From eb930609aa142ffc7fd8d81d83ac17fa86b12a42 Mon Sep 17 00:00:00 2001
From: ThinkPad-T460P <ibookshiyi@gmail.com>
Date: Thu, 11 Mar 2021 19:09:05 +0800
Subject: [PATCH] update

---
 .cproject                              | 41 +++++++++-----
 .gitmodules                            |  3 ++
 .mxproject                             | 74 +++++++++++++-------------
 .settings/stm32cubeide.project.prefs   |  4 +-
 App/Inc/th_button.h                    |  6 +--
 App/Inc/th_elog.h                      |  4 ++
 App/Inc/th_iwdg.h                      | 12 +++++
 App/Src/th_button.c                    |  8 +--
 App/Src/th_coulomb.c                   |  2 +-
 App/Src/th_demo.c                      | 19 ++++---
 App/Src/th_elog.c                      | 15 ++++--
 App/Src/th_iwdg.c                      | 28 ++++++++++
 App/Src/th_led.c                       |  4 +-
 App/Src/th_power.c                     |  2 +-
 Core/Inc/stm32f1xx_it.h                |  4 ++
 Core/Inc/usart.h                       |  3 --
 Core/Src/adc.c                         | 11 ++++
 Core/Src/freertos.c                    | 45 ++++++++--------
 Core/Src/i2c.c                         | 10 ++++
 Core/Src/iwdg.c                        | 10 ++++
 Core/Src/main.c                        | 30 +++++++++--
 Core/Src/navikit.c                     |  1 +
 Core/Src/rtc.c                         | 10 ++++
 Middlewares/Lab-Project-FreeRTOS-POSIX |  1 +
 NaviKit_EC_stm32 Debug.launch          |  1 +
 NaviKit_EC_stm32 Release.launch        |  2 +
 NaviKit_EC_stm32.ioc                   | 48 ++++++++++++++++-
 README.md                              | 13 +++--
 STM32F107VCTX_FLASH.ld                 |  4 +-
 USB_DEVICE/Target/usbd_conf.c          |  1 +
 USB_DEVICE/Target/usbd_conf.h          |  9 +---
 31 files changed, 307 insertions(+), 118 deletions(-)
 create mode 100644 App/Inc/th_iwdg.h
 create mode 100644 App/Src/th_iwdg.c
 create mode 160000 Middlewares/Lab-Project-FreeRTOS-POSIX

