diff --git a/CMakeLists.txt b/CMakeLists.txt
index ed47e05..6e58ca0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,6 +5,8 @@ SET(CMAKE_CXX_STANDARD 11)
 SET(CMAKE_BUILD_TYPE RELEASE)
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D${CMAKE_SYSTEM_NAME}")
+MESSAGE("${CMAKE_CXX_FLAGS}")
 # Todo
 ## 使用编译期固定选项，以略微提升性能。
 #SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFIX_OPTIONS")
@@ -20,17 +22,28 @@ IF(CCACHE_FOUND)
     MESSAGE("< Use ccache for compiler >")
 ENDIF()
 
+FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
+ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} )
+
+IF (CMAKE_SYSTEM_NAME MATCHES "Linux")
+    MESSAGE(STATUS "current platform: Linux ")
+    FIND_PACKAGE(Eigen3 REQUIRED)
+    INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
+    TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/libMVSDK.so")
+ELSEIF (CMAKE_SYSTEM_NAME MATCHES "Windows")
+    MESSAGE(STATUS "current platform: Windows")
+    INCLUDE_DIRECTORIES("C:/Applications/eigen3")
+    TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/MVCAMSDK_X64.lib")
+ELSE ()
+    MESSAGE(STATUS "Unsupport platform: ${CMAKE_SYSTEM_NAME}")
+ENDIF()
 FIND_PACKAGE(OpenCV 3 REQUIRED)
 FIND_PACKAGE(Threads)
 
-INCLUDE_DIRECTORIES("C:\\Applications\\eigen3")
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/energy/include)
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/armor/include)
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/others/include)
 
-FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
-ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} )
 
 TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT})
 TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS})
-TARGET_LINK_LIBRARIES(${BIN_NAME} "C:/Program\ Files\ (x86)/MindVision/SDK/X64/MVCAMSDK_X64.lib")
diff --git a/armor/src/armor_finder/armor_finder.cpp b/armor/src/armor_finder/armor_finder.cpp
index 7c558c3..7f88257 100644
--- a/armor/src/armor_finder/armor_finder.cpp
+++ b/armor/src/armor_finder/armor_finder.cpp
@@ -68,11 +68,6 @@ bool sendTarget(Serial& serial, double x, double y, double z) {
 	static int fps;
 	uint8_t buff[8];
 
-	static SYSTEMTIME ts, te;
-	GetLocalTime(&te);
-	printf("Interval: %d\n", (te.wSecond - ts.wSecond) * 1000 + (te.wMilliseconds - ts.wMilliseconds));
-	ts = te;
-
 	time_t t = time(nullptr);
 	if (last_time != t) {
 		last_time = t;
diff --git a/main.cpp b/main.cpp
index dbb148a..d851c79 100644
--- a/main.cpp
+++ b/main.cpp
@@ -37,7 +37,7 @@ void uartReceive(Serial *uart);
 
 int main(int argc, char *argv[]) {
     process_options(argc, argv);
-	Serial uart(3, 115200);
+  	Serial uart(115200);
     thread receive(uartReceive, &uart);
     bool flag = true;
 
