diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp
index 0c496f7..ac08ef4 100644
--- a/Robot_V2/device/Can.cpp
+++ b/Robot_V2/device/Can.cpp
@@ -372,19 +372,21 @@ void canfd_config(void) {
 	can_fd_parameter.fd_frame = ENABLE;
 	can_fd_parameter.excp_event_detect = ENABLE;
 	can_fd_parameter.delay_compensation = ENABLE;
+	/* TDCF/TDCO 不随数据波特率等比缩放：TDCMOD=CALC_AND_OFFSET 下硬件已自动测得
+	 * 回路延时(TDCV)，这里只是微调，经验取 TDCO ≈ 数据段 BS1 的 tq 数（4TQ→4）。
+	 * 放到 12 会让本节点回采时错开约 6 个数据位，自己发出的帧被判成错误帧。 */
 	can_fd_tdc_parameter.tdc_filter = 0x04;
 	can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
 	can_fd_tdc_parameter.tdc_offset = 0x04;
 	can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
 	can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
 	can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
-	/* FD mode data baudrate 2Mbps, sample piont at 80% */
+	/* FD mode data baudrate 5Mbps = 60MHz / (2 × 6TQ), sample point at 83.3%.
+	 * CAN_DBT 的 DBAUDPSC 独立于仲裁段 BAUDPSC，数据段 prescaler 可自取。 */
 	can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
-	can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_3TQ;
+	can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_4TQ;
 	can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
-	/* CAN-FD data segement prescaler should be the same as non-data segement
-	 * prescaler */
-	can_fd_parameter.data_prescaler = 6;
+	can_fd_parameter.data_prescaler = 2;
 	can_fd_init(CAN0, &can_fd_parameter);
 
 	/* initialize filter */