diff --git a/APP_Framework/Applications/control_app/opcua_demo/opcua_demo.c b/APP_Framework/Applications/control_app/opcua_demo/opcua_demo.c
index e1edcf29a..6cabf185c 100755
--- a/APP_Framework/Applications/control_app/opcua_demo/opcua_demo.c
+++ b/APP_Framework/Applications/control_app/opcua_demo/opcua_demo.c
@@ -21,7 +21,6 @@
 #include <list.h>
 #include <transform.h>
 #include "board.h"
-#include <lwip/altcp.h>
 #include "open62541.h"
 #include "ua_api.h"
 
@@ -40,6 +39,9 @@
 /*******************************************************************************
  * Variables
  ******************************************************************************/
+// to count test
+static int test_cnt = 0;
+static int fail_cnt = 0; // count failure times
 
 char test_ua_ip[] = {192, 168, 250, 2};
 
@@ -50,37 +52,56 @@ char test_ua_ip[] = {192, 168, 250, 2};
 static void UaConnectTestTask(void* arg)
 {
     struct netif net;
-    UA_StatusCode retval;
-    char ua_uri[UA_URL_SIZE];
-    memset(ua_uri, 0, sizeof(ua_uri));
+    UA_StatusCode ret;
+    char url[UA_URL_SIZE];
+    memset(url, 0, sizeof(url));
+
     UA_Client* client = UA_Client_new();
 
     if(client == NULL)
     {
-        ua_print("ua: [%s] tcp client null\n", __func__);
+        ua_error("ua: [%s] tcp client null\n", __func__);
         return;
     }
 
     UA_ClientConfig* config = UA_Client_getConfig(client);
-    UA_ClientConfig_setDefault(config);
-    snprintf(ua_uri, sizeof(ua_uri), "opc.tcp://%d.%d.%d.%d:4840",
-             test_ua_ip[0], test_ua_ip[1], test_ua_ip[2], test_ua_ip[3]);
-    ua_notice("ua uri: %d %s\n", strlen(ua_uri), ua_uri);
-    retval = UA_Client_connect(client,ua_uri);
 
-    if(retval != UA_STATUSCODE_GOOD)
+    UA_ClientConfig_setDefault(config);
+
+    snprintf(url, sizeof(url), "opc.tcp://%d.%d.%d.%d:4840",
+             test_ua_ip[0], test_ua_ip[1], test_ua_ip[2], test_ua_ip[3]);
+
+    ua_notice("ua connect cnt %d fail %d\n", test_cnt++, fail_cnt ++);
+    ua_notice("ua connect uri: %.*s\n", strlen(url), url);
+
+    ret = UA_Client_connect(client, url);
+
+    if(ret != UA_STATUSCODE_GOOD)
     {
-        ua_notice("ua: [%s] connected failed %x\n", __func__, retval);
+        ua_error("ua: [%s] connected failed %x\n", __func__, ret);
         UA_Client_delete(client);
+        fail_cnt++;
         return;
     }
 
-    ua_notice("ua: [%s] connected ok!\n", __func__);
+    ua_notice("ua connected ok!\n");
     UA_Client_delete(client);
 }
 
-void UaConnectTest(void* arg)
+static void UaConnectTest(int argc, char *argv[])
 {
+    if(argc == 2)
+    {
+        if(isdigit(argv[1][0]))
+        {
+            if(sscanf(argv[1], "%d.%d.%d.%d", &test_ua_ip[0], &test_ua_ip[1], &test_ua_ip[2], &test_ua_ip[3]) == EOF)
+            {
+                lw_notice("input wrong ip\n");
+                return;
+            }
+        }
+    }
+
     lwip_config_tcp(lwip_ipaddr, lwip_netmask, test_ua_ip);
     sys_thread_new("ua test", UaConnectTestTask, NULL, UA_STACK_SIZE, UA_TASK_PRIO);
 }
@@ -90,10 +111,10 @@ SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) |
 
 void UaBrowserObjectsTestTask(void* param)
 {
-    static int test_cnt = 0;
-    UA_Client* client = UA_Client_new();
     ua_notice("ua: [%s] start %d ...\n", __func__, test_cnt++);
 
+    UA_Client* client = UA_Client_new();
+
     if(client == NULL)
     {
         ua_error("ua: [%s] tcp client NULL\n", __func__);
@@ -102,25 +123,26 @@ void UaBrowserObjectsTestTask(void* param)
 
     UA_ClientConfig* config = UA_Client_getConfig(client);
     UA_ClientConfig_setDefault(config);
-    UA_StatusCode retval = UA_Client_connect(client, opc_server_url);
+    UA_StatusCode ret = UA_Client_connect(client, opc_server_url);
 
-    if(retval != UA_STATUSCODE_GOOD)
+    if(ret != UA_STATUSCODE_GOOD)
     {
-        ua_error("ua: [%s] connect failed %#x\n", __func__, retval);
+        ua_error("ua: [%s] connect failed %#x\n", __func__, ret);
         UA_Client_delete(client);
         return;
     }
 
     ua_notice("--- start read time ---\n", __func__);
-    ua_read_time(client);
+    UaGetServerTime(client);
+
     ua_notice("--- get server info ---\n", __func__);
-    ua_test_browser_objects(client);
+    UaTestBrowserObjects(client);
 
     /* Clean up */
     UA_Client_delete(client);    /* Disconnects the client internally */
 }
 
-void* UaBrowserObjectsTest(int argc, char* argv[])
+static void* UaBrowserObjectsTest(int argc, char* argv[])
 {
     if(argc == 2)
     {
@@ -140,35 +162,33 @@ void* UaBrowserObjectsTest(int argc, char* argv[])
 }
 
 SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(3),
-                 UaObj, UaBrowserObjectsTest, UaObj [IP]);
+                 UaObject, UaBrowserObjectsTest, UaObject [IP]);
 
 void UaGetInfoTestTask(void* param)
 {
     UA_Client* client = UA_Client_new();
-    ua_notice("ua: [%s] start ...\n", __func__);
+    ua_notice("--- Get OPUCA objects ---\n", __func__);
 
     if(client == NULL)
     {
-        ua_print("ua: [%s] tcp client null\n", __func__);
+        ua_error("ua: [%s] tcp client null\n", __func__);
         return;
     }
 
     UA_ClientConfig* config = UA_Client_getConfig(client);
     UA_ClientConfig_setDefault(config);
-    UA_StatusCode retval = UA_Client_connect(client, opc_server_url);
+    UA_StatusCode ret = UA_Client_connect(client, opc_server_url);
 
-    if(retval != UA_STATUSCODE_GOOD)
+    if(ret != UA_STATUSCODE_GOOD)
     {
-        ua_print("ua: [%s] connect failed %#x\n", __func__, retval);
+        ua_error("ua: [%s] connect failed %#x\n", __func__, ret);
         UA_Client_delete(client);
         return;
     }
 
-    ua_print("ua: [%s] connect ok!\n", __func__);
     ua_notice("--- interactive server ---\n", __func__);
-    ua_test_interact_server(client);
-    /* Clean up */
-    UA_Client_disconnect(client);
+    UaTestInteractServer(client);
+
     UA_Client_delete(client);    /* Disconnects the client internally */
 }
 
@@ -201,26 +221,24 @@ void UaAddNodesTask(void* param)
 
     if(client == NULL)
     {
-        ua_print("ua: [%s] tcp client null\n", __func__);
+        ua_error("ua: [%s] client null\n", __func__);
         return;
     }
 
     UA_ClientConfig* config = UA_Client_getConfig(client);
     UA_ClientConfig_setDefault(config);
-    UA_StatusCode retval = UA_Client_connect(client, opc_server_url);
+    UA_StatusCode ret = UA_Client_connect(client, opc_server_url);
 
-    if(retval != UA_STATUSCODE_GOOD)
+    if(ret != UA_STATUSCODE_GOOD)
     {
-        ua_print("ua: [%s] connect failed %#x\n", __func__, retval);
+        ua_print("ua: [%s] connect failed %#x\n", __func__, ret);
         UA_Client_delete(client);
         return;
     }
 
-    ua_print("ua: [%s] connect ok!\n", __func__);
     ua_notice("--- add nodes ---\n", __func__);
-    ua_add_nodes(client);
-    /* Clean up */
-    UA_Client_disconnect(client);
+    UaAddNodes(client);
+
     UA_Client_delete(client);    /* Disconnects the client internally */
 }
 
diff --git a/APP_Framework/Applications/control_app/plc_demo/plc_control_demo.c b/APP_Framework/Applications/control_app/plc_demo/plc_control_demo.c
index 64cb7d913..fed4063bf 100755
--- a/APP_Framework/Applications/control_app/plc_demo/plc_control_demo.c
+++ b/APP_Framework/Applications/control_app/plc_demo/plc_control_demo.c
@@ -30,12 +30,49 @@ struct PlcChannel plc_demo_ch;
 struct PlcDriver plc_demo_drv;
 struct PlcDevice plc_demo_dev;
 
+int plc_test_flag = 0;
+
 PlcCtrlParamType plc_ctrl_param;
 
 UA_NodeId test_nodeid = {4, UA_NODEIDTYPE_NUMERIC, 5};
 
 /******************************************************************************/
 
+void PlcDelay(int sec)
+{
+    volatile uint32_t i = 0;
+    for (i = 0; i < 100000000 * sec; ++i)
+    {
+        __asm("NOP"); /* delay */
+    }
+}
+
+// get NodeId from str
+void PlcGetTestNodeId(char *str, UA_NodeId *id)
+{
+    static char node_str[UA_NODE_LEN];
+    memset(node_str, 0, sizeof(node_str));
+
+    plc_print("plc: arg %s\n", str);
+
+    if(sscanf(str, PLC_NS_FORMAT, &id->namespaceIndex, node_str) != EOF)
+    {
+        if(isdigit(node_str[0]))
+        {
+            id->identifierType = UA_NODEIDTYPE_NUMERIC;
+            id->identifier.numeric = atoi(node_str);
+            plc_print("ns %d num %d\n", id->namespaceIndex, id->identifier.numeric);
+        }
+        else
+        {
+            id->identifierType = UA_NODEIDTYPE_STRING;
+            id->identifier.string.length = strlen(node_str);
+            id->identifier.string.data = node_str;
+            plc_print("ns %d str %s\n", id->namespaceIndex, id->identifier.string.data);
+        }
+    }
+}
+
 void PlcDemoChannelDrvInit(void)
 {
     static uint8_t init_flag = 0;
@@ -52,33 +89,42 @@ void PlcDemoChannelDrvInit(void)
     memset(&plc_demo_dev, 0, sizeof(plc_demo_dev));
 }
 
+static void PlcGetDemoDev(PlcDeviceType *dev, UA_NodeId *id)
+{
+    // register plc device
+    dev->state = CHDEV_INIT;
+    strcpy(dev->name, "UA Demo");
+    dev->info.product = "CPU 1215C";
+    dev->info.vendor = "SIEMENS";
+    dev->info.model = "S7-1200";
+    dev->info.id = 123;
+    dev->net = PLC_IND_ENET_OPCUA;
+
+    // register UA parameter
+    if(!dev->priv_data)
+    {
+        dev->priv_data = (UaParamType*)malloc(sizeof(UaParamType));
+    }
+    UaParamType* ua_ptr = dev->priv_data;
+    memset(ua_ptr, 0, sizeof(UaParamType));
+    strcpy(ua_ptr->ua_remote_ip, opc_server_url);
+    ua_ptr->act = UA_ACT_ATTR;
+    memcpy(&ua_ptr->ua_id, id, sizeof(*id));
+}
+
 static void PlcCtrlDemoInit(void)
 {
     static uint8_t init_flag = 0;
 
