diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_can.c b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
index 1f3ef2cd81..fd700e6c69 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_can.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
@@ -557,9 +557,9 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
         break;
     case RT_CAN_CMD_SET_MODE:
         argval = (rt_uint32_t) arg;
-        if (argval != RT_CAN_MODE_NORMAL ||
-            argval != RT_CAN_MODE_LISEN ||
-            argval != RT_CAN_MODE_LOOPBACK ||
+        if (argval != RT_CAN_MODE_NORMAL &&
+            argval != RT_CAN_MODE_LISEN &&
+            argval != RT_CAN_MODE_LOOPBACK &&
             argval != RT_CAN_MODE_LOOPBACKANLISEN)
         {
             return RT_ERROR;
@@ -592,7 +592,7 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
         break;
     case RT_CAN_CMD_SET_PRIV:
         argval = (rt_uint32_t) arg;
-        if (argval != RT_CAN_MODE_PRIV ||
+        if (argval != RT_CAN_MODE_PRIV &&
             argval != RT_CAN_MODE_NOPRIV)
         {
             return RT_ERROR;
diff --git a/bsp/stm32/stm32f429-atk-apollo/README.md b/bsp/stm32/stm32f429-atk-apollo/README.md
index 3b0bfb376c..f616cebdbd 100644
--- a/bsp/stm32/stm32f429-atk-apollo/README.md
+++ b/bsp/stm32/stm32f429-atk-apollo/README.md
@@ -53,6 +53,7 @@
 | UART              |     支持     | UART1/2/3                             |
 | SPI               |     支持     | SPI1/2/5                              |
 | I2C               |     支持     | 软件 I2C                              |
+| CAN               |     支持     | PA12->TX, PA11->RX                                   |
 | ADC               |     支持     |                                     |
 | RTC               |     支持     | 支持外部晶振和内部低速时钟 |
 | WDT               |     支持     |                                       |
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/.mxproject b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/.mxproject
index f86413cb62..a670902ac2 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/.mxproject
@@ -1,16 +1,17 @@
 [PreviousGenFiles]
-HeaderPath=E:/workspace/BspFramework/rt-thread/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc
+HeaderPath=D:/rt-thread/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc
 HeaderFiles=stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
-SourcePath=E:/workspace/BspFramework/rt-thread/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src
+SourcePath=D:/rt-thread/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src
 SourceFiles=stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
 
 [PreviousLibFiles]
-LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sdram.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sdram.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f429xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;
+LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sdram.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sdram.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f429xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h;
 
 []
 SourceFiles=;;
 
 [PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;E:/workspace/BspFramework/rt-thread/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config//MDK-ARM/startup_stm32f429xx.s;
+SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;null;
 HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc;
+CDefines=USE_HAL_DRIVER;STM32F429xx;USE_HAL_DRIVER;STM32F429xx;
 
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
index eb06eacdbb..3cc23478e5 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
@@ -1,33 +1,20 @@
 /**
   ******************************************************************************
-  * @file    stm32f4xx_hal_conf.h
-  * @brief   HAL configuration file.             
+  * @file    stm32f4xx_hal_conf_template.h
+  * @author  MCD Application Team
+  * @brief   HAL configuration template file. 
+  *          This file should be copied to the application folder and renamed
+  *          to stm32f4xx_hal_conf.h.
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
+  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.</center></h2>
   *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
   *
   ******************************************************************************
   */ 
@@ -49,9 +36,9 @@
   */
 #define HAL_MODULE_ENABLED  
 
-#define HAL_ADC_MODULE_ENABLED
+  #define HAL_ADC_MODULE_ENABLED
 /* #define HAL_CRYP_MODULE_ENABLED   */
-/* #define HAL_CAN_MODULE_ENABLED   */
+#define HAL_CAN_MODULE_ENABLED
 /* #define HAL_CRC_MODULE_ENABLED   */
 /* #define HAL_CRYP_MODULE_ENABLED   */
 /* #define HAL_DAC_MODULE_ENABLED   */
@@ -92,6 +79,7 @@
 /* #define HAL_LPTIM_MODULE_ENABLED   */
 /* #define HAL_EXTI_MODULE_ENABLED   */
 #define HAL_GPIO_MODULE_ENABLED
+#define HAL_EXTI_MODULE_ENABLED
 #define HAL_DMA_MODULE_ENABLED
 #define HAL_RCC_MODULE_ENABLED
 #define HAL_FLASH_MODULE_ENABLED
@@ -221,12 +209,12 @@
 #define PHY_JABBER_DETECTION            ((uint16_t)0x0002U)  /*!< Jabber condition detected            */
   
