diff --git a/CAN/XM-01/.ai/model_null_c_graph.json b/CAN/XM-01/.ai/model_null_c_graph.json
index 98c5307..60f7bd3 100644
--- a/CAN/XM-01/.ai/model_null_c_graph.json
+++ b/CAN/XM-01/.ai/model_null_c_graph.json
@@ -157,7 +157,7 @@
         }
     },
     "activations_alignment": 4,
-    "arguments": "generate --target stm32f4 --name model -m D:/Job_Work/Code/Z_Python/myEnv/model2.tflite --compression high --verbosity 1 -O ram --workspace C:/Users/admin/AppData/Local/Temp/mxAI_workspace7271294798310013877290066913389571 --output C:/Users/admin/.stm32cubemx/model_output",
+    "arguments": "generate --target stm32f4 --name model -m D:/Job_Work/Code/Z_Python/myEnv/model2.tflite --compression high --verbosity 1 -O ram --workspace C:/Users/admin/AppData/Local/Temp/mxAI_workspace50778756231690010561018843790973718 --output C:/Users/admin/.stm32cubemx/model_output",
     "c_activations_count": 1,
     "c_arrays": [
         {
@@ -2193,7 +2193,7 @@
         ]
     },
     "data_alignment": 4,
-    "date_time": "2025-05-29T10:15:11+0800",
+    "date_time": "2025-06-03T11:05:51+0800",
     "inputs": [
         "serving_default_input0_output"
     ],
diff --git a/CAN/XM-01/.ai/model_null_c_info.json b/CAN/XM-01/.ai/model_null_c_info.json
index 75016ad..d76e296 100644
--- a/CAN/XM-01/.ai/model_null_c_info.json
+++ b/CAN/XM-01/.ai/model_null_c_info.json
@@ -1554,44 +1554,44 @@
   ],
   "environment": {
     "generated_model": {
-      "generated_time": "2025-05-29T10:15:11+0800",
+      "generated_time": "2025-06-03T11:05:51+0800",
       "model_files": [
         {
           "name": "model_data_params.h",
-          "signature": "0xbf672a4e1021e93f3ce341f8293b7f17"
+          "signature": "0x6f8f4fd7d97c7d31dd4fb2bacf022f2a"
         },
         {
           "name": "model_data_params.c",
-          "signature": "0x4003b0ba9a2b4716ec4346adda9cfa93"
+          "signature": "0x1107d25643d9bb80bb64a97f268d8c9e"
         },
         {
           "name": "model_data.h",
-          "signature": "0xe75994a4124fb95bd3b37ca894a20ae1"
+          "signature": "0x33f5302696bc3469822a59c995dad33c"
         },
         {
           "name": "model_data.c",
-          "signature": "0x824aacf0231ce5cc0ff0ea6b3434f863"
+          "signature": "0xe5ed74e8746f7db2cd162e3a744c6a0f"
         },
         {
           "name": "model_config.h",
-          "signature": "0xabc1ec1ca20b671d945c8385d7524dc2"
+          "signature": "0xc8a081279546fb4ea9c445b01959bd41"
         },
         {
           "name": "model.h",
-          "signature": "0xcc1869ac0d8ad2bc97bb8dc83ec3b618"
+          "signature": "0x69f8c1654660a5d741f34e559a0d0ef3"
         },
         {
           "name": "model.c",
-          "signature": "0xeadf1b87ef2f0769f5398a910285fe49"
+          "signature": "0xa1713d711411a6737faffe860c4b1d89"
         }
       ],
       "name": "model"
     },
-    "network_signature": "0x80fcc2ecf7b92835",
+    "network_signature": "0xf8d76fcffdf84742",
     "test_name": "",
     "tools": [
       {
-        "arguments": "generate --target stm32f4 --name model -m D:/Job_Work/Code/Z_Python/myEnv/model2.tflite --compression high --verbosity 1 -O ram --workspace C:/Users/admin/AppData/Local/Temp/mxAI_workspace7271294798310013877290066913389571 --output C:/Users/admin/.stm32cubemx/model_output",
+        "arguments": "generate --target stm32f4 --name model -m D:/Job_Work/Code/Z_Python/myEnv/model2.tflite --compression high --verbosity 1 -O ram --workspace C:/Users/admin/AppData/Local/Temp/mxAI_workspace50778756231690010561018843790973718 --output C:/Users/admin/.stm32cubemx/model_output",
         "environment": [
           "STATS_TYPE=X-CUBE-AI"
         ],
diff --git a/CAN/XM-01/.ai/model_null_report.json b/CAN/XM-01/.ai/model_null_report.json
index 676328b..0dce5b7 100644
--- a/CAN/XM-01/.ai/model_null_report.json
+++ b/CAN/XM-01/.ai/model_null_report.json
@@ -1,7 +1,7 @@
 {
     "_allocate_inputs": 4,
     "_allocate_outputs": 4,
-    "cli_parameters": "generate --target stm32f4 --name model -m D:/Job_Work/Code/Z_Python/myEnv/model2.tflite --compression high --verbosity 1 -O ram --workspace C:/Users/admin/AppData/Local/Temp/mxAI_workspace7271294798310013877290066913389571 --output C:/Users/admin/.stm32cubemx/model_output",
+    "cli_parameters": "generate --target stm32f4 --name model -m D:/Job_Work/Code/Z_Python/myEnv/model2.tflite --compression high --verbosity 1 -O ram --workspace C:/Users/admin/AppData/Local/Temp/mxAI_workspace50778756231690010561018843790973718 --output C:/Users/admin/.stm32cubemx/model_output",
     "cli_version": {
         "extra": "20049",
         "major": 2,
@@ -11,7 +11,7 @@
     "cli_version_str": "2.0.0-20049",
     "code_size": 0,
     "compression": [],
-    "date_time": "2025-05-29T10:15:11+0800",
+    "date_time": "2025-06-03T11:05:51+0800",
     "error": 0,
     "error_str": [],
     "exec_cmd": "generate",
diff --git a/CAN/XM-01/Core/Inc/main.h b/CAN/XM-01/Core/Inc/main.h
index 55ab4ce..378ae48 100644
--- a/CAN/XM-01/Core/Inc/main.h
+++ b/CAN/XM-01/Core/Inc/main.h
@@ -47,6 +47,7 @@ extern "C" {
 /* USER CODE BEGIN EC */
 
