diff --git a/APP_Framework/Applications/app_test/test_can.c b/APP_Framework/Applications/app_test/test_can.c
index c19abecdb..c6463bc27 100644
--- a/APP_Framework/Applications/app_test/test_can.c
+++ b/APP_Framework/Applications/app_test/test_can.c
@@ -60,7 +60,6 @@ void TestCAN(void)
     frame_send.stdid = 0x55;
     frame_send.rtr=0;
     frame_send.data_lenth=8;
-    frame_send.data = data_buff;
 
     struct CanSendConfigure frame_recv;
     uint8_t recv_buff[65U] = {0};
@@ -69,13 +68,20 @@ void TestCAN(void)
     // CAN write
     while (1)
     {
-        PrivTaskDelay(500);
-        PrivWrite(can_fd, &frame_send, NONE);
-        PrivTaskDelay(500);
+        // PrivTaskDelay(500);
+        // PrivWrite(can_fd, &frame_send, NONE);
+        // PrivTaskDelay(500);
         PrivRead(can_fd, &frame_recv, NONE);
         // if any data has received,Then printf message
         if(frame_recv.data_lenth > 0){
-            printf("ID %08x:%s\n",frame_recv.exdid,frame_recv.data);
+            printf("ID %08x : \n",frame_recv.exdid);
+            for(int i = 0; i < frame_recv.data_lenth; i ++) {
+                printf("0x%x ", frame_recv.data[i]);
+            }
+            printf("\n");
+
+            frame_send.data = recv_buff;
+            PrivWrite(can_fd, &frame_send, NONE);
         }
     }
 
diff --git a/APP_Framework/Applications/app_test/test_timer.c b/APP_Framework/Applications/app_test/test_timer.c
index 35ec844e3..85059535e 100644
--- a/APP_Framework/Applications/app_test/test_timer.c
+++ b/APP_Framework/Applications/app_test/test_timer.c
@@ -23,12 +23,13 @@
 void TimerFunction(union sigval sig_val)
 {
     static int cnt = 0;
-    printf("%s cnt %d\n", __func__, cnt++);
+    printf("%s cnt %d ms %d\n", __func__, cnt++, PrivGetTickTime());
 }
 
 void TestTimer(void)
 {
     int ret = 0;
+    static int count = 0;
     int timer_flags;
     timer_t timer_id;
     struct sigevent evp;
@@ -40,7 +41,9 @@ void TestTimer(void)
     evp.sigev_notify_function = TimerFunction;
     evp.sigev_notify_attributes = &timer_flags;
 
-    ret = timer_create(CLOCK_REALTIME, &evp, &timer_id);
+    count++;
+
+    ret = PrivTimerCreate(count, &evp, &timer_id);
     if (ret < 0) {
         printf("%s create timer failed ret %d\n", __func__, ret);
         return;
@@ -48,14 +51,14 @@ void TestTimer(void)
 
     struct itimerspec value; 
     //active time interval
-    value.it_interval.tv_sec = 2; 
-    value.it_interval.tv_nsec = 0;
+    value.it_interval.tv_sec = 0; 
+    value.it_interval.tv_nsec = 1000000 * 10;
 
     //first timer set time 
     value.it_value.tv_sec = 2; 
     value.it_value.tv_nsec = 0; 
 
-    ret = timer_settime(timer_id, 1, &value, NULL);
+    ret = PrivTimerModify(timer_id, 1, &value, NULL);
     if (ret < 0) { 
         printf("%s set timer time failed ret %d\n", __func__, ret);
         return;
diff --git a/Ubiquitous/XiZi_IIoT/board/edu-arm32/third_party_driver/can/connect_can.c b/Ubiquitous/XiZi_IIoT/board/edu-arm32/third_party_driver/can/connect_can.c
index 088892e67..df7842f50 100644
--- a/Ubiquitous/XiZi_IIoT/board/edu-arm32/third_party_driver/can/connect_can.c
+++ b/Ubiquitous/XiZi_IIoT/board/edu-arm32/third_party_driver/can/connect_can.c
@@ -24,27 +24,29 @@ Others: connect_can.c for references
 
