diff --git a/32g431.ioc b/32g431.ioc
index 9a8eae9..8ff502c 100644
--- a/32g431.ioc
+++ b/32g431.ioc
@@ -38,6 +38,7 @@ Mcu.CPN=STM32G431CBU3
 Mcu.Family=STM32G4
 Mcu.IP0=DMA
 Mcu.IP1=FDCAN1
+Mcu.IP10=USART3
 Mcu.IP2=IWDG
 Mcu.IP3=LPUART1
 Mcu.IP4=NVIC
@@ -46,7 +47,7 @@ Mcu.IP6=SYS
 Mcu.IP7=TIM6
 Mcu.IP8=USART1
 Mcu.IP9=USART2
-Mcu.IPNb=10
+Mcu.IPNb=11
 Mcu.Name=STM32G431C(6-8-B)Ux
 Mcu.Package=UFQFPN48
 Mcu.Pin0=PF0-OSC_IN
@@ -60,14 +61,16 @@ Mcu.Pin15=PA11
 Mcu.Pin16=PA12
 Mcu.Pin17=PA13
 Mcu.Pin18=PA14
-Mcu.Pin19=PB3
+Mcu.Pin19=PC10
 Mcu.Pin2=PA2
-Mcu.Pin20=PB4
-Mcu.Pin21=PB5
-Mcu.Pin22=VP_IWDG_VS_IWDG
-Mcu.Pin23=VP_SYS_VS_Systick
-Mcu.Pin24=VP_SYS_VS_DBSignals
-Mcu.Pin25=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin20=PC11
+Mcu.Pin21=PB3
+Mcu.Pin22=PB4
+Mcu.Pin23=PB5
+Mcu.Pin24=VP_IWDG_VS_IWDG
+Mcu.Pin25=VP_SYS_VS_Systick
+Mcu.Pin26=VP_SYS_VS_DBSignals
+Mcu.Pin27=VP_TIM6_VS_ClockSourceINT
 Mcu.Pin3=PA3
 Mcu.Pin4=PA4
 Mcu.Pin5=PA5
@@ -75,7 +78,7 @@ Mcu.Pin6=PA6
 Mcu.Pin7=PA7
 Mcu.Pin8=PC4
 Mcu.Pin9=PB10
-Mcu.PinsNb=26
+Mcu.PinsNb=28
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32G431CBUx
@@ -96,6 +99,7 @@ NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
 NVIC.TIM6_DAC_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
@@ -127,10 +131,11 @@ PA7.GPIOParameters=GPIO_Label
 PA7.GPIO_Label=K2
 PA7.Locked=true
 PA7.Signal=GPIO_Output
-PA8.GPIOParameters=PinState,GPIO_Label
+PA8.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
 PA8.GPIO_Label=RS485_2_DIR
+PA8.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PA8.Locked=true
-PA8.PinState=GPIO_PIN_SET
+PA8.PinState=GPIO_PIN_RESET
 PA8.Signal=GPIO_Output
 PA9.Locked=true
 PA9.Mode=Asynchronous
@@ -141,10 +146,11 @@ PB10.Signal=LPUART1_RX
 PB11.Locked=true
 PB11.Mode=Asynchronous
 PB11.Signal=LPUART1_TX
-PB12.GPIOParameters=PinState,GPIO_Label
+PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
 PB12.GPIO_Label=RS485_1_DIR
+PB12.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PB12.Locked=true
-PB12.PinState=GPIO_PIN_SET
+PB12.PinState=GPIO_PIN_RESET
 PB12.Signal=GPIO_Output
 PB3.GPIOParameters=GPIO_Label
 PB3.GPIO_Label=LED3
@@ -158,6 +164,12 @@ PB5.GPIOParameters=GPIO_Label
 PB5.GPIO_Label=LED1
 PB5.Locked=true
 PB5.Signal=GPIO_Output
+PC10.Locked=true
+PC10.Mode=Asynchronous
+PC10.Signal=USART3_TX
+PC11.Locked=true
+PC11.Mode=Asynchronous
+PC11.Signal=USART3_RX
 PC4.GPIOParameters=GPIO_Label
 PC4.GPIO_Label=K3
 PC4.Locked=true
@@ -199,7 +211,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_IWDG_Init-IWDG-false-HAL-true,5-MX_USART1_UART_Init-USART1-false-HAL-true,6-MX_TIM6_Init-TIM6-false-HAL-true,7-MX_FDCAN1_Init-FDCAN1-false-HAL-true,8-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,9-MX_USART2_UART_Init-USART2-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_IWDG_Init-IWDG-false-HAL-true,5-MX_USART1_UART_Init-USART1-false-HAL-true,6-MX_TIM6_Init-TIM6-false-HAL-true,7-MX_FDCAN1_Init-FDCAN1-false-HAL-true,8-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,9-MX_USART3_UART_Init-USART3-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true
 RCC.ADC12Freq_Value=100000000
 RCC.AHBFreq_Value=100000000
 RCC.APB1Freq_Value=100000000
@@ -254,6 +266,8 @@ USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART1.VirtualMode-Asynchronous=VM_ASYNC
 USART2.IPParameters=VirtualMode-Asynchronous
 USART2.VirtualMode-Asynchronous=VM_ASYNC
+USART3.IPParameters=VirtualMode-Asynchronous
+USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_IWDG_VS_IWDG.Mode=IWDG_Activate
 VP_IWDG_VS_IWDG.Signal=IWDG_VS_IWDG
 VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
diff --git a/Core/Inc/stm32g4xx_it.h b/Core/Inc/stm32g4xx_it.h
index ca6cf3b..9ca6ec8 100644
--- a/Core/Inc/stm32g4xx_it.h
+++ b/Core/Inc/stm32g4xx_it.h
@@ -58,6 +58,7 @@ void SysTick_Handler(void);
 void DMA1_Channel1_IRQHandler(void);
 void FDCAN1_IT0_IRQHandler(void);
 void USART1_IRQHandler(void);
+void USART3_IRQHandler(void);
 void TIM6_DAC_IRQHandler(void);
 void LPUART1_IRQHandler(void);
 /* USER CODE BEGIN EFP */
diff --git a/Core/Inc/usart.h b/Core/Inc/usart.h
index f99ab58..550e734 100644
--- a/Core/Inc/usart.h
+++ b/Core/Inc/usart.h
@@ -38,6 +38,8 @@ extern UART_HandleTypeDef huart1;
 
