diff --git a/inc/ultrasonic_driver.h b/inc/ultrasonic_driver.h
index b7aaffb..d2f1e65 100644
--- a/inc/ultrasonic_driver.h
+++ b/inc/ultrasonic_driver.h
@@ -62,14 +62,23 @@
 #define US_ECHO_CH           TIMER_CH_0
 
 void led_config(void);
+
 void usart_config(void);
+
 void ultrasonic_config(void);
+
 void ultrasonic_transmit_config(void);
+
 void ultrasonic_pwm_out_cycles(const uint8_t cycles);
+
 void ultrasonic_transmit_delay(const uint16_t micro_second);
+
 void receive_exti_config(void);
+
 void ultrasonic_echo_timer_config(void);
+
 void ultrasonic_receive_config(void);
+
 uint16_t calculate_distance(uint32_t us_value);
 
 #endif //ULTRASONIC_DRIVER_H
diff --git a/src/mlx90614.c b/src/mlx90614.c
index 98c24be..d542785 100644
--- a/src/mlx90614.c
+++ b/src/mlx90614.c
@@ -36,7 +36,8 @@ int read_ir_mlx90614(void)
         return -410;
     }
     TIMEOUT = 0;
-    I2C_GenerateSTART(I2C0, ENABLE);
+    // I2C_GenerateSTART(I2C0, ENABLE);
+    i2c_ack_config(I2C0, I2C_ACK_ENABLE);
     while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_MODE_SELECT))
         TIMEOUT++;
     if (TIMEOUT >= 10000)
diff --git a/src/systick.c b/src/systick.c
index a7dea8e..2f49754 100644
--- a/src/systick.c
+++ b/src/systick.c
@@ -22,14 +22,13 @@ volatile static float count_1ms = 0;
  *
  * ************************************************************************
  */
-void systick_config(void)
-{
+void systick_config(void) {
     //设置了 SysTick 定时器的时钟源为 HCLK/8
     systick_clksource_set(SYSTICK_CLKSOURCE_HCLK_DIV8);
     //计算了每微秒所需的 SysTick 计数值
-    count_1us = (float)SystemCoreClock/8000000;
+    count_1us = (float) SystemCoreClock / 8000000;
     //计算了每毫秒所需的 SysTick 计数值
-    count_1ms = (float)count_1us * 1000;
+    count_1ms = (float) count_1us * 1000;
 }
 
 /**
@@ -44,16 +43,15 @@ void delay_us(uint32_t count) {
     uint32_t ctl;
 
     //设置 SysTick 计数器的装载值
-    SysTick->LOAD = (uint32_t)(count * count_1us);
+    SysTick->LOAD = (uint32_t) (count * count_1us);
     //清零 SysTick 计数器，以确保计数器从零开始计数
     SysTick->VAL = 0x0000U;
     //使能 SysTick 定时器，开始进行计数
     SysTick->CTRL = SysTick_CTRL_ENABLE_Msk;
     //等待 SysTick 计数器的计数值达到装载值时退出
-    do
-    {
-        ctl = SysTick->CTRL;    //读取 CTRL 寄存器的值
-    }while((ctl & SysTick_CTRL_ENABLE_Msk)&&!(ctl & SysTick_CTRL_COUNTFLAG_Msk));
+    do {
+        ctl = SysTick->CTRL; //读取 CTRL 寄存器的值
+    } while ((ctl & SysTick_CTRL_ENABLE_Msk) && !(ctl & SysTick_CTRL_COUNTFLAG_Msk));
     //循环退出，禁用 SysTick 定时器
     SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;
     //将 SysTick 计数器的当前值清零，以便下次使用
@@ -72,16 +70,15 @@ void delay_ms(uint32_t count) {
     uint32_t ctl;
 
     //设置 SysTick 计数器的装载值
-    SysTick->LOAD = (uint32_t)(count * count_1ms);
+    SysTick->LOAD = (uint32_t) (count * count_1ms);
     //清零 SysTick 计数器，以确保计数器从零开始计数
     SysTick->VAL = 0x0000U;
     //使能 SysTick 定时器，开始进行计数
     SysTick->CTRL = SysTick_CTRL_ENABLE_Msk;
     //等待 SysTick 计数器的计数值达到装载值时退出
-    do
-    {
-        ctl = SysTick->CTRL;    //读取 CTRL 寄存器的值
-    }while((ctl&SysTick_CTRL_ENABLE_Msk)&&!(ctl & SysTick_CTRL_COUNTFLAG_Msk));
+    do {
+        ctl = SysTick->CTRL; //读取 CTRL 寄存器的值
+    } while ((ctl & SysTick_CTRL_ENABLE_Msk) && !(ctl & SysTick_CTRL_COUNTFLAG_Msk));
     //循环退出，禁用 SysTick 定时器
     SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;
     //将 SysTick 计数器的当前值清零，以便下次使用
@@ -97,5 +94,9 @@ void delay_ms(uint32_t count) {
  * ************************************************************************
  */
 void delay_5_nop(void) {
-    __NOP();__NOP();__NOP();__NOP();__NOP();
-}
\ No newline at end of file
+    __NOP();
+    __NOP();
+    __NOP();
+    __NOP();
+    __NOP();
+}