diff --git a/.cproject b/.cproject
index dc60787..d713cf4 100644
--- a/.cproject
+++ b/.cproject
@@ -23,7 +23,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.2045742466" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.2108401733" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1574925555" 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.244221814" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Core/ThreadSafe ||  ||  || USE_HAL_DRIVER | STM32F407xx | STM32_THREAD_SAFE_STRATEGY=5 ||  || Core/ThreadSafe | Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || FreeRTOS_DenyLockFromIRQ ||  ||  || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.244221814" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Core/ThreadSafe ||  ||  || USE_HAL_DRIVER | STM32F407xx | STM32_THREAD_SAFE_STRATEGY=4 ||  || Core/ThreadSafe | Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || FreeRTOS_AllowLockFromIRQ ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.764397174" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="144" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.992660821" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.494792904" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
@@ -46,7 +46,7 @@
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F407xx"/>
-									<listOptionValue builtIn="false" value="STM32_THREAD_SAFE_STRATEGY=5"/>
+									<listOptionValue builtIn="false" value="STM32_THREAD_SAFE_STRATEGY=4"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.550404719" 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="../Core/Inc"/>
@@ -72,7 +72,7 @@
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F407xx"/>
-									<listOptionValue builtIn="false" value="STM32_THREAD_SAFE_STRATEGY=5"/>
+									<listOptionValue builtIn="false" value="STM32_THREAD_SAFE_STRATEGY=4"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths.638645730" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../Core/Inc"/>
@@ -152,7 +152,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1754497094" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.521529052" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1969880333" 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.506604305" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Core/ThreadSafe ||  ||  || USE_HAL_DRIVER | STM32F407xx | STM32_THREAD_SAFE_STRATEGY=5 ||  || Core/ThreadSafe | Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || FreeRTOS_DenyLockFromIRQ ||  ||  || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.506604305" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Core/ThreadSafe ||  ||  || USE_HAL_DRIVER | STM32F407xx | STM32_THREAD_SAFE_STRATEGY=4 ||  || Core/ThreadSafe | Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || FreeRTOS_AllowLockFromIRQ ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.540585524" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="144" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.959571701" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/a8000_hbot_robot_controler}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.948513973" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
@@ -166,7 +166,7 @@
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.2131696986" 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="STM32F407xx"/>
-									<listOptionValue builtIn="false" value="STM32_THREAD_SAFE_STRATEGY=5"/>
+									<listOptionValue builtIn="false" value="STM32_THREAD_SAFE_STRATEGY=4"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.2033876918" 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="../Core/Inc"/>
@@ -187,7 +187,7 @@
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.1789839825" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F407xx"/>
-									<listOptionValue builtIn="false" value="STM32_THREAD_SAFE_STRATEGY=5"/>
+									<listOptionValue builtIn="false" value="STM32_THREAD_SAFE_STRATEGY=4"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths.381800526" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../Core/Inc"/>
diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
index e17c40e..184ab7f 100644
--- a/.settings/stm32cubeide.project.prefs
+++ b/.settings/stm32cubeide.project.prefs
@@ -1,5 +1,6 @@
+2F62501ED4689FB349E356AB974DBE57=1A37C75E31949FC1CF47D46CC4BFA318
 635E684B79701B039C64EA45C3F84D30=C8B026EBE17C208F17FB66CE4235156C
 66BE74F758C12D739921AEA421D593D3=1
 8DF89ED150041C4CBC7CB9A9CAA90856=1A37C75E31949FC1CF47D46CC4BFA318
-DC22A860405A8BF2F2C095E5B6529F12=1A37C75E31949FC1CF47D46CC4BFA318
+DC22A860405A8BF2F2C095E5B6529F12=EC6C4D369FD4F7EABFE17B3222B5F3A0
 eclipse.preferences.version=1
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 4980171..4e6a824 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -51,6 +51,10 @@
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
   #include <stdint.h>
   extern uint32_t SystemCoreClock;
+/* USER CODE BEGIN 0 */
+  extern void configureTimerForRunTimeStats(void);
+  extern unsigned long getRunTimeCounterValue(void);
+/* USER CODE END 0 */
 #endif
 #define configENABLE_FPU                         1
 #define configENABLE_MPU                         0
@@ -58,14 +62,17 @@
 #define configUSE_PREEMPTION                     1
 #define configSUPPORT_STATIC_ALLOCATION          1
 #define configSUPPORT_DYNAMIC_ALLOCATION         1
-#define configUSE_IDLE_HOOK                      0
-#define configUSE_TICK_HOOK                      0
+#define configUSE_IDLE_HOOK                      1
+#define configUSE_TICK_HOOK                      1
 #define configCPU_CLOCK_HZ                       ( SystemCoreClock )
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 7 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)512)
-#define configTOTAL_HEAP_SIZE                    ((size_t)30000)
+#define configTOTAL_HEAP_SIZE                    ((size_t)50000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
+#define configGENERATE_RUN_TIME_STATS            1
+#define configUSE_TRACE_FACILITY                 1
+#define configUSE_STATS_FORMATTING_FUNCTIONS     1
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1
 #define configQUEUE_REGISTRY_SIZE                8
@@ -147,6 +154,12 @@ standard names. */
 
