From 2838aee04707ae67e091c64e8bb2b30618530a82 Mon Sep 17 00:00:00 2001
From: ThinkPad-T460P <ibookshiyi@gmail.com>
Date: Tue, 5 Jan 2021 14:46:47 +0800
Subject: [PATCH] backup

---
 .cproject                                     |   6 +-
 .settings/stm32cubeide.project.prefs          |   6 +-
 Core/Inc/FreeRTOSConfig.h                     |   2 +
 Core/Inc/main.h                               |   4 +-
 Core/Inc/navikit.h                            |  61 +-
 Core/Inc/stm32f1xx_it.h                       |   1 +
 Core/Src/adc.c                                |   2 +-
 Core/Src/freertos.c                           | 623 +++++++++---------
 Core/Src/main.c                               |   9 +-
 Core/Src/navikit.c                            | 366 +++++-----
 Core/Src/rtc.c                                |   3 +
 Core/Src/stm32f1xx_it.c                       |  14 +
 .../Inc/stm32f1xx_hal_pwr.h                   |   7 +
 Middlewares/Log/log.c                         |   6 +
 Middlewares/Log/log.h                         |  10 +-
 NaviKit_stm32.ioc                             |  13 +-
 16 files changed, 607 insertions(+), 526 deletions(-)

diff --git a/.cproject b/.cproject
index 210c5c8..e07bc2f 100644
--- a/.cproject
+++ b/.cproject
@@ -43,7 +43,7 @@
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F107xC"/>
 									<listOptionValue builtIn="false" value="DEBUG"/>
-									<listOptionValue builtIn="false" value="APP_VERSION=&quot;V0.9.3&quot;"/>
+									<listOptionValue builtIn="false" value="APP_VERSION=&quot;V0.9.4&quot;"/>
 								</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="../Core/Inc"/>
@@ -98,8 +98,8 @@
 					<sourceEntries>
 						<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 flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="USB_DEVICE"/>
 					</sourceEntries>
 				</configuration>
@@ -143,7 +143,7 @@
 								<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="APP_VERSION=&quot;V0.9.3&quot;"/>
+									<listOptionValue builtIn="false" value="APP_VERSION=&quot;V0.9.4&quot;"/>
 									<listOptionValue builtIn="false" value="DEPLOY_MODE=&quot;RELEASE&quot;"/>
 								</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">
diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
index 42c3797..6d54323 100644
--- a/.settings/stm32cubeide.project.prefs
+++ b/.settings/stm32cubeide.project.prefs
@@ -1,4 +1,4 @@
-2F62501ED4689FB349E356AB974DBE57=66ECD72EB9ECEB12193E2107C4BA39FF
-8DF89ED150041C4CBC7CB9A9CAA90856=66ECD72EB9ECEB12193E2107C4BA39FF
-DC22A860405A8BF2F2C095E5B6529F12=F6E7387302D54A097C31AB36FAAFE226
+2F62501ED4689FB349E356AB974DBE57=7721402F3CE8DC8D3A6A8AE537EFAC0B
+8DF89ED150041C4CBC7CB9A9CAA90856=7721402F3CE8DC8D3A6A8AE537EFAC0B
+DC22A860405A8BF2F2C095E5B6529F12=02D9A7110C849E46466CD5CF8816F30D
 eclipse.preferences.version=1
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 9e35702..7f4b630 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -162,6 +162,8 @@ standard names. */
 
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
+#define configUSE_TRACE_FACILITY 1
+#define configUSE_STATS_FORMATTING_FUNCTIONS      1
 /* USER CODE END Defines */
 
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index 2ef567e..d784fff 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -183,7 +183,9 @@ void ISP_Judge();
 #define IIC1_SDA_Pin GPIO_PIN_9
 #define IIC1_SDA_GPIO_Port GPIOB
 /* USER CODE BEGIN Private defines */
-#define ISP_Address 0x1fffb000    //In-System-Program address in flash
+#define ISP_Address 		0x1fffb000    //In-System-Program address in flash
+#define ISP_BKP_DR 			RTC_BKP_DR1
+#define BKP_DR_Jump_to_ISP 	0xa5a5			//jump to isp while ISP_BKP_DR's value equal this
 /* USER CODE END Private defines */
 
 #ifdef __cplusplus
diff --git a/Core/Inc/navikit.h b/Core/Inc/navikit.h
index c04b81b..1801107 100644
--- a/Core/Inc/navikit.h
+++ b/Core/Inc/navikit.h
@@ -1,3 +1,10 @@
+/*
+ * @Description: 
+ * @Date: 2020-12-16 18:05:14
+ * @LastEditors: CK.Zh
+ * @LastEditTime: 2020-12-25 17:52:50
+ * @FilePath: \NaviKit_stm32\Core\Inc\navikit.h
+ */
 /*
  * navikit.h
  *
@@ -18,21 +25,24 @@
 #define ADC_CH_COUNT 5+2	//number of adc channels (include temp sensor and vrefint adc_in17)
 
 
+typedef enum
+{
+	idle,	//only mcu runing
+	run, 		//all function runing
+	sleep, 		//SOCs and FANs are stop
+	dfu,		//device firmware update for SOM
+	isp			//in system program for EC
+}state_t;
 
 typedef struct
 {
 	struct{
-		enum {
-			shutdown,	//only mcu runing
-			running, 		//all function runing
-			sleep, 		//SOCs and FANs are stop
-			dfu,		//device firmware update for SOM
-			isp		//in system program for BIOS
-		}sta,next_sta;	//power state machine
-		bool power_btn;	//power button
-		bool custom_btn;//custom button
-		bool pwr_led;//power led (on switch)
-		bool run_led;//run led (on board)
+		state_t sta,next_sta;	//power state machine
+		 bool power_btn;	//power button pressed flag
+		 bool custom_btn;//custom button pressed flag
+		// bool pwr_led;//power led (on switch)
+		// bool run_led;//run led (on board)
+		bool dbg_msg_out;//enable/disable debug message output
 	}sys;
 	struct{
 		bool mod_sleep;
@@ -106,24 +116,37 @@ typedef struct
 	// 	float sensor_3;
 	// }temp;
 
+
+
 }NaviKit_t;
 extern NaviKit_t NaviKit;
 
+//device on board 
+enum Device_t{USB2_Port1,USB2_Port2,USB2_Port3,USB2_Port4,USB2_Port5,USB2_Port6,
+				USB3_Port1,USB3_Port2,USB3_Port3,USB3_Port4,USB3_Port5,USB3_Port6,
+				SOC_USB2_HUB,SOC_USB3_HUB,SOC_USB3_HOST,SOC_USB3_GEC,SOC_GE_SW,
+				SYS_FAN1,SYS_FAN2,SYS_FAN3,
+				SYS_RUN_LED,SYS_PWR_LED,
+				SOM_PWR_EN,SOM_DFU,
+				PMB_PS_ON};
+
+void PWR_Enable(enum Device_t device,bool en,uint16_t delay);
+bool PWR_Status(enum Device_t device);
+
 void NaviKit_var_init();
 
 //power state machine switch function
 void enter_isp_state();
-void enter_runing_state();
-void enter_shutdown_state();
-void enter_sleep_state();
-void enter_dfu_state();
-void Beep(uint32_t time_ms);
+void enter_run_state(uint16_t delay);
+void enter_idle_state(uint16_t delay);
+void enter_sleep_state(uint16_t delay);
+void enter_dfu_state(uint16_t delay);
+//non-blocking beep function with os delay
+void TaskBeep(uint32_t time_ms, uint8_t n);
 
 void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc);
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin);
 
 
 
-void osEnterRuningState();
-void osEnterSleepState();
-
 #endif /* INC_NAVIKIT_H_ */
diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h
index a4b6409..aaa5ee8 100644
--- a/Core/Inc/stm32f1xx_it.h
+++ b/Core/Inc/stm32f1xx_it.h
@@ -66,6 +66,7 @@ void TIM1_UP_IRQHandler(void);
 void I2C1_EV_IRQHandler(void);
 void I2C1_ER_IRQHandler(void);
 void USART1_IRQHandler(void);
+void RTC_Alarm_IRQHandler(void);
 void UART4_IRQHandler(void);
 void OTG_FS_IRQHandler(void);
 /* USER CODE BEGIN EFP */
diff --git a/Core/Src/adc.c b/Core/Src/adc.c
index 46aa2ee..a8fafab 100644
--- a/Core/Src/adc.c
+++ b/Core/Src/adc.c
@@ -40,7 +40,7 @@ void MX_ADC1_Init(void)
   */
   hadc1.Instance = ADC1;
   hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
-  hadc1.Init.ContinuousConvMode = ENABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
   hadc1.Init.DiscontinuousConvMode = DISABLE;
   hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
   hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index ebdb611..71f8210 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -1,3 +1,10 @@
+/*
+ * @Description: 
+ * @Date: 2020-04-02 21:44:31
+ * @LastEditors: CK.Zh
+ * @LastEditTime: 2021-01-04 17:49:58
+ * @FilePath: \NaviKit_stm32\Core\Src\freertos.c
+ */
 /* USER CODE BEGIN Header */
 /**
   ******************************************************************************
@@ -26,6 +33,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "timers.h"
 #include "iwdg.h"
 #include "gpio.h"
 #include "usart.h"
@@ -55,6 +63,17 @@
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN Variables */
 
+
+osEventFlagsId_t buttonEventHandle;
+const osEventFlagsAttr_t buttonEvent_attributes = {
+  .name = "buttonEvent"
+};
+osThreadId_t StateSwitchTaskHandle;
+const osThreadAttr_t StateSwitchTask_attributes = {
+  .name = "StateSwitchTask",
+  .priority = (osPriority_t) osPriorityNormal,
+  .stack_size = 128 * 4
+};
 /* USER CODE END Variables */
 /* Definitions for defaultTask */
 osThreadId_t defaultTaskHandle;
@@ -70,20 +89,6 @@ const osThreadAttr_t LedBlinkTask_attributes = {
   .priority = (osPriority_t) osPriorityLow,
   .stack_size = 128 * 4
 };
-/* Definitions for IWDGRefreshTask */
-osThreadId_t IWDGRefreshTaskHandle;
-const osThreadAttr_t IWDGRefreshTask_attributes = {
-  .name = "IWDGRefreshTask",
-  .priority = (osPriority_t) osPriorityHigh,
-  .stack_size = 128 * 4
-};
-/* Definitions for EventDetect */
-osThreadId_t EventDetectHandle;
-const osThreadAttr_t EventDetect_attributes = {
-  .name = "EventDetect",
-  .priority = (osPriority_t) osPriorityLow,
-  .stack_size = 128 * 4
-};
 /* Definitions for CoulombRead */
 osThreadId_t CoulombReadHandle;
 const osThreadAttr_t CoulombRead_attributes = {
@@ -91,13 +96,6 @@ const osThreadAttr_t CoulombRead_attributes = {
   .priority = (osPriority_t) osPriorityLow,
   .stack_size = 128 * 4
 };
-/* Definitions for StateSwitchTask */
-osThreadId_t StateSwitchTaskHandle;
-const osThreadAttr_t StateSwitchTask_attributes = {
-  .name = "StateSwitchTask",
-  .priority = (osPriority_t) osPriorityLow,
-  .stack_size = 128 * 4
-};
 /* Definitions for PowerMonitTask */
 osThreadId_t PowerMonitTaskHandle;
 const osThreadAttr_t PowerMonitTask_attributes = {
@@ -105,20 +103,41 @@ const osThreadAttr_t PowerMonitTask_attributes = {
   .priority = (osPriority_t) osPriorityLow,
   .stack_size = 128 * 4
 };
+/* Definitions for EventDetect */
+osThreadId_t EventDetectHandle;
+const osThreadAttr_t EventDetect_attributes = {
+  .name = "EventDetect",
+  .priority = (osPriority_t) osPriorityLow,
+  .stack_size = 128 * 4
+};
+/* Definitions for PwrBtnTimer */
+osTimerId_t PwrBtnTimerHandle;
+const osTimerAttr_t PwrBtnTimer_attributes = {
+  .name = "PwrBtnTimer"
+};
+/* Definitions for CustBtnTimer */
+osTimerId_t CustBtnTimerHandle;
+const osTimerAttr_t CustBtnTimer_attributes = {
+  .name = "CustBtnTimer"
+};
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
-void osEnterSleepState();
-void osEnterRuningState();
+//void osEnterSleepState();
+//void osEnterRuningState();
+void StartStateSwitchTask(void *argument);
+void StartChangeStateTask(state_t target_sta);
+bool isWakeUpReset() {	return  __HAL_PWR_GET_FLAG(PWR_FLAG_WU);}
+
 /* USER CODE END FunctionPrototypes */
 
