diff --git a/HAL_N_Middlewares/Src/usart.c b/HAL_N_Middlewares/Src/usart.c
index 8595e32..5d513a2 100644
--- a/HAL_N_Middlewares/Src/usart.c
+++ b/HAL_N_Middlewares/Src/usart.c
@@ -46,7 +46,7 @@ void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 115200;
+  huart1.Init.BaudRate = 921600;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
diff --git a/application/referee/referee.md b/application/referee/referee.md
new file mode 100644
index 0000000..7e97160
--- /dev/null
+++ b/application/referee/referee.md
@@ -0,0 +1,3 @@
+# referee
+
+需要将此模块移动到module层，并新建一个rtos任务，以一定频率运行，用于ui刷新和多机通信
diff --git a/application/robot.c b/application/robot.c
index 5e79041..6463b39 100644
--- a/application/robot.c
+++ b/application/robot.c
@@ -35,7 +35,7 @@ void RobotInit()
 #endif
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-    Referee_Interactive_init();
+    // Referee_Interactive_init();
     ChassisInit();
 #endif
     // 初始化完成,开启中断
@@ -52,6 +52,6 @@ void RobotTask()
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
     ChassisTask();
-    Referee_Interactive_task();
+    // Referee_Interactive_task();
 #endif
 }
diff --git a/bsp/usart/bsp_usart.c b/bsp/usart/bsp_usart.c
index 0e26191..ba019d2 100644
--- a/bsp/usart/bsp_usart.c
+++ b/bsp/usart/bsp_usart.c
@@ -19,7 +19,7 @@ static USARTInstance *usart_instance[DEVICE_USART_CNT] = {NULL};
 
 /**
  * @brief 启动串口服务,会在每个实例注册之后自动启用接收,当前实现为DMA接收,后续可能添加IT和BLOCKING接收
- *  
+ *
  * @todo 串口服务会在每个实例注册之后自动启用接收,当前实现为DMA接收,后续可能添加IT和BLOCKING接收
  *       可能还要将此函数修改为extern,使得module可以控制串口的启停
  *
@@ -52,24 +52,22 @@ USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
 }
 
 /* @todo 当前仅进行了形式上的封装,后续要进一步考虑是否将module的行为与bsp完全分离 */
-void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size)
-{
-    HAL_UART_Transmit_DMA(_instance->usart_handle, send_buf, send_size);
-}
-
-void USARTAbort(USARTInstance *_instance, USART_TRANSFER_MODE mode)
+void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size, USART_TRANSFER_MODE mode)
 {
     switch (mode)
     {
-    case USART_TRANSFER_TX:
-        // if(_instance.work_mode == USART_TX_DMA)
-        HAL_UART_AbortTransmit_IT(_instance->usart_handle);
+    case USART_TRANSFER_BLOCKING:
+        HAL_UART_Transmit(_instance->usart_handle, send_buf, send_size, 100);
         break;
-    case USART_TRANSFER_RX:
-        // if(_instance.work_mode == USART_RX_DMA)
-        HAL_UART_AbortReceive_IT(_instance->usart_handle);
+    case USART_TRANSFER_IT:
+        HAL_UART_Transmit_IT(_instance->usart_handle, send_buf, send_size);
         break;
-    case USART_TRANSFER_NONE:
+    case USART_TRANSFER_DMA:
+        HAL_UART_Transmit_DMA(_instance->usart_handle, send_buf, send_size);
+        break;
+    default:
+        while (1)
+            ; // illegal mode! check your code context!
         break;
     }
 }
diff --git a/bsp/usart/bsp_usart.h b/bsp/usart/bsp_usart.h
index 34e74db..e7e9dcf 100644
--- a/bsp/usart/bsp_usart.h
+++ b/bsp/usart/bsp_usart.h
@@ -13,8 +13,9 @@ typedef void (*usart_module_callback)();
 typedef enum
 {
     USART_TRANSFER_NONE=0,
-    USART_TRANSFER_TX,
-    USART_TRANSFER_RX,
+    USART_TRANSFER_BLOCKING,
+    USART_TRANSFER_IT,
+    USART_TRANSFER_DMA,
 } USART_TRANSFER_MODE;
 