 #define xPortSysTickHandler SysTick_Handler
 
+/* USER CODE BEGIN 2 */
+/* Definitions needed when configGENERATE_RUN_TIME_STATS is on */
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS configureTimerForRunTimeStats
+#define portGET_RUN_TIME_COUNTER_VALUE getRunTimeCounterValue
+/* USER CODE END 2 */
+
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
 /* USER CODE END Defines */
diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index 55d8bf9..d362002 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -54,6 +54,10 @@ void UsageFault_Handler(void);
 void DebugMon_Handler(void);
 void DMA1_Stream1_IRQHandler(void);
 void DMA1_Stream3_IRQHandler(void);
+void CAN1_TX_IRQHandler(void);
+void CAN1_RX0_IRQHandler(void);
+void CAN1_RX1_IRQHandler(void);
+void CAN1_SCE_IRQHandler(void);
 void TIM1_TRG_COM_TIM11_IRQHandler(void);
 void USART3_IRQHandler(void);
 void TIM6_DAC_IRQHandler(void);
diff --git a/Core/Src/can.c b/Core/Src/can.c
index a3b7ee4..2885758 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -83,6 +83,15 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* CAN1 interrupt Init */
+    HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
+    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
+    HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
+    HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
   /* USER CODE BEGIN CAN1_MspInit 1 */
 
   /* USER CODE END CAN1_MspInit 1 */
@@ -106,6 +115,11 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
 
+    /* CAN1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
+    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
+    HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
+    HAL_NVIC_DisableIRQ(CAN1_SCE_IRQn);
   /* USER CODE BEGIN CAN1_MspDeInit 1 */
 
   /* USER CODE END CAN1_MspDeInit 1 */
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index afdb21d..3ad94ad 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -65,9 +65,52 @@ void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackTy
 void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
 
 /* Hook prototypes */
+void configureTimerForRunTimeStats(void);
+unsigned long getRunTimeCounterValue(void);
+void vApplicationIdleHook(void);
+void vApplicationTickHook(void);
 void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
 void vApplicationMallocFailedHook(void);
 
+/* USER CODE BEGIN 1 */
+/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
+__weak void configureTimerForRunTimeStats(void)
+{
+
+}
+
+__weak unsigned long getRunTimeCounterValue(void)
+{
+return 0;
+}
+/* USER CODE END 1 */
+
+/* USER CODE BEGIN 2 */
+__weak void vApplicationIdleHook( void )
+{
+   /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
+   to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
+   task. It is essential that code added to this hook function never attempts
+   to block in any way (for example, call xQueueReceive() with a block time
+   specified, or call vTaskDelay()). If the application makes use of the
+   vTaskDelete() API function (as this demo application does) then it is also
+   important that vApplicationIdleHook() is permitted to return to its calling
+   function, because it is the responsibility of the idle task to clean up
+   memory allocated by the kernel to any task that has since been deleted. */
+}
+/* USER CODE END 2 */
+
+/* USER CODE BEGIN 3 */
+__weak void vApplicationTickHook( void )
+{
+   /* This function will be called by each tick interrupt if
+   configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
+   added here, but the tick hook is called from an interrupt context, so
+   code must not attempt to block, and only the interrupt safe FreeRTOS API
+   functions can be used (those that end in FromISR()). */
+}
+/* USER CODE END 3 */
+
 /* USER CODE BEGIN 4 */
 __weak void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
 {
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 83dd03d..1d0a3db 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -55,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern CAN_HandleTypeDef hcan1;
 extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim6;
 extern TIM_HandleTypeDef htim7;
@@ -198,6 +199,62 @@ void DMA1_Stream3_IRQHandler(void)
 }
 
