diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index 1aed9c4..978d0c8 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -58,6 +58,7 @@ void EXTI3_IRQHandler(void);
 void EXTI4_IRQHandler(void);
 void DMA1_Stream1_IRQHandler(void);
 void DMA1_Stream2_IRQHandler(void);
+void CAN1_TX_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
@@ -68,6 +69,7 @@ void TIM7_IRQHandler(void);
 void DMA2_Stream1_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream3_IRQHandler(void);
+void CAN2_TX_IRQHandler(void);
 void CAN2_RX0_IRQHandler(void);
 void CAN2_RX1_IRQHandler(void);
 void OTG_FS_IRQHandler(void);
diff --git a/Core/Src/can.c b/Core/Src/can.c
index ba8667f..fbaab77 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -122,6 +122,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
     /* CAN1 interrupt Init */
+    HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
     HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
     HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
@@ -155,6 +157,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
     /* CAN2 interrupt Init */
+    HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
     HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
@@ -186,6 +190,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
 
     /* CAN1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
     HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
   /* USER CODE BEGIN CAN1_MspDeInit 1 */
@@ -211,6 +216,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
 
     /* CAN2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
   /* USER CODE BEGIN CAN2_MspDeInit 1 */
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 1a85e80..a07ad4b 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -1,157 +1,157 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * File Name          : freertos.c
-  * Description        : Code for freertos applications
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Includes ------------------------------------------------------------------*/
-#include "FreeRTOS.h"
-#include "task.h"
-#include "main.h"
-#include "cmsis_os.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-#include "task/user_task.h"
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN PTD */
-
-/* USER CODE END PTD */
-
-/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN PD */
-
-/* USER CODE END PD */
-
-/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN PM */
-
-/* USER CODE END PM */
-
-/* Private variables ---------------------------------------------------------*/
-/* USER CODE BEGIN Variables */
-
-/* USER CODE END Variables */
-/* Definitions for defaultTask */
-osThreadId_t defaultTaskHandle;
-const osThreadAttr_t defaultTask_attributes = {
-  .name = "defaultTask",
-  .stack_size = 128 * 4,
-  .priority = (osPriority_t) osPriorityNormal,
-};
-
-/* Private function prototypes -----------------------------------------------*/
-/* USER CODE BEGIN FunctionPrototypes */
-
-/* USER CODE END FunctionPrototypes */
-
-void StartDefaultTask(void *argument);
-
-extern void MX_USB_DEVICE_Init(void);
-void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
-
-/* Hook prototypes */
-void configureTimerForRunTimeStats(void);
-unsigned long getRunTimeCounterValue(void);
-void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName);
-
-/* USER CODE BEGIN 1 */
-/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
-__weak void configureTimerForRunTimeStats(void)
-{
-
-}
-
-__weak unsigned long getRunTimeCounterValue(void)
-{
-return 0;
-}
-/* USER CODE END 1 */
-
-/* USER CODE BEGIN 4 */
-void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName)
-{
-   /* Run time stack overflow checking is performed if
-   configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
-   called if a stack overflow is detected. */
-}
-/* USER CODE END 4 */
-
-/**
-  * @brief  FreeRTOS initialization
-  * @param  None
-  * @retval None
-  */
-void MX_FREERTOS_Init(void) {
-  /* USER CODE BEGIN Init */
-
-  /* USER CODE END Init */
-
-  /* USER CODE BEGIN RTOS_MUTEX */
-  /* add mutexes, ... */
-  /* USER CODE END RTOS_MUTEX */
-
-  /* USER CODE BEGIN RTOS_SEMAPHORES */
-  /* add semaphores, ... */
-  /* USER CODE END RTOS_SEMAPHORES */
-
-  /* USER CODE BEGIN RTOS_TIMERS */
-  /* start timers, add new ones, ... */
-  /* USER CODE END RTOS_TIMERS */
-
-  /* USER CODE BEGIN RTOS_QUEUES */
-  /* add queues, ... */
-  /* USER CODE END RTOS_QUEUES */
-
-  /* Create the thread(s) */
-  /* creation of defaultTask */
-  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
-
-  /* USER CODE BEGIN RTOS_THREADS */
-  /* add threads, ... */
-   osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
-/* USER CODE END RTOS_THREADS */
-
-  /* USER CODE BEGIN RTOS_EVENTS */
-  /* add events, ... */
-  /* USER CODE END RTOS_EVENTS */
-
-}
-
-/* USER CODE BEGIN Header_StartDefaultTask */
-/**
-  * @brief  Function implementing the defaultTask thread.
