diff --git a/HAL_N_Middlewares/Src/freertos.c b/HAL_N_Middlewares/Src/freertos.c
index 99e9a51..79c44b7 100644
--- a/HAL_N_Middlewares/Src/freertos.c
+++ b/HAL_N_Middlewares/Src/freertos.c
@@ -197,7 +197,7 @@ void StartROBOTTASK(void const * argument)
   {
     // 200Hz
     RobotTask();
-    osDelay(5);
+    osDelay(10);//syh此处暂时将时间改为10ms，原因在于未使用缓冲区发送，发送时延时5ms
   }
   
 }
diff --git a/Makefile b/Makefile
index dc73895..7f97471 100644
--- a/Makefile
+++ b/Makefile
@@ -132,7 +132,7 @@ modules/motor/servo_motor/servo_motor.c \
 modules/motor/motor_task.c \
 modules/oled/oled.c \
 modules/referee/crc_ref.c \
-modules/referee/referee.c \
+modules/referee/rm_referee.c \
 modules/referee/referee_UI.c \
 modules/referee/referee_communication.c \
 modules/remote/remote_control.c \
@@ -144,6 +144,7 @@ modules/vofa/vofa.c \
 application/gimbal/gimbal.c \
 application/chassis/chassis.c \
 application/shoot/shoot.c \
+application/referee/referee.c \
 application/cmd/robot_cmd.c \
 application/balance_chassis/balance.c \
 application/robot.c 
@@ -227,6 +228,7 @@ C_INCLUDES =  \
 -Iapplication/gimbal \
 -Iapplication/cmd \
 -Iapplication/balance_chassis \
+-Iapplication/referee \
 -Iapplication \
 -Ibsp/dwt \
 -Ibsp/can \
diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index 62d2810..30a23d8 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -16,10 +16,15 @@
 #include "dji_motor.h"
 #include "super_cap.h"
 #include "message_center.h"
+
+/////////////////////////
 #include "referee.h"
+#include "rm_referee.h"
+/////////////////////////
+
 #include "general_def.h"
 #include "bsp_dwt.h"
-
+#include "referee_UI.h"
 #include "arm_math.h"
 
 /* 根据robot_def.h中的macro自动计算的参数 */
@@ -41,7 +46,7 @@ static Subscriber_t *chassis_sub;                   // 用于订阅底盘的控
 static Chassis_Ctrl_Cmd_s chassis_cmd_recv;         // 底盘接收到的控制命令
 static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
 
-static referee_info_t *referee_data; // 裁判系统的数据
+// static referee_info_t *referee_data; // 裁判系统相关数据
 static SuperCapInstance *cap;        // 超级电容
 static DJIMotorInstance *motor_lf;   // left right forward back
 static DJIMotorInstance *motor_rf;
@@ -99,7 +104,11 @@ void ChassisInit()
     chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
     motor_rb = DJIMotorInit(&chassis_motor_config);
 
-    referee_data = RefereeInit(&huart6); // 裁判系统初始化
+    // referee_data = RefereeInit(&huart6); // 裁判系统初始化
+
+    // while (referee_data->GameRobotState.robot_id ==0);
+    // Referee_Interactive_init(referee_data);
+
 
     SuperCap_Init_Config_s cap_conf = {
         .can_config = {
@@ -236,12 +245,12 @@ void ChassisTask()
     // 根据电机的反馈速度和IMU(如果有)计算真实速度
     EstimateSpeed();
 
-    // 获取裁判系统数据
-    // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
-    chassis_feedback_data.enemy_color = referee_data->GameRobotStat.robot_id > 7 ? 1 : 0;
-    // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
-    chassis_feedback_data.bullet_speed = referee_data->GameRobotStat.shooter_id1_17mm_speed_limit;
-    chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
+    // // 获取裁判系统数据   建议将裁判系统与底盘分离，所以此处数据应使用消息中心发送
+    // // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
+    // chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0;
+    // // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
+    // chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
+    // chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
 