 /* Section 4: Extended PHY Registers */
-#define PHY_SR                          ((uint16_t)0x10U)    /*!< PHY status register Offset                      */
+#define PHY_SR                          ((uint16_t)0x1FU)    /*!< PHY status register Offset                      */
 
-#define PHY_SPEED_STATUS                ((uint16_t)0x0002U)  /*!< PHY Speed mask                                  */
-#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004U)  /*!< PHY Duplex mask                                 */
+#define PHY_SPEED_STATUS                ((uint16_t)0x0004U)  /*!< PHY Speed mask                                  */
+#define PHY_DUPLEX_STATUS               ((uint16_t)0x0010U)  /*!< PHY Duplex mask                                 */
 
-#define PHY_ISFR                        ((uint16_t)0x000BU)    /*!< PHY Interrupt Source Flag register Offset   */
+#define PHY_ISFR                        ((uint16_t)0x001DU)    /*!< PHY Interrupt Source Flag register Offset   */
 #define PHY_ISFR_INT4                   ((uint16_t)0x000BU)  /*!< PHY Link down inturrupt       */  
 
 /* ################## SPI peripheral configuration ########################## */
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/STM32F429IG.ioc b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/STM32F429IG.ioc
index f73131a428..59ac576086 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/STM32F429IG.ioc
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/STM32F429IG.ioc
@@ -5,29 +5,34 @@ ADC1.NbrOfConversionFlag=1
 ADC1.Rank-0\#ChannelRegularConversion=1
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
 ADC1.master=1
+CAN1.CalculateTimeQuantum=355.55555555555554
+CAN1.IPParameters=CalculateTimeQuantum
 ETH.IPParameters=MediaInterface
 ETH.MediaInterface=ETH_MEDIA_INTERFACE_RMII
 File.Version=6
 KeepUserPlacement=false
 Mcu.Family=STM32F4
 Mcu.IP0=ADC1
-Mcu.IP1=ETH
-Mcu.IP10=SPI5
-Mcu.IP11=SYS
-Mcu.IP12=TIM2
-Mcu.IP13=TIM11
-Mcu.IP14=TIM13
-Mcu.IP15=TIM14
-Mcu.IP16=USART1
-Mcu.IP2=FMC
-Mcu.IP3=IWDG
-Mcu.IP4=NVIC
-Mcu.IP5=RCC
-Mcu.IP6=RTC
-Mcu.IP7=SDIO
-Mcu.IP8=SPI1
-Mcu.IP9=SPI2
-Mcu.IPNb=17
+Mcu.IP1=CAN1
+Mcu.IP10=SPI2
+Mcu.IP11=SPI5
+Mcu.IP12=SYS
+Mcu.IP13=TIM2
+Mcu.IP14=TIM11
+Mcu.IP15=TIM13
+Mcu.IP16=TIM14
+Mcu.IP17=USART1
+Mcu.IP18=USART2
+Mcu.IP19=USART3
+Mcu.IP2=ETH
+Mcu.IP3=FMC
+Mcu.IP4=IWDG
+Mcu.IP5=NVIC
+Mcu.IP6=RCC
+Mcu.IP7=RTC
+Mcu.IP8=SDIO
+Mcu.IP9=SPI1
+Mcu.IPNb=20
 Mcu.Name=STM32F429I(E-G)Tx
 Mcu.Package=LQFP176
 Mcu.Pin0=PC14/OSC32_IN
@@ -68,69 +73,80 @@ Mcu.Pin4=PF2
 Mcu.Pin40=PE15
 Mcu.Pin41=PB10
 Mcu.Pin42=PB11
-Mcu.Pin43=PB14
-Mcu.Pin44=PB15
-Mcu.Pin45=PD8
-Mcu.Pin46=PD9
-Mcu.Pin47=PD10
-Mcu.Pin48=PD14
-Mcu.Pin49=PD15
+Mcu.Pin43=PB13
+Mcu.Pin44=PB14
+Mcu.Pin45=PB15
+Mcu.Pin46=PD8
+Mcu.Pin47=PD9
+Mcu.Pin48=PD10
+Mcu.Pin49=PD14
 Mcu.Pin5=PF3
-Mcu.Pin50=PG2
-Mcu.Pin51=PG4
-Mcu.Pin52=PG5
-Mcu.Pin53=PG8
-Mcu.Pin54=PC8
-Mcu.Pin55=PC9
-Mcu.Pin56=PA9
-Mcu.Pin57=PA10
-Mcu.Pin58=PA13
-Mcu.Pin59=PA14
+Mcu.Pin50=PD15
+Mcu.Pin51=PG2
+Mcu.Pin52=PG4
+Mcu.Pin53=PG5
+Mcu.Pin54=PG8
+Mcu.Pin55=PC8
+Mcu.Pin56=PC9
+Mcu.Pin57=PA9
+Mcu.Pin58=PA10
+Mcu.Pin59=PA11
 Mcu.Pin6=PF4
-Mcu.Pin60=PC10
-Mcu.Pin61=PC11
-Mcu.Pin62=PC12
-Mcu.Pin63=PD0
-Mcu.Pin64=PD1
-Mcu.Pin65=PD2
-Mcu.Pin66=PG13
-Mcu.Pin67=PG14
-Mcu.Pin68=PG15
-Mcu.Pin69=PB3
+Mcu.Pin60=PA12
+Mcu.Pin61=PA13
+Mcu.Pin62=PA14
+Mcu.Pin63=PC10
+Mcu.Pin64=PC11
+Mcu.Pin65=PC12
+Mcu.Pin66=PD0
+Mcu.Pin67=PD1
+Mcu.Pin68=PD2
+Mcu.Pin69=PD5
 Mcu.Pin7=PF5
-Mcu.Pin70=PB5
-Mcu.Pin71=PE0
-Mcu.Pin72=PE1
-Mcu.Pin73=VP_IWDG_VS_IWDG
-Mcu.Pin74=VP_RTC_VS_RTC_Activate
-Mcu.Pin75=VP_SYS_VS_Systick