 extern UART_HandleTypeDef huart2;
 
+extern UART_HandleTypeDef huart3;
+
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
@@ -45,6 +47,7 @@ extern UART_HandleTypeDef huart2;
 void MX_LPUART1_UART_Init(void);
 void MX_USART1_UART_Init(void);
 void MX_USART2_UART_Init(void);
+void MX_USART3_UART_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index f4346c0..ea327b3 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -51,24 +51,17 @@ void MX_GPIO_Init(void)
   __HAL_RCC_GPIOB_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOA, K4_Pin|K5_Pin|K1_Pin|K2_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOA, K4_Pin|K5_Pin|K1_Pin|K2_Pin
+                          |RS485_2_DIR_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(K3_GPIO_Port, K3_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOB, RS485_1_DIR_Pin|LED3_Pin|LED2_Pin|LED1_Pin, GPIO_PIN_RESET);
 
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_SET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, LED3_Pin|LED2_Pin|LED1_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pins : K4_Pin K5_Pin K1_Pin K2_Pin
-                           RS485_2_DIR_Pin */
-  GPIO_InitStruct.Pin = K4_Pin|K5_Pin|K1_Pin|K2_Pin
-                          |RS485_2_DIR_Pin;
+  /*Configure GPIO pins : K4_Pin K5_Pin K1_Pin K2_Pin */
+  GPIO_InitStruct.Pin = K4_Pin|K5_Pin|K1_Pin|K2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -81,8 +74,22 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(K3_GPIO_Port, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : RS485_1_DIR_Pin LED3_Pin LED2_Pin LED1_Pin */
-  GPIO_InitStruct.Pin = RS485_1_DIR_Pin|LED3_Pin|LED2_Pin|LED1_Pin;
+  /*Configure GPIO pin : RS485_1_DIR_Pin */
+  GPIO_InitStruct.Pin = RS485_1_DIR_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+  HAL_GPIO_Init(RS485_1_DIR_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : RS485_2_DIR_Pin */
+  GPIO_InitStruct.Pin = RS485_2_DIR_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+  HAL_GPIO_Init(RS485_2_DIR_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : LED3_Pin LED2_Pin LED1_Pin */
+  GPIO_InitStruct.Pin = LED3_Pin|LED2_Pin|LED1_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 532a88d..3475dd8 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -101,6 +101,7 @@ int main(void)
   MX_TIM6_Init();
   MX_FDCAN1_Init();
   MX_LPUART1_UART_Init();
+  MX_USART3_UART_Init();
   MX_USART2_UART_Init();
   /* USER CODE BEGIN 2 */
 