-  * @param  argument: Not used
-  * @retval None
-  */
-/* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void *argument)
-{
-  /* init code for USB_DEVICE */
-  MX_USB_DEVICE_Init();
-  /* USER CODE BEGIN StartDefaultTask */
-    osThreadTerminate(osThreadGetId());
-/* USER CODE END StartDefaultTask */
-}
-
-/* Private application code --------------------------------------------------*/
-/* USER CODE BEGIN Application */
-
-/* USER CODE END Application */
-
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * File Name          : freertos.c
+  * Description        : Code for freertos applications
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "FreeRTOS.h"
+#include "task.h"
+#include "main.h"
+#include "cmsis_os.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+#include "task/user_task.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN Variables */
+
+/* USER CODE END Variables */
+/* Definitions for defaultTask */
+osThreadId_t defaultTaskHandle;
+const osThreadAttr_t defaultTask_attributes = {
+  .name = "defaultTask",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
+};
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN FunctionPrototypes */
+
+/* USER CODE END FunctionPrototypes */
+
+void StartDefaultTask(void *argument);
+
+extern void MX_USB_DEVICE_Init(void);
+void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
+
+/* Hook prototypes */
+void configureTimerForRunTimeStats(void);
+unsigned long getRunTimeCounterValue(void);
+void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName);
+
+/* USER CODE BEGIN 1 */
+/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
+__weak void configureTimerForRunTimeStats(void)
+{
+
+}
+
+__weak unsigned long getRunTimeCounterValue(void)
+{
+return 0;
+}
+/* USER CODE END 1 */
+
+/* USER CODE BEGIN 4 */
+void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName)
+{
+   /* Run time stack overflow checking is performed if
+   configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
+   called if a stack overflow is detected. */
+}
+/* USER CODE END 4 */
+
+/**
+  * @brief  FreeRTOS initialization
+  * @param  None
+  * @retval None
+  */
+void MX_FREERTOS_Init(void) {
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* USER CODE BEGIN RTOS_MUTEX */
+  /* add mutexes, ... */
+  /* USER CODE END RTOS_MUTEX */
+
+  /* USER CODE BEGIN RTOS_SEMAPHORES */
+  /* add semaphores, ... */
+  /* USER CODE END RTOS_SEMAPHORES */
+
+  /* USER CODE BEGIN RTOS_TIMERS */
+  /* start timers, add new ones, ... */
+  /* USER CODE END RTOS_TIMERS */
+
+  /* USER CODE BEGIN RTOS_QUEUES */
+  /* add queues, ... */
+  /* USER CODE END RTOS_QUEUES */
+
+  /* Create the thread(s) */
+  /* creation of defaultTask */
+  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+
+  /* USER CODE BEGIN RTOS_THREADS */
+  /* add threads, ... */
+   osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
+  /* USER CODE END RTOS_THREADS */
+
+  /* USER CODE BEGIN RTOS_EVENTS */
+  /* add events, ... */
+  /* USER CODE END RTOS_EVENTS */
+
+}
+
+/* USER CODE BEGIN Header_StartDefaultTask */
+/**
+  * @brief  Function implementing the defaultTask thread.