-Mcu.Pin76=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin77=VP_TIM11_VS_ClockSourceINT
-Mcu.Pin78=VP_TIM13_VS_ClockSourceINT
-Mcu.Pin79=VP_TIM14_VS_ClockSourceINT
+Mcu.Pin70=PD6
+Mcu.Pin71=PG11
+Mcu.Pin72=PG13
+Mcu.Pin73=PG14
+Mcu.Pin74=PG15
+Mcu.Pin75=PB3
+Mcu.Pin76=PB5
+Mcu.Pin77=PE0
+Mcu.Pin78=PE1
+Mcu.Pin79=VP_IWDG_VS_IWDG
 Mcu.Pin8=PF7
+Mcu.Pin80=VP_RTC_VS_RTC_Activate
+Mcu.Pin81=VP_SYS_VS_Systick
+Mcu.Pin82=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin83=VP_TIM11_VS_ClockSourceINT
+Mcu.Pin84=VP_TIM13_VS_ClockSourceINT
+Mcu.Pin85=VP_TIM14_VS_ClockSourceINT
 Mcu.Pin9=PF8
-Mcu.PinsNb=80
+Mcu.PinsNb=86
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F429IGTx
-MxCube.Version=5.0.0
-MxDb.Version=DB.5.0.0
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false
+MxCube.Version=5.3.0
+MxDb.Version=DB.5.0.30
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.USART1_IRQn=true\:0\:0\:true\:false\:true\:true
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+NVIC.USART1_IRQn=true\:0\:0\:true\:false\:true\:true\:true
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
+PA11.Locked=true
+PA11.Mode=Master
+PA11.Signal=CAN1_RX
+PA12.Mode=Master
+PA12.Signal=CAN1_TX
 PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
@@ -146,10 +162,12 @@ PA7.Mode=RMII
 PA7.Signal=ETH_CRS_DV
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
-PB10.Mode=Full_Duplex_Master
-PB10.Signal=SPI2_SCK
-PB11.Mode=RMII
-PB11.Signal=ETH_TX_EN
+PB10.Mode=Asynchronous
+PB10.Signal=USART3_TX
+PB11.Mode=Asynchronous
+PB11.Signal=USART3_RX
+PB13.Mode=Full_Duplex_Master
+PB13.Signal=SPI2_SCK
 PB14.Mode=Full_Duplex_Master
 PB14.Signal=SPI2_MISO
 PB15.Mode=Full_Duplex_Master
@@ -190,7 +208,7 @@ PCC.PartNumber=STM32F429IGTx
 PCC.Seq0=0
 PCC.Series=STM32F4
 PCC.Temperature=25
-PCC.Vdd=null
+PCC.Vdd=3.3
 PD0.Signal=FMC_D2_DA2
 PD1.Signal=FMC_D3_DA3
 PD10.Signal=FMC_D15_DA15
@@ -198,6 +216,10 @@ PD14.Signal=FMC_D0_DA0
 PD15.Signal=FMC_D1_DA1
 PD2.Mode=SD_4_bits_Wide_bus
 PD2.Signal=SDIO_CMD
+PD5.Mode=Asynchronous
+PD5.Signal=USART2_TX
+PD6.Mode=Asynchronous
+PD6.Signal=USART2_RX
 PD8.Signal=FMC_D13_DA13
 PD9.Signal=FMC_D14_DA14
 PE0.Signal=FMC_NBL0
@@ -230,6 +252,8 @@ PF9.Mode=Full_Duplex_Master
 PF9.Signal=SPI5_MOSI
 PG0.Signal=FMC_A10
 PG1.Signal=FMC_A11
+PG11.Mode=RMII
+PG11.Signal=ETH_TX_EN
 PG13.Locked=true
 PG13.Mode=RMII
 PG13.Signal=ETH_TXD0
@@ -255,12 +279,12 @@ ProjectManager.CustomerFirmwarePackage=
 ProjectManager.DefaultFWLocation=true
 ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32F429IGTx
-ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.22.0
+ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.24.1
 ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x200
 ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=false
+ProjectManager.LastFirmware=true
 ProjectManager.LibraryCopy=0
 ProjectManager.MainLocation=Src
 ProjectManager.NoMain=false
@@ -412,6 +436,10 @@ TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM2.IPParameters=Channel-PWM Generation4 CH4
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
+USART2.IPParameters=VirtualMode
+USART2.VirtualMode=VM_ASYNC
+USART3.IPParameters=VirtualMode
+USART3.VirtualMode=VM_ASYNC
 VP_IWDG_VS_IWDG.Mode=IWDG_Activate
 VP_IWDG_VS_IWDG.Signal=IWDG_VS_IWDG
 VP_RTC_VS_RTC_Activate.Mode=RTC_Enabled
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/main.c
index 76ce5a89e6..77c653fbd9 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/main.c
@@ -64,6 +64,8 @@
 /* Private variables ---------------------------------------------------------*/
 ADC_HandleTypeDef hadc1;
 
