From 6b4a459fef18dd6aa5fb3f971bda4d6962142c6c Mon Sep 17 00:00:00 2001
From: nitiantuhao <2062405236@qq.com>
Date: Sat, 14 Mar 2026 22:43:20 +0800
Subject: [PATCH] 1.0

---
 Core/Src/can.c        | 2 +-
 Core/Src/f4_can_app.c | 2 ++
 FDR-Core.ioc          | 8 ++++----
 3 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/Core/Src/can.c b/Core/Src/can.c
index 751382f..94cd867 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -38,7 +38,7 @@ void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 2;
+  hcan1.Init.Prescaler = 4;
   hcan1.Init.Mode = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth = CAN_SJW_2TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
diff --git a/Core/Src/f4_can_app.c b/Core/Src/f4_can_app.c
index af29bf4..b085e3d 100644
--- a/Core/Src/f4_can_app.c
+++ b/Core/Src/f4_can_app.c
@@ -381,6 +381,7 @@ static void CAN_ProcessControlFrame(const uint8_t *rx_data, uint8_t dlc)
 
     if (!accept_frame)
     {
+        g_dbg_cnt_reject++;
         CAN_AtomicIncU32(&s_counter_reject_total);
         CAN_AtomicIncU8Saturated(&s_consecutive_counter_errors, 0xFFU);
 
@@ -432,6 +433,7 @@ static void CAN_ProcessControlFrame(const uint8_t *rx_data, uint8_t dlc)
     }
 
     CAN_AtomicIncU32(&s_valid_cmd_total);
+    g_dbg_valid_accept++;
     HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_2);
 }
 
diff --git a/FDR-Core.ioc b/FDR-Core.ioc
index e3a3d48..e1b6be7 100644
--- a/FDR-Core.ioc
+++ b/FDR-Core.ioc
@@ -4,11 +4,11 @@ CAD.pinconfig=
 CAD.provider=
 CAN1.BS1=CAN_BS1_16TQ
 CAN1.BS2=CAN_BS2_4TQ
-CAN1.CalculateBaudRate=1000000
-CAN1.CalculateTimeBit=1000
-CAN1.CalculateTimeQuantum=47.61904761904762
+CAN1.CalculateBaudRate=500000
+CAN1.CalculateTimeBit=2000
+CAN1.CalculateTimeQuantum=95.23809523809524
 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,SJW
-CAN1.Prescaler=2
+CAN1.Prescaler=4
 CAN1.SJW=CAN_SJW_2TQ
 File.Version=6
 GPIO.groupedBy=