diff --git a/.gitignore b/.gitignore
index 8e918c7..757e1ef 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,6 +7,7 @@ MDK-ARM/startup_stm32f103xb.lst
 MDK-ARM/RTE
 MDK-ARM/CAR.uvguix.Admin
 MDK-ARM/car.uvguix.Administrator
+MDK-ARM/CAR.uvguix.lenovo
 
 build/
 cmake/
diff --git a/Core/Inc/stm32f1xx_hal_conf.h b/Core/Inc/stm32f1xx_hal_conf.h
index ff0bae5..8dc8f19 100644
--- a/Core/Inc/stm32f1xx_hal_conf.h
+++ b/Core/Inc/stm32f1xx_hal_conf.h
@@ -154,7 +154,7 @@
 #define  USE_HAL_SPI_REGISTER_CALLBACKS         0U /* SPI register callback disabled       */
 #define  USE_HAL_TIM_REGISTER_CALLBACKS         1U /* TIM register callback enabled       */
 #define  USE_HAL_UART_REGISTER_CALLBACKS        0U /* UART register callback disabled      */
-#define  USE_HAL_USART_REGISTER_CALLBACKS       0U /* USART register callback disabled     */
+#define  USE_HAL_USART_REGISTER_CALLBACKS       1U /* USART register callback enabled     */
 #define  USE_HAL_WWDG_REGISTER_CALLBACKS        0U /* WWDG register callback disabled      */
 
 /* ########################## Assert Selection ############################## */
diff --git a/Core/Inc/syscalls.h b/Core/Inc/syscalls.h
index 5327636..5a1d735 100644
--- a/Core/Inc/syscalls.h
+++ b/Core/Inc/syscalls.h
@@ -7,32 +7,37 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <stm32f1xx_hal_uart.h>
+#include <string.h>
 #include <time.h>
 
 #define HUART1 (&huart1)
 #define HUART2 (&huart2)
 
-extern UART_HandleTypeDef huart2;
+extern UART_HandleTypeDef huart1;
 
 extern int __io_putchar(int ch) __attribute__((weak));
 extern int __io_getchar(void) __attribute__((weak));
 
-__attribute__((weak)) int _read(int file, char *ptr, int len) {
+__attribute__((weak)) int _read(int file, char *ptr, int len)
+{
     (void)file;
     int DataIdx;
 
-    for (DataIdx = 0; DataIdx < len; DataIdx++) {
+    for (DataIdx = 0; DataIdx < len; DataIdx++)
+    {
         *ptr++ = __io_getchar();
     }
 
     return len;
 }
 
-__attribute__((weak)) int _write(int file, char *ptr, int len) {
+__attribute__((weak)) int _write(int file, char *ptr, int len)
+{
     (void)file;
     int DataIdx;
 
-    for (DataIdx = 0; DataIdx < len; DataIdx++) {
+    for (DataIdx = 0; DataIdx < len; DataIdx++)
+    {
         __io_putchar(*ptr++);
     }
     return len;
@@ -48,7 +53,7 @@ __attribute__((weak)) int _write(int file, char *ptr, int len) {
 #endif /* __GNUC__ */
 
 /**
- * @brief 重定向 C 标准库 printf 函数到串口 huart2
+ * @brief 重定向 C 标准库 printf 函数到串口 huart1
  * @author Suroy
  * @param ch
  * @param f
@@ -56,27 +61,30 @@ __attribute__((weak)) int _write(int file, char *ptr, int len) {
  *
  * @usage printf("USART1_Target:\r\n");
  */
-PUTCHAR_PROTOTYPE {
-    HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY); // 阻塞式无限等待
+PUTCHAR_PROTOTYPE
+{
+    HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, HAL_MAX_DELAY); // 阻塞式无限等待
     return ch;
 }
 