+  * @param  argument: Not used
+  * @retval None
+  */
+/* USER CODE END Header_StartDefaultTask */
+void StartDefaultTask(void *argument)
+{
+  /* init code for USB_DEVICE */
+  MX_USB_DEVICE_Init();
+  /* USER CODE BEGIN StartDefaultTask */
+    osThreadTerminate(osThreadGetId());
+  /* USER CODE END StartDefaultTask */
+}
+
+/* Private application code --------------------------------------------------*/
+/* USER CODE BEGIN Application */
+
+/* USER CODE END Application */
+
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 4e3f1a4..b1101bc 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -1,513 +1,541 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file    stm32f4xx_it.c
-  * @brief   Interrupt Service Routines.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-#include "stm32f4xx_it.h"
-#include "FreeRTOS.h"
-#include "task.h"
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-#include "bsp/uart.h"
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN TD */
-
-/* USER CODE END TD */
-
-/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN PD */
-
-/* USER CODE END PD */
-
-/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN PM */
-
-/* USER CODE END PM */
-
-/* Private variables ---------------------------------------------------------*/
-/* USER CODE BEGIN PV */
-
-/* USER CODE END PV */
-
-/* Private function prototypes -----------------------------------------------*/
-/* USER CODE BEGIN PFP */
-
-/* USER CODE END PFP */
-
-/* Private user code ---------------------------------------------------------*/
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-
-/* External variables --------------------------------------------------------*/
-extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
-extern CAN_HandleTypeDef hcan1;
-extern CAN_HandleTypeDef hcan2;
-extern DMA_HandleTypeDef hdma_i2c2_tx;
-extern DMA_HandleTypeDef hdma_i2c3_rx;
-extern DMA_HandleTypeDef hdma_spi1_rx;
-extern DMA_HandleTypeDef hdma_spi1_tx;
-extern TIM_HandleTypeDef htim1;
-extern TIM_HandleTypeDef htim7;
-extern DMA_HandleTypeDef hdma_usart1_tx;
-extern DMA_HandleTypeDef hdma_usart1_rx;
-extern DMA_HandleTypeDef hdma_usart3_rx;
-extern DMA_HandleTypeDef hdma_usart6_rx;
-extern DMA_HandleTypeDef hdma_usart6_tx;
-extern UART_HandleTypeDef huart1;
-extern UART_HandleTypeDef huart6;
-/* USER CODE BEGIN EV */
-
-/* USER CODE END EV */
-
-/******************************************************************************/
-/*           Cortex-M4 Processor Interruption and Exception Handlers          */
-/******************************************************************************/
-/**
-  * @brief This function handles Non maskable interrupt.
-  */
-void NMI_Handler(void)
-{
-  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
-
-  /* USER CODE END NonMaskableInt_IRQn 0 */
-  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
-   while (1)
-  {
-  }
-  /* USER CODE END NonMaskableInt_IRQn 1 */
-}
-
-/**
-  * @brief This function handles Hard fault interrupt.
-  */
-void HardFault_Handler(void)
-{
-  /* 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 */
-  }
-}
-
-/**
-  * @brief This function handles Memory management fault.
-  */
-void MemManage_Handler(void)
-{
-  /* 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 */
-  }
-}
-
-/**
-  * @brief This function handles Pre-fetch fault, memory access fault.
-  */
-void BusFault_Handler(void)
-{
-  /* 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 */
-  }
-}
-
-/**
-  * @brief This function handles Undefined instruction or illegal state.
-  */
-void UsageFault_Handler(void)
-{
-  /* 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 */
-  }
-}
-
-/**
-  * @brief This function handles Debug monitor.
-  */
-void DebugMon_Handler(void)
-{
-  /* USER CODE BEGIN DebugMonitor_IRQn 0 */
-
-  /* USER CODE END DebugMonitor_IRQn 0 */
-  /* USER CODE BEGIN DebugMonitor_IRQn 1 */
-
-  /* USER CODE END DebugMonitor_IRQn 1 */
-}
-
-/**
-  * @brief This function handles System tick timer.
-  */
-void SysTick_Handler(void)
-{
-  /* USER CODE BEGIN SysTick_IRQn 0 */
-
-  /* USER CODE END SysTick_IRQn 0 */
-  HAL_IncTick();
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
-  if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
-  {
-#endif /* INCLUDE_xTaskGetSchedulerState */
-  xPortSysTickHandler();
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
-  }
-#endif /* INCLUDE_xTaskGetSchedulerState */
-  /* USER CODE BEGIN SysTick_IRQn 1 */
-
-  /* USER CODE END SysTick_IRQn 1 */
-}
-
-/******************************************************************************/
-/* STM32F4xx Peripheral Interrupt Handlers                                    */
-/* Add here the Interrupt Handlers for the used peripherals.                  */
-/* For the available peripheral interrupt handler names,                      */
-/* please refer to the startup file (startup_stm32f4xx.s).                    */
-/******************************************************************************/
-
-/**
-  * @brief This function handles EXTI line0 interrupt.
