diff --git a/firmware/src/Driver/inc/motor.h b/firmware/src/Driver/inc/motor.h
index dc2c6e8..ee35bb0 100644
--- a/firmware/src/Driver/inc/motor.h
+++ b/firmware/src/Driver/inc/motor.h
@@ -12,6 +12,12 @@
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f10x_conf.h"
 /* Definition ----------------------------------------------------------------*/
+enum motor_dir
+{
+  MOTOR_DIR_CW, //正向
+  MOTOR_DIR_CCW //反向
+};
+
 enum motor_state
 {
   MOTOR_STATE_STOP //停止状态
@@ -19,9 +25,10 @@ enum motor_state
 
 typedef struct _motor
 {
-  u8 state; //运行状态
   u8 dir;
-  u8 hall_position;
+  u8 state;         //运行状态
+  u8 hall_position; //霍尔位置
+  s16 speed;        //转速
 
 } motor_t;
 
diff --git a/firmware/src/Driver/motor.c b/firmware/src/Driver/motor.c
index 98c86c6..82a7aeb 100644
--- a/firmware/src/Driver/motor.c
+++ b/firmware/src/Driver/motor.c
@@ -11,19 +11,23 @@
 #include "motor.h"
 /* Definition ----------------------------------------------------------------*/
 motor_t motor_info;
-static const uint8_t BLDC_STEP_FORWARD[8][6] = // Motor step
-    {
-        //A+,A-,B+,B-,C+,C-
-        {0, 0, 0, 0, 0, 0}, //000
-        {0, 0, 1, 0, 0, 1},
-        {1, 0, 0, 1, 0, 0},
-        {1, 0, 0, 0, 0, 1},
-        {0, 1, 0, 0, 1, 0},
-        {0, 1, 1, 0, 0, 0},
-        {0, 0, 0, 1, 1, 0},
-        {0, 0, 0, 0, 0, 0}, //111
-};
 /* Functions -----------------------------------------------------------------*/
+/*******************************************************************************
+  * @brief  启动电机            
+  * @param  None              
+  * @retval None              
+  * @note   开启霍尔捕捉中断，提供启动力              
+*******************************************************************************/
+void motor_start()
+{
+    motor_info.state = 1;
+    TIM1->CCR1 = 0;
+    TIM1->CCR2 = 0;
+    TIM1->CCR3 = 0;
+    //TODO:开启霍尔捕捉中断
+    motor_step(motor_info.hall_position);
+}
+
 /*******************************************************************************
   * @brief  停止电机            
   * @param  None              
@@ -49,89 +53,77 @@ void motor_stop()
   * @brief  电机6步驱动法            
   * @param  None              
   * @retval None              
-  * @note   None              
+  * @note   H-PWM, L-ON    
+  *         电流始终由正极流向负极，所以PWM总是出现在A+、B+、C+,负极保持导通          
 *******************************************************************************/
 void motor_step()
 {
-    const uint8_t *step = BLDC_STEP_FORWARD[motor_info.hall_position];
-    if (motor_info.hall_position == 0)
-    {
-        //停止处理
-        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
-        return;
-    }
-    if (motor_info.hall_position == 7)
-    {
-        //刹车处理
-        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
-        return;
-    }
-    //换相
-    if (step[0]) //A+
+    u8 step = 0;
+    switch (step)
     {
+    case 0x00: //第一步 A+ B-
         TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
         TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
-    }
-    else
-    {
-        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
-    }
-    if (step[1]) //A-
-    {
-        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
-        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
-    }
-    else
-    {
-        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
-    }
-
-    if (step[2]) //B+
-    {
-        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
-        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
-    }
-    else
-    {
         TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
-    }
-    if (step[3]) //B-
-    {
+        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
         TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
+        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
         TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
-    }
-    else
-    {
+        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+        break;
+    case 0x01: //第二步 A+ B-
+        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
+        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
         TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
-    }
-
-    if (step[4]) //C+
-    {
-        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
-        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
-    }
-    else
-    {
         TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
-    }
-    if (step[5]) //C-
-    {
-        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_Active);
-        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
-    }
-    else
-    {
+        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
+        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+        break;
+    case 0x02: //第三步 A+ B-
+        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
+        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
+        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
         TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
+        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
+        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+        break;
+    case 0x03: //第四步 A+ B-
+        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
+        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
+        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
+        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
+        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
+        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+        break;
+    case 0x04: //第五步 A+ B-
+        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
+        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
+        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
+        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
+        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
+        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+        break;
+    case 0x05: //第六步 A+ B-
+        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
+        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
+        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
+        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
+        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
+        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+        break;
+    default:
+        motor_stop();
+        break;
     }
 }