diff --git a/Power_Pico/BSP/GATE/gate.c b/Power_Pico/BSP/GATE/gate.c
index 6a3ff63..1c41ded 100644
--- a/Power_Pico/BSP/GATE/gate.c
+++ b/Power_Pico/BSP/GATE/gate.c
@@ -1,6 +1,8 @@
 #include "gate.h"
+#include "usart.h"
+#include "math.h"
 
-static uint8_t status = HIGH_CUR; // Default status
+uint8_t gate_status = HIGH_CUR; // Default status
 
 void Gate_Port_Init(void)
 {
@@ -31,6 +33,10 @@ void Gate_Port_Init(void)
 
 void flow_route_selection(uint8_t selection)
 {
+  if(selection > HIGH_CUR)
+    selection = HIGH_CUR; // Invalid selection
+  if(selection < LOW_CUR)
+    selection = LOW_CUR;
 	if(selection == HIGH_CUR)
   {
     HAL_GPIO_WritePin(EN1_PORT, EN1_PIN, GPIO_PIN_SET);
@@ -46,16 +52,75 @@ void flow_route_selection(uint8_t selection)
     HAL_GPIO_WritePin(EN1_PORT, EN1_PIN, GPIO_PIN_RESET);
     HAL_GPIO_WritePin(EN2_PORT, EN2_PIN, GPIO_PIN_RESET);
   }
-  else
-  {
-    // Invalid selection
-    HAL_GPIO_WritePin(EN1_PORT, EN1_PIN, GPIO_PIN_SET);
-    HAL_GPIO_WritePin(EN2_PORT, EN2_PIN, GPIO_PIN_SET);
-  }
-  status = selection; // Update the status
+  gate_status = selection; // Update the status
 }
 
 uint8_t Gate_get_status(void)
 {
-  return status;
+  return gate_status;
+}
+
+// DMA中断中执行, 不能有阻塞
+void Gate_Swich_and_UART_Send(ADC_Packet adc_packet)
+{
+  static uint8_t high_times = 0;
+  static uint8_t low_times = 0;
+  // low mid high
+  uint16_t cur_adc = 0;
+  switch(Gate_get_status()) {
+    case LOW_CUR:
+      cur_adc = adc_packet.data[0][1];
+      break;
+    case MID_CUR:
+      cur_adc = adc_packet.data[0][2];
+      break;
+    case HIGH_CUR:
+      cur_adc = adc_packet.data[0][3];
+      break;
+  }
+  // 可信范围内
+  if(cur_adc < ADC_TRUST_MAX) {
+    adc_packet.header[3] = Gate_get_status();
+    HAL_UART_Transmit_DMA(&huart6, (uint8_t*)&adc_packet, sizeof(adc_packet));
+    // 计算电压电流值
+    global_valtage = adc_packet.data[0][0] * 3.0f / 4096.0f * 11.0f; // 11 = (100+10)/10
+    if(Gate_get_status() == LOW_CUR) {
+      global_current = (adc_packet.data[0][1] - 2048) * (3.0f / 4096.0f / 50.0f / LOW_CUR_RES * 1000000.0f);
+      global_cur_unit = UNIT_UA;
+    }
+    else if(Gate_get_status() == MID_CUR) {
+      global_current = (adc_packet.data[0][2] - 2048) * (3.0f / 4096.0f / 50.0f / MID_CUR_RES * 1000.0f);
+      global_cur_unit = UNIT_MA;
+    }
+    else if(Gate_get_status() == HIGH_CUR) {
+      global_current = (adc_packet.data[0][3] - 2048) * (3.0f / 4096.0f / 50.0f / HIGH_CUR_RES * 1000.0f);
+      global_cur_unit = UNIT_MA;
+    }
+    // 超过量程
+    uint16_t diff = abs((int)cur_adc - 2048);
+    if(diff > THRESH_HIGH) {
+      high_times++;
+      low_times = 0;
+      if(high_times >= THRESH_TIMES) {
+        high_times = 0;
+        flow_route_selection(Gate_get_status()+1);
+      }
+    }
+    else if(diff < THRESH_LOW) {
+      low_times++;
+      high_times = 0;
+      if(low_times >= THRESH_TIMES) {
+        low_times = 0;
+        flow_route_selection(Gate_get_status()-1);
+      }
+    }
+    else {
+      high_times = 0;
+      low_times = 0;
+    }
+  }
+  // 不可信范围内
+  else {
+    flow_route_selection(Gate_get_status()+1);
+  }
 }
diff --git a/Power_Pico/BSP/GATE/gate.h b/Power_Pico/BSP/GATE/gate.h
index 0e49b85..d07c127 100644
--- a/Power_Pico/BSP/GATE/gate.h
+++ b/Power_Pico/BSP/GATE/gate.h
@@ -6,6 +6,7 @@ extern "C" {
 #endif
 