     PlcDemoChannelDrvInit();
-    // register plc device
-    plc_demo_dev.state = CHDEV_INIT;
-    strcpy(plc_demo_dev.name, "UA Demo");
-    plc_demo_dev.info.product = "CPU 1215C";
-    plc_demo_dev.info.vendor = "SIEMENS";
-    plc_demo_dev.info.model = "S7-1200";
-    plc_demo_dev.info.id = 123;
-    plc_demo_dev.net = PLC_IND_ENET_OPCUA;
 
-    // register UA parameter
-    if(!plc_demo_dev.priv_data)
-    {
-        plc_demo_dev.priv_data = (UaParamType*)malloc(sizeof(UaParamType));
-    }
-    UaParamType* ua_ptr = plc_demo_dev.priv_data;
-    memset(ua_ptr, 0, sizeof(UaParamType));
-    strcpy(ua_ptr->ua_remote_ip, opc_server_url);
-    ua_ptr->act = UA_ACT_ATTR;
-    memcpy(&ua_ptr->ua_id, &test_nodeid, sizeof(test_nodeid));
+    // register plc device
+    PlcGetDemoDev(&plc_demo_dev, &test_nodeid);
 
     if(init_flag)
+    {
         return;
+    }
     init_flag = 1;
 
     if(PlcDevRegister(&plc_demo_dev, NULL, plc_demo_dev.name) != EOK)
@@ -114,38 +160,21 @@ void PlcReadUATask(void* arg)
     ops->close(&plc_demo_dev);
 }
 
-void PlcReadTest(int argc, char* argv[])
+void PlcReadTestShell(int argc, char* argv[])
 {
     static char node_str[UA_NODE_LEN];
     memset(node_str, 0, sizeof(node_str));
 
     if(argc > 1)
     {
-        plc_print("plc: arg %s\n", argv[1]);
-
-        if(sscanf(argv[1], PLC_NS_FORMAT, &test_nodeid.namespaceIndex, node_str) != EOF)
-        {
-            if(isdigit(node_str[0]))
-            {
-                test_nodeid.identifierType = UA_NODEIDTYPE_NUMERIC;
-                test_nodeid.identifier.numeric = atoi(node_str);
-                plc_print("ns %d num %d\n", test_nodeid.namespaceIndex, test_nodeid.identifier.numeric);
-            }
-            else
-            {
-                test_nodeid.identifierType = UA_NODEIDTYPE_STRING;
-                test_nodeid.identifier.string.length = strlen(node_str);
-                test_nodeid.identifier.string.data = node_str;
-                plc_print("ns %d str %s\n", test_nodeid.namespaceIndex, test_nodeid.identifier.string.data);
-            }
-        }
+        PlcGetTestNodeId(argv[1], &test_nodeid);
     }
 
     sys_thread_new("plc read", PlcReadUATask, NULL, PLC_STACK_SIZE, PLC_TASK_PRIO);
 }
 
 SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(3),
-                 PlcRead, PlcReadTest, Read PLC);
+                 PlcRead, PlcReadTestShell, Read PLC);
 
 void PlcWriteUATask(void* arg)
 {
@@ -168,13 +197,13 @@ void PlcWriteUATask(void* arg)
 
     if(EOK != ret)
     {
-        plc_print("plc: [%s] read failed\n", __func__);
+        plc_print("plc: [%s] write failed\n", __func__);
     }
 
     ops->close(&plc_demo_dev);
 }
 
-void PlcWriteTest(int argc, char* argv[])
+void PlcWriteTestShell(int argc, char* argv[])
 {
     static char node_str[UA_NODE_LEN];
     static char val_param[UA_NODE_LEN];
@@ -183,35 +212,143 @@ void PlcWriteTest(int argc, char* argv[])
 
     if(argc > 1)
     {
-        plc_print("plc: arg %s\n", argv[1]);
+        PlcGetTestNodeId(argv[1], &test_nodeid);
+    }
 
-        if(sscanf(argv[1], PLC_NS_FORMAT, &test_nodeid.namespaceIndex, node_str) != EOF)
-        {
-            if(isdigit(node_str[0]))
-            {
-                test_nodeid.identifierType = UA_NODEIDTYPE_NUMERIC;
-                test_nodeid.identifier.numeric = atoi(node_str);
-                plc_print("ns %d num %d\n", test_nodeid.namespaceIndex, test_nodeid.identifier.numeric);
-            }
-            else
-            {
-                test_nodeid.identifierType = UA_NODEIDTYPE_STRING;
-                test_nodeid.identifier.string.length = strlen(node_str);
-                test_nodeid.identifier.string.data = node_str;
-                plc_print("ns %d str %s\n", test_nodeid.namespaceIndex, test_nodeid.identifier.string.data);
-            }
-        }
-
-        if(argc > 2)
-        {
-            strcpy(val_param, argv[2]);
-            plc_print("write value %s\n", val_param);
-        }
+    if(argc > 2)
+    {
+        strcpy(val_param, argv[2]);
+        plc_print("write value %s\n", val_param);
     }
 
     sys_thread_new("plc write", PlcWriteUATask, val_param, PLC_STACK_SIZE, PLC_TASK_PRIO);
 }
 
 SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(3),
-                 PlcWrite, PlcWriteTest, Read PLC);
+                 PlcWrite, PlcWriteTestShell, Read PLC);
+
+// test motor
+// clear parameter
+// PlcWrite n4,2 0b
+// PlcWrite n4,3 0b
+// PlcWrite n4,4 0b
+// PlcWrite n4,5 0b
+//
+// enable
+// PlcWrite n4,2 1b
+//
+// set rotate speed
+// PlcWrite n4,3 50
+//
+// positive turn
+// PlcWrite n4,4 1b
+//
+// reversal turn
+// PlcWrite n4,5 1b
+
+static int plc_test_speed = 50;
+static int plc_test_dir = 1; // direction positive: 1 reversal: 0
+
+void PlcMotorTestTask(void* arg)
+{
+    //support node id
+    char *test_nodeid[] = {"n4,2", "n4,3", "n4,4", "n4,5", "n4,7"};
+    // enable -> speed -> positive dir or inversal dir -> stop -> enable
+    char test_sort[] = {0, 4, 2, 1, 0};
+    char test_cmd[][4] = {"1b", "50", "1b", "1b", "0b"};
+    char *test_notice[] = {"Enable Motor", "Set Speed", "Set Forward", "Set Reverse", "Stop Motor"};
+
+    int ret = 0;
+    struct PlcOps* ops = NULL;
+    char buf[PLC_BUF_SIZE];
+    memset(buf, 0, sizeof(buf));
+
+    PlcCtrlDemoInit();
+    ops = plc_demo_dev.ops;
+    ret = ops->open(&plc_demo_dev);
+
+    if(EOK != ret)
+    {
+        plc_print("plc: [%s] open failed %#x\n", __func__, ret);
+        return;
+    }
+
+    UaParamType* ua_ptr = plc_demo_dev.priv_data;
+
+    // initialize step
+    for(int i = 0; i < 5; i++)
+    {
+        plc_print("###\n### Clear %s\n###\n", test_notice[i]);
+        PlcGetTestNodeId(test_nodeid[i], &ua_ptr->ua_id);
+        ret = ops->write(&plc_demo_dev, "0b", PLC_BUF_SIZE);
+        if(EOK != ret)
+        {
+            plc_print("plc: [%s] %d write failed\n", __func__, __LINE__);
+        }
+        PlcDelay(1);
+    }
+
+    if(plc_test_speed != 50)
+    {
+        snprintf(test_cmd[1], 4, "%d", plc_test_speed);
+    }
+
+    if(plc_test_dir == 0) // if not postive, next running
+        test_sort[2] = 3;
+
+    for(int i = 0; i < sizeof(test_sort)/sizeof(test_sort[0]); i++)
+    {
+        PlcGetTestNodeId(test_nodeid[test_sort[i]], &ua_ptr->ua_id);
+        plc_print("###\n### %s\n###\n", test_notice[i]);
+        ret = ops->write(&plc_demo_dev, test_cmd[i], PLC_BUF_SIZE);
+        if(EOK != ret)
+        {
+            plc_print("plc: [%s] %d write failed\n", __func__, __LINE__);
+        }
+        PlcDelay(1);
+        if(i == 2) // postive
+        {
+            PlcDelay(10);
+        }
+    }
+    ops->close(&plc_demo_dev);
+    plc_test_flag = 0;
+}
+
+// get parameter from
+void PlcGetMotorParam(char *str)
+{
+    static char node_str[UA_NODE_LEN];
+    memset(node_str, 0, sizeof(node_str));
+
+    plc_print("plc: arg %s\n", str);
+
+    sscanf(str, "speed=%d", &plc_test_speed);
+    sscanf(str, "dir=%d", &plc_test_dir);
+    plc_print("speed is %d\n", plc_test_speed);
+    plc_print("dir is %d\n", plc_test_dir);
+}
+
+void PlcMotorTestShell(int argc, char* argv[])
+{
+    if(plc_test_flag)
+    {
+        plc_print("PLC Motor testing!\n");
+        return;
+    }
+    plc_test_flag = 1;
+
+    if(argc > 1)
+    {
+        for(int i = 0; i < argc; i++)
+        {
+            PlcGetMotorParam(argv[i]);
+        }
+    }
+
+    sys_thread_new("plc motor", PlcMotorTestTask, NULL, PLC_STACK_SIZE, PLC_TASK_PRIO);
+}
+
+SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(3),
+                 PlcMotorTest, PlcMotorTestShell, Run motor);
 
diff --git a/APP_Framework/Framework/connection/Kconfig b/APP_Framework/Framework/connection/Kconfig
index ea22c5fb2..43094d28f 100644
--- a/APP_Framework/Framework/connection/Kconfig
+++ b/APP_Framework/Framework/connection/Kconfig
@@ -62,12 +62,6 @@ if SUPPORT_CONNECTION_FRAMEWORK
                 default n
         if CONNECTION_ADAPTER_ETHERNET
         source "$APP_DIR/Framework/connection/ethernet/Kconfig"
-        config CONNECTION_ADAPTER_ETHERCAT
-                bool "Using ethercat on ethernet adapter device"
-                default n
-        if CONNECTION_ADAPTER_ETHERCAT
-        source "$APP_DIR/Framework/connection/ethercat/Kconfig"
-        endif
         endif
 
         menuconfig CONNECTION_ADAPTER_BLUETOOTH
diff --git a/APP_Framework/Framework/connection/Makefile b/APP_Framework/Framework/connection/Makefile
index b9afa159a..01b5b6eaa 100644
--- a/APP_Framework/Framework/connection/Makefile
+++ b/APP_Framework/Framework/connection/Makefile
@@ -41,10 +41,6 @@ ifeq ($(CONFIG_ADD_XIZI_FETURES),y)
         SRC_DIR += ethernet
     endif
 
