diff --git a/src/App/main.c b/src/App/main.c
index 566eed8..966b243 100644
--- a/src/App/main.c
+++ b/src/App/main.c
@@ -11,6 +11,9 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 
+hall_handle_t hall_handle;
+
+
 /* Function ------------------------------------------------------------------*/
 
 /**
diff --git a/src/Bsp/board.h b/src/Bsp/board.h
index d3eba69..231559e 100644
--- a/src/Bsp/board.h
+++ b/src/Bsp/board.h
@@ -23,6 +23,8 @@ extern "C"
 #include "usart.h"
 #include "gpio.h"
 
+#include "hall.h"
+
     /* Functions  ----------------------------------------------------------------*/
 
     extern void board_init(void);
diff --git a/src/Foc/hall.c b/src/Foc/hall.c
index bd72d3f..88a0080 100644
--- a/src/Foc/hall.c
+++ b/src/Foc/hall.c
@@ -12,13 +12,13 @@ void calc_hall_angle(hall_handle_t *handle, uint8_t new_state)
     case HALL_STATE_5:
         if (handle->state == HALL_STATE_4)
         {
-            handle->Direction = POSITIVE;
-            handle->MeasuredElAngle = handle->PhaseShift;
+            handle->direction = POSITIVE;
+            handle->measure_elec_angle = handle->phase_shift;
         }
         else if (handle->state == HALL_STATE_1)
         {
-            handle->Direction = NEGATIVE;
-            handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_60_PHASE_SHIFT);
+            handle->direction = NEGATIVE;
+            handle->measure_elec_angle = (int16_t)(handle->phase_shift + S16_60_PHASE_SHIFT);
         }
         else
         {
@@ -28,13 +28,13 @@ void calc_hall_angle(hall_handle_t *handle, uint8_t new_state)
     case HALL_STATE_1:
         if (handle->state == HALL_STATE_5)
         {
-            handle->Direction = POSITIVE;
-            handle->MeasuredElAngle = handle->PhaseShift + S16_60_PHASE_SHIFT;
+            handle->direction = POSITIVE;
+            handle->measure_elec_angle = handle->phase_shift + S16_60_PHASE_SHIFT;
         }
         else if (handle->state == HALL_STATE_3)
         {
-            handle->Direction = NEGATIVE;
-            handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT);
+            handle->direction = NEGATIVE;
+            handle->measure_elec_angle = (int16_t)(handle->phase_shift + S16_120_PHASE_SHIFT);
         }
         else
         {
@@ -44,14 +44,14 @@ void calc_hall_angle(hall_handle_t *handle, uint8_t new_state)
     case HALL_STATE_3:
         if (handle->state == HALL_STATE_1)
         {
-            handle->Direction = POSITIVE;
-            handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT);
+            handle->direction = POSITIVE;
+            handle->measure_elec_angle = (int16_t)(handle->phase_shift + S16_120_PHASE_SHIFT);
         }
         else if (handle->state == HALL_STATE_2)
         {
-            handle->Direction = NEGATIVE;
-            handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT +
-                                                S16_60_PHASE_SHIFT);
+            handle->direction = NEGATIVE;
+            handle->measure_elec_angle = (int16_t)(handle->phase_shift + S16_120_PHASE_SHIFT +
+                                                   S16_60_PHASE_SHIFT);
         }
         else
         {
@@ -62,13 +62,13 @@ void calc_hall_angle(hall_handle_t *handle, uint8_t new_state)
     case HALL_STATE_2:
         if (handle->state == HALL_STATE_3)
         {
-            handle->Direction = POSITIVE;
-            handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT + S16_60_PHASE_SHIFT);
+            handle->direction = POSITIVE;
+            handle->measure_elec_angle = (int16_t)(handle->phase_shift + S16_120_PHASE_SHIFT + S16_60_PHASE_SHIFT);
         }
         else if (handle->state == HALL_STATE_6)
         {
-            handle->Direction = NEGATIVE;
-            handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_120_PHASE_SHIFT);
+            handle->direction = NEGATIVE;
+            handle->measure_elec_angle = (int16_t)(handle->phase_shift - S16_120_PHASE_SHIFT);
         }
         else
         {
@@ -78,13 +78,13 @@ void calc_hall_angle(hall_handle_t *handle, uint8_t new_state)
     case HALL_STATE_6:
         if (handle->state == HALL_STATE_2)
         {
-            handle->Direction = POSITIVE;
-            handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_120_PHASE_SHIFT);
+            handle->direction = POSITIVE;
+            handle->measure_elec_angle = (int16_t)(handle->phase_shift - S16_120_PHASE_SHIFT);
         }
         else if (handle->state == HALL_STATE_4)
         {
-            handle->Direction = NEGATIVE;
-            handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_60_PHASE_SHIFT);
+            handle->direction = NEGATIVE;
+            handle->measure_elec_angle = (int16_t)(handle->phase_shift - S16_60_PHASE_SHIFT);
         }
         else
         {
@@ -94,13 +94,13 @@ void calc_hall_angle(hall_handle_t *handle, uint8_t new_state)
     case HALL_STATE_4:
         if (handle->state == HALL_STATE_6)
         {
-            handle->Direction = POSITIVE;
-            handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_60_PHASE_SHIFT);
+            handle->direction = POSITIVE;
+            handle->measure_elec_angle = (int16_t)(handle->phase_shift - S16_60_PHASE_SHIFT);
         }
         else if (handle->state == HALL_STATE_5)
         {
-            handle->Direction = NEGATIVE;
-            handle->MeasuredElAngle = (int16_t)(handle->PhaseShift);
+            handle->direction = NEGATIVE;
+            handle->measure_elec_angle = (int16_t)(handle->phase_shift);
         }
         else
         {
@@ -109,7 +109,7 @@ void calc_hall_angle(hall_handle_t *handle, uint8_t new_state)
 
