diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha
index 8d30702..12aa26b 100644
--- a/app/MDK-ARM/app.uvguix.h_zha
+++ b/app/MDK-ARM/app.uvguix.h_zha
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       </DockMan>
       <ToolBar>
         <RegID>59392</RegID>
@@ -1838,7 +1838,7 @@
         <Name>Debug</Name>
         <Buttons>
           <Len>2373</Len>
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         </Buttons>
         <OriginalItems>
           <Len>898</Len>
@@ -3660,9 +3660,9 @@
       </Doc>
       <Doc>
         <Name>..\..\dep\libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.cpp</Name>
-        <ColumnNumber>9</ColumnNumber>
+        <ColumnNumber>4</ColumnNumber>
         <TopLine>448</TopLine>
-        <CurrentLine>465</CurrentLine>
+        <CurrentLine>466</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3670,7 +3670,7 @@
       <Doc>
         <Name>..\..\src\lncubator_temperature_control_service.hpp</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>26</TopLine>
+        <TopLine>19</TopLine>
         <CurrentLine>55</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3687,9 +3687,9 @@
       </Doc>
       <Doc>
         <Name>..\..\src\lncubator_rotating_control_service.cpp</Name>
-        <ColumnNumber>75</ColumnNumber>
+        <ColumnNumber>5</ColumnNumber>
         <TopLine>79</TopLine>
-        <CurrentLine>96</CurrentLine>
+        <CurrentLine>88</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro
index 438361f..cb3492e 160000
--- a/dep/libiflytop_micro
+++ b/dep/libiflytop_micro
@@ -1 +1 @@
-Subproject commit 438361fe75b4bb8019f0151ee34682a14ee1d6b4
+Subproject commit cb3492e6d78f90f0d4ed7401ee79a2a59c31848c
diff --git a/src/umain.cpp b/src/umain.cpp
index 7ac35c7..484b0ac 100644
--- a/src/umain.cpp
+++ b/src/umain.cpp
@@ -192,6 +192,7 @@ void Main::initializeIflytopCanProtocolStackProcesser() {
   ACTIVE_REG(REG_MOTOR_CTRL_CURRENT_STATE /*              */, icps::kr, 0);
 
   m_protocolStack.initialize(&m_hardware, &IflytopCanStackConfig);
+  m_protocolStack.setDumpPacketFlag(true);
 }
 
 void Main::LncubatorRotatingControlService_onException(exception_id_t exception) {}
@@ -260,11 +261,19 @@ void Main::main(int argc, char const *argv[]) {
     // m_rotatingCtrl.periodicJob();
     // updateRegList();
 
+    m_hardware.debug_light_periodicJob();
 
+    m_protocolStack.periodicJob();
 
-    m_hardware.debug_light_periodicJob();
-    if (m_protocolStack.sendHeart(0, 10) == HAL_OK) {
-      ZLOGI(TAG, "CAN RX HAL_OK");
+
+    {
+      static uint32_t lastprocess = 0;
+      if (sys_haspassedms(lastprocess) > 3000) {
+        lastprocess = HAL_GetTick();
+        if (m_protocolStack.sendHeart(0, 10) == HAL_OK) {
+          ZLOGI(TAG, "CAN RX HAL_OK");
+        }
+      }
     }
   }
 }