diff --git a/main/ble_spp_server_demo.c b/main/ble_spp_server_demo.c
index 0bda2a2..36a9568 100644
--- a/main/ble_spp_server_demo.c
+++ b/main/ble_spp_server_demo.c
@@ -25,6 +25,7 @@
 
 static bleuart_t *s_module;
 static blerxcb_t s_cb;
+static blesetmotorcb_t s_set_motor_cb;
 static uint16_t table_conn_id_m;
 static esp_gatt_if_t table_gatts_if_m;
 static uint16_t table_handle_m;
@@ -171,8 +172,8 @@ static const uint8_t spp_data_notify_val[20] = {0x00};
 static const uint8_t spp_data_notify_ccc[2] = {0x00, 0x00};
 
 /// SPP Service - command characteristic, read&write without response
-// static const uint16_t spp_command_uuid = ESP_GATT_UUID_SPP_COMMAND_RECEIVE;
-// static const uint8_t spp_command_val[10] = {0x00};
+static const uint16_t spp_command_uuid = ESP_GATT_UUID_SPP_COMMAND_RECEIVE;
+static const uint8_t spp_command_val[10] = {0x00};
 
 /// SPP Service - status characteristic, notify&read
 // static const uint16_t spp_status_uuid = ESP_GATT_UUID_SPP_COMMAND_NOTIFY;
@@ -214,13 +215,13 @@ static const esp_gatts_attr_db_t spp_gatt_db[SPP_IDX_NB] = {
                                    {ESP_UUID_LEN_128, (uint8_t *)&spp_char_uuid128_tx, ESP_GATT_PERM_READ | ESP_GATT_PERM_WRITE, SPP_DATA_MAX_LEN, sizeof(spp_data_receive_val),
                                     (uint8_t *)spp_data_receive_val}},
 
-// // SPP -  command characteristic Declaration
-// [SPP_IDX_SPP_COMMAND_CHAR] = {{ESP_GATT_AUTO_RSP},
-//                               {ESP_UUID_LEN_16, (uint8_t *)&character_declaration_uuid, ESP_GATT_PERM_READ, CHAR_DECLARATION_SIZE, CHAR_DECLARATION_SIZE, (uint8_t *)&char_prop_read_write}},
+    // SPP -  command characteristic Declaration
+    [SPP_IDX_SPP_COMMAND_CHAR] = {{ESP_GATT_AUTO_RSP},
+                                  {ESP_UUID_LEN_16, (uint8_t *)&character_declaration_uuid, ESP_GATT_PERM_READ, CHAR_DECLARATION_SIZE, CHAR_DECLARATION_SIZE, (uint8_t *)&char_prop_read_write}},
 
-// // SPP -  command characteristic Value
-// [SPP_IDX_SPP_COMMAND_VAL] = {{ESP_GATT_AUTO_RSP},
-//                              {ESP_UUID_LEN_16, (uint8_t *)&spp_command_uuid, ESP_GATT_PERM_READ | ESP_GATT_PERM_WRITE, SPP_CMD_MAX_LEN, sizeof(spp_command_val), (uint8_t *)spp_command_val}},
+    // SPP -  command characteristic Value
+    [SPP_IDX_SPP_COMMAND_VAL] = {{ESP_GATT_AUTO_RSP},
+                                 {ESP_UUID_LEN_16, (uint8_t *)&spp_command_uuid, ESP_GATT_PERM_READ | ESP_GATT_PERM_WRITE, SPP_CMD_MAX_LEN, sizeof(spp_command_val), (uint8_t *)spp_command_val}},
 
 // // SPP -  status characteristic Declaration
 // [SPP_IDX_SPP_STATUS_CHAR] = {{ESP_GATT_AUTO_RSP},
@@ -545,6 +546,17 @@ static void gatts_profile_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_
           // uart_write_bytes(UART_NUM_0, (char *)(p_data->write.value), p_data->write.len);
           blerxprocess(p_data->write.value, p_data->write.len);
 #endif
+        } else if (res == SPP_IDX_SPP_COMMAND_VAL) {
+          ESP_LOGI("Finny", "command:%s", p_data->write.value);
+          if (strcmp((char *)p_data->write.value, "setPosition180") == 0) {
+            ESP_LOGI("Finny", "setPosition180 ok!,command:%s", p_data->write.value);
+            s_set_motor_cb(1, 180, 0);
+          }
+          if (strcmp((char *)p_data->write.value, "setPosition360") == 0) {
+            ESP_LOGI("Finny", "setPosition360 ok!,command:%s", p_data->write.value);
+            s_set_motor_cb(1, 360, 0);
+          }
+
         } else {
           // TODO:
         }
@@ -654,6 +666,7 @@ static void gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_
 }
 
 void bleuart_reg_cb(blerxcb_t cb) { s_cb = cb; }
+void ble_set_motor_reg_cb(blesetmotorcb_t cb) { s_set_motor_cb = cb; }
 
 void bleuart_init(bleuart_t *bleuart) {
   esp_err_t ret;
diff --git a/main/ble_spp_server_demo.h b/main/ble_spp_server_demo.h
index d1b9c61..40473fa 100644
--- a/main/ble_spp_server_demo.h
+++ b/main/ble_spp_server_demo.h
@@ -43,8 +43,8 @@ enum {
   SPP_IDX_SPP_DATA_RECV_CHAR,
   SPP_IDX_SPP_DATA_RECV_VAL,
 
-  // SPP_IDX_SPP_COMMAND_CHAR,
-  // SPP_IDX_SPP_COMMAND_VAL,
+  SPP_IDX_SPP_COMMAND_CHAR,
+  SPP_IDX_SPP_COMMAND_VAL,
 
   // SPP_IDX_SPP_STATUS_CHAR,
   // SPP_IDX_SPP_STATUS_VAL,
@@ -79,9 +79,11 @@ typedef struct {
 } bleuart_t;
 /*接收完整JSON*/
 typedef void (*blerxcb_t)(uint8_t *rx, size_t rxsize);
+typedef uint8_t (*blesetmotorcb_t)(int rotation_direction, double position, int speed_level);
 
 void bleuart_init(bleuart_t *bleuart);
 void bleuart_reg_cb(blerxcb_t cb);
+void ble_set_motor_reg_cb(blesetmotorcb_t cb);
 void bleuart_send_packet(uint8_t *tx, size_t txsize);
 
 /**
diff --git a/main/main.c b/main/main.c
index 55a19d2..ea2ac72 100644
--- a/main/main.c
+++ b/main/main.c
@@ -249,6 +249,7 @@ void port_do_debug_light_state() {
 void app_main(void) {
   bleuart_init(&ble_uart_init_struct);
   bleuart_reg_cb(blerxcb);
+  ble_set_motor_reg_cb(motor_run_to_postion);
 
   motor_init(&ble_uart_motor_structer);
   motor_reg_event_cb(motor_on_event);