 #define SENSOR_RX_BUFFER_SIZE  1024
+#define OUTPUT_RX_BUFFER_SIZE  512
 /* USER CODE END EC */
 
 /* Exported macro ------------------------------------------------------------*/
@@ -59,6 +60,9 @@ extern uint8_t CAN_TX_BUFFER[8];
 
 extern uint16_t sensor_uart_rx_len;
 extern uint8_t sensor_uart_rx_buffer[SENSOR_RX_BUFFER_SIZE]; 
+
+extern uint16_t output_uart_rx_len;
+extern uint8_t output_uart_rx_buffer[OUTPUT_RX_BUFFER_SIZE];  
 /* USER CODE END EM */
 
 /* Exported functions prototypes ---------------------------------------------*/
diff --git a/CAN/XM-01/Core/Inc/stm32f4xx_it.h b/CAN/XM-01/Core/Inc/stm32f4xx_it.h
index 7119863..fdb1549 100644
--- a/CAN/XM-01/Core/Inc/stm32f4xx_it.h
+++ b/CAN/XM-01/Core/Inc/stm32f4xx_it.h
@@ -51,9 +51,11 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void DMA1_Stream1_IRQHandler(void);
 void DMA1_Stream5_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
 void USART2_IRQHandler(void);
+void USART3_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/CAN/XM-01/Core/Inc/usart.h b/CAN/XM-01/Core/Inc/usart.h
index 136a7c2..d9fe19d 100644
--- a/CAN/XM-01/Core/Inc/usart.h
+++ b/CAN/XM-01/Core/Inc/usart.h
@@ -34,6 +34,8 @@ extern "C" {
 
 extern UART_HandleTypeDef huart2;
 
+extern UART_HandleTypeDef huart3;
+
 extern UART_HandleTypeDef huart6;
 
 /* USER CODE BEGIN Private defines */
@@ -41,6 +43,7 @@ extern UART_HandleTypeDef huart6;
 /* USER CODE END Private defines */
 
 void MX_USART2_UART_Init(void);
+void MX_USART3_UART_Init(void);
 void MX_USART6_UART_Init(void);
 
 /* USER CODE BEGIN Prototypes */
diff --git a/CAN/XM-01/Core/Src/dma.c b/CAN/XM-01/Core/Src/dma.c
index f8f461c..1c612e9 100644
--- a/CAN/XM-01/Core/Src/dma.c
+++ b/CAN/XM-01/Core/Src/dma.c
@@ -43,6 +43,9 @@ void MX_DMA_Init(void)
   __HAL_RCC_DMA1_CLK_ENABLE();
 
   /* DMA interrupt init */
+  /* DMA1_Stream1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
   /* DMA1_Stream5_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
diff --git a/CAN/XM-01/Core/Src/main.c b/CAN/XM-01/Core/Src/main.c
index 2a1af17..605d685 100644
--- a/CAN/XM-01/Core/Src/main.c
+++ b/CAN/XM-01/Core/Src/main.c
@@ -55,6 +55,9 @@ uint8_t CAN_TX_BUFFER[8] = {0X01, 0X02, 0X03, 0X04, 0X05, 0X06, 0X07, 0X08};
 // UART
 uint16_t sensor_uart_rx_len = 0;
 uint8_t sensor_uart_rx_buffer[SENSOR_RX_BUFFER_SIZE]; // DMA搬运目标缓存
+
+uint16_t output_uart_rx_len = 0;
+uint8_t output_uart_rx_buffer[OUTPUT_RX_BUFFER_SIZE]; // DMA搬运目标缓存
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -69,9 +72,9 @@ void SystemClock_Config(void);
 /* USER CODE END 0 */
 
 /**
- * @brief  The application entry point.
- * @retval int
- */
+  * @brief  The application entry point.
+  * @retval int
+  */
 int main(void)
 {
 
@@ -100,12 +103,18 @@ int main(void)
   MX_DMA_Init();
   MX_USART2_UART_Init();
   MX_CAN1_Init();
+  MX_USART3_UART_Init();
   MX_X_CUBE_AI_Init();
   /* USER CODE BEGIN 2 */
-  __HAL_UART_ENABLE_IT(&huart2, UART_IT_IDLE); // 使能串口IDLE中断
+  // 使能串口IDLE中断
+  __HAL_UART_ENABLE_IT(&huart2, UART_IT_IDLE);
+  __HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
+  // 开启串口接收DMA
   HAL_UART_Receive_DMA(&huart2, sensor_uart_rx_buffer,
-                       SENSOR_RX_BUFFER_SIZE); // 开启串口接收DMA
-  CAN_Filter_Init();                           // 过滤器初始化
+                       SENSOR_RX_BUFFER_SIZE);
+  HAL_UART_Receive_DMA(&huart3, output_uart_rx_buffer,
+                       OUTPUT_RX_BUFFER_SIZE);
+  CAN_Filter_Init(); // 过滤器初始化
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -122,22 +131,22 @@ int main(void)
 }
 
 /**
- * @brief System Clock Configuration
- * @retval None
- */
+  * @brief System Clock Configuration
+  * @retval None
+  */
 void SystemClock_Config(void)
 {
   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
   /** Configure the main internal regulator output voltage
-   */
+  */
   __HAL_RCC_PWR_CLK_ENABLE();
   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
 