 /**
  * @brief 重定向 c库函数 getchar,scanf到 DEBUG_USARTx
- * 重定向 C 标准库 scanf 函数到串口 huart2
+ * 重定向 C 标准库 scanf 函数到串口 huart1
  * 注意以 空格 为结束
  * @param f
  * @return int
  *
  * @usage scanf("%c", &RecData);
  */
-GETCHAR_PROTOTYPE {
+GETCHAR_PROTOTYPE
+{
     uint8_t ch = 0;
-    HAL_UART_Receive(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
+    HAL_UART_Receive(&huart1, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
     return ch;
 }
 
-void delay_us(uint16_t us) {
+void delay_us(uint16_t us)
+{
     uint32_t delay = (HAL_RCC_GetHCLKFreq() / 4000000 * us);
     while (delay--);
 }
@@ -88,15 +96,14 @@ void delay_us(uint16_t us) {
  *
  * @usage my_printf(HUART1, "USART1_Target:\r\n");
  */
-void my_printf(UART_HandleTypeDef *huart, const char *buf, ...) {
-    const char *p = buf;
+void my_printf(UART_HandleTypeDef *huart, const char *buf, ...)
+{
     char str[255] = {0};
     va_list v;
     va_start(v, buf);
     vsprintf(str, buf, v);
-    HAL_UART_Transmit(huart, str, strlen(str), 0xff);
+    HAL_UART_Transmit(huart, (const uint8_t *)str, strlen(str), 0xff);
     va_end(v);
 }
 
-
 #endif
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index ccab9ed..d22c305 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -45,6 +45,7 @@ void MX_GPIO_Init(void)
   GPIO_InitTypeDef GPIO_InitStruct = {0};
 
   /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOD_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
   __HAL_RCC_GPIOB_CLK_ENABLE();
@@ -58,6 +59,12 @@ void MX_GPIO_Init(void)
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOB, R_FORWARD_Pin|R_BACKWARD_Pin|L_BACKWARD_Pin|L_FORWARD_Pin, GPIO_PIN_RESET);
 
+  /*Configure GPIO pins : PCPin PCPin PCPin */
+  GPIO_InitStruct.Pin = LineSeek_L2_Pin|LineSeek_L1_Pin|LineSeek_R1_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
   /*Configure GPIO pins : PAPin PAPin */
   GPIO_InitStruct.Pin = FM_K2_POWERC_Pin|FAN_GS_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -65,6 +72,12 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = LineSeek_R2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(LineSeek_R2_GPIO_Port, &GPIO_InitStruct);
+
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = Echo_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index d31b386..24060a9 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -41,7 +41,7 @@ void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 115200;
+  huart1.Init.BaudRate = 9600;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
@@ -70,7 +70,7 @@ void MX_USART2_UART_Init(void)
 
   /* USER CODE END USART2_Init 1 */
   huart2.Instance = USART2;
-  huart2.Init.BaudRate = 115200;
+  huart2.Init.BaudRate = 9600;
   huart2.Init.WordLength = UART_WORDLENGTH_8B;
   huart2.Init.StopBits = UART_STOPBITS_1;
   huart2.Init.Parity = UART_PARITY_NONE;
diff --git a/MDK-ARM/CAR.uvguix.lenovo b/MDK-ARM/CAR.uvguix.lenovo
index 71b589d..0550102 100644
--- a/MDK-ARM/CAR.uvguix.lenovo
+++ b/MDK-ARM/CAR.uvguix.lenovo
@@ -6,7 +6,7 @@
   <Header>### uVision Project, (C) Keil Software</Header>
 
   <PrjGuiSettings>
-    <LastAddFilePath></LastAddFilePath>
+    <LastAddFilePath>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\MDK-ARM</LastAddFilePath>
   </PrjGuiSettings>
 
