diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UART.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UART.h
index e7bdb38..3beb12f 100644
--- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UART.h
+++ b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UART.h
@@ -6,6 +6,7 @@
 #include "BSP/bsp_include.h"
 #include "main.h"
 #include "bsp_Error.pb.h"
+#include "paint_robot_old.h"
 #define UART_Transmit_MAX_NUM 1024
 #define UART_Receive_MAX_NUM 100
 
diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_EEPROM.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_EEPROM.c
index 2d1c6f1..909eddd 100644
--- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_EEPROM.c
+++ b/project_old/paint_robot_old/BASE/Src/BSP/bsp_EEPROM.c
@@ -527,7 +527,7 @@ CV_struct_define GF_BSP_EEPROM_Get_CV(void)
 {
 	CV_struct_define cv= {0};
 	//char buffer[sizeof(CV_struct_define)];
-    GF_BSP_EEPROM_ReadBytes(&cv, GF_BSP_EEPROM_CV_struct_define_Start_Address, sizeof(CV_struct_define));
+    GF_BSP_EEPROM_ReadBytes((uint8_t *)&cv, GF_BSP_EEPROM_CV_struct_define_Start_Address, sizeof(CV_struct_define));
     return cv;
 
 }
@@ -542,7 +542,7 @@ IAP_struct_define GF_BSP_EEPROM_Get_IAP(void)
 {
 	IAP_struct_define iap= {0};
 
-    GF_BSP_EEPROM_ReadBytes(&iap, IAP_struct_define_Start_Address, sizeof(IAP_struct_define));
+    GF_BSP_EEPROM_ReadBytes((uint8_t *)&iap, IAP_struct_define_Start_Address, sizeof(IAP_struct_define));
     return iap;
 
 }
diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_TIMER.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_TIMER.c
index 91c64f6..1a07cd5 100644
--- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_TIMER.c
+++ b/project_old/paint_robot_old/BASE/Src/BSP/bsp_TIMER.c
@@ -5,6 +5,7 @@
  *      Author: shiya
  */
 #include "BSP/bsp_TIMER.h"
+#include "lwip.h"
 
 #include "BSP/bsp_mqtt.h"
 
diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_UDP.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_UDP.c
index 4c36223..96ccf4d 100644
--- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_UDP.c
+++ b/project_old/paint_robot_old/BASE/Src/BSP/bsp_UDP.c
@@ -13,6 +13,7 @@
 #include "bsp_DLT_Log.h"
 #include <bsp_UpperComputer_Handler.h>
 #include "BSP/bsp_GPIO.h"
+#include "BSP/bsp_decode_command.h"
 void UDP_GV_Dispatch();
 void UDP_IV_Dispatch();
 void udp_cmd_send_GV(char *pData, uint16_t Size);
diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_cpu_flash.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_cpu_flash.c
index 7d1959c..8a3c2a3 100644
--- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_cpu_flash.c
+++ b/project_old/paint_robot_old/BASE/Src/BSP/bsp_cpu_flash.c
@@ -468,7 +468,7 @@ void Copy_Peripheral_Download_Flash_to_App_Start(uint32_t totalBytes)
 		//App_Download_Addr
 		//Read 32 bytes
 
-	  QSPI_W25Qx_Read_Buffer(&readData,CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS+startIndex*sizeof(readData),256);
+	  QSPI_W25Qx_Read_Buffer((uint8_t *)&readData,CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS+startIndex*sizeof(readData),256);
 		HAL_Delay(10);
 		//retult=	bsp_ReadCpuFlash(App_Download_Addr+startIndex*sizeof(readData),readData,sizeof(readData));
 		//ucState = bsp_WriteCpuFlash((uint32_t)(AppAddr + TotalSize),  (uint8_t *)&g_Can2RxData[8], RecSize);
diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_decode_command.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_decode_command.c
index e7e57c3..8e39b04 100644
--- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_decode_command.c
+++ b/project_old/paint_robot_old/BASE/Src/BSP/bsp_decode_command.c
@@ -16,6 +16,7 @@
 #include "robot_move_actions.h"
 
 #include "fsm_state_control.h"
+#include "paint_robot_old.h"
 
 #define success 1
 #define fail 0
@@ -191,7 +192,9 @@ void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char sendWay,
 				RS_485_3_UART_Handler.dispacherController->Dispacher_Enable = 0;
 				RS_485_4_UART_Handler.dispacherController->Dispacher_Enable = 0;
 				E28_SBUS_UART_Handler.dispacherController->Dispacher_Enable = 0;
+#if defined (hlpuart1Exit)
 				LPUART1_UART_Handler.dispacherController->Dispacher_Enable = 0;
+#endif
 				InterCall_DEBUG_UART_Handler.dispacherController->Dispacher_Enable =
 				        0;
 				LTE_7S0_Serial_UART_Handler.dispacherController->Dispacher_Enable =
@@ -264,7 +267,7 @@ void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char sendWay,
 				        &buffer[length - decoded_Cmd.Buff_Data_Length],
 				        decoded_Cmd.Buff_Data_Length);
 
