diff --git a/Core/Inc/navikit.h b/Core/Inc/navikit.h
index f2e302f..9d0b014 100644
--- a/Core/Inc/navikit.h
+++ b/Core/Inc/navikit.h
@@ -93,6 +93,7 @@ enum Device_t{USB2_Port1=0x00,USB2_Port2,USB2_Port3,USB2_Port4,USB2_Port5,USB2_P
 
 				SYS_FAN1=0x20,SYS_FAN2,SYS_FAN3,											//Fan on Board
 				SYS_RUN_LED,SYS_PWR_LED,											//LED on Board
+				SYS_SRC_BUZZ,														//Oscillation source internal buzzer
 
 				SOM_PWR_EN=0x30,SOM_DFU,SOM_RESET,SOM_SLEEP,										//SOM Control
 
@@ -107,10 +108,10 @@ void NaviKit_var_init();
 //power state machine switch function
 void enter_standby_state(uint16_t delay);
 void enter_isp_state();
-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);
+void enter_run_state(uint16_t interval);
+void enter_idle_state(uint16_t interval);
+void enter_sleep_state(uint16_t interval);
+void enter_dfu_state(uint16_t interval);
 void som_reboot(uint16_t delay);
 //non-blocking beep function with os delay
 void TaskBeep(uint32_t time_ms, uint8_t n);
diff --git a/Core/Src/navikit.c b/Core/Src/navikit.c
index e469eb4..dc4ce27 100644
--- a/Core/Src/navikit.c
+++ b/Core/Src/navikit.c
@@ -29,10 +29,12 @@ void NaviKit_var_init()
 void TaskBeep(uint32_t time_ms , uint8_t n)
 {
 	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);//equal "time divided by 2"
-		HAL_GPIO_WritePin(SYS_BUZZ_CTL_GPIO_Port,SYS_BUZZ_CTL_Pin, GPIO_PIN_SET);
-		osDelay(time_ms>>1);//equal "time divided by 2"
+		PWR_Enable_IRQ(SYS_SRC_BUZZ, true, time_ms>>1);//equal "time divided by 2"
+		PWR_Enable_IRQ(SYS_SRC_BUZZ, false, time_ms>>1);//equal "time divided by 2"
+//		HAL_GPIO_WritePin(SYS_BUZZ_CTL_GPIO_Port,SYS_BUZZ_CTL_Pin, GPIO_PIN_RESET);
+//		osDelay(time_ms>>1);//equal "time divided by 2"
+//		HAL_GPIO_WritePin(SYS_BUZZ_CTL_GPIO_Port,SYS_BUZZ_CTL_Pin, GPIO_PIN_SET);
+//		osDelay(time_ms>>1);//equal "time divided by 2"
 	}
 }
 
@@ -75,103 +77,103 @@ void enter_isp_state()
 }
 
 //timeout:the time of wait
-void enter_idle_state(uint16_t delay){
+void enter_idle_state(uint16_t interval){
 	log_i("Enter to idle state.");
 	TaskBeep(50,1);
 
-	PWR_Enable(SOM_SLEEP,true,delay);
+	PWR_Enable(SOM_SLEEP,true,interval);
 
-    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);
+    PWR_Enable(USB3_Port4,false, interval);
+    PWR_Enable(USB3_Port3,false, interval);
+    PWR_Enable(USB3_Port2,false, interval);
+    PWR_Enable(USB3_Port1,false, interval);
+    PWR_Enable(USB3_Port6,false, interval);
+    PWR_Enable(USB3_Port5,false, interval);
 
-    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);
+    PWR_Enable(USB2_Port6,false, interval);
+    PWR_Enable(USB2_Port5,false, interval);
+    PWR_Enable(USB2_Port4,false, interval);
+    PWR_Enable(USB2_Port3,false, interval);
+    PWR_Enable(USB2_Port2,false, interval);
+    PWR_Enable(USB2_Port1,false, interval);
 
-    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);
+    PWR_Enable(SOC_USB3_HUB ,false, interval);
+    PWR_Enable(SOC_USB2_HUB ,false, interval);
+    PWR_Enable(SOC_USB3_HOST,false, interval);
+    PWR_Enable(SOC_USB3_GEC ,false, interval);
+    PWR_Enable(SOC_GE_SW    ,false, interval);
 
-    PWR_Enable(SYS_FAN1 ,false , delay);
-	PWR_Enable(SYS_FAN2 ,false , delay);
-	PWR_Enable(SYS_FAN3 ,false , delay);
+    PWR_Enable(SYS_FAN1 ,false , interval);
+	PWR_Enable(SYS_FAN2 ,false , interval);
+	PWR_Enable(SYS_FAN3 ,false , interval);
 