     // 推送反馈消息
 #ifdef ONE_BOARD
diff --git a/application/referee/referee.c b/application/referee/referee.c
new file mode 100644
index 0000000..57ab4c6
--- /dev/null
+++ b/application/referee/referee.c
@@ -0,0 +1,385 @@
+/**
+ * @file referee.C
+ * @author kidneygood (you@domain.com)
+ * @brief
+ * @version 0.1
+ * @date 2022-11-18
+ *
+ * @copyright Copyright (c) 2022
+ *
+ */
+#include "referee.h"
+#include "robot_def.h"
+#include "rm_referee.h"
+#include "referee_UI.h"
+#include "referee_communication.h"
+
+static Referee_Interactive_info_t Interactive_data; // 非裁判系统数据
+static referee_info_t *referee_data;              // 裁判系统相关数据
+static robot_interactive_data_t *SendData;
+
+static void determine_ID(referee_info_t *_referee_info);
+static void My_UI_init(referee_info_t *_referee_info);
+static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data);
+static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
+
+//syhtod 正式上车后需删除
+static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
+static void UI_test_init(referee_info_t *_referee_info);//UI测试函数
+
+void Referee_Interactive_init()
+{
+    referee_data = RefereeInit(&huart6); // 裁判系统初始化
+    while (referee_data->GameRobotState.robot_id == 0)
+        ;
+    determine_ID(referee_data);
+    My_UI_init(referee_data);
+    //UI_test_init(referee_data);
+
+    for (int i=0;i<Communicate_Data_LEN;i++)
+    {
+        SendData->data[i]=i+1;
+    }
+    referee_data->referee_id.Receiver_Robot_ID = RobotID_BEngineer;   // 机器人车间通信时接收者的ID暂时发给蓝色2
+    Communicate_SendData(&referee_data->referee_id,SendData);
+}
+
+void Referee_Interactive_task()
+{
+    robot_mode_change(&Interactive_data); // 测试用函数，实现模式自动变化
+    My_UI_Refresh(referee_data, &Interactive_data);
+}
+
+static Graph_Data_t UI_shoot_line[10]; // 射击准线
+static String_Data_t UI_State_sta[6];  // 机器人状态,静态只需画一次
+static String_Data_t UI_State_dyn[6];  // 机器人状态,动态先add才能change
+static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
+
+static void My_UI_init(referee_info_t *_referee_info)
+{
+    UI_Delete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
+
+    // 绘制发射基准线
+    Line_Draw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]);
+    Line_Draw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740);
+    Line_Draw(&UI_shoot_line[2], "sl2", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[2], 1110, shoot_line_location[2]);
+    Line_Draw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[3], 1110, shoot_line_location[3]);
+    Line_Draw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
+
+    UI_ReFresh(&_referee_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]);
+
+    // 绘制车辆状态标志，静态
+    Char_Draw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750);
+    Char_Write(&UI_State_sta[0], "chassis:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[0]);
+
+    Char_Draw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700);
+    Char_Write(&UI_State_sta[1], "gimbal:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[1]);
+
+    Char_Draw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650);
+    Char_Write(&UI_State_sta[2], "shoot:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[2]);
+
+    Char_Draw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600);
+    Char_Write(&UI_State_sta[3], "frict:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[3]);
+
+    Char_Draw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550);
+    Char_Write(&UI_State_sta[4], "lid:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[4]);
+
+    // 底盘功率显示，静态
+    Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 720, 210);
+    Char_Write(&UI_State_sta[5], "Power:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[5]);
+
+    // 绘制车辆状态标志，动态
+    // 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新
+    Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750);
+    Char_Write(&UI_State_dyn[0], "zeroforce");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
+
+    Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700);
+    Char_Write(&UI_State_dyn[1], "zeroforce");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
+
+    Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650);
+    Char_Write(&UI_State_dyn[2], "off");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
+
+    Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600);
+    Char_Write(&UI_State_dyn[3], "off");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
+
+    Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550);
+    Char_Write(&UI_State_dyn[4], "open ");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
+
+    // 底盘功率显示，动态
+    Char_Draw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 840, 210);
+    Char_Write(&UI_State_dyn[5], "0000");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[5]);
+}
+
+static uint8_t count = 0;
+static uint16_t count1 = 0;
+static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化
+{
+    count++;
+    if (count >= 50)
+    {
+        count = 0;
+        count1++;
+    }
+    switch (count1 % 4)
+    {
+    case 0:
+    {
+        _Interactive_data->chassis_mode = CHASSIS_ZERO_FORCE;
+        _Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
+        _Interactive_data->shoot_mode = SHOOT_ON;
+        _Interactive_data->friction_mode = FRICTION_ON;
+        _Interactive_data->lid_mode = LID_OPEN;
+        break;
+    }
+    case 1:
+    {
+        ;
+        _Interactive_data->chassis_mode = CHASSIS_ROTATE;
+        _Interactive_data->gimbal_mode = GIMBAL_FREE_MODE;
+        _Interactive_data->shoot_mode = SHOOT_OFF;
+        _Interactive_data->friction_mode = FRICTION_OFF;
+        _Interactive_data->lid_mode = LID_CLOSE;
+        break;
+    }
+    case 2:
+    {
+        _Interactive_data->chassis_mode = CHASSIS_NO_FOLLOW;
+        _Interactive_data->gimbal_mode = GIMBAL_GYRO_MODE;
+        _Interactive_data->shoot_mode = SHOOT_ON;
+        _Interactive_data->friction_mode = FRICTION_ON;
+        _Interactive_data->lid_mode = LID_OPEN;
+        break;
+    }
+    case 3:
+    {
+        _Interactive_data->chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+        _Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
+        _Interactive_data->shoot_mode = SHOOT_OFF;
+        _Interactive_data->friction_mode = FRICTION_OFF;
+        _Interactive_data->lid_mode = LID_CLOSE;
+        break;
+    }
+    default:
+        break;
+    }
+}
+
+static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data)
+{
+    Mode_Change_Check(_Interactive_data);
+    // chassis
+    if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1)
+    {
+        switch (_Interactive_data->chassis_mode)
+        {
+        case CHASSIS_ZERO_FORCE:
+        {
+            Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
+            Char_Write(&UI_State_dyn[0], "zeroforce");
+            break;
+        }
+        case CHASSIS_ROTATE:
+        {
+            Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
+            Char_Write(&UI_State_dyn[0], "rotate   "); // 此处注意字数对齐问题，字数相同才能覆盖掉
+            break;
+        }
+        case CHASSIS_NO_FOLLOW:
+        {
+            Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
+            Char_Write(&UI_State_dyn[0], "nofollow ");
+            break;
+        }
+        case CHASSIS_FOLLOW_GIMBAL_YAW:
+        {
+            Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
+            Char_Write(&UI_State_dyn[0], "follow   ");
+            break;
+        }
+        }
+        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
+        _Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
+    }
+    // gimbal
+    if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
+    {
+        switch (_Interactive_data->gimbal_mode)
+        {
+        case GIMBAL_ZERO_FORCE:
+        {
+            Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
+            Char_Write(&UI_State_dyn[1], "zeroforce");
+            break;
+        }
+        case GIMBAL_FREE_MODE:
+        {
+            Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
+            Char_Write(&UI_State_dyn[1], "free     ");
+            break;
+        }
+        case GIMBAL_GYRO_MODE:
+        {
+            Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
+            Char_Write(&UI_State_dyn[1], "gyro     ");
+            break;
+        }
+        }
+        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
+        _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
+    }
+    // shoot
+    if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1)
+    {
+        switch (_Interactive_data->shoot_mode)
+        {
+        case SHOOT_OFF:
+        {
+            Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
+            Char_Write(&UI_State_dyn[2], "off");
+            break;
+        }
+        case SHOOT_ON:
+        {
+            Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
+            Char_Write(&UI_State_dyn[2], "on ");
+            break;
+        }
+        }
+        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
+        _Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
+    }
+
+    // friction
+    if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1)
+    {
+        switch (_Interactive_data->friction_mode)
+        {
+        case FRICTION_OFF:
+        {
+            Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
+            Char_Write(&UI_State_dyn[3], "off");
+            break;
+        }
+        case FRICTION_ON:
+        {
+            Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
+            Char_Write(&UI_State_dyn[3], "on ");
+            break;
+        }
+        }
+        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
+        _Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
+    }
+    // lid
+    if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
+    {
+        switch (_Interactive_data->lid_mode)
+        {
+        case LID_CLOSE:
+        {
+            Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
+            Char_Write(&UI_State_dyn[4], "close");
+            break;
+        }
+        case LID_OPEN:
+        {
+            Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
+            Char_Write(&UI_State_dyn[4], "open ");
+            break;
+        }
+        }
+        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
+        _Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
+    }
+}
+
+
+/**
+ * @brief  模式切换检测,模式发生切换时，对flag置位
+ * @param  Referee_Interactive_info_t *_Interactive_data
+ * @retval none
+ * @attention
+ */
+static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
+{
+    if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
+    {
+        _Interactive_data->Referee_Interactive_Flag.chassis_flag = 1;
+        _Interactive_data->chassis_last_mode = _Interactive_data->chassis_mode;
+    }
+
+    if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode)
+    {
+        _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
+        _Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
+    }
+
+    if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
+    {
+        _Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
+        _Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
+    }
+
+    if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode)
+    {
+        _Interactive_data->Referee_Interactive_Flag.friction_flag = 1;
+        _Interactive_data->friction_last_mode = _Interactive_data->friction_mode;
+    }
+
+    if (_Interactive_data->lid_mode != _Interactive_data->lid_last_mode)
+    {
+        _Interactive_data->Referee_Interactive_Flag.lid_flag = 1;
+        _Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
+    }
+}
+
+/**
+ * @brief  判断各种ID，选择客户端ID
+ * @param  referee_info_t *_referee_info
+ * @retval none
+ * @attention
+ */
+static void determine_ID(referee_info_t *_referee_info)
+{
+    // id小于7是红色,大于7是蓝色,0为红色，1为蓝色   #define Robot_Red 0    #define Robot_Blue 1
+    _referee_info->referee_id.Robot_Color = _referee_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
+    _referee_info->referee_id.Robot_ID = _referee_info->GameRobotState.robot_id;
+    _referee_info->referee_id.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID; // 计算客户端ID
+    _referee_info->referee_id.Receiver_Robot_ID = 0;   
+}
+
+/* 测试用函数 */
+static void UI_test_init(referee_info_t *_referee_info)
+{
+    Graph_Data_t graph[5];
+	Graph_Data_t num[2];
+	String_Data_t sdata[1];
+    UI_Delete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
+
+	Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540);
+	Rectangle_Draw(&graph[1],"s1",UI_Graph_ADD,0,UI_Color_Yellow,4,600,200,800,500);     
+	Circle_Draw(&graph[2],"s2",UI_Graph_ADD,0,UI_Color_Green,5,960,540,100);
+	Elliptical_Draw(&graph[3],"s3",UI_Graph_ADD,0,UI_Color_Orange,3,960,540,100,20);
+	Arc_Draw(&graph[4],"s4",UI_Graph_ADD,0,UI_Color_Purplish_red,30,160,3,1200,550,50,100);
+
+	Float_Draw(&num[0],"s5",UI_Graph_ADD,0,UI_Color_Pink,50,3,5,1050,660,1245545);
+	Integer_Draw(&num[1],"s6",UI_Graph_ADD,0,UI_Color_Cyan,50,5,1050,460,12345);
+	UI_ReFresh(&_referee_info->referee_id,7,graph[0],graph[1],graph[2],graph[3],graph[4],num[0],num[1]);
+
+
+	Char_Draw(&sdata[0],"s7",UI_Graph_ADD,0,UI_Color_Green,20,2,620,710);
+	Char_Write(&sdata[0],"number:%d",123);
+	Char_ReFresh(&_referee_info->referee_id,sdata[0]);
+}
diff --git a/application/referee/referee.h b/application/referee/referee.h
new file mode 100644
index 0000000..d531d5a
--- /dev/null
+++ b/application/referee/referee.h
@@ -0,0 +1,50 @@
+#ifndef REFEREE_H
+#define REFEREE_H
+
+#include "rm_referee.h"
+#include "robot_def.h"
+#pragma pack(1)
+
+//模式是否切换标志位，0为未切换，1为切换，static定义默认为0
+typedef struct
+{
+	uint32_t chassis_flag  : 1;
+	uint32_t gimbal_flag  : 1;
+	uint32_t shoot_flag  : 1;
+	uint32_t lid_flag  : 1;
+	uint32_t friction_flag  : 1;
+	uint32_t Power_flag  : 1;
+} Referee_Interactive_Flag_t; 
+
+
+// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
+typedef struct
+{	
+    Referee_Interactive_Flag_t Referee_Interactive_Flag;
+	//为UI绘制以及交互数据所用
+	Robot_Status_e Robot_Status;// 机器人状态
+	App_Status_e App_Status;// 应用状态
+	chassis_mode_e chassis_mode;//底盘模式
+	gimbal_mode_e gimbal_mode;//云台模式
+	shoot_mode_e shoot_mode;//发射模式设置
+	friction_mode_e friction_mode;//摩擦轮关闭
+	lid_mode_e lid_mode;//弹舱盖打开
+	loader_mode_e loader_mode;//单发...连发
+	Chassis_Power_Data_s Chassis_Power_Data;// 功率控制
+
+	chassis_mode_e chassis_last_mode;//底盘模式
+	gimbal_mode_e gimbal_last_mode;//云台模式
+	shoot_mode_e shoot_last_mode;//发射模式设置
+	friction_mode_e friction_last_mode;//摩擦轮关闭
+	lid_mode_e lid_last_mode;//弹舱盖打开
+
+} Referee_Interactive_info_t;
+
+#pragma pack()
+
+void Referee_Interactive_init(void);
+void Referee_Interactive_task(void);
+#endif // REFEREE_H
+
+
+
diff --git a/application/robot.c b/application/robot.c
index 72b014c..5e79041 100644
--- a/application/robot.c
+++ b/application/robot.c
@@ -10,6 +10,7 @@
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
 #include "chassis.h"
+#include "referee.h"
 #endif
 
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
@@ -34,6 +35,7 @@ void RobotInit()
 #endif
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
+    Referee_Interactive_init();
     ChassisInit();
 #endif
     // 初始化完成,开启中断
@@ -50,5 +52,6 @@ void RobotTask()
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
     ChassisTask();
+    Referee_Interactive_task();
 #endif
 }
diff --git a/application/robot_def.h b/application/robot_def.h
index 2758616..d81df22 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -128,7 +128,6 @@ typedef enum
 // 功率限制,从裁判系统获取
 typedef struct
 { // 功率控制
-
 } Chassis_Power_Data_s;
 
