From 3af64bb2b209706b2f3db2ea08fd1b663c623c34 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Mon, 29 Jun 2026 16:36:46 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9FDCAN=E6=B3=A2=E7=89=B9?=
 =?UTF-8?q?=E7=8E=87?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Core/Src/fdcan.c                 |  4 ++--
 cmake/stm32cubemx/CMakeLists.txt | 15 +++++++--------
 robot                            |  2 +-
 robot_h743.ioc                   | 14 ++++++++------
 4 files changed, 18 insertions(+), 17 deletions(-)

diff --git a/Core/Src/fdcan.c b/Core/Src/fdcan.c
index c10df44..5e39066 100644
--- a/Core/Src/fdcan.c
+++ b/Core/Src/fdcan.c
@@ -47,7 +47,7 @@ void MX_FDCAN1_Init(void)
   hfdcan1.Init.NominalPrescaler = 20;
   hfdcan1.Init.NominalSyncJumpWidth = 1;
   hfdcan1.Init.NominalTimeSeg1 = 5;
-  hfdcan1.Init.NominalTimeSeg2 = 1;
+  hfdcan1.Init.NominalTimeSeg2 = 2;
   hfdcan1.Init.DataPrescaler = 1;
   hfdcan1.Init.DataSyncJumpWidth = 1;
   hfdcan1.Init.DataTimeSeg1 = 1;
@@ -95,7 +95,7 @@ void MX_FDCAN2_Init(void)
   hfdcan2.Init.NominalPrescaler = 20;
   hfdcan2.Init.NominalSyncJumpWidth = 1;
   hfdcan2.Init.NominalTimeSeg1 = 5;
-  hfdcan2.Init.NominalTimeSeg2 = 1;
+  hfdcan2.Init.NominalTimeSeg2 = 2;
   hfdcan2.Init.DataPrescaler = 1;
   hfdcan2.Init.DataSyncJumpWidth = 1;
   hfdcan2.Init.DataTimeSeg1 = 1;
diff --git a/cmake/stm32cubemx/CMakeLists.txt b/cmake/stm32cubemx/CMakeLists.txt
index 762fec1..53fdbbf 100644
--- a/cmake/stm32cubemx/CMakeLists.txt
+++ b/cmake/stm32cubemx/CMakeLists.txt
@@ -108,7 +108,7 @@ set(FreeRTOS_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/timers.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
 )
 set(LwIP_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/LwIP/src/netif/ppp/auth.c
@@ -203,8 +203,7 @@ set(MX_LINK_DIRS
 set(MX_LINK_LIBS 
     STM32_Drivers
     ${TOOLCHAIN_LINK_LIBRARIES}
-    FreeRTOS
-	LwIP
	
+    FreeRTOS
	LwIP
	
 )
 # Interface library for includes and symbols
 add_library(stm32cubemx INTERFACE)
@@ -216,11 +215,11 @@ add_library(STM32_Drivers OBJECT)
 target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src})
 target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
 
-
-# Create FreeRTOS static library
-add_library(FreeRTOS OBJECT)
-target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})
-target_link_libraries(FreeRTOS PUBLIC stm32cubemx)
+
+# Create FreeRTOS static library
+add_library(FreeRTOS OBJECT)
+target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})
+target_link_libraries(FreeRTOS PUBLIC stm32cubemx)
 
 # Create LwIP static library
 add_library(LwIP OBJECT)
diff --git a/robot b/robot
index 2b68578..778a14c 160000
--- a/robot
+++ b/robot
@@ -1 +1 @@
-Subproject commit 2b68578a946d91386e7ff70c84a04b1bc8c3f608
+Subproject commit 778a14c63b91f62ea8b058caf330792cfc4050cc
diff --git a/robot_h743.ioc b/robot_h743.ioc
index 830c086..93be304 100644
--- a/robot_h743.ioc
+++ b/robot_h743.ioc
@@ -183,21 +183,23 @@ ETH.RxBuffAddress=0x30040400
 ETH.RxBuffLen=1528
 ETH.RxDescAddress=0x30040000
 ETH.TxDescAddress=0x30040200
-FDCAN1.CalculateBaudRateNominal=285714
-FDCAN1.CalculateTimeBitNominal=3500
+FDCAN1.CalculateBaudRateNominal=250000
+FDCAN1.CalculateTimeBitNominal=4000
 FDCAN1.CalculateTimeQuantumNominal=500.0
-FDCAN1.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal
+FDCAN1.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalTimeSeg2
 FDCAN1.NominalPrescaler=20
 FDCAN1.NominalTimeSeg1=5
+FDCAN1.NominalTimeSeg2=2
 FDCAN1.RxFifo0ElmtsNbr=32
 FDCAN1.TxFifoQueueElmtsNbr=32
-FDCAN2.CalculateBaudRateNominal=285714
-FDCAN2.CalculateTimeBitNominal=3500
+FDCAN2.CalculateBaudRateNominal=250000
+FDCAN2.CalculateTimeBitNominal=4000
 FDCAN2.CalculateTimeQuantumNominal=500.0
-FDCAN2.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset
+FDCAN2.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,NominalTimeSeg2
 FDCAN2.MessageRAMOffset=0x500
 FDCAN2.NominalPrescaler=20
 FDCAN2.NominalTimeSeg1=5
+FDCAN2.NominalTimeSeg2=2
 FDCAN2.RxFifo0ElmtsNbr=32
 FDCAN2.TxFifoQueueElmtsNbr=32
 FREERTOS.FootprintOK=true