+CAN_HandleTypeDef hcan1;
+
 ETH_HandleTypeDef heth;
 
 IWDG_HandleTypeDef hiwdg;
@@ -82,6 +84,8 @@ TIM_HandleTypeDef htim13;
 TIM_HandleTypeDef htim14;
 
 UART_HandleTypeDef huart1;
+UART_HandleTypeDef huart2;
+UART_HandleTypeDef huart3;
 
 SDRAM_HandleTypeDef hsdram1;
 
@@ -107,6 +111,9 @@ static void MX_TIM2_Init(void);
 static void MX_SPI1_Init(void);
 static void MX_SPI2_Init(void);
 static void MX_SPI5_Init(void);
+static void MX_CAN1_Init(void);
+static void MX_USART2_UART_Init(void);
+static void MX_USART3_UART_Init(void);
 /* USER CODE BEGIN PFP */
 /* Private function prototypes -----------------------------------------------*/
 
@@ -126,6 +133,7 @@ int main(void)
   /* USER CODE BEGIN 1 */
 
   /* USER CODE END 1 */
+  
 
   /* MCU Configuration--------------------------------------------------------*/
 
@@ -159,6 +167,9 @@ int main(void)
   MX_SPI1_Init();
   MX_SPI2_Init();
   MX_SPI5_Init();
+  MX_CAN1_Init();
+  MX_USART2_UART_Init();
+  MX_USART3_UART_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -186,11 +197,11 @@ void SystemClock_Config(void)
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
 