 /* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
diff --git a/modules/referee/crc_ref.c b/modules/referee/crc_ref.c
index edc870b..b22b6ac 100644
--- a/modules/referee/crc_ref.c
+++ b/modules/referee/crc_ref.c
@@ -136,20 +136,18 @@ void Append_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength)
 */
 uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC)
 {
-    uint8_t chData;
-	
-		if (pchMessage == NULL)
-		{
-				return 0xFFFF;
-		}
-		while(dwLength--)
-		{
-				chData = *pchMessage++;
-				(wCRC) = ((uint16_t)(wCRC) >> 8) ^ 
-                 wCRC_Table[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff];
-		}
-		
-		return wCRC;
+    uint8_t chData;	
+	if (pchMessage == NULL)
+	{
+		return 0xFFFF;
+	}
+	while(dwLength--)
+	{
+		chData = *pchMessage++;
+		(wCRC) = ((uint16_t)(wCRC) >> 8) ^ 
+		wCRC_Table[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff];
+	}		
+	return wCRC;
 }
 
 
diff --git a/modules/referee/referee.h b/modules/referee/referee.h
deleted file mode 100644
index b2238c9..0000000
--- a/modules/referee/referee.h
+++ /dev/null
@@ -1,357 +0,0 @@
-/**
- * @file referee.h
- * @author kidneygood (you@domain.com)
- * @brief
- * @version 0.1
- * @date 2022-11-18
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#ifndef REFEREE_H
-#define REFEREE_H
-
-#include "bsp_usart.h"
-#include "usart.h"
-
-#define FALSE 0
-#define TRUE 1
-
-#define JUDGE_DATA_ERROR 0
-#define JUDGE_DATA_CORRECT 1
-
-#define LEN_HEADER 5 // 帧头长
-#define LEN_CMDID 2	 // 命令码长度
-#define LEN_TAIL 2	 // 帧尾CRC16
-
-// 起始字节,协议固定为0xA5
-#define JUDGE_FRAME_HEADER (0xA5)
-
-#pragma pack(1)
-
-/***************裁判系统数据接收********************/
-
-typedef enum
-{
-	FRAME_HEADER = 0,
-	CMD_ID = 5,
-	DATA = 7,
-} JudgeFrameOffset;
-
-// 5字节帧头,偏移位置
-typedef enum
-{
-	SOF = 0,		 // 起始位
-	DATA_LENGTH = 1, // 帧内数据长度,根据这个来获取数据长度
-	SEQ = 3,		 // 包序号
-	CRC8 = 4		 // CRC8
-
-} FrameHeaderOffset;
-
-// 命令码ID,用来判断接收的是什么数据
-typedef enum
-{
-	ID_game_state = 0x0001,				   // 比赛状态数据
-	ID_game_result = 0x0002,			   // 比赛结果数据
-	ID_game_robot_survivors = 0x0003,	   // 比赛机器人血量数据
-	ID_event_data = 0x0101,				   // 场地事件数据
-	ID_supply_projectile_action = 0x0102,  // 场地补给站动作标识数据
-	ID_supply_projectile_booking = 0x0103, // 场地补给站预约子弹数据
-	ID_game_robot_state = 0x0201,		   // 机器人状态数据
-	ID_power_heat_data = 0x0202,		   // 实时功率热量数据
-	ID_game_robot_pos = 0x0203,			   // 机器人位置数据
-	ID_buff_musk = 0x0204,				   // 机器人增益数据
-	ID_aerial_robot_energy = 0x0205,	   // 空中机器人能量状态数据
-	ID_robot_hurt = 0x0206,				   // 伤害状态数据
-	ID_shoot_data = 0x0207,				   // 实时射击数据
-
-} CmdID;
-
-// 命令码数据段长,根据官方协议来定义长度
-typedef enum
-{
-	LEN_game_state = 3,				  // 0x0001
-	LEN_game_result = 1,			  // 0x0002
-	LEN_game_robot_HP = 2,			  // 0x0003
-	LEN_event_data = 4,				  // 0x0101
-	LEN_supply_projectile_action = 4, // 0x0102
-	//	LEN_game_robot_state = 15,		   // 0x0201
-	LEN_game_robot_state = 27,	 // 0x0201
-	LEN_power_heat_data = 14,	 // 0x0202
-	LEN_game_robot_pos = 16,	 // 0x0203
-	LEN_buff_musk = 1,			 // 0x0204
-	LEN_aerial_robot_energy = 1, // 0x0205
-	LEN_robot_hurt = 1,			 // 0x0206
-	LEN_shoot_data = 7,			 // 0x0207
-} JudgeDataLength;
-
-/* 自定义帧头 */
-typedef struct
-{
-	uint8_t SOF;
-	uint16_t DataLength;
-	uint8_t Seq;
-	uint8_t CRC8;
-
-} xFrameHeader;
-
-/* ID: 0x0001  Byte:  3    比赛状态数据 */
-typedef struct
-{
-	uint8_t game_type : 4;
-	uint8_t game_progress : 4;
-	uint16_t stage_remain_time;
-} ext_game_state_t;
-
-/* ID: 0x0002  Byte:  1    比赛结果数据 */
-typedef struct
-{
-	uint8_t winner;
-} ext_game_result_t;
-
-/* ID: 0x0003  Byte:  32    比赛机器人血量数据 */
-typedef struct
-{
-	uint16_t red_1_robot_HP;
-	uint16_t red_2_robot_HP;
-	uint16_t red_3_robot_HP;
-	uint16_t red_4_robot_HP;
-	uint16_t red_5_robot_HP;
-	uint16_t red_7_robot_HP;
-	uint16_t red_outpost_HP;
-	uint16_t red_base_HP;
-	uint16_t blue_1_robot_HP;
-	uint16_t blue_2_robot_HP;
-	uint16_t blue_3_robot_HP;
-	uint16_t blue_4_robot_HP;
-	uint16_t blue_5_robot_HP;
-	uint16_t blue_7_robot_HP;
-	uint16_t blue_outpost_HP;
-	uint16_t blue_base_HP;
-} ext_game_robot_HP_t;
-
-/* ID: 0x0101  Byte:  4    场地事件数据 */
-typedef struct
-{
-	uint32_t event_type;
-} ext_event_data_t;
-
-/* ID: 0x0102  Byte:  3    场地补给站动作标识数据 */
-typedef struct
-{
-	uint8_t supply_projectile_id;
-	uint8_t supply_robot_id;
-	uint8_t supply_projectile_step;
-	uint8_t supply_projectile_num;
-} ext_supply_projectile_action_t;
-
-/* ID: 0X0201  Byte: 27    机器人状态数据 */
-typedef struct
-{
-	uint8_t robot_id;
-	uint8_t robot_level;
-	uint16_t remain_HP;
-	uint16_t max_HP;
-	uint16_t shooter_id1_17mm_cooling_rate;
-	uint16_t shooter_id1_17mm_cooling_limit;
-	uint16_t shooter_id1_17mm_speed_limit;
-	uint16_t shooter_id2_17mm_cooling_rate;
-	uint16_t shooter_id2_17mm_cooling_limit;
-	uint16_t shooter_id2_17mm_speed_limit;
-	uint16_t shooter_id1_42mm_cooling_rate;
-	uint16_t shooter_id1_42mm_cooling_limit;
-	uint16_t shooter_id1_42mm_speed_limit;
-	uint16_t chassis_power_limit;
-	uint8_t mains_power_gimbal_output : 1;
-	uint8_t mains_power_chassis_output : 1;
-	uint8_t mains_power_shooter_output : 1;
-} ext_game_robot_state_t;
-
-/* ID: 0X0202  Byte: 14    实时功率热量数据 */
-typedef struct
-{
-	uint16_t chassis_volt;
-	uint16_t chassis_current;
-	float chassis_power;		   // 瞬时功率
-	uint16_t chassis_power_buffer; // 60焦耳缓冲能量
-	uint16_t shooter_heat0;		   // 17mm
-	uint16_t shooter_heat1;
-} ext_power_heat_data_t;
-
-/* ID: 0x0203  Byte: 16    机器人位置数据 */
-typedef struct
-{
-	float x;
-	float y;
-	float z;
-	float yaw;
-} ext_game_robot_pos_t;
-
-/* ID: 0x0204  Byte:  1    机器人增益数据 */
-typedef struct
-{
-	uint8_t power_rune_buff;
-} ext_buff_musk_t;
-
-/* ID: 0x0205  Byte:  1    空中机器人能量状态数据 */
-typedef struct
-{
-	uint8_t attack_time;
-} aerial_robot_energy_t;
-
-/* ID: 0x0206  Byte:  1    伤害状态数据 */
-typedef struct
-{
-	uint8_t armor_id : 4;
-	uint8_t hurt_type : 4;
-} ext_robot_hurt_t;
-
-/* ID: 0x0207  Byte:  7    实时射击数据 */
-typedef struct
-{
-	uint8_t bullet_type;
-	uint8_t shooter_id;
-	uint8_t bullet_freq;
-	float bullet_speed;
-} ext_shoot_data_t;
-
-/***************裁判系统数据********************/
-/*
-
-	交互数据，包括一个统一的数据段头结构，
-	包含了内容 ID，发送者以及接受者的 ID 和内容数据段，
-	整个交互数据的包总共长最大为 128 个字节，
-	减去 frame_header,cmd_id,frame_tail 以及数据段头结构的 6 个字节，
-	故而发送的内容数据段最大为 113。
-	整个交互数据 0x0301 的包上行频率为 10Hz。
-
-	机器人 ID：
-	1，英雄(红)；
-	2，工程(红)；
-	3/4/5，步兵(红)；
-	6，空中(红)；
-	7，哨兵(红)；
-	11，英雄(蓝)；
-	12，工程(蓝)；
-	13/14/15，步兵(蓝)；
-	16，空中(蓝)；
-	17，哨兵(蓝)。
-	客户端 ID：
-	0x0101 为英雄操作手客户端( 红) ；
-	0x0102 ，工程操作手客户端 ((红 )；
-	0x0103/0x0104/0x0105，步兵操作手客户端(红)；
-	0x0106，空中操作手客户端((红)；
-	0x0111，英雄操作手客户端(蓝)；
-	0x0112，工程操作手客户端(蓝)；
-	0x0113/0x0114/0x0115，操作手客户端步兵(蓝)；
-	0x0116，空中操作手客户端(蓝)。
-*/
-/* 交互数据接收信息：0x0301  */
-typedef struct
-{
-	uint16_t data_cmd_id;
-	uint16_t send_ID;
-	uint16_t receiver_ID;
-} ext_student_interactive_header_data_t;
-
-/*
-	客户端 客户端自定义数据：cmd_id:0x0301。内容 ID:0xD180
-	发送频率：上限 10Hz
-	1.	客户端 客户端自定义数据：cmd_id:0x0301。内容 ID:0xD180。发送频率：上限 10Hz
-	字节偏移量 	大小 	说明 				备注
-	0 			2 		数据的内容 ID 		0xD180
-	2 			2 		送者的 ID 			需要校验发送者机器人的 ID 正确性
-	4 			2 		客户端的 ID 		只能为发送者机器人对应的客户端
-	6 			4 		自定义浮点数据 1
-	10 			4 		自定义浮点数据 2
-	14 			4 		自定义浮点数据 3
-	18 			1 		自定义 8 位数据 4
-
-*/
-typedef struct
-{
-	float data1;
-	float data2;
-	float data3;
-	uint8_t masks;
-} client_custom_data_t;
-
-/*
-	学生机器人间通信 cmd_id 0x0301，内容 ID:0x0200~0x02FF
-	交互数据 机器人间通信：0x0301。
-	发送频率：上限 10Hz
-
-	字节偏移量 	大小 	说明 			备注
-	0 			2 		数据的内容 ID 	0x0200~0x02FF
-										可以在以上 ID 段选取，具体 ID 含义由参赛队自定义
-
-	2 			2 		发送者的 ID 	需要校验发送者的 ID 正确性，
-	4 			2 		接收者的 ID 	需要校验接收者的 ID 正确性，
-										例如不能发送到敌对机器人的ID
-	6 			n 		数据段 			n 需要小于 113
-
-*/
-typedef struct
-{
-	uint8_t data[10]; // 数据段,n需要小于113
-} robot_interactive_data_t;
-
-// 发送给客户端的信息
-// 帧头  命令码   数据段头结构  数据段   帧尾
-typedef struct
-{
-	xFrameHeader txFrameHeader;							   // 帧头
-	uint16_t CmdID;										   // 命令码
-	ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
-	client_custom_data_t clientData;					   // 数据段