   <ViewPool/>
@@ -15,7 +15,7 @@
     <View>
       <WinId>38003</WinId>
       <ViewName>Registers</ViewName>
-      <TableColWidths>115 57</TableColWidths>
+      <TableColWidths>115 114</TableColWidths>
     </View>
     <View>
       <WinId>346</WinId>
@@ -93,8 +93,8 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
@@ -110,8 +110,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>60</Len>
-        <Data>010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000</Data>
+        <Len>533</Len>
+        <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000003000000010000000100000061443A5C4F6E6544726976655C4F6E654472697665202D206D792E73776A74752E6564752E636E5C446174615C70726F6772616D20636F64655C50726F6A656374735C4361725C436F72655C5372635C73797374656D5F73746D3332663178782E63000000001273797374656D5F73746D3332663178782E6300000000C5D4F200FFFFFFFF55443A5C4F6E6544726976655C4F6E654472697665202D206D792E73776A74752E6564752E636E5C446174615C70726F6772616D20636F64655C50726F6A656374735C4361725C436F72655C5372635C6D61696E2E6300000000066D61696E2E6300000000FFDC7800FFFFFFFF5A443A5C4F6E6544726976655C4F6E654472697665202D206D792E73776A74752E6564752E636E5C446174615C70726F6772616D20636F64655C50726F6A656374735C4361725C557365725C5372635C626C7565746F6F74682E63000000000B626C7565746F6F74682E6300000000BECEA100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000F300000066000000B705000020020000</Data>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -134,7 +134,7 @@
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
-          <Data>22000000390000003E020000AD000000</Data>
+          <Data>BA0000006600000039040000DA000000</Data>
         </RectRecentFloat>
       </Window>
       <Window>
@@ -150,7 +150,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000B3000000AF020000</Data>
+          <Data>0300000066000000EC000000F0010000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -170,7 +170,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000B3000000AF020000</Data>
+          <Data>0300000066000000EC000000F0010000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -190,7 +190,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>00000000C00100003904000034020000</Data>
+          <Data>03000000C3010000360400001B020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -210,7 +210,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000C30100003604000007020000</Data>
+          <Data>03000000C3010000360400001B020000</Data>
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         <RectRecentFloat>
           <Len>16</Len>
@@ -230,7 +230,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000C30100003604000007020000</Data>
+          <Data>03000000C3010000360400001B020000</Data>
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         <RectRecentFloat>
           <Len>16</Len>
@@ -250,7 +250,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000C30100003604000007020000</Data>
+          <Data>03000000C3010000360400001B020000</Data>
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         <RectRecentFloat>
           <Len>16</Len>
@@ -270,7 +270,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>860300006600000036040000E0000000</Data>
+          <Data>860300006600000036040000A3010000</Data>
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         <RectRecentFloat>
           <Len>16</Len>
@@ -330,7 +330,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
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+          <Data>03000000C3010000360400001B020000</Data>
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         <RectRecentFloat>
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@@ -350,7 +350,7 @@
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           <Len>16</Len>
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+          <Data>03000000C3010000360400001B020000</Data>
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@@ -370,7 +370,7 @@
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           <Len>16</Len>
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+          <Data>03000000C3010000360400001B020000</Data>
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@@ -390,7 +390,7 @@
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           <Len>16</Len>
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+          <Data>03000000C3010000360400001B020000</Data>
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@@ -410,7 +410,7 @@
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           <Len>16</Len>
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+          <Data>03000000C3010000360400001B020000</Data>
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@@ -430,7 +430,7 @@
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           <Len>16</Len>
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+          <Data>03000000C3010000360400001B020000</Data>
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@@ -450,7 +450,7 @@
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@@ -550,7 +550,7 @@
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           <Len>16</Len>
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           <Len>16</Len>
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@@ -630,7 +630,7 @@
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           <Len>16</Len>
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+          <Data>03000000C3010000360400001B020000</Data>
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@@ -690,7 +690,7 @@
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           <Len>16</Len>
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@@ -730,7 +730,7 @@
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           <Len>16</Len>
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+          <Data>860300006600000036040000A3010000</Data>
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@@ -750,7 +750,7 @@
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           <Len>16</Len>
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@@ -770,7 +770,7 @@
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           <Len>16</Len>
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+          <Data>860300006600000036040000A3010000</Data>
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@@ -790,7 +790,7 @@
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           <Len>16</Len>
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+          <Data>860300006600000036040000A3010000</Data>
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@@ -810,7 +810,7 @@
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           <Len>16</Len>
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+          <Data>860300006600000036040000A3010000</Data>
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           <Len>16</Len>
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+          <Data>860300006600000036040000A3010000</Data>
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@@ -1010,7 +1010,7 @@
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@@ -1030,7 +1030,7 @@
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           <Len>16</Len>
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         <OriginalItems>
           <Len>1423</Len>
@@ -1822,7 +1822,7 @@
         <Name>Build</Name>
         <Buttons>
           <Len>966</Len>
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           <Len>583</Len>
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         <Name>Debug</Name>
         <Buttons>
           <Len>2373</Len>
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         </Buttons>
         <OriginalItems>
           <Len>898</Len>
@@ -1857,4 +1857,40 @@
     </ViewEx>
   </WinLayoutEx>
 
