diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 15242bb..ca2d5ac 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -6,7 +6,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1913951426039961877" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-834964856988592126" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -18,7 +18,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1913951426039961877" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-834964856988592126" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 4f0944d..73729b8 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -211,15 +211,15 @@ void StartDefaultTask(void *argument)
   HAL_GPIO_WritePin(USB2_FS_ENUM_CTL_GPIO_Port,USB2_FS_ENUM_CTL_Pin, GPIO_PIN_SET);
    Beep(50);
 
+   osDelay(100);
+   osDelay(100);
    printf("\nCore initial successfully\n");
    printf("---------------------------------------------\n");
    printf("Copyright (c) Powered by www.autolabor.com.cn\n");
-   osDelay(100);
-   printf("BIOS SW Version: V0.9, build: %s, %s\n",__DATE__ ,__TIME__ );
+   printf("BIOS SW Version: V0.9.1, build: %s, %s\n",__DATE__ ,__TIME__ );
 	  printf("HAL Version: %lu \n", HAL_GetHalVersion());
 	  printf("Revision ID: %lu \n", HAL_GetREVID());
 	  printf("Device ID: %lu \n", HAL_GetDEVID());
-	   osDelay(100);
 	  printf("Chip UID: %lu%lu%lu \n", HAL_GetUIDw0(),HAL_GetUIDw1(),HAL_GetUIDw2);
 	  printf("----------------------------------------------\n");
 
@@ -529,6 +529,11 @@ void StartPowerMonitTask(void *argument)
   // printf("bkp_bat: %f \n",NaviKit.pmb.bkp_bat_div8);
   // printf("main_pwr: %f \n",NaviKit.pmb.main_pwr_div16);
 
+    if(NaviKit.pmb.rails.main_pwr < 19)
+    {
+    	Beep(50);
+    }
+
   }
   /* USER CODE END StartPowerMonitTask */
 }
@@ -552,17 +557,16 @@ void StartUartQueueTask(void *argument)
   /* Infinite loop */
   for(;;)
   {
-    osDelay(1);
+    osDelay(2);
       count = osMessageQueueGetCount(uartQueueHandle);
       if(count){
         for(uint32_t i=0;i<count;i++){
         	osMessageQueueGet(uartQueueHandle,&temp[i],0,10);
-        	uint32_t space = osMessageQueueGetSpace(uartQueueHandle);
         }
-//        taskENTER_CRITICAL();
+        taskENTER_CRITICAL();
 		while(HAL_UART_GetState(&huart1) == HAL_UART_STATE_BUSY_TX){}
         HAL_UART_Transmit(&huart1,(uint8_t *)&temp,count,0xffff);
-//        taskEXIT_CRITICAL();
+        taskEXIT_CRITICAL();
       }
   }
   /* USER CODE END StartUartQueueTask */
@@ -586,15 +590,13 @@ PUTCHAR_PROTOTYPE
 //	HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xffff);
 
 	//queue space check before enqueue
-	uint32_t space = osMessageQueueGetSpace(uartQueueHandle);
-	if(space){
+	if(osMessageQueueGetSpace(uartQueueHandle)){
 		osMessageQueuePut(uartQueueHandle,(uint8_t*)&ch,0,10);
-		space = osMessageQueueGetSpace(uartQueueHandle);
 	}
 	else{
-//		uint8_t front[1];//trash
-//    	osMessageQueueGet(uartQueueHandle,front,0,10);
-//		osMessageQueuePut(uartQueueHandle,(uint8_t *)&ch,0,100);
+		uint8_t front[1];//trash
+    	osMessageQueueGet(uartQueueHandle,front,0,10);
+		osMessageQueuePut(uartQueueHandle,(uint8_t *)&ch,0,100);
 	}
   return ch;
 }
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 6199d03..26fa36d 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -99,7 +99,7 @@ int main(void)
   MX_GPIO_Init();
   MX_DMA_Init();
   MX_I2C1_Init();
-  MX_IWDG_Init();
+//  MX_IWDG_Init();
   MX_UART4_Init();
   MX_ADC1_Init();
   MX_USART1_UART_Init();
diff --git a/Core/Src/navikit.c b/Core/Src/navikit.c
index 02eb5db..e8da15a 100644
--- a/Core/Src/navikit.c
+++ b/Core/Src/navikit.c
@@ -34,7 +34,7 @@ void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
 //		NaviKit.pmb.rails.main_pwr = (float)((NaviKit.pmb.rails.adc[5]*16.0) / 1241.21);
 
