diff --git a/Core/Src/main.c b/Core/Src/main.c
index bb90996..b8ba5c8 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -102,7 +102,6 @@ int main(void)
 	MX_SPI2_Init();
 	MX_TIM3_Init();
 	/* USER CODE BEGIN 2 */
-
 	HAL_TIM_Base_Start(&htim3);
 	user_dev_init();
 	user_dev_init1();
@@ -110,7 +109,7 @@ int main(void)
 	memcpy(IMU_mng_ST.name, "STM\0", 4);
 	/* enable IMU */
 	IMU_mng_ST.enable = 1;
-	IMU_mng_TDK.enable = 0;
+	IMU_mng_TDK.enable = 1;
 	/* USER CODE END 2 */
 
 	/* Infinite loop */
@@ -198,23 +197,12 @@ void SystemClock_Config(void)
 }
 
 /* USER CODE BEGIN 4 */
-#ifdef __GNUC__
-
-#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
-
-PUTCHAR_PROTOTYPE
-{
-
-	HAL_UART_Transmit(&huart1, (uint8_t*) &ch, 1, HAL_MAX_DELAY);
-	return ch;
-}
-#endif
 
 uint8_t IMUdate_to_uart(UART_HandleTypeDef *huart, IMU_mng_t *imu_msg)
 {
 	uint8_t str_buf[256];
 
-	if (imu_msg->lock == 1 && imu_msg->ready == 1 && HAL_DMA_STATE_READY == huart1.hdmatx->State)
+	if (imu_msg->lock == 1 && imu_msg->ready == 1)
 	{
 		if (imu_msg->gpstime.time == 0)
 		{
@@ -228,9 +216,11 @@ uint8_t IMUdate_to_uart(UART_HandleTypeDef *huart, IMU_mng_t *imu_msg)
 					imu_msg->gpstime.time + imu_msg->gpstime.sec, imu_msg->IMU_acc[0], imu_msg->IMU_acc[1],
 					imu_msg->IMU_acc[2], imu_msg->IMU_gyro[0], imu_msg->IMU_gyro[1], imu_msg->IMU_gyro[2]);
 		}
-			HAL_UART_Transmit_DMA(&huart1, str_buf, strlen((char*) str_buf));
-			imu_msg->lock = 0;
-			imu_msg->ready = 0;
+//			HAL_UART_Transmit_DMA(&huart1, str_buf, strlen((char*) str_buf));
+//			HAL_UART_Transmit_IT(&huart1, str_buf, strlen((char*) str_buf));
+		HAL_UART_Transmit(&huart1, str_buf, strlen((char*) str_buf), 0x04);
+		imu_msg->lock = 0;
+		imu_msg->ready = 0;
 	}
 
 	return 1;
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index a5d65a5..f830937 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -74,131 +74,131 @@ extern TIM_HandleTypeDef htim3;
 /*           Cortex-M3 Processor Interruption and Exception Handlers          */
 /******************************************************************************/
 /**
-  * @brief This function handles Non maskable interrupt.
-  */
+ * @brief This function handles Non maskable interrupt.
+ */
 void NMI_Handler(void)
 {
-  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
+	/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
 
-  /* USER CODE END NonMaskableInt_IRQn 0 */
-  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
+	/* USER CODE END NonMaskableInt_IRQn 0 */
+	/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
 	while (1)
 	{
 	}
-  /* USER CODE END NonMaskableInt_IRQn 1 */
+	/* USER CODE END NonMaskableInt_IRQn 1 */
 }
 
 /**
-  * @brief This function handles Hard fault interrupt.
-  */
+ * @brief This function handles Hard fault interrupt.
+ */
 void HardFault_Handler(void)
 {
-  /* USER CODE BEGIN HardFault_IRQn 0 */
+	/* USER CODE BEGIN HardFault_IRQn 0 */
 
-  /* USER CODE END HardFault_IRQn 0 */
-  while (1)
-  {
-    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
-    /* USER CODE END W1_HardFault_IRQn 0 */
-  }
+	/* USER CODE END HardFault_IRQn 0 */
+	while (1)
+	{
+		/* USER CODE BEGIN W1_HardFault_IRQn 0 */
+		/* USER CODE END W1_HardFault_IRQn 0 */
+	}
 }
 
 /**
-  * @brief This function handles Memory management fault.
-  */
+ * @brief This function handles Memory management fault.
+ */
 void MemManage_Handler(void)
 {
-  /* USER CODE BEGIN MemoryManagement_IRQn 0 */
+	/* USER CODE BEGIN MemoryManagement_IRQn 0 */
 