-    PWR_Enable(SOM_PWR_EN ,false, delay);
+    PWR_Enable(SOM_PWR_EN ,false, interval);
 
 	PWR_Enable(PMB_PS_ON ,false , 0);
 }
 
-void enter_run_state(uint16_t delay)
+void enter_run_state(uint16_t interval)
 {
 	log_i("Enter to run state");
 	TaskBeep(200,1);
 
-	PWR_Enable(PMB_PS_ON ,true, delay);
+	PWR_Enable(PMB_PS_ON ,true, interval);
 
   	PWR_Enable(SOM_DFU ,false, 0);		//disable dfu pin
 	PWR_Enable(SOM_RESET , false , 0);	//disable reset pin
 
-	PWR_Enable(SYS_FAN1 ,true , delay);
-	PWR_Enable(SYS_FAN2 ,true , delay);
-	PWR_Enable(SYS_FAN3 ,true , delay);
+	PWR_Enable(SYS_FAN1 ,true , interval);
+	PWR_Enable(SYS_FAN2 ,true , interval);
+	PWR_Enable(SYS_FAN3 ,true , interval);
 
-	PWR_Enable(SOM_PWR_EN , true , delay);
+	PWR_Enable(SOM_PWR_EN , true , interval);
 
-	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);
+	PWR_Enable(SOC_USB3_HUB ,true , interval);
+	PWR_Enable(SOC_USB2_HUB ,true , interval);
+	PWR_Enable(SOC_USB3_HOST,true , interval);
+	PWR_Enable(SOC_USB3_GEC ,true , interval);
+	PWR_Enable(SOC_GE_SW    ,true , interval);
 
-	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 , interval);
+	PWR_Enable(USB2_Port2,true , interval);
+	PWR_Enable(USB2_Port3,true , interval);
+	PWR_Enable(USB2_Port4,true , interval);
+	PWR_Enable(USB2_Port5,true , interval);
+	PWR_Enable(USB2_Port6,true , interval);
 
-	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(USB3_Port5,true , interval);
+	PWR_Enable(USB3_Port6,true , interval);
+	PWR_Enable(USB3_Port1,true , interval);
+	PWR_Enable(USB3_Port2,true , interval);
+	PWR_Enable(USB3_Port3,true , interval);
+	PWR_Enable(USB3_Port4,true , interval);
 
 }
-void enter_sleep_state(uint16_t delay)
+void enter_sleep_state(uint16_t interval)
 {
 	log_i("Enter to sleep state.");
 	TaskBeep(50,1);
 }
-void enter_dfu_state(uint16_t delay)
+void enter_dfu_state(uint16_t interval)
 {
 
   log_i("Enter to DFU state.");
   TaskBeep(500,3);
 
-  PWR_Enable(PMB_PS_ON , true , delay);
+  PWR_Enable(PMB_PS_ON , true , interval);
 
   PWR_Enable(SOM_DFU , true , 0);
   PWR_Enable(SOM_RESET , false , 0);	//disable reset pin
 
-  PWR_Enable(SYS_FAN1 , true , delay);
-  PWR_Enable(SYS_FAN2 , true , delay);
-  PWR_Enable(SYS_FAN3 , true , delay);
+  PWR_Enable(SYS_FAN1 , true , interval);
+  PWR_Enable(SYS_FAN2 , true , interval);
+  PWR_Enable(SYS_FAN3 , true , interval);
 
-  PWR_Enable(SOM_PWR_EN , true , delay);
+  PWR_Enable(SOM_PWR_EN , true , interval);
 
 }
-//para, delay：reset low level signal duration (ms)
-void som_reboot(uint16_t delay){
+//para, interval：reset low level signal duration (ms)
+void som_reboot(uint16_t interval){
 	  log_i("Jetson Nano rebooting...");
 		PWR_Enable(SOM_RESET,true,0);
 		TaskBeep(100,1);
@@ -219,6 +221,7 @@ bool PWR_Enable_IRQ(enum Device_t device,bool en,uint16_t delay){
 		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 SYS_SRC_BUZZ:	{HAL_GPIO_WritePin(SYS_BUZZ_CTL_GPIO_Port,		SYS_BUZZ_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 SOM_RESET: 	{HAL_GPIO_WritePin(SOM_SYS_RESET_GPIO_Port,		SOM_SYS_RESET_Pin, 		!en);			}break;
@@ -256,6 +259,7 @@ bool PWR_Status(enum Device_t device){
 	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 SYS_SRC_BUZZ	:{sta = !HAL_GPIO_ReadPin(SYS_BUZZ_CTL_GPIO_Port,SYS_BUZZ_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 SOM_RESET:  	{sta = !HAL_GPIO_ReadPin(SOM_SYS_RESET_GPIO_Port,SOM_SYS_RESET_Pin);			}break;