 /**
+  * @brief This function handles CAN1 TX interrupts.
+  */
+void CAN1_TX_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_TX_IRQn 0 */
+
+  /* USER CODE END CAN1_TX_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_TX_IRQn 1 */
+
+  /* USER CODE END CAN1_TX_IRQn 1 */
+}
+
+/**
+  * @brief This function handles CAN1 RX0 interrupts.
+  */
+void CAN1_RX0_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
+
+  /* USER CODE END CAN1_RX0_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
+
+  /* USER CODE END CAN1_RX0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles CAN1 RX1 interrupt.
+  */
+void CAN1_RX1_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_RX1_IRQn 0 */
+
+  /* USER CODE END CAN1_RX1_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_RX1_IRQn 1 */
+
+  /* USER CODE END CAN1_RX1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles CAN1 SCE interrupt.
+  */
+void CAN1_SCE_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_SCE_IRQn 0 */
+
+  /* USER CODE END CAN1_SCE_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_SCE_IRQn 1 */
+
+  /* USER CODE END CAN1_SCE_IRQn 1 */
+}
+
+/**
   * @brief This function handles TIM1 trigger and commutation interrupts and TIM11 global interrupt.
   */
 void TIM1_TRG_COM_TIM11_IRQHandler(void)
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index f661275..e694a67 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -43,7 +43,7 @@ void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 115200;
+  huart1.Init.BaudRate = 961200;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
diff --git a/dbdb_liquid_path_control_v2.ioc b/dbdb_liquid_path_control_v2.ioc
index bfbe262..4b60906 100644
--- a/dbdb_liquid_path_control_v2.ioc
+++ b/dbdb_liquid_path_control_v2.ioc
@@ -39,19 +39,24 @@ Dma.USART3_TX.1.Priority=DMA_PRIORITY_LOW
 Dma.USART3_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 FREERTOS.FootprintOK=true
 FREERTOS.INCLUDE_uxTaskGetStackHighWaterMark=1
-FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_NEWLIB_REENTRANT,configUSE_RECURSIVE_MUTEXES,configUSE_COUNTING_SEMAPHORES,configRECORD_STACK_HIGH_ADDRESS,configENABLE_FPU,configTOTAL_HEAP_SIZE,configMINIMAL_STACK_SIZE,INCLUDE_uxTaskGetStackHighWaterMark,configUSE_MALLOC_FAILED_HOOK,configCHECK_FOR_STACK_OVERFLOW,configUSE_TIMERS,configTIMER_TASK_PRIORITY
+FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_NEWLIB_REENTRANT,configUSE_RECURSIVE_MUTEXES,configUSE_COUNTING_SEMAPHORES,configRECORD_STACK_HIGH_ADDRESS,configENABLE_FPU,configTOTAL_HEAP_SIZE,configMINIMAL_STACK_SIZE,INCLUDE_uxTaskGetStackHighWaterMark,configUSE_MALLOC_FAILED_HOOK,configCHECK_FOR_STACK_OVERFLOW,configUSE_TIMERS,configTIMER_TASK_PRIORITY,configUSE_TRACE_FACILITY,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configUSE_IDLE_HOOK,configUSE_TICK_HOOK
 FREERTOS.Tasks01=defaultTask,-3,1024,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
 FREERTOS.configCHECK_FOR_STACK_OVERFLOW=1
 FREERTOS.configENABLE_FPU=1
+FREERTOS.configGENERATE_RUN_TIME_STATS=1
 FREERTOS.configMINIMAL_STACK_SIZE=512
 FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
 FREERTOS.configTIMER_TASK_PRIORITY=3
-FREERTOS.configTOTAL_HEAP_SIZE=30000
+FREERTOS.configTOTAL_HEAP_SIZE=50000
 FREERTOS.configUSE_COUNTING_SEMAPHORES=1
+FREERTOS.configUSE_IDLE_HOOK=1
 FREERTOS.configUSE_MALLOC_FAILED_HOOK=1
 FREERTOS.configUSE_NEWLIB_REENTRANT=1
 FREERTOS.configUSE_RECURSIVE_MUTEXES=1
+FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=1
+FREERTOS.configUSE_TICK_HOOK=1
 FREERTOS.configUSE_TIMERS=1
+FREERTOS.configUSE_TRACE_FACILITY=1
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@@ -110,6 +115,10 @@ Mcu.UserName=STM32F407VETx
 MxCube.Version=6.11.0
 MxDb.Version=DB.6.0.110
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -205,7 +214,7 @@ ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x2000
 ProjectManager.TargetToolchain=STM32CubeIDE
-ProjectManager.ThreadSafeStrategy=Cortex-M4NS\:FreeRtosStrategy5,
+ProjectManager.ThreadSafeStrategy=Cortex-M4NS\:FreeRtosStrategy4,
 ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
@@ -271,7 +280,8 @@ TIM6.IPParameters=Prescaler
 TIM6.Prescaler=71
 TIM7.IPParameters=Prescaler
 TIM7.Prescaler=81
-USART1.IPParameters=VirtualMode
+USART1.BaudRate=961200
+USART1.IPParameters=VirtualMode,BaudRate
 USART1.VirtualMode=VM_ASYNC
 USART2.IPParameters=VirtualMode
 USART2.VirtualMode=VM_ASYNC
diff --git a/iflytop_canbus_protocol b/iflytop_canbus_protocol
index fd05c9d..b6e54e5 160000
--- a/iflytop_canbus_protocol
+++ b/iflytop_canbus_protocol
@@ -1 +1 @@
-Subproject commit fd05c9d4f6c74f29f550399ec3c238eab0295d37
+Subproject commit b6e54e5016640a5410921706e3c35f8f1f817fbf
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 8973378..ee8b278 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -49,7 +49,8 @@ void umain() {
   protocol_impl_service_init();
 