 void StartDefaultTask(void *argument);
 void StartLedBlinkTask(void *argument);
-void StartIWDGRefreshTask(void *argument);
-void StartEventDetect(void *argument);
 void StartCoulombRead(void *argument);
-void StartStateSwitchTask(void *argument);
 void StartPowerMonitTask(void *argument);
+void StartEventDetect(void *argument);
+void PwrBtnTimerCallback(void *argument);
+void CustBtnTimerCallback(void *argument);
 
 extern void MX_USB_DEVICE_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
@@ -139,7 +158,7 @@ __weak void configureTimerForRunTimeStats(void)
 
 __weak unsigned long getRunTimeCounterValue(void)
 {
-return 0;
+	return osKernelGetTickCount();
 }
 /* USER CODE END 1 */
 
@@ -182,11 +201,13 @@ void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
 __weak void PreSleepProcessing(uint32_t *ulExpectedIdleTime)
 {
 /* place for user code */
+
 }
 
 __weak void PostSleepProcessing(uint32_t *ulExpectedIdleTime)
 {
 /* place for user code */
+
 }
 /* USER CODE END PREPOSTSLEEP */
 
@@ -208,6 +229,13 @@ void MX_FREERTOS_Init(void) {
   /* add semaphores, ... */
   /* USER CODE END RTOS_SEMAPHORES */
 
+  /* Create the timer(s) */
+  /* creation of PwrBtnTimer */
+  PwrBtnTimerHandle = osTimerNew(PwrBtnTimerCallback, osTimerOnce, NULL, &PwrBtnTimer_attributes);
+
+  /* creation of CustBtnTimer */
+  CustBtnTimerHandle = osTimerNew(CustBtnTimerCallback, osTimerOnce, NULL, &CustBtnTimer_attributes);
+
   /* USER CODE BEGIN RTOS_TIMERS */
   /* start timers, add new ones, ... */
   /* USER CODE END RTOS_TIMERS */
@@ -223,28 +251,24 @@ void MX_FREERTOS_Init(void) {
   /* creation of LedBlinkTask */
   LedBlinkTaskHandle = osThreadNew(StartLedBlinkTask, NULL, &LedBlinkTask_attributes);
 
-  /* creation of IWDGRefreshTask */
-//  IWDGRefreshTaskHandle = osThreadNew(StartIWDGRefreshTask, NULL, &IWDGRefreshTask_attributes);
-
-  /* creation of EventDetect */
-  EventDetectHandle = osThreadNew(StartEventDetect, NULL, &EventDetect_attributes);
-
   /* creation of CoulombRead */
   CoulombReadHandle = osThreadNew(StartCoulombRead, NULL, &CoulombRead_attributes);
 
-  /* creation of StateSwitchTask */
-  StateSwitchTaskHandle = osThreadNew(StartStateSwitchTask, NULL, &StateSwitchTask_attributes);
-
   /* creation of PowerMonitTask */
   PowerMonitTaskHandle = osThreadNew(StartPowerMonitTask, NULL, &PowerMonitTask_attributes);
 
+  /* creation of EventDetect */
+  EventDetectHandle = osThreadNew(StartEventDetect, NULL, &EventDetect_attributes);
+
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
+  StateSwitchTaskHandle = osThreadNew(StartStateSwitchTask, NULL, &defaultTask_attributes);
 
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
   /* add events, ... */
+  buttonEventHandle = osEventFlagsNew(&buttonEvent_attributes);
   /* USER CODE END RTOS_EVENTS */
 
 }
@@ -259,14 +283,38 @@ void MX_FREERTOS_Init(void) {
 void StartDefaultTask(void *argument)
 {
   /* init code for USB_DEVICE */
-//  MX_USB_DEVICE_Init();
+  MX_USB_DEVICE_Init();
   /* USER CODE BEGIN StartDefaultTask */
- osVersion_t osVersion;
- char id_buf[20];
- unsigned char id_size=20;
+	 osVersion_t osVersion;
+	 char id_buf[20];
+	 unsigned char id_size=20;
 
+  
 	HAL_GPIO_WritePin(USB2_FS_ENUM_CTL_GPIO_Port,USB2_FS_ENUM_CTL_Pin, GPIO_PIN_SET);
-	Beep(50);
+	HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);
+	if(isWakeUpReset()){//judge reset source form "wakeup event"
+
+		__HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
+		__HAL_PWR_CLEAR_FLAG(PWR_FLAG_SB);
+
+		if(HAL_GPIO_ReadPin(SYS_POWER_BTN_GPIO_Port, SYS_POWER_BTN_Pin)==GPIO_PIN_SET){
+			NaviKit.sys.next_sta = run;
+			Log(info,"EC Reset source :Power Button WakeUP");
+		}else{
+			NaviKit.sys.next_sta = idle;
+			Log(info,"EC Reset source :RTC WakeUP");
+//			 HAL_IWDG_Refresh(&hiwdg);
+//			 HAL_PWR_EnterSTANDBYMode();
+		}
+	}else{//judge reset source "power on"
+		Log(info,"EC Reset source :PowerON");
+		if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port, SYS_CUSTOM_BTN_Pin)==GPIO_PIN_RESET){
+			Log(debug,"EC next state isp");
+			NaviKit.sys.next_sta = isp;
+		}else{
+			NaviKit.sys.next_sta = idle;
+		}
+	}
 
 	Log(info,"----------------------------------------------");
 	Log(info,"Copyright (c) Powered by www.autolabor.com.cn");
@@ -278,17 +326,42 @@ void StartDefaultTask(void *argument)
 	Log(info,"Chip UID: %u%u%u ", HAL_GetUIDw0(),HAL_GetUIDw1(),HAL_GetUIDw2());
 
 	if(osOK == osKernelGetInfo(&osVersion,id_buf,id_size)){
-		Log(info,"OS Kernel Version: %u ", osVersion.kernel );
-		Log(info,"OS Kernel ID: %s ",id_buf );
+		Log(info,"OS Kernel Version: %u ", osVersion.kernel);
+		Log(info,"OS Kernel ID: %s ",id_buf);
 	}
-
 	Log(info,"Core initial successfully");
 	Log(info,"----------------------------------------------");
-//	  osEnterSleepState();
+
+	TaskBeep(50,1);
   /* Infinite loop */
   for(;;)
   {
-	osDelay(1000);
+//	 HAL_IWDG_Refresh(&hiwdg);
+	osDelay(100);
+    if(NaviKit.sys.sta != NaviKit.sys.next_sta){
+    	switch(NaviKit.sys.next_sta){
+			case idle:  {
+				enter_idle_state(100);
+		    	NaviKit.sys.sta = NaviKit.sys.next_sta;
+			} break;
+			case run: {
+				enter_run_state(100);
+		    	NaviKit.sys.sta = NaviKit.sys.next_sta;
+			}break;
+			case sleep:{
+				enter_sleep_state(100);
+		    	NaviKit.sys.sta = NaviKit.sys.next_sta;
+			}break;
+			case dfu:{
+				enter_dfu_state(100);
+		    	NaviKit.sys.sta = NaviKit.sys.next_sta;
+			}break;
+			case isp:{
+				enter_isp_state();
+		    	NaviKit.sys.sta = NaviKit.sys.next_sta;
+			}break;
+    	}
+    }
 
   }
   /* USER CODE END StartDefaultTask */
@@ -307,81 +380,52 @@ void StartLedBlinkTask(void *argument)
   /* Infinite loop */
 	for(;;)
 	{
+	  osDelay(1000);
 		switch(NaviKit.sys.sta){
-		case running:
-    {
-      if(HAL_GPIO_ReadPin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin))
-        HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);//turn on power led
-    
-      if(HAL_GPIO_ReadPin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin) == GPIO_PIN_SET)//sys run led is off
-      {
-        HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);//turn on sys run led
-        osDelay(50);
-      }
-      else
-      {
-        HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off sys run led
-        osDelay(300);
-      }
-    }break;
-		case shutdown:
-    {
-      if(!HAL_GPIO_ReadPin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin))
-        HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);//turn off power led
+		case run: {
+			  if(!PWR_Status(SYS_PWR_LED)){
+				PWR_Enable(SYS_PWR_LED,true,100);//turn on power led
+			  }
 