 
-		float adc_17_voltage = 1.2 / NaviKit.pmb.rails.adc[1];
+		float adc_17_voltage = 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_5v    = (float)(adc_17_voltage * NaviKit.pmb.rails.adc[3] * 8);
diff --git a/NaviKit_stm32 Debug.launch b/NaviKit_stm32 Debug.launch
index cfd4d74..b29eda2 100644
--- a/NaviKit_stm32 Debug.launch	
+++ b/NaviKit_stm32 Debug.launch	
@@ -6,6 +6,7 @@
 <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug\\NaviKit_stm32.elf&quot;,&quot;fProjectName&quot;:&quot;NaviKit_stm32&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
@@ -17,6 +18,7 @@
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_wait_for_sync" value="true"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_DEVICE_SHAREABLE_ALLOWED" value="false"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE" value="Swd"/>
@@ -46,6 +48,8 @@
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="enable"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]}}]}"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.swv.swv_wait_for_sync" value="true"/>
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
@@ -58,7 +62,7 @@
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
-<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="${TOOLCHAIN_PATH}/arm-none-eabi-gdb"/>
+<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
 <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="true"/>
 <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
 <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
@@ -76,6 +80,8 @@
 <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
 <listEntry value="4"/>
 </listAttribute>
-<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;&#13;&#10;"/>
+<stringAttribute key="org.eclipse.debug.core.source_locator_id" value="org.eclipse.cdt.debug.core.sourceLocator"/>
+<stringAttribute key="org.eclipse.debug.core.source_locator_memento" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;sourceLookupDirector&gt;&#13;&#10;&lt;sourceContainers duplicates=&quot;false&quot;&gt;&#13;&#10;&lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;default/&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;org.eclipse.debug.core.containerType.default&quot;/&gt;&#13;&#10;&lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;mapping backend_enabled=&amp;quot;true&amp;quot; name=&amp;quot;Found Mappings&amp;quot;&amp;gt;&amp;#13;&amp;#10;&amp;lt;mapEntry memento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;mapEntry backendPath=&amp;amp;quot;E:/source/NaviKit_stm32/Debug/../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/&amp;amp;quot; localPath=&amp;amp;quot;E:\source\STM32CubeIDE\NaviKit_stm32\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM3\&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;mapEntry memento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;mapEntry backendPath=&amp;amp;quot;E:/source/NaviKit_stm32/Debug/../Core/Startup/&amp;amp;quot; localPath=&amp;amp;quot;E:\source\STM32CubeIDE\NaviKit_stm32\Core\Startup\&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;/mapping&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;org.eclipse.cdt.debug.core.containerType.mapping&quot;/&gt;&#13;&#10;&lt;/sourceContainers&gt;&#13;&#10;&lt;/sourceLookupDirector&gt;&#13;&#10;"/>
+<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;&gt;&#13;&#10;&lt;gdbmemoryBlockExpression address=&quot;536936416&quot; label=&quot;0x2000ffe0&quot;/&gt;&#13;&#10;&lt;gdbmemoryBlockExpression address=&quot;536876872&quot; label=&quot;0x20001748&quot;/&gt;&#13;&#10;&lt;gdbmemoryBlockExpression address=&quot;136314880&quot; label=&quot;0x08200000&quot;/&gt;&#13;&#10;&lt;/memoryBlockExpressionList&gt;&#13;&#10;"/>
 <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
 </launchConfiguration>