   ZLOGI(TAG, "system init done");
-  SysMgr::ins()->regTaskId(osThreadGetId());
+  SysMgr::ins()->initedFinished();
+  SysMgr::ins()->dumpSysInfo();
   while (true) {
     osDelay(1);
     debug_light_ctrl();
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index f223f5c..49462ae 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -33,3 +33,4 @@
 #define SDK_IRQ_PREEMPTPRIORITY_DEFAULT 5           // IO中断默认中断等级
 #define SDK_CFG__CFG_FLASH_ADDR         0x080C0000  //
 #define SDK_CFG__SN_FLASH_ADDR          0x080E0000  //
+#define SDK_MAX_TASK                    10
\ No newline at end of file
diff --git a/usrc/protocol_impl/protocol_impl_service.cpp b/usrc/protocol_impl/protocol_impl_service.cpp
index eca2ca6..bcbff57 100644
--- a/usrc/protocol_impl/protocol_impl_service.cpp
+++ b/usrc/protocol_impl/protocol_impl_service.cpp
@@ -3,7 +3,7 @@
 #include "base/device_info.hpp"
 #include "zsdk/zcanreceiver/zcanreceiver.hpp"
 #define TAG "PROTO"
-
+using namespace iflytop;
 /***********************************************************************************************************************
  *                                                    FUNCTION_LIST                                                    *
  ***********************************************************************************************************************/
@@ -18,13 +18,19 @@ static osThreadId PacketRxThreadId;
 /***********************************************************************************************************************
  *                                                    FUNCTION_IMPL                                                    *
  ***********************************************************************************************************************/
+
+#define GET_PARAM(buff, off) ((((int32_t*)(buff))[off]))
+
 static void zcanbus_on_rx(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len) {  //
   zcanbus_packet_t* packet = (zcanbus_packet_t*)rawpacket;
-
+  ZLOGI(TAG, "rx packet from %d to %d, function_id %d, len %d", from, to, packet->function_id, len);
+  /***********************************************************************************************************************
+   *                                                      系统方法                                                       *
+   ***********************************************************************************************************************/
+  // 读板子信息
   if (packet->function_id == kcmd_read_board_info) {
     static ack_read_board_info_data_t ack;
-    ack.boardType = deviceInfo_getBoardType();
-
+    ack.boardType        = deviceInfo_getBoardType();
     ack.projectId        = deviceInfo_getProjectId();
     ack.protcol_version  = deviceInfo_getProtocolVersion();
     ack.software_version = deviceInfo_getSoftwareVersion();
@@ -32,6 +38,42 @@ static void zcanbus_on_rx(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t l
 