-	uint16_t FrameTail;									   // 帧尾
-} ext_SendClientData_t;
-
-// 机器人交互信息
-typedef struct
-{
-	xFrameHeader txFrameHeader;							   // 帧头
-	uint16_t CmdID;										   // 命令码
-	ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
-	robot_interactive_data_t interactData;				   // 数据段
-	uint16_t FrameTail;									   // 帧尾
-} ext_CommunatianData_t;
-
-// 裁判系统接收数据整合进一个结构体
-typedef struct
-{
-	xFrameHeader FrameHeader; // 接收到的帧头信息
-	uint16_t CmdID;
-	ext_game_state_t GameState;							   // 0x0001
-	ext_game_result_t GameResult;						   // 0x0002
-	ext_game_robot_HP_t GameRobotHP;					   // 0x0003
-	ext_event_data_t EventData;							   // 0x0101
-	ext_supply_projectile_action_t SupplyProjectileAction; // 0x0102
-	ext_game_robot_state_t GameRobotStat;				   // 0x0201
-	ext_power_heat_data_t PowerHeatData;				   // 0x0202
-	ext_game_robot_pos_t GameRobotPos;					   // 0x0203
-	ext_buff_musk_t BuffMusk;							   // 0x0204
-	aerial_robot_energy_t AerialRobotEnergy;			   // 0x0205
-	ext_robot_hurt_t RobotHurt;							   // 0x0206
-	ext_shoot_data_t ShootData;							   // 0x0207
-
-	ext_SendClientData_t ShowData;	 // 客户端信息
-	ext_CommunatianData_t CommuData; // 队友通信信息
-
-} referee_info_t;
-
-#pragma pack()
-
-/**
- * @brief 初始化裁判系统,返回接收数据指针
- * 
- * @param referee_usart_handle 
- * @return referee_info_t* 
- */
-referee_info_t* RefereeInit(UART_HandleTypeDef *referee_usart_handle);
-
-
-
-
-#endif // !REFEREE_H
diff --git a/modules/referee/referee_UI.c b/modules/referee/referee_UI.c
index e69de29..2dc3e36 100644
--- a/modules/referee/referee_UI.c
+++ b/modules/referee/referee_UI.c
@@ -0,0 +1,433 @@
+/**
+ * @file referee_UI.C
+ * @author kidneygood (you@domain.com)
+ * @brief
+ * @version 0.1
+ * @date 2023-1-18
+ *
+ * @copyright Copyright (c) 2022
+ *
+ */
+#include "referee_UI.h"
+#include "string.h"
+#include "crc.h"
+#include "stdio.h"
+#include "rm_referee.h"
+
+// 包序号
+/********************************************删除操作*************************************
+**参数：_id 对应的id结构体
+        Del_Operate  对应头文件删除操作
+        Del_Layer    要删除的层 取值0-9
+*****************************************************************************************/
+void UI_Delete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
+{
+   UI_delete_t UI_delete_data;
+   uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_Del; // 计算交互数据长度
+
+   UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
+   UI_delete_data.FrameHeader.DataLength = temp_datalength;
+   UI_delete_data.FrameHeader.Seq = UI_Seq;
+   UI_delete_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_delete_data, LEN_CRC8, 0xFF);
+
+   UI_delete_data.CmdID = ID_student_interactive;
+
+   UI_delete_data.datahead.data_cmd_id = UI_Data_ID_Del;
+   UI_delete_data.datahead.receiver_ID = _id->Cilent_ID;
+   UI_delete_data.datahead.sender_ID = _id->Robot_ID;
+
+   UI_delete_data.Delete_Operate = Del_Operate; // 删除操作
+   UI_delete_data.Layer = Del_Layer;
+
+   UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
+   /* 填入0xFFFF,关于crc校验 */
+
+   RefereeSend((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
+
+   UI_Seq++; // 包序号+1
+}
+/************************************************绘制直线*************************************************
+**参数：*graph Graph_Data类型变量指针，用于存放图形数据
+        graphname[3]   图片名称，用于标识更改
+        Graph_Operate   图片操作，见头文件
+        Graph_Layer    图层0-9
+        Graph_Color    图形颜色
+        Graph_Width    图形线宽
+        Start_x、Start_y  起点xy坐标
+        End_x、End_y   终点xy坐标
+**********************************************************************************************************/
+
+void Line_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
+               uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
+{
+   int i;
+   for (i = 0; i < 3 && graphname[i] != '\0'; i++) // 填充至‘0’为止
+   {
+      graph->graphic_name[2 - i] = graphname[i]; // 按内存地址增大方向填充，所以会有i与2-i
+   }
+
+   graph->operate_tpye = Graph_Operate;
+   graph->graphic_tpye = UI_Graph_Line;
+   graph->layer = Graph_Layer;
+   graph->color = Graph_Color;
+
+   graph->start_angle = 0;
+   graph->end_angle = 0;
+   graph->width = Graph_Width;
+   graph->start_x = Start_x;
+   graph->start_y = Start_y;
+   graph->radius = 0;
+   graph->end_x = End_x;
+   graph->end_y = End_y;
+}
+
+/************************************************绘制矩形*************************************************
+**参数：*graph Graph_Data类型变量指针，用于存放图形数据
+        graphname[3]   图片名称，用于标识更改
+        Graph_Operate   图片操作，见头文件
+        Graph_Layer    图层0-9
+        Graph_Color    图形颜色
+        Graph_Width    图形线宽
+        Start_x、Start_y    起点xy坐标
+        End_x、End_y        对角顶点xy坐标
+**********************************************************************************************************/
+void Rectangle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
+                    uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
+{
+   int i;
+   for (i = 0; i < 3 && graphname[i] != '\0'; i++)
+   {
+      graph->graphic_name[2 - i] = graphname[i];
+   }
+
+   graph->graphic_tpye = UI_Graph_Rectangle;
+   graph->operate_tpye = Graph_Operate;
+   graph->layer = Graph_Layer;
+   graph->color = Graph_Color;
+
+   graph->start_angle = 0;
+   graph->end_angle = 0;
+   graph->width = Graph_Width;
+   graph->start_x = Start_x;
+   graph->start_y = Start_y;
+   graph->radius = 0;
+   graph->end_x = End_x;
+   graph->end_y = End_y;
+}
+
+/************************************************绘制整圆*************************************************
+**参数：*graph Graph_Data类型变量指针，用于存放图形数据
+        graphname[3]   图片名称，用于标识更改
+        Graph_Operate   图片操作，见头文件
+        Graph_Layer    图层0-9
+        Graph_Color    图形颜色
+        Graph_Width    图形线宽
+        Start_x、Start_y    圆心xy坐标
+        Graph_Radius  圆形半径
+**********************************************************************************************************/
+
+void Circle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
+                 uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t Graph_Radius)
+{
+   int i;
+   for (i = 0; i < 3 && graphname[i] != '\0'; i++)
+   {
+      graph->graphic_name[2 - i] = graphname[i];
+   }
+
+   graph->graphic_tpye = UI_Graph_Circle;
+   graph->operate_tpye = Graph_Operate;
+   graph->layer = Graph_Layer;
+   graph->color = Graph_Color;
+
+   graph->start_angle = 0;
+   graph->end_angle = 0;
+   graph->width = Graph_Width;
+   graph->start_x = Start_x;
+   graph->start_y = Start_y;
+   graph->radius = Graph_Radius;
+   graph->end_x = 0;
+   graph->end_y = 0;
+}
+/************************************************绘制椭圆*************************************************
+**参数：*graph Graph_Data类型变量指针，用于存放图形数据
+        graphname[3]   图片名称，用于标识更改
+        Graph_Operate   图片操作，见头文件
+        Graph_Layer    图层0-9
+        Graph_Color    图形颜色
+        Graph_Width    图形线宽
+        Start_x、Start_y    圆心xy坐标
+        End_x、End_y        xy半轴长度
+**********************************************************************************************************/
+void Elliptical_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
+                     uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t end_x, uint32_t end_y)
+{
+   int i;
+   for (i = 0; i < 3 && graphname[i] != '\0'; i++)
+   {
+      graph->graphic_name[2 - i] = graphname[i];
+   }
+
+   graph->graphic_tpye = UI_Graph_Ellipse;
+   graph->operate_tpye = Graph_Operate;
+   graph->layer = Graph_Layer;
+   graph->color = Graph_Color;
+   graph->width = Graph_Width;
+
+   graph->start_angle = 0;
+   graph->end_angle = 0;
+   graph->width = Graph_Width;
+   graph->start_x = Start_x;
+   graph->start_y = Start_y;
+   graph->radius = 0;
+   graph->end_x = end_x;
+   graph->end_y = end_y;
+}
+
+/************************************************绘制圆弧*************************************************
+**参数：*graph Graph_Data类型变量指针，用于存放图形数据
