diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha
index 02fd5f6..eeb0f7e 100644
--- a/app/MDK-ARM/app.uvguix.h_zha
+++ b/app/MDK-ARM/app.uvguix.h_zha
@@ -15,17 +15,17 @@
     <View>
       <WinId>38003</WinId>
       <ViewName>Registers</ViewName>
-      <TableColWidths>160 161</TableColWidths>
+      <TableColWidths>160 194</TableColWidths>
     </View>
     <View>
       <WinId>346</WinId>
       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>860 160</TableColWidths>
+      <TableColWidths>860 442</TableColWidths>
     </View>
     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
-      <TableColWidths>1020</TableColWidths>
+      <TableColWidths>1020 153 153 282</TableColWidths>
     </View>
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@@ -58,7 +58,7 @@
       <WinId>1935</WinId>
       <ViewName>Call Stack + Locals</ViewName>
       <UserString></UserString>
-      <TableColWidths>200 133 133</TableColWidths>
+      <TableColWidths>417 133 133</TableColWidths>
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     <View>
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@@ -70,7 +70,7 @@
       <WinId>466</WinId>
       <ViewName>Source Browser</ViewName>
       <UserString>500</UserString>
-      <TableColWidths>300</TableColWidths>
+      <TableColWidths>166</TableColWidths>
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@@ -93,25 +93,25 @@
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       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-32000</xPos>
-        <yPos>-32000</yPos>
+        <xPos>-1</xPos>
+        <yPos>-1</yPos>
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       <MaxPosition>
         <xPos>-1</xPos>
         <yPos>-1</yPos>
       </MaxPosition>
       <NormalPosition>
-        <Top>47</Top>
-        <Left>-1447</Left>
-        <Right>-347</Right>
-        <Bottom>1033</Bottom>
+        <Top>23</Top>
+        <Left>414</Left>
+        <Right>1514</Right>
+        <Bottom>1009</Bottom>
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     </WindowPosition>
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
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         </Buttons>
         <OriginalItems>
           <Len>898</Len>
@@ -3603,7 +3603,7 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>20</ActiveTab>
+      <ActiveTab>23</ActiveTab>
       <Doc>
         <Name>../Core/Src/main.c</Name>
         <ColumnNumber>0</ColumnNumber>
@@ -3670,8 +3670,8 @@
       <Doc>
         <Name>..\..\src\umain.cpp</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>20</CurrentLine>
+        <TopLine>52</TopLine>
+        <CurrentLine>70</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3793,6 +3793,33 @@
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
+      <Doc>
+        <Name>..\..\dep\libiflytop_micro\stm32\basic\basic.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>25</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1719</TopLine>
+        <CurrentLine>1726</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\..\dep\libiflytop_micro\stm32\component\iflytop_can_client_v1\iflytop_can_client.cpp</Name>
+        <ColumnNumber>10</ColumnNumber>
+        <TopLine>104</TopLine>
+        <CurrentLine>114</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
     </MDIGroup>
   </MDIGroups>
 
diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx
index 414b451..7a54378 100644
--- a/app/MDK-ARM/app.uvoptx
+++ b/app/MDK-ARM/app.uvoptx
@@ -162,178 +162,194 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>57</LineNumber>
+          <LineNumber>70</LineNumber>
           <EnabledFlag>1</EnabledFlag>
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           <ByteObject>0</ByteObject>
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           <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
+          <Filename>..\..\src\umain.cpp</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\app\../../dep/libtrinamic/src/ic/tmc4361A.cpp\57</Expression>
+          <Expression>\\app\../../src/umain.cpp\70</Expression>
         </Bp>
         <Bp>
           <Number>1</Number>
           <Type>0</Type>
-          <LineNumber>51</LineNumber>
+          <LineNumber>185</LineNumber>
           <EnabledFlag>1</EnabledFlag>
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+          <Address>0</Address>
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           <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\app\../../dep/libtrinamic/src/ic/tmc4361A.cpp\51</Expression>
+          <Expression></Expression>
         </Bp>
         <Bp>
           <Number>2</Number>
           <Type>0</Type>
-          <LineNumber>257</LineNumber>
+          <LineNumber>197</LineNumber>
           <EnabledFlag>1</EnabledFlag>
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+          <Address>0</Address>
           <ByteObject>0</ByteObject>
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           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
+          <BreakIfRCount>0</BreakIfRCount>
           <Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\app\../../dep/libtrinamic/IFLYTOP-TMC-API/tmc/ic/TMC4361A/TMC4361A.c\257</Expression>
+          <Expression></Expression>
         </Bp>
         <Bp>
           <Number>3</Number>
           <Type>0</Type>
-          <LineNumber>260</LineNumber>
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           <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
+          <BreakIfRCount>0</BreakIfRCount>
           <Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\app\../../dep/libtrinamic/IFLYTOP-TMC-API/tmc/ic/TMC4361A/TMC4361A.c\260</Expression>
+          <Expression></Expression>
         </Bp>
         <Bp>
           <Number>4</Number>
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           <LineNumber>231</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134234426</Address>
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           <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
+          <BreakIfRCount>0</BreakIfRCount>
           <Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\app\../../dep/libtrinamic/IFLYTOP-TMC-API/tmc/ic/TMC4361A/TMC4361A.c\231</Expression>
+          <Expression></Expression>
         </Bp>
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           <Type>0</Type>
-          <LineNumber>30</LineNumber>
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           <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\app\../../dep/libtrinamic/src/ic/tmc4361A.cpp\30</Expression>
+          <Expression></Expression>
         </Bp>
         <Bp>
           <Number>6</Number>
           <Type>0</Type>
-          <LineNumber>77</LineNumber>
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           <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\app\../../dep/libtrinamic/src/ic/tmc4361A.cpp\77</Expression>
+          <Expression></Expression>
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-          <LineNumber>84</LineNumber>
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-          <BreakIfRCount>1</BreakIfRCount>
+          <BreakIfRCount>0</BreakIfRCount>
           <Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\app\../../dep/libtrinamic/src/ic/tmc4361A.cpp\84</Expression>
+          <Expression></Expression>
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+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\app\../../dep/libtrinamic/IFLYTOP-TMC-API/tmc/ic/TMC4361A/TMC4361A.c\198</Expression>
+          <Expression></Expression>
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-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\app\../../dep/libtrinamic/IFLYTOP-TMC-API/tmc/ic/TMC4361A/TMC4361A.c\197</Expression>
+          <Expression></Expression>
         </Bp>
         <Bp>
           <Number>10</Number>
           <Type>0</Type>
-          <LineNumber>185</LineNumber>
+          <LineNumber>77</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134234352</Address>
+          <Address>0</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\app\../../dep/libtrinamic/IFLYTOP-TMC-API/tmc/ic/TMC4361A/TMC4361A.c\185</Expression>
+          <Expression></Expression>
+        </Bp>
+        <Bp>
+          <Number>11</Number>
+          <Type>0</Type>
+          <LineNumber>84</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>0</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
         </Bp>
       </Breakpoint>
       <Tracepoint>
@@ -390,7 +406,7 @@
 
   <Group>
     <GroupName>Application/MDK-ARM</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/app/MDK-ARM/startup_stm32f407xx.lst b/app/MDK-ARM/startup_stm32f407xx.lst
index cdfef02..3f920f6 100644
--- a/app/MDK-ARM/startup_stm32f407xx.lst
+++ b/app/MDK-ARM/startup_stm32f407xx.lst
@@ -46,22 +46,22 @@ ARM Macro Assembler    Page 1
    29 00000000         ;   <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
    30 00000000         ; </h>
    31 00000000         
-   32 00000000 00000400 
+   32 00000000 00001000 
                        Stack_Size
-                               EQU              0x400
+                               EQU              0x1000
    33 00000000         
    34 00000000                 AREA             STACK, NOINIT, READWRITE, ALIGN
 =3
    35 00000000         Stack_Mem
                                SPACE            Stack_Size
-   36 00000400         __initial_sp
-   37 00000400         
-   38 00000400         
-   39 00000400         ; <h> Heap Configuration
-   40 00000400         ;   <o>  Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
-   41 00000400         ; </h>
-   42 00000400         
-   43 00000400 00000400 
+   36 00001000         __initial_sp
+   37 00001000         
+   38 00001000         
+   39 00001000         ; <h> Heap Configuration
+   40 00001000         ;   <o>  Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
+   41 00001000         ; </h>
+   42 00001000         
+   43 00001000 00001000 
                        Heap_Size
 
 
@@ -69,21 +69,21 @@ ARM Macro Assembler    Page 1
 ARM Macro Assembler    Page 2 
 
 
-                               EQU              0x400
-   44 00000400         
-   45 00000400                 AREA             HEAP, NOINIT, READWRITE, ALIGN=
+                               EQU              0x1000
+   44 00001000         
+   45 00001000                 AREA             HEAP, NOINIT, READWRITE, ALIGN=
 3
    46 00000000         __heap_base
    47 00000000         Heap_Mem
                                SPACE            Heap_Size
-   48 00000400         __heap_limit
-   49 00000400         
-   50 00000400                 PRESERVE8
-   51 00000400                 THUMB
-   52 00000400         
-   53 00000400         
-   54 00000400         ; Vector Table Mapped to Address 0 at Reset
-   55 00000400                 AREA             RESET, DATA, READONLY
+   48 00001000         __heap_limit
+   49 00001000         
+   50 00001000                 PRESERVE8
+   51 00001000                 THUMB
+   52 00001000         
+   53 00001000         
+   54 00001000         ; Vector Table Mapped to Address 0 at Reset
+   55 00001000                 AREA             RESET, DATA, READONLY
    56 00000000                 EXPORT           __Vectors
    57 00000000                 EXPORT           __Vectors_End
    58 00000000                 EXPORT           __Vectors_Size
@@ -859,7 +859,7 @@ Symbol: Stack_Mem
    Uses
       None
 Comment: Stack_Mem unused
-__initial_sp 00000400
+__initial_sp 00001000
 
