修复了吗？没有，很难的啦

Core/Inc/stm32h7xx_it.h

@@ -62,6 +62,8 @@ void DMA1_Stream6_IRQHandler(void);
 void ADC_IRQHandler(void);
 void FDCAN1_IT0_IRQHandler(void);
 void FDCAN2_IT0_IRQHandler(void);
+void FDCAN1_IT1_IRQHandler(void);
+void FDCAN2_IT1_IRQHandler(void);
 void SPI1_IRQHandler(void);
 void SPI2_IRQHandler(void);
 void USART1_IRQHandler(void);
@@ -80,6 +82,7 @@ void OTG_HS_IRQHandler(void);
 void UART7_IRQHandler(void);
 void USART10_IRQHandler(void);
 void FDCAN3_IT0_IRQHandler(void);
+void FDCAN3_IT1_IRQHandler(void);
 void TIM23_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 

Core/Src/fdcan.c

@@ -216,6 +216,8 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
     /* FDCAN1 interrupt Init */
     HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
+    HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
   /* USER CODE BEGIN FDCAN1_MspInit 1 */
 
   /* USER CODE END FDCAN1_MspInit 1 */
@@ -256,6 +258,8 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
     /* FDCAN2 interrupt Init */
     HAL_NVIC_SetPriority(FDCAN2_IT0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
+    HAL_NVIC_SetPriority(FDCAN2_IT1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
   /* USER CODE BEGIN FDCAN2_MspInit 1 */
 
   /* USER CODE END FDCAN2_MspInit 1 */
@@ -296,6 +300,8 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
     /* FDCAN3 interrupt Init */
     HAL_NVIC_SetPriority(FDCAN3_IT0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(FDCAN3_IT0_IRQn);
+    HAL_NVIC_SetPriority(FDCAN3_IT1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(FDCAN3_IT1_IRQn);
   /* USER CODE BEGIN FDCAN3_MspInit 1 */
 
   /* USER CODE END FDCAN3_MspInit 1 */
@@ -324,6 +330,7 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
 
     /* FDCAN1 interrupt Deinit */
     HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
+    HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);
   /* USER CODE BEGIN FDCAN1_MspDeInit 1 */
 
   /* USER CODE END FDCAN1_MspDeInit 1 */
@@ -347,6 +354,7 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
 
     /* FDCAN2 interrupt Deinit */
     HAL_NVIC_DisableIRQ(FDCAN2_IT0_IRQn);
+    HAL_NVIC_DisableIRQ(FDCAN2_IT1_IRQn);
   /* USER CODE BEGIN FDCAN2_MspDeInit 1 */
 
   /* USER CODE END FDCAN2_MspDeInit 1 */
@@ -370,6 +378,7 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
 
     /* FDCAN3 interrupt Deinit */
     HAL_NVIC_DisableIRQ(FDCAN3_IT0_IRQn);
+    HAL_NVIC_DisableIRQ(FDCAN3_IT1_IRQn);
   /* USER CODE BEGIN FDCAN3_MspDeInit 1 */
 
   /* USER CODE END FDCAN3_MspDeInit 1 */

Core/Src/freertos.c

@@ -151,30 +151,20 @@ void StartDaemonTask(void *argument); // <--- 新的，带参数的标准 RTOS
 /* USER CODE END FunctionPrototypes */
 
 void StartDefaultTask(void *argument);
-
 void ShootTask(void *argument);
-
 void GimbalTask(void *argument);
-
 void ChassisTask(void *argument);
-
 void StartInitTask(void *argument);
-
 void VisionTask(void *argument);
-
 void CmdTask(void *argument);
-
 void RefereeTask(void *argument);
-
 extern void ws2812Task(void *argument);
 
 extern void MX_USB_DEVICE_Init(void);
-
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
 /* Hook prototypes */
 void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
-
 void vApplicationMallocFailedHook(void);
 
 /* USER CODE BEGIN 4 */
@@ -209,8 +199,7 @@ void vApplicationMallocFailedHook(void)
   * @param  None
   * @retval None
   */
-void MX_FREERTOS_Init(void)
+void MX_FREERTOS_Init(void) {
-{
   /* USER CODE BEGIN Init */
 
   /* USER CODE END Init */
@@ -273,6 +262,7 @@ void MX_FREERTOS_Init(void)
   /* USER CODE BEGIN RTOS_EVENTS */
   /* add events, ... */
   /* USER CODE END RTOS_EVENTS */
+
 }
 