     zcanbus_send_ack(packet, (uint8_t*)&ack, sizeof(ack));
   }
+
+  // 读系统信息
+  else if (packet->function_id == kcmd_read_sysinfo) {
+    static ack_sysinfo_t ack;
+    ack.free_heap_size  = SysMgr::ins()->osGetMinimumEverFreeHeapSize();
+    ack.total_heap_size = SysMgr::ins()->osGetTotalHeapSize();
+    ack.taskNum         = SysMgr::ins()->getTaskNum();
+    ack.sysHasRun       = SysMgr::ins()->osGetSysRunTime() / 1000;
+    zcanbus_send_ack(packet, (uint8_t*)&ack, sizeof(ack));
+  }
+
+  // 读任务信息
+  else if (packet->function_id == kcmd_read_taskinfo) {
+    static ask_taskinfo_t ack;
+    int32_t               taskoff = GET_PARAM(packet->params, 0);
+    osThreadId            taskId  = SysMgr::ins()->osGetId(taskoff);
+    SysMgr::ins()->osTaskName(taskId, (char*)ack.taskName, sizeof(ack.taskName));
+    SysMgr::ins()->osTaskStackRemainingSize(taskId, &ack.stackRemindSize);
+    SysMgr::ins()->osTaskPriority(taskId, &ack.priority);
+    SysMgr::ins()->osTaskGetState(taskId, (char*)&ack.state);
+
+    zcanbus_send_ack(packet, (uint8_t*)&ack, sizeof(ack));
+  }
+
+  else if (packet->function_id == kcmd_heart_ping) {
+    static report_heatpacket_data_t heatpacket;
+    heatpacket.boardType  = deviceInfo_getBoardType();
+    heatpacket.heartIndex = GET_PARAM(packet->params, 0);
+    zcanbus_send_report(kreport_heatpacket, (uint8_t*)&heatpacket, sizeof(heatpacket));
+  }
+  /***********************************************************************************************************************
+   *                                                      应用实现                                                       *
+   ***********************************************************************************************************************/
+  // 触发一次强制上报事件
+  else if (packet->function_id == kcmd_force_report) {
+  }
 }
 
 static void zcanbus_on_connected(bool connected) {
@@ -48,7 +90,7 @@ static void zcanbus_on_connected(bool connected) {
 static void onHeartReportTimer(void const* argument) {
   static report_heatpacket_data_t heatpacket;
   heatpacket.boardType = deviceInfo_getBoardType();
-  zcanbus_send_report(kreport_heatpacket, (uint8_t*)&heatpacket, sizeof(heatpacket));
+  // zcanbus_send_report(kreport_heatpacket, (uint8_t*)&heatpacket, sizeof(heatpacket));
 }
 static void onPacketRxThreadStart(void const* argument) {
   while (true) {
@@ -69,6 +111,6 @@ void protocol_impl_service_init() {  //
   HeartReportTimerId = osTimerCreate(osTimer(HeartReportTimer), osTimerPeriodic, NULL);
   osTimerStart(HeartReportTimerId, HEART_PACKET_PERIOD_MS);
 
-  osThreadDef(PacketRxThread, onPacketRxThreadStart, osPriorityNormal, 1024, NULL);
+  osThreadDef(PacketRxThread, onPacketRxThreadStart, osPriorityNormal, 0, 1024);
   PacketRxThreadId = osThreadCreate(osThread(PacketRxThread), NULL);
 }
diff --git a/zsdk b/zsdk
index 87de1df..04ed10a 160000
--- a/zsdk
+++ b/zsdk
@@ -1 +1 @@
-Subproject commit 87de1df69a31ca63c98db607ba3851f3e201c857
+Subproject commit 04ed10ad7e7aeba9a47d660573db5bb095f222e6