diff --git a/app/by_motion.c b/app/by_motion.c
index 7e945e0..45e5826 100644
--- a/app/by_motion.c
+++ b/app/by_motion.c
@@ -154,6 +154,14 @@ void by_motion_init(void)
 
   motion_enable_flag = 1;
   DRV_ENABLE();
+
+  // 上电回零
+  DWT_Delay(3000000);
+  by_motion_set_speed_m1(-4);
+  while (SET == gpio_input_data_bit_read(GPIOB, GPIO_PINS_3)) {
+    // 等待复位
+  }
+  by_motion_set_speed_m1(0);
 }
 
 void by_motion_run(void)