-    ifeq ($(CONFIG_CONNECTION_ADAPTER_ETHERCAT),y)
-        SRC_DIR += ethercat
-    endif
-
     ifeq ($(CONFIG_CONNECTION_ADAPTER_BLUETOOTH),y)
         SRC_DIR += bluetooth
     endif
diff --git a/APP_Framework/Framework/connection/industrial_ethernet/Kconfig b/APP_Framework/Framework/connection/industrial_ethernet/Kconfig
index e69de29bb..0826acf22 100644
--- a/APP_Framework/Framework/connection/industrial_ethernet/Kconfig
+++ b/APP_Framework/Framework/connection/industrial_ethernet/Kconfig
@@ -0,0 +1,7 @@
+config CONNECTION_ADAPTER_ETHERCAT
+    bool "Using ethercat on industrial_ethernet adapter device"
+    default n
+
+    if CONNECTION_ADAPTER_ETHERCAT
+        source "$APP_DIR/Framework/connection/industrial_ethernet/ethercat/Kconfig"
+    endif
diff --git a/APP_Framework/Framework/connection/industrial_ethernet/Makefile b/APP_Framework/Framework/connection/industrial_ethernet/Makefile
index 98aa92bfb..e9ec8be90 100644
--- a/APP_Framework/Framework/connection/industrial_ethernet/Makefile
+++ b/APP_Framework/Framework/connection/industrial_ethernet/Makefile
@@ -1,2 +1,5 @@
+ifeq ($(CONFIG_CONNECTION_ADAPTER_ETHERCAT),y)
+	SRC_DIR += ethercat
+endif
 
 include $(KERNEL_ROOT)/compiler.mk
diff --git a/APP_Framework/Framework/connection/ethercat/Kconfig b/APP_Framework/Framework/connection/industrial_ethernet/ethercat/Kconfig
similarity index 72%
rename from APP_Framework/Framework/connection/ethercat/Kconfig
rename to APP_Framework/Framework/connection/industrial_ethernet/ethercat/Kconfig
index 0193e6a80..b294c337a 100644
--- a/APP_Framework/Framework/connection/ethercat/Kconfig
+++ b/APP_Framework/Framework/connection/industrial_ethernet/ethercat/Kconfig
@@ -5,6 +5,7 @@ config ADAPTER_HFA21_ETHERCAT
         bool "Using ethercat on ethernet adapter device HFA21"
         default n
 
-if ADAPTER_HFA21_ETHERCAT
-    source "$APP_DIR/Framework/connection/ethercat/hfa21_ethercat/Kconfig"
-endif
+    if ADAPTER_HFA21_ETHERCAT
+        source "$APP_DIR/Framework/connection/industrial_ethernet/ethercat/hfa21_ethercat/Kconfig"
+    endif
+
diff --git a/APP_Framework/Framework/connection/ethercat/Makefile b/APP_Framework/Framework/connection/industrial_ethernet/ethercat/Makefile
similarity index 100%
rename from APP_Framework/Framework/connection/ethercat/Makefile
rename to APP_Framework/Framework/connection/industrial_ethernet/ethercat/Makefile
diff --git a/APP_Framework/Framework/connection/ethercat/adapter_ethercat.c b/APP_Framework/Framework/connection/industrial_ethernet/ethercat/adapter_ethercat.c
similarity index 100%
rename from APP_Framework/Framework/connection/ethercat/adapter_ethercat.c
rename to APP_Framework/Framework/connection/industrial_ethernet/ethercat/adapter_ethercat.c
diff --git a/APP_Framework/Framework/connection/ethercat/ethercat.h b/APP_Framework/Framework/connection/industrial_ethernet/ethercat/ethercat.h
similarity index 100%
rename from APP_Framework/Framework/connection/ethercat/ethercat.h
rename to APP_Framework/Framework/connection/industrial_ethernet/ethercat/ethercat.h
diff --git a/APP_Framework/Framework/connection/ethercat/hfa21_ethercat/Kconfig b/APP_Framework/Framework/connection/industrial_ethernet/ethercat/hfa21_ethercat/Kconfig
similarity index 100%
rename from APP_Framework/Framework/connection/ethercat/hfa21_ethercat/Kconfig
rename to APP_Framework/Framework/connection/industrial_ethernet/ethercat/hfa21_ethercat/Kconfig
diff --git a/APP_Framework/Framework/connection/ethercat/hfa21_ethercat/Makefile b/APP_Framework/Framework/connection/industrial_ethernet/ethercat/hfa21_ethercat/Makefile
similarity index 100%
rename from APP_Framework/Framework/connection/ethercat/hfa21_ethercat/Makefile
rename to APP_Framework/Framework/connection/industrial_ethernet/ethercat/hfa21_ethercat/Makefile
diff --git a/APP_Framework/Framework/connection/ethercat/hfa21_ethercat/hfa21_ethercat.c b/APP_Framework/Framework/connection/industrial_ethernet/ethercat/hfa21_ethercat/hfa21_ethercat.c
similarity index 100%
rename from APP_Framework/Framework/connection/ethercat/hfa21_ethercat/hfa21_ethercat.c
rename to APP_Framework/Framework/connection/industrial_ethernet/ethercat/hfa21_ethercat/hfa21_ethercat.c
diff --git a/APP_Framework/Framework/control/plc/interoperability/opcua/open62541.c b/APP_Framework/Framework/control/plc/interoperability/opcua/open62541.c
index fc525aa8d..fd3507a01 100755
--- a/APP_Framework/Framework/control/plc/interoperability/opcua/open62541.c
+++ b/APP_Framework/Framework/control/plc/interoperability/opcua/open62541.c
@@ -23,6 +23,19 @@
  * @date 2021.12.15
  */
 
+/*************************************************
+File name: open62541.c
+Description: Support OPCUA protocol
+Others: take https://github.com/open62541/open62541.git
+History:
+1. Date: 2021-12-15
+Author: AIIT XUOS Lab
+Modification:
+1. added debug information for locate
+2. avoid calling client NEW at same time
+3. fixed the bug of free twice when receiveResponse timeout
+*************************************************/
+
 #ifndef UA_DYNAMIC_LINKING_EXPORT
 # define UA_DYNAMIC_LINKING_EXPORT
 # define MDNSD_DYNAMIC_LINKING
@@ -36,6 +49,8 @@
 #include "open62541.h"
 #include "ua_api.h"
 
+int ua_run_flag = 0;
+
 #if LWIP_DNS
 
 #else
@@ -7482,10 +7497,6 @@ Array_encodeBinary(const void *src, size_t length, const UA_DataType *type, Ctx
     }
     UA_assert(ret != UA_STATUSCODE_BADENCODINGLIMITSEXCEEDED);
 
-    //tst by wly
-    ua_debug("ua: [%s] src %p len %d %d type %p <%d> <%d> %p ret %d\n", __func__,
-        src, length, signed_length, *type, type->typeKind, type->overlayable, ctx, ret);
-
     return ret;
 }
 
@@ -8330,24 +8341,9 @@ encodeBinaryStruct(const void *src, const UA_DataType *type, Ctx *ctx) {
 
         if(mt->typeKind > UA_DATATYPEKINDS)
         {
-            ua_debug("ua: [%s] %d type %d %p ptr %p failed\n", __func__, i, mt->typeKind, m->memberType, ptr);
             return ret;
         }
 
-        ua_debug("ua: [%s] >  %d < %d mt %p %d %d dep %d msg %p %p:<%x> <%d> isArry %d ret %d\n", __func__,
-            i,
-            type->membersSize,
-            mt,
-            mt->typeKind,
-            mt->memSize,
-            ctx->depth,
-            ptr,
-            src,
-            ((UA_TcpMessageHeader *)src)->messageTypeAndChunkType,
-            ((UA_TcpMessageHeader *)src)->messageSize,
-            m->isArray,
-            ret);
-
         /* Array. Buffer-exchange is done inside Array_encodeBinary if required. */
         if(m->isArray) {
             const size_t length = *((const size_t*)ptr);
@@ -8362,20 +8358,6 @@ encodeBinaryStruct(const void *src, const UA_DataType *type, Ctx *ctx) {
         ret = encodeWithExchangeBuffer((const void*)ptr, mt, ctx);
         UA_assert(ret != UA_STATUSCODE_BADENCODINGLIMITSEXCEEDED);
 
-        ua_debug("ua: [%s] >> %d < %d mt %p %d %d dep %d msg %p %p:<%x> <%d> isArry %d ret %d\n", __func__,
-            i,
-            type->membersSize,
-            mt,
-            mt->typeKind,
-            mt->memSize,
-            ctx->depth,
-            ptr,
-            src,
-            ((UA_TcpMessageHeader *)src)->messageTypeAndChunkType,
-            ((UA_TcpMessageHeader *)src)->messageSize,
-            m->isArray,
-            ret);
-
         ptr += mt->memSize;
     }
 
@@ -8614,68 +8596,23 @@ decodeBinaryStructure(void *dst, const UA_DataType *type, Ctx *ctx) {
 
         if(mt->typeKind >= UA_DATATYPEKINDS)
         {
-            ua_debug("ua: [%s] fail %d < %d mt %p %d %d dep %d msg %p %p:<%x> <%d>\n", __func__,
-                i,
-                membersSize,
-                mt,
-                mt->typeKind,
-                mt->memSize,
-                ctx->depth,
-                ptr,
-                dst,
-                ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
-                ((UA_TcpMessageHeader *)dst)->messageSize);
-
             return ret;
         }
 
-        ua_debug("ua: [%s] >  %d < %d mt %p %d %d dep %d msg %p %p:<%x> <%d> isArry %d ret %d\n", __func__,
-            i,
-            membersSize,
-            mt,
-            mt->typeKind,
-            mt->memSize,
-            ctx->depth,
-            ptr,
-            dst,
-            ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
-            ((UA_TcpMessageHeader *)dst)->messageSize,
-            m->isArray,
-            ret);
-
         /* Array */
         if(m->isArray) {
             size_t *length = (size_t*)ptr;
             ptr += sizeof(size_t);
             ret = Array_decodeBinary((void *UA_RESTRICT *UA_RESTRICT)ptr, length, mt , ctx);
             ptr += sizeof(void*);
-            ua_debug("ua: [%s] %d ret %d ptr %p len %d\n", __func__, i, ret, ptr, length);
             continue;
         }
 
         /* Scalar */
         ret = decodeBinaryJumpTable[mt->typeKind]((void *UA_RESTRICT)ptr, mt, ctx);
         ptr += mt->memSize;
-
-        ua_debug("ua: [%s] >> %d < %d dep %d msg %p %p:<%x> <%d> ret %d\n", __func__,
-            i,
-            membersSize,
-            ctx->depth,
-            ptr,
-            dst,
-            ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
-            ((UA_TcpMessageHeader *)dst)->messageSize,
-            ret);
     }
 