   /** Initializes the RCC Oscillators according to the specified parameters
-   * in the RCC_OscInitTypeDef structure.
-   */
+  * in the RCC_OscInitTypeDef structure.
+  */
   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
@@ -152,8 +161,9 @@ void SystemClock_Config(void)
   }
 
   /** Initializes the CPU, AHB and APB buses clocks
-   */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
@@ -165,7 +175,7 @@ void SystemClock_Config(void)
   }
 
   /** Enables the Clock Security System
-   */
+  */
   HAL_RCC_EnableCSS();
 }
 
@@ -232,9 +242,9 @@ void hex_dump_simple(const void *data, size_t size)
 /* USER CODE END 4 */
 
 /**
- * @brief  This function is executed in case of error occurrence.
- * @retval None
- */
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
 void Error_Handler(void)
 {
   /* USER CODE BEGIN Error_Handler_Debug */
@@ -246,14 +256,14 @@ void Error_Handler(void)
   /* USER CODE END Error_Handler_Debug */
 }
 
-#ifdef USE_FULL_ASSERT
+#ifdef  USE_FULL_ASSERT
 /**
- * @brief  Reports the name of the source file and the source line number
- *         where the assert_param error has occurred.
- * @param  file: pointer to the source file name
- * @param  line: assert_param error line source number
- * @retval None
- */
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @retval None
+  */
 void assert_failed(uint8_t *file, uint32_t line)
 {
   /* USER CODE BEGIN 6 */
diff --git a/CAN/XM-01/Core/Src/stm32f4xx_it.c b/CAN/XM-01/Core/Src/stm32f4xx_it.c
index c34d16b..f33d77f 100644
--- a/CAN/XM-01/Core/Src/stm32f4xx_it.c
+++ b/CAN/XM-01/Core/Src/stm32f4xx_it.c
@@ -58,7 +58,9 @@
 /* External variables --------------------------------------------------------*/
 extern CAN_HandleTypeDef hcan1;
 extern DMA_HandleTypeDef hdma_usart2_rx;
+extern DMA_HandleTypeDef hdma_usart3_rx;
 extern UART_HandleTypeDef huart2;
+extern UART_HandleTypeDef huart3;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -147,6 +149,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles DMA1 stream1 global interrupt.
+  */
+void DMA1_Stream1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart3_rx);
+  /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream1_IRQn 1 */
+}
+
 /**
   * @brief This function handles DMA1 stream5 global interrupt.
   */
@@ -201,6 +217,31 @@ void USART2_IRQHandler(void)
   /* USER CODE END USART2_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USART3 global interrupt.
+  */
+void USART3_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART3_IRQn 0 */
+  if (__HAL_UART_GET_FLAG(&huart3, UART_FLAG_IDLE) != RESET)
+  { // 判断是否产生IDLE中断
+    __HAL_UART_CLEAR_IDLEFLAG(&huart3);                                                      // 清除IDLE中断标志位
+    HAL_UART_DMAStop(&huart3);                                                               // 停止DMA接收
+    uint16_t received_length = SENSOR_RX_BUFFER_SIZE - __HAL_DMA_GET_COUNTER(huart3.hdmarx); // 计算实际接收到的数据长度
+    // 业务代码
+    HAL_UART_Transmit(&huart3, output_uart_rx_buffer, received_length, 100);     // 发送接收到的数据 echo
+    HAL_UART_Receive_DMA(&huart3, output_uart_rx_buffer, SENSOR_RX_BUFFER_SIZE); // 开启DMA接收
+    output_uart_rx_len = received_length;
+    // 发送事件通知处理线程
+    // rt_event_send(&uart_rx_event, 0x01);
+  }
+  /* USER CODE END USART3_IRQn 0 */
+  HAL_UART_IRQHandler(&huart3);
+  /* USER CODE BEGIN USART3_IRQn 1 */
+
+  /* USER CODE END USART3_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/CAN/XM-01/Core/Src/usart.c b/CAN/XM-01/Core/Src/usart.c
index 3ecdfc8..7f4b454 100644
--- a/CAN/XM-01/Core/Src/usart.c
+++ b/CAN/XM-01/Core/Src/usart.c
@@ -25,8 +25,10 @@
 /* USER CODE END 0 */
 
 UART_HandleTypeDef huart2;
+UART_HandleTypeDef huart3;
 UART_HandleTypeDef huart6;
 DMA_HandleTypeDef hdma_usart2_rx;
+DMA_HandleTypeDef hdma_usart3_rx;
 
 /* USART2 init function */
 
@@ -56,6 +58,35 @@ void MX_USART2_UART_Init(void)
 
   /* USER CODE END USART2_Init 2 */
 
+}
+/* USART3 init function */
+
+void MX_USART3_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART3_Init 0 */
+
+  /* USER CODE END USART3_Init 0 */
+
+  /* USER CODE BEGIN USART3_Init 1 */
+
+  /* USER CODE END USART3_Init 1 */
+  huart3.Instance = USART3;
+  huart3.Init.BaudRate = 115200;
+  huart3.Init.WordLength = UART_WORDLENGTH_8B;
+  huart3.Init.StopBits = UART_STOPBITS_1;
+  huart3.Init.Parity = UART_PARITY_NONE;
+  huart3.Init.Mode = UART_MODE_TX_RX;
+  huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART3_Init 2 */
+
+  /* USER CODE END USART3_Init 2 */
+
 }
 /* USART6 init function */
 