diff --git a/.cproject b/.cproject
index 7fde85f..218e6d7 100644
--- a/.cproject
+++ b/.cproject
@@ -4,7 +4,13 @@
 		<cconfiguration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.502298629">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.502298629" moduleId="org.eclipse.cdt.core.settings" name="Debug">
 				<externalSettings>
-					<externalSetting/>
+					<externalSetting>
+						<entry flags="RESOLVED" kind="includePath" name="Middlewares/Lab-Project-FreeRTOS-POSIX/include/private"/>
+						<entry flags="RESOLVED" kind="includePath" name="Middlewares/Lab-Project-FreeRTOS-POSIX/include/FreeRTOS_POSIX"/>
+						<entry flags="RESOLVED" kind="includePath" name="Middlewares/Lab-Project-FreeRTOS-POSIX/include/FreeRTOS_POSIX/sys"/>
+						<entry flags="RESOLVED" kind="includePath" name="Middlewares/Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/include"/>
+						<entry flags="RESOLVED" kind="includePath" name="Middlewares/Lab-Project-FreeRTOS-POSIX/FreeRTOS-Plus-POSIX/include/portable"/>
+					</externalSetting>
 				</externalSettings>
 				<extensions>
 					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
@@ -25,7 +31,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.433736509" name="CpuId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.276377927" name="CpuCoreId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1980681105" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1465740073" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.3 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F107VCTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../USB_DEVICE/Target | ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../USB_DEVICE/App | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 ||  ||  || USE_HAL_DRIVER | STM32F107xC ||  || Drivers | CMSIS | Core/Startup | Middlewares | Core | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1465740073" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.4 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F107VCTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../USB_DEVICE/Target | ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../USB_DEVICE/App | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 ||  ||  || USE_HAL_DRIVER | STM32F107xC ||  || Drivers | CMSIS | Core/Startup | Middlewares | Core | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.1573745116" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.142703396" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="false" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.1187387752" name="Runtime library" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.value.standard_c" valueType="enumerated"/>
@@ -36,15 +42,17 @@
 							<builder buildPath="${workspace_loc:/NaviKit_stm32}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.901379162" keepEnvironmentInBuildfile="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="unlimited" stopOnErr="false" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.451303658" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.599548003" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g3" valueType="enumerated"/>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths.121590855" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths" valueType="includePath"/>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.1434790555" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.259361276" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
 							<tool command="gcc" commandLinePattern="${COMMAND} ${INPUTS} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT}" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.770357739" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.883307296" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1182522958" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1676188920" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
-									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
-									<listOptionValue builtIn="false" value="STM32F107xC"/>
 									<listOptionValue builtIn="false" value="DEBUG"/>
+									<listOptionValue builtIn="false" value="STM32F107xC"/>
+									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.186388616" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../App/Inc"/>
@@ -57,8 +65,8 @@
 									<listOptionValue builtIn="false" value="../Middlewares/EasyLogger/easylogger/inc"/>
 									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
 									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Core/Inc"/>
-									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3"/>
 									<listOptionValue builtIn="false" value="../USB_DEVICE/App"/>
 									<listOptionValue builtIn="false" value="../USB_DEVICE/Target"/>
@@ -92,10 +100,10 @@
 					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.502298629.1450340378" name="elog_cfg.h" rcbsApplicability="disable" resourcePath="Middlewares/EasyLogger/easylogger/inc/elog_cfg.h" toolsToInvoke=""/>
 					<sourceEntries>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="App"/>
+						<entry excluding="Lab-Project-FreeRTOS-POSIX|EasyLogger/easylogger/plugins|EasyLogger/docs" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="CMSIS"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
-						<entry excluding="Third_Party/FreeRTOS-Plus/Source/Utilities/logging|EasyLogger/easylogger/plugins|EasyLogger/docs" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="USB_DEVICE"/>
 					</sourceEntries>
 				</configuration>
@@ -104,7 +112,9 @@
 		</cconfiguration>
 		<cconfiguration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1260902692">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1260902692" moduleId="org.eclipse.cdt.core.settings" name="Release">
-				<externalSettings/>
+				<externalSettings>
+					<externalSetting/>
+				</externalSettings>
 				<extensions>
 					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
@@ -124,22 +134,24 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.1398882809" name="CpuId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1532730982" name="CpuCoreId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1861067852" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1239010509" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.3 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F107VCTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../USB_DEVICE/Target | ..//CMSIS/Driver/Include | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 | ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../USB_DEVICE/App | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/HID/Inc ||  ||  || USE_HAL_DRIVER | STM32F107xC ||  || Drivers | CMSIS | Core/Startup | Middlewares | Core | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1239010509" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.4 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F107VCTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../USB_DEVICE/Target | ..//CMSIS/Driver/Include | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 | ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../USB_DEVICE/App | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/HID/Inc ||  ||  || USE_HAL_DRIVER | STM32F107xC ||  || Drivers | CMSIS | Core/Startup | Middlewares | Core | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.1121264663" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="false" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.1737555266" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.1638170040" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" value="true" valueType="boolean"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.1638170040" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.238068216" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/NaviKit_stm32}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.95113451" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1535045086" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.767286012" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g0" valueType="enumerated"/>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths.1444171247" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths" valueType="includePath"/>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.1191563716" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.611490005" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.632904416" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.1856652564" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2079025018" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1412817126" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
-									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F107xC"/>
+									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.968919675" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../App/Inc"/>
@@ -152,11 +164,13 @@
 									<listOptionValue builtIn="false" value="../Middlewares/EasyLogger/easylogger/inc"/>
 									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
 									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Core/Inc"/>
-									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3"/>
 									<listOptionValue builtIn="false" value="../USB_DEVICE/App"/>
 									<listOptionValue builtIn="false" value="../USB_DEVICE/Target"/>
+									<listOptionValue builtIn="false" value="..//CMSIS/Driver/Include"/>
+									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/HID/Inc"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.77383630" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -185,10 +199,11 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="App"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="App"/>
+						<entry excluding="Lab-Project-FreeRTOS-POSIX|EasyLogger/easylogger/plugins" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="CMSIS"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
-						<entry excluding="EasyLogger/easylogger/plugins" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="USB_DEVICE"/>
 					</sourceEntries>
 				</configuration>
diff --git a/.gitmodules b/.gitmodules
index 77fac7e..a6097c2 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "Middlewares/EasyLogger"]
 	path = Middlewares/EasyLogger
 	url = https://github.com/autolaborcenter/EasyLogger.git
+[submodule "Middlewares/Lab-Project-FreeRTOS-POSIX"]
+	path = Middlewares/Lab-Project-FreeRTOS-POSIX
+	url = https://github.com/autolaborcenter/Lab-Project-FreeRTOS-POSIX.git
diff --git a/.mxproject b/.mxproject
index c6e9ea5..3623cb9 100644
--- a/.mxproject
+++ b/.mxproject
@@ -9,46 +9,46 @@ CDefines=USE_HAL_DRIVER;STM32F107xC;USE_HAL_DRIVER;USE_HAL_DRIVER;
 [PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=15
-HeaderFiles#0=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc/gpio.h
-HeaderFiles#1=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc/FreeRTOSConfig.h
-HeaderFiles#2=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc/adc.h
-HeaderFiles#3=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc/dma.h
-HeaderFiles#4=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc/i2c.h
-HeaderFiles#5=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc/iwdg.h
-HeaderFiles#6=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc/rtc.h
-HeaderFiles#7=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc/usart.h
-HeaderFiles#8=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/App/usb_device.h
-HeaderFiles#9=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/Target/usbd_conf.h
-HeaderFiles#10=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/App/usbd_desc.h
-HeaderFiles#11=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/App/usbd_cdc_if.h
-HeaderFiles#12=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc/stm32f1xx_it.h
-HeaderFiles#13=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc/stm32f1xx_hal_conf.h
-HeaderFiles#14=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc/main.h
+HeaderFiles#0=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc/gpio.h
+HeaderFiles#1=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc/FreeRTOSConfig.h
+HeaderFiles#2=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc/adc.h
+HeaderFiles#3=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc/dma.h
+HeaderFiles#4=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc/i2c.h
+HeaderFiles#5=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc/iwdg.h
+HeaderFiles#6=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc/rtc.h
+HeaderFiles#7=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc/usart.h
+HeaderFiles#8=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/App/usb_device.h
+HeaderFiles#9=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/Target/usbd_conf.h
+HeaderFiles#10=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/App/usbd_desc.h
+HeaderFiles#11=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/App/usbd_cdc_if.h
+HeaderFiles#12=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc/stm32f1xx_it.h
+HeaderFiles#13=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc/stm32f1xx_hal_conf.h
+HeaderFiles#14=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc/main.h
 HeaderFolderListSize=3
-HeaderPath#0=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Inc
-HeaderPath#1=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/App
-HeaderPath#2=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/Target
+HeaderPath#0=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Inc
+HeaderPath#1=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/App
+HeaderPath#2=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/Target
 HeaderFiles=;
 SourceFileListSize=16
-SourceFiles#0=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/gpio.c
-SourceFiles#1=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/freertos.c
-SourceFiles#2=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/adc.c
-SourceFiles#3=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/dma.c
-SourceFiles#4=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/i2c.c
-SourceFiles#5=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/iwdg.c
-SourceFiles#6=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/rtc.c
-SourceFiles#7=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/usart.c
-SourceFiles#8=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/App/usb_device.c
-SourceFiles#9=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/Target/usbd_conf.c
-SourceFiles#10=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/App/usbd_desc.c
-SourceFiles#11=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/App/usbd_cdc_if.c
-SourceFiles#12=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/stm32f1xx_it.c
-SourceFiles#13=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/stm32f1xx_hal_msp.c
-SourceFiles#14=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/stm32f1xx_hal_timebase_tim.c
-SourceFiles#15=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src/main.c
+SourceFiles#0=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/gpio.c
+SourceFiles#1=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/freertos.c
+SourceFiles#2=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/adc.c
+SourceFiles#3=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/dma.c
+SourceFiles#4=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/i2c.c
+SourceFiles#5=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/iwdg.c
+SourceFiles#6=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/rtc.c
+SourceFiles#7=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/usart.c
+SourceFiles#8=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/App/usb_device.c
+SourceFiles#9=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/Target/usbd_conf.c
+SourceFiles#10=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/App/usbd_desc.c
+SourceFiles#11=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/App/usbd_cdc_if.c
+SourceFiles#12=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/stm32f1xx_it.c
+SourceFiles#13=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/stm32f1xx_hal_msp.c
+SourceFiles#14=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/stm32f1xx_hal_timebase_tim.c
+SourceFiles#15=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src/main.c
 SourceFolderListSize=3
-SourcePath#0=E:/source/STM32CubeIDE/NaviKit_stm32/Core/Src
-SourcePath#1=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/App
-SourcePath#2=E:/source/STM32CubeIDE/NaviKit_stm32/USB_DEVICE/Target
+SourcePath#0=E:/source/STM32CubeIDE/NaviKit_EC_stm32/Core/Src
+SourcePath#1=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/App
+SourcePath#2=E:/source/STM32CubeIDE/NaviKit_EC_stm32/USB_DEVICE/Target
 SourceFiles=;
 
diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
index 6d54323..336601a 100644
--- a/.settings/stm32cubeide.project.prefs
+++ b/.settings/stm32cubeide.project.prefs
@@ -1,4 +1,4 @@
-2F62501ED4689FB349E356AB974DBE57=7721402F3CE8DC8D3A6A8AE537EFAC0B
-8DF89ED150041C4CBC7CB9A9CAA90856=7721402F3CE8DC8D3A6A8AE537EFAC0B
+2F62501ED4689FB349E356AB974DBE57=8E4D1FDC05ED3D447D65E8B3A57F2283
+8DF89ED150041C4CBC7CB9A9CAA90856=8E4D1FDC05ED3D447D65E8B3A57F2283
 DC22A860405A8BF2F2C095E5B6529F12=02D9A7110C849E46466CD5CF8816F30D
 eclipse.preferences.version=1
diff --git a/App/Inc/th_button.h b/App/Inc/th_button.h
index 55dce98..4c4f541 100644
--- a/App/Inc/th_button.h
+++ b/App/Inc/th_button.h
@@ -11,8 +11,8 @@
 #include "cmsis_os2.h"
 
 /* Definitions for ButtonDetect */
-osThreadId_t ButtonDetectHandle;
-const osThreadAttr_t ButtonDetect_attributes;
+osThreadId_t ButtonDetectTaskHandle;
+const osThreadAttr_t ButtonDetectTask_attributes;
 
 //Timer
 osTimerId_t PwrBtnLongPressTimerHandle;
@@ -28,7 +28,7 @@ osTimerId_t CustBtnShortPressTimerHandle;
 const osTimerAttr_t CustBtnShortPressTimer_attributes;
 
 
-void StartButtonDetect(void *argument);
+void StartButtonDetectTask(void *argument);
 
 //callback
 void PwrBtnLongPressTimerCallback(void *argument);
diff --git a/App/Inc/th_elog.h b/App/Inc/th_elog.h
index 737f13d..23eb358 100644
--- a/App/Inc/th_elog.h
+++ b/App/Inc/th_elog.h
@@ -3,6 +3,10 @@
 
 #include "cmsis_os2.h"
 
+osMutexId_t ElogUartMutexHandle;
+const osMutexAttr_t ElogUartMutex_attributes;
+
+osMutexId_t ElogOutputMutexHandle;
 const osMutexAttr_t ElogOutputMutex_attributes;
 
 osThreadId_t ElogInitTaskHandle;
diff --git a/App/Inc/th_iwdg.h b/App/Inc/th_iwdg.h
new file mode 100644
index 0000000..a9a5f2d
--- /dev/null
+++ b/App/Inc/th_iwdg.h
@@ -0,0 +1,12 @@
+#ifndef __TH_IWDG_H__
+#define __TH_IWDG_H__
+
+#include "cmsis_os2.h"
+
+osThreadId_t IWDGTaskHandle;
+
+const osThreadAttr_t IWDGTask_attributes;
+
+void StartIWDGTask(void *argument);
+
+#endif
diff --git a/App/Src/th_button.c b/App/Src/th_button.c
index bbcea02..8bb9a52 100644
--- a/App/Src/th_button.c
+++ b/App/Src/th_button.c
@@ -12,9 +12,9 @@
 #include "navikit.h"
 
 //Thread
-const osThreadAttr_t ButtonDetect_attributes = {
-  .name = "ButtonDetect",
-  .priority = (osPriority_t) osPriorityLow,
+const osThreadAttr_t ButtonDetectTask_attributes = {
+  .name = "ButtonDetectTask",
+  .priority = (osPriority_t) osPriorityBelowNormal,
   .stack_size = 128 * 4
 };
 
@@ -41,7 +41,7 @@ const osTimerAttr_t CustBtnShortPressTimer_attributes = {
 * @retval None
 */
 /* USER CODE END Header_StartButtonDetect */
-void StartButtonDetect(void *argument)
+void StartButtonDetectTask(void *argument)
 {
   /* USER CODE BEGIN StartButtonDetect */
   /* Infinite loop */
diff --git a/App/Src/th_coulomb.c b/App/Src/th_coulomb.c
index 9f331df..aaf8867 100644
--- a/App/Src/th_coulomb.c
+++ b/App/Src/th_coulomb.c
@@ -16,7 +16,7 @@
 /* Definitions for CoulombRead */
 const osThreadAttr_t CoulombRead_attributes = {
   .name = "CoulombRead",
-  .priority = (osPriority_t) osPriorityLow,
+  .priority = (osPriority_t) osPriorityBelowNormal,
   .stack_size = 128 * 4
 };
 
diff --git a/App/Src/th_demo.c b/App/Src/th_demo.c
index c61edb3..00f5823 100644
--- a/App/Src/th_demo.c
+++ b/App/Src/th_demo.c
@@ -1,3 +1,10 @@
+/*
+ * @Description: 
+ * @Date: 2021-03-09 18:19:26
+ * @LastEditors: CK.Zh
+ * @LastEditTime: 2021-03-10 15:07:01
+ * @FilePath: \NaviKit_EC_stm32\App\Src\th_demo.c
+ */
 #define LOG_TAG    "TH-Demo"
 
