diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/README.md b/Hardware/Firmware/PiRobot_Firmware v1.0/README.md
index 9706518..f9e4297 100644
--- a/Hardware/Firmware/PiRobot_Firmware v1.0/README.md	
+++ b/Hardware/Firmware/PiRobot_Firmware v1.0/README.md	
@@ -1,6 +1,6 @@
 # 固件使用说明
 
-> zhanli : 更新 2023-12-12
+> zhanli : 更新 2023-12-26 ：小车驱动经过验证更新
 
 ## 一、注意事项以及环境安装
 
diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.cpp b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.cpp
index 138da11..248ffdc 100644
--- a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.cpp	
+++ b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.cpp	
@@ -12,6 +12,9 @@
 bool GY87::init()
 {
     delay_ms(500);
+#if IMU_DEBUG_ENABLE
+	pb_printf("GY87::init");
+#endif
     Board::get()->i2c_init();
 
     if (!mpu6050.testConnection()) {
diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/RTE/_Target_1/RTE_Components.h b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/RTE/_Target_1/RTE_Components.h
new file mode 100644
index 0000000..5e19985
--- /dev/null
+++ b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/RTE/_Target_1/RTE_Components.h	
@@ -0,0 +1,21 @@
+
+/*
+ * Auto generated Run-Time-Environment Configuration File
+ *      *** Do not modify ! ***
+ *
+ * Project: 'pibot' 
+ * Target:  'Target 1' 
+ */
+
+#ifndef RTE_COMPONENTS_H
+#define RTE_COMPONENTS_H
+
+
+/*
+ * Define the Device Header File: 
+ */
+#define CMSIS_device_header "stm32f10x.h"
+
+
+
+#endif /* RTE_COMPONENTS_H */
diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/robot.cpp b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/robot.cpp
index a957377..23c4db6 100644
--- a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/robot.cpp	
+++ b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/robot.cpp	
@@ -114,7 +114,7 @@ void Robot::init_imu()
         static GY87 gy87;
         imu = &gy87;
     } else {
-        pb_printf("imu default");
+        pb_printf("imu default null driver");
         imu = NULL;
     }
 
diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.cpp b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.cpp
index 4042736..bf047fe 100644
--- a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.cpp	
+++ b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.cpp	
@@ -156,10 +156,8 @@ void USART3_IRQHandler(void)
         if (!Board::get()->usart_getDataQueue(USART_3)->put(data)){
         //err
         }
-
         USART_ClearITPendingBit(USART3,USART_IT_RXNE);  //clear interrupt flag
     }
-
 }
 
 /******************************************************************************/
diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/params.mk b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/params.mk
index 48fe55b..1a61e24 100644
--- a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/params.mk	
+++ b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/params.mk	
@@ -20,7 +20,7 @@
 -DMOTOR_DRIVER_TB6612=1
 -DMOTOR_DRIVER_DRV8870=2
 
--DMOTOR_DRIVER=MOTOR_DRIVER_TB6612
+-DMOTOR_DRIVER=MOTOR_DRIVER_DRV8870
 
 #uart
 -DMASTER_USART=3
@@ -42,7 +42,7 @@
 
 #imu
 -DIMU_ENABLE=1
--DIMU_DEBUG_ENABLE=0
+-DIMU_DEBUG_ENABLE=1
 
 # intervel
 -DCALC_ODOM_INTERVAL=10
diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvoptx b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvoptx
index 95b95e2..9ae53f8 100644
--- a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvoptx	
+++ b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvoptx	
@@ -81,26 +81,21 @@
       <Books>
         <Book>
           <Number>0</Number>
-          <Title>Quick Start Guide (MCBSTM32E)</Title>
-          <Path>C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\STM32E_QSG.pdf</Path>
+          <Title>Base Board Schematics (MCBSTM32E)</Title>
+          <Path>D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-base-board-schematics.pdf</Path>
         </Book>
         <Book>
           <Number>1</Number>
-          <Title>Base Board Schematics (MCBSTM32E)</Title>
-          <Path>C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-base-board-schematics.pdf</Path>
+          <Title>Display Board Schematics (MCBSTM32E)</Title>
+          <Path>D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-display-board-schematics.pdf</Path>
         </Book>
         <Book>
           <Number>2</Number>
-          <Title>Display Board Schematics (MCBSTM32E)</Title>
-          <Path>C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-display-board-schematics.pdf</Path>
+          <Title>User Manual (MCBSTM32E)</Title>
+          <Path>D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e.chm</Path>
         </Book>
         <Book>
           <Number>3</Number>
-          <Title>User Manual (MCBSTM32E)</Title>
-          <Path>C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e.chm</Path>
-        </Book>
-        <Book>
-          <Number>4</Number>
           <Title>MCBSTM32E Evaluation Board Web Page (MCBSTM32E)</Title>
           <Path>http://www.keil.com/mcbstm32e/</Path>
         </Book>
@@ -127,7 +122,7 @@
         <tRSysVw>1</tRSysVw>
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
-        <nTsel>3</nTsel>
+        <nTsel>5</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -138,13 +133,18 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>Segger\JL2CM3.dll</pMon>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U303030303030303030303031 -I0 -O206 -S1 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>JL2CM3</Key>
-          <Name>-U20090928 -O78 -S8 -ZTIFSpeedSel50000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
+          <Name>-U69408076 -O78 -S5 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvprojx b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvprojx
index 90c1637..cfb0a8f 100644
--- a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvprojx	
+++ b/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvprojx	
@@ -10,12 +10,12 @@
       <TargetName>Target 1</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060183::V5.06 update 2 (build 183)::ARMCC</pCCUsed>
+      <pCCUsed>5060300::V5.06 update 3 (build 300)::ARMCC</pCCUsed>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F103C8</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
+          <PackID>Keil.STM32F1xx_DFP.1.1.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x5000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -330,6 +330,7 @@
             <vShortWch>1</vShortWch>
             <v6Lto>0</v6Lto>
             <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
             <VariousControls>
               <MiscControls>--via .\params.mk</MiscControls>
               <Define>USE_STDPERIPH_DRIVER,STM32F10X_MD</Define>
@@ -347,6 +348,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
+            <uClangAs>0</uClangAs>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/驱动固件的配置与使用.md b/Hardware/Firmware/PiRobot_Firmware v1.0/驱动固件的配置与使用.md
new file mode 100644
index 0000000..21dedaa
--- /dev/null
+++ b/Hardware/Firmware/PiRobot_Firmware v1.0/驱动固件的配置与使用.md	
@@ -0,0 +1,6 @@
+# 驱动固件的配置与使用
+
+#### 一、下位机驱动板的通信
+
+​		小车驱动底板主要采用是串口通信，接口上支持`USB`通信。小车与`ROS`交互使用的是`uart3`(小车底板上的`micro usb`接口)，小车打印log采用是`uart1`(小车底板上的排针)。
+
diff --git a/Hardware/Firmware/README.md b/Hardware/Firmware/README.md
index b6ebae4..2ffc5ad 100644
--- a/Hardware/Firmware/README.md
+++ b/Hardware/Firmware/README.md
@@ -1,4 +1,4 @@
 # 目录说明
 
-1. GeekRobotTiny_Firmware : 詹力开发的机器人地盘固件
-2. PiRobot :  目前实验室使用的扫地机器人和割草机器人的固件
\ No newline at end of file
+1. `GeekRobotTiny_Firmware` : 詹力开发的机器人地盘固件
+2. `PiRobot` :  目前实验室使用的扫地机器人和割草机器人的固件
\ No newline at end of file