@@ -137,6 +168,52 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 
   /* USER CODE END USART2_MspInit 1 */
   }
+  else if(uartHandle->Instance==USART3)
+  {
+  /* USER CODE BEGIN USART3_MspInit 0 */
+
+  /* USER CODE END USART3_MspInit 0 */
+    /* USART3 clock enable */
+    __HAL_RCC_USART3_CLK_ENABLE();
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**USART3 GPIO Configuration
+    PC10     ------> USART3_TX
+    PC11     ------> USART3_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    /* USART3 DMA Init */
+    /* USART3_RX Init */
+    hdma_usart3_rx.Instance = DMA1_Stream1;
+    hdma_usart3_rx.Init.Channel = DMA_CHANNEL_4;
+    hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart3_rx.Init.Mode = DMA_CIRCULAR;
+    hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx);
+
+    /* USART3 interrupt Init */
+    HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USART3_IRQn);
+  /* USER CODE BEGIN USART3_MspInit 1 */
+
+  /* USER CODE END USART3_MspInit 1 */
+  }
   else if(uartHandle->Instance==USART6)
   {
   /* USER CODE BEGIN USART6_MspInit 0 */
@@ -189,6 +266,29 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
   /* USER CODE END USART2_MspDeInit 1 */
   }
+  else if(uartHandle->Instance==USART3)
+  {
+  /* USER CODE BEGIN USART3_MspDeInit 0 */
+
+  /* USER CODE END USART3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART3_CLK_DISABLE();
+
+    /**USART3 GPIO Configuration
+    PC10     ------> USART3_TX
+    PC11     ------> USART3_RX
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_11);
+
+    /* USART3 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+
+    /* USART3 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART3_IRQn);
+  /* USER CODE BEGIN USART3_MspDeInit 1 */
+
+  /* USER CODE END USART3_MspDeInit 1 */
+  }
   else if(uartHandle->Instance==USART6)
   {
   /* USER CODE BEGIN USART6_MspDeInit 0 */
diff --git a/CAN/XM-01/MDK-ARM/XM-01.uvguix.admin b/CAN/XM-01/MDK-ARM/XM-01.uvguix.admin
index eebc5f3..71c9add 100644
--- a/CAN/XM-01/MDK-ARM/XM-01.uvguix.admin
+++ b/CAN/XM-01/MDK-ARM/XM-01.uvguix.admin
@@ -22,17 +22,17 @@
     <View>
       <WinId>38003</WinId>
       <ViewName>Registers</ViewName>
-      <TableColWidths>130 131</TableColWidths>
+      <TableColWidths>76 100</TableColWidths>
     </View>
     <View>
       <WinId>346</WinId>
       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>744 160</TableColWidths>
+      <TableColWidths>165 739</TableColWidths>
     </View>
     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
-      <TableColWidths>904</TableColWidths>
+      <TableColWidths>55 135 135 579</TableColWidths>
     </View>
   </SECTreeCtrl>
 
@@ -3622,9 +3622,9 @@
       </Doc>
       <Doc>
         <Name>..\Core\Src\myEdge_ai_app.c</Name>
-        <ColumnNumber>1</ColumnNumber>
+        <ColumnNumber>5</ColumnNumber>
         <TopLine>283</TopLine>
-        <CurrentLine>293</CurrentLine>
+        <CurrentLine>288</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
diff --git a/CAN/XM-01/MDK-ARM/XM-01.uvoptx b/CAN/XM-01/MDK-ARM/XM-01.uvoptx
index 4ee23ef..af8d010 100644
--- a/CAN/XM-01/MDK-ARM/XM-01.uvoptx
+++ b/CAN/XM-01/MDK-ARM/XM-01.uvoptx
@@ -153,7 +153,24 @@
           <Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F405RGTx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>226</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>0</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>../Core/Src/stm32f4xx_it.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -300,6 +317,18 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Src\mcu_body_analyzer.c</PathWithFileName>
+      <FilenameWithoutPath>mcu_body_analyzer.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>7</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>../Core/Src/main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -307,7 +336,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>7</FileNumber>
+      <FileNumber>8</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -319,7 +348,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>8</FileNumber>
+      <FileNumber>9</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -331,7 +360,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>9</FileNumber>
+      <FileNumber>10</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -343,7 +372,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -355,7 +384,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -367,7 +396,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -377,18 +406,6 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>13</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\Src\mcu_body_analyzer.c</PathWithFileName>
-      <FilenameWithoutPath>mcu_body_analyzer.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
   </Group>
 
