diff --git a/firmware/build/MDK/project.uvprojx b/firmware/build/MDK/project.uvprojx
index de6aa6d..a9fea35 100644
--- a/firmware/build/MDK/project.uvprojx
+++ b/firmware/build/MDK/project.uvprojx
@@ -16,7 +16,7 @@
         <TargetCommonOption>
           <Device>STM32F103C8</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
+          <PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IROM(0x08000000,0x10000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
diff --git a/firmware/src/Driver/hall.c b/firmware/src/Driver/hall.c
index db1d63b..6110e21 100644
--- a/firmware/src/Driver/hall.c
+++ b/firmware/src/Driver/hall.c
@@ -101,6 +101,14 @@ void TIM2_IRQHandler(void)
     TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
   }
   //TODO:此处考虑TIM2溢出中断判断电机堵转
+  if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
+  {
+    TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
+    //逐渐提升扭矩，防止电机堵转
+    TIM2->CCR1 += 20;
+    TIM2->CCR2 += 20;
+    TIM2->CCR3 += 20;
+  }
 }
 
 /*******************************************************************************
diff --git a/firmware/src/User/main.c b/firmware/src/User/main.c
index 3a9b0b4..b3a8d97 100644
--- a/firmware/src/User/main.c
+++ b/firmware/src/User/main.c
@@ -89,7 +89,7 @@ int main(void)
   CAN1_Config();
   motor_init();
 
-  // test();
+  test();
   while (1)
   {
     delay_ms(500);
@@ -97,8 +97,7 @@ int main(void)
     TxMessage.DLC = 8;
     TxMessage.Data[0] = motor_info.state;
     motor_info.speed = 1000000.0f * 60 / (hall_last_interval * 6 * MOTOR_TRANSMITTING_RATIO);
-    TxMessage.Data[6] = (u32)motor_info.speed >> 8;
-    TxMessage.Data[7] = (u32)motor_info.speed;
+    TxMessage.Data[3] = (u8)motor_info.speed;
     CAN_Transmit(CAN1, &TxMessage);
   }
 }