-  /**Configure the main internal regulator output voltage 
+  /** Configure the main internal regulator output voltage 
   */
   __HAL_RCC_PWR_CLK_ENABLE();
   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
-  /**Initializes the CPU, AHB and APB busses clocks 
+  /** Initializes the CPU, AHB and APB busses clocks 
   */
   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE
                               |RCC_OSCILLATORTYPE_LSE;
@@ -207,13 +218,13 @@ void SystemClock_Config(void)
   {
     Error_Handler();
   }
-  /**Activate the Over-Drive mode 
+  /** Activate the Over-Drive mode 
   */
   if (HAL_PWREx_EnableOverDrive() != HAL_OK)
   {
     Error_Handler();
   }
-  /**Initializes the CPU, AHB and APB busses clocks 
+  /** Initializes the CPU, AHB and APB busses clocks 
   */
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
@@ -251,7 +262,7 @@ static void MX_ADC1_Init(void)
   /* USER CODE BEGIN ADC1_Init 1 */
 
   /* USER CODE END ADC1_Init 1 */
-  /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
+  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
   */
   hadc1.Instance = ADC1;
   hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
@@ -269,7 +280,7 @@ static void MX_ADC1_Init(void)
   {
     Error_Handler();
   }
-  /**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. 
+  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. 
   */
   sConfig.Channel = ADC_CHANNEL_5;
   sConfig.Rank = 1;
@@ -284,6 +295,43 @@ static void MX_ADC1_Init(void)
 
 }
 
+/**
+  * @brief CAN1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_CAN1_Init(void)
+{
+
+  /* USER CODE BEGIN CAN1_Init 0 */
+
+  /* USER CODE END CAN1_Init 0 */
+
+  /* USER CODE BEGIN CAN1_Init 1 */
+
+  /* USER CODE END CAN1_Init 1 */
+  hcan1.Instance = CAN1;
+  hcan1.Init.Prescaler = 16;
+  hcan1.Init.Mode = CAN_MODE_NORMAL;
+  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
+  hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
+  hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
+  hcan1.Init.TimeTriggeredMode = DISABLE;
+  hcan1.Init.AutoBusOff = DISABLE;
+  hcan1.Init.AutoWakeUp = DISABLE;
+  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.ReceiveFifoLocked = DISABLE;
+  hcan1.Init.TransmitFifoPriority = DISABLE;
+  if (HAL_CAN_Init(&hcan1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN CAN1_Init 2 */
+
+  /* USER CODE END CAN1_Init 2 */
+
+}
+
 /**
   * @brief ETH Initialization Function
   * @param None
@@ -372,7 +420,7 @@ static void MX_RTC_Init(void)
   /* USER CODE BEGIN RTC_Init 1 */
 
   /* USER CODE END RTC_Init 1 */
-  /**Initialize RTC Only 
+  /** Initialize RTC Only 
   */
   hrtc.Instance = RTC;
   hrtc.Init.HourFormat = RTC_HOURFORMAT_24;
@@ -565,6 +613,7 @@ static void MX_TIM2_Init(void)
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim2.Init.Period = 0;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
   {
     Error_Handler();
@@ -619,6 +668,7 @@ static void MX_TIM11_Init(void)
   htim11.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim11.Init.Period = 0;
   htim11.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim11.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim11) != HAL_OK)
   {
     Error_Handler();
@@ -649,6 +699,7 @@ static void MX_TIM13_Init(void)
   htim13.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim13.Init.Period = 0;
   htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim13.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim13) != HAL_OK)
   {
     Error_Handler();
@@ -679,6 +730,7 @@ static void MX_TIM14_Init(void)
   htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim14.Init.Period = 0;
   htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim14) != HAL_OK)
   {
     Error_Handler();
@@ -722,10 +774,85 @@ static void MX_USART1_UART_Init(void)
 
