diff --git a/Src/freertos.c b/Src/freertos.c
index fea4736..18bb45c 100644
--- a/Src/freertos.c
+++ b/Src/freertos.c
@@ -50,15 +50,14 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN Variables */
-
-/* USER CODE END Variables */
-osThreadId defaultTaskHandle;
 osThreadId insTaskHandle;
 osThreadId ledTaskHandle;
 osThreadId robotTaskHandle;
 osThreadId motorTaskHandle;
 osThreadId daemonTaskHandle;
 osThreadId uiTaskHandle;
+/* USER CODE END Variables */
+osThreadId defaultTaskHandle;
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
@@ -73,13 +72,13 @@ void StartROBOTTASK(void const *argument);
 void StartUITASK(void const *argument);
 /* USER CODE END FunctionPrototypes */
 
-void StartDefaultTask(void const *argument);
+void StartDefaultTask(void const * argument);
 
 extern void MX_USB_DEVICE_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
 /* GetIdleTaskMemory prototype (linked to static allocation support) */
-void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
+void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
 
 /* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
 static StaticTask_t xIdleTaskTCBBuffer;
@@ -95,12 +94,11 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackTyp
 /* USER CODE END GET_IDLE_TASK_MEMORY */
 
 /**
- * @brief  FreeRTOS initialization
- * @param  None
- * @retval None
- */
-void MX_FREERTOS_Init(void)
-{
+  * @brief  FreeRTOS initialization
+  * @param  None
+  * @retval None
+  */
+void MX_FREERTOS_Init(void) {
   /* USER CODE BEGIN Init */
 
   /* USER CODE END Init */
@@ -144,6 +142,7 @@ void MX_FREERTOS_Init(void)
   defaultTaskHandle = osThreadCreate(osThread(uitask), NULL);
 
   /* USER CODE END RTOS_THREADS */
+
 }
 
 /* USER CODE BEGIN Header_StartDefaultTask */
@@ -153,16 +152,12 @@ void MX_FREERTOS_Init(void)
  * @retval None
  */
 /* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void const *argument)
+void StartDefaultTask(void const * argument)
 {
   /* init code for USB_DEVICE */
   MX_USB_DEVICE_Init();
   /* USER CODE BEGIN StartDefaultTask */
-  /* Infinite loop */
-  // for (;;)
-  // {
-  //   osDelay(1);
-  // }
+  vTaskDelete( NULL );
   /* USER CODE END StartDefaultTask */
 }
 
@@ -173,7 +168,7 @@ void StartINSTASK(void const *argument)
   while (1)
   {
     // 1kHz
-     INS_Task();
+    INS_Task();
     osDelay(1);
   }
 }
@@ -204,7 +199,7 @@ void StartROBOTTASK(void const *argument)
   {
     // 200Hz
     RobotTask();
-    osDelay(5); 
+    osDelay(5);
   }
 }
 
diff --git a/Src/usart.c b/Src/usart.c
index 5d513a2..7cc1d9c 100644
--- a/Src/usart.c
+++ b/Src/usart.c
@@ -274,7 +274,10 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_usart6_rx.Init.Mode = DMA_NORMAL;
     hdma_usart6_rx.Init.Priority = DMA_PRIORITY_HIGH;
-    hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
+    hdma_usart6_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
+    hdma_usart6_rx.Init.MemBurst = DMA_MBURST_SINGLE;
+    hdma_usart6_rx.Init.PeriphBurst = DMA_PBURST_SINGLE;
     if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK)
     {
       Error_Handler();
@@ -292,7 +295,10 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_usart6_tx.Init.Mode = DMA_NORMAL;
     hdma_usart6_tx.Init.Priority = DMA_PRIORITY_HIGH;
-    hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
+    hdma_usart6_tx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
+    hdma_usart6_tx.Init.MemBurst = DMA_MBURST_SINGLE;
+    hdma_usart6_tx.Init.PeriphBurst = DMA_PBURST_SINGLE;
     if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK)
     {
       Error_Handler();
diff --git a/basic_framework.ioc b/basic_framework.ioc
index 45bd186..4938c9f 100644
--- a/basic_framework.ioc
+++ b/basic_framework.ioc
@@ -148,25 +148,31 @@ Dma.USART3_RX.7.PeriphInc=DMA_PINC_DISABLE
 Dma.USART3_RX.7.Priority=DMA_PRIORITY_LOW
 Dma.USART3_RX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 Dma.USART6_RX.0.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART6_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART6_RX.0.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.USART6_RX.0.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
 Dma.USART6_RX.0.Instance=DMA2_Stream2
+Dma.USART6_RX.0.MemBurst=DMA_MBURST_SINGLE
 Dma.USART6_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
 Dma.USART6_RX.0.MemInc=DMA_MINC_ENABLE
 Dma.USART6_RX.0.Mode=DMA_NORMAL
+Dma.USART6_RX.0.PeriphBurst=DMA_PBURST_SINGLE
 Dma.USART6_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART6_RX.0.PeriphInc=DMA_PINC_DISABLE
 Dma.USART6_RX.0.Priority=DMA_PRIORITY_HIGH
-Dma.USART6_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART6_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
 Dma.USART6_TX.1.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART6_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART6_TX.1.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.USART6_TX.1.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
 Dma.USART6_TX.1.Instance=DMA2_Stream6
+Dma.USART6_TX.1.MemBurst=DMA_MBURST_SINGLE
 Dma.USART6_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
 Dma.USART6_TX.1.MemInc=DMA_MINC_ENABLE
 Dma.USART6_TX.1.Mode=DMA_NORMAL
+Dma.USART6_TX.1.PeriphBurst=DMA_PBURST_SINGLE
 Dma.USART6_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART6_TX.1.PeriphInc=DMA_PINC_DISABLE
 Dma.USART6_TX.1.Priority=DMA_PRIORITY_HIGH
-Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
 FREERTOS.INCLUDE_vTaskDelayUntil=1
 FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO,INCLUDE_vTaskDelayUntil
 FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
diff --git a/modules/referee/referee_UI.c b/modules/referee/referee_UI.c
index cd83ced..b6d6649 100644
--- a/modules/referee/referee_UI.c
+++ b/modules/referee/referee_UI.c
@@ -22,7 +22,7 @@
 *****************************************************************************************/
 void UIDelete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
 {
-	UI_delete_t UI_delete_data;
+	static 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;
@@ -352,7 +352,7 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...)
 
 	uint8_t temp_datalength = LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head + UI_Operate_LEN_PerDraw * cnt + LEN_TAIL; // 计算交互数据长度
 
-	uint8_t buffer[temp_datalength]; // 交互数据缓存
+	static uint8_t buffer[512]; // 交互数据缓存
 
 	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
@@ -398,7 +398,7 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...)
 /************************************************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;
+	static 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