diff --git a/HARDWARE/ADC/adc.c b/HARDWARE/ADC/adc.c
index 69c4b2f8ea901196d5a21175aac61248c83798a4..aeae4a4350d91834c28c0b398311eda3bbb402c3 100644
--- a/HARDWARE/ADC/adc.c
+++ b/HARDWARE/ADC/adc.c
@@ -11,7 +11,7 @@
 #define  rccMY_ADC   RCC_APB2Periph_ADC1
 #define  MY_ADC      ADC1
 static uint16_t  pres_get_t=40;
-static int16_t  AIR_DELDA_P =  -370;
+static int16_t  AIR_DELDA_P =  -310;
 static uint16_t  x_data[ADC_CHANNELS_NUM]={0,0,0,0,0,0,0};  //×ÔÈ»ÎÞÎü¸½Á¦Ê±¸÷ÎüÅÌѹÁ¦»ù´¡Öµ
 
 SHELL_EXPORT_VAR(SHELL_CMD_PERMISSION(0)|SHELL_CMD_TYPE(SHELL_TYPE_VAR_SHORT),
@@ -240,6 +240,8 @@ void airPress_LED_task(void* pp)
         x_data[6]=data[6];   //±£´æζÈÖµ
         if(5==a){
             send_adc_val(data);
+            vTaskDelay(5);
+            send_manual_adc(x_data);
             a=0;
         }  
         vTaskDelay(pres_get_t);
diff --git a/HARDWARE/ADC/adc.h b/HARDWARE/ADC/adc.h
index 9c71dc89a23827af0950082f16a27808c0cb9425..b82fd89bcae2a73386dd8e968656c1ca3387b6d2 100644
--- a/HARDWARE/ADC/adc.h
+++ b/HARDWARE/ADC/adc.h
@@ -9,6 +9,7 @@
 void Adc_Init(void);
 u16 Get_Adc_Val(uint16_t*  pDataBuffer);
 u16 Get_Adc_AverageVal(u8 ch,u8 times);
+int manual_update_xdata(int  sample_num, int doWrite);
 
 #endif
 
diff --git a/HARDWARE/ANO/ano_protocol.c b/HARDWARE/ANO/ano_protocol.c
index 85cc885ba378c469e73090b73ae2cb14faa3577a..ea8f804f5e4d3be273befc78a3720d5e5e59c261 100644
--- a/HARDWARE/ANO/ano_protocol.c
+++ b/HARDWARE/ANO/ano_protocol.c
@@ -1,10 +1,17 @@
 #include "ano_protocol.h"
+#include "pwm.h"
+#include "adc.h"
+#include "LobotSerialServo.h"
 
 xQueueHandle  PacketTx_2_UsartTxQueue;
+xQueueHandle  UsartRx_2_PacketAnalyQueue;
+
+extern int give_pax_task_cmd(uint32_t  dir, uint32_t  step_num);
 
 void RX_Queue_init(void)
 {
     PacketTx_2_UsartTxQueue = xQueueCreate(20, sizeof(ANO_t));    // ´ÓÈÎÎñUsartRxTask·¢ËͶÓÁе½ANOAnlTask
+    UsartRx_2_PacketAnalyQueue  = xQueueCreate(10, 15 ); 
     //¶ÓÁд´½¨xQueueCreate£¨ÏûÏ¢¶ÓÁеĴóС¼¼¼´¿ÉÒԷŶàÉÙ¸öÏûÏ¢£¬Ã¿¸öÏûÏ¢µÄ´óС£©
     if(NULL != PacketTx_2_UsartTxQueue)
     {
@@ -29,8 +36,6 @@ void usart_send_packet(const ANO_t *ano)
     xQueueSend(PacketTx_2_UsartTxQueue, ano, 0);
 }
 
