diff --git a/.vscode/settings.json b/.vscode/settings.json
index 3034fdb..46e315a 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -42,6 +42,7 @@
         "usb_device.h": "c",
         "vofa_protocol.h": "c",
         "master_process.h": "c",
-        "stdint-gcc.h": "c"
+        "stdint-gcc.h": "c",
+        "string.h": "c"
     }
 }
\ No newline at end of file
diff --git a/bsp/bsp_can.c b/bsp/bsp_can.c
index 0a2fd58..7cbd0b8 100644
--- a/bsp/bsp_can.c
+++ b/bsp/bsp_can.c
@@ -57,14 +57,14 @@ static void CANServiceInit()
 
 /* -----------------------two extern callable function -----------------------*/
 
-void CANRegister(can_instance* ins,can_instance_config config)
+void CANRegister(can_instance *ins, can_instance_config config)
 {
     static uint8_t idx;
     if (!idx)
     {
         CANServiceInit();
     }
-    instance[idx]=ins;
+    instance[idx] = ins;
 
     instance[idx]->txconf.StdId = config.tx_id;
     instance[idx]->txconf.IDE = CAN_ID_STD;
@@ -76,9 +76,7 @@ void CANRegister(can_instance* ins,can_instance_config config)
     instance[idx]->rx_id = config.rx_id;
     instance[idx]->can_module_callback = config.can_module_callback;
 
-    CANAddFilter(instance[idx]);
-
-    return instance[idx++];
+    CANAddFilter(instance[idx++]);
 }
 
 void CANTransmit(can_instance *_instance)
diff --git a/bsp/bsp_usart.c b/bsp/bsp_usart.c
index 7a78b7d..030ab81 100644
--- a/bsp/bsp_usart.c
+++ b/bsp/bsp_usart.c
@@ -4,9 +4,9 @@
  * @brief  串口bsp层的实现
  * @version beta
  * @date 2022-11-01
- * 
+ *
  * @copyright Copyright (c) 2022
- * 
+ *
  */
 #include "bsp_usart.h"
 #include "stdlib.h"
@@ -30,7 +30,7 @@ static void USARTServiceInit(usart_instance *_instance)
 
 void USARTRegister(usart_instance *_instance)
 {
-    static instance_idx;
+    static uint8_t instance_idx;
     USARTServiceInit(_instance);
     instance[instance_idx++] = _instance;
 }
diff --git a/modules/algorithm/user_lib.h b/modules/algorithm/user_lib.h
index 7f5f940..56f7ca8 100644
--- a/modules/algorithm/user_lib.h
+++ b/modules/algorithm/user_lib.h
@@ -96,7 +96,7 @@ typedef struct
     float frame_period; //ʱ����
 } ramp_function_source_t;
 
-typedef __packed struct
+typedef struct
 {
     uint16_t Order;
     uint32_t Count;
diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c
index d635299..c6fc0df 100644
--- a/modules/imu/ins_task.c
+++ b/modules/imu/ins_task.c
@@ -15,6 +15,7 @@
 #include "QuaternionEKF.h"
 #include "bsp_temperature.h"
 #include "spi.h"
+#include "user_lib.h"
 
 static INS_t INS;
 IMU_Param_t IMU_Param;
diff --git a/modules/master_machine/master_process.h b/modules/master_machine/master_process.h
index 408029b..4e79552 100644
--- a/modules/master_machine/master_process.h
+++ b/modules/master_machine/master_process.h
@@ -8,27 +8,18 @@
 #define VISION_RECV_SIZE 36u
 #define VISION_SEND_SIZE 36u
 
-
-typedef struct
-{
-    
-};
-
-
-
 /**
  * @brief 调用此函数初始化和视觉的串口通信
- * 
+ *
  * @param handle 用于和视觉通信的串口handle(C板上一般为USART1,丝印为USART2,4pin)
  */
-Vision_Recv_s* VisionInit(UART_HandleTypeDef* handle);
+Vision_Recv_s *VisionInit(UART_HandleTypeDef *handle);
 
 /**
  * @brief 发送视觉视觉
- * 
+ *
  * @param send 视觉需要的数据
  */
 void VisionSend(Vision_Send_s *send);
 
-
 #endif // !MASTER_PROCESS_H
\ No newline at end of file
diff --git a/modules/master_machine/seasky_protocol.c b/modules/master_machine/seasky_protocol.c
index 9b43c44..d221ebe 100644
--- a/modules/master_machine/seasky_protocol.c
+++ b/modules/master_machine/seasky_protocol.c
@@ -139,4 +139,5 @@ uint16_t get_protocol_info(uint8_t *rx_buf,          //接收到的原始数据
             return pro.cmd_id;
         }
     }
+    return 0;
 }
diff --git a/modules/motor/HT04.c b/modules/motor/HT04.c
index a670cc6..38aa69d 100644
--- a/modules/motor/HT04.c
+++ b/modules/motor/HT04.c
@@ -22,7 +22,7 @@ static void DecodeJoint(can_instance* motor_instance)
     uint16_t tmp;
     for (size_t i = 0; i < HT_MOTOR_CNT; i++)
     {
-        if(&joint_motor_info[i]->motor_can_instace==motor_instance)
+        if(joint_motor_info[i]->motor_can_instace==motor_instance)
         {
             tmp = (motor_instance->rx_buff[1] << 8) | motor_instance->rx_buff[2];
             joint_motor_info[i]->last_ecd=joint_motor_info[i]->ecd;
@@ -40,7 +40,8 @@ joint_instance* HTMotorInit(can_instance_config config)
 {
     static uint8_t idx;
     joint_motor_info[idx]=(joint_instance*)malloc(sizeof(joint_instance));
-    CANRegister(&joint_motor_info[idx++]->motor_can_instace,config);
+    CANRegister(joint_motor_info[idx++]->motor_can_instace,config);
+    return joint_motor_info[idx++];
 }
 