-  */
-void EXTI0_IRQHandler(void)
-{
-  /* USER CODE BEGIN EXTI0_IRQn 0 */
-
-  /* USER CODE END EXTI0_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(USER_KEY_Pin);
-  /* USER CODE BEGIN EXTI0_IRQn 1 */
-
-  /* USER CODE END EXTI0_IRQn 1 */
-}
-
-/**
-  * @brief This function handles EXTI line3 interrupt.
-  */
-void EXTI3_IRQHandler(void)
-{
-  /* USER CODE BEGIN EXTI3_IRQn 0 */
-
-  /* USER CODE END EXTI3_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(CMPS_INT_Pin);
-  /* USER CODE BEGIN EXTI3_IRQn 1 */
-
-  /* USER CODE END EXTI3_IRQn 1 */
-}
-
-/**
-  * @brief This function handles EXTI line4 interrupt.
-  */
-void EXTI4_IRQHandler(void)
-{
-  /* USER CODE BEGIN EXTI4_IRQn 0 */
-
-  /* USER CODE END EXTI4_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin);
-  /* USER CODE BEGIN EXTI4_IRQn 1 */
-
-  /* USER CODE END EXTI4_IRQn 1 */
-}
-
-/**
-  * @brief This function handles DMA1 stream1 global interrupt.
-  */
-void DMA1_Stream1_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
-
-  /* USER CODE END DMA1_Stream1_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart3_rx);
-  /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
-
-  /* USER CODE END DMA1_Stream1_IRQn 1 */
-}
-
-/**
-  * @brief This function handles DMA1 stream2 global interrupt.
-  */
-void DMA1_Stream2_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
-
-  /* USER CODE END DMA1_Stream2_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_i2c3_rx);
-  /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
-
-  /* USER CODE END DMA1_Stream2_IRQn 1 */
-}
-
-/**
-  * @brief This function handles CAN1 RX0 interrupts.
-  */
-void CAN1_RX0_IRQHandler(void)
-{
-  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
-
-  /* USER CODE END CAN1_RX0_IRQn 0 */
-  HAL_CAN_IRQHandler(&hcan1);
-  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
-
-  /* USER CODE END CAN1_RX0_IRQn 1 */
-}
-
-/**
-  * @brief This function handles CAN1 RX1 interrupt.
-  */
-void CAN1_RX1_IRQHandler(void)
-{
-  /* USER CODE BEGIN CAN1_RX1_IRQn 0 */
-
-  /* USER CODE END CAN1_RX1_IRQn 0 */
-  HAL_CAN_IRQHandler(&hcan1);
-  /* USER CODE BEGIN CAN1_RX1_IRQn 1 */
-
-  /* USER CODE END CAN1_RX1_IRQn 1 */
-}
-
-/**
-  * @brief This function handles EXTI line[9:5] interrupts.
-  */
-void EXTI9_5_IRQHandler(void)
-{
-  /* USER CODE BEGIN EXTI9_5_IRQn 0 */
-
-  /* USER CODE END EXTI9_5_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin);
-  /* USER CODE BEGIN EXTI9_5_IRQn 1 */
-
-  /* USER CODE END EXTI9_5_IRQn 1 */
-}
-
-/**
-  * @brief This function handles TIM1 break interrupt and TIM9 global interrupt.
-  */
-void TIM1_BRK_TIM9_IRQHandler(void)
-{
-  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
-
-  /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim1);
-  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
-
-  /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
-}
-
-/**
-  * @brief This function handles USART1 global interrupt.