 #include <th_demo.h>
@@ -6,20 +13,20 @@
 
 const osThreadAttr_t DemoTask1_attributes = {
   .name = "DemoTask1",
-  .priority = (osPriority_t) osPriorityNormal,
-  .stack_size = 128 * 4
+  .priority = (osPriority_t) osPriorityLow2,
+  .stack_size = 128 * 8
 };
 const osThreadAttr_t DemoTask2_attributes = {
   .name = "DemoTask2",
-  .priority = (osPriority_t) osPriorityBelowNormal,
-  .stack_size = 128 * 4
+  .priority = (osPriority_t) osPriorityLow1,
+  .stack_size = 128 * 8
 };
 void StartDemoTask1(void *argument){
 	uint8_t i=0;
 	log_v("Start Demo Task1");
 	for(;;){
 		log_v("demo task 1 [%d].",i++);
-		osDelay(1000);
+		osDelay(100);
 	}
 }
 void StartDemoTask2(void *argument){
@@ -27,6 +34,6 @@ void StartDemoTask2(void *argument){
 	log_v("Start Demo Task2");
 	for(;;){
 		log_v("demo task 2 [%d].",i++);
-		osDelay(1000);
+		osDelay(100);
 	}
 }
diff --git a/App/Src/th_elog.c b/App/Src/th_elog.c
index 24e3b72..3710f1f 100644
--- a/App/Src/th_elog.c
+++ b/App/Src/th_elog.c
@@ -2,7 +2,7 @@
  * @Description: 
  * @Date: 2021-03-09 11:30:52
  * @LastEditors: CK.Zh
- * @LastEditTime: 2021-03-10 10:59:15
+ * @LastEditTime: 2021-03-10 14:46:32
  * @FilePath: \NaviKit_EC_stm32\App\Src\th_elog.c
  */
 
@@ -11,20 +11,23 @@
 #include <th_elog.h>
 #include "main.h"
 
+const osMutexAttr_t ElogUartMutex_attributes = {
+  .name = "ElogUartMutex"
+};
 const osMutexAttr_t ElogOutputMutex_attributes = {
   .name = "ElogOutputMutex"
 };
 
 const osThreadAttr_t ElogInitTask_attributes = {
   .name = "ElogInitTask",
-  .priority = (osPriority_t) osPriorityBelowNormal,
+  .priority = (osPriority_t) osPriorityNormal,
   .stack_size = 128 * 4
 };
 
 const osThreadAttr_t ElogFlushTask_attributes = {
   .name = "ElogFlushTask",
   .priority = (osPriority_t) osPriorityLow,
-  .stack_size = 128 * 4
+  .stack_size = 128 * 8
 };
 
 void StartElogInitTask(void *argument){
@@ -36,10 +39,11 @@ void StartElogInitTask(void *argument){
 
 void StartElogFlushTask(void *argument){
 
+	uint8_t i=0;
 	log_v("Start Elog Flush Task");
 	for(;;){
 		elog_flush();
-		osDelay(5);
+		 osDelay(1);
 	}
 }
 
@@ -67,6 +71,9 @@ void my_elog_init(){
     /* 详细：输出除了方法名之外的所有内容 */
     elog_set_fmt(ELOG_LVL_VERBOSE, ELOG_FMT_SETTING);
 
+    // enable text color (dynamic)
+    elog_set_text_color_enabled(true);
+
     /* start EasyLogger */
     elog_start();
 }
diff --git a/App/Src/th_iwdg.c b/App/Src/th_iwdg.c
new file mode 100644
index 0000000..e139427
--- /dev/null
+++ b/App/Src/th_iwdg.c
@@ -0,0 +1,28 @@
+/*
+ * @Description: 
+ * @Date: 2021-03-09 18:19:26
+ * @LastEditors: CK.Zh
+ * @LastEditTime: 2021-03-10 15:07:01
+ * @FilePath: \NaviKit_EC_stm32\App\Src\th_demo.c
+ */
+#define LOG_TAG    "TH-IWDG"
+
+#include <th_iwdg.h>
+#include "main.h"
+#include "iwdg.h"
+
+
+const osThreadAttr_t IWDGTask_attributes = {
+  .name = "IWDGTask",
+  .priority = (osPriority_t) osPriorityHigh,
+  .stack_size = 128 * 4
+};
+
+void StartIWDGTask(void *argument){
+	log_v("Start IWDG Task");
+	for(;;){
+		HAL_IWDG_Refresh(&hiwdg);
+		osDelay(1000);
+	}
+}
+
diff --git a/App/Src/th_led.c b/App/Src/th_led.c
index f734450..07cf763 100644
--- a/App/Src/th_led.c
+++ b/App/Src/th_led.c
@@ -13,8 +13,8 @@
 
 const osThreadAttr_t LedBlinkTask_attributes = {
   .name = "LedBlinkTask",
-  .priority = (osPriority_t) osPriorityLow,
-  .stack_size = 128 * 4
+  .priority = (osPriority_t) osPriorityBelowNormal,
+  .stack_size = 128 * 8
 };
 