 #include "main.h"
+#include "adc.h"
 
 // EN1
 #define EN1_PORT    GPIOB
@@ -16,18 +17,19 @@ extern "C" {
 #define EN2_PIN     GPIO_PIN_15
 
 // Flow route selection
-#define HIGH_CUR 2
-#define MID_CUR 1
-#define LOW_CUR 0
+#define HIGH_CUR 3
+#define MID_CUR 2
+#define LOW_CUR 1
 
 // Resistance values in ohms
-#define HIGH_CUR_RES 0.005    // 5 m ohm
-#define MID_CUR_RES 0.5     // 500 m ohm
-#define LOW_CUR_RES 50.0     // 50 ohm
+#define HIGH_CUR_RES 0.005f   // 5 m ohm
+#define MID_CUR_RES 0.5f      // 500 m ohm
+#define LOW_CUR_RES 50.0f     // 50 ohm
 
 void Gate_Port_Init(void);
 void flow_route_selection(uint8_t selection);
 uint8_t Gate_get_status(void);
+void Gate_Swich_and_UART_Send(ADC_Packet adc_packet);
 
 #ifdef __cplusplus
 }
diff --git a/Power_Pico/Core/Inc/adc.h b/Power_Pico/Core/Inc/adc.h
index d6a5792..9b9b77c 100644
--- a/Power_Pico/Core/Inc/adc.h
+++ b/Power_Pico/Core/Inc/adc.h
@@ -30,19 +30,34 @@ extern "C" {
 
 /* USER CODE BEGIN Includes */
 
-#define ADC_TIMES 10
+#define ADC_TIMES 1
 #define ADC_CHANELS 4
 
 typedef struct {
-  uint8_t  header[6]; //2的倍数
+  uint8_t  header[4]; //2的倍数
   // 0x55, 0xAA header
   // 0x0A adc times, 0x05 adc channels (so data lenth is times * channels * 2 bytes)
-  // and 1byte for direct & unit, 0x0? for positive, 0x1? for negative, 0x?0 for LOW, 0x?1 for MID, 0x?2 for HIGH.
+  // 0x?0 for LOW, 0x?1 for MID, 0x?2 for HIGH.
   uint16_t data[ADC_TIMES][ADC_CHANELS];
 } __attribute__((packed)) ADC_Packet;
 
 extern ADC_Packet adc_packet;
 
+#define UNIT_UA 0
+#define UNIT_MA 1
+
+// 量程阈值
+#define ADC_TRUST_MAX 4000
+#define THRESH_HIGH 1900
+#define THRESH_LOW  18
+
+// 次数
+#define THRESH_TIMES 10
+
+extern uint8_t global_cur_unit;
+extern float global_valtage;
+extern float global_current;
+
 /* USER CODE END Includes */
 
 extern ADC_HandleTypeDef hadc1;
diff --git a/Power_Pico/Core/Src/adc.c b/Power_Pico/Core/Src/adc.c
index 0761012..eb05476 100644
--- a/Power_Pico/Core/Src/adc.c
+++ b/Power_Pico/Core/Src/adc.c
@@ -24,6 +24,10 @@
 
 ADC_Packet adc_packet;
 
+uint8_t global_cur_unit = UNIT_MA; // default mA
+float global_valtage = 0.0;
+float global_current = 0.0;
+
 /* USER CODE END 0 */
 