-  */
-void USART1_IRQHandler(void)
-{
-  /* USER CODE BEGIN USART1_IRQn 0 */
-
-  /* USER CODE END USART1_IRQn 0 */
-  HAL_UART_IRQHandler(&huart1);
-  /* USER CODE BEGIN USART1_IRQn 1 */
-  BSP_UART_IRQHandler(&huart1);
-
-  /* USER CODE END USART1_IRQn 1 */
-}
-
-/**
-  * @brief This function handles DMA1 stream7 global interrupt.
-  */
-void DMA1_Stream7_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
-
-  /* USER CODE END DMA1_Stream7_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_i2c2_tx);
-  /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
-
-  /* USER CODE END DMA1_Stream7_IRQn 1 */
-}
-
-/**
-  * @brief This function handles TIM7 global interrupt.
-  */
-void TIM7_IRQHandler(void)
-{
-  /* USER CODE BEGIN TIM7_IRQn 0 */
-
-  /* USER CODE END TIM7_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim7);
-  /* USER CODE BEGIN TIM7_IRQn 1 */
-
-  /* USER CODE END TIM7_IRQn 1 */
-}
-
-/**
-  * @brief This function handles DMA2 stream1 global interrupt.
-  */
-void DMA2_Stream1_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream1_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart6_rx);
-  /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream1_IRQn 1 */
-}
-
-/**
-  * @brief This function handles DMA2 stream2 global interrupt.
-  */
-void DMA2_Stream2_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream2_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_spi1_rx);
-  /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream2_IRQn 1 */
-}
-
-/**
-  * @brief This function handles DMA2 stream3 global interrupt.
-  */
-void DMA2_Stream3_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream3_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_spi1_tx);
-  /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream3_IRQn 1 */
-}
-
-/**
-  * @brief This function handles CAN2 RX0 interrupts.
-  */
-void CAN2_RX0_IRQHandler(void)
-{
-  /* USER CODE BEGIN CAN2_RX0_IRQn 0 */
-
-  /* USER CODE END CAN2_RX0_IRQn 0 */
-  HAL_CAN_IRQHandler(&hcan2);
-  /* USER CODE BEGIN CAN2_RX0_IRQn 1 */
-
-  /* USER CODE END CAN2_RX0_IRQn 1 */
-}
-
-/**
-  * @brief This function handles CAN2 RX1 interrupt.
-  */
-void CAN2_RX1_IRQHandler(void)
-{
-  /* USER CODE BEGIN CAN2_RX1_IRQn 0 */
-
-  /* USER CODE END CAN2_RX1_IRQn 0 */
-  HAL_CAN_IRQHandler(&hcan2);
-  /* USER CODE BEGIN CAN2_RX1_IRQn 1 */
-
-  /* USER CODE END CAN2_RX1_IRQn 1 */
-}
-
-/**
-  * @brief This function handles USB On The Go FS global interrupt.
-  */
-void OTG_FS_IRQHandler(void)
-{
-  /* USER CODE BEGIN OTG_FS_IRQn 0 */
-
-  /* USER CODE END OTG_FS_IRQn 0 */
-  HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
-  /* USER CODE BEGIN OTG_FS_IRQn 1 */
-
-  /* USER CODE END OTG_FS_IRQn 1 */
-}
-
-/**
-  * @brief This function handles DMA2 stream5 global interrupt.
-  */
-void DMA2_Stream5_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream5_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart1_rx);
-  /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream5_IRQn 1 */
-}
-
-/**
-  * @brief This function handles DMA2 stream6 global interrupt.
-  */
-void DMA2_Stream6_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream6_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart6_tx);
-  /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream6_IRQn 1 */
-}
-
-/**
-  * @brief This function handles DMA2 stream7 global interrupt.
-  */
-void DMA2_Stream7_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream7_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart1_tx);
-  /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream7_IRQn 1 */
-}
-
-/**
-  * @brief This function handles USART6 global interrupt.
