diff --git a/app.c b/app.c
index b147786..57f39c6 100644
--- a/app.c
+++ b/app.c
@@ -43,42 +43,68 @@ void start_up(void)
 	}
 }
 
-
+//================================================================
+//================================================================
+//屏幕串口部分
+extern uint8_t g_lcd_rxbuf_isready;//lcd数据接收过程中为真，接收完成为假
 extern volatile char lcd_rxbuff[50] = {0};
 extern volatile int32_t lcd_count = 0;
-extern uint8_t g_lcd_rxbuf_isready;//lcd数据接收过程中为真，接收完成为假
+extern uint32_t g_process_recv_lcd_data_time = 0;
 
-uint32_t judge_recv_lcd_data_finish_main(uint32_t time)
+void judge_recv_lcd_data_finish_main(uint32_t time)
 {
     /**
  * @brief 接收LCD的数据完成
  */
-  static uint32_t recv_lcd_data_time = 0;
-  recv_lcd_data_time = time;
-  if(recv_lcd_data_time=0)
-  {
-    recv_lcd_data_time = hal_get_ticket();
-    return recv_lcd_data_time;
-  }
-  else if (hal_has_passedms(recv_lcd_data_time) > 10) {
-    g_lcd_rxbuf_isready=false;
-    recv_lcd_data_time = hal_get_ticket();
-    send_cmd_to_lcd(lcd_rxbuff,lcd_count);//接收完成将数据发给电脑
-    lcd_count=0;
-    return 0;
-  }
+    static uint32_t recv_lcd_data_time = 0;
+    recv_lcd_data_time = time;
+    if (hal_has_passedms(recv_lcd_data_time) > 10) {
+      g_lcd_rxbuf_isready=false;
+      recv_lcd_data_time = hal_get_ticket();
+      send_cmd_to_lcd(lcd_rxbuff,lcd_count);//接收完成将数据发给电脑
+      lcd_count=0;
+    }
+
+}
+//================================================================
+//================================================================
+//电机串口部分
+extern uint8_t g_motor_rxbuf_isready;//lcd数据接收过程中为真，接收完成为假
+extern volatile char motor_rxbuff[50] = {0};
+extern volatile int32_t motor_count = 0;
+extern uint32_t g_process_recv_motor_data_time = 0;
+void judge_recv_motor_data_finish_main(uint32_t time)
+{
+    /**
+ * @brief 接收motor的数据完成
+ */
+    static uint32_t recv_motor_data_time = 0;
+    recv_motor_data_time = time;
+    if (hal_has_passedms(recv_motor_data_time) > 10) {
+      g_lcd_rxbuf_isready=false;
+      recv_motor_data_time = hal_get_ticket();
+      send_cmd_to_motor(motor_rxbuff,motor_count);//接收完成将数据发给电脑
+      send_cmd_to_lcd(motor_rxbuff,motor_count);//接收完成将数据发给电脑
+      motor_count=0;
+    }
 }
 
+
+
+
 void main()
 {
   peripheral_config();//各种初始化包括ram清零
-  uint32_t record_last_time=0;
   while (1)
   {
     debug_light_ctrl_process_in_main_loop();//闪灯效果
     if(g_lcd_rxbuf_isready)//接收开始
     {
-      record_last_time = judge_recv_lcd_data_finish_main(record_last_time);
+      judge_recv_lcd_data_finish_main(g_process_recv_lcd_data_time);
+    }
+    if(g_motor_rxbuf_isready)
+    {
+       judge_recv_motor_data_finish_main(g_process_recv_motor_data_time);
     }
   }
 }
diff --git a/lcd.c b/lcd.c
index 88fc89e..6df4d51 100644
--- a/lcd.c
+++ b/lcd.c
@@ -19,7 +19,6 @@ volatile int32_t lcd_issue_motor_speed=0;
 volatile int16_t judge_now_foreward_or_reversal_state=0;//正转0，反转1
 volatile int32_t first_set_speed_state=0;
 extern volatile int32_t speed_dsp_now;//当前电机的速度单位dsp
-extern int32_t recv_lcd_data_time;
 extern volatile int32_t motor_jerk_state;//1电机处于急停状态
 
 //-----------------------------------------
@@ -52,7 +51,7 @@ void send_cmd_to_lcd(volatile char buff[20], unsigned int num)
 //---------------------------------------
 //---------------------------------------
 uint8_t g_lcd_rxbuf_isready = 0;
-static uint32_t process_recv_lcd_data_time = 0;
+uint32_t g_process_recv_lcd_data_time = 0;
 void recv_from_lcd_data(unsigned char data)
 {
 /**
@@ -61,22 +60,27 @@ void recv_from_lcd_data(unsigned char data)
  */
     g_lcd_rxbuf_isready=true;//进入中断就让他为真
     lcd_rxbuff[lcd_count++] = data;
+    g_process_recv_lcd_data_time= hal_get_irqticket();//记录最后的时间
 }
 