 }
 
+/**
+  * @brief USART2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART2_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART2_Init 0 */
+
+  /* USER CODE END USART2_Init 0 */
+
+  /* USER CODE BEGIN USART2_Init 1 */
+
+  /* USER CODE END USART2_Init 1 */
+  huart2.Instance = USART2;
+  huart2.Init.BaudRate = 115200;
+  huart2.Init.WordLength = UART_WORDLENGTH_8B;
+  huart2.Init.StopBits = UART_STOPBITS_1;
+  huart2.Init.Parity = UART_PARITY_NONE;
+  huart2.Init.Mode = UART_MODE_TX_RX;
+  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART2_Init 2 */
+
+  /* USER CODE END USART2_Init 2 */
+
+}
+
+/**
+  * @brief USART3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static 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;
+  if (HAL_UART_Init(&huart3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART3_Init 2 */
+
+  /* USER CODE END USART3_Init 2 */
+
+}
+
 /* FMC initialization function */
 static void MX_FMC_Init(void)
 {
-  FMC_SDRAM_TimingTypeDef SdramTiming;
+
+  /* USER CODE BEGIN FMC_Init 0 */
+
+  /* USER CODE END FMC_Init 0 */
+
+  FMC_SDRAM_TimingTypeDef SdramTiming = {0};
+
+  /* USER CODE BEGIN FMC_Init 1 */
+
+  /* USER CODE END FMC_Init 1 */
 
   /** Perform the SDRAM1 memory initialization sequence
   */
@@ -755,6 +882,9 @@ static void MX_FMC_Init(void)
     Error_Handler( );
   }
 
+  /* USER CODE BEGIN FMC_Init 2 */
+
+  /* USER CODE END FMC_Init 2 */
 }
 
 /**
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
index 5d3dcf0a51..e50a6d733b 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -107,7 +107,6 @@ void HAL_MspInit(void)
 */
 void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
 {
-
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   if(hadc->Instance==ADC1)
   {
@@ -139,10 +138,8 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
 * @param hadc: ADC handle pointer
 * @retval None
 */
-
 void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
 {
-
   if(hadc->Instance==ADC1)
   {
   /* USER CODE BEGIN ADC1_MspDeInit 0 */
@@ -163,6 +160,71 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
 
 }
 
+/**
+* @brief CAN MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hcan: CAN handle pointer
+* @retval None
+*/
+void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspInit 0 */
+
+  /* USER CODE END CAN1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_CAN1_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**CAN1 GPIO Configuration    
+    PA11     ------> CAN1_RX
+    PA12     ------> CAN1_TX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN CAN1_MspInit 1 */
+
+  /* USER CODE END CAN1_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief CAN MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hcan: CAN handle pointer
+* @retval None
+*/
+void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
+{
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspDeInit 0 */
+
+  /* USER CODE END CAN1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_CAN1_CLK_DISABLE();
+  
+    /**CAN1 GPIO Configuration    
+    PA11     ------> CAN1_RX
+    PA12     ------> CAN1_TX 
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
+
+  /* USER CODE BEGIN CAN1_MspDeInit 1 */
+
+  /* USER CODE END CAN1_MspDeInit 1 */
+  }
+
+}
+
 /**
 * @brief ETH MSP Initialization
 * This function configures the hardware resources used in this example
@@ -171,7 +233,6 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
 */
 void HAL_ETH_MspInit(ETH_HandleTypeDef* heth)
 {
-
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   if(heth->Instance==ETH)
   {
@@ -183,7 +244,6 @@ void HAL_ETH_MspInit(ETH_HandleTypeDef* heth)
   
