUM; i++) BSP_FDCAN_TxQueueInit((BSP_FDCAN_t)i);
-
-    id_parser = BSP_FDCAN_DefaultIdParser;
-
-    queue_mutex = osMutexNew(NULL);
-
-    if (queue_mutex == NULL) return BSP_ERR;
-
-    inited = true;
+  inited = true;
 
   /* 配置并启动 FDCAN 实例，绑定中断/回调 */
 
+  //========== 过滤器配置说明：==========================
   //  过滤器编号：相对于每个（相当于经典can过滤器的bank）
   //  sFilterConfig.FilterIndex = 0 to 127(标准ID) or 0 to 63(扩展ID);  
   //  关于过滤器索引的说明：
@@ -379,7 +370,7 @@ int8_t BSP_FDCAN_Init(void) {
   //  仅在FilterConfig 设为 FDCAN_FILTER_TO_RXBUFFER 时才有意义，通常设置为0
   //  IsCalibrationMsg = 0 or 1; 
   // fdcan_filter_table.h
-
+  //=================================================================================
   /* 依据上述说明，配置过滤器并启动FDCAN */
   FDCAN_FilterTypeDef sFilterConfig;
 
@@ -452,7 +443,7 @@ int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t fdcan, BSP_FDCAN_Callback_t type,
     FDCAN_Callback[fdcan][type] = callback;
     return BSP_OK;
 }
-uint32_t fifolevel=0;
+
 int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc) {
     if (!inited) return BSP_ERR_INITED;
     if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR;
@@ -507,10 +498,8 @@ int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t
   tx_msg.header.DataLength = BSP_FDCAN_EncodeDLC(dlc);   
 
   memset(tx_msg.data, 0, dlc);
-  if (data != NULL && dlc > 0) {
-  memcpy(tx_msg.data, data, dlc);}
+  if (data != NULL && dlc > 0) {memcpy(tx_msg.data, data, dlc);}
 
-	fifolevel=HAL_FDCAN_GetTxFifoFreeLevel(hfdcan);
   if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) > 0) {
     if (HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &tx_msg.header, tx_msg.data) == HAL_OK) return BSP_OK;
   }
diff --git a/User/task/blink.c b/User/task/blink.c
index fd32705..ce5bd3b 100644
--- a/User/task/blink.c
+++ b/User/task/blink.c
@@ -19,10 +19,12 @@
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
   BSP_FDCAN_Message_t msg1={0};
-    BSP_FDCAN_Message_t msg2={0};
-      BSP_FDCAN_Message_t msg3={0};
+  BSP_FDCAN_Message_t msg2={0};
+  BSP_FDCAN_Message_t msg3A={0};
+  BSP_FDCAN_Message_t msg3B={0};
+  BSP_FDCAN_Message_t msg3C={0};
 /* USER STRUCT END */
-float rxlevel=0;
+
 /* Private function --------------------------------------------------------- */
 
 /* Exported functions ------------------------------------------------------- */
@@ -51,7 +53,8 @@ void Task_blink(void *argument) {
   BSP_FDCAN_RegisterId(BSP_FDCAN_1, 0x101, 8);
   BSP_FDCAN_RegisterId(BSP_FDCAN_2, 0x102, 8);
   BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x103, 8);
-
+  BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x104, 8);
+  BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x105, 8);
   /* USER CODE INIT END */
   
   while (1) {
@@ -78,15 +81,20 @@ void Task_blink(void *argument) {
       // 使用 BSP 封装的发送接口（非阻塞，若硬件 FIFO 满则内部入队）
       BSP_FDCAN_Transmit(BSP_FDCAN_1, BSP_FDCAN_FORMAT_STD_DATA, 0x101, data1, 8);
       BSP_FDCAN_Transmit(BSP_FDCAN_2, BSP_FDCAN_FORMAT_STD_DATA, 0x102, data2, 8);
-      BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x103, data3, 13);
+      BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x103, data3, 30);
+      BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x104, data2, 5);
+      BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x105, data1, 8);
 
       if (BSP_FDCAN_GetMessage(BSP_FDCAN_1, 0x101, &msg1, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
       }
       if (BSP_FDCAN_GetMessage(BSP_FDCAN_2, 0x102, &msg2, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
       }
-      if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x103, &msg3, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
+      if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x103, &msg3A, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
+      }
+      if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x104, &msg3B, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
+      }
+      if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x105, &msg3C, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
       }
-      rxlevel=HAL_FDCAN_GetRxFifoFillLevel(BSP_FDCAN_GetHandle(BSP_FDCAN_2), FDCAN_RX_FIFO1); 
     } 
 //	osDelay(10);
     /* USER CODE END */