+  <MDIGroups>
+    <Orientation>1</Orientation>
+    <ActiveMDIGroup>0</ActiveMDIGroup>
+    <MDIGroup>
+      <Size>100</Size>
+      <ActiveTab>1</ActiveTab>
+      <Doc>
+        <Name>../Core/Src/system_stm32f1xx.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>1</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>../Core/Src/main.c</Name>
+        <ColumnNumber>9</ColumnNumber>
+        <TopLine>104</TopLine>
+        <CurrentLine>125</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\User\Src\bluetooth.c</Name>
+        <ColumnNumber>25</ColumnNumber>
+        <TopLine>17</TopLine>
+        <CurrentLine>28</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+    </MDIGroup>
+  </MDIGroups>
+
 </ProjectGui>
diff --git a/MDK-ARM/CAR.uvoptx b/MDK-ARM/CAR.uvoptx
index bfd2666..283f72d 100644
--- a/MDK-ARM/CAR.uvoptx
+++ b/MDK-ARM/CAR.uvoptx
@@ -78,33 +78,6 @@
         <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
-      <Books>
-        <Book>
-          <Number>0</Number>
-          <Title>Quick Start Guide (MCBSTM32E)</Title>
-          <Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\STM32E_QSG.pdf</Path>
-        </Book>
-        <Book>
-          <Number>1</Number>
-          <Title>Base Board Schematics (MCBSTM32E)</Title>
-          <Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-base-board-schematics.pdf</Path>
-        </Book>
-        <Book>
-          <Number>2</Number>
-          <Title>Display Board Schematics (MCBSTM32E)</Title>
-          <Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-display-board-schematics.pdf</Path>
-        </Book>
-        <Book>
-          <Number>3</Number>
-          <Title>User Manual (MCBSTM32E)</Title>
-          <Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e.chm</Path>
-        </Book>
-        <Book>
-          <Number>4</Number>
-          <Title>MCBSTM32E Evaluation Board Web Page (MCBSTM32E)</Title>
-          <Path>http://www.keil.com/mcbstm32e/</Path>
-        </Book>
-      </Books>
       <DebugOpt>
         <uSim>0</uSim>
         <uTrg>1</uTrg>
@@ -127,7 +100,10 @@
         <tRSysVw>1</tRSysVw>
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
-        <nTsel>2</nTsel>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>3</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -190,7 +166,7 @@
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\Core\Src\hcsr04.c</Filename>
+          <Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
           <ExecCommand></ExecCommand>
           <Expression>\\car\../Core/Src/hcsr04.c\39</Expression>
         </Bp>
@@ -222,7 +198,7 @@
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\Core\Src\hcsr04.c</Filename>
+          <Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
           <ExecCommand></ExecCommand>
           <Expression>\\car\../Core/Src/hcsr04.c\45</Expression>
         </Bp>
@@ -238,10 +214,42 @@
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\Core\Src\hcsr04.c</Filename>
+          <Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
           <ExecCommand></ExecCommand>
           <Expression>\\car\../Core/Src/hcsr04.c\32</Expression>
         </Bp>
+        <Bp>
+          <Number>4</Number>
+          <Type>0</Type>
+          <LineNumber>99</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>0</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>../Core/Src/main.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+        <Bp>
+          <Number>5</Number>
+          <Type>0</Type>
+          <LineNumber>97</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>0</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>../Core/Src/main.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
       </Breakpoint>
       <WatchWindow1>
         <Ww>
@@ -295,11 +303,19 @@
       <LintExecutable></LintExecutable>
       <LintConfigFile></LintConfigFile>
       <bLintAuto>0</bLintAuto>
-      <Lin2Executable></Lin2Executable>
-      <Lin2ConfigFile></Lin2ConfigFile>
-      <bLin2Auto>0</bLin2Auto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -340,66 +356,6 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\Src\bluetooth.c</PathWithFileName>
-      <FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>3</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\Src\control.c</PathWithFileName>
-      <FilenameWithoutPath>control.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>4</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\Src\hcsr04.c</PathWithFileName>
-      <FilenameWithoutPath>hcsr04.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>5</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\Src\led.c</PathWithFileName>
-      <FilenameWithoutPath>led.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>6</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\Src\motor.c</PathWithFileName>
-      <FilenameWithoutPath>motor.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>7</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
       <PathWithFileName>../Core/Src/main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -407,7 +363,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>8</FileNumber>
+      <FileNumber>3</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -419,7 +375,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>9</FileNumber>
+      <FileNumber>4</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -431,7 +387,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>5</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -443,7 +399,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>6</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -455,7 +411,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>7</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -467,7 +423,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>8</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -479,7 +435,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>9</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -499,7 +455,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>10</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -511,7 +467,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -523,7 +479,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -535,7 +491,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -547,7 +503,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>14</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -559,7 +515,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -571,7 +527,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -583,7 +539,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -595,7 +551,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -607,7 +563,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -619,7 +575,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -631,7 +587,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -643,7 +599,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -655,7 +611,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -667,7 +623,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -687,7 +643,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -699,6 +655,74 @@
     </File>
   </Group>
 