-      if(HAL_GPIO_ReadPin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin) == GPIO_PIN_SET)//sys run led is off
-      {
-        HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);//turn on sys run led
-        osDelay(20);
-      }
-      else
-      {
-        HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off sys run led
-        osDelay(2000);
-      }
-    }break;
-		case sleep:
-    {//sleep mode
-      for(uint16_t i=0;i<25;i++)
-      {//20 light level
-          for(uint16_t j=0;j<3;j++)
-          {//the time length of every light level 
-              HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);
-              HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);
-              osDelay(i);
-              HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);
-              HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);
-              osDelay(25-i);
-          } 
-      }
-      for(uint16_t i=0;i<25;i++)
-      {
-          for(uint16_t j=0;j<3;j++)
-          {
-              HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);
-              HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);
-              osDelay(25-i);
-              HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);
-              HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);
-              osDelay(i);
-          } 
-      }
-      
-    }break;
-		case dfu:
-		{
-			  if(HAL_GPIO_ReadPin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin) == GPIO_PIN_SET)//power led is off
-			  {
-				HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_RESET);//turn on power led
-				HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_RESET);//turn on run led
-				osDelay(300);
+			  if(!PWR_Status(SYS_RUN_LED)){//sys run led is off
+				PWR_Enable(SYS_RUN_LED,true,50);//turn on sys run led
+				PWR_Enable(SYS_RUN_LED,false,0);//turn off sys run led
 			  }
+			}break;
+		case idle:{
+			  if(PWR_Status(SYS_PWR_LED))
+				PWR_Enable(SYS_PWR_LED,false,0);//turn on power led//turn off power led
+
+			  if(PWR_Status(SYS_RUN_LED))//sys run led is off
+				PWR_Enable(SYS_RUN_LED,true,20);//turn on sys run led
 			  else
-			  {
-				HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin,GPIO_PIN_SET);//turn off sys run led
-				HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off run led
-				osDelay(300);
+				PWR_Enable(SYS_RUN_LED,false,3000);//turn off sys run led
+			}break;
+		case sleep:{//sleep mode
+			  for(uint16_t i=0;i<25;i++){//20 light level
+				  for(uint16_t j=0;j<3;j++){//the time length of every light level
+					  PWR_Enable(SYS_PWR_LED,false,0);
+					  PWR_Enable(SYS_RUN_LED,false,0);
+					  osDelay(i);
+					  PWR_Enable(SYS_PWR_LED,true,0);
+					  PWR_Enable(SYS_RUN_LED,true,0);
+					  osDelay(25-i);
+				  }
 			  }
+			  for(uint16_t i=0;i<25;i++){
+				  for(uint16_t j=0;j<3;j++){
+					  PWR_Enable(SYS_PWR_LED,false,0);
+					  PWR_Enable(SYS_RUN_LED,false,0);
+					  osDelay(25-i);
+					  PWR_Enable(SYS_PWR_LED,true,0);
+					  PWR_Enable(SYS_RUN_LED,true,0);
+					  osDelay(i);
+				  }
+			  }
+		}break;
+		case dfu:{
+			  PWR_Enable(SYS_PWR_LED,!PWR_Status(SYS_PWR_LED),150);
+			  PWR_Enable(SYS_RUN_LED,!PWR_Status(SYS_PWR_LED),150);
 		}break;
 		case isp:
 			break;
@@ -390,104 +434,6 @@ void StartLedBlinkTask(void *argument)
   /* USER CODE END StartLedBlinkTask */
 }
 
-/* USER CODE BEGIN Header_StartIWDGRefreshTask */
-/**
-* @brief Function implementing the IWDGRefreshTask thread.
-* @param argument: Not used
-* @retval None
-*/
-/* USER CODE END Header_StartIWDGRefreshTask */
-void StartIWDGRefreshTask(void *argument)
-{
-  /* USER CODE BEGIN StartIWDGRefreshTask */
-  /* Infinite loop */
-  for(;;)
-  {
-	HAL_IWDG_Refresh(&hiwdg);
-	osDelay(1000);
-  }
-  /* USER CODE END StartIWDGRefreshTask */
-}
-
-/* USER CODE BEGIN Header_StartEventDetect */
-/**
-* @brief Function implementing the EventDetect thread.
-* @param argument: Not used
-* @retval None
-*/
-/* USER CODE END Header_StartEventDetect */
-void StartEventDetect(void *argument)
-{
-  /* USER CODE BEGIN StartEventDetect */
-	osDelay(100);
-  if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port,SYS_CUSTOM_BTN_Pin) == GPIO_PIN_RESET)
-  {
-      Log(debug,"Custom button has been pushed.");
-      NaviKit.sys.next_sta = isp;
-  }
-  /* Infinite loop */
-  for(;;)
-  {
-
-	  if(NaviKit.sys.power_btn == true)
-	  {//power btn has been pushed
-		  uint8_t count =0;
-		  while(NaviKit.sys.power_btn && count<=10){
-			  osDelay(100);
-			  count ++;
-		  }
-		  if(count >10)
-		  {//power btn has been pushed more than 1000 ms
-		// while(NaviKit.sys.power_btn == true);//wait to release button
-			  switch(NaviKit.sys.sta){
-				  case running:{//system is running now, user request to shutdown
-					  NaviKit.sys.next_sta = shutdown;
-				  }break;
-				  case shutdown:{//system is shutdown now , user request to power on
-					  NaviKit.sys.next_sta = running;
-				  }break;
-				  case dfu:{
-					  NaviKit.sys.next_sta = shutdown;
-				  }break;
-				  case sleep:{
-					  NaviKit.sys.next_sta = running;
-				  }break;
-			  }
-		  }
-	  else
-	  {
-		  //sleep mode is unused
-	//    	  if(NaviKit.sys.sta == runing)
-	//          NaviKit.sys.sta = sleep;
-	//    	  else if(NaviKit.sys.sta == sleep)
-	//          NaviKit.sys.sta = runing;
-	  }
-	  }
-	  if(NaviKit.sys.custom_btn == true )
-	  {//custom button has been pushed
-		  uint8_t count =0;
-		  while(NaviKit.sys.custom_btn  && count<=20){
-			  osDelay(100);
-			  count ++;
-		  }
-		  if(count > 20 )
-		  {//custom button has been pushed over 1000 ms
-			  if((NaviKit.sys.power_btn == true) && (NaviKit.sys.sta == shutdown))//into dfu state
-				  NaviKit.sys.next_sta = dfu;
-			  else//TODO: force restart
-				  NaviKit.sys.next_sta = shutdown;
-//			  if(NaviKit.sys.sta == runing)
-//				  NaviKit.sys.next_sta = shutdown;
-//			  else if(NaviKit.sys.sta == shutdown)
-//				  NaviKit.sys.next_sta = runing;
-		  }
-	  }
-
-  osDelay(10);
-  }
-  /* USER CODE END StartEventDetect */
-}
-
 /* USER CODE BEGIN Header_StartCoulombRead */
 /**
 * @brief Function implementing the CoulombRead thread.
@@ -512,7 +458,7 @@ void StartCoulombRead(void *argument)
   {
     coulomb_read_status_and_config();
     coulomb_read_status_raw_to_actual();
-	  if(NaviKit.sys.sta == running)
+	  if(NaviKit.sys.sta == run)
 		  osDelay(500);
 	  else
 		  osDelay(5000);
@@ -520,56 +466,6 @@ void StartCoulombRead(void *argument)
   /* USER CODE END StartCoulombRead */
 }
 
-/* USER CODE BEGIN Header_StartStateSwitchTask */
-/**
-* @brief Function implementing the StateSwitchTask thread.
-* @param argument: Not used
-* @retval None
-*/
-/* USER CODE END Header_StartStateSwitchTask */
-void StartStateSwitchTask(void *argument)
-{
-  /* USER CODE BEGIN StartStateSwitchTask */
-  /* Infinite loop */
-  for(;;)
-  {
-    osDelay(10);
-	  if(NaviKit.sys.next_sta != NaviKit.sys.sta)
-	  {
-		  switch(NaviKit.sys.next_sta)
-		  {
-			  case shutdown:
-			  {//only from running state
-			  if((NaviKit.sys.sta == running)){// && (NaviKit.som.shutdown_req == true)
-				  enter_shutdown_state();
-//			  	  osEnterSleepState();
-			  }
-          }break;
-			  case running:
-			  {//from sleep and shutdown state
-          enter_runing_state();
-          }break;
-			  case sleep:
-			  {//only form running state
-          if(NaviKit.sys.sta == running)
-            enter_sleep_state();
-
-          }break;
-			  case dfu:
-			  {
-				  enter_dfu_state();
-			  }break;
-        case isp:
-        {
-          enter_isp_state();
-        }break;
-		  }
-		  NaviKit.sys.sta = NaviKit.sys.next_sta;
-	  }
-  }
-  /* USER CODE END StartStateSwitchTask */
-}
-
 /* USER CODE BEGIN Header_StartPowerMonitTask */
 /**
 * @brief Function: Monit som power status and PMB status
@@ -581,71 +477,170 @@ void StartPowerMonitTask(void *argument)
 {
   /* USER CODE BEGIN StartPowerMonitTask */
 	HAL_ADCEx_Calibration_Start(&hadc1);
-	HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&(NaviKit.pmb.rails.adc), ADC_CH_COUNT);
+    osDelay(2000);
   /* Infinite loop */
   for(;;)
   {
-	    osDelay(5000);
-	  if(NaviKit.sys.sta == running){
-			if(NaviKit.pmb.rails.out_24v > 26.4 || NaviKit.pmb.rails.out_24v < 21.6){
-				 Log(error,"24V(±10%) power rail exception:%dV",NaviKit.pmb.rails.out_24v);
-			}
-			if(NaviKit.pmb.rails.out_5v > 5.5 || NaviKit.pmb.rails.out_5v < 4.5){
-				 Log(error,"5V(±10%) power rail exception:%dV",NaviKit.pmb.rails.out_5v);
-			}
-			if(NaviKit.pmb.rails.out_12v > 13.2 || NaviKit.pmb.rails.out_12v < 10.8){
-				 Log(error ,"12V(±10%) power rail exception:%dV",NaviKit.pmb.rails.out_12v);
-			}
-			if(NaviKit.pmb.rails.bkp_bat < 9.5){
-				 Log(warning,"Backup power is not online");
-			}
+		//stat1 stat2   lead-acid
+		//1		1		Not Charging
+		//1		0		Float Charge
+		//0		1		Absorption Charge
+		//0		0		Bulk Charge
+		NaviKit.pmb.sta.chrg_stat1 = (bool)HAL_GPIO_ReadPin(PMB_CHRG_STAT1_GPIO_Port, PMB_CHRG_STAT1_Pin);
+		NaviKit.pmb.sta.chrg_stat2 = (bool)HAL_GPIO_ReadPin(PMB_CHRG_STAT2_GPIO_Port, PMB_CHRG_STAT2_Pin);
+
+		if(!NaviKit.pmb.sta.chrg_stat1 && !NaviKit.pmb.sta.chrg_stat2)
+			Log(trace,"Backup battery status:%dmV Bulk Charge(Vth=12.6V)",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+		if(!NaviKit.pmb.sta.chrg_stat1 && NaviKit.pmb.sta.chrg_stat2)
+			Log(trace,"Backup battery status:%dmV Absorption Charge(Vth=14.4V)",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+		if(NaviKit.pmb.sta.chrg_stat1 && !NaviKit.pmb.sta.chrg_stat2)
+			Log(trace,"Backup battery status:%dmV Float Charge(Vth=13.3V)",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+		if(NaviKit.pmb.sta.chrg_stat1 && NaviKit.pmb.sta.chrg_stat2)
+			Log(trace,"Backup battery status:%dmV Not Charge",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+
+
+		HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&(NaviKit.pmb.rails.adc), ADC_CH_COUNT);
+		if(NaviKit.sys.sta == run || NaviKit.sys.next_sta == run ){
+		    osDelay(2000);
+			if(NaviKit.pmb.rails.out_24v > 26.4 || NaviKit.pmb.rails.out_24v < 21.6)
+				 Log(fatal,"24V(±10%%) power rail exception:%dmV",(uint32_t)(NaviKit.pmb.rails.out_24v*1000));
+			else
+				Log(trace,"24V(±10%%) power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.out_24v*1000));
+
+			if(NaviKit.pmb.rails.out_5v > 5.5 || NaviKit.pmb.rails.out_5v < 4.5)
+				 Log(fatal,"5V(±10%%) power rail exception:%dmV",(uint32_t)(NaviKit.pmb.rails.out_5v*1000));
+			else
+				Log(trace,"5V(±10%%) power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.out_5v*1000));
+
+			if(NaviKit.pmb.rails.out_12v > 13.2 || NaviKit.pmb.rails.out_12v < 10.8)
+				 Log(fatal ,"12V(±10%%) power rail exception:%dmV",(uint32_t)(NaviKit.pmb.rails.out_12v*1000));
+			else
+				Log(trace,"12V(±10%%) power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.out_12v*1000));
+
+			if(NaviKit.pmb.rails.bkp_bat < 9.5)
+				 Log(warning,"Backup battery exception:%dmV",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+			else
+				Log(trace,"Backup battery is regular:%dmV",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+
 			if(NaviKit.pmb.rails.main_pwr < 19){
-				Beep(200);
-				 Log(warning,"Main power has been lost, please shutdown computer as soon as possible");
-		 }
+				TaskBeep(200,1);
+				 Log(warning,"Main power has been lost, please shutdown computer as soon as possible:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
+			}else
+				Log(trace,"Main power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
+
+	  }else {//not run state
+		  osDelay(5000);
+		  if(NaviKit.sys.sta == idle){//idle state
+			  if((NaviKit.pmb.sta.chrg_stat1 && NaviKit.pmb.sta.chrg_stat2) \
+			  || (NaviKit.pmb.sta.chrg_stat1 && !NaviKit.pmb.sta.chrg_stat2)){//Not Charge or float charge
+				  Log(info,"EC enter STANDBY Mode to save power");
+//				  __HAL_PWR_CLEAR_FLAG
+				    __HAL_RCC_RTC_DISABLE();
+				  HAL_PWR_EnterSTANDBYMode();
+			  }
+		  }
 	  }
-		if(NaviKit.pmb.rails.bkp_bat > 15){
-			 Log(error,"Backup power is exception:%dV",NaviKit.pmb.rails.bkp_bat);
-				Beep(200);
-		}
 		if(NaviKit.pmb.rails.main_pwr > 30){
-			Beep(200);
-			 Log(error,"Backup power is exception:%dV",NaviKit.pmb.rails.main_pwr);
+				TaskBeep(200,1);
+			 Log(fatal,"Main power is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
 		}
+		if(NaviKit.pmb.rails.bkp_bat > 15){
+			 Log(fatal,"Backup battery is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+				TaskBeep(200,1);
+		}
+
 