@@ -118,12 +118,11 @@ int main(int argc, char *argv[]) {
     return 0;
 }
 
-#define RECEIVE_LOG_LEVEL LOG_MSG
+#define RECEIVE_LOG_LEVEL LOG_NOTHING
 
 char uartReadByte(Serial &uart) {
-	while (uart.GetBytesInCOM() == 0);
 	char byte;
-	if (uart.ReadData((uint8_t*)& byte, 1) == false) {
+	if (uart.ReadData((uint8_t*)&byte, 1) == false) {
 		LOGE("serial error!");
 	}
 	return byte;
@@ -138,45 +137,45 @@ void uartReceive(Serial* uart) {
         while ((data = uartReadByte(*uart)) != '\n') {
             buffer[cnt++] = data;
             if (cnt >= 100) {
-                //LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
+                LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
                 cnt = 0;
             }
         }
-        //LOGM("%d", cnt);
+        LOGM("%d", cnt);
         if (cnt == 12) {
             if (buffer[8] == 'e') {
                 state = ENERGY_STATE;
-                //LOG(RECEIVE_LOG_LEVEL, "Energy state");
+                LOG(RECEIVE_LOG_LEVEL, "Energy state");
             } else if (buffer[8] == 'a') {
                 state = ARMOR_STATE;
-                //LOG(RECEIVE_LOG_LEVEL, "Armor state");
+                LOG(RECEIVE_LOG_LEVEL, "Armor state");
             }
             if (buffer[10] == 0){
                 use_classifier = false;
-                //LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
+                LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
             } else if(buffer[10] == 1){
                 use_classifier = true;
-                //LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
+                LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
             }
 			if (buffer[11] == ENEMY_BLUE) {
-				//LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!");
+				LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!");
 				ally_color = ALLY_RED;
 				enemy_color = ENEMY_BLUE;
 			} else if (buffer[11] == ENEMY_RED) {
-				//LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!");
+				LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!");
 				ally_color = ALLY_BLUE;
 				enemy_color = ENEMY_RED;
 			}
             memcpy(&curr_yaw, buffer, 4);
             memcpy(&curr_pitch, buffer + 4, 4);
-            //LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
+            LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
             if (buffer[9] == 1) {
                 if (mark == 0) {
                     mark = 1;
                     mark_yaw = curr_yaw;
                     mark_pitch = curr_pitch;
                 }
-                //LOG(RECEIVE_LOG_LEVEL, "Marked");
+                LOG(RECEIVE_LOG_LEVEL, "Marked");
             }
         }
         cnt = 0;
diff --git a/others/include/camera/camera_define.h b/others/include/camera/camera_define.h
index eeedb6c..e06b8b3 100644
--- a/others/include/camera/camera_define.h
+++ b/others/include/camera/camera_define.h
@@ -31,6 +31,7 @@ typedef unsigned char UCHAR;
 #define HMODULE void*
 
 
+
 #define TRUE 1
 #define FALSE 0
 //图像查表变换的方式
diff --git a/others/include/camera/camera_wrapper.h b/others/include/camera/camera_wrapper.h
index 209465f..e6f9d75 100644
--- a/others/include/camera/camera_wrapper.h
+++ b/others/include/camera/camera_wrapper.h
@@ -14,7 +14,11 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "camera/wrapper_head.h"
-#include "camera/CameraApi.h"
+#ifdef Windows
+    #include "camera/CameraApi.h"
+#elif defined(Linux)
+    #include "camera/camera_api.h"
+#endif
 
 class CameraWrapper: public WrapperHead {
 private:
diff --git a/others/include/log.h b/others/include/log.h
index 2e9d6f1..469948c 100644
--- a/others/include/log.h
+++ b/others/include/log.h
@@ -124,8 +124,8 @@
                                             __FILE__, __LINE__, ##__VA_ARGS__)
 
 /******************** the time counter API ************************/
-#ifndef DO_NOT_CNT_TIME && LOG_LEVEL > LOG_NONE
-	#ifdef WIN32
+#if !defined(DO_NOT_CNT_TIME) && LOG_LEVEL > LOG_NONE
+	#ifdef Windows
 		#include <Windows.h>
 		#define CNT_TIME(tag, codes, ...) do{ \
 			static SYSTEMTIME ts, te; \
diff --git a/others/include/options/additions.h b/others/include/options/additions.h
index 13c1550..5171790 100644
--- a/others/include/options/additions.h
+++ b/others/include/options/additions.h
@@ -5,7 +5,7 @@
 #ifndef _ADDITIONS_H_
 #define _ADDITIONS_H_
 
-#include <uart/uart.h>
+#include <serial/serial.h>
 #include <opencv2/core.hpp>
 #include <thread>
 
diff --git a/others/include/serial/serial.h b/others/include/serial/serial.h
index 4a98040..e6a525b 100644
--- a/others/include/serial/serial.h
+++ b/others/include/serial/serial.h
@@ -1,12 +1,14 @@
 #ifndef _SERIAL_H_
 #define _SERIAL_H_
 
+#ifdef Windows
+
 #include <Windows.h>
 
 class Serial
 {
 public:
-	Serial(UINT portNo = 1, UINT  baud = CBR_9600, char  parity = 'N', UINT  databits = 8, UINT  stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR);
+	Serial(UINT  baud = CBR_115200, char  parity = 'N', UINT  databits = 8, UINT  stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR);
 	~Serial();
 
 	bool InitPort(UINT  portNo = 1, UINT  baud = CBR_9600, char  parity = 'N', UINT  databits = 8, UINT  stopsbits = 1, DWORD dwCommEvents = EV_RXCHAR);
@@ -27,4 +29,33 @@ private:
 	DWORD dwCommEvents;
 };
 