   <Group>
diff --git a/CAN/XM-01/MDK-ARM/XM-01.uvprojx b/CAN/XM-01/MDK-ARM/XM-01.uvprojx
index 51212ab..46f9c2d 100644
--- a/CAN/XM-01/MDK-ARM/XM-01.uvprojx
+++ b/CAN/XM-01/MDK-ARM/XM-01.uvprojx
@@ -360,7 +360,7 @@
             </VariousControls>
           </Aads>
           <LDads>
-            <umfTarg>1</umfTarg>
+            <umfTarg>0</umfTarg>
             <Ropi>0</Ropi>
             <Rwpi>0</Rwpi>
             <noStLib>0</noStLib>
@@ -412,6 +412,11 @@
               <FileType>1</FileType>
               <FilePath>..\Core\Src\myCANBusDeal.c</FilePath>
             </File>
+            <File>
+              <FileName>mcu_body_analyzer.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\Src\mcu_body_analyzer.c</FilePath>
+            </File>
             <File>
               <FileName>main.c</FileName>
               <FileType>1</FileType>
@@ -600,11 +605,6 @@
               <FileType>1</FileType>
               <FilePath>../Core/Src/stm32f4xx_hal_msp.c</FilePath>
             </File>
-            <File>
-              <FileName>mcu_body_analyzer.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Core\Src\mcu_body_analyzer.c</FilePath>
-            </File>
           </Files>
         </Group>
         <Group>
diff --git a/CAN/XM-01/MDK-ARM/XM-01/XM-01.hex b/CAN/XM-01/MDK-ARM/XM-01/XM-01.hex
index d40f5d3..70679b1 100644
--- a/CAN/XM-01/MDK-ARM/XM-01/XM-01.hex
+++ b/CAN/XM-01/MDK-ARM/XM-01/XM-01.hex
@@ -1,18 +1,18 @@
 :020000040800F2
-:10000000E8C800206D020008C52500089503000817
-:10001000C3250008250B0008ED2C00080000000097
+:1000000088CB00206D020008A9260008950300088F
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 :100020000000000000000000000000007F02000847
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 :10005000870200088702000887020008870200085C
 :10006000870200088702000887020008870200084C
-:10007000870200088702000887020008870200083C
-:10008000850B000887020008870200088702000825
+:10007000850B000887020008870200088702000835
+:10008000910B000887020008870200088702000819
 :10009000290B000887020008870200088702000871
 :1000A000870200088702000887020008870200080C
 :1000B00087020008870200088702000887020008FC
 :1000C00087020008870200088702000887020008EC
-:1000D0008702000887020008952C000887020008A4
+:1000D0008702000887020008792D0008D12D00084A
 :1000E00087020008870200088702000887020008CC
 :1000F00087020008870200088702000887020008BC
 :1001000087020008870200088702000887020008AB
@@ -26,8 +26,8 @@
 :10018000870200088702000800F002F800F05EF81D
 :100190000AA090E8000C82448344AAF10107DA45E2
 :1001A00001D100F053F8AFF2090EBAE80F0013F0D6
-:1001B000010F18BFFB1A43F00103184718FD000098
-:1001C00038FD00000A444FF0000C10F8013B13F01A
+:1001B000010F18BFFB1A43F00103184778FE000037
+:1001C00098FE00000A444FF0000C10F8013B13F0B9
 :1001D000070408BF10F8014B1D1108BF10F8015BA0
 :1001E000641E05D010F8016B641E01F8016BF9D193
 :1001F00013F0080F1EBF10F8014BAD1C0C1B09D1EA
@@ -35,13 +35,13 @@
 :1002100001F8016B6D1EF9D59142D6D370470000ED
 :100220000023002400250026103A28BF78C1FBD8FF
 :10023000520728BF30C148BF0B6070471FB50BF095
-:10024000F0FA00F05EF91FBD10B510BD00F06BFBB9
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 :10028000FEE7FEE7FEE7FEE704480549054A064BA0
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 :1002B00072B6704780F310887047444A1368012B68
 :1002C00004D04FF001031360414A1060414A1160AD
 :1002D00041484FF0805101607047EFF3108272B6D1
@@ -59,8 +59,8 @@
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 :1003A000098020E9F00F40F804ED40F804ED1EF05C
 :1003B000040F0CBF80F3088880F3098800B509F0AA
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@@ -79,7 +79,7 @@
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+:1006A0001C6A30E0591C1A60084BD00D1C6A31E0FE
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+:1006E000132413B16C1B087C24D40701121AE01CDC
+:1006F000135D7A5B088440DA04205AFC3C1A8C2093
+:10070000D40B0111131C171420A9662B089458311F
+:100710003203690829BC4B587DCCD40701101A3824
+:100720003829745A9C74DA13201A702013B16F1B85
+:1007300008A4201387561B086904D403010E1A90DD
+:10074000241317681B08AC2429F481290CB9041957
+:10075000885A6888D403010D1AB44413F96D1B0834
+:10076000B44439210919441330092A200CD4070153
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+:10078000C4A87A78A8D20B1A5C4429A81ACC44B21F
+:10079000105A0204A9444B140AA8D403010F5AA00A
+:1007A00088DAD4880912445A8888D407010A1AE4DE
+:1007B0004429EC5ADCECDA13201328191420B16F09
+:1007C0001B08E4201387561B086904D40301091A87
+:1007D00048242988DAEC88798099885A98883B03DC
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+:1007F0004413880B2A200CD40701071AB04429CCD3
+:100800005AFCCCDA03205AF4A80B2004BCA87AA81E
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+:100830002D790CE9445AC844DA0204291C1AD81C40
+:100840004BD19038CB802E3C8B583A0C1B40042D5A
+:10085000B1392C19131AFC88291C13A0BD7A089CE5
+:100860002938191C4B0C1B7813407F0224201A8056
+:100870003029048113A0FD1B08C0041AD8041AAC47
+:10088000041AF0041AB4041AC8041AE8041ABC04BE
+:100890001AD0041AA4041AE004296C1AC4402904CA
+:1008A0005A80E41AD40C2904295532031AE40C297D
+:1008B00004322429D21AF40C290429202A051412FE
+:1008C0001C2A2004323032061A140C2904323C321D
+:0C08D0000A1A240C2904021B2C00000052
 :040000050800018965
 :00000001FF
diff --git a/CAN/XM-01/X-CUBE-AI/App/model.c b/CAN/XM-01/X-CUBE-AI/App/model.c
index 8fd9e8e..4e5cd5c 100644
--- a/CAN/XM-01/X-CUBE-AI/App/model.c
+++ b/CAN/XM-01/X-CUBE-AI/App/model.c
@@ -2,7 +2,7 @@
   ******************************************************************************
   * @file    model.c
   * @author  AST Embedded Analytics Research Platform
-  * @date    2025-05-29T10:15:11+0800
+  * @date    2025-06-03T11:05:51+0800
   * @brief   AI Tool Automatic Code Generator for Embedded NN computing
   ******************************************************************************
   * @attention
@@ -42,7 +42,7 @@
 #endif
 
 #undef AI_TOOLS_DATE_TIME
-#define AI_TOOLS_DATE_TIME   "2025-05-29T10:15:11+0800"
+#define AI_TOOLS_DATE_TIME   "2025-06-03T11:05:51+0800"
 
