diff --git a/MDK-ARM/LWIP.uvguix.29643 b/MDK-ARM/LWIP.uvguix.29643
index 21182fc..7c43a93 100644
--- a/MDK-ARM/LWIP.uvguix.29643
+++ b/MDK-ARM/LWIP.uvguix.29643
@@ -93,8 +93,8 @@
       <flags>0</flags>
       <showCmd>1</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
@@ -110,8 +110,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>486</Len>
-        <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000003000000010000000100000052433A5C55736572735C32393634335C4465736B746F705C705F6C7573746572696E635F63616D6572615F666F63616C6C656E6774685F656E636F6465725F72657365745C5372635C6672656572746F732E63000000000A6672656572746F732E6300000000C5D4F200FFFFFFFF4E433A5C55736572735C32393634335C4465736B746F705C705F6C7573746572696E635F63616D6572615F666F63616C6C656E6774685F656E636F6465725F72657365745C5372635C6C7769702E6300000000066C7769702E6300000000FFDC7800FFFFFFFF4E433A5C55736572735C32393634335C4465736B746F705C705F6C7573746572696E635F63616D6572615F666F63616C6C656E6774685F656E636F6465725F72657365745C5372635C6D61696E2E6300000000066D61696E2E6300000000BECEA100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000EB080000C5000000EE0D000090020000</Data>
+        <Len>274</Len>
+        <Data>0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000100000000000000010000004E433A5C55736572735C32393634335C4465736B746F705C705F6C7573746572696E635F63616D6572615F666F63616C6C656E6774685F656E636F6465725F72657365745C5372635C6D61696E2E6300000000066D61696E2E6300000000BECEA100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000EB080000C5000000EE0D000090020000</Data>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -1806,7 +1806,7 @@
         <Name>File</Name>
         <Buttons>
           <Len>2537</Len>
-          <Data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ata>
+          <Data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ata>
         </Buttons>
         <OriginalItems>
           <Len>1423</Len>
@@ -3603,25 +3603,7 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>1</ActiveTab>
-      <Doc>
-        <Name>../Src/freertos.c</Name>
-        <ColumnNumber>18</ColumnNumber>
-        <TopLine>108</TopLine>
-        <CurrentLine>109</CurrentLine>
-        <Folding>1</Folding>
-        <ContractedFolders></ContractedFolders>
-        <PaneID>0</PaneID>
-      </Doc>
-      <Doc>
-        <Name>../Src/lwip.c</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>94</TopLine>
-        <CurrentLine>120</CurrentLine>
-        <Folding>1</Folding>
-        <ContractedFolders></ContractedFolders>
-        <PaneID>0</PaneID>
-      </Doc>
+      <ActiveTab>0</ActiveTab>
       <Doc>
         <Name>../Src/main.c</Name>
         <ColumnNumber>51</ColumnNumber>
diff --git a/testtool/udp_cmd_upper/sscom5.13.1.exe b/testtool/udp_cmd_upper/sscom5.13.1.exe
new file mode 100644
index 0000000..1fe2df0
Binary files /dev/null and b/testtool/udp_cmd_upper/sscom5.13.1.exe differ
diff --git a/testtool/udp_cmd_upper/sscom51.ini b/testtool/udp_cmd_upper/sscom51.ini
new file mode 100644
index 0000000..98930c7
--- /dev/null
+++ b/testtool/udp_cmd_upper/sscom51.ini
@@ -0,0 +1,383 @@
+;删除本文件可以恢复默认值。
+;这是SSCOM的设置保存文件,您在程序中设置好的串口参数和字符串数据都会自动保存,请最好不要用外部编辑器改动本文件!
+;如果文件被修改后程序不能打开,请删除本文件,程序将会自动生成一个新的ini文件.