-  /* USER CODE END MemoryManagement_IRQn 0 */
-  while (1)
-  {
-    /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
-    /* USER CODE END W1_MemoryManagement_IRQn 0 */
-  }
+	/* USER CODE END MemoryManagement_IRQn 0 */
+	while (1)
+	{
+		/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
+		/* USER CODE END W1_MemoryManagement_IRQn 0 */
+	}
 }
 
 /**
-  * @brief This function handles Prefetch fault, memory access fault.
-  */
+ * @brief This function handles Prefetch fault, memory access fault.
+ */
 void BusFault_Handler(void)
 {
-  /* USER CODE BEGIN BusFault_IRQn 0 */
+	/* USER CODE BEGIN BusFault_IRQn 0 */
 
-  /* USER CODE END BusFault_IRQn 0 */
-  while (1)
-  {
-    /* USER CODE BEGIN W1_BusFault_IRQn 0 */
-    /* USER CODE END W1_BusFault_IRQn 0 */
-  }
+	/* USER CODE END BusFault_IRQn 0 */
+	while (1)
+	{
+		/* USER CODE BEGIN W1_BusFault_IRQn 0 */
+		/* USER CODE END W1_BusFault_IRQn 0 */
+	}
 }
 
 /**
-  * @brief This function handles Undefined instruction or illegal state.
-  */
+ * @brief This function handles Undefined instruction or illegal state.
+ */
 void UsageFault_Handler(void)
 {
-  /* USER CODE BEGIN UsageFault_IRQn 0 */
+	/* USER CODE BEGIN UsageFault_IRQn 0 */
 
-  /* USER CODE END UsageFault_IRQn 0 */
-  while (1)
-  {
-    /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
-    /* USER CODE END W1_UsageFault_IRQn 0 */
-  }
+	/* USER CODE END UsageFault_IRQn 0 */
+	while (1)
+	{
+		/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
+		/* USER CODE END W1_UsageFault_IRQn 0 */
+	}
 }
 
 /**
-  * @brief This function handles System service call via SWI instruction.
-  */
+ * @brief This function handles System service call via SWI instruction.
+ */
 void SVC_Handler(void)
 {
-  /* USER CODE BEGIN SVCall_IRQn 0 */
+	/* USER CODE BEGIN SVCall_IRQn 0 */
 
-  /* USER CODE END SVCall_IRQn 0 */
-  /* USER CODE BEGIN SVCall_IRQn 1 */
+	/* USER CODE END SVCall_IRQn 0 */
+	/* USER CODE BEGIN SVCall_IRQn 1 */
 
-  /* USER CODE END SVCall_IRQn 1 */
+	/* USER CODE END SVCall_IRQn 1 */
 }
 
 /**
-  * @brief This function handles Debug monitor.
-  */
+ * @brief This function handles Debug monitor.
+ */
 void DebugMon_Handler(void)
 {
-  /* USER CODE BEGIN DebugMonitor_IRQn 0 */
+	/* USER CODE BEGIN DebugMonitor_IRQn 0 */
 
-  /* USER CODE END DebugMonitor_IRQn 0 */
-  /* USER CODE BEGIN DebugMonitor_IRQn 1 */
+	/* USER CODE END DebugMonitor_IRQn 0 */
+	/* USER CODE BEGIN DebugMonitor_IRQn 1 */
 
-  /* USER CODE END DebugMonitor_IRQn 1 */
+	/* USER CODE END DebugMonitor_IRQn 1 */
 }
 
 /**
-  * @brief This function handles Pendable request for system service.
-  */
+ * @brief This function handles Pendable request for system service.
+ */
 void PendSV_Handler(void)
 {
-  /* USER CODE BEGIN PendSV_IRQn 0 */
+	/* USER CODE BEGIN PendSV_IRQn 0 */
 
-  /* USER CODE END PendSV_IRQn 0 */
-  /* USER CODE BEGIN PendSV_IRQn 1 */
+	/* USER CODE END PendSV_IRQn 0 */
+	/* USER CODE BEGIN PendSV_IRQn 1 */
 
-  /* USER CODE END PendSV_IRQn 1 */
+	/* USER CODE END PendSV_IRQn 1 */
 }
 
 /**
-  * @brief This function handles System tick timer.
-  */
+ * @brief This function handles System tick timer.
+ */
 void SysTick_Handler(void)
 {
-  /* USER CODE BEGIN SysTick_IRQn 0 */
+	/* USER CODE BEGIN SysTick_IRQn 0 */
 