 /* USER CODE BEGIN Header_StartLedBlinkTask */
diff --git a/App/Src/th_power.c b/App/Src/th_power.c
index 034f266..a02d238 100644
--- a/App/Src/th_power.c
+++ b/App/Src/th_power.c
@@ -14,7 +14,7 @@
 
 const osThreadAttr_t PowerMonitTask_attributes = {
   .name = "PowerMonitTask",
-  .priority = (osPriority_t) osPriorityLow,
+  .priority = (osPriority_t) osPriorityBelowNormal,
   .stack_size = 128 * 4
 };
 
diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h
index 5d71e1a..c6d5a7a 100644
--- a/Core/Inc/stm32f1xx_it.h
+++ b/Core/Inc/stm32f1xx_it.h
@@ -61,6 +61,8 @@ void EXTI0_IRQHandler(void);
 void EXTI3_IRQHandler(void);
 void EXTI4_IRQHandler(void);
 void DMA1_Channel1_IRQHandler(void);
+void DMA1_Channel4_IRQHandler(void);
+void DMA1_Channel5_IRQHandler(void);
 void ADC1_2_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
 void TIM1_UP_IRQHandler(void);
@@ -69,6 +71,8 @@ void I2C1_ER_IRQHandler(void);
 void USART1_IRQHandler(void);
 void RTC_Alarm_IRQHandler(void);
 void UART4_IRQHandler(void);
+void DMA2_Channel3_IRQHandler(void);
+void DMA2_Channel5_IRQHandler(void);
 void OTG_FS_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
diff --git a/Core/Inc/usart.h b/Core/Inc/usart.h
index 6b11bb4..a3e9db5 100644
--- a/Core/Inc/usart.h
+++ b/Core/Inc/usart.h
@@ -29,8 +29,6 @@ extern "C" {
 
 /* USER CODE BEGIN Includes */
 
-#include <stdio.h>
-#include  <stdarg.h>
 /* USER CODE END Includes */
 
 extern UART_HandleTypeDef huart4;
@@ -45,7 +43,6 @@ void MX_USART1_UART_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 
-void UartPrint(char * format,...);
 /* USER CODE END Prototypes */
 
 #ifdef __cplusplus
diff --git a/Core/Src/adc.c b/Core/Src/adc.c
index 354009e..0ca5b8f 100644
--- a/Core/Src/adc.c
+++ b/Core/Src/adc.c
@@ -33,9 +33,17 @@ DMA_HandleTypeDef hdma_adc1;
 /* ADC1 init function */
 void MX_ADC1_Init(void)
 {
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
   ADC_AnalogWDGConfTypeDef AnalogWDGConfig = {0};
   ADC_ChannelConfTypeDef sConfig = {0};
 
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
   /** Common config
   */
   hadc1.Instance = ADC1;
@@ -117,6 +125,9 @@ void MX_ADC1_Init(void)
   {
     Error_Handler();
   }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
 
 }
 
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index bbdafa2..b9488ee 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -38,6 +38,7 @@
 #include <th_coulomb.h>
 #include <th_power.h>
 #include <th_button.h>
+#include <th_iwdg.h>
 
 
 /* USER CODE END Includes */
@@ -70,7 +71,7 @@ const osTimerAttr_t IdleStateHoldTimer_attributes = {
 osThreadId_t defaultTaskHandle;
 const osThreadAttr_t defaultTask_attributes = {
   .name = "defaultTask",
-  .stack_size = 128 * 4,
+  .stack_size = 128 * 8,
   .priority = (osPriority_t) osPriorityNormal,
 };
 
@@ -81,6 +82,7 @@ void IdleStateHoldTimerCallback(void *argument);
 
 bool isWakeUpFromReset() {	return  __HAL_PWR_GET_FLAG(PWR_FLAG_WU);}
 
+//__HAL_RCC_GET_FLAG(); //判断复位源
 
 /* USER CODE END FunctionPrototypes */
 
@@ -167,6 +169,7 @@ void MX_FREERTOS_Init(void) {
   /* USER CODE BEGIN Init */
 
       ElogOutputMutexHandle = osMutexNew(&ElogOutputMutex_attributes);
+//      ElogUartMutexHandle = osMutexNew(&ElogUartMutex_attributes);
 	my_elog_init();
 	  NaviKit_var_init();
   /* USER CODE END Init */
@@ -202,22 +205,23 @@ void MX_FREERTOS_Init(void) {
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
-  
+  //IWDG--------------------------------------------
+  IWDGTaskHandle = osThreadNew(StartIWDGTask, NULL, &IWDGTask_attributes);
 
 	//Power--------------------------------------------
 //  PowerMonitTaskHandle = osThreadNew(StartPowerMonitTask, NULL, &PowerMonitTask_attributes);
 
 
   //Button--------------------------------------------
-//  ButtonDetectHandle = osThreadNew(StartButtonDetect, NULL, &ButtonDetect_attributes);
+  ButtonDetectTaskHandle = osThreadNew(StartButtonDetectTask, NULL, &ButtonDetectTask_attributes);
 
 
   //LED--------------------------------------------
-//  LedBlinkTaskHandle = osThreadNew(StartLedBlinkTask, NULL, &LedBlinkTask_attributes);
+ LedBlinkTaskHandle = osThreadNew(StartLedBlinkTask, NULL, &LedBlinkTask_attributes);
 
 
   //CDC--------------------------------------------
-//  cdcMonitorTaskHandle = osThreadNew(StartCdcMonitorTask, NULL, &cdcMonitorTask_attributes);
+ cdcMonitorTaskHandle = osThreadNew(StartCdcMonitorTask, NULL, &cdcMonitorTask_attributes);
 
 
   //Coulomb--------------------------------------------
@@ -230,10 +234,9 @@ void MX_FREERTOS_Init(void) {
 	ElogFlushTaskHandle = osThreadNew(StartElogFlushTask, NULL, &ElogFlushTask_attributes);
 #endif
 
-
   //Demo--------------------------------------------
-//  DemoTask1Handle = osThreadNew(StartDemoTask1, NULL, &DemoTask1_attributes);
-//  DemoTask2Handle = osThreadNew(StartDemoTask2, NULL, &DemoTask2_attributes);
+ DemoTask1Handle = osThreadNew(StartDemoTask1, NULL, &DemoTask1_attributes);
+ DemoTask2Handle = osThreadNew(StartDemoTask2, NULL, &DemoTask2_attributes);
 