-    ua_debug("ua: [%s] >>> dep %d msg %p %p:<%x> <%d> ret %d\n", __func__,
-        ctx->depth,
-        ptr,
-        dst,
-        ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
-        ((UA_TcpMessageHeader *)dst)->messageSize,
-        ret);
-
     ctx->depth--;
     return ret;
 }
@@ -8818,17 +8755,8 @@ UA_decodeBinaryInternal(const UA_ByteString *src, size_t *offset,
     /* Decode */
     memset(dst, 0, type->memSize); /* Initialize the value */
 
-    ua_debug("ua: [%s] t %d mem %d len %d off %d pos %d end %d dst %p type %x size %x\n", __func__,
-        type->typeKind, type->memSize, src->length, *offset, *ctx.pos, *ctx.end,
-        dst, ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
-        ((UA_TcpMessageHeader *)dst)->messageSize);
-
     status ret = decodeBinaryJumpTable[type->typeKind](dst, type, &ctx);
 
-    ua_debug("ua: [%s] -> t %d dst %p type %x size %x ret %d\n", __func__,
-        type->typeKind, dst, ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
-        ((UA_TcpMessageHeader *)dst)->messageSize, ret);
-
     if(UA_LIKELY(ret == UA_STATUSCODE_GOOD)) {
         /* Set the new offset */
         *offset = (size_t)(ctx.pos - src->data) / sizeof(u8);
@@ -8836,16 +8764,8 @@ UA_decodeBinaryInternal(const UA_ByteString *src, size_t *offset,
         /* Clean up */
         UA_clear(dst, type);
         memset(dst, 0, type->memSize);
-
-        ua_debug("ua: [%s] => t %d dst %p type %x size %x\n", __func__,
-            type->typeKind, dst, ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
-            ((UA_TcpMessageHeader *)dst)->messageSize);
     }
 
-    ua_debug("ua: [%s] #> off %d %p %p t %d dst %p type %x size %x\n", __func__, *offset,
-        ctx.pos, src->data,
-        type->typeKind, dst, ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
-        ((UA_TcpMessageHeader *)dst)->messageSize);
     return ret;
 }
 
@@ -17969,6 +17889,11 @@ UA_SecureChannel_close(UA_SecureChannel *channel) {
     /* Set the status to closed */
     channel->state = UA_SECURECHANNELSTATE_CLOSED;
 
+    if(channel->connection == 0)
+    {
+        ua_error("ua: [%s] conn null return!\n", __func__);
+        return;
+    }
     /* Detach from the connection and close the connection */
     if(channel->connection) {
         if(channel->connection->state != UA_CONNECTIONSTATE_CLOSED)
@@ -18613,12 +18538,6 @@ processChunks(UA_SecureChannel *channel, void *application,
             channel->decryptedChunksCount > channel->config.localMaxChunkCount) ||
            (channel->config.localMaxMessageSize != 0 &&
             channel->decryptedChunksLength > channel->config.localMaxMessageSize)) {
-            ua_print("ua: [%s] count %d max %d len %d mess %d\n",
-                channel->decryptedChunksCount,
-                channel->config.localMaxChunkCount,
-                channel->decryptedChunksLength,
-                channel->config.localMaxMessageSize
-                );
             return UA_STATUSCODE_BADTCPMESSAGETOOLARGE;
         }
 
@@ -18656,9 +18575,6 @@ extractCompleteChunk(UA_SecureChannel *channel, const UA_ByteString *buffer,
         UA_decodeBinaryInternal(buffer, &initial_offset, &hdr,
                                 &UA_TRANSPORT[UA_TRANSPORT_TCPMESSAGEHEADER], NULL);
 
-    ua_debug("ua: [%s] res %d buf %p offset %d hdr %d size %d\n", __func__, res, buffer, *offset,
-        hdr.messageTypeAndChunkType, hdr.messageSize);
-
     UA_assert(res == UA_STATUSCODE_GOOD);
     (void)res; /* pacify compilers if assert is ignored */
     UA_MessageType msgType = (UA_MessageType)
@@ -18671,7 +18587,6 @@ extractCompleteChunk(UA_SecureChannel *channel, const UA_ByteString *buffer,
         return UA_STATUSCODE_BADTCPMESSAGETYPEINVALID;
     if(hdr.messageSize > channel->config.recvBufferSize)
     {
-        ua_debug("lw: [%s] msg size %d rec %d\n", __func__, hdr.messageSize, channel->config.recvBufferSize);
         return UA_STATUSCODE_BADTCPMESSAGETOOLARGE;
     }
 
@@ -43657,6 +43572,8 @@ UA_Client_delete(UA_Client* client) {
     UA_Client_clear(client);
     UA_ClientConfig_clear(&client->config);
     UA_free(client);
+    client = NULL;
+    ua_run_flag = 0;
 }
 
 void
@@ -43976,7 +43893,7 @@ receiveResponse(UA_Client *client, void *response, const UA_DataType *responseTy
                                    "Receiving the response failed with StatusCode %s",
                                    UA_StatusCode_name(retval));
             ua_print("ua: [%s] state %d ret %d %#x\n", __func__, client->channel.state, retval, retval);
-            closeSecureChannel(client);
+//            closeSecureChannel(client);
             retval = UA_STATUSCODE_BADCONNECTIONCLOSED;
             break;
         }
@@ -44244,7 +44161,7 @@ UA_Client_run_iterate(UA_Client *client, UA_UInt32 timeout) {
        client->sessionState < UA_SESSIONSTATE_ACTIVATED) {
         retval = connectIterate(client, timeout);
         notifyClientState(client);
-        ua_print("lw: [%s] ret %d timeout %d state %d ch %d\n", __func__, retval, timeout,
+        ua_print("lw: [%s] ret %x timeout %d state %d ch %d\n", __func__, retval, timeout,
             client->sessionState, client->channel.state);
         return retval;
     }
@@ -45187,9 +45104,6 @@ connectIterate(UA_Client *client, UA_UInt32 timeout) {
         return UA_STATUSCODE_BADCONNECTIONCLOSED;
     }
 
-    ua_debug("ua: [%s] conn %d state %d handle %p\n",  __func__, client->connectStatus,
-        client->connection.state, client->connection.handle);
-
     /* The connection is closed. Reset the SecureChannel and open a new TCP
      * connection */
     if(client->connection.state == UA_CONNECTIONSTATE_CLOSED)
@@ -45200,11 +45114,6 @@ connectIterate(UA_Client *client, UA_UInt32 timeout) {
         client->connectStatus =
             client->config.pollConnectionFunc(&client->connection, timeout,
                                               &client->config.logger);
-
-        ua_debug("ua: [%s] exit conn %x %d time %d handle %p\n",  __func__,
-            client->connectStatus,
-            client->connection.state, timeout, client->connection.handle);
-
         return client->connectStatus;
     }
 
@@ -45399,8 +45308,6 @@ connectSync(UA_Client *client) {
     UA_DateTime now = UA_DateTime_nowMonotonic();
     UA_DateTime maxDate = now + ((UA_DateTime)client->config.timeout * UA_DATETIME_MSEC);
 
-    ua_print("ua; [%s] time %d\n", __func__, (UA_DateTime)client->config.timeout);
-
     UA_StatusCode retval = initConnect(client);
     if(retval != UA_STATUSCODE_GOOD)
         return retval;
@@ -70300,16 +70207,30 @@ UA_ServerConfig_setDefaultWithSecurityPolicies(UA_ServerConfig *conf,
 
 UA_Client * UA_Client_new() {
     UA_ClientConfig config;
+    UA_Client *ret = NULL;
+
+    if(ua_run_flag)
+    {
+        return NULL;
+    }
+
     memset(&config, 0, sizeof(UA_ClientConfig));
     config.logger.log = UA_Log_Stdout_log;
     config.logger.context = NULL;
     config.logger.clear = UA_Log_Stdout_clear;
-    return UA_Client_newWithConfig(&config);
+
+    ret = UA_Client_newWithConfig(&config);
+
+    if(ret)
+    {
+        ua_run_flag = 1;
+    }
+    return ret;
 }
 
 UA_StatusCode
 UA_ClientConfig_setDefault(UA_ClientConfig *config) {
-    config->timeout = 20000;
+    config->timeout = 5000;
     config->secureChannelLifeTime = 10 * 60 * 1000; /* 10 minutes */
 
     if(!config->logger.log) {
@@ -71205,7 +71126,6 @@ ServerNetworkLayerTCP_add(UA_ServerNetworkLayer *nl, ServerNetworkLayerTCP *laye
 static UA_StatusCode
 addServerSocket(ServerNetworkLayerTCP *layer, struct addrinfo *ai) {
     /* Create the server socket */
-    ua_print("ua: [%s] %d %d %d\n", __func__, ai->ai_family, ai->ai_socktype, ai->ai_protocol);
     UA_SOCKET newsock = UA_socket(ai->ai_family, ai->ai_socktype, ai->ai_protocol);
     if(newsock == UA_INVALID_SOCKET)
     {
@@ -71341,18 +71261,12 @@ ServerNetworkLayerTCP_start(UA_ServerNetworkLayer *nl, const UA_Logger *logger,
     int retcode = UA_getaddrinfo(customHostname->length ? hostname : NULL,
                                  portno, &hints, &res);
 
-    ua_print("ua: [%s] host %s pro %d ret %d\n", __func__, hostname, portno, retcode);
-
     if(retcode != 0) {
         UA_LOG_SOCKET_ERRNO_GAI_WRAP(UA_LOG_WARNING(layer->logger, UA_LOGCATEGORY_NETWORK,
                                                     "getaddrinfo lookup of %s failed with error %d - %s", hostname, retcode, errno_str));
         return UA_STATUSCODE_BADINTERNALERROR;
     }
 
-    ua_print("ua: [%s] res %p fam %d len %d %s\n", __func__, res, res->ai_family,
-        customHostname->length,
-        customHostname->data);
-
     /* There might be serveral addrinfos (for different network cards,
      * IPv4/IPv6). Add a server socket for all of them. */
     struct addrinfo *ai = res;
@@ -71597,6 +71511,12 @@ typedef struct TCPClientConnection {
 
 static void
 ClientNetworkLayerTCP_close(UA_Connection *connection) {
+    if(connection == NULL)
+    {
+        ua_error("connection NULL!\n");
+        return;
+    }
+
     if(connection->state == UA_CONNECTIONSTATE_CLOSED)
         return;
 
@@ -71637,10 +71557,6 @@ UA_ClientConnectionTCP_poll(UA_Connection *connection, UA_UInt32 timeout,
         return UA_STATUSCODE_BADDISCONNECT;
     }
 
-    ua_print("ua: [%s] conn handle %p fam %d sa %d\n", __func__,
-        connection->handle, tcpConnection->server->ai_family,
-        tcpConnection->server->ai_addr->sa_family);
-
     /* Get a socket and connect (only once) if not already done in a previous
      * call. On win32, calling connect multiple times is not recommended on
      * non-blocking sockets
@@ -71651,27 +71567,17 @@ UA_ClientConnectionTCP_poll(UA_Connection *connection, UA_UInt32 timeout,
      * and getsockopt using SO_ERROR on win32 and posix.
      */
     if(connection->sockfd == UA_INVALID_SOCKET) {
-        ua_print("ua: [%s] start socket %p ai %d sa %d\n", __func__,
-            tcpConnection->server,
-            tcpConnection->server->ai_family,
-            tcpConnection->server->ai_addr->sa_family);
+
         connection->sockfd = UA_socket(tcpConnection->server->ai_family,
                                        tcpConnection->server->ai_socktype,
                                        tcpConnection->server->ai_protocol);
         if(connection->sockfd == UA_INVALID_SOCKET) {
-            ua_print("ua: [%s] %s\n", __func__, strerror(UA_ERRNO));
             UA_LOG_WARNING(logger, UA_LOGCATEGORY_NETWORK,
                            "Could not create client socket: %s", strerror(UA_ERRNO));
             ClientNetworkLayerTCP_close(connection);
             return UA_STATUSCODE_BADDISCONNECT;
         }
 