   }
   /* USER CODE END StartPowerMonitTask */
 }
 
+/* USER CODE BEGIN Header_StartEventDetect */
+/**
+* @brief Function implementing the EventDetect thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_StartEventDetect */
+void StartEventDetect(void *argument)
+{
+  /* USER CODE BEGIN StartEventDetect */
+  /* Infinite loop */
+
+  for(;;)
+  {
+    osDelay(10);
+
+		if(NaviKit.sys.power_btn && !osTimerIsRunning(PwrBtnTimerHandle)){
+			osTimerStart(PwrBtnTimerHandle,2000);
+		}
+		if(NaviKit.sys.custom_btn && !osTimerIsRunning(CustBtnTimerHandle)){
+			osTimerStart(PwrBtnTimerHandle,2000);
+		}
+		if(!NaviKit.sys.power_btn && osTimerIsRunning(PwrBtnTimerHandle)){
+			osTimerStop(PwrBtnTimerHandle);
+  			Log(trace,"power btn short pressed");
+		}
+		if(!NaviKit.sys.custom_btn && osTimerIsRunning(CustBtnTimerHandle)){
+			osTimerStop(CustBtnTimerHandle);
+  			Log(trace,"custom btn short pressed");
+		}
+  }
+  /* USER CODE END StartEventDetect */
+}
+
+/* PwrBtnTimerCallback function */
+void PwrBtnTimerCallback(void *argument)
+{
+  /* USER CODE BEGIN PwrBtnTimerCallback */
+//  Log(debug,"power btn timer callback");
+  Log(trace,"power btn long pressed");
+    switch(NaviKit.sys.sta){
+      case run:  {NaviKit.sys.next_sta = idle;Log(trace,"change to idle");      }break;//system is run now, user request to idle
+      case idle: {NaviKit.sys.next_sta = run;Log(trace,"change to run");      }break;//system is idle now , user request to power on
+      case dfu:  {NaviKit.sys.next_sta = idle;Log(trace,"change to idle");      }break;
+      case sleep:{NaviKit.sys.next_sta = run;Log(trace,"change to run");      }break;
+      case isp:  {NaviKit.sys.next_sta = idle;Log(trace,"change to idle");      }break;
+    }
+  /* USER CODE END PwrBtnTimerCallback */
+}
+
+/* CustBtnTimerCallback function */
+void CustBtnTimerCallback(void *argument)
+{
+  /* USER CODE BEGIN CustBtnTimerCallback */
+//  Log(debug,"custom btn timer callback");
+  Log(trace,"custom btn long pressed");
+    switch(NaviKit.sys.sta){
+      case run:{//system is run now, user request to restart system 
+    	  HAL_GPIO_WritePin(SOM_SYS_RESET_GPIO_Port,SOM_SYS_RESET_Pin,GPIO_PIN_RESET);
+    	  osDelay(10);
+    	  HAL_GPIO_WritePin(SOM_SYS_RESET_GPIO_Port,SOM_SYS_RESET_Pin,GPIO_PIN_SET);
+      }break;
+      case idle:{
+      }break;
+      case dfu:{
+      }break;
+      case sleep:{
+      }break;
+      case isp:{
+      }break;
+    }
+  /* USER CODE END CustBtnTimerCallback */
+}
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 
-//os enter sleep state for save power
-void osEnterSleepState(){
-  Log(info,"EC Enter Sleep State");
-  HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off sys run led
-  vTaskSuspendAll();
-//  osKernelLock();
-  HAL_SuspendTick();
-//  MX_USB_DEVICE_DeInit();
-  HAL_I2C_MspDeInit(&hi2c1);
-  HAL_ADC_MspDeInit(&hadc1);
-  HAL_ADC_Stop_DMA(&hadc1);
-  HAL_PWR_EnableSleepOnExit();//for rtos application,enter sleep after interrupt end
-  HAL_PWR_EnterSLEEPMode(0,PWR_SLEEPENTRY_WFE);
-}
-void osEnterRuningState(){
-  HAL_ResumeTick();
-  //  MX_USB_DEVICE_Init();
-  HAL_I2C_MspInit(&hi2c1);
-  HAL_ADC_MspInit(&hadc1);
-	HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&(NaviKit.pmb.rails.adc), ADC_CH_COUNT);
-	__set_CONTROL(0);
-	xTaskResumeAll();
-//	osKernelUnlock();
-	NaviKit.sys.next_sta = running;
-  Log(info,"EC Enter Runing State");
+void StartStateSwitchTask(void *argument)
+{
+
+  for(;;)
+  {
+
+  }
 }
+
+
 //printf redirect
 #ifdef __GNUC__
 //#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
diff --git a/Core/Src/main.c b/Core/Src/main.c
index b9b9759..2096092 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -84,7 +84,6 @@ int main(void)
 
   /* USER CODE BEGIN Init */
 
-  NaviKit_var_init();
   /* USER CODE END Init */
 
   /* Configure the system clock */
@@ -102,13 +101,13 @@ int main(void)
   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 */
 
-  HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);
+  NaviKit_var_init();
   /* USER CODE END 2 */
 
   /* Init scheduler */
@@ -226,7 +225,7 @@ void ISP_Judge()
 {//Judge that if need jump to ISP area
 	RTC_HandleTypeDef hrtc;
 	hrtc.Instance = RTC;
-	if(HAL_RTCEx_BKUPRead(&hrtc,RTC_BKP_DR1) == 0x32f2)
+	if(HAL_RTCEx_BKUPRead(&hrtc,ISP_BKP_DR) == BKP_DR_Jump_to_ISP)
   {
     __HAL_RCC_PWR_CLK_ENABLE();
     __HAL_RCC_BKP_CLK_ENABLE();
@@ -234,7 +233,7 @@ void ISP_Judge()
     __HAL_RCC_RTC_ENABLE();
     HAL_PWR_EnableBkUpAccess();
 
-    HAL_RTCEx_BKUPWrite(&hrtc,RTC_BKP_DR1,0x0000);
+    HAL_RTCEx_BKUPWrite(&hrtc,ISP_BKP_DR,0x0000);
 
     __HAL_RCC_RTC_DISABLE();
     __HAL_RCC_PWR_CLK_DISABLE();
diff --git a/Core/Src/navikit.c b/Core/Src/navikit.c
index 11a66c0..595b5dd 100644
--- a/Core/Src/navikit.c
+++ b/Core/Src/navikit.c
@@ -2,7 +2,7 @@
  * @Description: 
  * @Date: 2020-04-17 13:16:16
  * @LastEditors: CK.Zh
- * @LastEditTime: 2020-12-17 17:29:07
+ * @LastEditTime: 2020-12-30 14:19:14
  * @FilePath: \NaviKit_stm32\Core\Src\navikit.c
  */
 /*
@@ -15,18 +15,22 @@
 
 #include "navikit.h"
 NaviKit_t NaviKit;
+
 void NaviKit_var_init()
 {
-	NaviKit.sys.sta = shutdown;
-	NaviKit.sys.next_sta = shutdown;
+	NaviKit.sys.sta = idle;
+	NaviKit.sys.next_sta = idle;
+
 }
 
-void Beep(uint32_t time_ms)
+void TaskBeep(uint32_t time_ms , uint8_t n)
 {
-	HAL_GPIO_WritePin(SYS_BUZZ_CTL_GPIO_Port,SYS_BUZZ_CTL_Pin, GPIO_PIN_RESET);
-	HAL_Delay(time_ms>>1);
-	HAL_GPIO_WritePin(SYS_BUZZ_CTL_GPIO_Port,SYS_BUZZ_CTL_Pin, GPIO_PIN_SET);
-	HAL_Delay(time_ms>>1);
+	for(uint8_t i=0;i<n;i++){
+		HAL_GPIO_WritePin(SYS_BUZZ_CTL_GPIO_Port,SYS_BUZZ_CTL_Pin, GPIO_PIN_RESET);
+		osDelay(time_ms>>1);
+		HAL_GPIO_WritePin(SYS_BUZZ_CTL_GPIO_Port,SYS_BUZZ_CTL_Pin, GPIO_PIN_SET);
+		osDelay(time_ms>>1);
+	}
 }
 
 
@@ -34,13 +38,15 @@ void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
 {
 	if(hadc->Instance == ADC1)
 	{
-		float adc_17_voltage = 1.2 / NaviKit.pmb.rails.adc[1];//reference voltage
+		// ADC_CHANNEL_TEMPSENSOR  ADC_CHANNEL_16  /* ADC internal channel (no connection on device pin) */
+		// ADC_CHANNEL_VREFINT     ADC_CHANNEL_17  /* ADC internal channel (no connection on device pin) */
+		float adc_17_voltage = (float)1.2 / NaviKit.pmb.rails.adc[1];//reference voltage
 