-  */
-void USART6_IRQHandler(void)
-{
-  /* USER CODE BEGIN USART6_IRQn 0 */
-
-  /* USER CODE END USART6_IRQn 0 */
-  HAL_UART_IRQHandler(&huart6);
-  /* USER CODE BEGIN USART6_IRQn 1 */
-  BSP_UART_IRQHandler(&huart6);
-
-  /* USER CODE END USART6_IRQn 1 */
-}
-
-/* USER CODE BEGIN 1 */
-
-/* USER CODE END 1 */
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_it.c
+  * @brief   Interrupt Service Routines.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "stm32f4xx_it.h"
+#include "FreeRTOS.h"
+#include "task.h"
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "bsp/uart.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN TD */
+
+/* USER CODE END TD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/* External variables --------------------------------------------------------*/
+extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
+extern CAN_HandleTypeDef hcan1;
+extern CAN_HandleTypeDef hcan2;
+extern DMA_HandleTypeDef hdma_i2c2_tx;
+extern DMA_HandleTypeDef hdma_i2c3_rx;
+extern DMA_HandleTypeDef hdma_spi1_rx;
+extern DMA_HandleTypeDef hdma_spi1_tx;
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim7;
+extern DMA_HandleTypeDef hdma_usart1_tx;
+extern DMA_HandleTypeDef hdma_usart1_rx;
+extern DMA_HandleTypeDef hdma_usart3_rx;
+extern DMA_HandleTypeDef hdma_usart6_rx;
+extern DMA_HandleTypeDef hdma_usart6_tx;
+extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart6;
+/* USER CODE BEGIN EV */
+
+/* USER CODE END EV */
+
+/******************************************************************************/
+/*           Cortex-M4 Processor Interruption and Exception Handlers          */
+/******************************************************************************/
+/**
+  * @brief This function handles Non maskable interrupt.
+  */
+void NMI_Handler(void)
+{
+  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
+
+  /* USER CODE END NonMaskableInt_IRQn 0 */
+  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
+   while (1)
+  {
+  }
+  /* USER CODE END NonMaskableInt_IRQn 1 */
+}
+
+/**
+  * @brief This function handles Hard fault interrupt.
+  */
+void HardFault_Handler(void)
+{
+  /* 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 */
+  }
+}
+
+/**
+  * @brief This function handles Memory management fault.
+  */
+void MemManage_Handler(void)
+{
+  /* 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 */
+  }
+}
+
+/**
+  * @brief This function handles Pre-fetch fault, memory access fault.
+  */
+void BusFault_Handler(void)
+{
+  /* 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 */
+  }
+}
+
+/**
+  * @brief This function handles Undefined instruction or illegal state.
+  */
+void UsageFault_Handler(void)
+{
+  /* 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 */
+  }
+}
+
+/**
+  * @brief This function handles Debug monitor.
+  */
+void DebugMon_Handler(void)
+{
+  /* USER CODE BEGIN DebugMonitor_IRQn 0 */
+
+  /* USER CODE END DebugMonitor_IRQn 0 */
+  /* USER CODE BEGIN DebugMonitor_IRQn 1 */
+
+  /* USER CODE END DebugMonitor_IRQn 1 */
+}
+
+/**
+  * @brief This function handles System tick timer.
+  */
+void SysTick_Handler(void)
+{
+  /* USER CODE BEGIN SysTick_IRQn 0 */
+
+  /* USER CODE END SysTick_IRQn 0 */
+  HAL_IncTick();
+#if (INCLUDE_xTaskGetSchedulerState == 1 )
+  if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
+  {
+#endif /* INCLUDE_xTaskGetSchedulerState */
+  xPortSysTickHandler();
+#if (INCLUDE_xTaskGetSchedulerState == 1 )
+  }
+#endif /* INCLUDE_xTaskGetSchedulerState */
+  /* USER CODE BEGIN SysTick_IRQn 1 */
+
+  /* USER CODE END SysTick_IRQn 1 */
+}
+
+/******************************************************************************/
+/* STM32F4xx Peripheral Interrupt Handlers                                    */
+/* Add here the Interrupt Handlers for the used peripherals.                  */
+/* For the available peripheral interrupt handler names,                      */
+/* please refer to the startup file (startup_stm32f4xx.s).                    */
+/******************************************************************************/
+
+/**
+  * @brief This function handles EXTI line0 interrupt.