-
-
 /*
 *********************************************************************************************************
 *    º¯ÊýÃû³Æ: send_adc_val
@@ -41,12 +46,12 @@ void usart_send_packet(const ANO_t *ano)
 */
 void send_adc_val(const uint16_t *adc)
 {
-	  uint16_t adc1=adc[0];
-	  uint16_t adc2=adc[1];
-	  uint16_t adc3=adc[2];
-	  uint16_t adc4=adc[3];
-	  uint16_t adc5=adc[4];
-	  uint16_t adc6=adc[5];
+    uint16_t adc1=adc[0];
+    uint16_t adc2=adc[1];
+    uint16_t adc3=adc[2];
+    uint16_t adc4=adc[3];
+    uint16_t adc5=adc[4];
+    uint16_t adc6=adc[5];
 	
     uint8_t _cnt = 0, i, sc = 0;
     ANO_t ano;
@@ -93,12 +98,12 @@ void send_adc_val(const uint16_t *adc)
 */
 void send_manual_adc(const uint16_t *adc)
 {
-	  uint16_t adc1=adc[0];
-	  uint16_t adc2=adc[1];
-	  uint16_t adc3=adc[2];
-	  uint16_t adc4=adc[3];
-	  uint16_t adc5=adc[4];
-	  uint16_t adc6=adc[5];
+    uint16_t adc1=adc[0];
+    uint16_t adc2=adc[1];
+    uint16_t adc3=adc[2];
+    uint16_t adc4=adc[3];
+    uint16_t adc5=adc[4];
+    uint16_t adc6=adc[5];
 	
     uint8_t _cnt = 0, i, sc = 0;
     ANO_t ano;
@@ -133,3 +138,69 @@ void send_manual_adc(const uint16_t *adc)
 		
     usart_send_packet(&ano);
 }
+
+
+/*
+*********************************************************************************************************
+*    º¯ÊýÃû³Æ: check_sum
+*    ¹¦ÄÜ˵Ã÷: ¶ÔºÍУÑé½øÐÄÑéÖ¤
+*    ÊäÈë²ÎÊý£ºANO_t:ÄäÃûЭÒé½á¹¹Ìå
+*    ·µ»Ø²ÎÊý:u8
+*********************************************************************************************************
+*/
+uint8_t sum_check(ANO_t *protocol_packet)
+{
+    int sum = 0;
+    sum += protocol_packet->head;
+    sum += protocol_packet->d_addr;
+    sum += protocol_packet->id;
+    sum += protocol_packet->datalen;
+    for(int i = 0; i < protocol_packet->datalen; i++)
+    {
+        sum += protocol_packet->data[i];
+    }
+    return sum;
+}
+
+/*
+*********************************************************************************************************
+*    º¯ÊýÃû³Æ: analy_receive_packet
+*    ¹¦ÄÜ˵Ã÷: Êý¾Ý½âÎö²¢Ö´ÐжÔÓ¦²Ù×÷
+*    ÊäÈë²ÎÊý£ºANO_t:ÄäÃûЭÒé½á¹¹Ìå
+*    ·µ»Ø²ÎÊý: ÎÞ
+*********************************************************************************************************
+*/
+void analy_receive_packet(ANO_t *protocol_packet)
+{    
+    uint8_t data1_cmd;
+    uint8_t data2_cmd;
+    uint32_t data3_cmd;
+    
+    if(protocol_packet->id == ScrewMotor_cmd)        //Ë¿¸ÜÔ˶¯¿ØÖÆ   
+    {
+      data1_cmd=protocol_packet->data[0];           //
+      data2_cmd=protocol_packet->data[1];
+      data3_cmd=(data2_cmd<<8)+data1_cmd;
+      GiveScrewMotorCmd(data3_cmd,NULL);
+    }
+    
+    if(protocol_packet->id == update_xdata_cmd)        //»ù´¡Ñ¹Á¦Öµ¸üпØÖÆ    
+    {
+      data1_cmd=protocol_packet->data[0]; 
+      manual_update_xdata(data1_cmd, 1);
+    }
+    
+    if(protocol_packet->id == pax_cmd)        //ÅÀÐÐÖ¸Áî¿ØÖÆ    
+    {
+      data1_cmd=protocol_packet->data[0];
+      data2_cmd=protocol_packet->data[1];
+      give_pax_task_cmd(data1_cmd, data2_cmd);
+    }
+    if(protocol_packet->id == joint_cmd)        //¹Ø½ÚÔ˶¯¿ØÖÆ    
+    {
+      data1_cmd=protocol_packet->data[0]; 
+      data2_cmd=protocol_packet->data[1];
+      data3_cmd=(data2_cmd<<8)+data1_cmd;
+      GiveJointCtrlTaskCmd(data3_cmd);
+    }
+}
\ No newline at end of file
diff --git a/HARDWARE/ANO/ano_protocol.h b/HARDWARE/ANO/ano_protocol.h
index b73e132f2a8f8e196e6c36c0e0d352e25f541869..59fc49e350ce264c38808a4137926a5721667e78 100644
--- a/HARDWARE/ANO/ano_protocol.h
+++ b/HARDWARE/ANO/ano_protocol.h
@@ -32,8 +32,6 @@ typedef enum
     UP_Speed            = 0x07,        //·ÉÐÐËÙ¶ÈÊý¾Ý
     UP_TargetAngles     = 0x0A,        //Ä¿±ê×Ë̬Êý¾Ý
     UP_TargetSpeed      = 0x0B,        //Ä¿±êËÙ¶ÈÊý¾Ý
-    UP_LogPrintf        = 0xA0,        //LOGÐÅÏ¢Êä³ö¡ª¡ª×Ö·û´®
-    UP_LogPrintfNum     = 0xA1,        //LOGÐÅÏ¢Êä³ö¡ª¡ª×Ö·û´®+Êý×Ö
     