-		NaviKit.pmb.rails.out_24v  = (float)(adc_17_voltage * NaviKit.pmb.rails.adc[2] * 16);
+		NaviKit.pmb.rails.out_24v   = (float)(adc_17_voltage * NaviKit.pmb.rails.adc[2] * 16);
 		NaviKit.pmb.rails.out_5v    = (float)(adc_17_voltage * NaviKit.pmb.rails.adc[3] * 8);
 		NaviKit.pmb.rails.out_12v   = (float)(adc_17_voltage * NaviKit.pmb.rails.adc[4] * 8);
 		NaviKit.pmb.rails.bkp_bat   = (float)(adc_17_voltage * NaviKit.pmb.rails.adc[5] * 8);
-		NaviKit.pmb.rails.main_pwr = (float)(adc_17_voltage * NaviKit.pmb.rails.adc[6] * 16);
+		NaviKit.pmb.rails.main_pwr  = (float)(adc_17_voltage * NaviKit.pmb.rails.adc[6] * 16);
 	}
 }
 
@@ -48,58 +54,41 @@ void HAL_ADC_LevelOutOfWindowCallback(ADC_HandleTypeDef* hadc)
 {
 		HAL_ADCEx_Calibration_Start(&hadc1);
 }
+
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 {
-	if(GPIO_Pin == SOM_SHUTDOWN_REQ_Pin)
-	{
-		if(HAL_GPIO_ReadPin(SOM_SHUTDOWN_REQ_GPIO_Port, SOM_SHUTDOWN_REQ_Pin)==GPIO_PIN_RESET)
-		{//falling edge trigger
-			  if(NaviKit.sys.sta == running)
-			  {//if jetson nano shutdown output low,the power_en should be set low less than 10us
+	if(GPIO_Pin == SOM_SHUTDOWN_REQ_Pin){
+		if(HAL_GPIO_ReadPin(SOM_SHUTDOWN_REQ_GPIO_Port, SOM_SHUTDOWN_REQ_Pin)==GPIO_PIN_RESET){//falling edge trigger
+			  if(NaviKit.sys.sta == run){//if jetson nano shutdown output low,the power_en should be set low less than 10us
 				    HAL_GPIO_WritePin(SOM_POWER_EN_GPIO_Port ,SOM_POWER_EN_Pin, GPIO_PIN_RESET);
-					NaviKit.sys.next_sta = shutdown;
-					Log(info,"som request to shutdown");
+				    NaviKit.sys.next_sta = idle;
+					Log(info,"SOM request to shutdown");
 			  }
-				NaviKit.som.shutdown_req = true;
 		}
 		else{//Rising edge trigger
-			NaviKit.som.shutdown_req = false;
 		}
-
 	}
-	else if(GPIO_Pin == SYS_POWER_BTN_Pin)
-	{
-		if(HAL_GPIO_ReadPin(SYS_POWER_BTN_GPIO_Port, SYS_POWER_BTN_Pin)==GPIO_PIN_SET)
-		{//Rising edge trigger
+	else if(GPIO_Pin == SYS_POWER_BTN_Pin){
+		if(HAL_GPIO_ReadPin(SYS_POWER_BTN_GPIO_Port, SYS_POWER_BTN_Pin)==GPIO_PIN_SET){//Rising edge trigger
 			NaviKit.sys.power_btn = true;
-			Log(debug,"power_btn pushed");
-			if(NaviKit.sys.sta==shutdown){
-//					osEnterRuningState();
-			}
+			Log(debug,"power_btn status: pressed.");
 		}
-		if(HAL_GPIO_ReadPin(SYS_POWER_BTN_GPIO_Port, SYS_POWER_BTN_Pin)==GPIO_PIN_RESET)
-		{//falling edge trigger
+		if(HAL_GPIO_ReadPin(SYS_POWER_BTN_GPIO_Port, SYS_POWER_BTN_Pin)==GPIO_PIN_RESET){//falling edge trigger
 			NaviKit.sys.power_btn = false;
-			Log(debug,"power_btn released");
+			Log(debug,"power_btn status: released.");
 		}
 	}
-	else if(GPIO_Pin == SYS_CUSTOM_BTN_Pin)
-	{
-		if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port, SYS_CUSTOM_BTN_Pin)==GPIO_PIN_SET)
-		{//Rising edge trigger
-			NaviKit.sys.custom_btn = false;
-			Log(debug,"custom_btn released");
-		}
-		if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port, SYS_CUSTOM_BTN_Pin)==GPIO_PIN_RESET)
-		{//falling edge trigger
+	else if(GPIO_Pin == SYS_CUSTOM_BTN_Pin){
+		if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port, SYS_CUSTOM_BTN_Pin)==GPIO_PIN_RESET){//falling edge trigger
+			Log(debug,"custom_btn status: pressed.");
 			NaviKit.sys.custom_btn = true;
-			Log(debug,"custom_btn pushed");
+		}
+		if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port, SYS_CUSTOM_BTN_Pin)==GPIO_PIN_SET){//Rising edge trigger
+			Log(debug,"custom_btn status: released.");
+			NaviKit.sys.custom_btn = false;
 		}
 	}
-
 }
-__weak void osEnterRuningState(){}
-__weak void osEnterSleepState(){}
 
 //write "bios update flag" to bkp register, and reset system
 void enter_isp_state()
@@ -114,16 +103,12 @@ void enter_isp_state()
     __HAL_RCC_RTC_ENABLE();
     HAL_PWR_EnableBkUpAccess();
 
-    HAL_RTCEx_BKUPWrite(&hrtc,RTC_BKP_DR1,0x32f2);
+    HAL_RTCEx_BKUPWrite(&hrtc,ISP_BKP_DR,BKP_DR_Jump_to_ISP);
     
-    HAL_Delay(10);
-    if(HAL_RTCEx_BKUPRead(&hrtc,RTC_BKP_DR1) == 0x32f2)
+    osDelay(10);
+    if(HAL_RTCEx_BKUPRead(&hrtc,ISP_BKP_DR) == BKP_DR_Jump_to_ISP)
     {//write successful
-        Beep(500);
-        Beep(500);
-        Beep(500);
-        Beep(500);
-        Beep(500);
+		TaskBeep(500,5);
         Log(info,"Enter to EC update state.");
         Log(info,"System will reboot ,then run ISP automatic.");
         HAL_NVIC_SystemReset();
@@ -134,149 +119,120 @@ void enter_isp_state()
 }
 
 //timeout:the time of wait
-void enter_shutdown_state()
+void enter_idle_state(uint16_t delay)
 {
-				  Log(info,"Enter to shutdown state");
-				  Beep(50);
+	Log(info,"Enter to idle state");
+	TaskBeep(50,1);
 
-    HAL_GPIO_WritePin(SOM_POWER_EN_GPIO_Port ,SOM_POWER_EN_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
+    PWR_Enable(SOM_PWR_EN ,false, delay);
 
-    HAL_GPIO_WritePin(SOC_U3_HUB_PWR_CTL_GPIO_Port,SOC_U3_HUB_PWR_CTL_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(SOC_U2_HUB_PWR_CTL_GPIO_Port,SOC_U2_HUB_PWR_CTL_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(SOC_U3_HOST_PWR_CTL_GPIO_Port,SOC_U3_HOST_PWR_CTL_Pin, GPIO_PIN_RESET);				HAL_Delay(100);
-    HAL_GPIO_WritePin(SOC_GE_SW_PWR_CTL_GPIO_Port,SOC_GE_SW_PWR_CTL_Pin, GPIO_PIN_RESET);				    HAL_Delay(100);
-    HAL_GPIO_WritePin(SOC_U3_GEC_PWR_CTL_GPIO_Port,SOC_U3_GEC_PWR_CTL_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
+    PWR_Enable(SOC_USB3_HUB ,false, delay);
+    PWR_Enable(SOC_USB2_HUB ,false, delay);
+    PWR_Enable(SOC_USB3_HOST,false, delay);
+    PWR_Enable(SOC_USB3_GEC ,false, delay);
+    PWR_Enable(SOC_GE_SW    ,false, delay);
 
-    HAL_GPIO_WritePin(USB3_VBUS_CTL_4_GPIO_Port,USB3_VBUS_CTL_4_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB3_VBUS_CTL_3_GPIO_Port,USB3_VBUS_CTL_3_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB3_VBUS_CTL_2_GPIO_Port,USB3_VBUS_CTL_2_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB3_VBUS_CTL_1_GPIO_Port,USB3_VBUS_CTL_1_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB3_VBUS_CTL_6_GPIO_Port,USB3_VBUS_CTL_6_Pin, GPIO_PIN_RESET);         HAL_Delay(100);
-    HAL_GPIO_WritePin(USB3_VBUS_CTL_5_GPIO_Port,USB3_VBUS_CTL_5_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
+    PWR_Enable(USB3_Port4,false, delay);
+    PWR_Enable(USB3_Port3,false, delay);
+    PWR_Enable(USB3_Port2,false, delay);
+    PWR_Enable(USB3_Port1,false, delay);
+    PWR_Enable(USB3_Port6,false, delay);
+    PWR_Enable(USB3_Port5,false, delay);
 
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_6_GPIO_Port,USB2_VBUS_CTL_6_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_5_GPIO_Port,USB2_VBUS_CTL_5_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_4_GPIO_Port,USB2_VBUS_CTL_4_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_3_GPIO_Port,USB2_VBUS_CTL_3_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_2_GPIO_Port,USB2_VBUS_CTL_2_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_1_GPIO_Port,USB2_VBUS_CTL_1_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
+    PWR_Enable(USB2_Port6,false, delay);
+    PWR_Enable(USB2_Port5,false, delay);
+    PWR_Enable(USB2_Port4,false, delay);
+    PWR_Enable(USB2_Port3,false, delay);
+    PWR_Enable(USB2_Port2,false, delay);
+    PWR_Enable(USB2_Port1,false, delay);
 
-    HAL_GPIO_WritePin(SYS_FAN_CTL_1_GPIO_Port,SYS_FAN_CTL_1_Pin,GPIO_PIN_RESET);                 HAL_Delay(100);
-    HAL_GPIO_WritePin(SYS_FAN_CTL_2_GPIO_Port,SYS_FAN_CTL_2_Pin,GPIO_PIN_RESET);                 HAL_Delay(100);
-    HAL_GPIO_WritePin(SYS_FAN_CTL_3_GPIO_Port,SYS_FAN_CTL_3_Pin,GPIO_PIN_RESET);                 HAL_Delay(100);
+    PWR_Enable(SYS_FAN1 ,false , delay);
+	PWR_Enable(SYS_FAN2 ,false , delay);
+	PWR_Enable(SYS_FAN3 ,false , delay);
 
-    HAL_GPIO_WritePin(PMB_PS_ON_GPIO_Port ,PMB_PS_ON_Pin, GPIO_PIN_RESET);                    HAL_Delay(100);
+	PWR_Enable(PMB_PS_ON ,false , delay);
 