+        graphname[3]   图片名称，用于标识更改
+        Graph_Operate   图片操作，见头文件
+        Graph_Layer    图层0-9
+        Graph_Color    图形颜色
+        Graph_StartAngle,Graph_EndAngle    起始终止角度
+        Graph_Width    图形线宽
+        Start_y,Start_y    圆心xy坐标
+        x_Length,y_Length   xy半轴长度
+**********************************************************************************************************/
+
+void Arc_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
+              uint32_t Graph_StartAngle, uint32_t Graph_EndAngle, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y,
+              uint32_t end_x, uint32_t end_y)
+{
+   int i;
+   for (i = 0; i < 3 && graphname[i] != '\0'; i++)
+   {
+      graph->graphic_name[2 - i] = graphname[i];
+   }
+
+   graph->graphic_tpye = UI_Graph_Arc;
+   graph->operate_tpye = Graph_Operate;
+   graph->layer = Graph_Layer;
+   graph->color = Graph_Color;
+
+   graph->start_angle = Graph_StartAngle;
+   graph->end_angle = Graph_EndAngle;
+   graph->width = Graph_Width;
+   graph->start_x = Start_x;
+   graph->start_y = Start_y;
+   graph->radius = 0;
+   graph->end_x = end_x;
+   graph->end_y = end_y;
+}
+
+/************************************************绘制浮点型数据*************************************************
+**参数：*graph Graph_Data类型变量指针，用于存放图形数据
+        graphname[3]   图片名称，用于标识更改
+        Graph_Operate   图片操作，见头文件
+        Graph_Layer    图层0-9
+        Graph_Color    图形颜色
+        Graph_Size     字号
+        Graph_Digit    小数位数
+        Graph_Width    图形线宽
+        Start_x、Start_y    开始坐标
+        radius=a&0x3FF;   a为浮点数乘以1000后的32位整型数
+        end_x=(a>>10)&0x7FF;
+        end_y=(a>>21)&0x7FF;
+**********************************************************************************************************/
+
+void Float_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
+                uint32_t Graph_Size, uint32_t Graph_Digit, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Float)
+{
+
+   int i;
+   for (i = 0; i < 3 && graphname[i] != '\0'; i++)
+   {
+      graph->graphic_name[2 - i] = graphname[i];
+   }
+   graph->graphic_tpye = UI_Graph_Float;
+   graph->operate_tpye = Graph_Operate;
+   graph->layer = Graph_Layer;
+   graph->color = Graph_Color;
+
+   graph->width = Graph_Width;
+   graph->start_x = Start_x;
+   graph->start_y = Start_y;
+   graph->start_angle = Graph_Size;
+   graph->end_angle = Graph_Digit;
+
+   graph->radius = Graph_Float & 0x3FF;
+   graph->end_x = (Graph_Float >> 10) & 0x7FF;
+   graph->end_y = (Graph_Float >> 21) & 0x7FF;
+}
+
+/************************************************绘制整型数据*************************************************
+**参数：*graph Graph_Data类型变量指针，用于存放图形数据
+        graphname[3]   图片名称，用于标识更改
+        Graph_Operate   图片操作，见头文件
+        Graph_Layer    图层0-9
+        Graph_Color    图形颜色
+        Graph_Size     字号
+        Graph_Width    图形线宽
+        Start_x、Start_y    开始坐标
+        radius=a&0x3FF;   a为32位整型数
+        end_x=(a>>10)&0x7FF;
+        end_y=(a>>21)&0x7FF;
+**********************************************************************************************************/
+void Integer_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
+                  uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Integer)
+{
+   int i;
+   for (i = 0; i < 3 && graphname[i] != '\0'; i++)
+   {
+      graph->graphic_name[2 - i] = graphname[i];
+   }
+   graph->graphic_tpye = UI_Graph_Int;
+   graph->operate_tpye = Graph_Operate;
+   graph->layer = Graph_Layer;
+   graph->color = Graph_Color;
+
+   graph->start_angle = Graph_Size;
+   graph->end_angle = 0;
+   graph->width = Graph_Width;
+   graph->start_x = Start_x;
+   graph->start_y = Start_y;
+   graph->radius = Graph_Integer & 0x3FF;
+   graph->end_x = (Graph_Integer >> 10) & 0x7FF;
+   graph->end_y = (Graph_Integer >> 21) & 0x7FF;
+}
+
+/************************************************绘制字符型数据*************************************************
+**参数：*graph Graph_Data类型变量指针，用于存放图形数据
+        graphname[3]   图片名称，用于标识更改
+        Graph_Operate   图片操作，见头文件
+        Graph_Layer    图层0-9
+        Graph_Color    图形颜色
+        Graph_Size     字号
+        Graph_Width    图形线宽
+        Start_x、Start_y    开始坐标
+**********************************************************************************************************/
+void Char_Draw(String_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
+               uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y)
+{
+   int i;
+   for (i = 0; i < 3 && graphname[i] != '\0'; i++)
+   {
+      graph->Graph_Control.graphic_name[2 - i] = graphname[i];
+   }
+
+   graph->Graph_Control.graphic_tpye = UI_Graph_Char;
+   graph->Graph_Control.operate_tpye = Graph_Operate;
+   graph->Graph_Control.layer = Graph_Layer;
+   graph->Graph_Control.color = Graph_Color;
+
+   graph->Graph_Control.width = Graph_Width;
+   graph->Graph_Control.start_x = Start_x;
+   graph->Graph_Control.start_y = Start_y;
+   graph->Graph_Control.start_angle = Graph_Size;
+   graph->Graph_Control.radius = 0;
+   graph->Graph_Control.end_x = 0;
+   graph->Graph_Control.end_y = 0;
+}
+
+/************************************************绘制字符型数据*************************************************
+**参数：*graph Graph_Data类型变量指针，用于存放图形数据
+        fmt需要显示的字符串
+        此函数的实现和具体使用类似于printf函数
+**********************************************************************************************************/
+void Char_Write(String_Data_t *graph, char *fmt, ...)
+{
+   uint16_t i = 0;
+   va_list ap;
+   va_start(ap, fmt);
+   vsprintf((char *)graph->show_Data, fmt, ap); // 使用参数列表进行格式化并输出到字符串
+   va_end(ap);
+   i = strlen((const char *)graph->show_Data);
+   graph->Graph_Control.end_angle = i;
+}
+
+/* UI推送函数（使更改生效）
+   参数： cnt   图形个数
+            ...   图形变量参数
+   Tips：：该函数只能推送1，2，5，7个图形，其他数目协议未涉及
+ */
+void UI_ReFresh(referee_id_t *_id, int cnt, ...)
+{
+   int i;
+   UI_GraphReFresh_t UI_GraphReFresh_data;
+   Graph_Data_t graphData;
+
+   va_list ap;        // 创建一个 va_list 类型变量
+   va_start(ap, cnt); // 初始化 va_list 变量为一个参数列表
+
+   UI_GraphReFresh_data.FrameHeader.SOF = REFEREE_SOF;
+   UI_GraphReFresh_data.FrameHeader.DataLength = Interactive_Data_LEN_Head + cnt * UI_Operate_LEN_PerDraw;
+   UI_GraphReFresh_data.FrameHeader.Seq = UI_Seq;
+   UI_GraphReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_GraphReFresh_data, LEN_CRC8, 0xFF);
+
+   UI_GraphReFresh_data.CmdID = ID_student_interactive;
+
+   switch (cnt)
+   {
+   case 1:
+      UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw1;
+      break;
+   case 2:
+      UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw2;
+      break;
+   case 5:
+      UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw5;
+      break;
+   case 7:
+      UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw7;
+      break;
+   }
+
+   UI_GraphReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
+   UI_GraphReFresh_data.datahead.sender_ID = _id->Robot_ID;
+
+   // 先发送帧头、命令码、交互数据帧头三部分，并计算CRC16校验值
+   UI_GraphReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_GraphReFresh_data, LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head, 0xFFFF);
+   RefereeSend((uint8_t *)&UI_GraphReFresh_data, LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head);
+
+   for (i = 0; i < cnt; i++) // 发送交互数据的数据帧，并计算CRC16校验值
+   {
+      graphData = va_arg(ap, Graph_Data_t); // 访问参数列表中的每个项,第二个参数是你要返回的参数的类型,在取值时需要将其强制转化为指定类型的变量
+      // 发送并计算CRC16
+      RefereeSend((uint8_t *)&graphData, UI_Operate_LEN_PerDraw);
+      UI_GraphReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&graphData, UI_Operate_LEN_PerDraw, UI_GraphReFresh_data.frametail);
+   }
+
+   RefereeSend((uint8_t *)&UI_GraphReFresh_data.frametail, LEN_TAIL); // 发送CRC16校验值
+
+   va_end(ap); // 结束可变参数的获取
+   UI_Seq++;   // 包序号+1
+}
+
+/************************************************UI推送字符（使更改生效）*********************************/
