diff --git a/RBcore/BHBF.c b/RBcore/BHBF.c
index f6ae3c1..20090c3 100644
--- a/RBcore/BHBF.c
+++ b/RBcore/BHBF.c
@@ -38,6 +38,7 @@
  * 全局变量                                     *
  *----------------------------------------------*/
 static uint32_t g_uiRBcoreModuleID = 0;
+static CV_struct_define CV = {0};
 
 /*----------------------------------------------*
  * 模块级变量                                   *
@@ -91,11 +92,12 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
 
 void RBcore_Task(void *argument)
 {
-	GF_BSP_EEPROM_Init();
+	GF_BSP_EEPROM_ReadBytes((uint8_t *)&CV, GF_BSP_EEPROM_CV_struct_define_Start_Address, sizeof(CV_struct_define));
     while(1)
     {
         // 处理消息
         MsgCenter_ProcessWait(g_uiRBcoreModuleID, 2);
+        MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_CV, (void *)&CV, sizeof(CV));
     }
 }
 
diff --git a/RBcore/client_setting.c b/RBcore/client_setting.c
index 170f1e1..8777d33 100644
--- a/RBcore/client_setting.c
+++ b/RBcore/client_setting.c
@@ -19,7 +19,9 @@
 #include "BHBF.h"
 #include "pb.h"
 #include "pb_decode.h"
+#include "pb_encode.h"
 #include "bsp_PV.pb.h"
+#include "bsp_IV.pb.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -40,8 +42,11 @@
 /*----------------------------------------------*
  * 模块级变量                                   *
  *----------------------------------------------*/
+static uint32_t g_uiIVModuleID = 0;
 static PV_struct_define decoded_PV_variable = { 0 };
 static PV_struct_define decoded_PV = { 0 };
+static IV_struct_define IV = { 0 };
+static char g_IV_buffer[1024] = {0};
 /*----------------------------------------------*
  * 常量定义                                     *
  *----------------------------------------------*/
@@ -95,12 +100,57 @@ void decode_PV(const char *_pBuffer, uint32_t _iSize)
     }
 }
 
-void Send_IV(void *argument)
+static void SendIV_ModuleHandler(const Msg_t *pstMsg)
 {
-    while(1)
+    if (NULL == pstMsg)
     {
+        return;
+    }
 
-        Rd_Delay(1);
+    switch (pstMsg->m_uiMsgID)
+    {
+		case CUSTOM_SET_IV:
+		{
+			if (pstMsg->m_uiDataLen >= sizeof(IV))
+			{
+				RD_MEMCPY(&IV, pstMsg->m_aucData, sizeof(IV));
+				pb_ostream_t IV_o_stream = pb_ostream_from_buffer((pb_byte_t *)&g_IV_buffer[2], sizeof(g_IV_buffer) - 2);
+                pb_encode(&IV_o_stream, IV_struct_define_fields, &IV);
+
+				g_IV_buffer[0] = 0x55;
+				g_IV_buffer[1] = 0x55;
+
+				uint16_t crc = Rd_modbusCRC16((const uint8_t *)&(g_IV_buffer[0]),  IV_o_stream.bytes_written + 2);
+
+				g_IV_buffer[IV_o_stream.bytes_written + 2] = (crc>>8) &0xff;
+				g_IV_buffer[IV_o_stream.bytes_written + 3] =  crc & 0xff;;
+
+				rd_ComSend(g_ptlpuart, g_IV_buffer, IV_o_stream.bytes_written + 4);
+				Rd_Delay(1000);
+			}
+			break;
+		}
+        default:
+            break;
     }
 }
 