+#elif defined(Linux)
+
+#include <errno.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+
+class Serial {
+private:
+    int fd;
+    int nSpeed;
+    char nEvent;
+    int nBits;
+    int nStop;
+
+    int set_opt(int fd, int nSpeed, char nEvent, int nBits, int nStop);
+
+public:
+    Serial(int nSpeed = 115200, char nEvent = 'N', int nBits = 8, int nStop = 1);
+    ~Serial();
+
+    bool InitPort(int nSpeed = 115200, char  nEvent = 'N', int nBits = 8, int nStop = 1);
+//    int GetBytesInCOM() const ;
+    bool WriteData(const unsigned char* pData, unsigned int length);
+    bool ReadData(unsigned char* buffer, unsigned int length);
+};
+
+#endif
+
 #endif /* _SERIAL_H_ */
diff --git a/others/src/camera/camera_wrapper.cpp b/others/src/camera/camera_wrapper.cpp
index 2cfefab..8fa3ac9 100644
--- a/others/src/camera/camera_wrapper.cpp
+++ b/others/src/camera/camera_wrapper.cpp
@@ -62,7 +62,7 @@ bool CameraWrapper::init() {
     rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax *
             tCapability.sResolutionRange.iWidthMax * 3);
 	char filepath[200];
-	sprintf_s(filepath, PROJECT_DIR"/others/%s.Config", name.data());
+	sprintf(filepath, PROJECT_DIR"/others/%s.Config", name.data());
 	if (CameraReadParameterFromFile(h_camera, filepath) != CAMERA_STATUS_SUCCESS) {
 		LOGE("Load parameter %s from file fail!", filepath);
 		return false;
@@ -75,28 +75,6 @@ bool CameraWrapper::init() {
 	double t;
 	CameraGetExposureTime(h_camera, &t);
 	LOGM("Exposure time: %lfms", t / 1000.0);
-/*    if(mode == 0){
-        // 不使用自动曝光
-        CameraSetAeState(h_camera, false);
-        // 曝光时间10ms
-        CameraSetExposureTime(h_camera, 10000);
-        double t;
-        CameraGetExposureTime(h_camera, &t);
-        LOGM("Exposure time: %lfms", t/1000.0);
-        // 模拟增益4
-        CameraSetAnalogGain(h_camera, 64);
-        // 使用预设LUT表
-        CameraSetLutMode(h_camera, LUTMODE_PRESET);
-        // 抗频闪
-//        CameraSetAntiFlick(h_camera, true);
-    }
-    else if(mode == 1){
-        // 不使用自动曝光
-        CameraSetAeState(h_camera, false);
-        // 抗频闪
-//        CameraSetAntiFlick(h_camera, true);
-    }
-*/
     /*让SDK进入工作模式，开始接收来自相机发送的图像
     数据。如果当前相机是触发模式，则需要接收到
     触发帧以后才会更新图像。    */
diff --git a/others/src/serial/serial.cpp b/others/src/serial/serial.cpp
index 99105ef..d714ea6 100644
--- a/others/src/serial/serial.cpp
+++ b/others/src/serial/serial.cpp
@@ -4,9 +4,11 @@
 using namespace std;
 #include <iostream>
 
-Serial::Serial(UINT portNo, UINT  baud, char  parity, UINT  databits, UINT stopsbits, DWORD dwCommEvents) :
+#ifdef Windows
+
+Serial::Serial(UINT  baud, char  parity, UINT  databits, UINT stopsbits, DWORD dwCommEvents) :
 hComm(INVALID_HANDLE_VALUE),
-portNo(portNo),
+portNo(3),
 parity(parity),
 databits(databits),
 stopsbits(stopsbits),
@@ -40,12 +42,12 @@ bool Serial::openPort(UINT  portNo) {
 	char szPort[50];
 	sprintf_s(szPort, "COM%d", portNo);
 
