From 681dce3c903107848b4dd7035d52a93f1d9b8082 Mon Sep 17 00:00:00 2001
From: NeoZng <neozng1@hnu.edn.cn>
Date: Thu, 13 Apr 2023 18:23:01 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8DCAN=E7=9A=84=E6=B6=88?=
 =?UTF-8?q?=E6=81=AF=E4=B8=A2=E5=A4=B1=E9=97=AE=E9=A2=98=EF=BC=8C=E4=BF=AE?=
 =?UTF-8?q?=E5=A4=8Drobot=5Fdef=E5=A4=84=E5=AE=8F=E5=AE=9A=E4=B9=89?=
 =?UTF-8?q?=E9=94=99=E8=AF=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Makefile                | 2 +-
 Src/can.c               | 4 ++--
 application/robot_def.h | 3 ---
 basic_framework.ioc     | 6 ++++--
 bsp/can/bsp_can.md      | 4 +---
 5 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/Makefile b/Makefile
index d709577..664d149 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Thu Apr 13 11:37:21 CST 2023] 
+# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Thu Apr 13 18:20:17 CST 2023] 
 ##########################################################################################################################
 
 # ------------------------------------------------
diff --git a/Src/can.c b/Src/can.c
index fe60482..41173da 100644
--- a/Src/can.c
+++ b/Src/can.c
@@ -47,7 +47,7 @@ void MX_CAN1_Init(void)
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = DISABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = ENABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
@@ -79,7 +79,7 @@ void MX_CAN2_Init(void)
   hcan2.Init.TimeTriggeredMode = DISABLE;
   hcan2.Init.AutoBusOff = DISABLE;
   hcan2.Init.AutoWakeUp = DISABLE;
-  hcan2.Init.AutoRetransmission = DISABLE;
+  hcan2.Init.AutoRetransmission = ENABLE;
   hcan2.Init.ReceiveFifoLocked = DISABLE;
   hcan2.Init.TransmitFifoPriority = ENABLE;
   if (HAL_CAN_Init(&hcan2) != HAL_OK)
diff --git a/application/robot_def.h b/application/robot_def.h
index 107eb7d..0e58bb7 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -188,10 +188,7 @@ typedef struct
 /* @todo : 对于平衡底盘,需要新增控制模式和控制数据 */
 typedef struct
 {
-#ifdef CHASSIS_BOARD
     attitude_t chassis_imu_data;
-#endif // CHASSIS_BOARD
-
     // 后续增加底盘的真实速度
     // float real_vx;
     // float real_vy;
diff --git a/basic_framework.ioc b/basic_framework.ioc
index 011cd40..45bd186 100644
--- a/basic_framework.ioc
+++ b/basic_framework.ioc
@@ -13,14 +13,16 @@ CAN1.BS1=CAN_BS1_10TQ
 CAN1.BS2=CAN_BS2_3TQ
 CAN1.CalculateBaudRate=1000000
 CAN1.CalculateTimeQuantum=71.42857142857143
-CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate,TXFP
+CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate,TXFP,NART
+CAN1.NART=ENABLE
 CAN1.Prescaler=3
 CAN1.TXFP=ENABLE
 CAN2.BS1=CAN_BS1_10TQ
 CAN2.BS2=CAN_BS2_3TQ
 CAN2.CalculateBaudRate=1000000
 CAN2.CalculateTimeQuantum=71.42857142857143
-CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate,TXFP
+CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate,TXFP,NART
+CAN2.NART=ENABLE
 CAN2.Prescaler=3
 CAN2.TXFP=ENABLE
 Dma.ADC1.8.Direction=DMA_PERIPH_TO_MEMORY
diff --git a/bsp/can/bsp_can.md b/bsp/can/bsp_can.md
index 39c5cab..0e75446 100644
--- a/bsp/can/bsp_can.md
+++ b/bsp/can/bsp_can.md
@@ -2,9 +2,7 @@
 
 <p align='right'>neozng1@hnu.edu.cn</p>
 
-> TODO:
->
-> 1. 增加自动检测ID冲突的log输出。
+# 请注意使用CAN设备的时候务必保证总线只接入了2个终端电阻！开发板一般都有一个，6020电机和HT、LK电机也都有终端电阻，注意把多于2个的全部断开（通过拨码）
 
 ## 使用说明