diff --git a/RBcore/TL720D.c b/RBcore/TL720D.c
index ebbada0..0939d10 100644
--- a/RBcore/TL720D.c
+++ b/RBcore/TL720D.c
@@ -133,26 +133,9 @@ static void decode_TL720D(const char *buf, uint32_t _iSize)
 	}
 }
 
-void Read_TL720D(void *argument)
-{
-    char pcBuffer[64] = {0};
-
-    while(1)
-    {
-        rd_ComRead(g_ptrs485_1, pcBuffer, 64);
-    }
-}
-
 void TL720D_Init(void)
 {
 	TUartUserData *pt4851UserData = UART_userdata_init(1, -1, 512);
 	g_ptrs485_1 = rd_ComCreate(check_TL720D, decode_TL720D, RS485_1_Send, pt4851UserData->m_buf_size, pt4851UserData);
 	UART_IT_init(g_ptrs485_1);
-
-	const osThreadAttr_t Read_TL720D_attributes = {
-			.name = "Read_TL720D",
-			.stack_size = THREAD_DEFAULT_STACK,
-			.priority = (osPriority_t) osPriorityRealtime1,
-		};
-	(void)osThreadNew(Read_TL720D, NULL, &Read_TL720D_attributes);
 }
diff --git a/RBcore/client_setting.c b/RBcore/client_setting.c
index c5854a5..5c59be4 100644
--- a/RBcore/client_setting.c
+++ b/RBcore/client_setting.c
@@ -145,7 +145,7 @@ static void Send_IV(void *argument)
     }
 }
 
-void SendIV_Init(void)
+void client_setting_Init(void)
 {
 	g_uiIVModuleID = MsgCenter_Register(MODULE_NAME_SENDIV, SendIV_ModuleHandler);
 
@@ -155,4 +155,17 @@ void SendIV_Init(void)
 		.priority = (osPriority_t) osPriorityRealtime1,
 	};
 	(void)osThreadNew(Send_IV, NULL, &Send_PV_attributes);
+
+    if (NULL == g_ptlpuart)
+    {
+        TUartUserData *ptUartUserData = UART_userdata_init(0, -1, 512);
+        g_ptlpuart = rd_ComCreate(check_PV, decode_PV, LPUART_Send, ptUartUserData->m_buf_size, ptUartUserData);
+        UART_IT_init(g_ptlpuart);
+    }
+    else 
+    {
+        rd_ComAddDev(g_ptlpuart, check_PV, decode_PV);
+    }
+    
+	rd_ComSetRecvTime(g_ptlpuart, 1500);// PV平均一到两秒发一条，这里超时时间设置为1.5秒
 }
diff --git a/RBcore/drv_interface.c b/RBcore/drv_interface.c
index de9f110..51d8bec 100644
--- a/RBcore/drv_interface.c
+++ b/RBcore/drv_interface.c
@@ -37,17 +37,17 @@ extern TComCtrl *g_ptUartCtrl;
 /*----------------------------------------------*
  * 全局变量                                     *
  *----------------------------------------------*/
-TComCtrl *g_ptrs485_1; 
-TComCtrl *g_ptrs485_2; 
-TComCtrl *g_ptrs485_3; 
-TComCtrl *g_ptrs485_4; 
-TComCtrl *g_ptlte_7S0; 
-TComCtrl *g_ptSbus; 
-TComCtrl *g_ptInterCall;
-TComCtrl *g_ptlpuart;
-
-TComCtrl *g_ptCAN1; 
-TComCtrl *g_ptCAN2; 
+TComCtrl *g_ptrs485_1 = NULL; 
+TComCtrl *g_ptrs485_2 = NULL; 
+TComCtrl *g_ptrs485_3 = NULL; 
+TComCtrl *g_ptrs485_4 = NULL; 
+TComCtrl *g_ptlte_7S0 = NULL; 
+TComCtrl *g_ptSbus = NULL; 
+TComCtrl *g_ptInterCall = NULL;
+TComCtrl *g_ptlpuart = NULL;
+
+TComCtrl *g_ptCAN1 = NULL; 
+TComCtrl *g_ptCAN2 = NULL; 
 
 CV_struct_define g_stCV = {0};
 /*----------------------------------------------*
@@ -119,7 +119,7 @@ int RS485_4_Send(char *_pBuffer, uint32_t _iSize)
     return iRet;
 }
 
-int LPUART_PV_Send(char *_pBuffer, uint32_t _iSize)
+int LPUART_Send(char *_pBuffer, uint32_t _iSize)
 {
     TUartUserData *ptUartUserData = (TUartUserData *)g_ptlpuart->m_pUserData;
     int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
@@ -226,7 +226,7 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
 	}
 }
 
-void Read_PV(void *argument)
+void lpuart_task(void *argument)
 {
     char pcBuffer[64] = {0};
 
@@ -236,7 +236,7 @@ void Read_PV(void *argument)
     }
 }
 
-void Read_motor(void *argument)
+void CAN1_task(void *argument)
 {
 	char pcBuffer[32] = {0};
 
