diff --git a/main/main.c b/main/main.c
index 2915e6b..742e5b5 100644
--- a/main/main.c
+++ b/main/main.c
@@ -52,9 +52,9 @@ void app_main(void) {
   constructor_bluetooth_processer(&s_bluetooth_processer);
   ble_spp_server_demo_app_main(&s_bluetooth_processer);
   timer_group_init(TIMER_GROUP_0, TIMER_0, false, timer_group0_interval_num, timer_interval_ms);
-  // motor_drive_uart_init();
-  ble_uart_init(UART_NUM_1, 1, 2);
-  char* test_str = "This is a test string.\n";
+  motor_drive_uart_init();
+  // ble_uart_init(UART_NUM_1, 1, 2);
+  // char* test_str = "This is a test string.\n";
 
   while (true) {
     bluetooth_gatts_try_process_data();
@@ -68,16 +68,16 @@ void app_main(void) {
     //   s_bluetooth_processer.motor_drive_turn_flag = false;
     // }
 
-    // if (s_bluetooth_processer.auto_report_flag) {
-    //   motor_drive_read_encoder();
-    //   s_bluetooth_processer.auto_report_flag = false;
-    // }
+    if (s_bluetooth_processer.auto_report_flag) {
+      motor_drive_read_encoder();
+      s_bluetooth_processer.auto_report_flag = false;
+    }
 
     // motor_drive_set_packages_ctr(35.68);
     // motor_drive_set_packages_data_max64bit(0x34,4,0X76482534);
 
-    uart_write_bytes(UART_NUM_1, (const char*)test_str, strlen(test_str));
-    ets_delay_us(1000000);
+    // uart_write_bytes(UART_NUM_1, (const char*)test_str, strlen(test_str));
+    // ets_delay_us(1000000);
     // ble_receive(UART_NUM_2);
   }
 
diff --git a/main/motor_drive.c b/main/motor_drive.c
index 917c734..47db783 100644
--- a/main/motor_drive.c
+++ b/main/motor_drive.c
@@ -5,9 +5,9 @@
 
 #define MOTOR_DRIVE "MOTOR_DRIVE"
 
-#define uart_num UART_NUM_0
-#define tx_io_num 4
-#define rx_io_num 5
+#define uart_num UART_NUM_1
+#define tx_io_num 1
+#define rx_io_num 2
 #define buffer_size 128
 
 void motor_drive_uart_init() {
@@ -42,13 +42,18 @@ void motor_drive_turn(int direction, int speed_level, double position) {
 
 double motor_drive_read_encoder() {
   uint8_t i = 0;
+  uint8_t generate_buffer_size = 0;
   uint8_t buffer[20] = {0};
 
   // Generate cmd
-  motor_drive_buffer_cmd_generate(buffer, 0x90, 4, 0X5A97FF00);
+  generate_buffer_size = motor_drive_buffer_cmd_generate(buffer, 0x90, 4, 0X5A97FF00);
+  if (generate_buffer_size == 0){
+      ESP_LOGW(MOTOR_DRIVE, "generate_buffer_size null");
+      return -1;
+  }
 
   // Send cmd
-  // uart_write_bytes(UART_NUM_2, (const char*)test_str, strlen(test_str));
+  uart_write_bytes(uart_num, (const char *)buffer, generate_buffer_size);
 
   // Wait receive
   // while (1) {
@@ -114,7 +119,7 @@ void motor_drive_hex_to_str(char *hex, int hex_len, char *str) {
   }
 }
 
-void motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data) {
+uint8_t motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data) {
   uint8_t i = 0;
   uint8_t checksum = 0;
   uint8_t buffer_data_uint8 = 0;
@@ -122,7 +127,7 @@ void motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffe
   uint8_t hex_to_str_size = buffer_data_size;
   if (buffer == NULL) {
     ESP_LOGW(MOTOR_DRIVE, "buffer nil ,init error");
-    return;
+    return 0;
   }
   buffer[0] = 0X3E;
   buffer[1] = cmd;
@@ -144,6 +149,8 @@ void motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffe
   motor_drive_hex_to_str((char *)buffer, (5 + hex_to_str_size), (char *)strbuffer);
   ESP_LOGI(MOTOR_DRIVE, "%s", strbuffer);
   motor_drive_buffer_cmd_parse(buffer);
+
+  return (5 + hex_to_str_size);
 }
 
 void motor_drive_buffer_cmd_parse(uint8_t *buffer) {
@@ -166,6 +173,4 @@ void motor_drive_buffer_cmd_parse(uint8_t *buffer) {
   }
 }
 
-void motor_drive_set_motor_size() {
-  
-}
\ No newline at end of file
+void motor_drive_set_motor_size() {}
\ No newline at end of file
diff --git a/main/motor_drive.h b/main/motor_drive.h
index 1123a47..df3d03c 100644
--- a/main/motor_drive.h
+++ b/main/motor_drive.h
@@ -42,5 +42,5 @@ double motor_drive_read_encoder();
 void motor_drive_set_packages_data_max64bit(uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);
 void motor_drive_set_packages_ctr(double position);
 void motor_drive_hex_to_str(char *hex, int hex_len, char *str);
-void motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);
+uint8_t motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);
 void motor_drive_buffer_cmd_parse(uint8_t *buffer);
\ No newline at end of file