 #undef AI_TOOLS_COMPILE_TIME
 #define AI_TOOLS_COMPILE_TIME    __DATE__ " " __TIME__
@@ -1110,7 +1110,7 @@ AI_NETWORK_OBJ_DECLARE(
     11904, NULL, NULL),
   AI_TENSOR_LIST_IO_OBJ_INIT(AI_FLAG_NONE, AI_MODEL_IN_NUM, &serving_default_input0_output),
   AI_TENSOR_LIST_IO_OBJ_INIT(AI_FLAG_NONE, AI_MODEL_OUT_NUM, &nl_20_output),
-  &conv2d_4_layer, 0x80fcc2ec, NULL)
+  &conv2d_4_layer, 0xf8d76fcf, NULL)
 
 #else
 
@@ -1130,7 +1130,7 @@ AI_NETWORK_OBJ_DECLARE(
   ),
   AI_TENSOR_LIST_IO_OBJ_INIT(AI_FLAG_NONE, AI_MODEL_IN_NUM, &serving_default_input0_output),
   AI_TENSOR_LIST_IO_OBJ_INIT(AI_FLAG_NONE, AI_MODEL_OUT_NUM, &nl_20_output),
-  &conv2d_4_layer, 0x80fcc2ec, NULL)
+  &conv2d_4_layer, 0xf8d76fcf, NULL)
 
 #endif	/*(AI_TOOLS_API_VERSION < AI_TOOLS_API_VERSION_1_5)*/
 
@@ -1335,7 +1335,7 @@ ai_bool ai_model_get_info(
       .params            = AI_STRUCT_INIT,
       .activations       = AI_STRUCT_INIT,
       .n_nodes           = 0,
-      .signature         = 0x80fcc2ec,
+      .signature         = 0xf8d76fcf,
     };
 
     if (!ai_platform_api_get_network_report(network, &r)) return false;
@@ -1383,7 +1383,7 @@ ai_bool ai_model_get_report(
       .map_weights       = AI_STRUCT_INIT,
       .map_activations   = AI_STRUCT_INIT,
       .n_nodes           = 0,
-      .signature         = 0x80fcc2ec,
+      .signature         = 0xf8d76fcf,
     };
 
     if (!ai_platform_api_get_network_report(network, &r)) return false;
diff --git a/CAN/XM-01/X-CUBE-AI/App/model.h b/CAN/XM-01/X-CUBE-AI/App/model.h
index bcc73e1..26ad6cf 100644
--- a/CAN/XM-01/X-CUBE-AI/App/model.h
+++ b/CAN/XM-01/X-CUBE-AI/App/model.h
@@ -2,7 +2,7 @@
   ******************************************************************************
   * @file    model.h
   * @author  AST Embedded Analytics Research Platform
-  * @date    2025-05-29T10:15:11+0800
+  * @date    2025-06-03T11:05:51+0800
   * @brief   AI Tool Automatic Code Generator for Embedded NN computing
   ******************************************************************************
   * @attention
diff --git a/CAN/XM-01/X-CUBE-AI/App/model_config.h b/CAN/XM-01/X-CUBE-AI/App/model_config.h
index ff463fa..9fce0f8 100644
--- a/CAN/XM-01/X-CUBE-AI/App/model_config.h
+++ b/CAN/XM-01/X-CUBE-AI/App/model_config.h
@@ -3,7 +3,7 @@
   ******************************************************************************
   * @file    model_config.h
   * @author  AST Embedded Analytics Research Platform
-  * @date    2025-05-29T10:15:11+0800
+  * @date    2025-06-03T11:05:51+0800
   * @brief   AI Tool Automatic Code Generator for Custom Layers Implementation
   ******************************************************************************
   * @attention
diff --git a/CAN/XM-01/X-CUBE-AI/App/model_data.c b/CAN/XM-01/X-CUBE-AI/App/model_data.c
index 432bd79..9a615a7 100644
--- a/CAN/XM-01/X-CUBE-AI/App/model_data.c
+++ b/CAN/XM-01/X-CUBE-AI/App/model_data.c
@@ -2,7 +2,7 @@
   ******************************************************************************
   * @file    model_data.c
   * @author  AST Embedded Analytics Research Platform
-  * @date    2025-05-29T10:15:11+0800
+  * @date    2025-06-03T11:05:51+0800
   * @brief   AI Tool Automatic Code Generator for Embedded NN computing
   ******************************************************************************
   * @attention
diff --git a/CAN/XM-01/X-CUBE-AI/App/model_data.h b/CAN/XM-01/X-CUBE-AI/App/model_data.h
index 0b443a7..b0eeb73 100644
--- a/CAN/XM-01/X-CUBE-AI/App/model_data.h
+++ b/CAN/XM-01/X-CUBE-AI/App/model_data.h
@@ -2,7 +2,7 @@
   ******************************************************************************
   * @file    model_data.h
   * @author  AST Embedded Analytics Research Platform
-  * @date    2025-05-29T10:15:11+0800
+  * @date    2025-06-03T11:05:51+0800
   * @brief   AI Tool Automatic Code Generator for Embedded NN computing
   ******************************************************************************
   * Copyright (c) 2025 STMicroelectronics.
diff --git a/CAN/XM-01/X-CUBE-AI/App/model_data_params.c b/CAN/XM-01/X-CUBE-AI/App/model_data_params.c
index c570f54..2af8f08 100644
--- a/CAN/XM-01/X-CUBE-AI/App/model_data_params.c
+++ b/CAN/XM-01/X-CUBE-AI/App/model_data_params.c
@@ -2,7 +2,7 @@
   ******************************************************************************
   * @file    model_data_params.c
   * @author  AST Embedded Analytics Research Platform
-  * @date    2025-05-29T10:15:11+0800
+  * @date    2025-06-03T11:05:51+0800
   * @brief   AI Tool Automatic Code Generator for Embedded NN computing
   ******************************************************************************
   * Copyright (c) 2025 STMicroelectronics.
diff --git a/CAN/XM-01/X-CUBE-AI/App/model_data_params.h b/CAN/XM-01/X-CUBE-AI/App/model_data_params.h
index 93148e7..61f5729 100644
--- a/CAN/XM-01/X-CUBE-AI/App/model_data_params.h
+++ b/CAN/XM-01/X-CUBE-AI/App/model_data_params.h
@@ -2,7 +2,7 @@
   ******************************************************************************
   * @file    model_data_params.h
   * @author  AST Embedded Analytics Research Platform
-  * @date    2025-05-29T10:15:11+0800
+  * @date    2025-06-03T11:05:51+0800
   * @brief   AI Tool Automatic Code Generator for Embedded NN computing
   ******************************************************************************
   * Copyright (c) 2025 STMicroelectronics.
diff --git a/CAN/XM-01/X-CUBE-AI/App/model_generate_report.txt b/CAN/XM-01/X-CUBE-AI/App/model_generate_report.txt
index d99f382..edeadd3 100644
--- a/CAN/XM-01/X-CUBE-AI/App/model_generate_report.txt
+++ b/CAN/XM-01/X-CUBE-AI/App/model_generate_report.txt
@@ -1,30 +1,30 @@
 ST Edge AI Core v2.0.0-20049
-Created date          : 2025-05-29 10:15:14
-Parameters            : generate --target stm32f4 --name model -m D:/Job_Work/Code/Z_Python/myEnv/model2.tflite --compression high --verbosity 1 -O ram --workspace C:/Users/admin/AppData/Local/Temp/mxAI_workspace7271294798310013877290066913389571 --output C:/Users/admin/.stm32cubemx/model_output
+Created date          : 2025-06-03 11:05:53
+Parameters            : generate --target stm32f4 --name model -m D:/Job_Work/Code/Z_Python/myEnv/model2.tflite --compression high --verbosity 1 -O ram --workspace C:/Users/admin/AppData/Local/Temp/mxAI_workspace50778756231690010561018843790973718 --output C:/Users/admin/.stm32cubemx/model_output
 