-    MX_USB_DEVICE_DeInit();
 }
 
-void enter_sleep_state()
+
+
+void enter_run_state(uint16_t delay)
 {
-				  Log(info,"Enter to sleep state");
-				  Beep(50);
+	Log(info,"Enter to run state");
+	TaskBeep(200,1);
 
-    // HAL_GPIO_WritePin(SOC_U3_HUB_PWR_CTL_GPIO_Port,SOC_U3_HUB_PWR_CTL_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(SOC_U2_HUB_PWR_CTL_GPIO_Port,SOC_U2_HUB_PWR_CTL_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-//    HAL_GPIO_WritePin(SOC_U3_HOST_PWR_CTL_GPIO_Port,SOC_U3_HOST_PWR_CTL_Pin, GPIO_PIN_RESET);				HAL_Delay(100);
-    HAL_GPIO_WritePin(SOC_GE_SW_PWR_CTL_GPIO_Port,SOC_GE_SW_PWR_CTL_Pin, GPIO_PIN_RESET);				    HAL_Delay(100);
-    // HAL_GPIO_WritePin(SOC_U3_GEC_PWR_CTL_GPIO_Port,SOC_U3_GEC_PWR_CTL_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
+  	PWR_Enable(SOM_DFU ,false, delay);
 
+	PWR_Enable(PMB_PS_ON ,true, delay);
 
-    HAL_GPIO_WritePin(USB3_VBUS_CTL_4_GPIO_Port,USB3_VBUS_CTL_4_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB3_VBUS_CTL_3_GPIO_Port,USB3_VBUS_CTL_3_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB3_VBUS_CTL_2_GPIO_Port,USB3_VBUS_CTL_2_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB3_VBUS_CTL_1_GPIO_Port,USB3_VBUS_CTL_1_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    // HAL_GPIO_WritePin(USB3_VBUS_CTL_6_GPIO_Port,USB3_VBUS_CTL_6_Pin, GPIO_PIN_RESET);         HAL_Delay(100);
-    // HAL_GPIO_WritePin(USB3_VBUS_CTL_5_GPIO_Port,USB3_VBUS_CTL_5_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
+	PWR_Enable(SYS_FAN1 ,true , delay);
+	PWR_Enable(SYS_FAN2 ,true , delay);
+	PWR_Enable(SYS_FAN3 ,true , delay);
 
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_6_GPIO_Port,USB2_VBUS_CTL_6_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_5_GPIO_Port,USB2_VBUS_CTL_5_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_4_GPIO_Port,USB2_VBUS_CTL_4_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_3_GPIO_Port,USB2_VBUS_CTL_3_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_2_GPIO_Port,USB2_VBUS_CTL_2_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
-    HAL_GPIO_WritePin(USB2_VBUS_CTL_1_GPIO_Port,USB2_VBUS_CTL_1_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
+	PWR_Enable(SOC_USB3_HUB ,true , delay);
+	PWR_Enable(SOC_USB2_HUB ,true , delay);
+	PWR_Enable(SOC_USB3_HOST,true , delay);
+	PWR_Enable(SOC_USB3_GEC ,true , delay);
+	PWR_Enable(SOC_GE_SW    ,true , delay);
 
-    HAL_GPIO_WritePin(SYS_FAN_CTL_1_GPIO_Port,SYS_FAN_CTL_1_Pin,GPIO_PIN_RESET);                 HAL_Delay(100);
-    HAL_GPIO_WritePin(SYS_FAN_CTL_2_GPIO_Port,SYS_FAN_CTL_2_Pin,GPIO_PIN_RESET);                 HAL_Delay(100);
-    HAL_GPIO_WritePin(SYS_FAN_CTL_3_GPIO_Port,SYS_FAN_CTL_3_Pin,GPIO_PIN_RESET);                 HAL_Delay(100);
+	PWR_Enable(USB2_Port1,true , delay);
+	PWR_Enable(USB2_Port2,true , delay);
+	PWR_Enable(USB2_Port3,true , delay);
+	PWR_Enable(USB2_Port4,true , delay);
+	PWR_Enable(USB2_Port5,true , delay);
+	PWR_Enable(USB2_Port6,true , delay);
+
+	PWR_Enable(USB3_Port5,true , delay);
+	PWR_Enable(USB3_Port6,true , delay);
+	PWR_Enable(USB3_Port1,true , delay);
+	PWR_Enable(USB3_Port2,true , delay);
+	PWR_Enable(USB3_Port3,true , delay);
+	PWR_Enable(USB3_Port4,true , delay);
+
+	PWR_Enable(SOM_PWR_EN , true , delay);
 }
-
-void enter_runing_state()
+void enter_sleep_state(uint16_t delay)
 {
-  
-  Log(info,"Enter to runing state");
-  Beep(200);
-
-  HAL_GPIO_WritePin(SOM_FORCE_RECOVERY_GPIO_Port ,SOM_FORCE_RECOVERY_Pin, GPIO_PIN_SET);				      HAL_Delay(100);
-  HAL_GPIO_WritePin(PMB_PS_ON_GPIO_Port ,PMB_PS_ON_Pin, GPIO_PIN_SET);                HAL_Delay(100);
-
-  HAL_GPIO_WritePin(SYS_FAN_CTL_1_GPIO_Port,SYS_FAN_CTL_1_Pin,GPIO_PIN_SET);                 HAL_Delay(100);
-  HAL_GPIO_WritePin(SYS_FAN_CTL_2_GPIO_Port,SYS_FAN_CTL_2_Pin,GPIO_PIN_SET);                 HAL_Delay(100);
-  HAL_GPIO_WritePin(SYS_FAN_CTL_3_GPIO_Port,SYS_FAN_CTL_3_Pin,GPIO_PIN_SET);                 HAL_Delay(100);
-
-  HAL_GPIO_WritePin(SOC_U3_HUB_PWR_CTL_GPIO_Port,SOC_U3_HUB_PWR_CTL_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(SOC_U2_HUB_PWR_CTL_GPIO_Port,SOC_U2_HUB_PWR_CTL_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(SOC_U3_HOST_PWR_CTL_GPIO_Port,SOC_U3_HOST_PWR_CTL_Pin, GPIO_PIN_SET);				HAL_Delay(100);
-  HAL_GPIO_WritePin(SOC_GE_SW_PWR_CTL_GPIO_Port,SOC_GE_SW_PWR_CTL_Pin, GPIO_PIN_SET);				    HAL_Delay(100);
-  HAL_GPIO_WritePin(SOC_U3_GEC_PWR_CTL_GPIO_Port,SOC_U3_GEC_PWR_CTL_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_1_GPIO_Port,USB2_VBUS_CTL_1_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_2_GPIO_Port,USB2_VBUS_CTL_2_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_3_GPIO_Port,USB2_VBUS_CTL_3_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_4_GPIO_Port,USB2_VBUS_CTL_4_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_5_GPIO_Port,USB2_VBUS_CTL_5_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_6_GPIO_Port,USB2_VBUS_CTL_6_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_5_GPIO_Port,USB3_VBUS_CTL_5_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_6_GPIO_Port,USB3_VBUS_CTL_6_Pin, GPIO_PIN_SET);         HAL_Delay(100);
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_1_GPIO_Port,USB3_VBUS_CTL_1_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_2_GPIO_Port,USB3_VBUS_CTL_2_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_3_GPIO_Port,USB3_VBUS_CTL_3_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_4_GPIO_Port,USB3_VBUS_CTL_4_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-
-  HAL_GPIO_WritePin(SOM_POWER_EN_GPIO_Port ,SOM_POWER_EN_Pin, GPIO_PIN_SET);				      HAL_Delay(100);
-
-  MX_USB_DEVICE_Init();
+	Log(info,"Enter to sleep state");
+	TaskBeep(50,1);
 }
-
-void enter_dfu_state()
+void enter_dfu_state(uint16_t delay)
 {
 
-  Log(info,"Enter to dfu state");
-  Beep(500);
-  Beep(500);
-  Beep(500);
+  Log(info,"Enter to DFU state");
+TaskBeep(500,3);
 
-  HAL_GPIO_WritePin(SOM_FORCE_RECOVERY_GPIO_Port ,SOM_FORCE_RECOVERY_Pin, GPIO_PIN_RESET);				      HAL_Delay(100);
+  PWR_Enable(SOM_DFU , true , delay);
 
-  HAL_GPIO_WritePin(PMB_PS_ON_GPIO_Port ,PMB_PS_ON_Pin, GPIO_PIN_SET);                HAL_Delay(100);
+  PWR_Enable(PMB_PS_ON , true , delay);
 
-  HAL_GPIO_WritePin(SOM_POWER_EN_GPIO_Port ,SOM_POWER_EN_Pin, GPIO_PIN_SET);				      HAL_Delay(1000);
+  PWR_Enable(SYS_FAN1 , true , delay);
+  PWR_Enable(SYS_FAN2 , true , delay);
+  PWR_Enable(SYS_FAN3 , true , delay);
 
-  HAL_GPIO_WritePin(SYS_FAN_CTL_1_GPIO_Port,SYS_FAN_CTL_1_Pin,GPIO_PIN_SET);                 HAL_Delay(100);
-  HAL_GPIO_WritePin(SYS_FAN_CTL_2_GPIO_Port,SYS_FAN_CTL_2_Pin,GPIO_PIN_SET);                 HAL_Delay(100);
-  HAL_GPIO_WritePin(SYS_FAN_CTL_3_GPIO_Port,SYS_FAN_CTL_3_Pin,GPIO_PIN_SET);                 HAL_Delay(100);
+  PWR_Enable(SOC_USB3_HUB , true , delay);
+  PWR_Enable(SOC_USB2_HUB , true , delay);
+  PWR_Enable(SOC_USB3_HOST , true , delay);
+  PWR_Enable(SOC_USB3_GEC , true , delay);
+  PWR_Enable(SOC_GE_SW , true , delay);
 
-  HAL_GPIO_WritePin(SOC_U3_HUB_PWR_CTL_GPIO_Port,SOC_U3_HUB_PWR_CTL_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(SOC_U2_HUB_PWR_CTL_GPIO_Port,SOC_U2_HUB_PWR_CTL_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(SOC_U3_HOST_PWR_CTL_GPIO_Port,SOC_U3_HOST_PWR_CTL_Pin, GPIO_PIN_SET);				HAL_Delay(100);
-  HAL_GPIO_WritePin(SOC_GE_SW_PWR_CTL_GPIO_Port,SOC_GE_SW_PWR_CTL_Pin, GPIO_PIN_SET);				    HAL_Delay(100);
-  HAL_GPIO_WritePin(SOC_U3_GEC_PWR_CTL_GPIO_Port,SOC_U3_GEC_PWR_CTL_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
+  PWR_Enable(USB2_Port1 , true , delay);
+  PWR_Enable(USB2_Port2 , true , delay);
+  PWR_Enable(USB2_Port3 , true , delay);
+  PWR_Enable(USB2_Port4 , true , delay);
+  PWR_Enable(USB2_Port5 , true , delay);
+  PWR_Enable(USB2_Port6 , true , delay);
+  PWR_Enable(USB2_Port1 , true , delay);
+  PWR_Enable(USB2_Port1 , true , delay);
 