 #define CAN_X (CM_CAN2)
 
-#define CAN_TX_PORT (GPIO_PORT_D)
-#define CAN_TX_PIN  (GPIO_PIN_07)
-#define CAN_RX_PORT (GPIO_PORT_D)
-#define CAN_RX_PIN  (GPIO_PIN_06)
-#define CAN_TX_PIN_FUNC (GPIO_FUNC_62)
-#define CAN_RX_PIN_FUNC (GPIO_FUNC_63)
+#define CAN_TX_PORT             (GPIO_PORT_D)
+#define CAN_TX_PIN              (GPIO_PIN_07)
+#define CAN_RX_PORT             (GPIO_PORT_D)
+#define CAN_RX_PIN              (GPIO_PIN_06)
+#define CAN_TX_PIN_FUNC         (GPIO_FUNC_62)
+#define CAN_RX_PIN_FUNC         (GPIO_FUNC_63)
 
 #define INTSEL_REG              ((uint32_t)(&CM_INTC->SEL0))
 #define CANX_IRQ_SRC            INT_SRC_CAN2_HOST
 #define CANX_IRQ_NUM               17
 #define IRQ_NUM_OFFSET             16
 
-#define CAN_AF1_ID (0x123UL)
-#define CAN_AF1_ID_MSK (0xFFFUL)
-#define CAN_AF1_MSK_TYPE CAN_ID_STD
-#define CAN_AF2_ID (0x005UL)
-#define CAN_AF2_ID_MSK (0x00FUL)
-#define CAN_AF2_MSK_TYPE CAN_ID_STD
-#define CAN_AF3_ID (0x23UL)
-#define CAN_AF3_ID_MSK (0xFFUL)
-#define CAN_AF3_MSK_TYPE CAN_ID_STD
+#define CAN_AF1_ID              (0x123UL)
+#define CAN_AF1_ID_MSK          (0xFFFUL)
+#define CAN_AF1_MSK_TYPE        CAN_ID_STD
+
+#define CAN_AF2_ID              (0x005UL)
+#define CAN_AF2_ID_MSK          (0x00FUL)
+#define CAN_AF2_MSK_TYPE        CAN_ID_STD
+
+#define CAN_AF3_ID              (0x23UL)
+#define CAN_AF3_ID_MSK          (0xFFUL)
+#define CAN_AF3_MSK_TYPE        CAN_ID_STD
 
 #ifdef CAN_USING_INTERRUPT
 void CanIrqHandler(int vector, void *param)
@@ -95,18 +97,9 @@ static void CanInit(struct CanDriverConfigure *can_drv_config)
     stcInit.stcBitCfg.u32TimeSeg2 = can_drv_config->tbs2;
     stcInit.u8WorkMode = can_drv_config->mode;
 
-#ifdef CAN_USING_FD
-    stcInit.stcFDCfg.u8TDCSSP = 16U;
-    stcInit.stcFDCfg.u8CANFDMode = CAN_FD_MODE_ISO_11898;
-    stcInit.stcFDCfg.stcFBT.u32SEG1 = 16U;
-    stcInit.stcFDCfg.stcFBT.u32SEG2 = 4U;
-    stcInit.stcFDCfg.stcFBT.u32SJW  = 4U;
-    stcInit.stcFDCfg.stcFBT.u32Prescaler = 1U;
-    (void)CAN_FD_Init(APP_CAN_UNIT, &stcInit);
-#else
     FCG_Fcg1PeriphClockCmd(PWC_FCG1_CAN2, ENABLE);
     (void)CAN_Init(CAN_X, &stcInit);
-#endif
+
     CAN_ClearStatus(CAN_X, 0xFFFFFFFFU);
 
 #ifdef CAN_USING_INTERRUPT