 Exec/report summary (generate)
-------------------------------------------------------------------------------------------------------------
-model file         :   D:\Job_Work\Code\Z_Python\myEnv\model2.tflite                                        
-type               :   tflite                                                                               
-c_name             :   model                                                                                
-compression        :   high                                                                                 
-options            :   allocate-inputs, allocate-outputs                                                    
-optimization       :   ram                                                                                  
-target/series      :   stm32f4                                                                              
-workspace dir      :   C:\Users\admin\AppData\Local\Temp\mxAI_workspace7271294798310013877290066913389571   
-output dir         :   C:\Users\admin\.stm32cubemx\model_output                                             
-model_fmt          :   float                                                                                
-model_name         :   model2                                                                               
-model_hash         :   0x02dd23f831c7bbf9c5b10eba7342e3d2                                                   
-params #           :   4,210 items (16.45 KiB)                                                              
-------------------------------------------------------------------------------------------------------------
-input 1/1          :   'serving_default_input0', f32(1x260), 1.02 KBytes, activations                       
-output 1/1         :   'nl_20', f32(1x2), 8 Bytes, activations                                              
-macc               :   156,480                                                                              
-weights (ro)       :   14,936 B (14.59 KiB) (1 segment) / -1,904(-11.3%) vs float model                     
-activations (rw)   :   11,904 B (11.62 KiB) (1 segment) *                                                   
-ram (total)        :   11,904 B (11.62 KiB) = 11,904 + 0 + 0                                                
-------------------------------------------------------------------------------------------------------------
+-------------------------------------------------------------------------------------------------------------
+model file         :   D:\Job_Work\Code\Z_Python\myEnv\model2.tflite                                         
+type               :   tflite                                                                                
+c_name             :   model                                                                                 
+compression        :   high                                                                                  
+options            :   allocate-inputs, allocate-outputs                                                     
+optimization       :   ram                                                                                   
+target/series      :   stm32f4                                                                               
+workspace dir      :   C:\Users\admin\AppData\Local\Temp\mxAI_workspace50778756231690010561018843790973718   
+output dir         :   C:\Users\admin\.stm32cubemx\model_output                                              
+model_fmt          :   float                                                                                 
+model_name         :   model2                                                                                
+model_hash         :   0x02dd23f831c7bbf9c5b10eba7342e3d2                                                    
+params #           :   4,210 items (16.45 KiB)                                                               
+-------------------------------------------------------------------------------------------------------------
+input 1/1          :   'serving_default_input0', f32(1x260), 1.02 KBytes, activations                        
+output 1/1         :   'nl_20', f32(1x2), 8 Bytes, activations                                               
+macc               :   156,480                                                                               
+weights (ro)       :   14,936 B (14.59 KiB) (1 segment) / -1,904(-11.3%) vs float model                      
+activations (rw)   :   11,904 B (11.62 KiB) (1 segment) *                                                    
+ram (total)        :   11,904 B (11.62 KiB) = 11,904 + 0 + 0                                                 
+-------------------------------------------------------------------------------------------------------------
 (*) 'input'/'output' buffers can be used from the activations buffer
 
