diff --git a/.vscode/settings.json b/.vscode/settings.json
index 6b5447e..3034fdb 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -41,6 +41,7 @@
         "complex": "c",
         "usb_device.h": "c",
         "vofa_protocol.h": "c",
-        "master_process.h": "c"
+        "master_process.h": "c",
+        "stdint-gcc.h": "c"
     }
 }
\ No newline at end of file
diff --git a/modules/algorithm/LQR.c b/modules/algorithm/LQR.c
new file mode 100644
index 0000000..e69de29
diff --git a/modules/algorithm/LQR.h b/modules/algorithm/LQR.h
new file mode 100644
index 0000000..e69de29
diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c
index 1fa3c18..4a9f933 100644
--- a/modules/master_machine/master_process.c
+++ b/modules/master_machine/master_process.c
@@ -4,8 +4,8 @@
  * @brief  module for recv&send vision data
  * @version beta
  * @date 2022-11-03
- *
- * @copyright Copyright (c) 2022
+ * @todo 增加对串口调试助手协议的支持,包括vofa和serial debug
+ * @copyright Copyright (c) 2022 
  *
  */
 #include "Master_process.h"
@@ -27,12 +27,13 @@ static void DecodeVision()
 }
 
 /* 视觉通信初始化 */
-void VisionInit(UART_HandleTypeDef *handle)
+Vision_Recv_s* VisionInit(UART_HandleTypeDef *handle)
 {
     vision_usart_instance.module_callback = DecodeVision;
     vision_usart_instance.recv_buff_size = VISION_RECV_SIZE;
     vision_usart_instance.usart_handle = handle;
     USARTRegister(&vision_usart_instance);
+    return &recv_data;
 }
 
 /**
diff --git a/modules/master_machine/master_process.h b/modules/master_machine/master_process.h
index e0d0df3..408029b 100644
--- a/modules/master_machine/master_process.h
+++ b/modules/master_machine/master_process.h
@@ -9,12 +9,19 @@
 #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)
  */
-void VisionInit(UART_HandleTypeDef* handle);
+Vision_Recv_s* VisionInit(UART_HandleTypeDef* handle);
 
 /**
  * @brief 发送视觉视觉
diff --git a/modules/referee/referee.h b/modules/referee/referee.h
index e69de29..7f74007 100644
--- a/modules/referee/referee.h
+++ b/modules/referee/referee.h
@@ -0,0 +1,22 @@
+/**
+ * @file referee.h
+ * @author your name (you@domain.com)
+ * @brief 
+ * @version 0.1
+ * @date 2022-11-04
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef REFEREE_H
+#define REFEREE_H
+
+#include"bsp_usart.h"
+#include"usart.h"
+
+
+
+
+
+#endif // !REFEREE_H
\ No newline at end of file
diff --git a/modules/referee/referee_UI.c b/modules/referee/referee_UI.c
new file mode 100644
index 0000000..e69de29
diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c
index 12517da..e69fa0e 100644
--- a/modules/remote/remote_control.c
+++ b/modules/remote/remote_control.c
@@ -55,15 +55,16 @@ static void ReceiveCallback()
     sbus_to_rc(rc_usart_instance.recv_buff, &rc_ctrl);
 }
 
-void RC_init(UART_HandleTypeDef *rc_usart_handle)
+RC_ctrl_t* RC_init(UART_HandleTypeDef *rc_usart_handle)
 {
     rc_usart_instance.module_callback = ReceiveCallback;
     rc_usart_instance.usart_handle = rc_usart_handle;
     rc_usart_instance.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
     USARTRegister(&rc_usart_instance);
+    return &rc_ctrl;
 }
 
-const RC_ctrl_t *get_remote_control_point(void)
+const  *get_remote_control_point(void)
 {
-    return &rc_ctrl;
+    
 }
\ No newline at end of file
diff --git a/modules/remote/remote_control.h b/modules/remote/remote_control.h
index b985162..d9676d0 100644
--- a/modules/remote/remote_control.h
+++ b/modules/remote/remote_control.h
@@ -5,10 +5,10 @@
  * @brief  遥控器模块定义头文件
  * @version beta
  * @date 2022-11-01
- * 
+ *
  * @copyright Copyright (c) 2016 DJI corp
  * @copyright Copyright (c) 2022 HNU YueLu EC all rights reserved
- * 
+ *
  */
 #ifndef REMOTE_CONTROL_H
 #define REMOTE_CONTROL_H
@@ -73,20 +73,6 @@ typedef struct
  * @attention 注意分配正确的串口硬件,遥控器在C板上使用USART3
  *
  */
-void RC_init(UART_HandleTypeDef *rc_usart_handle);
-
-/**
- * @brief 获取遥控器的数据指针
- *
- * @return const RC_ctrl_t*
- */
-extern const RC_ctrl_t *get_remote_control_point(void);
-
-/**
- * @brief 检查遥控器数据是否出错
- *
- * @return uint8_t
- */
-extern uint8_t RC_data_is_error(void);
+RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle);
 
 #endif