+void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data)
+{
+   UI_CharReFresh_t UI_CharReFresh_data;
+
+   uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_DrawChar; // 计算交互数据长度
+
+   UI_CharReFresh_data.FrameHeader.SOF = REFEREE_SOF;
+   UI_CharReFresh_data.FrameHeader.DataLength = temp_datalength;
+   UI_CharReFresh_data.FrameHeader.Seq = UI_Seq;
+   UI_CharReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_CRC8, 0xFF);
+
+   UI_CharReFresh_data.CmdID = ID_student_interactive;
+
+   UI_CharReFresh_data.datahead.data_cmd_id = UI_Data_ID_DrawChar;
+
+   UI_CharReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
+   UI_CharReFresh_data.datahead.sender_ID = _id->Robot_ID;
+
+   UI_CharReFresh_data.String_Data = string_Data;
+
+   UI_CharReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
+
+   RefereeSend((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
+
+   UI_Seq++; // 包序号+1
+}
diff --git a/modules/referee/referee_UI.h b/modules/referee/referee_UI.h
new file mode 100644
index 0000000..474b966
--- /dev/null
+++ b/modules/referee/referee_UI.h
@@ -0,0 +1,77 @@
+#ifndef REFEREE_UI_H
+#define REFEREE_UI_H
+
+#include "stdarg.h"
+#include "stdint.h"
+#include "referee_def.h"
+#include "rm_referee.h"
+
+#pragma pack(1) //按1字节对齐
+
+/* 此处的定义只与UI绘制有关 */
+typedef struct
+{
+	xFrameHeader FrameHeader; 
+	uint16_t CmdID;
+   ext_student_interactive_header_data_t datahead;
+   uint8_t Delete_Operate;         //删除操作
+   uint8_t Layer; 
+   uint16_t frametail;
+} UI_delete_t;
+
+typedef struct
+{
+	xFrameHeader FrameHeader; 
+	uint16_t CmdID;
+   ext_student_interactive_header_data_t datahead;
+   uint16_t frametail;
+} UI_GraphReFresh_t;
+
+typedef struct
+{
+  	xFrameHeader FrameHeader; 
+	uint16_t CmdID;
+   ext_student_interactive_header_data_t datahead;
+   String_Data_t String_Data;
+   uint16_t frametail; 
+} UI_CharReFresh_t;                  //打印字符串数据
+
+#pragma pack()
+
+
+
+
+void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer);
+
+void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
+                  uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
+
+void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
+                  uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
+
+void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
+                  uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius);
+
+void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
+                  uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y);
+
+void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
+                  uint32_t Graph_StartAngle,uint32_t Graph_EndAngle,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y, 
+                  uint32_t end_x,uint32_t end_y);
+
+void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
+                  uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float);
+                  
+void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
+                  uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Integer);
+
+void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
+                  uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y);
+
+void Char_Write(String_Data_t *graph,char* fmt, ...);
+
+void UI_ReFresh(referee_id_t *_id,int cnt,...);
+
+void Char_ReFresh(referee_id_t *_id,String_Data_t string_Data);
+   
+#endif
diff --git a/modules/referee/referee_communication.c b/modules/referee/referee_communication.c
index e69de29..d714605 100644
--- a/modules/referee/referee_communication.c
+++ b/modules/referee/referee_communication.c
@@ -0,0 +1,45 @@
+/**
+ * @file referee_communication.h
+ * @author kidneygood (you@domain.com)
+ * @version 0.1
+ * @date 2022-12-02
+ *
+ * @copyright Copyright (c) HNU YueLu EC 2022 all rights reserved
+ *
+ */
+
+#include "referee_communication.h"
+#include "crc.h"
+#include "stdio.h"
+#include "rm_referee.h"
+
+/**
+ * @brief  发送机器人间的交互数据
+ * @param  referee_id_t *_id  sender为本机器人，receiver为接收方机器人，发送前设置Receiver_Robot_ID再调用该函数
+ *         robot_interactive_data_t *data    数据段
+ * @retval none
+ * @attention
+ */
+void Communicate_SendData(referee_id_t *_id,robot_interactive_data_t *_data)
+{
+    Communicate_SendData_t SendData;
+    uint8_t temp_datalength = Interactive_Data_LEN_Head + Communicate_Data_LEN; // 计算交互数据长度  6+n,n为交互数据长度
+
+    SendData.FrameHeader.SOF = REFEREE_SOF;
+    SendData.FrameHeader.DataLength = temp_datalength;
+    SendData.FrameHeader.Seq = UI_Seq;
+    SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
+
+    SendData.CmdID = ID_student_interactive;
+
+    SendData.datahead.data_cmd_id = Communicate_Data_ID;
+    SendData.datahead.sender_ID = _id->Robot_ID;
+    SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
+
+    SendData.Data = *_data;
+
+    SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData,LEN_HEADER+LEN_CMDID+temp_datalength,0xFFFF);
+
+    RefereeSend((uint8_t *)&SendData,LEN_HEADER+LEN_CMDID+temp_datalength+LEN_TAIL); //发送
+    UI_Seq++; // 包序号+1
+}
diff --git a/modules/referee/referee_communication.h b/modules/referee/referee_communication.h
new file mode 100644
index 0000000..cba2324
--- /dev/null
+++ b/modules/referee/referee_communication.h
@@ -0,0 +1,10 @@
+#ifndef REFEREE_COMMUNICATION_H
+#define REFEREE_COMMUNICATION_H
+
+#include "stdint.h"
+#include "referee_def.h"
+#include "rm_referee.h"
+
+void Communicate_SendData(referee_id_t *_id,robot_interactive_data_t *_data);
+
+#endif
\ No newline at end of file
diff --git a/modules/referee/referee_def.h b/modules/referee/referee_def.h
new file mode 100644
index 0000000..4c2312f
--- /dev/null
+++ b/modules/referee/referee_def.h
@@ -0,0 +1,397 @@
+/**
+ * @file referee_def.h
+ * @author kidneygood (you@domain.com)
+ * @version 0.1
+ * @date 2022-12-02
+ *
+ * @copyright Copyright (c) HNU YueLu EC 2022 all rights reserved
+ *
+ */
+
+#ifndef REFEREE_DEF_H
+#define REFEREE_DEF_H
+
+#include "stdint.h"
+
+/****************************宏定义部分****************************/
+/****************************宏定义部分****************************/
+
+#define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
+#define Robot_Red 0
+#define Robot_Blue 1
+#define Communicate_Data_LEN 5   //自定义交互数据长度，该长度决定了我方发送和他方接收，自定义交互数据协议更改时只需要更改此宏定义即可
+
+#pragma pack(1)      
+
+/****************************通信协议格式****************************/
+/****************************通信协议格式****************************/
+
+/* 通信协议格式偏移，枚举类型,代替#define声明 */
+typedef enum
+{
+	FRAME_HEADER_Offset = 0,
+	CMD_ID_Offset = 5,
+	DATA_Offset = 7,
+} JudgeFrameOffset_e;
+
+/* 通信协议长度 */
+typedef enum
+{
+	LEN_HEADER = 5, // 帧头长
+	LEN_CMDID = 2,	// 命令码长度
+	LEN_TAIL = 2,	// 帧尾CRC16
+
+	LEN_CRC8 = 4, // 帧头CRC8校验长度=帧头+数据长+包序号
+} JudgeFrameLength_e;
+
+/****************************帧头****************************/
+/****************************帧头****************************/
+
+/* 帧头偏移 */
+typedef enum
+{
+	SOF = 0,		 // 起始位
+	DATA_LENGTH = 1, // 帧内数据长度,根据这个来获取数据长度
+	SEQ = 3,		 // 包序号
+	CRC8 = 4		 // CRC8
+} FrameHeaderOffset_e;
+
+/* 帧头定义 */
+typedef struct
+{
+	uint8_t SOF;
+	uint16_t DataLength;
+	uint8_t Seq;
+	uint8_t CRC8;
+} xFrameHeader;
+
+/****************************cmd_id命令码说明****************************/
+/****************************cmd_id命令码说明****************************/
+
+/* 命令码ID,用来判断接收的是什么数据 */
+typedef enum
+{
+	ID_game_state = 0x0001,				   // 比赛状态数据
+	ID_game_result = 0x0002,			   // 比赛结果数据
+	ID_game_robot_survivors = 0x0003,	   // 比赛机器人血量数据
+	ID_event_data = 0x0101,				   // 场地事件数据
+	ID_supply_projectile_action = 0x0102,  // 场地补给站动作标识数据
+	ID_supply_projectile_booking = 0x0103, // 场地补给站预约子弹数据
+	ID_game_robot_state = 0x0201,		   // 机器人状态数据
+	ID_power_heat_data = 0x0202,		   // 实时功率热量数据
+	ID_game_robot_pos = 0x0203,			   // 机器人位置数据
+	ID_buff_musk = 0x0204,				   // 机器人增益数据
+	ID_aerial_robot_energy = 0x0205,	   // 空中机器人能量状态数据