     __HAL_RCC_GPIOC_CLK_ENABLE();
     __HAL_RCC_GPIOA_CLK_ENABLE();
-    __HAL_RCC_GPIOB_CLK_ENABLE();
     __HAL_RCC_GPIOG_CLK_ENABLE();
     /**ETH GPIO Configuration    
     PC1     ------> ETH_MDC
@@ -192,7 +252,7 @@ void HAL_ETH_MspInit(ETH_HandleTypeDef* heth)
     PA7     ------> ETH_CRS_DV
     PC4     ------> ETH_RXD0
     PC5     ------> ETH_RXD1
-    PB11     ------> ETH_TX_EN
+    PG11     ------> ETH_TX_EN
     PG13     ------> ETH_TXD0
     PG14     ------> ETH_TXD1 
     */
@@ -210,14 +270,7 @@ void HAL_ETH_MspInit(ETH_HandleTypeDef* heth)
     GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-    GPIO_InitStruct.Pin = GPIO_PIN_11;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14;
+    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
@@ -237,10 +290,8 @@ void HAL_ETH_MspInit(ETH_HandleTypeDef* heth)
 * @param heth: ETH handle pointer
 * @retval None
 */
-
 void HAL_ETH_MspDeInit(ETH_HandleTypeDef* heth)
 {
-
   if(heth->Instance==ETH)
   {
   /* USER CODE BEGIN ETH_MspDeInit 0 */
@@ -256,7 +307,7 @@ void HAL_ETH_MspDeInit(ETH_HandleTypeDef* heth)
     PA7     ------> ETH_CRS_DV
     PC4     ------> ETH_RXD0
     PC5     ------> ETH_RXD1
-    PB11     ------> ETH_TX_EN
+    PG11     ------> ETH_TX_EN
     PG13     ------> ETH_TXD0
     PG14     ------> ETH_TXD1 
     */
@@ -264,9 +315,7 @@ void HAL_ETH_MspDeInit(ETH_HandleTypeDef* heth)
 
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_7);
 
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_11);
-
-    HAL_GPIO_DeInit(GPIOG, GPIO_PIN_13|GPIO_PIN_14);
+    HAL_GPIO_DeInit(GPIOG, GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14);
 
   /* USER CODE BEGIN ETH_MspDeInit 1 */
 
@@ -283,7 +332,6 @@ void HAL_ETH_MspDeInit(ETH_HandleTypeDef* heth)
 */
 void HAL_RTC_MspInit(RTC_HandleTypeDef* hrtc)
 {
-
   if(hrtc->Instance==RTC)
   {
   /* USER CODE BEGIN RTC_MspInit 0 */
@@ -304,10 +352,8 @@ void HAL_RTC_MspInit(RTC_HandleTypeDef* hrtc)
 * @param hrtc: RTC handle pointer
 * @retval None
 */
-
 void HAL_RTC_MspDeInit(RTC_HandleTypeDef* hrtc)
 {
-
   if(hrtc->Instance==RTC)
   {
   /* USER CODE BEGIN RTC_MspDeInit 0 */
@@ -330,7 +376,6 @@ void HAL_RTC_MspDeInit(RTC_HandleTypeDef* hrtc)
 */
 void HAL_SD_MspInit(SD_HandleTypeDef* hsd)
 {
-
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   if(hsd->Instance==SDIO)
   {
@@ -378,10 +423,8 @@ void HAL_SD_MspInit(SD_HandleTypeDef* hsd)
 * @param hsd: SD handle pointer
 * @retval None
 */
-
 void HAL_SD_MspDeInit(SD_HandleTypeDef* hsd)
 {
-
   if(hsd->Instance==SDIO)
   {
   /* USER CODE BEGIN SDIO_MspDeInit 0 */
@@ -418,7 +461,6 @@ void HAL_SD_MspDeInit(SD_HandleTypeDef* hsd)
 */
 void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
 {
-
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   if(hspi->Instance==SPI1)
   {
@@ -463,11 +505,11 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
   
     __HAL_RCC_GPIOB_CLK_ENABLE();
     /**SPI2 GPIO Configuration    
-    PB10     ------> SPI2_SCK
+    PB13     ------> SPI2_SCK
     PB14     ------> SPI2_MISO
     PB15     ------> SPI2_MOSI 
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_14|GPIO_PIN_15;
+    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
@@ -512,10 +554,8 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
 * @param hspi: SPI handle pointer
 * @retval None
 */
-
 void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
 {
-
   if(hspi->Instance==SPI1)
   {
   /* USER CODE BEGIN SPI1_MspDeInit 0 */
@@ -546,11 +586,11 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
     __HAL_RCC_SPI2_CLK_DISABLE();
   
     /**SPI2 GPIO Configuration    
-    PB10     ------> SPI2_SCK
+    PB13     ------> SPI2_SCK
     PB14     ------> SPI2_MISO
     PB15     ------> SPI2_MOSI 
     */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10|GPIO_PIN_14|GPIO_PIN_15);
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15);
 
