diff --git a/Core/Src/can.c b/Core/Src/can.c
index 75932c2..6879ecf 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -44,9 +44,9 @@ void MX_CAN1_Init(void)
   hcan1.Init.TimeSeg1 = CAN_BS1_2TQ;
   hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
   hcan1.Init.TimeTriggeredMode = DISABLE;
-  hcan1.Init.AutoBusOff = DISABLE;
+  hcan1.Init.AutoBusOff = ENABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
diff --git a/Core/Src/main.c b/Core/Src/main.c
index f78549f..d53b6fd 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -52,7 +52,8 @@
 /* Private variables ---------------------------------------------------------*/
 
 /* USER CODE BEGIN PV */
-
+extern uint8_t g_debugLevel;
+extern uint8_t g_direction;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -170,8 +171,16 @@ int main(void)
 
         prev_angle = angle;
         prev_tick_ms = now_ms;
-
-        _dbg_printf("Angle: %u, Vel: %.2f dt: %u ms\r\n", angle, velocity_deg_s, dt_ms);
+        if(g_direction > 0)
+        {
+          // 反转方向
+          velocity_deg_s = -velocity_deg_s;
+          angle = -angle;
+        }
+        if(g_debugLevel > 0)
+        {
+          _dbg_printf("Angle: %u, Vel: %.2f dt: %u ms\r\n", angle, velocity_deg_s, dt_ms);
+        }
         HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
         status = 1;
       }
@@ -180,6 +189,7 @@ int main(void)
       {
         uint8_t canData[8] = {0};
         int16_t vel_cdeg_s = (int16_t)(velocity_deg_s * 100.0f); // 0.01 deg/s
+        int transmitResult = 0;
 
         canData[0] = 0xAA; // 头
         canData[1] = (angle >> 8) & 0xFF;
@@ -190,11 +200,23 @@ int main(void)
         canData[6] = 0x00; // 保留
         canData[7] = can_checksum_calculate(canData, 7);
 
-        can_node_transmit(flashConfig->can_id, canData);
-        status = 0;
+        transmitResult = can_node_transmit(flashConfig->can_id, canData);
+        if (transmitResult != 0)
+        {
+            status = -1; // 发送失败，回到初始化状态
+            status = 2; // 直接进入错误状态，持续闪烁蓝灯
+        }
+        else
+        {
+            status = 0;
+            HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET);  //关闭蓝灯
+        }
       }
       break;
-
+    case 2:
+      HAL_GPIO_TogglePin(LED_B_GPIO_Port, LED_B_Pin);
+      // HAL_Delay(100);
+      break;
     default:
       break;
     }
diff --git a/MDK-ARM/arm_joint_sensor.uvguix.66437 b/MDK-ARM/arm_joint_sensor.uvguix.66437
index d7ec925..9f665d0 100644
--- a/MDK-ARM/arm_joint_sensor.uvguix.66437
+++ b/MDK-ARM/arm_joint_sensor.uvguix.66437
@@ -15,17 +15,17 @@
     <View>
       <WinId>38003</WinId>
       <ViewName>Registers</ViewName>
-      <TableColWidths>140 90</TableColWidths>
+      <TableColWidths>150 100</TableColWidths>
     </View>
     <View>
       <WinId>346</WinId>
       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>1010 160</TableColWidths>
+      <TableColWidths>1010 656</TableColWidths>
     </View>
     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
-      <TableColWidths>1170</TableColWidths>
+      <TableColWidths>1170 175 175 496</TableColWidths>
     </View>
   </SECTreeCtrl>
 