@@ -111,12 +112,12 @@ int main(void)
 #ifdef MEM_POOL_TOTAL_SIZE
   RD_INIT();
   void Myprint_Init(void);
-  Myprint_Init();
+  //Myprint_Init();
 #endif
   SpoolendInit();
   while (1)
   {
-	  SpoolendTask();
+	SpoolendTask();
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
diff --git a/Core/Src/stm32g4xx_it.c b/Core/Src/stm32g4xx_it.c
index df84a78..b791adf 100644
--- a/Core/Src/stm32g4xx_it.c
+++ b/Core/Src/stm32g4xx_it.c
@@ -59,6 +59,7 @@ extern FDCAN_HandleTypeDef hfdcan1;
 extern DMA_HandleTypeDef hdma_usart1_tx;
 extern UART_HandleTypeDef hlpuart1;
 extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart3;
 extern TIM_HandleTypeDef htim6;
 /* USER CODE BEGIN EV */
 
@@ -244,6 +245,20 @@ void USART1_IRQHandler(void)
   /* USER CODE END USART1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USART3 global interrupt / USART3 wake-up interrupt through EXTI line 28.
+  */
+void USART3_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART3_IRQn 0 */
+
+  /* USER CODE END USART3_IRQn 0 */
+  HAL_UART_IRQHandler(&huart3);
+  /* USER CODE BEGIN USART3_IRQn 1 */
+
+  /* USER CODE END USART3_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM6 global interrupt, DAC1 and DAC3 channel underrun error interrupts.
   */
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index f966816..bb2f4b3 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -27,6 +27,7 @@
 UART_HandleTypeDef hlpuart1;
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
+UART_HandleTypeDef huart3;
 DMA_HandleTypeDef hdma_usart1_tx;
 
 /* LPUART1 init function */
@@ -159,6 +160,50 @@ void MX_USART2_UART_Init(void)
 
   /* USER CODE END USART2_Init 2 */
 
+}
+/* USART3 init function */
+
+void MX_USART3_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART3_Init 0 */
+
+  /* USER CODE END USART3_Init 0 */
+
+  /* USER CODE BEGIN USART3_Init 1 */
+
+  /* USER CODE END USART3_Init 1 */
+  huart3.Instance = USART3;
+  huart3.Init.BaudRate = 115200;
+  huart3.Init.WordLength = UART_WORDLENGTH_8B;
+  huart3.Init.StopBits = UART_STOPBITS_1;
+  huart3.Init.Parity = UART_PARITY_NONE;
+  huart3.Init.Mode = UART_MODE_TX_RX;
+  huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART3_Init 2 */
+
+  /* USER CODE END USART3_Init 2 */
+
 }
 
 void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
@@ -292,6 +337,43 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 
   /* USER CODE END USART2_MspInit 1 */
   }
+  else if(uartHandle->Instance==USART3)
+  {
+  /* USER CODE BEGIN USART3_MspInit 0 */
+
+  /* USER CODE END USART3_MspInit 0 */
+
+  /** Initializes the peripherals clocks
+  */
+    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART3;
+    PeriphClkInit.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* USART3 clock enable */
+    __HAL_RCC_USART3_CLK_ENABLE();
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**USART3 GPIO Configuration
+    PC10     ------> USART3_TX
+    PC11     ------> USART3_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    /* USART3 interrupt Init */
+    HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USART3_IRQn);
+  /* USER CODE BEGIN USART3_MspInit 1 */
+
+  /* USER CODE END USART3_MspInit 1 */
+  }
 }
 
 void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
@@ -358,6 +440,26 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
   /* USER CODE END USART2_MspDeInit 1 */
   }
+  else if(uartHandle->Instance==USART3)
+  {
+  /* USER CODE BEGIN USART3_MspDeInit 0 */
+
+  /* USER CODE END USART3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART3_CLK_DISABLE();
+
+    /**USART3 GPIO Configuration
+    PC10     ------> USART3_TX
+    PC11     ------> USART3_RX
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_11);
+
+    /* USART3 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART3_IRQn);
+  /* USER CODE BEGIN USART3_MspDeInit 1 */
+
+  /* USER CODE END USART3_MspDeInit 1 */
+  }
 }
 
 /* USER CODE BEGIN 1 */
diff --git a/robot b/robot
index 3951688..7b27175 160000
--- a/robot
+++ b/robot
@@ -1 +1 @@
-Subproject commit 39516883b210d0aa525ce1872b49c4b35e6eb27b
+Subproject commit 7b2717567a718df89f0a241243b2db676460580e