-        ua_print("ua: [%s] socket fd %d %p fam %d sa %d\n", __func__,
-            connection->sockfd,
-            tcpConnection->server,
-            tcpConnection->server->ai_family,
-            tcpConnection->server->ai_addr->sa_family);
-
         /* Non blocking connect to be able to timeout */
         if(UA_socket_set_nonblocking(connection->sockfd) != UA_STATUSCODE_GOOD) {
             UA_LOG_WARNING(logger, UA_LOGCATEGORY_NETWORK,
@@ -71680,11 +71586,6 @@ UA_ClientConnectionTCP_poll(UA_Connection *connection, UA_UInt32 timeout,
             return UA_STATUSCODE_BADDISCONNECT;
         }
 
-        ua_print("ua: [%s] check fd %d %p fam %d sa %d\n", __func__,
-            connection->sockfd,
-            tcpConnection->server,
-            tcpConnection->server->ai_family,
-            tcpConnection->server->ai_addr->sa_family);
         /* Don't have the socket create interrupt signals */
 #ifdef SO_NOSIGPIPE
         int val = 1;
@@ -71693,12 +71594,6 @@ UA_ClientConnectionTCP_poll(UA_Connection *connection, UA_UInt32 timeout,
         if(sso_result < 0)
             UA_LOG_WARNING(logger, UA_LOGCATEGORY_NETWORK, "Couldn't set SO_NOSIGPIPE");
 #endif
-        ua_print("ua: [%s] connect ai %d sa fam %d len %d %x addr len %d\n",  __func__,
-                tcpConnection->server->ai_family,
-                tcpConnection->server->ai_addr->sa_family,
-                tcpConnection->server->ai_addr->sa_len,
-                tcpConnection->server->ai_addr->sa_data[0],
-                tcpConnection->server->ai_addrlen);
 
         int error = UA_connect(connection->sockfd, tcpConnection->server->ai_addr,
                                tcpConnection->server->ai_addrlen);
@@ -71708,7 +71603,6 @@ UA_ClientConnectionTCP_poll(UA_Connection *connection, UA_UInt32 timeout,
             connection->state = UA_CONNECTIONSTATE_ESTABLISHED;
             return UA_STATUSCODE_GOOD;
         }
-        ua_print("ua: [%s] connected failed %d\n", __func__, error);
 
         /* The connection failed */
         if((UA_ERRNO != UA_ERR_CONNECTION_PROGRESS)) {
@@ -71772,6 +71666,7 @@ UA_ClientConnectionTCP_poll(UA_Connection *connection, UA_UInt32 timeout,
                        (int)tcpConnection->endpointUrl.length,
                        tcpConnection->endpointUrl.data, strerror(UA_ERRNO));
         ClientNetworkLayerTCP_close(connection);
+        ua_error("ua: [%s] line %d failed\n", __func__, __LINE__);
         return UA_STATUSCODE_BADDISCONNECT;
     }
 
@@ -71802,6 +71697,7 @@ UA_ClientConnectionTCP_poll(UA_Connection *connection, UA_UInt32 timeout,
         LocalFree(errno_str);
 #endif
         ClientNetworkLayerTCP_close(connection);
+        ua_error("ua: [%s] line %d failed\n", __func__, __LINE__);
         return UA_STATUSCODE_BADDISCONNECT;
     }
 
@@ -71831,14 +71727,11 @@ UA_ClientConnectionTCP_init(UA_ConnectionConfig config, const UA_String endpoint
     connection.releaseSendBuffer = connection_releasesendbuffer;
     connection.releaseRecvBuffer = connection_releaserecvbuffer;
 
-    ua_print("ua: [%s] endpoint url (%d)%.28s %d\n", __func__, endpointUrl.length, endpointUrl.data,
-        sizeof(TCPClientConnection));
-
     TCPClientConnection *tcpClientConnection = (TCPClientConnection*)
         UA_malloc(sizeof(TCPClientConnection));
     if(!tcpClientConnection) {
         connection.state = UA_CONNECTIONSTATE_CLOSED;
-        ua_print("ua: [%s] malloc %d failed\n", __func__, sizeof(TCPClientConnection));
+        ua_error("ua: [%s] malloc %d failed\n", __func__, sizeof(TCPClientConnection));
         return connection;
     }
     memset(tcpClientConnection, 0, sizeof(TCPClientConnection));
@@ -71850,8 +71743,6 @@ UA_ClientConnectionTCP_init(UA_ConnectionConfig config, const UA_String endpoint
     char hostname[512];
     tcpClientConnection->connStart = UA_DateTime_nowMonotonic();
 
-    ua_print("ua: [%s] line %d!\n", __func__, __LINE__);
-
     UA_String_copy(&endpointUrl, &tcpClientConnection->endpointUrl);
 
     UA_StatusCode parse_retval =
@@ -71864,8 +71755,6 @@ UA_ClientConnectionTCP_init(UA_ConnectionConfig config, const UA_String endpoint
         return connection;
     }
 
-    ua_print("ua: [%s] line %d!\n", __func__, __LINE__);
-
     memcpy(hostname, hostnameString.data, hostnameString.length);
     hostname[hostnameString.length] = 0;
 
@@ -71875,22 +71764,16 @@ UA_ClientConnectionTCP_init(UA_ConnectionConfig config, const UA_String endpoint
                     "No port defined, using default port %" PRIu16, port);
     }
 
-    ua_print("ua: [%s] line %d!\n", __func__, __LINE__);
-
     memset(&tcpClientConnection->hints, 0, sizeof(tcpClientConnection->hints));
     tcpClientConnection->hints.ai_family = AF_UNSPEC;
     tcpClientConnection->hints.ai_socktype = SOCK_STREAM;
     char portStr[6];
     UA_snprintf(portStr, 6, "%d", port);
 
-//    ua_print("ua: [%s] host %s port %s fam %d\n",  __func__, hostname, portStr,
-//        tcpClientConnection->server->ai_addr->sa_family);
-
 #if LWIP_DNS
     int error = UA_getaddrinfo(hostname, portStr, &tcpClientConnection->hints,
                                &tcpClientConnection->server);
     if(error != 0 || !tcpClientConnection->server) {
-        ua_print("ua: [%s] host %s error %d\n", __func__, hostname, error);
         UA_LOG_SOCKET_ERRNO_GAI_WRAP(UA_LOG_WARNING(logger, UA_LOGCATEGORY_NETWORK,
                                                     "DNS lookup of %s failed with error %d - %s",
                                                     hostname, error, errno_str));
diff --git a/APP_Framework/Framework/control/plc/interoperability/opcua/ua_api.c b/APP_Framework/Framework/control/plc/interoperability/opcua/ua_api.c
index 4512368be..7115ca1c3 100755
--- a/APP_Framework/Framework/control/plc/interoperability/opcua/ua_api.c
+++ b/APP_Framework/Framework/control/plc/interoperability/opcua/ua_api.c
@@ -22,7 +22,7 @@
 #include <stdlib.h>
 #include "ua_api.h"
 
-int ua_open(void *dev)
+int UaDevOpen(void *dev)
 {
     UaParamType *param = (UaParamType *)dev;
 
@@ -32,7 +32,7 @@ int ua_open(void *dev)
 
     if (param->client == NULL)
     {
-        ua_print("ua: [%s] tcp client null\n", __func__);
+        ua_error("ua: [%s] tcp client null\n", __func__);
         return EEMPTY;
     }
 
@@ -43,28 +43,29 @@ int ua_open(void *dev)
 
     UA_StatusCode retval = UA_Client_connect(param->client, param->ua_remote_ip);
     if(retval != UA_STATUSCODE_GOOD) {
-        ua_notice("ua: [%s] deleted ret %x!\n", __func__, retval);
+        ua_error("ua: [%s] deleted ret %x!\n", __func__, retval);
         return (int)retval;
     }
     return EOK;
 }
 
-void ua_close(void *dev)
+void UaDevClose(void *dev)
 {
     UaParamType *param = (UaParamType *)dev;
+    ua_notice("ua: [%s] close %s!\n", __func__, param->ua_remote_ip);
     UA_Client_delete(param->client); /* Disconnects the client internally */
 }
 
-int ua_read(void *dev, void *buf, size_t len)
+int UaDevRead(void *dev, void *buf, size_t len)
 {
     UaParamType *param = (UaParamType *)dev;
     switch(param->act)
     {
         case UA_ACT_ATTR:
-            ua_read_nodeid_value(param->client, param->ua_id, buf);
+            UaReadNodeValue(param->client, param->ua_id, buf);
             break;
         case UA_ACT_OBJ:
-            ua_test_browser_objects(param->client);
+            UaTestBrowserObjects(param->client);
             break;
         default:
             break;
@@ -72,17 +73,17 @@ int ua_read(void *dev, void *buf, size_t len)
     return EOK;
 }
 
-int ua_write(void *dev, const void *buf, size_t len)
+int UaDevWrite(void *dev, const void *buf, size_t len)
 {
     UaParamType *param = (UaParamType *)dev;
 
     switch(param->act)
     {
         case UA_ACT_ATTR:
-            ua_write_nodeid_value(param->client, param->ua_id, (char *)buf);
+            UaWriteNodeValue(param->client, param->ua_id, (char *)buf);
             break;
         case UA_ACT_OBJ:
-            ua_test_browser_objects(param->client);
+            UaTestBrowserObjects(param->client);
             break;
         default:
             break;
@@ -90,7 +91,7 @@ int ua_write(void *dev, const void *buf, size_t len)
     return EOK;
 }
 
-int ua_ioctl(void *dev, int cmd, void *arg)
+int UaDevIoctl(void *dev, int cmd, void *arg)
 {
     return EOK;
 }
diff --git a/APP_Framework/Framework/control/plc/interoperability/opcua/ua_api.h b/APP_Framework/Framework/control/plc/interoperability/opcua/ua_api.h
index 7da7a4faa..30c785525 100755
--- a/APP_Framework/Framework/control/plc/interoperability/opcua/ua_api.h
+++ b/APP_Framework/Framework/control/plc/interoperability/opcua/ua_api.h
@@ -42,32 +42,31 @@ typedef struct UaParam
 }UaParamType;
 
 #define ua_print //KPrintf
-#define ua_trace() //KPrintf("ua: [%s] line %d checked!\n", __func__, __LINE__)
 #define ua_notice KPrintf
-#define ua_debug //KPrintf
 #define ua_error KPrintf
 
 extern const char *opc_server_url;
 extern char test_ua_ip[];
 