 // 串口实例结构体,每个module都要包含一个实例.
@@ -52,14 +53,6 @@ USARTInstance *USARTRegister(USART_Init_Config_s *init_config);
  * @param send_buf 待发送数据的buffer
  * @param send_size how many bytes to send
  */
-void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size);
-
-/**
- * @brief 通过调用该函数终止串口的发送或者接收,通过传入mode参数来选择终止发送还是接收
- * 
- * @param _instance 串口实例
- * @param mode 选择终止发送还是接收的模式
- */
-void USARTAbort(USARTInstance *_instance,USART_TRANSFER_MODE mode);
+void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size,USART_TRANSFER_MODE mode);
 
 #endif
diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c
index 09cc659..3bed315 100644
--- a/modules/master_machine/master_process.c
+++ b/modules/master_machine/master_process.c
@@ -61,5 +61,8 @@ void VisionSend(Vision_Send_s *send)
     
     // 将数据转化为seasky协议的数据包
     get_protocol_send_data(0x02, flag_register, &send->yaw, 3, send_buff, &tx_len);
-    USARTSend(vision_usart_instance, send_buff, tx_len);
+    USARTSend(vision_usart_instance, send_buff, tx_len,USART_TRANSFER_IT); // 和视觉通信使用IT,防止和接收使用的DMA冲突
+    // 此处为HAL设计的缺陷,DMASTOP会停止发送和接收,导致再也无法进入接收中断.
+    // 也可在发送完成中断中重新启动DMA接收,但较为复杂.因此,此处使用IT发送.
+    
 }
\ No newline at end of file
diff --git a/modules/master_machine/seasky_protocol.c b/modules/master_machine/seasky_protocol.c
index 105a6b8..a21b828 100644
--- a/modules/master_machine/seasky_protocol.c
+++ b/modules/master_machine/seasky_protocol.c
@@ -114,7 +114,7 @@ uint16_t get_protocol_info(uint8_t *rx_buf,          // 接收到的原始数据
         if (CRC16_Check_Sum(&rx_buf[0], date_length))
         {
             *flags_register = (rx_buf[7] << 8) | rx_buf[6];
-            memcpy(rx_data, rx_buf + 8, 4 * sizeof(pro.header.data_length - 2));
+            memcpy(rx_data, rx_buf + 8, pro.header.data_length - 2);
             return pro.cmd_id;
         }
     }
diff --git a/modules/referee/referee.md b/modules/referee/referee.md
index e69de29..d818026 100644
--- a/modules/referee/referee.md
+++ b/modules/referee/referee.md
@@ -0,0 +1,3 @@
+# referee
+
+当前模块组织较为混乱，后续统一为多机通信+裁判系统信息接收+UI绘制。UI绘制和多机通信的发送部分在referee任务中以一定的频率运行，信息的接收通过中断完成。
\ No newline at end of file
diff --git a/modules/referee/rm_referee.c b/modules/referee/rm_referee.c
index e40297e..7d5e329 100644
--- a/modules/referee/rm_referee.c
+++ b/modules/referee/rm_referee.c
@@ -41,7 +41,7 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
  */
 void RefereeSend(uint8_t *send, uint16_t tx_len)
 {
-	USARTSend(referee_usart_instance, send, tx_len);
+	USARTSend(referee_usart_instance, send, tx_len,USART_TRANSFER_IT);
 	/* 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);
 }
diff --git a/必须做&禁止做.md b/必须做&禁止做.md
index 60c2629..e3a9d0b 100644
--- a/必须做&禁止做.md
+++ b/必须做&禁止做.md
@@ -14,5 +14,7 @@
 
 ## 请给你编写的bsp和module提供详细的文档和使用示例，并为接口增加安全检查
 
-“treat your user as idot！”
+用于调试的条件编译和log输出也是必须的。
+
+另外，“treat your user as idot！”