-  /* USER CODE END SysTick_IRQn 0 */
-  HAL_IncTick();
-  /* USER CODE BEGIN SysTick_IRQn 1 */
+	/* USER CODE END SysTick_IRQn 0 */
+	HAL_IncTick();
+	/* USER CODE BEGIN SysTick_IRQn 1 */
 
-  /* USER CODE END SysTick_IRQn 1 */
+	/* USER CODE END SysTick_IRQn 1 */
 }
 
 /******************************************************************************/
@@ -209,101 +209,101 @@ void SysTick_Handler(void)
 /******************************************************************************/
 
 /**
-  * @brief This function handles EXTI line0 interrupt.
-  */
+ * @brief This function handles EXTI line0 interrupt.
+ */
 void EXTI0_IRQHandler(void)
 {
-  /* USER CODE BEGIN EXTI0_IRQn 0 */
+	/* USER CODE BEGIN EXTI0_IRQn 0 */
 
-  /* USER CODE END EXTI0_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(SPI1_INIT1_Pin);
-  /* USER CODE BEGIN EXTI0_IRQn 1 */
+	/* USER CODE END EXTI0_IRQn 0 */
+	HAL_GPIO_EXTI_IRQHandler(SPI1_INIT1_Pin);
+	/* USER CODE BEGIN EXTI0_IRQn 1 */
 
-  /* USER CODE END EXTI0_IRQn 1 */
+	/* USER CODE END EXTI0_IRQn 1 */
 }
 
 /**
-  * @brief This function handles EXTI line1 interrupt.
-  */
+ * @brief This function handles EXTI line1 interrupt.
+ */
 void EXTI1_IRQHandler(void)
 {
-  /* USER CODE BEGIN EXTI1_IRQn 0 */
+	/* USER CODE BEGIN EXTI1_IRQn 0 */
 
-  /* USER CODE END EXTI1_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(PPS_INT_Pin);
-  /* USER CODE BEGIN EXTI1_IRQn 1 */
+	/* USER CODE END EXTI1_IRQn 0 */
+	HAL_GPIO_EXTI_IRQHandler(PPS_INT_Pin);
+	/* USER CODE BEGIN EXTI1_IRQn 1 */
 
-  /* USER CODE END EXTI1_IRQn 1 */
+	/* USER CODE END EXTI1_IRQn 1 */
 }
 
 /**
-  * @brief This function handles DMA1 channel4 global interrupt.
-  */
+ * @brief This function handles DMA1 channel4 global interrupt.
+ */
 void DMA1_Channel4_IRQHandler(void)
 {
-  /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
+	/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
 
-  /* USER CODE END DMA1_Channel4_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart1_tx);
-  /* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
+	/* USER CODE END DMA1_Channel4_IRQn 0 */
+	HAL_DMA_IRQHandler(&hdma_usart1_tx);
+	/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
 
-  /* USER CODE END DMA1_Channel4_IRQn 1 */
+	/* USER CODE END DMA1_Channel4_IRQn 1 */
 }
 
 /**
-  * @brief This function handles DMA1 channel6 global interrupt.
-  */
+ * @brief This function handles DMA1 channel6 global interrupt.
+ */
 void DMA1_Channel6_IRQHandler(void)
 {
-  /* USER CODE BEGIN DMA1_Channel6_IRQn 0 */
+	/* USER CODE BEGIN DMA1_Channel6_IRQn 0 */
 
-  /* USER CODE END DMA1_Channel6_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart2_rx);
-  /* USER CODE BEGIN DMA1_Channel6_IRQn 1 */
+	/* USER CODE END DMA1_Channel6_IRQn 0 */
+	HAL_DMA_IRQHandler(&hdma_usart2_rx);
+	/* USER CODE BEGIN DMA1_Channel6_IRQn 1 */
 
-  /* USER CODE END DMA1_Channel6_IRQn 1 */
+	/* USER CODE END DMA1_Channel6_IRQn 1 */
 }
 
 /**
-  * @brief This function handles EXTI line[9:5] interrupts.
-  */
+ * @brief This function handles EXTI line[9:5] interrupts.
+ */
 void EXTI9_5_IRQHandler(void)
 {
-  /* USER CODE BEGIN EXTI9_5_IRQn 0 */
+	/* USER CODE BEGIN EXTI9_5_IRQn 0 */
 