 
   /* USER CODE END RTOS_THREADS */
@@ -290,17 +293,17 @@ osVersion_t osVersion;
 //		TaskBeep(50,1);
 	}
 
- 	log_i("----------------------------------------------");
- 	log_i("Copyright (c) Powered by www.autolabor.com.cn");
- #ifdef DEBUG
- 	log_i("EC Firmware: %s[DEBUG], build: %s, %s",APP_VERSION,__DATE__ ,__TIME__);
- #else
- 	log_i("EC Firmware: %s[RELEASE], build: %s, %s",APP_VERSION,__DATE__ ,__TIME__);
- #endif
- 	log_i("HAL Version: 0x%X ", HAL_GetHalVersion());
- 	log_i("Revision ID: 0x%X ", HAL_GetREVID());
- 	log_i("Device ID: 0x%X ", HAL_GetDEVID());
- 	log_i("Chip UID: 0x%X%X%X ", HAL_GetUIDw0(),HAL_GetUIDw1(),HAL_GetUIDw2());
+	log_i("----------------------------------------------");
+	log_i("Copyright (c) Powered by www.autolabor.com.cn");
+#ifdef DEBUG
+	log_i("EC Firmware: %s[DEBUG], build: %s, %s",APP_VERSION,__DATE__ ,__TIME__);
+#else
+	log_i("EC Firmware: %s[RELEASE], build: %s, %s",APP_VERSION,__DATE__ ,__TIME__);
+#endif
+	log_i("HAL Version: 0x%X ", HAL_GetHalVersion());
+	log_i("Revision ID: 0x%X ", HAL_GetREVID());
+	log_i("Device ID: 0x%X ", HAL_GetDEVID());
+	log_i("Chip UID: 0x%X%X%X ", HAL_GetUIDw0(),HAL_GetUIDw1(),HAL_GetUIDw2());
 
  	if(osOK == osKernelGetInfo(&osVersion,id_buf,id_size)){
  		log_i("OS Kernel Version: %u ", osVersion.kernel);
@@ -311,12 +314,10 @@ osVersion_t osVersion;
      log_i("Log Library Version: V%s",ELOG_SW_VERSION);
 
  	log_i("Core initial successfully");
- 	log_i("----------------------------------------------");
 
   /* Infinite loop */
   for(;;)
   {
-//	 HAL_IWDG_Refresh(&hiwdg);
 	osDelay(20);
     if(NaviKit.sys.sta != NaviKit.sys.next_sta){
     	switch(NaviKit.sys.next_sta){
@@ -367,7 +368,7 @@ osVersion_t osVersion;
 //			  }
 
 		  if(!osTimerIsRunning(IdleStateHoldTimerHandle)){
-		  			osTimerStart(IdleStateHoldTimerHandle,5000);
+//		  			osTimerStart(IdleStateHoldTimerHandle,5000);
 		  }
 	  }
 
diff --git a/Core/Src/i2c.c b/Core/Src/i2c.c
index 7c0ac4d..5f7b5be 100644
--- a/Core/Src/i2c.c
+++ b/Core/Src/i2c.c
@@ -51,6 +51,13 @@ I2C_HandleTypeDef hi2c1;
 void MX_I2C1_Init(void)
 {
 
+  /* USER CODE BEGIN I2C1_Init 0 */
+
+  /* USER CODE END I2C1_Init 0 */
+
+  /* USER CODE BEGIN I2C1_Init 1 */
+
+  /* USER CODE END I2C1_Init 1 */
   hi2c1.Instance = I2C1;
   hi2c1.Init.ClockSpeed = 100000;
   hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
@@ -64,6 +71,9 @@ void MX_I2C1_Init(void)
   {
     Error_Handler();
   }
+  /* USER CODE BEGIN I2C1_Init 2 */
+
+  /* USER CODE END I2C1_Init 2 */
 
 }
 
diff --git a/Core/Src/iwdg.c b/Core/Src/iwdg.c
index 300a78b..fed358e 100644
--- a/Core/Src/iwdg.c
+++ b/Core/Src/iwdg.c
@@ -30,6 +30,13 @@ IWDG_HandleTypeDef hiwdg;
 void MX_IWDG_Init(void)
 {
 
+  /* USER CODE BEGIN IWDG_Init 0 */
+
+  /* USER CODE END IWDG_Init 0 */
+
+  /* USER CODE BEGIN IWDG_Init 1 */
+
+  /* USER CODE END IWDG_Init 1 */
   hiwdg.Instance = IWDG;
   hiwdg.Init.Prescaler = IWDG_PRESCALER_16;
   hiwdg.Init.Reload = 0xfff;
@@ -37,6 +44,9 @@ void MX_IWDG_Init(void)
   {
     Error_Handler();
   }
+  /* USER CODE BEGIN IWDG_Init 2 */
+
+  /* USER CODE END IWDG_Init 2 */
 
 }
 
diff --git a/Core/Src/main.c b/Core/Src/main.c
index e2b0e1b..bc9f09a 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -96,17 +96,27 @@ int main(void)
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_DMA_Init();
-//  MX_I2C1_Init();
-//  MX_IWDG_Init();
-//  MX_UART4_Init();
+  MX_I2C1_Init();
+  MX_IWDG_Init();
+  MX_UART4_Init();
   MX_ADC1_Init();
   MX_USART1_UART_Init();
-//  MX_RTC_Init();
+  MX_RTC_Init();
 
   /* Initialize interrupts */
   MX_NVIC_Init();
   /* USER CODE BEGIN 2 */
+  //print log before kernel start
+//  uint8_t log_head[]="Autolabor EC Booting...\r\n";
+//  HAL_UART_Transmit_DMA(&huart1, log_head, sizeof(log_head));
+	  if( hiwdg.Instance->SR & IWDG_KEY_ENABLE){
+		  uint8_t log_head[]="iwdg enable\r\n";
+		  HAL_UART_Transmit_DMA(&huart1, log_head, sizeof(log_head));
+	  }else{
 