 /**************************·É¿Ø¿ØÖÆÁ¿Êä³öÀà******************************/
     UP_PWM              = 0x20,        //PWM¿ØÖÆÁ¿
@@ -49,8 +47,14 @@ typedef enum
     send_param_switch    = 0xF0,        //²ÎÊý·µ»Ø
     UP_Light_PWM        = 0xF1,        //µÆ¹âPWMÖµ
     
-		send_adc        = 0x51 ,        //·¢ËÍѹÁ¦´«¸ÐÆ÷Öµ
-				manual_adc        = 0x61 ,        //·¢ËÍ»ù´¡Ñ¹Á¦Öµ
+    send_adc        = 0x51 ,        //·¢ËÍѹÁ¦´«¸ÐÆ÷Öµ
+    manual_adc        = 0x61 ,        //·¢ËÍ»ù´¡Ñ¹Á¦Öµ
+    
+    ScrewMotor_cmd    =0x52,          //½ÓÊÕË¿¸ÜÔ˶¯Ö¸Áî
+    update_xdata_cmd      =0x55,          //¸üлù´¡Ñ¹Á¦ÖµÖ¸Áî
+    pax_cmd             =0x62,        //½ÓÊÕÅÀÐÐÖ¸Áî
+    joint_cmd          =0x66,         //¹Ø½ÚÖ¸Áî
+    
 /****************************Áé»î¸ñʽ֡********************************/    
 /*¹¦ÄÜÂ뷶Χ£º0xF1-0xFA*/
 
@@ -77,5 +81,7 @@ void RX_Queue_init(void);
 void usart_send_packet(const ANO_t *ano);
 void send_adc_val(const uint16_t *adc);
 void send_manual_adc(const uint16_t *adc);
+uint8_t sum_check(ANO_t *protocol_packet);
+void analy_receive_packet(ANO_t *protocol_packet);
 
 #endif
diff --git a/HARDWARE/ANO/usartlink.c b/HARDWARE/ANO/usartlink.c
index af96d7388b66924c662533df54d60e0e13233030..e13d37a35d5b4b518be27f83de1d82f906bafdb8 100644
--- a/HARDWARE/ANO/usartlink.c
+++ b/HARDWARE/ANO/usartlink.c
@@ -2,6 +2,7 @@
 #include "usartlink.h"
 #include "ano_protocol.h"
 #include "usart4.h"
+#include "shell.h"
 
 //²»Í¬Çé¿öÏÂʹÓÃÄĸö´®¿Ú½øÐе÷ÊÔ
 #define USART1_TX 0
@@ -11,7 +12,7 @@
 
 
 extern xQueueHandle  PacketTx_2_UsartTxQueue;
-
+extern xQueueHandle  UsartRx_2_PacketAnalyQueue;
 
 static bool isUartDmaInitialized;
 