+	ID_robot_hurt = 0x0206,				   // 伤害状态数据
+	ID_shoot_data = 0x0207,				   // 实时射击数据
+	ID_student_interactive = 0x0301,	   // 机器人间交互数据
+} CmdID_e;
+
+/* 命令码数据段长,根据官方协议来定义长度，还有自定义数据长度 */
+typedef enum
+{
+	LEN_game_state = 3,				  // 0x0001
+	LEN_game_result = 1,			  // 0x0002
+	LEN_game_robot_HP = 2,			  // 0x0003
+	LEN_event_data = 4,				  // 0x0101
+	LEN_supply_projectile_action = 4, // 0x0102
+	LEN_game_robot_state = 27,		  // 0x0201
+	LEN_power_heat_data = 14,		  // 0x0202
+	LEN_game_robot_pos = 16,		  // 0x0203
+	LEN_buff_musk = 1,				  // 0x0204
+	LEN_aerial_robot_energy = 1,	  // 0x0205
+	LEN_robot_hurt = 1,				  // 0x0206
+	LEN_shoot_data = 7,				  // 0x0207
+	LEN_receive_data = 6+Communicate_Data_LEN,  //0x0301
+
+} JudgeDataLength_e;
+
+/****************************接收数据的详细说明****************************/
+/****************************接收数据的详细说明****************************/
+
+/* ID: 0x0001  Byte:  3    比赛状态数据 */
+typedef struct
+{
+	uint8_t game_type : 4;
+	uint8_t game_progress : 4;
+	uint16_t stage_remain_time;
+} ext_game_state_t;
+
+/* ID: 0x0002  Byte:  1    比赛结果数据 */
+typedef struct
+{
+	uint8_t winner;
+} ext_game_result_t;
+
+/* ID: 0x0003  Byte:  32    比赛机器人血量数据 */
+typedef struct
+{
+	uint16_t red_1_robot_HP;
+	uint16_t red_2_robot_HP;
+	uint16_t red_3_robot_HP;
+	uint16_t red_4_robot_HP;
+	uint16_t red_5_robot_HP;
+	uint16_t red_7_robot_HP;
+	uint16_t red_outpost_HP;
+	uint16_t red_base_HP;
+	uint16_t blue_1_robot_HP;
+	uint16_t blue_2_robot_HP;
+	uint16_t blue_3_robot_HP;
+	uint16_t blue_4_robot_HP;
+	uint16_t blue_5_robot_HP;
+	uint16_t blue_7_robot_HP;
+	uint16_t blue_outpost_HP;
+	uint16_t blue_base_HP;
+} ext_game_robot_HP_t;
+
+/* ID: 0x0101  Byte:  4    场地事件数据 */
+typedef struct
+{
+	uint32_t event_type;
+} ext_event_data_t;
+
+/* ID: 0x0102  Byte:  3    场地补给站动作标识数据 */
+typedef struct
+{
+	uint8_t supply_projectile_id;
+	uint8_t supply_robot_id;
+	uint8_t supply_projectile_step;
+	uint8_t supply_projectile_num;
+} ext_supply_projectile_action_t;
+
+/* ID: 0X0201  Byte: 27    机器人状态数据 */
+typedef struct
+{
+	uint8_t robot_id;
+	uint8_t robot_level;
+	uint16_t remain_HP;
+	uint16_t max_HP;
+	uint16_t shooter_id1_17mm_cooling_rate;
+	uint16_t shooter_id1_17mm_cooling_limit;
+	uint16_t shooter_id1_17mm_speed_limit;
+	uint16_t shooter_id2_17mm_cooling_rate;
+	uint16_t shooter_id2_17mm_cooling_limit;
+	uint16_t shooter_id2_17mm_speed_limit;
+	uint16_t shooter_id1_42mm_cooling_rate;
+	uint16_t shooter_id1_42mm_cooling_limit;
+	uint16_t shooter_id1_42mm_speed_limit;
+	uint16_t chassis_power_limit;
+	uint8_t mains_power_gimbal_output : 1;
+	uint8_t mains_power_chassis_output : 1;
+	uint8_t mains_power_shooter_output : 1;
+} ext_game_robot_state_t;
+
+/* ID: 0X0202  Byte: 14    实时功率热量数据 */
+typedef struct
+{
+	uint16_t chassis_volt;
+	uint16_t chassis_current;
+	float chassis_power;		   // 瞬时功率
+	uint16_t chassis_power_buffer; // 60焦耳缓冲能量
+	uint16_t shooter_heat0;		   // 17mm
+	uint16_t shooter_heat1;
+} ext_power_heat_data_t;
+
+/* ID: 0x0203  Byte: 16    机器人位置数据 */
+typedef struct
+{
+	float x;
+	float y;
+	float z;
+	float yaw;
+} ext_game_robot_pos_t;
+
+/* ID: 0x0204  Byte:  1    机器人增益数据 */
+typedef struct
+{
+	uint8_t power_rune_buff;
+} ext_buff_musk_t;
+
+/* ID: 0x0205  Byte:  1    空中机器人能量状态数据 */
+typedef struct
+{
+	uint8_t attack_time;
+} aerial_robot_energy_t;
+
+/* ID: 0x0206  Byte:  1    伤害状态数据 */
+typedef struct
+{
+	uint8_t armor_id : 4;
+	uint8_t hurt_type : 4;
+} ext_robot_hurt_t;
+
+/* ID: 0x0207  Byte:  7    实时射击数据 */
+typedef struct
+{
+	uint8_t bullet_type;
+	uint8_t shooter_id;
+	uint8_t bullet_freq;
+	float bullet_speed;
+} ext_shoot_data_t;
+
+/****************************机器人交互数据****************************/
+/****************************机器人交互数据****************************/
+/* 发送的内容数据段最大为 113 检测是否超出大小限制?实际上图形段不会超，数据段最多30个，也不会超*/
+/* 交互数据头结构 */
+typedef struct
+{
+	uint16_t data_cmd_id;    //由于存在多个内容 ID，但整个cmd_id 上行频率最大为 10Hz，请合理安排带宽。注意交互部分的上行频率
+	uint16_t sender_ID;
+	uint16_t receiver_ID;
+} ext_student_interactive_header_data_t;
+
+/* 机器人id */
+typedef enum
+{
+	// 红方机器人ID
+	RobotID_RHero = 1,         
+	RobotID_REngineer = 2,
+	RobotID_RStandard1 = 3,
+	RobotID_RStandard2 = 4,
+	RobotID_RStandard3 = 5,
+	RobotID_RAerial = 6,
+	RobotID_RSentry = 7,
+	RobotID_RRadar = 9,
+	// 蓝方机器人ID
+	RobotID_BHero = 101,
+	RobotID_BEngineer = 102,
+	RobotID_BStandard1 = 103,
+	RobotID_BStandard2 = 104,
+	RobotID_BStandard3 = 105,
+	RobotID_BAerial = 106,
+	RobotID_BSentry = 107,
+	RobotID_BRadar = 109,
+} Robot_ID_e;
+
+/* 交互数据ID */
+typedef enum
+{
+	UI_Data_ID_Del = 0x100,
+	UI_Data_ID_Draw1 = 0x101,
+	UI_Data_ID_Draw2 = 0x102,
+	UI_Data_ID_Draw5 = 0x103,
+	UI_Data_ID_Draw7 = 0x104,
+	UI_Data_ID_DrawChar = 0x110,
+
+	/* 自定义交互数据部分 */
+	Communicate_Data_ID = 0x0200,
+
+} Interactive_Data_ID_e;
+/* 交互数据长度 */
+typedef enum
+{
+	Interactive_Data_LEN_Head = 6,
+	UI_Operate_LEN_Del = 2,
+	UI_Operate_LEN_PerDraw = 15,
+	UI_Operate_LEN_DrawChar = 15 + 30,
+
+	/* 自定义交互数据部分 */
+	// Communicate_Data_LEN = 5,
+
+} Interactive_Data_Length_e;
+
+/****************************自定义交互数据****************************/
+/****************************自定义交互数据****************************/
+/*
+	学生机器人间通信 cmd_id 0x0301，内容 ID:0x0200~0x02FF
+	自定义交互数据 机器人间通信：0x0301。
+	发送频率：上限 10Hz
+*/
+//自定义交互数据协议，可更改，更改后需要修改最上方宏定义数据长度的值
+typedef struct
+{
+	uint8_t data[Communicate_Data_LEN]; // 数据段,n需要小于113
+} robot_interactive_data_t;
+
+// 机器人交互信息_发送
+typedef struct
+{
+	xFrameHeader FrameHeader;
+	uint16_t CmdID;
+	ext_student_interactive_header_data_t datahead;
+	robot_interactive_data_t Data; // 数据段
+	uint16_t frametail;
+} Communicate_SendData_t;
+// 机器人交互信息_接收
+typedef struct
+{
+	ext_student_interactive_header_data_t datahead;
+	robot_interactive_data_t Data; // 数据段
+} Communicate_ReceiveData_t;
+
+
+/****************************UI交互数据****************************/
+/****************************UI交互数据****************************/
+
+/* 图形数据 */
+typedef struct
+{
+	uint8_t graphic_name[3];
+	uint32_t operate_tpye : 3;
+	uint32_t graphic_tpye : 3;
+	uint32_t layer : 4;
+	uint32_t color : 4;
+	uint32_t start_angle : 9;
+	uint32_t end_angle : 9;
+	uint32_t width : 10;
+	uint32_t start_x : 11;
+	uint32_t start_y : 11;
+	uint32_t radius : 10;
+	uint32_t end_x : 11;
+	uint32_t end_y : 11;
+} Graph_Data_t; 
+
+typedef struct
+{
+	Graph_Data_t Graph_Control;
+	uint8_t show_Data[30];
+} String_Data_t; // 打印字符串数据
+
+/* 删除操作 */
+typedef enum
+{
+	UI_Data_Del_NoOperate = 0,
+	UI_Data_Del_Layer = 1,
+	UI_Data_Del_ALL = 2, // 删除全部图层，后面的参数已经不重要了。
+} UI_Delete_Operate_e;
+
+/* 图形配置参数__图形操作 */
+typedef enum
+{
+	UI_Graph_ADD = 1,
+	UI_Graph_Change = 2,
+	UI_Graph_Del = 3,
+} UI_Graph_Operate_e;
+
+/* 图形配置参数__图形类型 */
+typedef enum
+{
+	UI_Graph_Line = 0,		// 直线
+	UI_Graph_Rectangle = 1, // 矩形
+	UI_Graph_Circle = 2,	// 整圆
+	UI_Graph_Ellipse = 3,	// 椭圆
+	UI_Graph_Arc = 4,		// 圆弧
+	UI_Graph_Float = 5,		// 浮点型
+	UI_Graph_Int = 6,		// 整形
+	UI_Graph_Char = 7,		// 字符型
+
+} UI_Graph_Type_e;
+
+/* 图形配置参数__图形颜色 */
+typedef enum
+{
+	UI_Color_Main = 0, // 红蓝主色
+	UI_Color_Yellow = 1,
+	UI_Color_Green = 2,
+	UI_Color_Orange = 3,
+	UI_Color_Purplish_red = 4, // 紫红色
+	UI_Color_Pink = 5,
+	UI_Color_Cyan = 6, // 青色
+	UI_Color_Black = 7,
+	UI_Color_White = 8,
+
+} UI_Graph_Color_e;
+
+#pragma pack()
+
+#endif
diff --git a/modules/referee/referee.c b/modules/referee/rm_referee.c
similarity index 57%
rename from modules/referee/referee.c
rename to modules/referee/rm_referee.c
index 3abb972..e40297e 100644
--- a/modules/referee/referee.c
+++ b/modules/referee/rm_referee.c
@@ -1,18 +1,56 @@
-#include "referee.h"
+/**
+ * @file rm_referee.C
+ * @author kidneygood (you@domain.com)
+ * @brief
+ * @version 0.1
+ * @date 2022-11-18
+ *
+ * @copyright Copyright (c) 2022
+ *
+ */
+
+#include "rm_referee.h"
 #include "string.h"
 #include "crc_ref.h"
 #include "bsp_usart.h"
-#include "dma.h"
 
