diff --git a/MDK-ARM/LWIP.uvguix.29643 b/MDK-ARM/LWIP.uvguix.29643
index 9f16f06..d5ec794 100644
--- a/MDK-ARM/LWIP.uvguix.29643
+++ b/MDK-ARM/LWIP.uvguix.29643
@@ -110,8 +110,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>836</Len>
-        <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000006000000050000000100000052433A5C55736572735C32393634335C4465736B746F705C705F6C7573746572696E635F63616D6572615F666F63616C6C656E6774685F656E636F6465725F72657365745C5372635C6672656572746F732E63000000000A6672656572746F732E6300000000C5D4F200FFFFFFFF56433A5C55736572735C32393634335C4465736B746F705C705F6C7573746572696E635F63616D6572615F666F63616C6C656E6774685F656E636F6465725F72657365745C757365727372635C757365726D61696E2E63000000000A757365726D61696E2E6300000000FFDC7800FFFFFFFF54433A5C55736572735C32393634335C4465736B746F705C705F6C7573746572696E635F63616D6572615F666F63616C6C656E6774685F656E636F6465725F72657365745C757365727372635C7A666C6173682E6300000000087A666C6173682E6300000000BECEA100FFFFFFFF54433A5C55736572735C32393634335C4465736B746F705C705F6C7573746572696E635F63616D6572615F666F63616C6C656E6774685F656E636F6465725F72657365745C757365727372635C636F6E6669672E680000000008636F6E6669672E6800000000F0A0A100FFFFFFFF54433A5C55736572735C32393634335C4465736B746F705C705F6C7573746572696E635F63616D6572615F666F63616C6C656E6774685F656E636F6465725F72657365745C757365727372635C636F6E6669672E630000000008636F6E6669672E6300000000BCA8E100FFFFFFFF54433A5C55736572735C32393634335C4465736B746F705C705F6C7573746572696E635F63616D6572615F666F63616C6C656E6774685F656E636F6465725F72657365745C757365727372635C7A626F6172642E6800000000087A626F6172642E68000000009CC1B600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000007408000066000000000F0000B1020000</Data>
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       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -1806,7 +1806,7 @@
         <Name>File</Name>
         <Buttons>
           <Len>2537</Len>
-          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         </Buttons>
         <OriginalItems>
           <Len>1423</Len>
@@ -1822,7 +1822,7 @@
         <Name>Build</Name>
         <Buttons>
           <Len>968</Len>
-          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000004001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA0000000000000000000000000000000000000000000000000100000001000000960000000300205000000000044C57495096000000000000000100044C574950000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
+          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000002001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA0000000000000000000000000000000000000000000000000100000001000000960000000300205000000000044C57495096000000000000000100044C574950000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
         </Buttons>
         <OriginalItems>
           <Len>583</Len>
@@ -1838,7 +1838,7 @@
         <Name>Debug</Name>
         <Buttons>
           <Len>2373</Len>
-          <Data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ata>
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         </Buttons>
         <OriginalItems>
           <Len>898</Len>
@@ -1862,7 +1862,7 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>5</ActiveTab>
+      <ActiveTab>6</ActiveTab>
       <Doc>
         <Name>../Src/freertos.c</Name>
         <ColumnNumber>1</ColumnNumber>
@@ -1917,6 +1917,15 @@
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
+      <Doc>
+        <Name>..\usersrc\encoder.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>18</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
     </MDIGroup>
   </MDIGroups>
 
diff --git a/usersrc/encoder.c b/usersrc/encoder.c
index 7f27101..dcf554f 100644
--- a/usersrc/encoder.c
+++ b/usersrc/encoder.c
@@ -10,16 +10,20 @@ static encoder_t m_uarts[] = {
     {&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2} // 从动编码器
 };
 
-void encoder_start(void)
+void encoder_all_start(void)
 {
     /* 不开启会导致程序无法启动，原因未知 */
-    HAL_TIM_Encoder_Start(&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2);
-    HAL_TIM_Encoder_Start(&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2);
+    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
+    {
+        HAL_TIM_Encoder_Start(m_uarts[i].tim_handler, m_uarts[i].tim_channel);
+    }
 }
-void encoder_stop(void)
+void encoder_all_stop(void)
 {
-    HAL_TIM_Encoder_Stop(&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2);
-    HAL_TIM_Encoder_Stop(&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2);
+    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
+    {
+        HAL_TIM_Encoder_Stop(m_uarts[i].tim_handler, m_uarts[i].tim_channel);
+    }
 }
 
 void encoder_read_printf(void)
diff --git a/usersrc/encoder.h b/usersrc/encoder.h
index 831f9b7..6b273e5 100644
--- a/usersrc/encoder.h
+++ b/usersrc/encoder.h
@@ -7,6 +7,6 @@ typedef struct
     uint32_t tim_channel;
 } encoder_t;
 
-void encoder_start(void);
-void encoder_stop(void);
+void encoder_all_start(void);
+void encoder_all_stop(void);
 void encoder_read_printf(void);
diff --git a/usersrc/usermain.c b/usersrc/usermain.c
index a4aacf7..5b95689 100644
--- a/usersrc/usermain.c
+++ b/usersrc/usermain.c
@@ -19,7 +19,7 @@ void user_main()
   printf("==============ethernet_sound_acquisition_card=============\r\n");
   printf("version %d.%d", VERSION_MAIN_ID, VERSION_SUB_ID);
 
-  encoder_start();
+  encoder_all_start();
   udp_client_init();
   config_init();