From 25fdff4026ba4f45b43c0238e0ec24b1812f8e50 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Fri, 14 Aug 2026 13:39:21 +0800
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---
 CMakePresets.json           |  2 +-
 robot                       |  2 +-
 新版线轴小板协议.md | 12 ++++++++++--
 3 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/CMakePresets.json b/CMakePresets.json
index afa25ec..257a7a4 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -33,9 +33,9 @@
         "MEM_POOL_TOTAL_SIZE": "8*1024",
         "CONFIG_CAN_NEW_VERSION": "1",
         "USE_UART": true,
-        "CONFIG_UART_IT_IDLEDMA": true,
         "USE_PRINT": true,
         "PRINT_ID": "1",
+        "RD_VERSION": "v2.0",
         "USE_CAN": true
       }
     },
diff --git a/robot b/robot
index 5e95fb8..3d0a501 160000
--- a/robot
+++ b/robot
@@ -1 +1 @@
-Subproject commit 5e95fb8c7e74ce7f80a1aa7ceafa2a45bf77b60c
+Subproject commit 3d0a5010e0153d891f750f40d39bb17738d3cdf4
diff --git a/新版线轴小板协议.md b/新版线轴小板协议.md
index d6050e8..219ba8c 100644
--- a/新版线轴小板协议.md
+++ b/新版线轴小板协议.md
@@ -23,6 +23,14 @@
 
 注意下文所述的所有报文格式都需要在末尾加MODBUS-CRC16校验，这里统一说一下
 
+### 获取版本信息
+
+`0x34 0x01`
+
+注意用串口助手接收最好选字符模式，这样可以直接看到版本信息的字符串，例如：
+
+`v2.0 build [Aug 14 2026 13:33:49] by BINGOOPRO`
+
 ### 读寄存器
 
 | 0x34               | 0x03                     | 0x00           | 0x01           | 0x00           | 0x02           |
@@ -31,7 +39,7 @@
 
 以上述报文为例表示从holdingRegisters[1]开始连续读两个寄存器的值，即  holdingRegisters[1]和holdingRegisters[2]的值
 
-## 写单个寄存器
+### 写单个寄存器
 
 | 0x34               | 0x06                     | 0x00           | 0x01           | 0x00         | 0x01         |
 | ------------------ | ------------------------ | -------------- | -------------- | ------------ | ------------ |
@@ -39,5 +47,5 @@
 
 以上述报文为例表示给  holdingRegisters[1]寄存器写入1这个值，对照寄存器介绍可知这将导致K2继电器开启
 
-## 写多个寄存器
+### 写多个寄存器