-int ua_server_connect(void);
-void ua_browser_nodes(UA_Client *client);
-void ua_browser_id(UA_Client *client, UA_NodeId id);
-void ua_read_time(UA_Client *client);
-void ua_add_nodes(UA_Client *client);
+int UaServerRun(void);
+void UaBrowserNodes(UA_Client *client);
+void UaBrowserNodeId(UA_Client *client, UA_NodeId id);
+void UaGetServerTime(UA_Client *client);
+void UaAddNodes(UA_Client *client);
 
-int ua_open(void *dev); // open and connect PLC device
-void ua_close(void* dev); // close and disconnect PLC device
-int ua_read(void* dev, void *buf, size_t len); // read data from PLC
-int ua_write(void* dev, const void *buf, size_t len); // write data from PLC
-int ua_ioctl(void* dev, int cmd, void *arg); // send control command to PLC
+int UaDevOpen(void *dev); // open and connect PLC device
+void UaDevClose(void* dev); // close and disconnect PLC device
+int UaDevRead(void* dev, void *buf, size_t len); // read data from PLC
+int UaDevWrite(void* dev, const void *buf, size_t len); // write data from PLC
+int UaDevIoctl(void* dev, int cmd, void *arg); // send control command to PLC
 
-char *ua_get_nodeid_str(UA_NodeId *node_id);
-void ua_read_nodeid_value(UA_Client *client, UA_NodeId id, UA_Int32 *value);
-void ua_write_nodeid_value(UA_Client *client, UA_NodeId id, char* value);
-void ua_test_attr(UA_Client *client);
-UA_StatusCode ua_read_array_value(UA_Client *client, int array_size, UA_ReadValueId *array);
-void ua_test_browser_objects(UA_Client *client);
-int ua_test_interact_server(UA_Client *client);
+char *UaGetNodeIdString(UA_NodeId *node_id);
+void UaReadNodeValue(UA_Client *client, UA_NodeId id, UA_Int32 *value);
+void UaWriteNodeValue(UA_Client *client, UA_NodeId id, char* value);
+UA_StatusCode UaReadArrayValue(UA_Client *client, int array_size, UA_ReadValueId *array);
+int UaGetNodeIdArray(UA_Client* client, UA_NodeId id, int array_size, int *id_array);
+
+void UaTestBrowserObjects(UA_Client *client);
+int UaTestInteractServer(UA_Client *client);
 
 #endif
diff --git a/APP_Framework/Framework/control/plc/interoperability/opcua/ua_client.c b/APP_Framework/Framework/control/plc/interoperability/opcua/ua_client.c
index 749025f75..b903be86d 100755
--- a/APP_Framework/Framework/control/plc/interoperability/opcua/ua_client.c
+++ b/APP_Framework/Framework/control/plc/interoperability/opcua/ua_client.c
@@ -27,14 +27,14 @@
 const char *opc_server_url = {"opc.tcp://192.168.250.2:4840"};
 
 #ifdef UA_ENABLE_SUBSCRIPTIONS
-static void handler_TheAnswerChanged(UA_Client* client, UA_UInt32 subId, void* subContext,
+static void UaAnswerChangedHandler(UA_Client* client, UA_UInt32 subId, void* subContext,
                                      UA_UInt32 monId, void* monContext, UA_DataValue* value)
 {
-    ua_print("The Answer has changed!\n");
+    ua_notice("Answer changed!\n");
 }
 #endif
 
-static UA_StatusCode nodeIter(UA_NodeId childId, UA_Boolean isInverse, UA_NodeId referenceTypeId, void* handle)
+static UA_StatusCode UaShowNodeIdIterate(UA_NodeId childId, UA_Boolean isInverse, UA_NodeId referenceTypeId, void* handle)
 {
     if(isInverse)
     {
@@ -49,7 +49,7 @@ static UA_StatusCode nodeIter(UA_NodeId childId, UA_Boolean isInverse, UA_NodeId
     return UA_STATUSCODE_GOOD;
 }
 
-int ua_get_points(UA_Client* client)
+int UaGetEndPoints(UA_Client* client)
 {
     /* Listing endpoints */
     UA_EndpointDescription* endpointArray = NULL;
@@ -76,7 +76,7 @@ int ua_get_points(UA_Client* client)
     return EXIT_SUCCESS;
 }
 
-void ua_print_value(UA_Variant* val)
+static void UaShowNodeValue(UA_Variant* val)
 {
     if(val->type == &UA_TYPES[UA_TYPES_LOCALIZEDTEXT])
     {
@@ -103,6 +103,16 @@ void ua_print_value(UA_Variant* val)
         UA_Int16* ptr = (UA_Int16*)val->data;
         ua_notice("%d (Int16)\n", *ptr);
     }
+    else if(val->type == &UA_TYPES[UA_TYPES_FLOAT])
+    {
+        UA_Float* ptr = (UA_Float*)val->data;
+        printf("%f (Float)\n", *ptr);
+    }
+    else if(val->type == &UA_TYPES[UA_TYPES_DOUBLE])
+    {
+        UA_Double* ptr = (UA_Double*)val->data;
+        printf("%f (Double)\n", *ptr);
+    }
     else if(val->type == &UA_TYPES[UA_TYPES_STRING])
     {
         UA_String* ptr = (UA_String*)val->data;
@@ -117,7 +127,7 @@ void ua_print_value(UA_Variant* val)
     }
 }
 
-char *ua_get_nodeid_str(UA_NodeId *node_id)
+char *UaGetNodeIdString(UA_NodeId *node_id)
 {
     static char nodeid_str[UA_NODE_LEN] = {0};
 
@@ -139,7 +149,7 @@ char *ua_get_nodeid_str(UA_NodeId *node_id)
     return nodeid_str;
 }
 
-void ua_print_nodeid(UA_NodeId *node_id)
+static void UaShowNodeId(UA_NodeId *node_id)
 {
     switch(node_id->identifierType)
     {
@@ -158,7 +168,7 @@ void ua_print_nodeid(UA_NodeId *node_id)
     }
 }
 
-void ua_print_object(UA_BrowseResponse* res)
+static void UaShowObject(UA_BrowseResponse* res)
 {
     ua_notice("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
 
@@ -191,7 +201,7 @@ void ua_print_object(UA_BrowseResponse* res)
     ua_notice("\n");
 }
 
-UA_StatusCode ua_read_array_value(UA_Client* client, int array_size, UA_ReadValueId* array)
+UA_StatusCode UaReadArrayValue(UA_Client* client, int array_size, UA_ReadValueId* array)
 {
     UA_ReadRequest request;
     UA_ReadRequest_init(&request);
@@ -209,14 +219,19 @@ UA_StatusCode ua_read_array_value(UA_Client* client, int array_size, UA_ReadValu
     }
 
     UA_StatusCode* arr_ret = malloc(array_size * sizeof(UA_StatusCode));
+    if(arr_ret == NULL)
+    {
+        ua_error("ua: [%s] malloc %d failed!\n", __func__, array_size * sizeof(UA_StatusCode));
+        return UA_STATUSCODE_BADOUTOFMEMORY;
+    }
 
     for(int i = 0; i < array_size; ++i)
     {
         if((response.results[i].status == UA_STATUSCODE_GOOD)
                 && (response.results[i].hasValue))
         {
-            ua_notice("node %s: ", ua_get_nodeid_str(&array[i].nodeId));
-            ua_print_value(&response.results[i].value);
+            ua_notice("node %s: ", UaGetNodeIdString(&array[i].nodeId));
+            UaShowNodeValue(&response.results[i].value);
         }
     }
     ua_notice("\n");
@@ -226,32 +241,82 @@ UA_StatusCode ua_read_array_value(UA_Client* client, int array_size, UA_ReadValu
     return UA_STATUSCODE_GOOD;
 }
 
-void ua_browser_id(UA_Client* client, UA_NodeId id)
+void UaBrowserNodeId(UA_Client* client, UA_NodeId id)
 {
+    UA_BrowseRequest ua_req;
+    UA_BrowseResponse ua_resp;
+
     /* Browse some objects */
     ua_notice("Browsing nodes in objects folder:\n");
-    UA_BrowseRequest bReq;
-    UA_BrowseRequest_init(&bReq);
-    bReq.requestedMaxReferencesPerNode = 0;
-    bReq.nodesToBrowse = UA_BrowseDescription_new();
-    bReq.nodesToBrowseSize = 1;
-    bReq.nodesToBrowse[0].nodeId = id; /* browse objects folder */
-    bReq.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL; /* return everything */
-    UA_BrowseResponse res = UA_Client_Service_browse(client, bReq);
-    ua_print_object(&res);
-    UA_BrowseResponse_clear(&res);
-//    UA_BrowseRequest_clear(&bReq);
+
+    UA_BrowseRequest_init(&ua_req);
+
+    ua_req.requestedMaxReferencesPerNode = 0;
+    ua_req.nodesToBrowse = UA_BrowseDescription_new();
+    ua_req.nodesToBrowseSize = 1;
+    ua_req.nodesToBrowse[0].nodeId = id; /* browse objects folder */
+    ua_req.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL; /* return everything */
+
+    ua_resp = UA_Client_Service_browse(client, ua_req);
+
+    UaShowObject(&ua_resp);
+
+    UA_BrowseResponse_clear(&ua_resp);
 }
 
-void ua_browser_nodes(UA_Client* client)
+
+int UaGetNodeIdArray(UA_Client* client, UA_NodeId id, int array_size, int *id_array)
+{
+    int i, j;
+    int array_cnt = 0;// return array number
+    UA_BrowseRequest ua_req;
+    UA_BrowseResponse ua_resp;
+
+    /* Browse some objects */
+    ua_notice("Browsing nodes in objects folder:\n");
+
+    UA_BrowseRequest_init(&ua_req);
+
+    ua_req.requestedMaxReferencesPerNode = 0;
+    ua_req.nodesToBrowse = UA_BrowseDescription_new();
+    ua_req.nodesToBrowseSize = 1;
+    ua_req.nodesToBrowse[0].nodeId = id; /* browse objects folder */
+    ua_req.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL; /* return everything */
+
+    ua_resp = UA_Client_Service_browse(client, ua_req);
+
+    for(i = 0; i < ua_resp.resultsSize; ++i)
+    {
+        for(j = 0; j < ua_resp.results[i].referencesSize; ++j)
+        {
+            UA_ReferenceDescription* ref = &(ua_resp.results[i].references[j]);
+
+            if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_NUMERIC)
+            {
+                *(id_array + array_cnt) = ref->nodeId.nodeId.identifier.numeric;
+                array_cnt ++;
+                if(array_cnt >= array_size)
+                {
+                    UA_BrowseResponse_clear(&ua_resp);
+                    return array_cnt;
+                }
+            }
+        }
+    }
+
+    UA_BrowseResponse_clear(&ua_resp);
+    return array_cnt;
+}
+
+void UaBrowserNodes(UA_Client* client)
 {
     UA_NodeId* parent = UA_NodeId_new();
     *parent = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
-    UA_Client_forEachChildNodeCall(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), nodeIter, (void*) parent);
+    UA_Client_forEachChildNodeCall(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), UaShowNodeIdIterate, (void*) parent);
     UA_NodeId_delete(parent);
 }
 