@@ -105,7 +106,6 @@ void __attribute__((used)) DMA1_Stream4_IRQHandler(void)
 */
 void usart_tx_task(void *param)
 {
-    RX_Queue_init();
     uartslkDmaInit();  
     ANO_t data_packet;//ÊÇANO_tÀàÐ͵ĽṹÌå±äÁ¿
 
@@ -127,5 +127,56 @@ void usart_tx_task(void *param)
     }
 }
 
+int ww=0;
+SHELL_EXPORT_VAR(SHELL_CMD_PERMISSION(0)|SHELL_CMD_TYPE(SHELL_TYPE_VAR_INT),
+ww, &ww,´òÓ¡);
+/*
+*********************************************************************************************************
+*    º¯ÊýÃû³Æ: packet_analy_task
+*    ¹¦ÄÜ˵Ã÷: Êý¾Ý°ü½âÎöÈÎÎñ£¬½«¶ÓÁÐUsartRx_2_ANOAnlQueueµÄÊý¾Ý·ÅÈë½á¹¹ÌåanoÖÐ
+*    ÊäÈë²ÎÊý£ºÎÞ
+*    ·µ»Ø²ÎÊý: ÎÞ
+*   ºÃÏñûÓжÔÊý¾Ý½øÐÐÏà¼ÓУÑéºÍ¸½¼ÓУÑé
+*   protocol 
+*********************************************************************************************************
+*/
+void packet_analy_task(void *param)
+{
+    ANO_t  protocol_packet;
+    BaseType_t xReturn = pdTRUE;
+    u8 c[15]={0};
+    
+    while(1)
+    {
+      xReturn=xQueueReceive(UsartRx_2_PacketAnalyQueue, c, 1000);//ÅжÏÊÇ·ñ´ÓsartRx_2_PacketAnalyQueue¶ÓÁÐÖлñµÃÊý¾Ý
+      if(pdFALSE==xReturn) continue;
+      else{
+        if(ww){
+          printf("Recieved cmd_pkg: ");
+          for(int i=0;i<c[3]+5;i++)printf("%x ",c[i]);
+          printf("\r\n");
+          ww--;}
+        for(int i = 0; i < sizeof(c) ; i++)
+         {
+           if(c[i] == 0xAA && c[i + 1] == 0xAA)
+            {
+             protocol_packet.head = c[i];
+             protocol_packet.d_addr = c[i + 1];
+             protocol_packet.id  = c[i + 2];
+             protocol_packet.datalen = c[i + 3];
+             for(int j = 0; j < protocol_packet.datalen; j++)
+               {
+                 protocol_packet.data[j] = c[i + 4 + j];
+               }
+             protocol_packet.check_sum = c[i + 4 + protocol_packet.datalen];
+             if(protocol_packet.check_sum == sum_check(&protocol_packet))
+               {analy_receive_packet(&protocol_packet);break;}  //¶Ô½ÓÊÕµÄÊý¾Ý½øÐнâÎö
+             else{
+               printf("pkt check sum fail!\r\n");break;}
+            }
+         }  
+      }
+  }
+}
 
 
diff --git a/SYSTEM/usart/usart4.c b/SYSTEM/usart/usart4.c
index a41c390f63d3021a9c20c14fdc4bf10cedbee309..5f8b7ab5ab0cd7d822123be927980cf46fb27636 100644
--- a/SYSTEM/usart/usart4.c
+++ b/SYSTEM/usart/usart4.c
@@ -3,10 +3,8 @@
 #include "usartlink.h"
 
 
-//static u8 Usart4_TxBuffer[USART4_MAX_RECV_LEN];
-//static int32_t Usart4_TxCounter = 0;
-//static int32_t Usart4_count = 0;
 
+extern xQueueHandle UsartRx_2_PacketAnalyQueue;
 /*
 *********************************************************************************************************
 *    º¯ÊýÃû³Æ: uart4_Init
@@ -46,37 +44,65 @@ void uart4_Init(u32 bound)
     
     USART_ITConfig(UART4, USART_IT_RXNE, ENABLE);
     