+static void Send_IV(void *argument)
+{
+    while(1)
+    {
+    	MsgCenter_ProcessWait(g_uiIVModuleID, 2);
+    }
+}
+
+void SendIV_Init(void)
+{
+	g_uiIVModuleID = MsgCenter_Register(MODULE_NAME_SENDIV, SendIV_ModuleHandler);
+
+    const osThreadAttr_t Send_PV_attributes = {
+		.name = MODULE_NAME_SENDIV,
+		.stack_size = 1024,
+		.priority = (osPriority_t) osPriorityHigh4,
+	};
+	(void)osThreadNew(Send_IV, NULL, &Send_PV_attributes);
+}
diff --git a/RBcore/drv_interface.c b/RBcore/drv_interface.c
index af47fed..348fdcd 100644
--- a/RBcore/drv_interface.c
+++ b/RBcore/drv_interface.c
@@ -20,7 +20,7 @@
 
 #include "cmsis_os.h"
 #include "FreeRTOS.h"
-
+#include "bsp_EEPROM.h"
 #include "msg_center.h"
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -249,14 +249,16 @@ extern int check_MK32(char *_pBuffer, uint32_t _iSize);
 extern void decode_MK32(const char *buf, uint32_t _iSize);
 extern int check_PV(char *_pBuffer, uint32_t _iSize);
 extern void decode_PV(const char *buf, uint32_t _iSize);
-extern void Send_IV(void *argument);
 extern void ground_manger_init(void);
 extern void Custom_Task(void *argument);
+void SendIV_Init(void);
 
 void Drv_InterfaceInit(void)
 {
+	GF_BSP_EEPROM_Init();
 	MsgCenter_Init();
 
+	SendIV_Init();
 //	ground_manger_init();
 
 	const osThreadAttr_t Custom_attributes = {
@@ -298,11 +300,4 @@ void Drv_InterfaceInit(void)
 		.priority = (osPriority_t) osPriorityHigh6,
 	};
 	(void)osThreadNew(Read_PV, NULL, &Read_PV_attributes);
-//
-//	const osThreadAttr_t Send_PV_attributes = {
-//		.name = "Send_PV",
-//		.stack_size = 1024,
-//		.priority = (osPriority_t) osPriorityHigh4,
-//	};
-//	(void)osThreadNew(Send_IV, NULL, &Send_PV_attributes);
 }
diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h
index 3c173f1..74519bb 100644
--- a/RBcore/include/BHBF.h
+++ b/RBcore/include/BHBF.h
@@ -72,6 +72,7 @@ extern "C"{
 #define MODULE_NAME_RBCORE      "RBcore"
 #define MODULE_NAME_MOTOR       "motor"
 #define MODULE_NAME_CUSTOM      "custom"
+#define MODULE_NAME_SENDIV      "sendiv"
 
 typedef enum {
 	LUA_SHOW_INFO,
@@ -92,6 +93,7 @@ typedef enum {
 	RBCORE_CMD_END = 0x0200,
 
 	CUSTOM_GET_PV,				 // 获取PV
+	CUSTOM_GET_CV,				 // 获取CV
 	CUSTOM_SET_IV,				 // 设置IV
 	CUSTOM_GET_MK32,		     // 获取MK32
 	CUSTOM_CMD_END = 0x0300,
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index 5e19342..b626e1d 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -21,6 +21,8 @@
 #include "lua_base.h"
 #include "Protobuf/PSource/bsp_PV.pb.h"
 #include "Protobuf/PSource/msp_MK32.pb.h"
+#include "Protobuf/PSource/bsp_CV.pb.h"
+#include "Protobuf/PSource/bsp_IV.pb.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -42,8 +44,10 @@
  * 模块级变量                                   *
  *----------------------------------------------*/
 static uint32_t g_uiCustomModuleID = 0;
-SP_MSP_MK32_Button g_stMK32;
-PV_struct_define g_stPV;
+static SP_MSP_MK32_Button g_stMK32;
+static PV_struct_define g_stPV;
+static CV_struct_define g_stCV;
+static IV_struct_define g_stIV;
 