 Symbol: __initial_sp
    Definitions
@@ -899,7 +899,7 @@ Symbol: __heap_base
    Uses
       At line 402 in file startup_stm32f407xx.s
 Comment: __heap_base used once
-__heap_limit 00000400
+__heap_limit 00001000
 
 Symbol: __heap_limit
    Definitions
@@ -1873,7 +1873,7 @@ Symbol: WWDG_IRQHandler
 ARM Macro Assembler    Page 1 Alphabetic symbol ordering
 Absolute symbols
 
-Heap_Size 00000400
+Heap_Size 00001000
 
 Symbol: Heap_Size
    Definitions
@@ -1881,7 +1881,7 @@ Symbol: Heap_Size
    Uses
       At line 47 in file startup_stm32f407xx.s
 Comment: Heap_Size used once
-Stack_Size 00000400
+Stack_Size 00001000
 
 Symbol: Stack_Size
    Definitions
diff --git a/app/MDK-ARM/startup_stm32f407xx.s b/app/MDK-ARM/startup_stm32f407xx.s
index c40449e..c646c43 100644
--- a/app/MDK-ARM/startup_stm32f407xx.s
+++ b/app/MDK-ARM/startup_stm32f407xx.s
@@ -29,7 +29,7 @@
 ;   <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
 ; </h>
 
-Stack_Size		EQU     0x400
+Stack_Size		EQU     0x1000
 
                 AREA    STACK, NOINIT, READWRITE, ALIGN=3
 Stack_Mem       SPACE   Stack_Size
@@ -40,7 +40,7 @@ __initial_sp
 ;   <o>  Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
 ; </h>
 
-Heap_Size      EQU     0x400
+Heap_Size      EQU     0x1000
 
                 AREA    HEAP, NOINIT, READWRITE, ALIGN=3
 __heap_base
diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro
index 59c26e1..689e462 160000
--- a/dep/libiflytop_micro
+++ b/dep/libiflytop_micro
@@ -1 +1 @@
-Subproject commit 59c26e1dcba6743ee3ed302bb14a110526c50aaf
+Subproject commit 689e4620ef77fb1ea26ba5cb1ce002d29be6c4ad
diff --git a/src/umain.cpp b/src/umain.cpp
index 712062d..738876d 100644
--- a/src/umain.cpp
+++ b/src/umain.cpp
@@ -20,10 +20,14 @@ class Main {
   IflytopCanClient   canClient;
   IflytopMicroOSImpl os;
 
-  ZSLOT3(Main, onCanRxData, CAN_RxHeaderTypeDef *, uint8_t *, uint8_t);
-  void onCanRxData(CAN_RxHeaderTypeDef *rxMegHeader, uint8_t *data, uint8_t len) {
-    ZLOGI(TAG, "onCanRxData:");
-    ZLOGI_HEX(TAG, data, len);
+  bool canOnRxDataFlag;
+
+  Main() { canOnRxDataFlag = false; }
+
+  ZSLOT0(Main, onCanRxData);
+  void onCanRxData() {
+    canOnRxDataFlag = true;
+    canClient.deactivateRxIT();
   }
 
   void motorInitialize() {
@@ -62,10 +66,21 @@ class Main {
     IflytopCanClient::iflytop_can_client_config_t *config = canClient.createDefaultConfig(DEVICE_ID);
     canClient.initialize(&os, config);
     canClient.onCanRxData.connect(this, &Main::onCanRxData);
+    canClient.activateRxIT();
 
     while (true) {
       port_do_debug_light_state();
-      #if 0
+      if (canOnRxDataFlag) {
+        canOnRxDataFlag = false;
+        static IflytopCanClient::packet_t packet;
+        while (canClient.getRxPacket(&packet)) {
+          ZLOGI(TAG, "type:%d  targetId:%d  sourceId:%d  index:%d  regAdd:%d  regValue:%d", packet.type, packet.targetId, packet.sourceId, packet.index,
+                packet.regAdd, packet.regValue);
+        }
+        canClient.activateRxIT();
+      }
+
+#if 0
       static uint8_t tx[8] = {1, 2, 3, 4, 5, 6, 7, 8};
       canClient.translate(0x01, tx, 8, 2);
       if (canClient.getLastTransmitStatus() == HAL_OK) {
@@ -74,7 +89,7 @@ class Main {
         ZLOGI(TAG, "send fail");
       }
       HAL_Delay(1000);
-      #endif
+#endif
     }
   }
 };