-// 参考深圳大学  Infantry_X-master
 #define RE_RX_BUFFER_SIZE 200
 
-static USARTInstance *referee_usart_instance;
+static USARTInstance *referee_usart_instance; // 暂时改为非静态变量
 
-/**************裁判系统数据******************/
 static referee_info_t referee_info;
-static uint8_t Judge_Self_ID;		 // 当前机器人的ID
-static uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID
+static void JudgeReadData(uint8_t *ReadFromUsart);
+static void RefereeRxCallback();
+
+uint8_t UI_Seq = 0; // 包序号，供整个referee文件使用
+
+/* 裁判系统通信初始化 */
+referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
+{
+	USART_Init_Config_s conf;
+	conf.module_callback = RefereeRxCallback;
+	conf.usart_handle = referee_usart_handle;
+	conf.recv_buff_size = RE_RX_BUFFER_SIZE;
+	referee_usart_instance = USARTRegister(&conf);
+	return &referee_info;
+}
+
+/**
+ * @brief 发送函数
+ * @param send 待发送数据
+ */
+void RefereeSend(uint8_t *send, uint16_t tx_len)
+{
+	USARTSend(referee_usart_instance, send, tx_len);
+	/* syhtodo DMA请求过快会导致数据发送丢失，考虑数据尽可能打成一个整包以及队列发送，并且发送函数添加缓冲区 */
+	HAL_Delay(5);
+}
+
+/*裁判系统串口接收回调函数,解析数据 */
+static void RefereeRxCallback()
+{
+	JudgeReadData(referee_usart_instance->recv_buff);
+}
 
 /**
  * @brief  读取裁判数据,中断中读取保证速度
@@ -22,17 +60,15 @@ static uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID
  */
 static void JudgeReadData(uint8_t *ReadFromUsart)
 {
-	uint16_t judge_length; // 统计一帧数据长度
-	//	referee_info.CmdID = 0; //数据命令码解析
-	// 空数据包，则不作任何处理
-	if (ReadFromUsart == NULL)
+	uint16_t judge_length;	   // 统计一帧数据长度
+	if (ReadFromUsart == NULL) // 空数据包，则不作任何处理
 		return;
 
 	// 写入帧头数据(5-byte),用于判断是否开始存储裁判数据
 	memcpy(&referee_info.FrameHeader, ReadFromUsart, LEN_HEADER);
 
 	// 判断帧头数据(0)是否为0xA5
-	if (ReadFromUsart[SOF] == JUDGE_FRAME_HEADER)
+	if (ReadFromUsart[SOF] == REFEREE_SOF)
 	{
 		// 帧头CRC8校验
 		if (Verify_CRC8_Check_Sum(ReadFromUsart, LEN_HEADER) == TRUE)
@@ -49,51 +85,43 @@ static void JudgeReadData(uint8_t *ReadFromUsart)
 				switch (referee_info.CmdID)
 				{
 				case ID_game_state: // 0x0001
-					memcpy(&referee_info.GameState, (ReadFromUsart + DATA), LEN_game_state);
+					memcpy(&referee_info.GameState, (ReadFromUsart + DATA_Offset), LEN_game_state);
 					break;
-
 				case ID_game_result: // 0x0002
-					memcpy(&referee_info.GameResult, (ReadFromUsart + DATA), LEN_game_result);
+					memcpy(&referee_info.GameResult, (ReadFromUsart + DATA_Offset), LEN_game_result);
 					break;
-
 				case ID_game_robot_survivors: // 0x0003
-					memcpy(&referee_info.GameRobotHP, (ReadFromUsart + DATA), LEN_game_robot_HP);
+					memcpy(&referee_info.GameRobotHP, (ReadFromUsart + DATA_Offset), LEN_game_robot_HP);
 					break;
-
 				case ID_event_data: // 0x0101
-					memcpy(&referee_info.EventData, (ReadFromUsart + DATA), LEN_event_data);
+					memcpy(&referee_info.EventData, (ReadFromUsart + DATA_Offset), LEN_event_data);
 					break;
-
 				case ID_supply_projectile_action: // 0x0102
-					memcpy(&referee_info.SupplyProjectileAction, (ReadFromUsart + DATA), LEN_supply_projectile_action);
+					memcpy(&referee_info.SupplyProjectileAction, (ReadFromUsart + DATA_Offset), LEN_supply_projectile_action);
 					break;
-
 				case ID_game_robot_state: // 0x0201
-					memcpy(&referee_info.GameRobotStat, (ReadFromUsart + DATA), LEN_game_robot_state);
+					memcpy(&referee_info.GameRobotState, (ReadFromUsart + DATA_Offset), LEN_game_robot_state);
 					break;
 				case ID_power_heat_data: // 0x0202
-					memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA), LEN_power_heat_data);
+					memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA_Offset), LEN_power_heat_data);
 					break;
-
 				case ID_game_robot_pos: // 0x0203
-					memcpy(&referee_info.GameRobotPos, (ReadFromUsart + DATA), LEN_game_robot_pos);
+					memcpy(&referee_info.GameRobotPos, (ReadFromUsart + DATA_Offset), LEN_game_robot_pos);
 					break;
-
 				case ID_buff_musk: // 0x0204
-					memcpy(&referee_info.BuffMusk, (ReadFromUsart + DATA), LEN_buff_musk);
+					memcpy(&referee_info.BuffMusk, (ReadFromUsart + DATA_Offset), LEN_buff_musk);
 					break;
-
 				case ID_aerial_robot_energy: // 0x0205
-					memcpy(&referee_info.AerialRobotEnergy, (ReadFromUsart + DATA), LEN_aerial_robot_energy);
+					memcpy(&referee_info.AerialRobotEnergy, (ReadFromUsart + DATA_Offset), LEN_aerial_robot_energy);
 					break;
-
 				case ID_robot_hurt: // 0x0206
-					memcpy(&referee_info.RobotHurt, (ReadFromUsart + DATA), LEN_robot_hurt);
+					memcpy(&referee_info.RobotHurt, (ReadFromUsart + DATA_Offset), LEN_robot_hurt);
 					break;
-
 				case ID_shoot_data: // 0x0207
-					memcpy(&referee_info.ShootData, (ReadFromUsart + DATA), LEN_shoot_data);
-					// JUDGE_ShootNumCount();//发弹量统计
+					memcpy(&referee_info.ShootData, (ReadFromUsart + DATA_Offset), LEN_shoot_data);
+					break;
+				case ID_student_interactive: // 0x0301   syhtodo接收代码未测试
+					memcpy(&referee_info.ReceiveData, (ReadFromUsart + DATA_Offset), LEN_receive_data);
 					break;
 				}
 			}
@@ -106,22 +134,3 @@ static void JudgeReadData(uint8_t *ReadFromUsart)
 		}
 	}
 }
-
-/**
- * @brief 裁判系统串口接收回调函数,解析数据
- * 
- */
-static void RefereeRxCallback()
-{
-	JudgeReadData(referee_usart_instance->recv_buff);
-}
-
-referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
-{
-	USART_Init_Config_s conf;
-	conf.module_callback = RefereeRxCallback;
-	conf.usart_handle = referee_usart_handle;
-	conf.recv_buff_size = RE_RX_BUFFER_SIZE;
-	referee_usart_instance = USARTRegister(&conf);
-	return &referee_info;
-}
\ No newline at end of file
diff --git a/modules/referee/rm_referee.h b/modules/referee/rm_referee.h
new file mode 100644
index 0000000..16fb381
--- /dev/null
+++ b/modules/referee/rm_referee.h
@@ -0,0 +1,60 @@
+#ifndef RM_REFEREE_H
+#define RM_REFEREE_H
+
+#include "usart.h"
+#include "referee_def.h"
+#include "bsp_usart.h"
+extern uint8_t UI_Seq; 
+
+#pragma pack(1)
+typedef struct
+{
+	uint8_t Robot_Color;   //机器人颜色
+	uint16_t Robot_ID;   //本机器人ID
+	uint16_t Cilent_ID; //本机器人对应的客户端ID
+	uint16_t Receiver_Robot_ID; //机器人车间通信时接收者的ID，必须和本机器人同颜色
+} referee_id_t;
+
+// 此结构体包含裁判系统接收数据以及UI绘制与机器人车间通信的相关信息
+typedef struct
+{	
+	referee_id_t referee_id;
+
+	xFrameHeader FrameHeader; // 接收到的帧头信息
+	uint16_t CmdID;
+	ext_game_state_t GameState;							   // 0x0001
+	ext_game_result_t GameResult;						   // 0x0002
+	ext_game_robot_HP_t GameRobotHP;					   // 0x0003
+	ext_event_data_t EventData;							   // 0x0101
+	ext_supply_projectile_action_t SupplyProjectileAction; // 0x0102
+	ext_game_robot_state_t GameRobotState;				   // 0x0201
+	ext_power_heat_data_t PowerHeatData;				   // 0x0202
+	ext_game_robot_pos_t GameRobotPos;					   // 0x0203
+	ext_buff_musk_t BuffMusk;							   // 0x0204
+	aerial_robot_energy_t AerialRobotEnergy;			   // 0x0205
+	ext_robot_hurt_t RobotHurt;							   // 0x0206
+	ext_shoot_data_t ShootData;							   // 0x0207
+
+	//自定义交互数据的接收
+	Communicate_ReceiveData_t ReceiveData;
+
+} referee_info_t;
+
+#pragma pack()
+
+/**
+ * @brief 初始化裁判系统,返回接收数据指针
+ *
+ * @param referee_usart_handle
+ * @return referee_info_t*
+ */
+referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle);
+
+/**
+ * @brief 发送函数
+ * @todo
+ * @param send 待发送数据
+ */
+void RefereeSend(uint8_t *send, uint16_t tx_len);
+
+#endif // !REFEREE_H