-    // NVIC_InitStructure.NVIC_IRQChannel                      = UART4_IRQn; //ÖжϺţ»
-    // NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 12; //ÇÀÕ¼ÓÅÏȼ¶12£»
-    // NVIC_InitStructure.NVIC_IRQChannelSubPriority          = 0; //ÏìÓ¦ÓÅÏȼ¶0£»
-    // NVIC_InitStructure.NVIC_IRQChannelCmd                  = ENABLE;
-    // NVIC_Init(&NVIC_InitStructure);
+    NVIC_InitStructure.NVIC_IRQChannel                      = UART4_IRQn; //ÖжϺţ»
+    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 12; //ÇÀÕ¼ÓÅÏȼ¶12£»
+    NVIC_InitStructure.NVIC_IRQChannelSubPriority          = 0; //ÏìÓ¦ÓÅÏȼ¶0£»
+    NVIC_InitStructure.NVIC_IRQChannelCmd                  = ENABLE;
+    NVIC_Init(&NVIC_InitStructure);
 }
 
 
+void process_rx4_data(uint8_t* data, uint32_t  *pnum)
+{
+    uint32_t  flag = pdFALSE;
+    uint32_t  num = (*pnum);
+
+    if(4==num && data[0]==0xaa && data[1]==0xaa)
+    {
+        if(!(data[2]>=0x40  && data[2]<=0xf0)){ // ÀàÐͳõУÑé
+            *pnum = 0;
+            return;
+        }
+        if(!(data[3]>=2 && data[3]<=20)){ //³¤¶È³õУÑé
+            *pnum = 0;
+            return;
+        }
+    }else if(4==num){
+        *pnum = 0;
+        return;
+    }
 
+    if(num > 4+data[3]){
+        xQueueSendToBackFromISR(UsartRx_2_PacketAnalyQueue,data,&flag);
+        *pnum = 0;
+        if(flag == pdTRUE)
+            portYIELD_FROM_ISR(flag);    //Èç¹ûÐèÒªµÄ»°½øÐÐÒ»´ÎÈÎÎñÇл»
+    }
+    
+    
+}
 /*
 *********************************************************************************************************
-*    º¯ÊýÃû³Æ: Uart4_Put_Buf
-*    ¹¦ÄÜ˵Ã÷: ´®¿Ú4·¢ËÍ×Ö·û´®
-*    ÊäÈë²ÎÊý£ºDataToSend£º´ý·¢ËÍ×Ö·ûÊ×µØÖ·£»data_num£º×Ö·û´®³¤¶È
+*    º¯ÊýÃû³Æ: UART4_IRQHandler
+*    ¹¦ÄÜ˵Ã÷: ´®¿Ú4µÄÖжϺ¯Êý£¬´¥·¢ÖжϷ¢ËͶÓÁÐ
+*    ÊäÈë²ÎÊý£ºÎÞ
 *    ·µ»Ø²ÎÊý: ÎÞ
 *********************************************************************************************************
+*/
+uint8_t uart4_rx_data[20];
+uint32_t  rx4_cnt = 0;
 
-void Uart4_Put_Buf(unsigned char *DataToSend, int32_t data_num)
+void UART4_IRQHandler(void)              //´®¿Ú4ÖжϷþÎñ³ÌÐò
 {
-    int32_t i;
-    portENTER_CRITICAL();
-    for(i=0; i<data_num; i++)
-    {
-        Usart4_TxBuffer[Usart4_count++] = *(DataToSend+i);
-    }
-    portEXIT_CRITICAL();
-    if(!(UART4->CR1 & USART_CR1_TXEIE))
+    uint8_t Res;
+    if(USART_GetITStatus(UART4, USART_IT_RXNE) != RESET)   
     {
-        USART_ITConfig(UART4, USART_IT_TXE, ENABLE);     //´ò¿ª·¢ËÍÖжÏ
-    }
-}*/
+        Res = USART_ReceiveData(UART4);                        //(USART4->DR);    //¶ÁÈ¡½ÓÊÕµ½µÄÊý¾Ý¥    
+        uart4_rx_data[rx4_cnt++] = Res;
+        process_rx4_data(uart4_rx_data,&rx4_cnt);
+    } 
+        
+}
+
 