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_1_GPIO_Port,USB2_VBUS_CTL_1_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_2_GPIO_Port,USB2_VBUS_CTL_2_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_3_GPIO_Port,USB2_VBUS_CTL_3_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_4_GPIO_Port,USB2_VBUS_CTL_4_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_5_GPIO_Port,USB2_VBUS_CTL_5_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB2_VBUS_CTL_6_GPIO_Port,USB2_VBUS_CTL_6_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_5_GPIO_Port,USB3_VBUS_CTL_5_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_6_GPIO_Port,USB3_VBUS_CTL_6_Pin, GPIO_PIN_SET);         HAL_Delay(100);
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_1_GPIO_Port,USB3_VBUS_CTL_1_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_2_GPIO_Port,USB3_VBUS_CTL_2_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_3_GPIO_Port,USB3_VBUS_CTL_3_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
-  HAL_GPIO_WritePin(USB3_VBUS_CTL_4_GPIO_Port,USB3_VBUS_CTL_4_Pin, GPIO_PIN_SET);				  HAL_Delay(100);
+  PWR_Enable(USB3_Port5,true , delay);
+  PWR_Enable(USB3_Port6,true , delay);
+  PWR_Enable(USB3_Port1,true , delay);
+  PWR_Enable(USB3_Port2,true , delay);
+  PWR_Enable(USB3_Port3,true , delay);
+  PWR_Enable(USB3_Port4,true , delay);
 
+  PWR_Enable(SOM_PWR_EN , true , delay);
 
 //
 //  HAL_GPIO_WritePin(SOM_FORCE_RECOVERY_GPIO_Port ,SOM_FORCE_RECOVERY_Pin, GPIO_PIN_RESET);				      HAL_Delay(100);
@@ -285,6 +241,74 @@ void enter_dfu_state()
 //  HAL_Delay(5000);
 //  HAL_GPIO_WritePin(SOM_SYS_RESET_GPIO_Port ,SOM_SYS_RESET_Pin, GPIO_PIN_SET);				      HAL_Delay(100);
 //  HAL_GPIO_WritePin(SOM_FORCE_RECOVERY_GPIO_Port ,SOM_FORCE_RECOVERY_Pin, GPIO_PIN_SET);				      HAL_Delay(100);
-
-
+}
+
+
+
+//device power enable or disable
+//delay: After executing the operation delay (ms)
+void PWR_Enable(enum Device_t device,bool en,uint16_t delay){
+	switch (device){
+	case USB2_Port1:	{HAL_GPIO_WritePin(USB2_VBUS_CTL_1_GPIO_Port,USB2_VBUS_CTL_1_Pin, en);			}break;
+	case USB2_Port2:	{HAL_GPIO_WritePin(USB2_VBUS_CTL_2_GPIO_Port,USB2_VBUS_CTL_2_Pin, en);			}break;
+	case USB2_Port3:	{HAL_GPIO_WritePin(USB2_VBUS_CTL_3_GPIO_Port,USB2_VBUS_CTL_3_Pin, en);			}break;
+	case USB2_Port4:	{HAL_GPIO_WritePin(USB2_VBUS_CTL_4_GPIO_Port,USB2_VBUS_CTL_4_Pin, en);			}break;
+	case USB2_Port5:	{HAL_GPIO_WritePin(USB2_VBUS_CTL_5_GPIO_Port,USB2_VBUS_CTL_5_Pin, en);			}break;
+	case USB2_Port6:	{HAL_GPIO_WritePin(USB2_VBUS_CTL_6_GPIO_Port,USB2_VBUS_CTL_6_Pin, en);			}break;
+	case USB3_Port1:	{HAL_GPIO_WritePin(USB3_VBUS_CTL_1_GPIO_Port,USB3_VBUS_CTL_1_Pin, en);			}break;
+	case USB3_Port2:	{HAL_GPIO_WritePin(USB3_VBUS_CTL_2_GPIO_Port,USB3_VBUS_CTL_2_Pin, en);			}break;
+	case USB3_Port3:	{HAL_GPIO_WritePin(USB3_VBUS_CTL_3_GPIO_Port,USB3_VBUS_CTL_3_Pin, en);			}break;
+	case USB3_Port4:	{HAL_GPIO_WritePin(USB3_VBUS_CTL_4_GPIO_Port,USB3_VBUS_CTL_4_Pin, en);			}break;
+	case USB3_Port5:	{HAL_GPIO_WritePin(USB3_VBUS_CTL_5_GPIO_Port,USB3_VBUS_CTL_5_Pin, en);			}break;
+	case USB3_Port6:	{HAL_GPIO_WritePin(USB3_VBUS_CTL_6_GPIO_Port,USB3_VBUS_CTL_6_Pin, en);			}break;
+	case SOC_USB2_HUB:  {HAL_GPIO_WritePin(SOC_U2_HUB_PWR_CTL_GPIO_Port,SOC_U2_HUB_PWR_CTL_Pin, en);	}break;
+	case SOC_USB3_HUB:  {HAL_GPIO_WritePin(SOC_U3_HUB_PWR_CTL_GPIO_Port,SOC_U3_HUB_PWR_CTL_Pin, en);	}break;
+	case SOC_USB3_HOST: {HAL_GPIO_WritePin(SOC_U3_HOST_PWR_CTL_GPIO_Port,SOC_U3_HOST_PWR_CTL_Pin, en);	}break;
+	case SOC_USB3_GEC:  {HAL_GPIO_WritePin(SOC_U3_GEC_PWR_CTL_GPIO_Port,SOC_U3_GEC_PWR_CTL_Pin, en);	}break;
+	case SOC_GE_SW:     {HAL_GPIO_WritePin(SOC_GE_SW_PWR_CTL_GPIO_Port,SOC_GE_SW_PWR_CTL_Pin, en);	    }break;
+	case SYS_FAN1:  	{HAL_GPIO_WritePin(SYS_FAN_CTL_1_GPIO_Port,SYS_FAN_CTL_1_Pin, en);				}break;
+	case SYS_FAN2:  	{HAL_GPIO_WritePin(SYS_FAN_CTL_2_GPIO_Port,SYS_FAN_CTL_2_Pin, en);				}break;
+	case SYS_FAN3:  	{HAL_GPIO_WritePin(SYS_FAN_CTL_3_GPIO_Port,SYS_FAN_CTL_3_Pin, en);				}break;
+	case SYS_RUN_LED:  	{HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin, !en);			}break;
+	case SYS_PWR_LED:  	{HAL_GPIO_WritePin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin, !en);		}break;
+	case SOM_PWR_EN:  	{HAL_GPIO_WritePin(SOM_POWER_EN_GPIO_Port,SOM_POWER_EN_Pin, en);				}break;
+	case SOM_DFU:  		{HAL_GPIO_WritePin(SOM_FORCE_RECOVERY_GPIO_Port,SOM_FORCE_RECOVERY_Pin, !en);	}break;
+	case PMB_PS_ON:  	{HAL_GPIO_WritePin(PMB_PS_ON_GPIO_Port,PMB_PS_ON_Pin, en);						}break;
+	default:			{Log(error,"PWR_Enable device parameter is invalid.");							}break;
+	}
+	osDelay(delay);
+}
+
+//check device on board power status
+bool PWR_Status(enum Device_t device){
+    bool sta = false;
+    switch (device){
+	case USB2_Port1:	{sta = HAL_GPIO_ReadPin(USB2_VBUS_CTL_1_GPIO_Port,USB2_VBUS_CTL_1_Pin);			}break;
+	case USB2_Port2:	{sta = HAL_GPIO_ReadPin(USB2_VBUS_CTL_2_GPIO_Port,USB2_VBUS_CTL_2_Pin);			}break;
+	case USB2_Port3:	{sta = HAL_GPIO_ReadPin(USB2_VBUS_CTL_3_GPIO_Port,USB2_VBUS_CTL_3_Pin);			}break;
+	case USB2_Port4:	{sta = HAL_GPIO_ReadPin(USB2_VBUS_CTL_4_GPIO_Port,USB2_VBUS_CTL_4_Pin);			}break;
+	case USB2_Port5:	{sta = HAL_GPIO_ReadPin(USB2_VBUS_CTL_5_GPIO_Port,USB2_VBUS_CTL_5_Pin);			}break;
+	case USB2_Port6:	{sta = HAL_GPIO_ReadPin(USB2_VBUS_CTL_6_GPIO_Port,USB2_VBUS_CTL_6_Pin);			}break;
+	case USB3_Port1:	{sta = HAL_GPIO_ReadPin(USB3_VBUS_CTL_1_GPIO_Port,USB3_VBUS_CTL_1_Pin);			}break;
+	case USB3_Port2:	{sta = HAL_GPIO_ReadPin(USB3_VBUS_CTL_2_GPIO_Port,USB3_VBUS_CTL_2_Pin);			}break;
+	case USB3_Port3:	{sta = HAL_GPIO_ReadPin(USB3_VBUS_CTL_3_GPIO_Port,USB3_VBUS_CTL_3_Pin);			}break;
+	case USB3_Port4:	{sta = HAL_GPIO_ReadPin(USB3_VBUS_CTL_4_GPIO_Port,USB3_VBUS_CTL_4_Pin);			}break;
+	case USB3_Port5:	{sta = HAL_GPIO_ReadPin(USB3_VBUS_CTL_5_GPIO_Port,USB3_VBUS_CTL_5_Pin);			}break;
+	case USB3_Port6:	{sta = HAL_GPIO_ReadPin(USB3_VBUS_CTL_6_GPIO_Port,USB3_VBUS_CTL_6_Pin);			}break;
+	case SOC_USB2_HUB:  {sta = HAL_GPIO_ReadPin(SOC_U2_HUB_PWR_CTL_GPIO_Port,SOC_U2_HUB_PWR_CTL_Pin);	}break;
+	case SOC_USB3_HUB:  {sta = HAL_GPIO_ReadPin(SOC_U3_HUB_PWR_CTL_GPIO_Port,SOC_U3_HUB_PWR_CTL_Pin);	}break;
+	case SOC_USB3_HOST: {sta = HAL_GPIO_ReadPin(SOC_U3_HOST_PWR_CTL_GPIO_Port,SOC_U3_HOST_PWR_CTL_Pin);	}break;
+	case SOC_USB3_GEC:  {sta = HAL_GPIO_ReadPin(SOC_U3_GEC_PWR_CTL_GPIO_Port,SOC_U3_GEC_PWR_CTL_Pin);	}break;
+	case SOC_GE_SW:     {sta = HAL_GPIO_ReadPin(SOC_GE_SW_PWR_CTL_GPIO_Port,SOC_GE_SW_PWR_CTL_Pin);	    }break;
+	case SYS_FAN1:  	{sta = HAL_GPIO_ReadPin(SYS_FAN_CTL_1_GPIO_Port,SYS_FAN_CTL_1_Pin);				}break;
+	case SYS_FAN2:  	{sta = HAL_GPIO_ReadPin(SYS_FAN_CTL_2_GPIO_Port,SYS_FAN_CTL_2_Pin);				}break;
+	case SYS_FAN3:  	{sta = HAL_GPIO_ReadPin(SYS_FAN_CTL_3_GPIO_Port,SYS_FAN_CTL_3_Pin);				}break;
+	case SYS_RUN_LED:  	{sta = !HAL_GPIO_ReadPin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin);		}break;
+	case SYS_PWR_LED:  	{sta = !HAL_GPIO_ReadPin(SYS_POWER_LED_CTL_GPIO_Port,SYS_POWER_LED_CTL_Pin);	}break;
+	case SOM_PWR_EN:  	{sta = HAL_GPIO_ReadPin(SOM_POWER_EN_GPIO_Port,SOM_POWER_EN_Pin);				}break;
+	case SOM_DFU:  		{sta = !HAL_GPIO_ReadPin(SOM_FORCE_RECOVERY_GPIO_Port,SOM_FORCE_RECOVERY_Pin);	}break;
+	case PMB_PS_ON:  	{sta = HAL_GPIO_ReadPin(PMB_PS_ON_GPIO_Port,PMB_PS_ON_Pin);						}break;
+	default:			{Log(error,"PWR_Status device parameter is invalid.");							}break;
+    }
+    return sta;
 }
diff --git a/Core/Src/rtc.c b/Core/Src/rtc.c
index ba9868d..fdf0825 100644
--- a/Core/Src/rtc.c
+++ b/Core/Src/rtc.c
@@ -59,6 +59,8 @@ void HAL_RTC_MspInit(RTC_HandleTypeDef* rtcHandle)
     /* RTC interrupt Init */
     HAL_NVIC_SetPriority(RTC_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(RTC_IRQn);
+    HAL_NVIC_SetPriority(RTC_Alarm_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(RTC_Alarm_IRQn);
   /* USER CODE BEGIN RTC_MspInit 1 */
 