 void JointControl(joint_instance* _instance,float current)
diff --git a/modules/motor/LK9025.c b/modules/motor/LK9025.c
index abaa5d7..dc24273 100644
--- a/modules/motor/LK9025.c
+++ b/modules/motor/LK9025.c
@@ -1,47 +1,47 @@
-#include"LK9025.h"
+#include "LK9025.h"
 
-static driven_instance* driven_motor_info[LK_MOTOR_CNT];
+static driven_instance *driven_motor_info[LK_MOTOR_CNT];
 
-static void DecodeDriven(can_instance* _instance)
+static void DecodeDriven(can_instance *_instance)
 {
     for (size_t i = 0; i < LK_MOTOR_CNT; i++)
     {
-        if(&driven_motor_info[i]->motor_can_instance==_instance)
+        if (driven_motor_info[i]->motor_can_instance == _instance)
         {
-            driven_motor_info[i]->last_ecd = driven_motor_info[i]->ecd;                                   
-            driven_motor_info[i]->ecd = (uint16_t)((_instance->rx_buff[7]<<8) | _instance->rx_buff[6]);             
-            driven_motor_info[i]->speed_rpm = (uint16_t)(_instance->rx_buff[5] << 8 | _instance->rx_buff[4]);      
-            driven_motor_info[i]->given_current = (uint16_t)(_instance->rx_buff[3] << 8 | _instance->rx_buff[2]);  
+            driven_motor_info[i]->last_ecd = driven_motor_info[i]->ecd;
+            driven_motor_info[i]->ecd = (uint16_t)((_instance->rx_buff[7] << 8) | _instance->rx_buff[6]);
+            driven_motor_info[i]->speed_rpm = (uint16_t)(_instance->rx_buff[5] << 8 | _instance->rx_buff[4]);
+            driven_motor_info[i]->given_current = (uint16_t)(_instance->rx_buff[3] << 8 | _instance->rx_buff[2]);
             driven_motor_info[i]->temperate = _instance->rx_buff[1];
             break;
         }
     }
 }
 
-driven_instance* LKMotroInit(can_instance_config config)
+driven_instance *LKMotroInit(can_instance_config config)
 {
     static uint8_t idx;
-    driven_motor_info[idx]=(driven_instance*)malloc(sizeof(driven_instance));
-    config.can_module_callback=DecodeDriven;
-    CANRegister(driven_motor_info[idx++]->motor_can_instance,config);
+    driven_motor_info[idx] = (driven_instance *)malloc(sizeof(driven_instance));
+    config.can_module_callback = DecodeDriven;
+    CANRegister(driven_motor_info[idx]->motor_can_instance, config);
+    return driven_motor_info[idx++];
 }
 
-void DrivenControl(int16_t motor1_current,int16_t motor2_current)
+void DrivenControl(int16_t motor1_current, int16_t motor2_current)
 {
-    LIMIT_MIN_MAX(motor1_current,  I_MIN,  I_MAX);
-    LIMIT_MIN_MAX(motor2_current,  I_MIN,  I_MAX);
+    LIMIT_MIN_MAX(motor1_current, I_MIN, I_MAX);
+    LIMIT_MIN_MAX(motor2_current, I_MIN, I_MAX);
     driven_motor_info[0]->motor_can_instance->tx_buff[0] = motor1_current;
-    driven_motor_info[0]->motor_can_instance->tx_buff[1] = motor1_current>>8;
+    driven_motor_info[0]->motor_can_instance->tx_buff[1] = motor1_current >> 8;
     driven_motor_info[0]->motor_can_instance->tx_buff[2] = motor2_current;
-    driven_motor_info[0]->motor_can_instance->tx_buff[3] = motor2_current>>8;
+    driven_motor_info[0]->motor_can_instance->tx_buff[3] = motor2_current >> 8;
     CANTransmit(driven_motor_info[0]->motor_can_instance);
 }
 
-void SetDrivenMode(driven_mode cmd,uint16_t motor_id)
+void SetDrivenMode(driven_mode cmd, uint16_t motor_id)
 {
     static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
     // code goes here ...
-    
+
     // CANTransmit(driven_mode)
 }
-
diff --git a/modules/motor/motor_def.h b/modules/motor/motor_def.h
index 3ba6e75..076b3b5 100644
--- a/modules/motor/motor_def.h
+++ b/modules/motor/motor_def.h
@@ -12,6 +12,8 @@
 #ifndef MOTOR_DEF_H
 #define MOTOR_DEF_H
 
+#include "controller.h"
+
 /**
  * @brief 闭环类型,如果需要多个闭环,则使用或运算
  *        例如需要速度环和电流环: CURRENT_LOOP|SPEED_LOOP