 /*----------------------------------------------*
  * 常量定义                                     *
@@ -52,8 +56,6 @@ PV_struct_define g_stPV;
 /*----------------------------------------------*
  * 宏定义                                       *
  *----------------------------------------------*/
-#define JOY_STICKER_VALUE_ALLOWANCE 600 //摇杆行程死区
-#define JOY_STICKER_ANGLE_ALLOWANCE 30  //摇杆角度死区
 
 static void Custom_ModuleHandler(const Msg_t *pstMsg)
 {
@@ -64,6 +66,14 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 
     switch (pstMsg->m_uiMsgID)
     {
+    	case CUSTOM_GET_CV:
+		{
+			if (pstMsg->m_uiDataLen >= sizeof(g_stCV))
+			{
+				RD_MEMCPY(&g_stCV, pstMsg->m_aucData, sizeof(g_stCV));
+			}
+			break;
+		}
 		case CUSTOM_GET_PV:
 		{
 			if (pstMsg->m_uiDataLen >= sizeof(g_stPV))
@@ -79,7 +89,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				RD_MEMCPY(&g_stMK32, pstMsg->m_aucData, sizeof(g_stMK32));
 			}
 
-			if (abs(g_stMK32.CH2_LY_V) <= JOY_STICKER_VALUE_ALLOWANCE && abs(g_stMK32.CH3_LY_H) <= JOY_STICKER_VALUE_ALLOWANCE)
+			if (abs(g_stMK32.CH2_LY_V) <= g_stCV.Joy_Sticker_Value_Allowance && abs(g_stMK32.CH3_LY_H) <= g_stCV.Joy_Sticker_Value_Allowance)
 			{
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
 				break;
@@ -87,19 +97,19 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 
 			int angle = atan2(g_stMK32.CH2_LY_V, g_stMK32.CH3_LY_H) * 180 / M_PI;
 
-			if (abs(angle - 90) <= JOY_STICKER_ANGLE_ALLOWANCE)
+			if (abs(angle - 90) <= g_stCV.Joy_Sticker_Angle_Allowance)
 			{
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
 			}
-			else if (abs(angle - (-90)) <= JOY_STICKER_ANGLE_ALLOWANCE)
+			else if (abs(angle - (-90)) <= g_stCV.Joy_Sticker_Angle_Allowance)
 			{
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
 			}
-			else if (abs(angle - 0) <= JOY_STICKER_ANGLE_ALLOWANCE)
+			else if (abs(angle - 0) <= g_stCV.Joy_Sticker_Angle_Allowance)
 			{
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_TURNRIGHT, NULL, 0);
 			}
-			else if (abs(angle - 180) <= JOY_STICKER_ANGLE_ALLOWANCE)
+			else if (abs(angle - 180) <= g_stCV.Joy_Sticker_Angle_Allowance)
 			{
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_TURNLEFT, NULL, 0);
 			}
@@ -129,8 +139,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			lua_print("CH14_LT \t%d\n", g_stMK32.CH14_LT);
 			lua_print("CH15_RT \t%d\n", g_stMK32.CH15_RT);
 			lua_print("PV Info\n");
-			lua_print("RunMode = %d\nRobotSpeed = %d\nLaneChangeDistance = %d\nVertical_Calibration = %d\nIV_IsRestart_Notified = %d\nTimeStamp = %ld\n",
-					g_stPV.RunMode, g_stPV.RobotSpeed, g_stPV.LaneChangeDistance, (int)g_stPV.Vertical_Calibration, g_stPV.IV_IsRestart_Notified, g_stPV.TimeStamp);
+			lua_print("{%d, %d, %d, %d, %d, %d}\n",
+					g_stPV.RunMode, g_stPV.RobotSpeed, g_stPV.LaneChangeDistance, (int)g_stPV.Vertical_Calibration, g_stPV.IV_IsRestart_Notified, (int)g_stPV.TimeStamp);
 			break;
 		}
         default:
@@ -144,6 +154,7 @@ void Custom_Task(void *argument)
     while(1)
     {
         MsgCenter_ProcessWait(g_uiCustomModuleID, 2);
+        MsgCenter_SendTo(MODULE_NAME_SENDIV, CUSTOM_SET_IV, (void *)&g_stIV, sizeof(g_stIV));
     }
 }