     default:
         /* Bad hall sensor configutarion so update the speed reliability */
-        handle->SensorIsReliable = 0;
+        // handle->SensorIsReliable = 0;
 
         break;
     }
diff --git a/src/Foc/hall.h b/src/Foc/hall.h
index c3524f5..b9613a8 100644
--- a/src/Foc/hall.h
+++ b/src/Foc/hall.h
@@ -30,9 +30,6 @@ enum
 
 typedef struct
 {
-    // |||
-    // |||
-    // |||
     uint8_t state; // 霍尔状态真值表
 
     int16_t phase_shift; // 同步电角度
diff --git a/src/Foc/svpwm.c b/src/Foc/svpwm.c
index 42dc1b4..b5e404f 100644
--- a/src/Foc/svpwm.c
+++ b/src/Foc/svpwm.c
@@ -1,10 +1,11 @@
 #include "svpwm.h"
-void svpwm(int16_t alpha, int16_t beta)
+
+void svpwm(foc_handle_t *handle, int16_t alpha, int16_t beta)
 {
     int32_t wX, wY, wZ, wUAlpha, wUBeta, wTimePhA, wTimePhB, wTimePhC;
 
-    wUAlpha = alpha * (int32_t)pHandle->hT_Sqrt3;
-    wUBeta = -(beta * (int32_t)(pHandle->PWMperiod)) * 2;
+    wUAlpha = alpha * (int32_t)handle->hT_Sqrt3;
+    wUBeta = -(beta * (int32_t)(handle->PWMperiod)) * 2;
 
     wX = wUBeta;
     wY = (wUBeta + wUAlpha) / 2;
@@ -15,7 +16,7 @@ void svpwm(int16_t alpha, int16_t beta)
     {
         if (wZ < 0)
         {
-            pHandle->Sector = SECTOR_5;
+            handle->sector = SECTOR_5;
             wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wZ) / (int32_t)262144);
             wTimePhB = wTimePhA + wZ / 131072;
             wTimePhC = wTimePhA - wY / 131072;
@@ -26,7 +27,7 @@ void svpwm(int16_t alpha, int16_t beta)
         else /* wZ >= 0 */
             if (wX <= 0)
             {
-                pHandle->Sector = SECTOR_4;
+                handle->sector = SECTOR_4;
                 wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wX - wZ) / (int32_t)262144);
                 wTimePhB = wTimePhA + wZ / 131072;
                 wTimePhC = wTimePhB - wX / 131072;
@@ -36,7 +37,7 @@ void svpwm(int16_t alpha, int16_t beta)
             }
             else /* wX > 0 */
             {
-                pHandle->Sector = SECTOR_3;
+                handle->sector = SECTOR_3;
                 wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wX) / (int32_t)262144);
                 wTimePhC = wTimePhA - wY / 131072;
                 wTimePhB = wTimePhC + wX / 131072;
@@ -49,7 +50,7 @@ void svpwm(int16_t alpha, int16_t beta)
     {
         if (wZ >= 0)
         {
-            pHandle->Sector = SECTOR_2;
+            handle->sector = SECTOR_2;
             wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wZ) / (int32_t)262144);
             wTimePhB = wTimePhA + wZ / 131072;
             wTimePhC = wTimePhA - wY / 131072;
@@ -60,7 +61,7 @@ void svpwm(int16_t alpha, int16_t beta)
         else /* wZ < 0 */
             if (wX <= 0)
             {
-                pHandle->Sector = SECTOR_6;
+                handle->sector = SECTOR_6;
                 wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wX) / (int32_t)262144);
                 wTimePhC = wTimePhA - wY / 131072;
                 wTimePhB = wTimePhC + wX / 131072;
@@ -70,7 +71,7 @@ void svpwm(int16_t alpha, int16_t beta)
             }
             else /* wX > 0 */
             {
-                pHandle->Sector = SECTOR_1;
+                handle->sector = SECTOR_1;
                 wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wX - wZ) / (int32_t)262144);
                 wTimePhB = wTimePhA + wZ / 131072;
                 wTimePhC = wTimePhB - wX / 131072;
@@ -80,8 +81,7 @@ void svpwm(int16_t alpha, int16_t beta)
             }
     }
 
-    pHandle->CntPhA = (uint16_t)wTimePhA;
-    pHandle->CntPhB = (uint16_t)wTimePhB;
-    pHandle->CntPhC = (uint16_t)wTimePhC;
-
+    handle->pwmA = (uint16_t)wTimePhA;
+    handle->pwmA = (uint16_t)wTimePhB;
+    handle->pwmA = (uint16_t)wTimePhC;
 }
\ No newline at end of file
diff --git a/src/Foc/svpwm.h b/src/Foc/svpwm.h
index 13dd56c..bae512c 100644
--- a/src/Foc/svpwm.h
+++ b/src/Foc/svpwm.h
@@ -15,4 +15,14 @@
 #define SECTOR_3 2u
 #define SECTOR_4 3u
 #define SECTOR_5 4u
-#define SECTOR_6 5u
\ No newline at end of file
+#define SECTOR_6 5u
+
+typedef struct
+{
+    uint8_t sector; // 扇区
+
+    uint16_t pwmA;
+    uint16_t pwmB;
+    uint16_t pwmC;
+
+} foc_handle_t;
\ No newline at end of file