-	/** ��ָ���Ĵ��� */
-	hComm = CreateFileA(szPort,	      /** �豸��,COM1,COM2�� */
-		GENERIC_READ | GENERIC_WRITE, /** ����ģʽ,��ͬʱ��д */
-		0,                            /** ����ģʽ,0��ʾ������ */
-		NULL,                         /** ��ȫ������,һ��ʹ��NULL */
-		OPEN_EXISTING,                /** �ò�����ʾ�豸�������,���򴴽�ʧ�� */
+	/** 打开指定的串口 */
+	hComm = CreateFileA(szPort,	      /** 设备名,COM1,COM2等 */
+		GENERIC_READ | GENERIC_WRITE, /** 访问模式,可同时读写 */
+		0,                            /** 共享模式,0表示不共享 */
+		NULL,                         /** 安全性设置,一般使用NULL */
+		OPEN_EXISTING,                /** 该参数表示设备必须存在,否则创建失败 */
 		0,
 		0);
 
@@ -53,7 +55,7 @@ bool Serial::openPort(UINT  portNo) {
 }
 
 void Serial::ClosePort() {
-	/** ����д��ڱ��򿪣��ر��� */
+	/** 如果有串口被打开，关闭它 */
 	if (hComm != INVALID_HANDLE_VALUE) {
 		CloseHandle(hComm);
 		hComm = INVALID_HANDLE_VALUE;
@@ -61,7 +63,7 @@ void Serial::ClosePort() {
 }
 
 bool Serial::InitPort(UINT  portNo, UINT baud, char parity, UINT databits, UINT stopsbits, DWORD dwCommEvents) {
-	/** ��ʱ����,���ƶ�����ת��Ϊ�ַ�����ʽ,�Թ���DCB�ṹ */
+	/** 临时变量,将制定参数转化为字符串形式,以构造DCB结构 */
 	char szDCBparam[50];
 	sprintf_s(szDCBparam, "baud=%d parity=%c data=%d stop=%d", baud, parity, databits, stopsbits);
 	
@@ -85,40 +87,40 @@ bool Serial::InitPort(UINT  portNo, UINT baud, char parity, UINT databits, UINT
 
 	DCB  dcb;
 	if (bIsSuccess)	{
-		/** ��ȡ��ǰ�������ò���,���ҹ��촮��DCB���� */
+		/** 获取当前串口配置参数,并且构造串口DCB参数 */
 		bIsSuccess = GetCommState(hComm, &dcb);
 		bIsSuccess = BuildCommDCB(szDCBparam, &dcb);
 		if (!bIsSuccess) {
 			
 			cout << "Create dcb fail with "<< GetLastError() << endl;
 		}
-		/** ����RTS flow���� */
+		/** 开启RTS flow控制 */
 		dcb.fRtsControl = RTS_CONTROL_ENABLE;
 	}
 
 	if (bIsSuccess)	{
-		/** ʹ��DCB�������ô���״̬ */
+		/** 使用DCB参数配置串口状态 */
 		bIsSuccess = SetCommState(hComm, &dcb);
 		if (!bIsSuccess) {
 			cout << "SetCommState error!" << endl;
 		}
 	}
 
-	/**  ��մ��ڻ����� */
+	/**  清空串口缓冲区 */
 	PurgeComm(hComm, PURGE_RXCLEAR | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_TXABORT);
 
 	return bIsSuccess;
 }
 
 UINT Serial::GetBytesInCOM() const {
-	DWORD dwError = 0;  /** ������ */
-	COMSTAT  comstat;   /** COMSTAT�ṹ��,��¼ͨ���豸��״̬��Ϣ */
+	DWORD dwError = 0;  /** 错误码 */
+	COMSTAT  comstat;   /** COMSTAT结构体,记录通信设备的状态信息 */
 	memset(&comstat, 0, sizeof(COMSTAT));
 
 	UINT BytesInQue = 0;
-	/** �ڵ���ReadFile��WriteFile֮ǰ,ͨ�������������ǰ�����Ĵ����־ */
+	/** 在调用ReadFile和WriteFile之前,通过本函数清除以前遗留的错误标志 */
 	if (ClearCommError(hComm, &dwError, &comstat)) {
-		BytesInQue = comstat.cbInQue; /** ��ȡ�����뻺�����е��ֽ��� */
+		BytesInQue = comstat.cbInQue; /** 获取在输入缓冲区中的字节数 */
 	}
 
 	return BytesInQue;
@@ -130,13 +132,13 @@ bool Serial::WriteData(const unsigned char* pData, unsigned int length) {
 		return false;
 	}
 