-/*------------------------------------------- End Line ---------------------------------------------------*/
 
diff --git a/SYSTEM/usart/usart4.h b/SYSTEM/usart/usart4.h
index 29ab8543d2d265967cb00a60ebcdd794308c6a66..69fc976cecbb55c7fca680e134efea77b62797c9 100644
--- a/SYSTEM/usart/usart4.h
+++ b/SYSTEM/usart/usart4.h
@@ -13,12 +13,11 @@
 #include "semphr.h"
 
 
-#define USART4_MAX_RECV_LEN        32                    //×î´ó½ÓÊÕ»º´æ×Ö½ÚÊý
-#define USART4_MAX_SEND_LEN        32                    //×î´ó·¢ËÍ»º´æ×Ö½ÚÊý
+
 
 void uart4_Init(u32 bound);
 void Uart4_Put_Buf(unsigned char *DataToSend, int32_t data_num);
-// void Uart4_Put_Char(unsigned char DataToSend);   ×÷·ÏÕâ¸öº¯Êý
+
 
 #endif
 
diff --git a/USER/USER.uvguix.jiangke1 b/USER/USER.uvguix.jiangke1
index d481871c331d21a306acb2282498caa827bca8f8..d5c43875cb6ab0e2f6378d5568c9748e88d48535 100644
--- a/USER/USER.uvguix.jiangke1
+++ b/USER/USER.uvguix.jiangke1
@@ -75,25 +75,25 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
         <yPos>-1</yPos>
       </MaxPosition>
       <NormalPosition>
-        <Top>38</Top>
-        <Left>60</Left>
-        <Right>1654</Right>
-        <Bottom>1095</Bottom>
+        <Top>61</Top>
+        <Left>36</Left>
+        <Right>1630</Right>
+        <Bottom>1118</Bottom>
       </NormalPosition>
     </WindowPosition>
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>1351</Len>
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         <PaneID>0</PaneID>
       </Doc>
       <Doc>
-        <Name>..\LobotSerialServo\LobotSerialServo.c</Name>
-        <ColumnNumber>4</ColumnNumber>
-        <TopLine>487</TopLine>
-        <CurrentLine>488</CurrentLine>
+        <Name>..\HARDWARE\ANO\ano_protocol.c</Name>
+        <ColumnNumber>15</ColumnNumber>
+        <TopLine>170</TopLine>
+        <CurrentLine>190</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\SYSTEM\usart\usart4.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>73</TopLine>
+        <CurrentLine>107</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -1402,33 +1420,42 @@
       <Doc>
         <Name>..\HARDWARE\ANO\usartlink.c</Name>
         <ColumnNumber>43</ColumnNumber>
-        <TopLine>89</TopLine>
-        <CurrentLine>118</CurrentLine>
+        <TopLine>141</TopLine>
+        <CurrentLine>159</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
-        <Name>..\HARDWARE\ANO\ano_protocol.c</Name>
-        <ColumnNumber>20</ColumnNumber>
+        <Name>tasks_entry.h</Name>
+        <ColumnNumber>0</ColumnNumber>
         <TopLine>1</TopLine>
-        <CurrentLine>1</CurrentLine>
+        <CurrentLine>22</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
-        <Name>..\HARDWARE\ANO\ano_protocol.h</Name>
+        <Name>..\SYSTEM\usart\usart4.h</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>51</TopLine>
-        <CurrentLine>80</CurrentLine>
+        <TopLine>1</TopLine>
+        <CurrentLine>17</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
-        <Name>..\HARDWARE\LED\valve.h</Name>
-        <ColumnNumber>32</ColumnNumber>
+        <Name>..\HARDWARE\ANO\ano_protocol.h</Name>
+        <ColumnNumber>50</ColumnNumber>
+        <TopLine>52</TopLine>
+        <CurrentLine>85</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\HARDWARE\ADC\adc.h</Name>
+        <ColumnNumber>54</ColumnNumber>
         <TopLine>1</TopLine>
         <CurrentLine>12</CurrentLine>
         <Folding>1</Folding>
@@ -1436,10 +1463,10 @@
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
-        <Name>..\HARDWARE\LED\led.h</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>16</CurrentLine>
+        <Name>..\LobotSerialServo\LobotSerialServo.h</Name>
+        <ColumnNumber>21</ColumnNumber>
+        <TopLine>65</TopLine>
+        <CurrentLine>79</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -1447,8 +1474,4 @@
     </MDIGroup>
   </MDIGroups>
 
-  <Bookmarks>
-    <ListItem>..\HARDWARE\ANO\usartlink.c 109</ListItem>
-  </Bookmarks>
-
 </ProjectGui>
diff --git a/USER/include.h b/USER/include.h
index b4889225a2e391803db88b2e16654c02c17ea96e..616647c192a1d5b4943dea6984c4817b8b8bc9ad 100644
--- a/USER/include.h
+++ b/USER/include.h
@@ -12,6 +12,8 @@
 #include "key.h"
 #include "beep.h"
 #include "exti.h"
+#include "ano_protocol.h"
+#include "usartlink.h"
 
 #include "timers.h"
 #include "iwdg.h"
diff --git a/USER/main.c b/USER/main.c
index 005eb28fe311d055d57d128b2e979e03093d20af..120384e80af97f4481d085f9b30d41c5a8aac8ec 100644
--- a/USER/main.c
+++ b/USER/main.c
@@ -30,6 +30,7 @@ int main()
 	LED_Init();
 	KEY_Init();
 	Adc_Init();
+    RX_Queue_init();
     AirPress_LED_init();
     valve_gpio_init();
     TIM14_PWM_Init(10000-1,84-1);   // ·ÖƵϵÊý84 µÃ1Mhz¼ÆÊýʱÖÓ  10000ÊýµÃ10msÖÜÆÚ
@@ -65,7 +66,9 @@ void start_task(void * pvParameters)
 
     xTaskCreate(paxing_ctrl_task, "pax-tsk", 220, NULL, 7, NULL);
 
-    xTaskCreate(usart_tx_task, "Updata-tsk", 140, NULL, 12, NULL); 
+    xTaskCreate(usart_tx_task, "Updata-tsk", 140, NULL, 12, NULL);     
+    
+    xTaskCreate(packet_analy_task, "packet_analy_task", 150, NULL, 14, NULL); 
 
 	taskEXIT_CRITICAL();
     //test_evgp = xEventGroupCreate();
diff --git a/USER/paxing_ctrl.c b/USER/paxing_ctrl.c
index 7375bdcfc64c0150bf218f99ce7f1761695bf177..3033ce322b02986715cbb1e3063d5f4c0e69d41d 100755
--- a/USER/paxing_ctrl.c
+++ b/USER/paxing_ctrl.c
@@ -97,7 +97,7 @@ void doj_exe_helper(TimerHandle_t  tmr)
             if(pos>0){
                 //LobotSerialServoMove(4,pos+55,400);
                 taskENTER_CRITICAL();
-                dojData[Idd2index(10)].target = pos-55;
+                dojData[Idd2index(10)].target = pos+55;
                 dojData[Idd2index(10)].flag |= FLAG_WRITE_CMD;
                 taskEXIT_CRITICAL();
             }
@@ -322,6 +322,8 @@ int give_pax_task_cmd(uint32_t  dir, uint32_t  step_num)
     }else if(2==dir){
         cmds[0]=FLOAT_LEGS_BACK; 
         cmds[1]=FIXED_LEGS_BACK;
+    }else if(4==dir||8==dir){
+        cmds[0]=cmds[1]=dir;
     }else{
         printf("ÃüÁî²ÎÊý·Ç·¨~!\r\n");
         return 1;
diff --git a/USER/tasks_entry.h b/USER/tasks_entry.h
index 37ab1336ebb6d506995d641a8fcc96f83737829f..59dbe353e796c220fb80f4ca49e2190bee41f500 100755
--- a/USER/tasks_entry.h
+++ b/USER/tasks_entry.h
@@ -20,7 +20,7 @@ extern void paxing_ctrl_task(void* pp);
 // adcѹÁ¦Öµ·¢ËÍÉÏλ»úÈÎÎñÈë¿Úº¯Êý
 extern void usart_tx_task(void *param);
 
-
+extern void packet_analy_task(void *param);
 
 #endif