@@ -40,7 +40,7 @@
       <WinId>1506</WinId>
       <ViewName>Symbols</ViewName>
       <UserString></UserString>
-      <TableColWidths>80 80 80</TableColWidths>
+      <TableColWidths>85 85 85</TableColWidths>
     </View>
     <View>
       <WinId>1936</WinId>
@@ -110,8 +110,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>930</Len>
-        <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000009000000020000000100000031443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725C646576696365735C6C6F672E6800000000056C6F672E6800000000C5D4F200FFFFFFFF34443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725C646576696365735C4153353630302E6300000000084153353630302E6300000000FFDC7800FFFFFFFF33443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725C436F72655C5372635C6D61696E2E6300000000066D61696E2E6300000000BECEA100FFFFFFFF41443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725C4D444B2D41524D5C737461727475705F73746D33326C34333178782E730000000015737461727475705F73746D33326C34333178782E7300000000F0A0A100FFFFFFFF54443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725C447269766572735C53544D33324C3478785F48414C5F4472697665725C5372635C73746D33326C3478785F68616C2E63000000000F73746D33326C3478785F68616C2E6300000000BCA8E100FFFFFFFF36443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725C646576696365735C63616E5F6E6F64652E63000000000A63616E5F6E6F64652E63000000009CC1B600FFFFFFFF36443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725C646576696365735C63616E5F6E6F64652E68000000000A63616E5F6E6F64652E6800000000F7B88600FFFFFFFF31443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725C646576696365735C636D642E630000000005636D642E6300000000D9ADC200FFFFFFFF33443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725C646576696365735C666C6173682E630000000007666C6173682E6300000000A5C2D700FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000007408000066000000000F000063030000</Data>
+        <Len>1055</Len>
+        <Data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ata>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -134,7 +134,7 @@
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
-          <Data>7408000066000000100D0000F4000000</Data>
+          <Data>F408000066000000900D0000F4000000</Data>
         </RectRecentFloat>
       </Window>
       <Window>
@@ -150,7 +150,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000ED00000033030000</Data>
+          <Data>0300000066000000ED0000007B030000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -170,7 +170,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000ED00000033030000</Data>
+          <Data>0300000066000000ED0000007B030000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -450,7 +450,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000ED00000033030000</Data>
+          <Data>0300000066000000ED0000007B030000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -470,7 +470,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000ED00000033030000</Data>
+          <Data>0300000066000000ED0000007B030000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -490,7 +490,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>000000006403000080070000DE030000</Data>
+          <Data>00000000AC0300000008000026040000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -530,7 +530,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000670300007D070000C5030000</Data>
+          <Data>03000000AF030000FD0700000D040000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1150,7 +1150,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000ED00000033030000</Data>
+          <Data>0300000066000000ED0000007B030000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1170,7 +1170,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000670300007D070000C5030000</Data>
+          <Data>03000000AF030000FD0700000D040000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1190,7 +1190,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000670300007D070000C5030000</Data>
+          <Data>03000000AF030000FD0700000D040000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1250,7 +1250,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000670300007D070000C5030000</Data>
+          <Data>03000000AF030000FD0700000D040000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1270,7 +1270,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000670300007D070000C5030000</Data>
+          <Data>03000000AF030000FD0700000D040000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1730,7 +1730,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>00000000DE03000080070000F1030000</Data>
+          <Data>00000000260400000008000039040000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1799,14 +1799,14 @@
       </Window>
       <DockMan>
         <Len>3312</Len>
-        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           <Len>955</Len>
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+          <Data>00200000000000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0000000000000000010000000000000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000000002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA00000000000000000000000000000000000000000000000001000000010000009600000003002050FFFFFFFF00960000000000000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000000240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
         </Buttons>
         <OriginalItems>
           <Len>583</Len>
@@ -3579,7 +3579,7 @@
         <Name>Debug</Name>
         <Buttons>
           <Len>2362</Len>
-          <Data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ata>
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         </Buttons>
         <OriginalItems>
           <Len>898</Len>
@@ -3592,8 +3592,8 @@
       </ToolBar>
       <ControlBarsSummary>
         <Bars>0</Bars>
-        <ScreenCX>1920</ScreenCX>
-        <ScreenCY>1080</ScreenCY>
+        <ScreenCX>2048</ScreenCX>
+        <ScreenCY>1152</ScreenCY>
       </ControlBarsSummary>
     </ViewEx>
   </WinLayoutEx>
@@ -3603,7 +3603,7 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>2</ActiveTab>
+      <ActiveTab>9</ActiveTab>
       <Doc>
         <Name>..\devices\log.h</Name>
         <ColumnNumber>0</ColumnNumber>
@@ -3625,8 +3625,8 @@
       <Doc>
         <Name>../Core/Src/main.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>71</TopLine>
-        <CurrentLine>82</CurrentLine>
+        <TopLine>85</TopLine>
+        <CurrentLine>97</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3634,7 +3634,7 @@
       <Doc>
         <Name>startup_stm32l431xx.s</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>163</TopLine>
+        <TopLine>161</TopLine>
         <CurrentLine>173</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3652,8 +3652,8 @@
       <Doc>
         <Name>..\devices\can_node.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>27</TopLine>
-        <CurrentLine>59</CurrentLine>
+        <TopLine>22</TopLine>
+        <CurrentLine>61</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3685,6 +3685,15 @@
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
+      <Doc>
+        <Name>../Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_can.c</Name>
+        <ColumnNumber>43</ColumnNumber>
+        <TopLine>1381</TopLine>
+        <CurrentLine>1418</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
     </MDIGroup>
   </MDIGroups>
 