-void judge_recv_lcd_data_finish(void)
+uint32_t judge_recv_lcd_data_finish(uint32_t time)
 {
     /**
  * @brief 接收LCD的数据完成
  */
-  static uint32_t recv_lcd_data_time = 0;
-  if (hal_has_passedms(recv_lcd_data_time) > 10) {
-    g_lcd_rxbuf_isready=false;
-    recv_lcd_data_time = hal_get_ticket();
-    send_cmd_to_lcd(lcd_rxbuff,lcd_count);//接收完成将数据发给电脑
-  }
+     static uint32_t recv_lcd_data_time = 0;
+        recv_lcd_data_time = time;
+    if (hal_has_passedms(recv_lcd_data_time) > 10) {
+      g_lcd_rxbuf_isready=false;
+      recv_lcd_data_time = hal_get_ticket();
+      send_cmd_to_lcd(lcd_rxbuff,lcd_count);//接收完成将数据发给电脑
+      lcd_count=0;
+      return 0;
+    }
 }
 
 
+
 /**
  * @brief 对来自lcd的指令进行分析
  * @param buff 指令，num 指令的字节长度
diff --git a/lcd.h b/lcd.h
index 8f8e458..b6a8fc2 100644
--- a/lcd.h
+++ b/lcd.h
@@ -10,7 +10,7 @@
 void lcd_uart_config(void);
 void lcd_send_commands(void);
 void send_cmd_to_lcd(volatile char buff[20],unsigned int num);
-void judge_recv_lcd_data_finish(void);
+uint32_t judge_recv_lcd_data_finish(uint32_t time);
 uint8_t lcd_data_analyse(volatile char buff[20], unsigned int num);
 void recv_from_lcd_data(unsigned char data);
 void lcd_switch_anomaly_page(void);
diff --git a/motor.c b/motor.c
index 94c8888..134dc06 100644
--- a/motor.c
+++ b/motor.c
@@ -15,8 +15,6 @@ extern volatile int32_t lcd_issue_motor_speed;
 volatile int16_t motor_off_state=0;
 extern int32_t recv_motor_data_time;
 extern int32_t inquire_error_time=0;
-volatile char motor_recv_rxbuff[50] = {0};
-volatile int32_t motor_recv_count = 0;
 void motor_uart_config(void) 
 {
   /**
@@ -77,34 +75,44 @@ void inquire_motor_error_state(void)
     sleep_ms(10);
   }
 }
-
+//----------------------------------------------------
+//----------------------------------------------------
+//----------------------------------------------------
+uint8_t g_motor_rxbuf_isready = 0;
+volatile char motor_rxbuff[50] = {0};
+volatile uint32_t motor_count = 0;
+uint32_t g_process_recv_motor_data_time = 0;
 void recv_from_motor_data(unsigned char data)
 {
 /**
  * @brief 接受来自电机的数据
  * 
  */
-   recv_motor_data_state=1;
-   recv_motor_data_time=0;
-   motor_recv_rxbuff[motor_recv_count++]=data;
+   g_motor_rxbuf_isready=true;//进入中断就让他为真
+   motor_rxbuff[motor_count++] = data;
+   g_process_recv_motor_data_time= hal_get_irqticket();//记录最后的时间
 }
 
-void data_from_motor_recv_Ok(void) 
+
+uint32_t judge_recv_motor_data_finish(uint32_t time)
 {
-  /**
-   * @brief 接收电机的数据完成
-   * 注意调试1利用串口助手测试的时候将数据发回给串口
-   * 调试2将电机发过来的数据，发送给lcd
-   */
-  if(recv_motor_data_time>30)
+    /**
+ * @brief 接收motor的数据完成
+ */
+   static uint32_t recv_motor_data_time = 0;
+  recv_motor_data_time = time;
+  if(recv_motor_data_time=0)
   {
-    send_cmd_to_motor(motor_recv_rxbuff, motor_recv_count);
-    send_cmd_to_lcd(motor_recv_rxbuff, motor_recv_count);
-     //recv_motor_data_state=0;
-     motor_recv_count=0;
-    //motor_data_analyse(motor_rxbuff, motor_count);
+    recv_motor_data_time = hal_get_ticket();
+    return recv_motor_data_time;
+  }
+  else if (hal_has_passedms(recv_motor_data_time) > 10) {
+    g_motor_rxbuf_isready=false;
+    recv_motor_data_time = hal_get_ticket();
+    send_cmd_to_motor(motor_rxbuff,motor_count);//接收完成将数据发给电脑
+    motor_count=0;
+    return 0;
   }
-  
 }
 
 
diff --git a/t21_t8.c b/t21_t8.c
index c099c44..e025280 100644
--- a/t21_t8.c
+++ b/t21_t8.c
@@ -83,6 +83,11 @@ int32_t hal_get_ticket()
     return g_ticket100us;
 }
 
+int32_t hal_get_irqticket()
+{
+    return g_ticket100us;
+}
+
 int32_t sleep_ms(int32_t time)
 {
 /**
diff --git a/t21_t8.h b/t21_t8.h
index d00c7a6..fa10a6b 100644
--- a/t21_t8.h
+++ b/t21_t8.h
@@ -16,6 +16,7 @@ void system_module_process_interrupt();
 int32_t sleep_ms(int32_t time);
 void init_timer1_as_ticketustimer_in32M();
 int32_t hal_get_ticket();
+int32_t hal_get_irqticket();
 uint32_t hal_has_passedms(uint32_t lastticket);
 #endif