-	/** �򻺳���д��ָ���������� */
+	/** 向缓冲区写入指定量的数据 */
 	BOOL   bResult = TRUE;
 	DWORD  BytesToSend = 0;
 	bResult = WriteFile(hComm, pData, length, &BytesToSend, NULL);
 	if (!bResult) {
 		DWORD dwError = GetLastError();
-		/** ��մ��ڻ����� */
+		/** 清空串口缓冲区 */
 		PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
 		ErrorHandler();
 		return false;
@@ -150,17 +152,17 @@ bool Serial::ReadData(unsigned char *buffer,  unsigned int length) {
 		return false;
 	}
 
-	/** �ӻ�������ȡlength�ֽڵ����� */
+	/** 从缓冲区读取length字节的数据 */
 	BOOL  bResult = TRUE;
 	DWORD totalRead = 0, onceRead = 0;
 	while (totalRead < length) {
 		bResult = ReadFile(hComm, buffer, length-totalRead, &onceRead, NULL);
 		totalRead += onceRead;
 		if ((!bResult)) {
-			/** ��ȡ������,���Ը��ݸô�����������ԭ�� */
+			/** 获取错误码,可以根据该错误码查出错误原因 */
 			DWORD dwError = GetLastError();
 
-			/** ��մ��ڻ����� */
+			/** 清空串口缓冲区 */
 			PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
 			ErrorHandler();
 			return false;
@@ -168,3 +170,156 @@ bool Serial::ReadData(unsigned char *buffer,  unsigned int length) {
 	}
 	return bResult;
 }
+
+#else defined(Linux)
+
+#include <string.h>
+
+using namespace std;
+
+string get_uart_dev_name(){
+    FILE* ls = popen("ls /dev/ttyUSB* --color=never", "r");
+    char name[20] = {0};
+    fscanf(ls, "%s", name);
+    return name;
+}
+
+Serial::Serial(int nSpeed, char nEvent, int nBits, int nStop) :
+nSpeed(nSpeed), nEvent(nEvent), nBits(nBits), nStop(nStop){
+    if(wait_uart){
+        LOGM("Wait for serial be ready!");
+        while(InitPort(nSpeed, nEvent, nBits, nStop) == false);
+        LOGM("Port set successfully!");
+    }else{
+        if(InitPort(nSpeed, nEvent, nBits, nStop)){
+            LOGM("Port set successfully!");
+        }else{
+            LOGE("Port set fail!");
+        }
+    }
+}
+
+Serial::~Serial() {
+    close(fd);
+    fd = -1;
+}
+
+bool Serial::InitPort(int nSpeed, char nEvent, int nBits, int nStop){
+    string name = get_uart_dev_name();
+    if(name == ""){
+        return false;
+    }
+    if((fd=open(name.data(), O_RDWR)) < 0){
+        return false;
+    }
+    if(set_opt(fd, nSpeed, nEvent, nBits, nStop) < 0){
+        return false;
+    }
+    return true;
+}
+
+//int GetBytesInCOM() const {
+//
+//}
+
+bool Serial::WriteData(const unsigned char* pData, unsigned int length){
+    int cnt=0, curr=0;
+    while((curr=write(fd, pData+cnt, length-cnt))>0 && (cnt+=curr)<length);
+    if(cnt < 0){
+        LOGE("Serial offline!");
+        close(fd);
+        if(wait_uart){
+            InitPort(nSpeed, nEvent, nBits, nStop);
+        }
+    }
+}
+
+bool Serial::ReadData(unsigned char* buffer, unsigned int length){
+    int cnt=0, curr=0;
+    while((curr=read(fd, buffer+cnt, length-cnt))>0 && (cnt+=curr)<length);
+    if(cnt < 0){
+        LOGE("Serial offline!");
+        close(fd);
+        if(wait_uart){
+            InitPort(nSpeed, nEvent, nBits, nStop);
+        }
+    }
+}
+
+int Serial::set_opt(int fd, int nSpeed, char nEvent, int nBits, int nStop) {
+    termios newtio{}, oldtio{};
+    if (tcgetattr(fd, &oldtio) != 0) {
+        perror("SetupSerial 1");
+        return -1;
+    }
+    bzero(&newtio, sizeof(newtio));
+    newtio.c_cflag |= CLOCAL | CREAD;
+    newtio.c_cflag &= ~CSIZE;
+
+    switch (nBits) {
+        case 7:
+            newtio.c_cflag |= CS7;break;
+        case 8:
+            newtio.c_cflag |= CS8;break;
+        default:break;
+    }
+
+    switch (nEvent) {
+        case 'O':  //奇校验
+            newtio.c_cflag |= PARENB;
+            newtio.c_cflag |= PARODD;
+            newtio.c_iflag |= (INPCK | ISTRIP);
+            break;
+        case 'E':  //偶校验
+            newtio.c_iflag |= (INPCK | ISTRIP);
+            newtio.c_cflag |= PARENB;
+            newtio.c_cflag &= ~PARODD;
+            break;
+        case 'N':  //无校验
+            newtio.c_cflag &= ~PARENB;
+            break;
+        default:break;
+    }
+
+    switch (nSpeed) {
+        case 2400:
+            cfsetispeed(&newtio, B2400);
+            cfsetospeed(&newtio, B2400);
+            break;
+        case 4800:
+            cfsetispeed(&newtio, B4800);
+            cfsetospeed(&newtio, B4800);
+            break;
+        case 9600:
+            cfsetispeed(&newtio, B9600);
+            cfsetospeed(&newtio, B9600);
+            break;
+        case 115200:
+            cfsetispeed(&newtio, B115200);
+            cfsetospeed(&newtio, B115200);
+            break;
+        default:
+            cfsetispeed(&newtio, B9600);
+            cfsetospeed(&newtio, B9600);
+            break;
+    }
+
+    if (nStop == 1) {
+        newtio.c_cflag &= ~CSTOPB;
+    } else if (nStop == 2) {
+        newtio.c_cflag |= CSTOPB;
+    }
+
+    newtio.c_cc[VTIME] = 0;
+    newtio.c_cc[VMIN] = 0;
+    tcflush(fd, TCIFLUSH);
+    if ((tcsetattr(fd, TCSANOW, &newtio)) != 0) {
+        perror("com set error");
+        return -1;
+    }
+    printf("set done!\n");
+
+    return 0;
+}
+
+#endif /* switch os */
diff --git a/tools/TrainCNN/backward.py b/tools/TrainCNN/backward.py
index 7d3b168..797defc 100755
--- a/tools/TrainCNN/backward.py
+++ b/tools/TrainCNN/backward.py
@@ -103,7 +103,7 @@ def train(dataset, show_bar=False):
 