-  /* USER CODE END EXTI9_5_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(SPI2_INIT1_Pin);
-  /* USER CODE BEGIN EXTI9_5_IRQn 1 */
+	/* USER CODE END EXTI9_5_IRQn 0 */
+	HAL_GPIO_EXTI_IRQHandler(SPI2_INIT1_Pin);
+	/* USER CODE BEGIN EXTI9_5_IRQn 1 */
 
-  /* USER CODE END EXTI9_5_IRQn 1 */
+	/* USER CODE END EXTI9_5_IRQn 1 */
 }
 
 /**
-  * @brief This function handles USART1 global interrupt.
-  */
+ * @brief This function handles USART1 global interrupt.
+ */
 void USART1_IRQHandler(void)
 {
-  /* USER CODE BEGIN USART1_IRQn 0 */
+	/* USER CODE BEGIN USART1_IRQn 0 */
 
-  /* USER CODE END USART1_IRQn 0 */
-  HAL_UART_IRQHandler(&huart1);
-  /* USER CODE BEGIN USART1_IRQn 1 */
+	/* USER CODE END USART1_IRQn 0 */
+	HAL_UART_IRQHandler(&huart1);
+	/* USER CODE BEGIN USART1_IRQn 1 */
 
-  /* USER CODE END USART1_IRQn 1 */
+	/* USER CODE END USART1_IRQn 1 */
 }
 
 /**
-  * @brief This function handles USART2 global interrupt.
-  */
+ * @brief This function handles USART2 global interrupt.
+ */
 void USART2_IRQHandler(void)
 {
-  /* USER CODE BEGIN USART2_IRQn 0 */
+	/* USER CODE BEGIN USART2_IRQn 0 */
 	uint32_t temp, i;
 	uint8_t ans = 0;
 
-  /* USER CODE END USART2_IRQn 0 */
-  HAL_UART_IRQHandler(&huart2);
-  /* USER CODE BEGIN USART2_IRQn 1 */
+	/* USER CODE END USART2_IRQn 0 */
+	HAL_UART_IRQHandler(&huart2);
+	/* USER CODE BEGIN USART2_IRQn 1 */
 
 	if (__HAL_UART_GET_FLAG(&huart2,UART_FLAG_IDLE) != RESET)
 	{
@@ -329,7 +329,7 @@ void USART2_IRQHandler(void)
 		}
 	}
 
-  /* USER CODE END USART2_IRQn 1 */
+	/* USER CODE END USART2_IRQn 1 */
 }
 
 /* USER CODE BEGIN 1 */
@@ -344,11 +344,14 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 			IMU_mng_TDK.ready = 1;
 			IMU_mng_TDK.gpstime = SYS_TIME.SYS_GPST_TIME;
 			IMU_mng_TDK.utctime = SYS_TIME.SYS_UTC_TIME;
-			IMU_mng_TDK.gpstime.sec = IMU_mng_TDK.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3)/10000.0;
+			IMU_mng_TDK.gpstime.sec = IMU_mng_TDK.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3) / 10000.0;
 		}
 		else
 		{
-//			while (1)
+			HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
+			printf("ERROR -> TDK IMU RD TIME OUT! \r\n");
+			printf("Go to loop! please reboot MCU! \r\n");
+			while (1)
 				;
 		}
 		HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
@@ -362,11 +365,15 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 			IMU_mng_ST.ready = 1;
 			IMU_mng_ST.gpstime = SYS_TIME.SYS_GPST_TIME;
 			IMU_mng_ST.utctime = SYS_TIME.SYS_UTC_TIME;
-			IMU_mng_ST.gpstime.sec = IMU_mng_ST.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3)/10000.0;
+			IMU_mng_ST.gpstime.sec = IMU_mng_ST.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3) / 10000.0;
 		}
 		else
 		{
-//			while (1)
+			HAL_GPIO_WritePin(LED0_GPIO_Port, LED0_Pin, GPIO_PIN_RESET);
+			printf("ERROR -> STM IMU RD TIME OUT! \r\n");
+			printf("Go to loop! please reboot MCU! \r\n");
+
+			while (1)
 				;
 		}
 		HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index e4eaf29..9f81639 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -241,5 +241,16 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 }
 
 /* USER CODE BEGIN 1 */
+#ifdef __GNUC__
+
+#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
+
+PUTCHAR_PROTOTYPE
+{
+
+	HAL_UART_Transmit(&huart1, (uint8_t*) &ch, 1, HAL_MAX_DELAY);
+	return ch;
+}
+#endif
 
 /* USER CODE END 1 */