-UA_UInt32 ua_start_sub(UA_Client* client, UA_NodeId node_id)
+UA_UInt32 UaStartSubscription(UA_Client* client, UA_NodeId node_id)
 {
     /* Create a subscription */
     UA_CreateSubscriptionRequest request = UA_CreateSubscriptionRequest_default();
@@ -274,7 +339,7 @@ UA_UInt32 ua_start_sub(UA_Client* client, UA_NodeId node_id)
     UA_MonitoredItemCreateResult monResponse =
         UA_Client_MonitoredItems_createDataChange(client, response.subscriptionId,
                                                   UA_TIMESTAMPSTORETURN_BOTH,
-                                                  monRequest, NULL, handler_TheAnswerChanged, NULL);
+                                                  monRequest, NULL, UaAnswerChangedHandler, NULL);
 
     if(monResponse.statusCode == UA_STATUSCODE_GOOD)
     {
@@ -290,7 +355,7 @@ UA_UInt32 ua_start_sub(UA_Client* client, UA_NodeId node_id)
     return subId;
 }
 
-void ua_write_nodeid_value(UA_Client* client, UA_NodeId id, char* value)
+void UaWriteNodeValue(UA_Client* client, UA_NodeId id, char* value)
 {
     UA_Boolean bool_val;
     uint32_t integer_val;
@@ -332,24 +397,17 @@ void ua_write_nodeid_value(UA_Client* client, UA_NodeId id, char* value)
 
     UA_WriteRequest_clear(&wReq);
     UA_WriteResponse_clear(&wResp);
-
-//    /* Write node attribute (using the highlevel API) */
-//    value++;
-//    UA_Variant *myVariant = UA_Variant_new();
-//    UA_Variant_setScalarCopy(myVariant, &value, &UA_TYPES[UA_TYPES_INT32]);
-//    UA_Client_writeValueAttribute(client, UA_NODEID_STRING(1, UA_NODE_STR), myVariant);
-//    UA_Variant_delete(myVariant);
 }
 
 /* Read attribute */
-void ua_read_nodeid_value(UA_Client* client, UA_NodeId id, UA_Int32 *value)
+void UaReadNodeValue(UA_Client* client, UA_NodeId id, UA_Int32 *value)
 {
     UA_Variant* val = UA_Variant_new();
     UA_StatusCode ret = UA_Client_readValueAttribute(client, id, val);
 
     if(ret == UA_STATUSCODE_GOOD)
     {
-        ua_print_value(val);
+        UaShowNodeValue(val);
         if(UA_Variant_isScalar(val))
         {
             if(val->type == &UA_TYPES[UA_TYPES_BOOLEAN])
@@ -370,7 +428,7 @@ void ua_read_nodeid_value(UA_Client* client, UA_NodeId id, UA_Int32 *value)
     UA_Variant_delete(val);
 }
 
-void ua_call_remote(UA_Client* client)
+void UaCallRemote(UA_Client* client)
 {
     /* Call a remote method */
     UA_Variant input;
@@ -397,7 +455,7 @@ void ua_call_remote(UA_Client* client)
 }
 
 
-void ua_add_nodes(UA_Client* client)
+void UaAddNodes(UA_Client* client)
 {
     /* Add new nodes*/
     /* New ReferenceType */
@@ -477,7 +535,7 @@ void ua_add_nodes(UA_Client* client)
     }
 }
 
-void ua_read_time(UA_Client* client)
+void UaGetServerTime(UA_Client* client)
 {
     UA_Variant value;
     UA_Variant_init(&value);
diff --git a/APP_Framework/Framework/control/plc/interoperability/opcua/ua_server.c b/APP_Framework/Framework/control/plc/interoperability/opcua/ua_server.c
index b3d24eba7..548a357ce 100755
--- a/APP_Framework/Framework/control/plc/interoperability/opcua/ua_server.c
+++ b/APP_Framework/Framework/control/plc/interoperability/opcua/ua_server.c
@@ -10,29 +10,29 @@
 * See the Mulan PSL v2 for more details.
 */
 
+/**
+ * @file ua_server.c
+ * @brief Server for OpcUa function
+ * @version 1.0
+ * @author AIIT XUOS Lab
+ * @date 2021.11.11
+ */
 
 #include "open62541.h"
 
-#include <signal.h>
-#include <stdlib.h>
+UA_Boolean ua_server_flag = true;
 
-UA_Boolean running = true;
-
-static void stopHandler(int sign) {
-    UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c");
-    running = false;
-}
-
-int ua_server_connect(void)
+int UaRunServer(void)
 {
-    signal(SIGINT, stopHandler);
-    signal(SIGTERM, stopHandler);
+    UA_StatusCode ret;
 
     UA_Server *server = UA_Server_new();
+
     UA_ServerConfig_setDefault(UA_Server_getConfig(server));
-    UA_StatusCode retval = UA_Server_run(server, &running);
+
+    ret = UA_Server_run(server, &ua_server_flag);
 
     UA_Server_delete(server);
 
-    return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
+    return ret;
 }
diff --git a/APP_Framework/Framework/control/plc/interoperability/opcua/ua_test.c b/APP_Framework/Framework/control/plc/interoperability/opcua/ua_test.c
index d11b86896..1b9ed8427 100755
--- a/APP_Framework/Framework/control/plc/interoperability/opcua/ua_test.c
+++ b/APP_Framework/Framework/control/plc/interoperability/opcua/ua_test.c
@@ -27,72 +27,60 @@
 #define UA_TEST_BROWSER_NODEID1 UA_NODEID_NUMERIC(4, 1)
 #define UA_TEST_WRITE_NODEID UA_NODEID_NUMERIC(4, 5)
 
+#define UA_TEST_NODE_ARRAY_NUM 10
 
-static UA_StatusCode ua_test_read_array(UA_Client *client)
+static UA_StatusCode UaTestReadArrayValue(UA_Client *client, UA_NodeId id)
 {
-    const int item_size = 4;
-    UA_ReadValueId test_item[item_size];
+    int i;
+    int array_size = 0;
+    int test_id[UA_TEST_NODE_ARRAY_NUM];
+    UA_ReadValueId test_array[UA_TEST_NODE_ARRAY_NUM];
 
-    for (int i = 0; i < item_size; i++)
+    for(i = 0; i < UA_TEST_NODE_ARRAY_NUM; i++)
     {
-        UA_ReadValueId_init(&test_item[i]);
-        test_item[i].attributeId = UA_ATTRIBUTEID_VALUE;
+        UA_ReadValueId_init(&test_array[i]);
+        test_array[i].attributeId = UA_ATTRIBUTEID_VALUE;
     }
 
-    test_item[0].nodeId = UA_NODEID_NUMERIC(4, 2);
-    test_item[1].nodeId = UA_NODEID_NUMERIC(4, 3);
-    test_item[2].nodeId = UA_NODEID_NUMERIC(4, 4);
-    test_item[3].nodeId = UA_NODEID_NUMERIC(4, 5);
+    array_size = UaGetNodeIdArray(client, id, UA_TEST_NODE_ARRAY_NUM, test_id);
 
-    return ua_read_array_value(client, item_size, test_item);
+    for(i = 0; i < array_size; i++)
+    {
+        test_array[i].nodeId = UA_NODEID_NUMERIC(id.namespaceIndex, test_id[i]);
+    }
+
+    return UaReadArrayValue(client, array_size, test_array);
 }
 
-void ua_test_browser_objects(UA_Client *client)
+void UaTestBrowserObjects(UA_Client *client)
 {
     UA_NodeId test_id;
-    ua_browser_id(client, UA_TEST_BROWSER_NODEID);
-    ua_browser_id(client, UA_TEST_BROWSER_NODEID1);
+    UaBrowserNodeId(client, UA_TEST_BROWSER_NODEID);
+    UaBrowserNodeId(client, UA_TEST_BROWSER_NODEID1);
     test_id = UA_TEST_BROWSER_NODEID1;
-    ua_notice("Show values in %s:\n", ua_get_nodeid_str(&test_id));
-    ua_test_read_array(client);
+    ua_notice("Show values in %s:\n", UaGetNodeIdString(&test_id));
+    UaTestReadArrayValue(client, test_id);
     return;
 }
 
-void ua_test_write_attr(UA_Client *client)
+static void UaTestWriteNodeValue(UA_Client *client)
 {
     UA_Int32 value;
     char val_str[UA_NODE_LEN];
     UA_NodeId id = UA_TEST_WRITE_NODEID;
 
-    ua_notice("--- Test write %s ---\n", ua_get_nodeid_str(&id));
-    ua_read_nodeid_value(client, id, &value);
-    ua_write_nodeid_value(client, id, itoa(value + 1, val_str, 10));
-    ua_read_nodeid_value(client, id, &value);
+    ua_notice("--- Test write %s ---\n", UaGetNodeIdString(&id));
+    UaReadNodeValue(client, id, &value);
+    UaWriteNodeValue(client, id, itoa(value + 1, val_str, 10));
+    UaReadNodeValue(client, id, &value);
     ua_notice("\n");
 }
 
-int ua_test_interact_server(UA_Client *client)
+int UaTestInteractServer(UA_Client *client)
 {
-    ua_read_time(client);
-    ua_test_browser_objects(client);
-    ua_test_write_attr(client);
-    return EXIT_SUCCESS;
-}
-
-int16 ua_test(void)
-{
-    UA_Client *client = UA_Client_new();
-    UA_StatusCode retval = UA_Client_connect(client, opc_server_url);
-    if(retval != UA_STATUSCODE_GOOD) {
-        UA_Client_delete(client);
-        return (int)retval;
-    }
-
-    ua_read_time(client);
-
-    /* Clean up */
-    UA_Client_disconnect(client);
-    UA_Client_delete(client); /* Disconnects the client internally */
+    UaGetServerTime(client);
+    UaTestBrowserObjects(client);
+    UaTestWriteNodeValue(client);
     return EXIT_SUCCESS;
 }
 
diff --git a/APP_Framework/Framework/control/plc/shared/plc_channel.c b/APP_Framework/Framework/control/plc/shared/plc_channel.c
index 3fe084514..7959a42e1 100755
--- a/APP_Framework/Framework/control/plc/shared/plc_channel.c
+++ b/APP_Framework/Framework/control/plc/shared/plc_channel.c
@@ -322,7 +322,7 @@ ChDevType ChannelFindDevice(struct Channel *ch, const char *device_name)
 * @param dev_recv_callback - callback function
 * @return successful:EOK,failed:ERROR
 */
-uint32 ChannelDevRecvCallback(struct ChDev *dev, int (*dev_recv_callback) (void *dev, x_size_t length))
+uint32 ChannelDevRecvCallback(struct ChDev *dev, int (*dev_recv_callback) (void *dev, size_t length))
 {
     CHECK_CH_PARAM(dev );
 
diff --git a/APP_Framework/Framework/control/plc/shared/plc_channel.h b/APP_Framework/Framework/control/plc/shared/plc_channel.h
index a00262bf1..9d0075687 100755
--- a/APP_Framework/Framework/control/plc/shared/plc_channel.h
+++ b/APP_Framework/Framework/control/plc/shared/plc_channel.h
@@ -12,7 +12,7 @@
 