 /* USER CODE BEGIN Header_StartDefaultTask */

Core/Src/stm32h7xx_it.c

@@ -327,6 +327,34 @@ void FDCAN2_IT0_IRQHandler(void)
   /* USER CODE END FDCAN2_IT0_IRQn 1 */
 }
 
+/**
+  * @brief This function handles FDCAN1 interrupt 1.
+  */
+void FDCAN1_IT1_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN1_IT1_IRQn 0 */
+
+  /* USER CODE END FDCAN1_IT1_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan1);
+  /* USER CODE BEGIN FDCAN1_IT1_IRQn 1 */
+
+  /* USER CODE END FDCAN1_IT1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles FDCAN2 interrupt 1.
+  */
+void FDCAN2_IT1_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN2_IT1_IRQn 0 */
+
+  /* USER CODE END FDCAN2_IT1_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan2);
+  /* USER CODE BEGIN FDCAN2_IT1_IRQn 1 */
+
+  /* USER CODE END FDCAN2_IT1_IRQn 1 */
+}
+
 /**
   * @brief This function handles SPI1 global interrupt.
   */
@@ -579,6 +607,20 @@ void FDCAN3_IT0_IRQHandler(void)
   /* USER CODE END FDCAN3_IT0_IRQn 1 */
 }
 
+/**
+  * @brief This function handles FDCAN3 interrupt 1.
+  */
+void FDCAN3_IT1_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN3_IT1_IRQn 0 */
+
+  /* USER CODE END FDCAN3_IT1_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan3);
+  /* USER CODE BEGIN FDCAN3_IT1_IRQn 1 */
+
+  /* USER CODE END FDCAN3_IT1_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM23 global interrupt.
   */

TronOneH7_Scaffold.ioc

@@ -570,8 +570,11 @@ NVIC.DMA2_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.FDCAN1_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.FDCAN2_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.FDCAN2_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.FDCAN3_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.FDCAN3_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false

User_Code/bsp/fdcan/bsp_fdcan.c

@@ -78,7 +78,7 @@ static void CANAddFilter(FDCANInstance *_instance)
 	fdcan_filter_conf.IsCalibrationMsg = 0;
 	//fdcan_filter_conf.RxBufferIndex=0;
 
-	// ================== 【核心修复区】 ==================
+	// ================== 【核心修复区】 ==================@todo：有问题 我要验牌
 	// 1. 强制让 FDCAN 进入 INIT 模式，否则无法写入 Message RAM
 	HAL_FDCAN_Stop(_instance->can_handle);
 
@@ -87,9 +87,14 @@ static void CANAddFilter(FDCANInstance *_instance)
 
 	// 3. 重新启动 FDCAN
 	HAL_FDCAN_Start(_instance->can_handle);
-	// ====================================================
 
-	HAL_FDCAN_ConfigFilter(_instance->can_handle, &fdcan_filter_conf);
+	// 4. 【救命稻草】HAL_FDCAN_Stop 关闭了所有中断，必须在这里重新激活！
+	uint32_t FDCAN_RXActiveITs = FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO0_FULL |
+	                             FDCAN_IT_RX_FIFO0_WATERMARK | FDCAN_IT_RX_FIFO0_MESSAGE_LOST |
+	                             FDCAN_IT_RX_FIFO1_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_FULL |
+	                             FDCAN_IT_RX_FIFO1_WATERMARK | FDCAN_IT_RX_FIFO1_MESSAGE_LOST;
+	HAL_FDCAN_ActivateNotification(_instance->can_handle, FDCAN_RXActiveITs, 0);
+	// ====================================================
 
 #else
 	CAN_FilterTypeDef can_filter_conf;

User_Code/user_task/dev_tasks/dev_cmd.c

@@ -21,7 +21,7 @@ static XidiPowerMeter_Init_Config_s xidi_pm_config = {
     .can_config = {
         .can_handle = &hfdcan1, // 原来直接传的句柄，现在放进结构体里
         .rx_id = 0x213, // 接收 ID
-        .tx_id = 0x001, // 发送 ID (不发送填0)
+        .tx_id = 0x000, // 发送 ID (不发送填0)
     },
     .daemon_config = {
         .reload_count = 5, // 守护进程超时周期 (例如：5次没收到算离线)