+  <Group>
+    <GroupName>Application/User/Service</GroupName>
+    <tvExp>1</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>26</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\Src\bluetooth.c</PathWithFileName>
+      <FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>27</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\Src\control.c</PathWithFileName>
+      <FilenameWithoutPath>control.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>28</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\Src\hcsr04.c</PathWithFileName>
+      <FilenameWithoutPath>hcsr04.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>29</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\Src\led.c</PathWithFileName>
+      <FilenameWithoutPath>led.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>30</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\Src\motor.c</PathWithFileName>
+      <FilenameWithoutPath>motor.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
   <Group>
     <GroupName>::CMSIS</GroupName>
     <tvExp>0</tvExp>
diff --git a/MDK-ARM/CAR.uvprojx b/MDK-ARM/CAR.uvprojx
index 8f084c3..8f96e6a 100644
--- a/MDK-ARM/CAR.uvprojx
+++ b/MDK-ARM/CAR.uvprojx
@@ -10,7 +10,8 @@
       <TargetName>CAR</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060300::V5.06 update 3 (build 300)::ARMCC</pCCUsed>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
+      <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F103C8</Device>
@@ -183,6 +184,8 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>0</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -323,6 +326,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
+            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>5</v6Lang>
             <v6LangP>3</v6LangP>
@@ -335,7 +339,7 @@
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB</Define>
               <Undefine></Undefine>
-              <IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include</IncludePath>
+              <IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include;../User/Inc</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -348,7 +352,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
+            <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
@@ -389,31 +393,6 @@
         <Group>
           <GroupName>Application/User/Core</GroupName>
           <Files>
-            <File>
-              <FileName>bluetooth.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Core\Src\bluetooth.c</FilePath>
-            </File>
-            <File>
-              <FileName>control.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Core\Src\control.c</FilePath>
-            </File>
-            <File>
-              <FileName>hcsr04.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Core\Src\hcsr04.c</FilePath>
-            </File>
-            <File>
-              <FileName>led.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Core\Src\led.c</FilePath>
-            </File>
-            <File>
-              <FileName>motor.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Core\Src\motor.c</FilePath>
-            </File>
             <File>
               <FileName>main.c</FileName>
               <FileType>1</FileType>
@@ -461,6 +440,7 @@
                     <uThumb>2</uThumb>
                     <uSurpInc>2</uSurpInc>
                     <uC99>2</uC99>
+                    <uGnu>2</uGnu>
                     <useXO>2</useXO>
                     <v6Lang>0</v6Lang>
                     <v6LangP>0</v6LangP>
@@ -596,6 +576,36 @@
             </File>
           </Files>
         </Group>
+        <Group>
+          <GroupName>Application/User/Service</GroupName>
+          <Files>
+            <File>
+              <FileName>bluetooth.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\Src\bluetooth.c</FilePath>
+            </File>
+            <File>
+              <FileName>control.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\Src\control.c</FilePath>
+            </File>
+            <File>
+              <FileName>hcsr04.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\Src\hcsr04.c</FilePath>
+            </File>
+            <File>
+              <FileName>led.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\Src\led.c</FilePath>
+            </File>
+            <File>
+              <FileName>motor.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\Src\motor.c</FilePath>
+            </File>
+          </Files>
+        </Group>
         <Group>
           <GroupName>::CMSIS</GroupName>
         </Group>
@@ -624,4 +634,5 @@
       </Layer>
     </Layers>
   </LayerInfo>
+
 </Project>
diff --git a/Core/Inc/bluetooth.h b/User/Inc/bluetooth.h
similarity index 100%
rename from Core/Inc/bluetooth.h
rename to User/Inc/bluetooth.h
diff --git a/Core/Inc/control.h b/User/Inc/control.h
similarity index 100%
rename from Core/Inc/control.h
rename to User/Inc/control.h
diff --git a/Core/Inc/hcsr04.h b/User/Inc/hcsr04.h
similarity index 91%
rename from Core/Inc/hcsr04.h
rename to User/Inc/hcsr04.h
index 3c7b8c0..4ebc588 100644
--- a/Core/Inc/hcsr04.h
+++ b/User/Inc/hcsr04.h
@@ -10,6 +10,6 @@ void HC_SR04_Init(void);
 uint32_t sonar_mm(void);
 