-				calbriation = MB_CRC16(&ReceivedData,
+				calbriation = MB_CRC16((uint8_t *)&ReceivedData,
 				        decoded_Cmd.Buff_Data_Length);
 
 				if (calbriation == decoded_Cmd.Parameter4)		//Parameter4是校验
@@ -272,7 +275,7 @@ void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char sendWay,
 
 					if (downloadCount == decoded_Cmd.Parameter3)
 					{
-						QSPI_W25Qx_Write_Buffer(&decoded_Cmd.Buff_Data,
+						QSPI_W25Qx_Write_Buffer((uint8_t *)&decoded_Cmd.Buff_Data,
 						        CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS
 						                + decoded_Cmd.Parameter3,
 						        decoded_Cmd.Buff_Data_Length);
diff --git a/project_old/paint_robot_old/BASE/Src/BSP/tcp_server.c b/project_old/paint_robot_old/BASE/Src/BSP/tcp_server.c
index 5d17443..041ec3c 100644
--- a/project_old/paint_robot_old/BASE/Src/BSP/tcp_server.c
+++ b/project_old/paint_robot_old/BASE/Src/BSP/tcp_server.c
@@ -17,7 +17,7 @@ static err_t tcp_accept_cb(void *arg, struct tcp_pcb *newpcb, err_t err);
 static err_t tcp_recv_cb(void *arg, struct tcp_pcb *tpcb, struct pbuf *p,
         err_t err);
 static void tcp_err_cb(void *arg, err_t err);
-static void tcp_sent_cb(void *arg, struct tcp_pcb *tpcb, u16_t len);
+static err_t tcp_sent_cb(void *arg, struct tcp_pcb *tpcb, u16_t len);
 SendDataNode *pTcpHead = NULL; /*初始化链表头指针，使其为空*/
 void tcp_server_timer_callback();
 char listIndex = 0;
@@ -202,7 +202,7 @@ static void tcp_err_cb(void *arg, err_t err)
 }
 
 // 数据发送完成回调
-static void tcp_sent_cb(void *arg, struct tcp_pcb *tpcb, u16_t len)
+static err_t tcp_sent_cb(void *arg, struct tcp_pcb *tpcb, u16_t len)
 {
 	LWIP_UNUSED_ARG(arg);
 	LWIP_UNUSED_ARG(tpcb);
diff --git a/project_old/paint_robot_old/FSM/Src/change_line_control.c b/project_old/paint_robot_old/FSM/Src/change_line_control.c
index 93e5abe..f97c9bb 100644
--- a/project_old/paint_robot_old/FSM/Src/change_line_control.c
+++ b/project_old/paint_robot_old/FSM/Src/change_line_control.c
@@ -6,6 +6,7 @@
  */
 #include "change_line_control.h"
 #include "BHBF_ROBOT.h"
+#include "paint_robot_old.h"
 
 #define Veritical_To_Left_Flag 1
 #define Veritical_To_Right_Flag 2
diff --git a/project_old/paint_robot_old/FSM/Src/fsm_state_control.c b/project_old/paint_robot_old/FSM/Src/fsm_state_control.c
index 4b2483f..9b9c7b7 100644
--- a/project_old/paint_robot_old/FSM/Src/fsm_state_control.c
+++ b/project_old/paint_robot_old/FSM/Src/fsm_state_control.c
@@ -17,6 +17,7 @@
 #include "motors_power_action.h"
 #include "fsm_state_control.h"
 #include "robot_move_actions.h"
+#include "paint_robot_old.h"
 
 #define M_PI       3.14159265358979323846
 #define Move_Horizontal_AngleThreshold_D 85
diff --git a/project_old/paint_robot_old/FSM/Src/motors_power_action.c b/project_old/paint_robot_old/FSM/Src/motors_power_action.c
index 9511bd5..34d33c8 100644
--- a/project_old/paint_robot_old/FSM/Src/motors_power_action.c
+++ b/project_old/paint_robot_old/FSM/Src/motors_power_action.c
@@ -6,6 +6,7 @@
  */
 #include "motors_power_action.h"
 #include "motors.h"
+#include "paint_robot_old.h"
 
 transition_t   current_motor_power_state;
 
diff --git a/project_old/paint_robot_old/FSM/Src/paint_gun_action.c b/project_old/paint_robot_old/FSM/Src/paint_gun_action.c
index 83b2f03..f085e04 100644
--- a/project_old/paint_robot_old/FSM/Src/paint_gun_action.c
+++ b/project_old/paint_robot_old/FSM/Src/paint_gun_action.c
@@ -7,6 +7,7 @@
 #include "paint_gun_action.h"
 #include "fsm_state.h"
 #include "BHBF_ROBOT.h"
+#include "paint_robot_old.h"
 transition_t   current_paintgun_state;   	 /*transition_t 成员是 指针的 transition_state_t */
 
 transition_state_t   paintgun_on_state={PaintGun_ON_Enter,PaintGun_ON_Do,NULL};   /* State 成员，它会被默认初始化为 0 */