diff --git a/MDK-ARM/arm_joint_sensor.uvoptx b/MDK-ARM/arm_joint_sensor.uvoptx
index 6251fcb..44f7681 100644
--- a/MDK-ARM/arm_joint_sensor.uvoptx
+++ b/MDK-ARM/arm_joint_sensor.uvoptx
@@ -135,7 +135,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name></Name>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -150,7 +150,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U-O142 -O2254 -S0 -C0 -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32L4xx_256.FLM -FS08000000 -FL040000 -FP0($$Device:STM32L431CCUx$CMSIS\Flash\STM32L4xx_256.FLM)</Name>
+          <Name>-U16004A002933353739303541 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32L4xx_256.FLM -FS08000000 -FL040000 -FP0($$Device:STM32L431CCUx$CMSIS\Flash\STM32L4xx_256.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0-R0</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
diff --git a/arm_joint_sensor.ioc b/arm_joint_sensor.ioc
index 2ff5b62..941a790 100644
--- a/arm_joint_sensor.ioc
+++ b/arm_joint_sensor.ioc
@@ -2,11 +2,13 @@
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
+CAN1.ABOM=ENABLE
 CAN1.BS1=CAN_BS1_2TQ
 CAN1.CalculateBaudRate=1000000
 CAN1.CalculateTimeBit=1000
 CAN1.CalculateTimeQuantum=250.0
-CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,ABOM,NART
+CAN1.NART=ENABLE
 CAN1.Prescaler=20
 Dma.Request0=USART1_RX
 Dma.RequestsNb=1
diff --git a/devices/can_node.c b/devices/can_node.c
index cbd64f3..33d3bc0 100644
--- a/devices/can_node.c
+++ b/devices/can_node.c
@@ -8,6 +8,7 @@
 
 CAN_RxHeaderTypeDef can1RxHeader; // FDCAN1 接收头
 uint8_t can1RxData[8];            // FDCAN1 接收数据
+int canTransmitErrorCount = 0;
 
 void can_node_init(void)
 {
@@ -45,7 +46,7 @@ void can_node_init(void)
     _dbg_printf("CAN1 initialized successfully\r\n");
 }
 
-void can_node_transmit(uint32_t canID, uint8_t *TxData)
+int can_node_transmit(uint32_t canID, uint8_t *TxData)
 {
     CAN_TxHeaderTypeDef txHeader;
     uint32_t txMailbox;
@@ -60,8 +61,16 @@ void can_node_transmit(uint32_t canID, uint8_t *TxData)
     // 等待邮箱空闲
     while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 0)
     {
+        canTransmitErrorCount ++;
+        if(canTransmitErrorCount > 1000)
+        {
+            _dbg_printf("CAN transmit timeout\r\n");
+            canTransmitErrorCount = 0;
+            return -1;
+        }
     };
     HAL_CAN_AddTxMessage(&hcan1, &txHeader, TxData, &txMailbox);
+    return 0;
 }
 
 void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
diff --git a/devices/can_node.h b/devices/can_node.h
index 6bfbed1..39aa38e 100644
--- a/devices/can_node.h
+++ b/devices/can_node.h
@@ -5,6 +5,6 @@
 
 void can_node_init(void);
 
-void can_node_transmit(uint32_t canID, uint8_t *TxData);
+int can_node_transmit(uint32_t canID, uint8_t *TxData);
 
 #endif /* _CAN_NODE_H_ */
diff --git a/devices/cmd.c b/devices/cmd.c
index 6041e59..605b2c4 100644
--- a/devices/cmd.c
+++ b/devices/cmd.c
@@ -11,6 +11,8 @@
 
 uint8_t cmdData[32];
 uint8_t uart1len = 0;
+uint8_t g_debugLevel = 0;
+uint8_t g_direction = 0;
 extern DMA_HandleTypeDef hdma_usart1_rx;
 
 FlashConfig_t *currentConfig;
@@ -41,6 +43,28 @@ void UART_CommandHandler(char *data, uint16_t len)
             
         }
     }
+    else if(strncmp(data, "SETDEBUG", 8) == 0)
+    {
+        uint8_t debug;
+        if (sscanf(data + 8, "%x", &debug) == 1)
+        {
+            g_debugLevel = debug;
+            _dbg_printf("Set debug level: 0x%02X\n", g_debugLevel);
+        }
+    }
+    else if(strncmp(data, "SETDIR", 6) == 0)
+    {
+        uint8_t dir;
+        if (sscanf(data + 6, "%x", &dir) == 1)
+        {
+            g_direction = dir;
+            _dbg_printf("Set direction: 0x%02X\n", g_direction);
+        }
+    }
+    else
+    {
+        _dbg_printf("Unknown command: %s\n", data);
+    }
 }