diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
index 5fe3c14..a70823a 100644
--- a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
+++ b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
@@ -836,8 +836,6 @@ void diffParametersInit(void *signal_id)
        diff_data.diff_dead_zone = (float)getParam("diff_sp");//参数读取设定最大扭矩       
     }   
     
-
-
     diff_data.min_Torq = (uint16_t)getParam("minTorq");//参数读取设定最大扭矩    
     
    
diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.c b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.c
index 6a13c36..5944892 100644
--- a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.c
+++ b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.c
@@ -336,9 +336,11 @@ void bmsProcess(void *signal_id)//读取电压
 {
     (void)signal_id;
     
-    power_data.high_battery_voltage = (float)un_bms_input.bit_data.bus_voltage / 100.0;
-    power_data.low_battery_voltage = (float)un_bms_input.bit_data.low_voltage / 100.0;    
-
+    power_data.high_battery_voltage = (float)SWAP_ENDIAN_16(un_bms_input.bit_data.bus_voltage) / 100.0;
+    power_data.low_battery_voltage = (float)SWAP_ENDIAN_16(un_bms_input.bit_data.low_voltage) / 100.0;    
+    
+    printf("high_vol = %f, low_vol = %f\n", power_data.high_battery_voltage, power_data.low_battery_voltage);    
+   
 }
 
 
diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.h b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.h
index 30a933e..f29b848 100644
--- a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.h
+++ b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.h
@@ -10,6 +10,10 @@ extern "C" {
 #include "app_frm_signal.h"
 #include "app_frm_timer.h"
 
+#define SWAP_ENDIAN_16(x) ((((x) & 0xFF) << 8) | (((x) >> 8) & 0xFF))
+#define SWAP_ENDIAN_32(x) (((x) << 24) | (((x) & 0xFF00) << 8) | (((x) >> 8) & 0xFF00) | ((x) >> 24))  
+  
+  
 // 定义电源状态枚举
 typedef enum {
     POWER_STANDBY,
diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/interface.h b/boards/e3_176_ref/app_demo/eth-xip/sf/interface.h
index 33caa35..4d63c40 100644
--- a/boards/e3_176_ref/app_demo/eth-xip/sf/interface.h
+++ b/boards/e3_176_ref/app_demo/eth-xip/sf/interface.h
@@ -126,10 +126,10 @@ typedef struct _StrBmsInput
 {
 //----接收0x301----------------------------------
     // 多字节数据，高位在前，低位在后
-    uint16_t bus_voltage         ;  // 母线电压  单位为0.01V
-    uint16_t low_voltage         ;  // 母线电流  单位为0.01V
-    uint16_t channel3            ;  // 保留通道
-    uint16_t crc1                ;  //
+    uint16_t low_voltage     ;  // 电池电压  单位为0.01V
+    uint16_t chanel1         ;  // 
+    uint16_t bus_voltage     ;  // 母线  单位为0.01V
+    uint16_t chanel2         ;  //
 } StrBmsInput;
 
 typedef union _UnBmsInput
diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.c b/boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.c
index 089874f..99f33bb 100644
--- a/boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.c
+++ b/boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.c
@@ -385,8 +385,8 @@ void flexcan_Receive_callback_3(flexcan_handle_t *handle,
                                       flexcan_status_e status, uint32_t result,
                                       void *userData)
 {
-    flexcan_frame_t *buf = (flexcan_frame_t *)userData;
-    uint8_t i = 0;
+//    flexcan_frame_t *buf = (flexcan_frame_t *)userData;
+//    uint8_t i = 0;
 //--------------------------------------------------------------   
     switch (status) 
     {
@@ -395,30 +395,30 @@ void flexcan_Receive_callback_3(flexcan_handle_t *handle,
 
        case FLEXCAN_RX_FIFO_IDLE: 
            
-            if(BMS_INPUT_ID1 == (buf->id))//BMS
-            {               
-                can_fault_info.bit_data.bms_count ++;                
-                for(i = 0; i < (buf->length); i++)
-                {
-                    un_bms_input.arr[i] = buf->dataBuffer[i];
-                }
-                publishMessage(&un_bms_input, 1);                           
-            }
-            else if(BMS_INPUT_ID2 == (buf->id))//BMS
-            {                          
-                for(i = 0; i < (buf->length); i++)
-                {                    
-                    un_bms_input.arr[i+8] = buf->dataBuffer[i]; 
-                }
-                //�����ź�
-                publishMessage(&un_bms_input, 1);                              
-            }
+//            if(BMS_INPUT_ID1 == (buf->id))//BMS
+//            {               
+//                can_fault_info.bit_data.bms_count ++;                
+//                for(i = 0; i < (buf->length); i++)
+//                {
+//                    un_bms_input.arr[i] = buf->dataBuffer[i];
+//                }
+//                publishMessage(&un_bms_input, 1);                           
+//            }
+//            else if(BMS_INPUT_ID2 == (buf->id))//BMS
+//            {                          
+//                for(i = 0; i < (buf->length); i++)
+//                {                    
+//                    un_bms_input.arr[i+8] = buf->dataBuffer[i]; 
+//                }
+//                //�����ź�
+//                publishMessage(&un_bms_input, 1);                              
+//            }
 //            else if(0x701 == (buf->id))//ת�����ϵ�ᷢһ֡0x701
 //            {
 //                un_sdo_output6.bit_data.cmd = 1;
 //                publishMessage(&un_sdo_output6, 1); 
 //            }
-            else{}
+//            else{}
      
           break;
 
@@ -560,11 +560,11 @@ void flexcan_Receive_callback_6(flexcan_handle_t *handle,
                     printf("Feed dog flag received %d\n",getCurrentTime());
                 }              
             }
-            else if(BMS_INPUT_ID1 == (buf->id))//���յ�ι��ID
+            else if(BMS_INPUT_ID2 == (buf->id))//���յ�ι��ID
             {
                 for(i = 0; i < (buf->length); i++)
                 {                    
-                    un_bms_input.arr[i+8] = buf->dataBuffer[i]; 
+                    un_bms_input.arr[i] = buf->dataBuffer[i]; 
                 }
                 //�����ź�
                 publishMessage(&un_bms_input, 1); 
@@ -1179,7 +1179,7 @@ void canSendAll(void *signal_id)
         CAN_Send_Msg(&can_handle_1, MOTOR_OUTPUT_ID_1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData,CanData, 8, 17);//���1�������  
         CAN_Send_Msg(&can_handle_2, MOTOR_OUTPUT_ID_2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData,CanData, 8, 17);//���1�������  
         
-        CAN_Send_Msg(&can_handle_6, BMS_INPUT_ID1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData,CanData, 8, 17);//BMS ����          
+        CAN_Send_Msg(&can_handle_6, BMS_OUTPUT_ID1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData,CanData, 8, 17);//BMS ����          
         
     }
 
diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.h b/boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.h
index 6f0004b..910ed9c 100644
--- a/boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.h
+++ b/boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.h
@@ -72,8 +72,8 @@
 
 
 
-#define BMS_INPUT_ID1                0x301
-#define BMS_INPUT_ID2                0x101
+#define BMS_OUTPUT_ID1                0x301
+#define BMS_INPUT_ID2                 0x302
 #define REMOTE_ID                    0x12000023
 //#define TEMP_MODULE_INPUT_ID_1       0x301
 #define TEMP_MODULE_INPUT_ID_1       0x15000003