基于QD007E_CTRL_APP_GD32分支修改，调整波特率为250K。

Core/Src/can.c

@@ -64,7 +64,7 @@ void MX_CAN_Init(void)
 {
 
   hcan.Instance = CAN1;
-  hcan.Init.Prescaler = 48;
+  hcan.Init.Prescaler = 24;
   hcan.Init.Mode = CAN_MODE_NORMAL;
   hcan.Init.SJW = CAN_SJW_1TQ;
   hcan.Init.BS1 = CAN_BS1_4TQ;

MDK-ARM/QD007A_CTL_APP/QD007A_CTL_APP_CRC.hex

@@ -1566,7 +1566,7 @@
 :20F3800007900690049001A91148F8F7B9F918B1D42110A004F0DEFA02200190029001A9DF
 :20F3A0000B48F8F7ADF918B1DD210AA004F0D2FA03200190029001A90548F8F7A1F918B1A5
 :20F3C000E62104A004F0C6FA09B000BD00280140141400202E2E5C436F72655C5372635C86
-:20F3E0006164632E6300000010B50F480F4908603020486000210D488160C1604FF4403154
+:20F3E0006164632E6300000010B50F480F4908601820486000210D488160C1604FF440316C
 :20F4000001610021416181610121C1610021016241628162C162F9F713FA18B1502104A099
 :20F4200004F098FA10BD000000640040F41800202E2E5C436F72655C5372635C63616E2E28
 :20F440006300000008B500BF0A48406940F00100084948610846406900F00100009000BF70
@@ -2111,8 +2111,8 @@
 :20378000F0F7B1F9082235A13748F0F7ACF9082236A135480830F0F7A6F9082236A13248D6
 :2037A0001030F0F7A0F93748374B0ECB0EC000F093F800F06BF810BD3C0100205801002030
 :2037C000400100206C070020AC0700209407002074490108840700204101002084490108BE
-:2037E0005144303037452F462F472F482E202020000000001C0700205632723272315F32C5
-:20380000303231313030382E0000000054433031313030302D4D53303030302D5630723083
+:2037E0005144303037452F462F472F482E202020000000001C0700205636723172305F32C3
+:20380000303231313031312E0000000054433031313030302D4D53303030302D5630723089
 :203820002E2020202020202020202020000000003C070020564C3635585820262056533794
 :203840003558582E000000003030303030303030303030303030303000000000545449550F
 :203860004D2E20200000000054080020575548414E2E202000000000323032313031303199
@@ -2526,6 +2526,6 @@
 :206B6000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF35
 :206B8000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF15
 :206BA000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF00000000F1
-:046BC00070959B81B0
+:046BC000693E9B5738
 :04000005080030EDD2
 :00000001FF

User/Src/var.c

@@ -496,7 +496,7 @@ void Var_Init(void)
 		
 	//MC版本信息初始化，Mode和SN从EEPROM读取
   strncpy(MC_VerInfo.HW_Version, (char*)"QD007E/F/G/H.   ", 16);
-	strncpy(MC_VerInfo.FW_Version, (char*)"V2r2r1_20211008.", 16);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V6r1r0_20211011.", 16);
 	strncpy(Firmware_Special, (char*)"TC011000-MS0000-V0r0.           ", 32);
 		
 	//电机型号