 // 测距完毕回调，执行完自定义任务后将sonor_state置0
- void Sonar_CP_Callback();
+ void Sonar_CP_Callback(void);
 
 #endif
diff --git a/Core/Inc/led.h b/User/Inc/led.h
similarity index 100%
rename from Core/Inc/led.h
rename to User/Inc/led.h
diff --git a/Core/Inc/motor.h b/User/Inc/motor.h
similarity index 100%
rename from Core/Inc/motor.h
rename to User/Inc/motor.h
diff --git a/Core/Src/bluetooth.c b/User/Src/bluetooth.c
similarity index 64%
rename from Core/Src/bluetooth.c
rename to User/Src/bluetooth.c
index 0cd2f27..7b7a470 100644
--- a/Core/Src/bluetooth.c
+++ b/User/Src/bluetooth.c
@@ -1,9 +1,11 @@
 #include "bluetooth.h"
-#include "usart.h"
-#include "control.h"
+
 #include <stdio.h>
 #include <string.h>
 
+#include "control.h"
+#include "usart.h"
+
 #define BUFFER_SIZE 100
 #define MESSAGE_SIZE 19
 #define CMD_NUM 9
@@ -38,27 +40,27 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
             static uint16_t num[6];
             switch (rxBuffer[5])
             {
-                // 机械手
-            case 'S':
-                break;
-                // 舵机云台
-            case 'P':
-                break;
-                // 七彩灯
-            case 'C':
-                sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
-                CONTROL_RGB(num[0], num[1], num[2]);
-                break;
+                    // 机械手
+                case 'S':
+                    break;
+                    // 舵机云台
+                case 'P':
+                    break;
+                    // 七彩灯
+                case 'C':
+                    sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
+                    CONTROL_RGB(num[0], num[1], num[2]);
+                    break;
 