   /* USER CODE BEGIN SPI2_MspDeInit 1 */
 
@@ -586,7 +626,6 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
 */
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 {
-
   if(htim_base->Instance==TIM2)
   {
   /* USER CODE BEGIN TIM2_MspInit 0 */
@@ -636,7 +675,6 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 {
-
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   if(htim->Instance==TIM2)
   {
@@ -667,10 +705,8 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 * @param htim_base: TIM_Base handle pointer
 * @retval None
 */
-
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 {
-
   if(htim_base->Instance==TIM2)
   {
   /* USER CODE BEGIN TIM2_MspDeInit 0 */
@@ -726,7 +762,6 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 */
 void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 {
-
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   if(huart->Instance==USART1)
   {
@@ -756,6 +791,54 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 
   /* USER CODE END USART1_MspInit 1 */
   }
+  else if(huart->Instance==USART2)
+  {
+  /* USER CODE BEGIN USART2_MspInit 0 */
+
+  /* USER CODE END USART2_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_USART2_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**USART2 GPIO Configuration    
+    PD5     ------> USART2_TX
+    PD6     ------> USART2_RX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN USART2_MspInit 1 */
+
+  /* USER CODE END USART2_MspInit 1 */
+  }
+  else if(huart->Instance==USART3)
+  {
+  /* USER CODE BEGIN USART3_MspInit 0 */
+
+  /* USER CODE END USART3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_USART3_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**USART3 GPIO Configuration    
+    PB10     ------> USART3_TX
+    PB11     ------> USART3_RX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN USART3_MspInit 1 */
+
+  /* USER CODE END USART3_MspInit 1 */
+  }
 
 }
 
@@ -765,10 +848,8 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 * @param huart: UART handle pointer
 * @retval None
 */
-
 void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 {
-
   if(huart->Instance==USART1)
   {
   /* USER CODE BEGIN USART1_MspDeInit 0 */
@@ -789,6 +870,42 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 
   /* USER CODE END USART1_MspDeInit 1 */
   }
+  else if(huart->Instance==USART2)
+  {
+  /* USER CODE BEGIN USART2_MspDeInit 0 */
+
+  /* USER CODE END USART2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART2_CLK_DISABLE();
+  
+    /**USART2 GPIO Configuration    
+    PD5     ------> USART2_TX
+    PD6     ------> USART2_RX 
+    */
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_5|GPIO_PIN_6);
+
+  /* USER CODE BEGIN USART2_MspDeInit 1 */
+
+  /* USER CODE END USART2_MspDeInit 1 */
+  }
+  else if(huart->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    
+    PB10     ------> USART3_TX
+    PB11     ------> USART3_RX 
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10|GPIO_PIN_11);
+
+  /* USER CODE BEGIN USART3_MspDeInit 1 */
+
+  /* USER CODE END USART3_MspDeInit 1 */
+  }
 
 }
 
@@ -798,7 +915,7 @@ static void HAL_FMC_MspInit(void){
   /* USER CODE BEGIN FMC_MspInit 0 */
 
   /* USER CODE END FMC_MspInit 0 */
-  GPIO_InitTypeDef GPIO_InitStruct;
+  GPIO_InitTypeDef GPIO_InitStruct ={0};
   if (FMC_Initialized) {
     return;
   }
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/Kconfig b/bsp/stm32/stm32f429-atk-apollo/board/Kconfig
index 7d9091a981..f8bbfea973 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/Kconfig
+++ b/bsp/stm32/stm32f429-atk-apollo/board/Kconfig
@@ -15,7 +15,7 @@ menu "Onboard Peripheral Drivers"
 
     config BSP_USING_COM2
         bool "Enable COM2 (uart2 pin conflict with Ethernet and PWM)"
-	select BSP_USING_UART
+        select BSP_USING_UART
         select BSP_USING_UART2
         default n
 
@@ -106,6 +106,15 @@ menu "On-chip Peripheral Drivers"
     config BSP_USING_ON_CHIP_FLASH
         bool "Enable on-chip FLASH"
         default n
+    menuconfig BSP_USING_CAN
+        bool "Enable CAN"
+        default n
+        select RT_USING_CAN
+        if BSP_USING_CAN
+            config BSP_USING_CAN1
+                bool "Enable CAN1"
+                default n
+        endif
 
     menuconfig BSP_USING_SPI
         bool "Enable SPI BUS"