+;靠行首的半角分号是注释符号
+;每行都以回车结束
+
+;"="后面的H表示这是个HEX数据串
+;"="后面的A表示这是个ASC字符串
+;Nx表示第几条定义的字符串(1<x<=N)
+N101=1,关闭自动上报,1000
+N1=H,01 00 03 00 00 00 
+
+N102=3,开启自动上报,1000
+N2=H,01 00 03 00 01 00 
+
+N103=2,设置主动上报周期100ms,1000
+N3=H,01 00 01 00 64 00 
+
+N104=0,设置主动上报周期1s,1000
+N4=H,01 00 01 00 E8 03
+
+N105=0,获取编码器数据,1000
+N5=H,01 00 02 00
+
+N106=0,清除编码器1的数据,1000
+N6=H,01 00 04 00 01 00
+
+N107=0,清除编码器2的数据,1000
+N7=H,01 00 04 00 02 00
+
+N108=0,清除全部编码器的数据,1000
+N8=H,01 00 04 00 00 00
+
+N109=0,ESync测试指令(该指令没有校验位),1000
+N9=H,f0 00 20 00 00 00 07 8a 00 00 b0 42 22 00 00 00 41 61 f7 ff 00 00 00 00 0a 00 00 00 00 00 00 00 0e 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
+
+N110=0,,1000
+N10=A,
+
+N111=0,,1000
+N11=A,
+
+N112=0,,1000
+N12=A,
+
+N113=0,,1000
+N13=A,
+
+N114=0,,1000
+N14=A,
+
+N115=0,,1000
+N15=A,
+
+N116=0,,1000
+N16=A,
+
+N117=0,,1000
+N17=A,
+
+N118=0,,1000
+N18=A,
+
+N119=0,19无注释,1000
+N19=A,
+
+N120=0,20无注释,1000
+N20=A,
+
+N121=0,21无注释,1000
+N21=A,
+
+N122=0,22无注释,1000
+N22=A,
+
+N123=0,23无注释,1000
+N23=A,
+
+N124=0,24无注释,1000
+N24=A,
+
+N125=0,25无注释,1000
+N25=A,
+
+N126=0,26无注释,1000
+N26=A,
+
+N127=0,27无注释,1000
+N27=A,
+
+N128=0,28无注释,1000
+N28=A,
+
+N129=0,29无注释,1000
+N29=A,
+
+N130=0,30无注释,1000
+N30=A,
+
+N131=0,31无注释,1000
+N31=A,
+
+N132=0,32无注释,1000
+N32=A,
+
+N133=0,33无注释,1000
+N33=A,
+
+N134=0,34无注释,1000
+N34=A,
+
+N135=0,35无注释,1000
+N35=A,
+
+N136=0,36无注释,1000
+N36=A,
+
+N137=0,37无注释,1000
+N37=A,
+
+N138=0,38无注释,1000
+N38=A,
+
+N139=0,39无注释,1000
+N39=A,
+
+N140=0,40无注释,1000
+N40=A,
+
+N141=0,41无注释,1000
+N41=A,
+
+N142=0,42无注释,1000
+N42=A,
+
+N143=0,43无注释,1000
+N43=A,
+
+N144=0,44无注释,1000
+N44=A,
+
+N145=0,45无注释,1000
+N45=A,
+
+N146=0,46无注释,1000
+N46=A,
+
+N147=0,47无注释,1000
+N47=A,
+
+N148=0,48无注释,1000
+N48=A,
+
+N149=0,49无注释,1000
+N49=A,
+
+N150=0,50无注释,1000
+N50=A,
+
+N151=0,51无注释,1000
+N51=A,
+
+N152=0,52无注释,1000
+N52=A,
+
+N153=0,53无注释,1000
+N53=A,
+
+N154=0,54无注释,1000
+N54=A,
+
+N155=0,55无注释,1000
+N55=A,
+
+N156=0,56无注释,1000
+N56=A,
+
+N157=0,57无注释,1000
+N57=A,
+
+N158=0,58无注释,1000
+N58=A,
+
+N159=0,59无注释,1000
+N59=A,
+
+N160=0,60无注释,1000
+N60=A,
+
+N161=0,61无注释,1000
+N61=A,
+
+N162=0,62无注释,1000
+N62=A,
+
+N163=0,63无注释,1000
+N63=A,
+
+N164=0,64无注释,1000
+N64=A,
+
+N165=0,65无注释,1000
+N65=A,
+
+N166=0,66无注释,1000
+N66=A,
+
+N167=0,67无注释,1000
+N67=A,
+
+N168=0,68无注释,1000
+N68=A,
+
+N169=0,69无注释,1000
+N69=A,
+
+N170=0,70无注释,1000
+N70=A,
+
+N171=0,71无注释,1000
+N71=A,
+
+N172=0,72无注释,1000
+N72=A,
+
+N173=0,73无注释,1000
+N73=A,
+
+N174=0,74无注释,1000
+N74=A,
+
+N175=0,75无注释,1000
+N75=A,
+
+N176=0,76无注释,1000
+N76=A,
+
+N177=0,77无注释,1000
+N77=A,
+
+N178=0,78无注释,1000
+N78=A,
+
