diff --git a/app/gl_barrier.c b/app/gl_barrier.c
index a4b735b..4830c2a 100644
--- a/app/gl_barrier.c
+++ b/app/gl_barrier.c
@@ -23,7 +23,7 @@ void CheckBarrier()
 
 void RunBarrier()
 {
-    if (barrier_type == BARRIER_LEFT_BEGIN) {
+    if (barrier_type == BARRIER_LEFT_BEGIN||barrier_type == BARRIER_LEFT_RUNNING) {
         track_type = TRACK_RIGHT;
         //     if (barrier_begin_flag == 0) {
         //         timer_clear(TIM_3);
@@ -54,20 +54,20 @@ void RunBarrier()
             Lpt0_found_count = 0;
             barrier_type     = BARRIER_LEFT_RUNNING;
             track_type       = TRACK_RIGHT;
-            timer_clear(TIM_1);
-            timer_start(TIM_1);
+            timer_clear(TIM_2);
+            timer_start(TIM_2);
         } else if (barrier_type == BARRIER_LEFT_RUNNING) {
             track_type   = TRACK_RIGHT;
-            if (timer_get(TIM_1) >= 220) {
+            if (timer_get(TIM_2) >= 500) {
                 barrier_type = BARRIER_NONE;
                 track_type   = TRACK_RIGHT;
-                timer_stop(TIM_1);
-                timer_clear(TIM_1);
+                timer_stop(TIM_2);
+                timer_clear(TIM_2);
             }
         }
     }
 
-    if (barrier_type == BARRIER_RIGHT_BEGIN) {
+    if (barrier_type == BARRIER_RIGHT_BEGIN||barrier_type == BARRIER_RIGHT_RUNNING) {
         track_type = TRACK_LEFT;
         //     if (barrier_begin_flag == 0) {
         //         timer_clear(TIM_3);
@@ -98,13 +98,13 @@ void RunBarrier()
             Lpt1_found_count = 0;
             barrier_type     = BARRIER_RIGHT_RUNNING;
             track_type       = TRACK_LEFT;
-            timer_clear(TIM_1);
-            timer_start(TIM_1);
+            timer_clear(TIM_2);
+            timer_start(TIM_2);
         } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
             track_type   = TRACK_LEFT;
-            if (timer_get(TIM_1) >= 220) {
-                timer_stop(TIM_1);
-                timer_clear(TIM_1);
+            if (timer_get(TIM_2) >= 500) {
+                timer_stop(TIM_2);
+                timer_clear(TIM_2);
                 barrier_type = BARRIER_NONE;
                 track_type   = TRACK_LEFT;
             }
@@ -150,21 +150,21 @@ void RunS()
 }
 
 
-void Check_shield(){
-    if (begin_flag == 1)
-    {
-        shield_type = SHIELD_BEGIN;
-        timer_clear(TIM_3);
-        timer_start(TIM_3);
-        begin_flag = 0;
-    }
-    if (timer_get(TIM_3) > 1000 && shield_type == SHIELD_BEGIN)
-    {
-        shield_type = SHIELD_NONE;
-        timer_stop(TIM_3);
-        timer_clear(TIM_3);
-    }
+// void Check_shield(){
+//     if (begin_flag == 1)
+//     {
+//         shield_type = SHIELD_BEGIN;
+//         timer_clear(TIM_3);
+//         timer_start(TIM_3);
+//         begin_flag = 0;
+//     }
+//     if (timer_get(TIM_3) > 1000 && shield_type == SHIELD_BEGIN)
+//     {
+//         shield_type = SHIELD_NONE;
+//         timer_stop(TIM_3);
+//         timer_clear(TIM_3);
+//     }
     
 
     
-}
\ No newline at end of file
+// }
\ No newline at end of file
diff --git a/app/gl_tracking.c b/app/gl_tracking.c
index 7ca405f..6682ea8 100644
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -113,11 +113,11 @@ void aim_distance_select(void)
 void ElementJudge()
 {
     
-    if(begin_flag == 1){
-        shield_type = SHIELD_BEGIN;
-        begin_flag = 0;
-        return;
-    }
+    // if(begin_flag == 1){
+    //     shield_type = SHIELD_BEGIN;
+    //     begin_flag = 0;
+    //     return;
+    // }
 
     if (shield_type == SHIELD_NONE) {
         CheckGarage();
@@ -168,11 +168,12 @@ void ElementRun()
 
 void MidLineTrack()
 {
-    if (shield_type == SHIELD_BEGIN) {
-        shield_type = SHIELD_NONE;
-        system_delay_ms(1000);  // 斑马线发车延时
-    }
-    else if (cross_type == CROSS_IN) {
+    // if (shield_type == SHIELD_BEGIN) {
+    //     shield_type = SHIELD_NONE;
+    //     pure_angle = 0.f;
+    //     system_delay_ms(3500);  // 斑马线发车延时
+    // }
+    if (cross_type == CROSS_IN) {
         if (track_type == TRACK_LEFT) {
             mid_track = mid_left; // 这是为了预先分配内存
             GetMidLine_Left(pts_far_resample_left + far_Lpt0_rpts0s_id, pts_far_resample_left_count - far_Lpt0_rpts0s_id, mid_left, (int)round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
diff --git a/app/isr.c b/app/isr.c
index a269de5..04e7073 100644
--- a/app/isr.c
+++ b/app/isr.c
@@ -34,6 +34,7 @@
  ********************************************************************************************************************/
 
 #include "zf_common_headfile.h"
+#include "gl_headfile.h"
 #include "by_button.h"
 #include "by_buzzer.h"
 #include "by_frame.h"
@@ -285,8 +286,8 @@ void EXTI15_10_IRQHandler(void)
 void TIM1_UP_IRQHandler(void)
 {
     if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
-        by_frame_send(&tiny_frame_param[0].u32);
         TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
+        by_frame_send(&tiny_frame_param[0].u32);
         by_led_warn_blink();
     }
 }
diff --git a/app/main.c b/app/main.c
index 9f81607..5aead52 100644
--- a/app/main.c
+++ b/app/main.c
@@ -50,15 +50,16 @@ int main(void)
 
     pit_ms_init(TIM1_PIT, 10);
     timer_init(TIM_3, TIMER_MS);
+    timer_init(TIM_2, TIMER_MS);
     by_frame_init();
 
     printf("start running\r\n");
     while (1) {
         memset(recv_data, 0, sizeof(recv_data));
         by_frame_parse(&recv_data[0].u32);
-        if(0xEB == recv_data[0].u32) {
+        if (0x0D == recv_data[0].u32) {
             NVIC_SystemReset();
-        }else if (0x5C == recv_data[0].u32) {
+        } else if (0x5C == recv_data[0].u32) {
             begin_flag = 1;
         }