+  */
+void EXTI0_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI0_IRQn 0 */
+
+  /* USER CODE END EXTI0_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(USER_KEY_Pin);
+  /* USER CODE BEGIN EXTI0_IRQn 1 */
+
+  /* USER CODE END EXTI0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles EXTI line3 interrupt.
+  */
+void EXTI3_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI3_IRQn 0 */
+
+  /* USER CODE END EXTI3_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(CMPS_INT_Pin);
+  /* USER CODE BEGIN EXTI3_IRQn 1 */
+
+  /* USER CODE END EXTI3_IRQn 1 */
+}
+
+/**
+  * @brief This function handles EXTI line4 interrupt.
+  */
+void EXTI4_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI4_IRQn 0 */
+
+  /* USER CODE END EXTI4_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin);
+  /* USER CODE BEGIN EXTI4_IRQn 1 */
+
+  /* USER CODE END EXTI4_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 stream1 global interrupt.
+  */
+void DMA1_Stream1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart3_rx);
+  /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 stream2 global interrupt.
+  */
+void DMA1_Stream2_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream2_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_i2c3_rx);
+  /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream2_IRQn 1 */
+}
+
+/**
+  * @brief This function handles CAN1 TX interrupts.
+  */
+void CAN1_TX_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_TX_IRQn 0 */
+
+  /* USER CODE END CAN1_TX_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_TX_IRQn 1 */
+
+  /* USER CODE END CAN1_TX_IRQn 1 */
+}
+
+/**
+  * @brief This function handles CAN1 RX0 interrupts.
+  */
+void CAN1_RX0_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
+
+  /* USER CODE END CAN1_RX0_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
+
+  /* USER CODE END CAN1_RX0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles CAN1 RX1 interrupt.
+  */
+void CAN1_RX1_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_RX1_IRQn 0 */
+
+  /* USER CODE END CAN1_RX1_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_RX1_IRQn 1 */
+
+  /* USER CODE END CAN1_RX1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles EXTI line[9:5] interrupts.
+  */
+void EXTI9_5_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI9_5_IRQn 0 */
+
+  /* USER CODE END EXTI9_5_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin);
+  /* USER CODE BEGIN EXTI9_5_IRQn 1 */
+
+  /* USER CODE END EXTI9_5_IRQn 1 */
+}
+
+/**
+  * @brief This function handles TIM1 break interrupt and TIM9 global interrupt.
+  */
+void TIM1_BRK_TIM9_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
+
+  /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim1);
+  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
+
+  /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
+}
+
+/**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+
+  /* USER CODE END USART1_IRQn 0 */
+  HAL_UART_IRQHandler(&huart1);
+  /* USER CODE BEGIN USART1_IRQn 1 */
+  BSP_UART_IRQHandler(&huart1);
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 stream7 global interrupt.
+  */
+void DMA1_Stream7_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream7_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_i2c2_tx);
+  /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream7_IRQn 1 */
+}
+
+/**
+  * @brief This function handles TIM7 global interrupt.
+  */
+void TIM7_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM7_IRQn 0 */
+
+  /* USER CODE END TIM7_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim7);
+  /* USER CODE BEGIN TIM7_IRQn 1 */
+
+  /* USER CODE END TIM7_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA2 stream1 global interrupt.
+  */
+void DMA2_Stream1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart6_rx);
+  /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA2 stream2 global interrupt.
+  */
+void DMA2_Stream2_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream2_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_spi1_rx);
+  /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream2_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA2 stream3 global interrupt.
+  */
+void DMA2_Stream3_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream3_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_spi1_tx);
+  /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream3_IRQn 1 */
+}
+
+/**
+  * @brief This function handles CAN2 TX interrupts.
+  */
+void CAN2_TX_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN2_TX_IRQn 0 */
+
+  /* USER CODE END CAN2_TX_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan2);
+  /* USER CODE BEGIN CAN2_TX_IRQn 1 */
+
+  /* USER CODE END CAN2_TX_IRQn 1 */
+}
+
+/**
+  * @brief This function handles CAN2 RX0 interrupts.
