diff --git a/app/by_buzzer.c b/app/by_buzzer.c
index 8fd4e05..1626379 100644
--- a/app/by_buzzer.c
+++ b/app/by_buzzer.c
@@ -53,6 +53,7 @@ void by_buzzer_init(void)
     by_buzzer_add(1500);
 }
 
+// TODO 异步写入问题，不可重入
 void by_buzzer_add(uint16_t tone)
 {
     queue_add_element(tone);
diff --git a/app/isr.c b/app/isr.c
index 55468c1..58315ec 100644
--- a/app/isr.c
+++ b/app/isr.c
@@ -272,9 +272,9 @@ void EXTI15_10_IRQHandler(void)
 void TIM1_UP_IRQHandler(void)
 {
     if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
-        TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
         by_buzzer_run();
         sport_motion();
+        TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
     }
 }
 
diff --git a/app/jj_motion.c b/app/jj_motion.c
index 8a12ad2..a6558a1 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -75,10 +75,9 @@ float sport_get_speed(void)
     static float speed_now  = 0;
     static float speed_last = 0;
 
-    speed_now  = ALPHA * (float)encoder_get_count(TIM5_ENCOEDER) + (1.0f - ALPHA) * speed_last;
+    speed_now  = ALPHA * (float)encoder_get_count(TIM3_ENCOEDER) + (1.0f - ALPHA) * speed_last;
     speed_last = speed_now;
-
-    encoder_clear_count(TIM5_ENCOEDER);
+    encoder_clear_count(TIM3_ENCOEDER);
 
     return speed_now;
 
@@ -88,7 +87,7 @@ float sport_get_speed(void)
 void sport_motion(void)
 {
     if (1 == in_stop) {
-        bt_fly_flag = bt_run_flag = 0; 
+        bt_fly_flag = bt_run_flag = 0;
     }
     if (0 == in_state || 2 == in_state) {
         PID_SetTunings(&far_gyro_pid, an_Kp1, an_Ki1, an_Kd1);
diff --git a/app/main.c b/app/main.c
index edd3f62..9aa5756 100644
--- a/app/main.c
+++ b/app/main.c
@@ -43,14 +43,14 @@ int main(void)
     system_delay_init();
     debug_init();
 
-    encoder_quad_init(TIM5_ENCOEDER, TIM5_ENCOEDER_MAP0_CH1_A0, TIM5_ENCOEDER_MAP0_CH2_A1);
+    encoder_quad_init(TIM3_ENCOEDER, TIM3_ENCOEDER_MAP3_CH1_C6, TIM3_ENCOEDER_MAP3_CH2_C7);
     ips200_init(IPS200_TYPE_SPI);
     while (imu660ra_init())
         ;
     jj_param_eeprom_init();
     jj_bt_init();
     by_rb_init();
-    by_pwm_init();
+    // by_pwm_init();
     by_buzzer_init();
     by_frame_init();