             if i % 100 == 0:
                 if i % 1000 == 0:
-                    test_samples, test_labels = dataset.sample_test_sets(5000)
+                    test_samples, test_labels = dataset.sample_test_sets(1000)
                     acc = sess.run(accuracy, feed_dict={x: test_samples, y_: test_labels})
                 bar.set_postfix({"loss": loss_value, "acc": acc})
 
diff --git a/tools/TrainCNN/forward.py b/tools/TrainCNN/forward.py
index 4572b8c..6200957 100644
--- a/tools/TrainCNN/forward.py
+++ b/tools/TrainCNN/forward.py
@@ -72,13 +72,13 @@ def forward(x, regularizer=None):
     node = pool_shape[1] * pool_shape[2] * pool_shape[3]
     reshaped = tf.reshape(pool2, [-1, node])
 
-    fc1_w = get_weight([node, FC1_OUTPUT_NODES], regularizer)
+    fc1_w = tf.nn.dropout(get_weight([node, FC1_OUTPUT_NODES], regularizer), 0.1)
     fc1_b = get_bias([FC1_OUTPUT_NODES])
     fc1   = tf.nn.relu(tf.matmul(reshaped, fc1_w) + fc1_b)
     vars.extend([fc1_w, fc1_b])
     nodes.extend([fc1])
 
-    fc2_w = get_weight([FC1_OUTPUT_NODES, FC2_OUTPUT_NODES], regularizer)
+    fc2_w = tf.nn.dropout(get_weight([FC1_OUTPUT_NODES, FC2_OUTPUT_NODES], regularizer), 0.1)
     fc2_b = get_bias([FC2_OUTPUT_NODES])
     fc2   = tf.nn.softmax(tf.matmul(fc1, fc2_w) + fc2_b)
     vars.extend([fc2_w, fc2_b])