+  */
+void CAN2_RX0_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN2_RX0_IRQn 0 */
+
+  /* USER CODE END CAN2_RX0_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan2);
+  /* USER CODE BEGIN CAN2_RX0_IRQn 1 */
+
+  /* USER CODE END CAN2_RX0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles CAN2 RX1 interrupt.
+  */
+void CAN2_RX1_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN2_RX1_IRQn 0 */
+
+  /* USER CODE END CAN2_RX1_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan2);
+  /* USER CODE BEGIN CAN2_RX1_IRQn 1 */
+
+  /* USER CODE END CAN2_RX1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles USB On The Go FS global interrupt.
+  */
+void OTG_FS_IRQHandler(void)
+{
+  /* USER CODE BEGIN OTG_FS_IRQn 0 */
+
+  /* USER CODE END OTG_FS_IRQn 0 */
+  HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
+  /* USER CODE BEGIN OTG_FS_IRQn 1 */
+
+  /* USER CODE END OTG_FS_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA2 stream5 global interrupt.
+  */
+void DMA2_Stream5_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream5_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart1_rx);
+  /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream5_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA2 stream6 global interrupt.
+  */
+void DMA2_Stream6_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream6_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart6_tx);
+  /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream6_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA2 stream7 global interrupt.
+  */
+void DMA2_Stream7_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream7_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart1_tx);
+  /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream7_IRQn 1 */
+}
+
+/**
+  * @brief This function handles USART6 global interrupt.
+  */
+void USART6_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART6_IRQn 0 */
+
+  /* USER CODE END USART6_IRQn 0 */
+  HAL_UART_IRQHandler(&huart6);
+  /* USER CODE BEGIN USART6_IRQn 1 */
+  BSP_UART_IRQHandler(&huart6);
+
+  /* USER CODE END USART6_IRQn 1 */
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
diff --git a/DevC.ioc b/DevC.ioc
index ad8ff30..6598d0d 100644
--- a/DevC.ioc
+++ b/DevC.ioc
@@ -270,8 +270,10 @@ MxDb.Version=DB.6.0.150
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
@@ -441,6 +443,13 @@ PC9.GPIO_Pu=GPIO_PULLUP
 PC9.Locked=true
 PC9.Mode=I2C
 PC9.Signal=I2C3_SDA
+PCC.Checker=false
+PCC.Line=STM32F407/417
+PCC.MCU=STM32F407I(E-G)Hx
+PCC.PartNumber=STM32F407IGHx
+PCC.Series=STM32F4
+PCC.Temperature=25
+PCC.Vdd=3.3
 PD0.Locked=true
 PD0.Mode=CAN_Activate
 PD0.Signal=CAN1_RX
@@ -553,6 +562,7 @@ ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32F407IGHx
 ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.28.3
 ProjectManager.FreePins=false
+ProjectManager.FreePinsContext=
 ProjectManager.HalAssertFull=true
 ProjectManager.HeapSize=0x1000
 ProjectManager.KeepUserCode=true
diff --git a/User/module/arm.hpp b/User/module/arm.hpp
index e69de29..66342ea 100644
--- a/User/module/arm.hpp
+++ b/User/module/arm.hpp
@@ -0,0 +1,18 @@
+#pragma once
+
+#include "main.h"
+#include "bsp/can.h"
+#include "device/motor.h"
+#include "device/motor_lz.h"
+#include "device/motor_rm.h"
+#include "device/motor_dm.h"
+
+class Arm {
+public:
+    Arm();
+    void init();
+    void operator()();
+private:
+    MOTOR_DM_Param_t motors_param[4];
+    MOTOR_t arm_motors[4];
+};
\ No newline at end of file
diff --git a/User/task/rc.c b/User/task/rc.c
index e1897c1..5674578 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -6,7 +6,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "device/dr16.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +14,7 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+DR16_t dr16;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -30,13 +30,18 @@ void Task_rc(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  DR16_Init(&dr16);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-
+    DR16_StartDmaRecv(&dr16);
+    if (DR16_WaitDmaCplt(20)) {
+      DR16_ParseData(&dr16);
+    } else {
+      DR16_Offline(&dr16);
+    }
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }