diff --git a/bspMCU/My_print.c b/bspMCU/My_print.c
index 0aedec5..3e73549 100644
--- a/bspMCU/My_print.c
+++ b/bspMCU/My_print.c
@@ -30,12 +30,19 @@ volatile uint8_t g_flow_control_paused = 0;
 
 TComCtrl *g_ptUartCtrl; 
 
+__attribute__((section(".dma_buffer"), aligned(32)))
+static uint8_t uart_tx_buffer[512];
+
 int USART_Send(char *_pBuffer, uint32_t _iSize)
 {
-	HAL_GPIO_WritePin(GPIOD, GPIO_PIN_10,GPIO_PIN_SET);
+	HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin,GPIO_PIN_SET);
     TUartUserData *ptUartUserData = (TUartUserData *)g_ptUartCtrl->m_pUserData;
-    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_10,GPIO_PIN_RESET);
+//    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
+//    HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin,GPIO_PIN_RESET);
+    RD_MEMCPY(uart_tx_buffer, _pBuffer, _iSize);
+    SCB_CleanDCache_by_Addr((uint32_t*)uart_tx_buffer, _iSize);
+    int iRet = HAL_UART_Transmit_DMA(ptUartUserData->m_uart, (uint8_t *)uart_tx_buffer, _iSize);
+
     return iRet;
 }
 
@@ -187,14 +194,14 @@ WEAK int Myprint_putchar(uint8_t ch)
         // 遇到换行，发送 \r\n
         tx_buf[0] = '\r';
         tx_buf[1] = '\n';
-        if (rd_ComSend(g_ptUartCtrl, tx_buf, 2) < 0) return EOF;
+        if (rd_ComWrite(g_ptUartCtrl, tx_buf, 2) < 0) return EOF;
         return 2;
     } 
     else 
     {
         // 普通字符
         tx_buf[0] = ch;
-        if (rd_ComSend(g_ptUartCtrl, tx_buf, 1) < 0) return EOF;
+        if (rd_ComWrite(g_ptUartCtrl, tx_buf, 1) < 0) return EOF;
         return 1;
     }
 }
diff --git a/project/RBcore/BHBF_robot.c b/project/RBcore/BHBF_robot.c
index a745c9b..cdfc005 100644
--- a/project/RBcore/BHBF_robot.c
+++ b/project/RBcore/BHBF_robot.c
@@ -82,11 +82,11 @@ void GF_Init(void)
 {
     Drv_InterfaceInit();
 
-    const osThreadAttr_t GF_Dispatch_attributes = {
-        .name = "GF_Task",
-        .stack_size = 1024,
-        .priority = (osPriority_t) osPriorityRealtime1,
-    };
-    (void)osThreadNew(GF_Dispatch, NULL, &GF_Dispatch_attributes);
+//    const osThreadAttr_t GF_Dispatch_attributes = {
+//        .name = "GF_Task",
+//        .stack_size = 1024,
+//        .priority = (osPriority_t) osPriorityRealtime1,
+//    };
+//    (void)osThreadNew(GF_Dispatch, NULL, &GF_Dispatch_attributes);
 }
 
diff --git a/project/RBcore/drv_interface.c b/project/RBcore/drv_interface.c
index a8dafb8..6c4843f 100644
--- a/project/RBcore/drv_interface.c
+++ b/project/RBcore/drv_interface.c
@@ -127,6 +127,7 @@ int FDCAN2_Send(char *_pBuffer, uint32_t _iSize)
 }
 
 #ifndef CONFIG_UART_IT_IDLEDMA
+extern TComCtrl *g_ptUartCtrl;
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 {
     if (huart->Instance == USART1)
@@ -139,7 +140,8 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 	}
     else if (huart->Instance == USART3)
     {
-        UART_RX_IRQHandler(g_ptRS485_2);
+        //UART_RX_IRQHandler(g_ptRS485_2);
+        UART_RX_IRQHandler(g_ptUartCtrl);
     }
     else if (huart->Instance == UART4)
 	{
@@ -160,6 +162,30 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 }
 #endif
 
+void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
+{
+	if (huart->Instance == USART1)		//**RS485_1
+	{
+		HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin,
+				GPIO_PIN_RESET);
+	}
+	else if (huart->Instance == USART3)		//**RS485_2
+	{
+		HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin,
+				GPIO_PIN_RESET);
+	}
+	else if (huart->Instance == USART6)		//**RS485_3
+	{
+		HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port,
+		RS485_3_DIR_Pin, GPIO_PIN_RESET);
+	}
+	else if (huart->Instance == UART7)		//**RS485_4
+	{
+		HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port,
+		RS485_4_DIR_Pin, GPIO_PIN_RESET);
+	}
+}
+
 void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
 {
 	if (hfdcan->Instance == FDCAN1)
@@ -203,7 +229,8 @@ void SendAll_Task(void *argument)
     {
         rd_ComSendProc(g_ptRS485_1);
         Rd_Delay(1);
-        rd_ComSendProc(g_ptRS485_2);
+        //rd_ComSendProc(g_ptRS485_2);
+        rd_ComSendProc(g_ptUartCtrl);
         Rd_Delay(1);
         rd_ComSendProc(g_ptRS485_3);
         Rd_Delay(1);
@@ -224,21 +251,21 @@ void SendAll_Task(void *argument)
 
 void Drv_InterfaceInit(void)
 {
-    MK32_Init();
+    //MK32_Init();
 
     const osThreadAttr_t Read_RS485_1_attributes = {
         .name = "RS485_1",
         .stack_size = 512,
-        .priority = (osPriority_t) osPriorityHigh7,
+        .priority = (osPriority_t) osPriorityHigh6,
     };
     (void)osThreadNew(Read_RS485_1, NULL, &Read_RS485_1_attributes);
 
     const osThreadAttr_t send_task_attributes = {
         .name = "send_task",
         .stack_size = 512,
-        .priority = (osPriority_t) osPriorityRealtime,
+        .priority = (osPriority_t) osPriorityHigh7,
     };
     (void)osThreadNew(SendAll_Task, NULL, &send_task_attributes);
 
-    MoveWheel_Init();
+    //MoveWheel_Init();
 }