+		  uint8_t log_head[]="iwdg disable\r\n";
+		  HAL_UART_Transmit_DMA(&huart1, log_head, sizeof(log_head));
+	  }
   /* USER CODE END 2 */
 
   /* Init scheduler */
@@ -235,6 +245,18 @@ static void MX_NVIC_Init(void)
   /* EXTI4_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(EXTI4_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(EXTI4_IRQn);
+  /* DMA1_Channel4_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
+  /* DMA1_Channel5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
+  /* DMA2_Channel3_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Channel3_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Channel3_IRQn);
+  /* DMA2_Channel5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Channel5_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Channel5_IRQn);
 }
 
 /* USER CODE BEGIN 4 */
diff --git a/Core/Src/navikit.c b/Core/Src/navikit.c
index c3fe894..46cac33 100644
--- a/Core/Src/navikit.c
+++ b/Core/Src/navikit.c
@@ -102,6 +102,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 
 void enter_standby_state(){
 	  log_i("EC enter to STANDBY Mode to save power, see you!");
+	  osDelay(10);
 		HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);//Enable PA0 wakeup function
 	    __HAL_RCC_RTC_DISABLE();
 	  HAL_PWR_EnterSTANDBYMode();
diff --git a/Core/Src/rtc.c b/Core/Src/rtc.c
index b21a246..6ee003a 100644
--- a/Core/Src/rtc.c
+++ b/Core/Src/rtc.c
@@ -30,6 +30,13 @@ RTC_HandleTypeDef hrtc;
 void MX_RTC_Init(void)
 {
 
+  /* USER CODE BEGIN RTC_Init 0 */
+
+  /* USER CODE END RTC_Init 0 */
+
+  /* USER CODE BEGIN RTC_Init 1 */
+
+  /* USER CODE END RTC_Init 1 */
   /** Initialize RTC Only
   */
   hrtc.Instance = RTC;
@@ -39,6 +46,9 @@ void MX_RTC_Init(void)
   {
     Error_Handler();
   }
+  /* USER CODE BEGIN RTC_Init 2 */
+
+  /* USER CODE END RTC_Init 2 */
 
 }
 
diff --git a/Middlewares/Lab-Project-FreeRTOS-POSIX b/Middlewares/Lab-Project-FreeRTOS-POSIX
new file mode 160000
index 0000000..0c6cec9
--- /dev/null
+++ b/Middlewares/Lab-Project-FreeRTOS-POSIX
@@ -0,0 +1 @@
+Subproject commit 0c6cec978cd8163c8640c7c157cccba457dedabc
diff --git a/NaviKit_EC_stm32 Debug.launch b/NaviKit_EC_stm32 Debug.launch
index 9d649b7..2124351 100644
--- a/NaviKit_EC_stm32 Debug.launch	
+++ b/NaviKit_EC_stm32 Debug.launch	
@@ -70,4 +70,5 @@
 </listAttribute>
 <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;&#13;&#10;"/>
 <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
+<stringAttribute key="saved_expressions&lt;seperator&gt;Unknown" value="e810000,0xe810000"/>
 </launchConfiguration>
diff --git a/NaviKit_EC_stm32 Release.launch b/NaviKit_EC_stm32 Release.launch
index 519b745..1dec609 100644
--- a/NaviKit_EC_stm32 Release.launch	
+++ b/NaviKit_EC_stm32 Release.launch	
@@ -36,6 +36,7 @@
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]}}]}"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.swv.swv_wait_for_sync" value="true"/>
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
@@ -67,5 +68,6 @@
 <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
 <listEntry value="4"/>
 </listAttribute>
+<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;&#13;&#10;"/>
 <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
 </launchConfiguration>
diff --git a/NaviKit_EC_stm32.ioc b/NaviKit_EC_stm32.ioc
index 91d1368..8e24c9e 100644
--- a/NaviKit_EC_stm32.ioc
+++ b/NaviKit_EC_stm32.ioc
@@ -64,7 +64,47 @@ Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE
 Dma.ADC1.0.Priority=DMA_PRIORITY_LOW
 Dma.ADC1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 Dma.Request0=ADC1
-Dma.RequestsNb=1
+Dma.Request1=USART1_TX
+Dma.Request2=USART1_RX
+Dma.Request3=UART4_RX
+Dma.Request4=UART4_TX
+Dma.RequestsNb=5
+Dma.UART4_RX.3.Direction=DMA_PERIPH_TO_MEMORY
+Dma.UART4_RX.3.Instance=DMA2_Channel3
+Dma.UART4_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.UART4_RX.3.MemInc=DMA_MINC_ENABLE
+Dma.UART4_RX.3.Mode=DMA_NORMAL
+Dma.UART4_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.UART4_RX.3.PeriphInc=DMA_PINC_DISABLE
+Dma.UART4_RX.3.Priority=DMA_PRIORITY_LOW
+Dma.UART4_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+Dma.UART4_TX.4.Direction=DMA_MEMORY_TO_PERIPH
+Dma.UART4_TX.4.Instance=DMA2_Channel5
+Dma.UART4_TX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.UART4_TX.4.MemInc=DMA_MINC_ENABLE
+Dma.UART4_TX.4.Mode=DMA_NORMAL
+Dma.UART4_TX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.UART4_TX.4.PeriphInc=DMA_PINC_DISABLE
+Dma.UART4_TX.4.Priority=DMA_PRIORITY_LOW
+Dma.UART4_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+Dma.USART1_RX.2.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART1_RX.2.Instance=DMA1_Channel5
+Dma.USART1_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_RX.2.MemInc=DMA_MINC_ENABLE
+Dma.USART1_RX.2.Mode=DMA_NORMAL
+Dma.USART1_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_RX.2.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_RX.2.Priority=DMA_PRIORITY_LOW
+Dma.USART1_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+Dma.USART1_TX.1.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART1_TX.1.Instance=DMA1_Channel4
+Dma.USART1_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_TX.1.MemInc=DMA_MINC_ENABLE
+Dma.USART1_TX.1.Mode=DMA_NORMAL
+Dma.USART1_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_TX.1.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_TX.1.Priority=DMA_PRIORITY_LOW
+Dma.USART1_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 FREERTOS.FootprintOK=true
 FREERTOS.HEAP_NUMBER=4
 FREERTOS.INCLUDE_pcTaskGetTaskName=1
@@ -193,6 +233,10 @@ MxDb.Version=DB.6.0.20
 NVIC.ADC1_2_IRQn=true\:5\:0\:false\:true\:true\:8\:true\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.DMA1_Channel1_IRQn=true\:5\:0\:false\:true\:true\:9\:true\:false\:true
+NVIC.DMA1_Channel4_IRQn=true\:5\:0\:false\:true\:true\:17\:true\:false\:true
+NVIC.DMA1_Channel5_IRQn=true\:5\:0\:false\:true\:true\:18\:true\:false\:true
+NVIC.DMA2_Channel3_IRQn=true\:5\:0\:false\:true\:true\:19\:true\:false\:true
+NVIC.DMA2_Channel5_IRQn=true\:5\:0\:false\:true\:true\:20\:true\:false\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:true\:false\:true\:false\:false\:false
 NVIC.EXTI0_IRQn=true\:5\:0\:false\:true\:true\:11\:true\:true\:true
 NVIC.EXTI3_IRQn=true\:5\:0\:false\:true\:true\:12\:true\:true\:true
@@ -652,4 +696,4 @@ VP_SYS_VS_tim1.Signal=SYS_VS_tim1
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
 board=custom
-isbadioc=true
+isbadioc=false
diff --git a/README.md b/README.md
index d198825..ae0bcbd 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@
  * @Author: CK.Zh
  * @Date: 2020-02-20 11:39:38
  * @LastEditors: CK.Zh
- * @LastEditTime: 2021-03-10 11:40:42
+ * @LastEditTime: 2021-03-10 13:48:33
  -->
 # NaviKit_stm32
  PM1导航套件中电源控制板源码，STM32F107VCT6，开发环境STM32CubeIDE
@@ -32,12 +32,17 @@
  函数`void HAL_PCD_IRQHandler(PCD_HandleTypeDef *hpcd)`
  代码段`HAL_PCD_SuspendCallback(hpcd); ` 务必屏蔽，否则导致枚举失败，提示获取设备描述符失败。
 