@@ -246,12 +246,32 @@ void Read_motor(void *argument)
 	}
 }
 
+void Sbus_task(void *argument) 
+{
+  char pcBuffer[52] = {0};
+
+  while (1) 
+  {
+    rd_ComRead(g_ptSbus, pcBuffer, 25);
+  }
+}
+
+void rs485_1_task(void *argument)
+{
+    char pcBuffer[64] = {0};
+
+    while(1)
+    {
+        rd_ComRead(g_ptrs485_1, pcBuffer, 64);
+    }
+}
+
 extern void MotorTask(void *argument);
 extern int check_PV(char *_pBuffer, uint32_t _iSize);
 extern void decode_PV(const char *buf, uint32_t _iSize);
 extern void ground_manger_init(void);
 extern void Custom_Task(void *argument);
-void SendIV_Init(void);
+void client_setting_Init(void);
 void TL720D_Init(void);
 void RBcore_Init(void);
 void controller_init(void);
@@ -264,7 +284,7 @@ void Drv_InterfaceInit(void)
 	MsgCenter_Init();
 	GF_BSP_EEPROM_ReadBytes((uint8_t *)&g_stCV, GF_BSP_EEPROM_CV_struct_define_Start_Address, sizeof(CV_struct_define));
 
-	SendIV_Init();
+	client_setting_Init();
 //	ground_manger_init();
 
 	const osThreadAttr_t Custom_attributes = {
@@ -282,30 +302,40 @@ void Drv_InterfaceInit(void)
 	};
 	(void)osThreadNew(MotorTask, NULL, &motor_task_attributes);
 
-	const osThreadAttr_t Read_motor_attributes = {
-			.name = "Read_motor",
+	const osThreadAttr_t CAN1_task_attributes = {
+			.name = "CAN1_task",
 			.stack_size = THREAD_DEFAULT_STACK,
 			.priority = (osPriority_t) osPriorityRealtime1,
 		};
-	(void)osThreadNew(Read_motor, NULL, &Read_motor_attributes);
+	(void)osThreadNew(CAN1_task, NULL, &CAN1_task_attributes);
 
 	RBcore_Init();
 
 	controller_init();
 
-    TUartUserData *ptUartUserData = UART_userdata_init(0, -1, 512);
-	g_ptlpuart = rd_ComCreate(check_PV, decode_PV, LPUART_PV_Send, ptUartUserData->m_buf_size, ptUartUserData);
-	UART_IT_init(g_ptlpuart);
-	rd_ComSetRecvTime(g_ptlpuart, 1500);// PV平均一到两秒发一条，这里超时时间设置为1.5秒
+	const osThreadAttr_t Sbus_task_attributes = {
+		.name = "Sbus_task",
+		.stack_size = THREAD_DEFAULT_STACK,
+		.priority = (osPriority_t) osPriorityRealtime1,
+	};
+	(void)osThreadNew(Sbus_task, NULL, &Sbus_task_attributes);
 
-	const osThreadAttr_t Read_PV_attributes = {
-		.name = "Read_PV",
+	const osThreadAttr_t lpuart_task_attributes = {
+		.name = "lpuart_task",
 		.stack_size = THREAD_DEFAULT_STACK,
 		.priority = (osPriority_t) osPriorityRealtime1,
 	};
-	(void)osThreadNew(Read_PV, NULL, &Read_PV_attributes);
+	(void)osThreadNew(lpuart_task, NULL, &lpuart_task_attributes);
 
 	TL720D_Init();
+
+	const osThreadAttr_t rs485_1_task_attributes = {
+			.name = "rs485_1_task",
+			.stack_size = THREAD_DEFAULT_STACK,
+			.priority = (osPriority_t) osPriorityRealtime1,
+		};
+	(void)osThreadNew(rs485_1_task, NULL, &rs485_1_task_attributes);
+
 	daemon_Init();
 
 	//Timer_Init();
diff --git a/RBcore/include/drv_interface.h b/RBcore/include/drv_interface.h
index 0ab031f..aab2632 100644
--- a/RBcore/include/drv_interface.h
+++ b/RBcore/include/drv_interface.h
@@ -93,6 +93,7 @@ extern CV_struct_define g_stCV;
  *      routines' or functions' implementations *
  *----------------------------------------------*/
 
+extern int LPUART_Send(char *_pBuffer, uint32_t _iSize);
 extern int E28_SBUS_Send(char *_pBuffer, uint32_t _iSize);
 extern int FDCAN1_Send(char *_pBuffer, uint32_t _iSize);
 extern int FDCAN2_Send(char *_pBuffer, uint32_t _iSize);
diff --git a/controller/msp_MK32.c b/controller/msp_MK32.c
index 9159320..7f5161a 100644
--- a/controller/msp_MK32.c
+++ b/controller/msp_MK32.c
@@ -121,28 +121,18 @@ void decode_MK32(const char *buf, uint32_t _iSize)
   }
 }
 
-void Read_MK32(void *argument) 
+void controller_init(void)
 {
-  char pcBuffer[52] = {0};
-
-  while (1) 
+  if (NULL == g_ptSbus)
   {
-    rd_ComRead(g_ptSbus, pcBuffer, 25);
+    TUartUserData *ptSbus = UART_userdata_init(5, -1, 512);
+    g_ptSbus = rd_ComCreate(check_MK32, decode_MK32, E28_SBUS_Send, ptSbus->m_buf_size, ptSbus);
+    UART_IT_init(g_ptSbus);
+  }
+  else 
+  {
+    rd_ComAddDev(g_ptSbus, check_MK32, decode_MK32);
   }
-}
-
-void controller_init(void)
-{
-  TUartUserData *ptSbus = UART_userdata_init(5, -1, 512);
-  g_ptSbus = rd_ComCreate(check_MK32, decode_MK32, E28_SBUS_Send, ptSbus->m_buf_size, ptSbus);
-  UART_IT_init(g_ptSbus);
-
-  const osThreadAttr_t MK32_Task_attributes = {
-      .name = "Read_MK32",
-      .stack_size = THREAD_DEFAULT_STACK,
-      .priority = (osPriority_t) osPriorityRealtime1,
-  };
-  (void)osThreadNew(Read_MK32, NULL, &MK32_Task_attributes);
 }
 
 WEAK void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)