 ADC_HandleTypeDef hadc1;
@@ -66,7 +70,7 @@ void MX_ADC1_Init(void)
   */
   sConfig.Channel = ADC_CHANNEL_5;
   sConfig.Rank = 1;
-  sConfig.SamplingTime = ADC_SAMPLETIME_15CYCLES;
+  sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES;
   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
   {
     Error_Handler();
@@ -143,7 +147,7 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
     hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
     hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
     hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
-    hdma_adc1.Init.Mode = DMA_NORMAL;
+    hdma_adc1.Init.Mode = DMA_CIRCULAR;
     hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
     hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
diff --git a/Power_Pico/Core/Src/stm32f4xx_it.c b/Power_Pico/Core/Src/stm32f4xx_it.c
index 82deb19..44b129a 100644
--- a/Power_Pico/Core/Src/stm32f4xx_it.c
+++ b/Power_Pico/Core/Src/stm32f4xx_it.c
@@ -24,6 +24,7 @@
 /* USER CODE BEGIN Includes */
 #include "usart.h"
 #include "adc.h"
+#include "gate.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -204,11 +205,7 @@ void DMA2_Stream0_IRQHandler(void)
   /* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
   if(__HAL_DMA_GET_FLAG(&hdma_adc1, DMA_FLAG_TCIF0_4)) {
       __HAL_DMA_CLEAR_FLAG(&hdma_adc1, DMA_FLAG_TCIF0_4);
-      HAL_ADC_Stop_DMA(&hadc1);
-      // 填充模式位
-      adc_packet.header[4] = 0x10;
-      HAL_UART_Transmit_DMA(&huart6, (uint8_t *)&adc_packet, sizeof(adc_packet));
-      HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc_packet.data, ADC_TIMES * ADC_CHANELS);
+      Gate_Swich_and_UART_Send(adc_packet);
   }
   /* USER CODE END DMA2_Stream0_IRQn 0 */
   HAL_DMA_IRQHandler(&hdma_adc1);
diff --git a/Power_Pico/User/Tasks/Src/user_DataTask.c b/Power_Pico/User/Tasks/Src/user_DataTask.c
index 1ce67d0..f3f87ff 100644
--- a/Power_Pico/User/Tasks/Src/user_DataTask.c
+++ b/Power_Pico/User/Tasks/Src/user_DataTask.c
@@ -29,8 +29,20 @@ void DataTask(void *argument)
     if(osMessageQueueGet(Key_MessageQueue, &keystr, NULL, 0)==osOK)
 		{
       // UART6_TX_Send((uint8_t *)"key pressed\r\n", 13);
+
     }
-    
+    // __disable_irq();
+    // if(adc_buf_index == 0)
+    //   memcpy((uint16_t*)adc_packet.data, (uint16_t*)ADC_BUF[1], sizeof(adc_packet.data));
+    // else
+    //   memcpy((uint16_t*)adc_packet.data, (uint16_t*)ADC_BUF[0], sizeof(adc_packet.data));
+    // __enable_irq();
+    // adc_packet.header[0] = 0x55;
+    // adc_packet.header[1] = 0xAA;
+    // adc_packet.header[2] = ADC_TIMES;
+    // adc_packet.header[3] = ADC_CHANELS;
+    // adc_packet.header[4] = 0x10;
+    // HAL_UART_Transmit_DMA(&huart6, (uint8_t *)&adc_packet, sizeof(adc_packet));
 		osDelay(1);
 	}
 }
diff --git a/Power_Pico/User/Tasks/Src/user_HardwareInitTask.c b/Power_Pico/User/Tasks/Src/user_HardwareInitTask.c
index 6d63229..80ecf33 100644
--- a/Power_Pico/User/Tasks/Src/user_HardwareInitTask.c
+++ b/Power_Pico/User/Tasks/Src/user_HardwareInitTask.c
@@ -54,10 +54,8 @@ void HardwareInitTask(void *argument)
 
     adc_packet.header[0] = 0x55;
     adc_packet.header[1] = 0xAA;
-    adc_packet.header[2] = ADC_TIMES;
-    adc_packet.header[3] = ADC_CHANELS;
     // 填充模式位
-    adc_packet.header[4] = 0x10;
+    adc_packet.header[2] = 0x03;
 
     // gate, for current flow route selection, high current by default
     Gate_Port_Init();