 /**
 * @file plc_channel.h
-* @brief define ch driver framework function and common API
+* @brief define channel driver framework function and common API
 * @version 1.0
 * @author AIIT XUOS Lab
 * @date 2022-03-01
@@ -23,9 +23,6 @@
 
 #include "list.h"
 
-#define x_OffPos uint32
-#define x_size_t size_t
-
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -97,27 +94,19 @@ struct ChConfigInfo
 
 struct ChReadParam
 {
-    x_OffPos pos;
+    uint32 pos;
     void* buffer;
-    x_size_t size;
-    x_size_t read_length;
+    size_t size;
+    size_t read_length;
 };
 
 struct ChWriteParam
 {
-    x_OffPos pos;
+    uint32 pos;
     const void* buffer;
-    x_size_t size;
+    size_t size;
 };
 
-//struct ChHalDevBlockParam
-//{
-//    uint32 cmd;
-////tst by wly
-////    struct DeviceBlockArrange dev_block;
-////    struct DeviceBlockAddr *dev_addr;
-//};
-
 struct ChHalDevDone
 {
     uint32 (*open) (void *dev);
@@ -134,8 +123,7 @@ struct ChDev
 
     const struct ChHalDevDone *dev_done;
 
-    int (*dev_recv_callback) (void *dev, x_size_t length);
-//    int (*dev_block_control) (struct ChDev *dev, struct ChHalDevBlockParam *block_param);
+    int (*dev_recv_callback) (void *dev, size_t length);
 
     struct Channel *owner_ch;
     void *private_data;
@@ -220,7 +208,7 @@ ChDrvType ChannelFindDriver(struct Channel *ch, const char *driver_name);
 ChDevType ChannelFindDevice(struct Channel *ch, const char *device_name);
 
 /*Dev receive data callback function*/
-uint32 ChannelDevRecvCallback(struct ChDev *dev, int (*dev_recv_callback) (void *dev, x_size_t length));
+uint32 ChannelDevRecvCallback(struct ChDev *dev, int (*dev_recv_callback) (void *dev, size_t length));
 
 /*Open the device of the channel*/
 uint32 ChannelDevOpen(struct ChDev *dev);
diff --git a/APP_Framework/Framework/control/plc/shared/plc_device.c b/APP_Framework/Framework/control/plc/shared/plc_device.c
index 670452e2a..8860aea37 100755
--- a/APP_Framework/Framework/control/plc/shared/plc_device.c
+++ b/APP_Framework/Framework/control/plc/shared/plc_device.c
@@ -40,7 +40,7 @@ static int PlcDeviceOpen(void *dev)
 
     if(plc_dev->net == PLC_IND_ENET_OPCUA)
     {
-        return ua_open(plc_dev->priv_data);
+        return UaDevOpen(plc_dev->priv_data);
     }
 
     return EOK;
@@ -54,7 +54,7 @@ static void PlcDeviceClose(void *dev)
 
     if(plc_dev->net == PLC_IND_ENET_OPCUA)
     {
-        ua_close(plc_dev->priv_data);
+        UaDevClose(plc_dev->priv_data);
     }
 }
 
@@ -67,7 +67,7 @@ static int PlcDeviceWrite(void *dev, const void *buf, size_t len)
 
     if(plc_dev->net == PLC_IND_ENET_OPCUA)
     {
-        ret = ua_write(plc_dev->priv_data, buf, len);
+        ret = UaDevWrite(plc_dev->priv_data, buf, len);
     }
 
     return ret;
@@ -83,7 +83,7 @@ static int PlcDeviceRead(void *dev, void *buf, size_t len)
 
     if(plc_dev->net == PLC_IND_ENET_OPCUA)
     {
-        ret = ua_read(plc_dev->priv_data, buf, len);
+        ret = UaDevRead(plc_dev->priv_data, buf, len);
     }
 
     return ret;
diff --git a/Ubiquitous/XiZi/board/ok1052-c/third_party_driver/ethernet/enet_ethernetif.c b/Ubiquitous/XiZi/board/ok1052-c/third_party_driver/ethernet/enet_ethernetif.c
index d04c8adb3..870ed17f3 100755
--- a/Ubiquitous/XiZi/board/ok1052-c/third_party_driver/ethernet/enet_ethernetif.c
+++ b/Ubiquitous/XiZi/board/ok1052-c/third_party_driver/ethernet/enet_ethernetif.c
@@ -99,7 +99,7 @@ void ethernetif_clk_init(void)
 {
     const clock_enet_pll_config_t config = {.enableClkOutput = true, .enableClkOutput25M = false, .loopDivider = 1};
     CLOCK_InitEnetPll(&config);
-    SysTick_Config(USEC_TO_COUNT(1000U, CLOCK_GetFreq(kCLOCK_CoreSysClk)));
+    SysTick_Config(SystemCoreClock / TICK_PER_SECOND);
 }
 
 void ethernetif_gpio_init(void)
@@ -109,9 +109,7 @@ void ethernetif_gpio_init(void)
     IOMUXC_EnableMode(IOMUXC_GPR, kIOMUXC_GPR_ENET1TxClkOutputDir, true);
 
     GPIO_PinInit(GPIO1, 3, &gpio_config);
-    GPIO_PinInit(GPIO1, 10, &gpio_config);
     /* pull up the ENET_INT before RESET. */
-    GPIO_WritePinOutput(GPIO1, 10, 1);
     GPIO_WritePinOutput(GPIO1, 3, 0);
     enet_delay();
     GPIO_WritePinOutput(GPIO1, 3, 1);
diff --git a/Ubiquitous/XiZi/board/ok1052-c/third_party_driver/uart/connect_uart.c b/Ubiquitous/XiZi/board/ok1052-c/third_party_driver/uart/connect_uart.c
index 5a6040af7..a6ad397f8 100644
--- a/Ubiquitous/XiZi/board/ok1052-c/third_party_driver/uart/connect_uart.c
+++ b/Ubiquitous/XiZi/board/ok1052-c/third_party_driver/uart/connect_uart.c
@@ -41,11 +41,9 @@ void LPUART1_IRQHandler(int irqn, void *arg)
 {
     x_base lock = 0;
     // KPrintf("LPUART1_IRQHandler \n");
-    lock = DISABLE_INTERRUPT();
-
+    lock = DisableIRQ(UART1_IRQn);
     UartIsr(&serial_bus_1, &serial_driver_1, &serial_device_1);
-
-    ENABLE_INTERRUPT(lock);
+    EnableIRQ(UART1_IRQn);
 }
 DECLARE_HW_IRQ(UART1_IRQn, LPUART1_IRQHandler, NONE);
 #endif
diff --git a/Ubiquitous/XiZi/path_kernel.mk b/Ubiquitous/XiZi/path_kernel.mk
index 3b6f53047..3c5d630d2 100755
--- a/Ubiquitous/XiZi/path_kernel.mk
+++ b/Ubiquitous/XiZi/path_kernel.mk
@@ -305,7 +305,7 @@ KERNELPATHS += -I$(KERNEL_ROOT)/../../APP_Framework/Framework/connection/zigbee
 endif
 
 ifeq ($(CONFIG_ADAPTER_HFA21_ETHERCAT), y)
-KERNELPATHS += -I$(KERNEL_ROOT)/../../APP_Framework/Framework/connection/ethercat #
+KERNELPATHS += -I$(KERNEL_ROOT)/../../APP_Framework/Framework/connection/industrial_ethernet/ethercat #
 endif
 
 ifeq ($(CONFIG_SUPPORT_KNOWING_FRAMEWORK), y)
diff --git a/Ubiquitous/XiZi/resources/ethernet/LwIP/arch/sys_arch.c b/Ubiquitous/XiZi/resources/ethernet/LwIP/arch/sys_arch.c
index 5088c7f37..aed1bda45 100644
--- a/Ubiquitous/XiZi/resources/ethernet/LwIP/arch/sys_arch.c
+++ b/Ubiquitous/XiZi/resources/ethernet/LwIP/arch/sys_arch.c
@@ -184,7 +184,7 @@ sys_sem_free(sys_sem_t *sem)
 
 int sys_sem_valid(sys_sem_t *sem)
 {
-  return (*sem >= SYS_SEM_NULL);
+  return (*sem > SYS_SEM_NULL);
 }
 
 void
@@ -212,7 +212,7 @@ u32_t sys_arch_sem_wait(sys_sem_t *sem, u32_t timeout)
 
 
   if(KSemaphoreObtain(*sem, wait_time) == EOK)
-    return ((CurrentTicksGain()-start_tick)*MS_PER_SYSTICK_F407);
+    return ((CurrentTicksGain()-start_tick)*MS_PER_SYSTICK);
   else
     return SYS_ARCH_TIMEOUT;
 }
@@ -226,7 +226,7 @@ void sys_sem_signal(sys_sem_t *sem)
 err_t sys_mutex_new(sys_mutex_t *mutex)
 {
   *mutex = KMutexCreate();
-  if(*mutex >= 0)
+  if(*mutex > SYS_MRTEX_NULL)
     return ERR_OK;
   else
   {
@@ -344,7 +344,7 @@ u32_t sys_arch_mbox_fetch(sys_mbox_t *q, void **msg, u32_t timeout)
     wait_time = timeout;
 
   if(KMsgQueueRecv(*q, &(*msg), sizeof(void *), wait_time) == EOK)
-    return ((CurrentTicksGain()-start_tick)*MS_PER_SYSTICK_F407);
+    return ((CurrentTicksGain()-start_tick)*MS_PER_SYSTICK);
   else{
     *msg = NULL;
     return SYS_ARCH_TIMEOUT;
diff --git a/Ubiquitous/XiZi/resources/ethernet/LwIP/arch/sys_arch.h b/Ubiquitous/XiZi/resources/ethernet/LwIP/arch/sys_arch.h
index 64ae8e826..bea4e6943 100644
--- a/Ubiquitous/XiZi/resources/ethernet/LwIP/arch/sys_arch.h
+++ b/Ubiquitous/XiZi/resources/ethernet/LwIP/arch/sys_arch.h
@@ -62,7 +62,7 @@
 
 /* USER CODE END 0 */
 #define SYS_MBOX_NULL  -1
-#define SYS_SEM_NULL   0
+#define SYS_SEM_NULL   -1
 #define SYS_MRTEX_NULL SYS_SEM_NULL
 
 typedef int32 sys_sem_t;
@@ -71,7 +71,7 @@ typedef int32 sys_mbox_t;
 typedef int32 sys_thread_t;
 typedef x_base sys_prot_t;
 
-#define MS_PER_SYSTICK_F407 (1000 / TICK_PER_SECOND)
+#define MS_PER_SYSTICK (1000 / TICK_PER_SECOND)
 
 //debug rtos with IRQ
 //#define FSL_RTOS_XIUOS
diff --git a/Ubiquitous/XiZi/tool/shell/letter-shell/shell.c b/Ubiquitous/XiZi/tool/shell/letter-shell/shell.c
index 7cab44a65..6a923ece8 100644
--- a/Ubiquitous/XiZi/tool/shell/letter-shell/shell.c
+++ b/Ubiquitous/XiZi/tool/shell/letter-shell/shell.c
@@ -1652,7 +1652,6 @@ void shellTask(void *param)
                 shellHandler(shell, data[i]);
             }
         }
-        KPrintf("");
     }
 }