-                // 模式选择
-            case 'M':
-                sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
-                CONTROL_Mode(num[0] - '0', num[1] - '0');
-                break;
+                    // 模式选择
+                case 'M':
+                    sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
+                    CONTROL_Mode(num[0] - '0', num[1] - '0');
+                    break;
             }
         }
         memcpy(txBuffer, rxBuffer, Size);
-				printf("%s", txBuffer);
+        printf("%s", txBuffer);
         HAL_UART_Transmit_IT(&huart2, txBuffer, Size);
         BLUETOOTH_Init();
     }
diff --git a/Core/Src/control.c b/User/Src/control.c
similarity index 100%
rename from Core/Src/control.c
rename to User/Src/control.c
diff --git a/Core/Src/hcsr04.c b/User/Src/hcsr04.c
similarity index 64%
rename from Core/Src/hcsr04.c
rename to User/Src/hcsr04.c
index c971bd8..0c6610b 100644
--- a/Core/Src/hcsr04.c
+++ b/User/Src/hcsr04.c
@@ -11,7 +11,8 @@ uint32_t sonor_distance; // 测量出的距离，单位mm
 void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim);
 
 // 初始化超声波测距
-void HC_SR04_Init(void) {
+void HC_SR04_Init(void)
+{
     // 禁用JTAG
     __HAL_RCC_AFIO_CLK_ENABLE();
     __HAL_AFIO_REMAP_SWJ_NOJTAG();
@@ -21,40 +22,50 @@ void HC_SR04_Init(void) {
 }
 
 // 启动测距，单位：mm
-uint32_t sonar_mm(void) {
+uint32_t sonar_mm(void)
+{
     sonor_state = 1;
     HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_SET);   // 输出高电平
     delay_us(15);                                                // 延时15微秒
     HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_RESET); // 输出低电平
-    if (time_end / 100 < 38) {                                   // 判断是否小于38毫秒，大于38毫秒的就是超时，直接调到下面返回0
-        sonor_distance = (time_end * 346) / 2;                   // 计算距离，25°C空气中的音速为346m/s
-        sonor_distance = sonor_distance / 100;                   // 因为上面的time_end的单位是10微秒，所以要得出单位为毫米的距离结果，还得除以100
+    if (time_end / 100 < 38)
+    {                                          // 判断是否小于38毫秒，大于38毫秒的就是超时，直接调到下面返回0
+        sonor_distance = (time_end * 346) / 2; // 计算距离，25°C空气中的音速为346m/s
+        sonor_distance = sonor_distance / 100; // 因为上面的time_end的单位是10微秒，所以要得出单位为毫米的距离结果，还得除以100
     }
     return sonor_distance;
 }
 
-void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim) {
-    if (htim == &htim2) { // 每10us自增一
+void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim)
+{
+    if (htim == &htim2)
+    { // 每10us自增一
         time++;
     }
 }
 
-void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
-    if (GPIO_Pin == Echo_Pin) {
-        if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin)) {
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+    if (GPIO_Pin == Echo_Pin)
+    {
+        if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin))
+        {
             HAL_TIM_Base_Start_IT(&htim2);
             time = 0;
-        } else {
+        }
+        else
+        {
             time_end = time;
             HAL_TIM_Base_Stop_IT(&htim2);
             sonor_state = 2;
             Sonar_CP_Callback();
+            sonor_state = 0;
         }
     }
 }
 
-// 测距完毕回调，执行完自定义任务后将sonor_state置0
-__attribute__((weak)) void Sonar_CP_Callback() {
+// 测距完毕回调，执行完自定义任务后将sonor_state置0void
+__attribute__((weak)) void Sonar_CP_Callback(void)
+{
     printf("distance = %d (mm)\n", sonor_distance);
-    sonor_state = 0;
 }
diff --git a/Core/Src/led.c b/User/Src/led.c
similarity index 100%
rename from Core/Src/led.c
rename to User/Src/led.c
diff --git a/Core/Src/motor.c b/User/Src/motor.c
similarity index 100%
rename from Core/Src/motor.c
rename to User/Src/motor.c