+N179=0,79无注释,1000
+N79=A,
+
+N180=0,80无注释,1000
+N80=A,
+
+N181=0,81无注释,1000
+N81=A,
+
+N182=0,82无注释,1000
+N82=A,
+
+N183=0,83无注释,1000
+N83=A,
+
+N184=0,84无注释,1000
+N84=A,
+
+N185=0,85无注释,1000
+N85=A,
+
+N186=0,86无注释,1000
+N86=A,
+
+N187=0,87无注释,1000
+N87=A,
+
+N188=0,88无注释,1000
+N88=A,
+
+N189=0,89无注释,1000
+N89=A,
+
+N190=0,90无注释,1000
+N90=A,
+
+N191=0,91无注释,1000
+N91=A,
+
+N192=0,92无注释,1000
+N92=A,
+
+N193=0,93无注释,1000
+N93=A,
+
+N194=0,94无注释,1000
+N94=A,
+
+N195=0,95无注释,1000
+N95=A,
+
+N196=0,96无注释,1000
+N96=A,
+
+N197=0,97无注释,1000
+N97=A,
+
+N198=0,98无注释,1000
+N98=A,
+
+N199=0,99无注释,1000
+N99=A,
+
+;发送文件时每256字节延时时间ms
+N1051=,1
+;打开文件地址和名称
+N1052=,
+;主面板ASC字符串
+N1053=,01 03 11
+;主面板HEX数据串
+N1054=,01 00 04 00 01 00
+;主面板发送方式(ASC or HEX)
+N1055=,H
+;主面板字符串发送间隔时间ms
+N1056=,1000
+;主面板字符串发送新行
+N1057=,N
+;多条字符串发送间隔时间ms
+N1058=,1
+;接收窗口是否HEX显示方式
+N1059=,Y
+;校验方式,0=None，1=modbusCRC16，2=ADD，3=XOR
+N1060=,5
+;保存DTR:
+N1061=,Y
+;保存RTS:
+N1062=,N
+;程序启动时是否打开串口
+N1063=,N
+;是否分包显示
+N1064=,Y
+;分包超时时间ms
+N1065=,20
+;接收窗背景颜色
+N1066=,16777215
+;显示缓冲上限,200K,500K,1M,2M,5M,10M,20M
+N1067=,200000
+;远程IP地址
+N1068=,192.168.8.113
+;远程端口
+N1069=,8880
+;本地端口
+N1070=,8881
+;选择回车后发送行(带回显)
+N1071=,N
+;选择按键立即发送键值
+N1072=,Y
+;选择回显
+N1073=,N
+;第几字节至末尾加校验
+N1074=,1
+;至末尾倒数第几字节加校验,存第几个项目
+N1075=,0
+;终端仿真输入回车后是否自动加换行
+N1076=,N
+;当前串口号Port=COMX,网络模式):1=TCPCLIENT,2=TCPSERVER,3=UDP
+N1080=,3
+;波特率Band rate
+N1081=,115200
+;保存窗口宽度
+N1082=,792
+;保存窗口高度
+N1083=,601
+;保存窗口left
+N1084=,2463
+;保存窗口top
+N1085=,424
+;分割线位置(右侧装多条自定义字符串的容器宽度)
+N1086=,418
+;多条发送按钮的宽度
+N1087=,200
+;保存窗口字体名称
+N1088=,宋体
+;保存窗口字体大小
+N1089=,9
+;保存窗口字体颜色
+N1090=,0
+;C:Chinese汉语,E:English
+N1100=,汉语
+;end
\ No newline at end of file
diff --git a/usersrc/usermain.c b/usersrc/usermain.c
index aad3d35..274a1bd 100644
--- a/usersrc/usermain.c
+++ b/usersrc/usermain.c
@@ -107,23 +107,19 @@ void user_main()
   printf("version %d.%d", VERSION_MAIN_ID, VERSION_SUB_ID);
 
   encoder_all_start();
-  // udp_client_init();
+  udp_client_init();
   // zkey_init(&s_key_module);
   // port_uart_start_all_uart_receive();
 
   while (1)
   {
-    encoder_read_with_encoder(CAMERA_ENCODER, &camera_encoder_data);
-    encoder_read_with_encoder(DRIVEN_ENCODER_GEAR, &driven_encoder_data);
-    printf("camera encoder:%d,driven encoder:%d\r\n", camera_encoder_data, driven_encoder_data);
-
     // udp_client_genlock_and_esync_active();
     // udp_client_active();
     // zkey_schedule();
-    // udp_client_recv();
+    udp_client_recv();
     // at_cmd_processer_try_process_data();
     // encoder_light_schedule();
     // port_do_debug_light_state();
-    osDelay(1000);
+    osDelay(1);
   }
 }