- > EC日志输出口波特率为56000bps
+
 
 # 维护指南
 * 为提高可移植性、可维护性、可阅读性，开发（应用层）时尽量使用`CMSIS_OS2`的抽象接口，特殊情况时再考虑使用RTOS的原生接口
-* 线程任务实例及属性、句柄的声明及定义，独立存放在`App`文件夹 
+*  `freertos.c`中的任务实体只保留默认任务, 其他线程任务实例、属性、句柄的声明及定义，独立存放在`App`文件夹 
 * 线程、定时器、事件标志、互斥锁、信号量、消息队列等功能的初始化统一在`freertos.c`文件中进行初始化（内核启动前的预装载）
-* `freertos.c`中的任务实体只保留默认任务即可
+
+# 日志接口
+
+* 串口输出口波特率为56000bps
+* 日志输出支持`CSI`颜色模式
+
 # 勘误
  硬件的v1.0以前版本中，SYS_RESET脚和MOD_SLEEP到单片机的实际连接与网络标号是相反的（问题发生在TXB0108PWR芯片附近），故代码中在GPIO处进行了相反的设置。
\ No newline at end of file
diff --git a/STM32F107VCTX_FLASH.ld b/STM32F107VCTX_FLASH.ld
index 37b3bc0..d99bf74 100644
--- a/STM32F107VCTX_FLASH.ld
+++ b/STM32F107VCTX_FLASH.ld
@@ -55,8 +55,8 @@ ENTRY(Reset_Handler)
 /* Highest address of the user mode stack */
 _estack = ORIGIN(RAM) + LENGTH(RAM);	/* end of "RAM" Ram type memory */
 
-_Min_Heap_Size = 0x400 ;	/* required amount of heap  */
-_Min_Stack_Size = 0x800 ;	/* required amount of stack */
+_Min_Heap_Size = 0x1f00 ;	/* required amount of heap  */
+_Min_Stack_Size = 0x1f00 ;	/* required amount of stack */
 
 /* Memories definition */
 MEMORY
diff --git a/USB_DEVICE/Target/usbd_conf.c b/USB_DEVICE/Target/usbd_conf.c
index 1b8c255..1a16390 100644
--- a/USB_DEVICE/Target/usbd_conf.c
+++ b/USB_DEVICE/Target/usbd_conf.c
@@ -301,6 +301,7 @@ USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev)
   hpcd_USB_OTG_FS.Instance = USB_OTG_FS;
   hpcd_USB_OTG_FS.Init.dev_endpoints = 4;
   hpcd_USB_OTG_FS.Init.speed = PCD_SPEED_FULL;
+  hpcd_USB_OTG_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
   hpcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
   hpcd_USB_OTG_FS.Init.low_power_enable = DISABLE;
   hpcd_USB_OTG_FS.Init.vbus_sensing_enable = DISABLE;
diff --git a/USB_DEVICE/Target/usbd_conf.h b/USB_DEVICE/Target/usbd_conf.h
index c84489b..e6fc6f8 100644
--- a/USB_DEVICE/Target/usbd_conf.h
+++ b/USB_DEVICE/Target/usbd_conf.h
@@ -1,10 +1,3 @@
-/*
- * @Description: 
- * @Date: 2020-02-20 11:58:24
- * @LastEditors: CK.Zh
- * @LastEditTime: 2021-03-09 18:32:44
- * @FilePath: \NaviKit_EC_stm32\USB_DEVICE\Target\usbd_conf.h
- */
 /* USER CODE BEGIN Header */
 /**
   ******************************************************************************
@@ -76,7 +69,7 @@
 /*---------- -----------*/
 #define USBD_MAX_STR_DESC_SIZ     512
 /*---------- -----------*/
-#define USBD_DEBUG_LEVEL     0
+#define USBD_DEBUG_LEVEL     3
 /*---------- -----------*/
 #define USBD_SELF_POWERED     1
 /*---------- -----------*/