 Model name - model2
diff --git a/CAN/XM-01/XM-01.ioc b/CAN/XM-01/XM-01.ioc
index 58dbf92..3ceefea 100644
--- a/CAN/XM-01/XM-01.ioc
+++ b/CAN/XM-01/XM-01.ioc
@@ -10,7 +10,8 @@ CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Presca
 CAN1.Mode=CAN_MODE_NORMAL
 CAN1.Prescaler=21
 Dma.Request0=USART2_RX
-Dma.RequestsNb=1
+Dma.Request1=USART3_RX
+Dma.RequestsNb=2
 Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.USART2_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
 Dma.USART2_RX.0.Instance=DMA1_Stream5
@@ -21,6 +22,16 @@ Dma.USART2_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART2_RX.0.PeriphInc=DMA_PINC_DISABLE
 Dma.USART2_RX.0.Priority=DMA_PRIORITY_LOW
 Dma.USART2_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART3_RX.1.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART3_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART3_RX.1.Instance=DMA1_Stream1
+Dma.USART3_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART3_RX.1.MemInc=DMA_MINC_ENABLE
+Dma.USART3_RX.1.Mode=DMA_CIRCULAR
+Dma.USART3_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART3_RX.1.PeriphInc=DMA_PINC_DISABLE
+Dma.USART3_RX.1.Priority=DMA_PRIORITY_LOW
+Dma.USART3_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@@ -32,19 +43,22 @@ Mcu.IP2=NVIC
 Mcu.IP3=RCC
 Mcu.IP4=SYS
 Mcu.IP5=USART2
-Mcu.IP6=USART6
-Mcu.IPNb=7
+Mcu.IP6=USART3
+Mcu.IP7=USART6
+Mcu.IPNb=8
 Mcu.Name=STM32F405RGTx
 Mcu.Package=LQFP64
 Mcu.Pin0=PH0-OSC_IN
 Mcu.Pin1=PH1-OSC_OUT
 Mcu.Pin10=PA14
-Mcu.Pin11=PB8
-Mcu.Pin12=PB9
-Mcu.Pin13=VP_SYS_VS_Systick
-Mcu.Pin14=VP_STMicroelectronics.X-CUBE-AI_VS_ArtificialOoIntelligenceJjXAaCUBEAaAI_10.0.0
-Mcu.Pin15=VP_STMicroelectronics.X-CUBE-AI_VS_DeviceJjApplication_10.0.0
-Mcu.Pin16=VP_RealThread.X-CUBE-RT-Thread_Nano_VS_RTOSJjRTAaThread_4.1.1_4.1.1
+Mcu.Pin11=PC10
+Mcu.Pin12=PC11
+Mcu.Pin13=PB8
+Mcu.Pin14=PB9
+Mcu.Pin15=VP_SYS_VS_Systick
+Mcu.Pin16=VP_STMicroelectronics.X-CUBE-AI_VS_ArtificialOoIntelligenceJjXAaCUBEAaAI_10.0.0
+Mcu.Pin17=VP_STMicroelectronics.X-CUBE-AI_VS_DeviceJjApplication_10.0.0
+Mcu.Pin18=VP_RealThread.X-CUBE-RT-Thread_Nano_VS_RTOSJjRTAaThread_4.1.1_4.1.1
 Mcu.Pin2=PA2
 Mcu.Pin3=PA3
 Mcu.Pin4=PB0
@@ -53,7 +67,7 @@ Mcu.Pin6=PB2
 Mcu.Pin7=PC6
 Mcu.Pin8=PC7
 Mcu.Pin9=PA13
-Mcu.PinsNb=17
+Mcu.PinsNb=19
 Mcu.ThirdParty0=RealThread.X-CUBE-RT-Thread_Nano.4.1.1
 Mcu.ThirdParty1=STMicroelectronics.X-CUBE-AI.10.0.0
 Mcu.ThirdPartyNb=2
@@ -63,6 +77,7 @@ MxCube.Version=6.14.1
 MxDb.Version=DB.6.0.141
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
+NVIC.DMA1_Stream1_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream5_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
@@ -77,6 +92,7 @@ NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
 NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:true\:false
 NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
+NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
@@ -107,6 +123,12 @@ PB8.Signal=CAN1_RX
 PB9.Locked=true
 PB9.Mode=CAN_Activate
 PB9.Signal=CAN1_TX
+PC10.Locked=true
+PC10.Mode=Asynchronous
+PC10.Signal=USART3_TX
+PC11.Locked=true
+PC11.Mode=Asynchronous
+PC11.Signal=USART3_RX
 PC6.Mode=Asynchronous
 PC6.Signal=USART6_TX
 PC7.Mode=Asynchronous
@@ -147,7 +169,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART6_UART_Init-USART6-true-HAL-false,5-MX_USART2_UART_Init-USART2-false-HAL-true,6-MX_X_CUBE_AI_Init-STMicroelectronics.X-CUBE-AI.10.0.0-false-HAL-false,7-MX_X_CUBE_AI_Process-STMicroelectronics.X-CUBE-AI.10.0.0-false-HAL-false
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART6_UART_Init-USART6-true-HAL-false,5-MX_USART2_UART_Init-USART2-false-HAL-true,6-MX_CAN1_Init-CAN1-false-HAL-true,7-MX_USART3_UART_Init-USART3-false-HAL-true,8-MX_X_CUBE_AI_Init-STMicroelectronics.X-CUBE-AI.10.0.0-false-HAL-false,9-MX_X_CUBE_AI_Process-STMicroelectronics.X-CUBE-AI.10.0.0-false-HAL-false
 RCC.48MHZClocksFreq_Value=84000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -251,6 +273,8 @@ STMicroelectronics.X-CUBE-AI.10.0.0_SwParameter=ApplicationCcDeviceJjApplication
 USART2.BaudRate=1000000
 USART2.IPParameters=VirtualMode,BaudRate
 USART2.VirtualMode=VM_ASYNC
+USART3.IPParameters=VirtualMode
+USART3.VirtualMode=VM_ASYNC
 USART6.IPParameters=VirtualMode
 USART6.VirtualMode=VM_ASYNC
 VP_RealThread.X-CUBE-RT-Thread_Nano_VS_RTOSJjRTAaThread_4.1.1_4.1.1.Mode=RTOSJjRTAaThread
diff --git a/README.md b/README.md
index 2439596..01c6993 100644
--- a/README.md
+++ b/README.md
@@ -66,6 +66,7 @@
 | 2025-05-27 | 串口部分处理增加完成，未验证        |                    |
 |            | CAN总线调试完成 可以通讯 完成线程   |                    |
 | 2025-06-03 | 完成算法计算腰部位置代码移植        | 后续还需要更改            |
+|            | 增加串口3作为输出 用于CAN替换     |                    |
 
 ---