   /* USER CODE END RTC_MspInit 1 */
@@ -78,6 +80,7 @@ void HAL_RTC_MspDeInit(RTC_HandleTypeDef* rtcHandle)
 
     /* RTC interrupt Deinit */
     HAL_NVIC_DisableIRQ(RTC_IRQn);
+    HAL_NVIC_DisableIRQ(RTC_Alarm_IRQn);
   /* USER CODE BEGIN RTC_MspDeInit 1 */
 
   /* USER CODE END RTC_MspDeInit 1 */
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index c4414d8..b05afac 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -349,6 +349,20 @@ void USART1_IRQHandler(void)
   /* USER CODE END USART1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles RTC alarm interrupt through EXTI line 17.
+  */
+void RTC_Alarm_IRQHandler(void)
+{
+  /* USER CODE BEGIN RTC_Alarm_IRQn 0 */
+
+  /* USER CODE END RTC_Alarm_IRQn 0 */
+  HAL_RTC_AlarmIRQHandler(&hrtc);
+  /* USER CODE BEGIN RTC_Alarm_IRQn 1 */
+
+  /* USER CODE END RTC_Alarm_IRQn 1 */
+}
+
 /**
   * @brief This function handles UART4 global interrupt.
   */
diff --git a/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h b/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h
index 9696c00..b8fee49 100644
--- a/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h
+++ b/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h
@@ -1,3 +1,10 @@
+/*
+ * @Description: 
+ * @Date: 2020-04-10 17:35:38
+ * @LastEditors: CK.Zh
+ * @LastEditTime: 2021-01-04 17:51:16
+ * @FilePath: \NaviKit_stm32\Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_pwr.h
+ */
 /**
   ******************************************************************************
   * @file    stm32f1xx_hal_pwr.h
diff --git a/Middlewares/Log/log.c b/Middlewares/Log/log.c
index 00c8fa5..e1e3357 100644
--- a/Middlewares/Log/log.c
+++ b/Middlewares/Log/log.c
@@ -10,6 +10,9 @@
 void Log(LogLevel_t loglevel,char *format,...)
 {
 			switch(loglevel){
+				case trace:{
+					printf("[Trace  ] ") ;
+				}break;
 				case debug:{
 					printf("[Debug  ] ") ;
 				}break;
@@ -22,6 +25,9 @@ void Log(LogLevel_t loglevel,char *format,...)
 				case error:{
 					printf("[Error  ] ") ;
 				}break;
+				case fatal:{
+					printf("[Fatal  ] ") ;
+				}break;
 			}
 			printf("%u | ",osKernelGetTickCount());
 	        va_list args;
diff --git a/Middlewares/Log/log.h b/Middlewares/Log/log.h
index a0582ad..0e24fc6 100644
--- a/Middlewares/Log/log.h
+++ b/Middlewares/Log/log.h
@@ -11,10 +11,12 @@
 #include <stdarg.h>
 
 typedef enum {
-	debug = 0,
-	info = 1,
-	warning = 2,
-	error = 3
+	trace = 0,
+	debug = 1,
+	info = 2,
+	warning = 3,
+	error = 4,
+	fatal =5
 }LogLevel_t;
 
 void Log(LogLevel_t loglevel,char *format, ...);
diff --git a/NaviKit_stm32.ioc b/NaviKit_stm32.ioc
index 7dd286a..31c57a0 100644
--- a/NaviKit_stm32.ioc
+++ b/NaviKit_stm32.ioc
@@ -9,7 +9,7 @@ ADC1.Channel-3\#ChannelRegularConversion=ADC_CHANNEL_4
 ADC1.Channel-4\#ChannelRegularConversion=ADC_CHANNEL_5
 ADC1.Channel-5\#ChannelRegularConversion=ADC_CHANNEL_6
 ADC1.Channel-6\#ChannelRegularConversion=ADC_CHANNEL_7
-ADC1.ContinuousConvMode=ENABLE
+ADC1.ContinuousConvMode=DISABLE
 ADC1.EnableAnalogWatchDog=true
 ADC1.ExternalTrigConv=ADC_SOFTWARE_START
 ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ContinuousConvMode,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,Rank-2\#ChannelRegularConversion,Channel-2\#ChannelRegularConversion,SamplingTime-2\#ChannelRegularConversion,Rank-3\#ChannelRegularConversion,Channel-3\#ChannelRegularConversion,SamplingTime-3\#ChannelRegularConversion,NbrOfConversion,Rank-4\#ChannelRegularConversion,Channel-4\#ChannelRegularConversion,SamplingTime-4\#ChannelRegularConversion,Rank-5\#ChannelRegularConversion,Channel-5\#ChannelRegularConversion,SamplingTime-5\#ChannelRegularConversion,ExternalTrigConv,master,EnableAnalogWatchDog,Rank-6\#ChannelRegularConversion,Channel-6\#ChannelRegularConversion,SamplingTime-6\#ChannelRegularConversion,WatchdogMode,AWD1ITMode,WatchdogChannel,AWD1HighThreshold,AWD1LowThreshold
@@ -65,6 +65,7 @@ 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
+FREERTOS.Events01=
 FREERTOS.FootprintOK=true
 FREERTOS.HEAP_NUMBER=4
 FREERTOS.INCLUDE_pcTaskGetTaskName=1
@@ -74,8 +75,9 @@ FREERTOS.INCLUDE_xSemaphoreGetMutexHolder=1
 FREERTOS.INCLUDE_xTaskAbortDelay=1
 FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
 FREERTOS.INCLUDE_xTaskGetHandle=1
-FREERTOS.IPParameters=Tasks01,configMAX_TASK_NAME_LEN,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,configUSE_APPLICATION_TASK_TAG,FootprintOK,configUSE_IDLE_HOOK,configUSE_TICK_HOOK,configUSE_MALLOC_FAILED_HOOK,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configUSE_TRACE_FACILITY,HEAP_NUMBER,configTOTAL_HEAP_SIZE,configCHECK_FOR_STACK_OVERFLOW,configUSE_TASK_NOTIFICATIONS,INCLUDE_xTaskAbortDelay,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_pcTaskGetTaskName,INCLUDE_vTaskCleanUpResources
-FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;LedBlinkTask,8,128,StartLedBlinkTask,Default,NULL,Dynamic,NULL,NULL;IWDGRefreshTask,40,128,StartIWDGRefreshTask,Default,NULL,Dynamic,NULL,NULL;EventDetect,8,128,StartEventDetect,Default,NULL,Dynamic,NULL,NULL;CoulombRead,8,128,StartCoulombRead,Default,NULL,Dynamic,NULL,NULL;StateSwitchTask,8,128,StartStateSwitchTask,Default,NULL,Dynamic,NULL,NULL;PowerMonitTask,8,128,StartPowerMonitTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.IPParameters=Tasks01,configMAX_TASK_NAME_LEN,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,configUSE_APPLICATION_TASK_TAG,FootprintOK,configUSE_IDLE_HOOK,configUSE_TICK_HOOK,configUSE_MALLOC_FAILED_HOOK,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configUSE_TRACE_FACILITY,HEAP_NUMBER,configTOTAL_HEAP_SIZE,configCHECK_FOR_STACK_OVERFLOW,configUSE_TASK_NOTIFICATIONS,INCLUDE_xTaskAbortDelay,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_pcTaskGetTaskName,INCLUDE_vTaskCleanUpResources,Events01,Timers01
+FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;LedBlinkTask,8,128,StartLedBlinkTask,Default,NULL,Dynamic,NULL,NULL;CoulombRead,8,128,StartCoulombRead,Default,NULL,Dynamic,NULL,NULL;PowerMonitTask,8,128,StartPowerMonitTask,Default,NULL,Dynamic,NULL,NULL;EventDetect,8,128,StartEventDetect,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.Timers01=PwrBtnTimer,PwrBtnTimerCallback,osTimerOnce,Default,NULL,Dynamic,NULL;CustBtnTimer,CustBtnTimerCallback,osTimerOnce,Default,NULL,Dynamic,NULL
 FREERTOS.configCHECK_FOR_STACK_OVERFLOW=1
 FREERTOS.configGENERATE_RUN_TIME_STATS=1
 FREERTOS.configMAX_TASK_NAME_LEN=32
@@ -209,7 +211,8 @@ NVIC.PVD_IRQn=true\:5\:0\:true\:true\:true\:1\:false\:true\:true
 NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.RCC_IRQn=true\:5\:0\:false\:true\:true\:3\:true\:true\:false
-NVIC.RTC_IRQn=true\:5\:0\:true\:false\:true\:false\:true\:true
+NVIC.RTC_Alarm_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
+NVIC.RTC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.SavedPendsvIrqHandlerGenerated=true
 NVIC.SavedSvcallIrqHandlerGenerated=true
@@ -520,7 +523,7 @@ PE5.GPIO_PuPd=GPIO_PULLUP
 PE5.Locked=true
 PE5.Signal=GPIO_Input
 PE6.GPIOParameters=GPIO_PuPd,GPIO_Label
-PE6.GPIO_Label=PMG_CHRG_STAT1
+PE6.GPIO_Label=PMB_CHRG_STAT1
 PE6.GPIO_PuPd=GPIO_PULLUP
 PE6.Locked=true
 PE6.Signal=GPIO_Input