diff --git a/.DS_Store b/.DS_Store
index 7169f00..2690b1b 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/bsp/fdcan/fdcan.c b/bsp/fdcan/fdcan.c
index 6c6221f..481548d 100644
--- a/bsp/fdcan/fdcan.c
+++ b/bsp/fdcan/fdcan.c
@@ -21,19 +21,19 @@
   #define FDCAN1_FILTER_CONFIG_TABLE(X) \
     X(0,       FDCAN_STANDARD_ID,   FDCAN_FILTER_MASK,   0x000     ,   0x000     ,   0) \
     X(1,       FDCAN_EXTENDED_ID,   FDCAN_FILTER_MASK,   0x00000000,   0x00000000,   0) 
-    #define FDCAN1_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
+  #define FDCAN1_GLOBAL_FILTER FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
 #endif
 #ifdef FDCAN2_EN
   #define FDCAN2_FILTER_CONFIG_TABLE(X) \
     X(0,       FDCAN_STANDARD_ID,   FDCAN_FILTER_MASK,   0x000     ,   0x000     ,   0) \
     X(1,       FDCAN_EXTENDED_ID,   FDCAN_FILTER_MASK,   0x00000000,   0x00000000,   0) 
-    #define FDCAN2_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
+  #define FDCAN2_GLOBAL_FILTER FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
 #endif
 #ifdef FDCAN3_EN
   #define FDCAN3_FILTER_CONFIG_TABLE(X) \
     X(0,       FDCAN_STANDARD_ID,   FDCAN_FILTER_MASK,   0x000     ,   0x000     ,   0) \
     X(1,       FDCAN_EXTENDED_ID,   FDCAN_FILTER_MASK,   0x00000000,   0x00000000,   0) 
-  #define FDCAN3_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
+  #define FDCAN3_GLOBAL_FILTER FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
 #endif
 
 /* ====宏展开实现==== */
diff --git a/component/freertos_cli/FreeRTOS_CLI.h b/component/freertos_cli/FreeRTOS_CLI.h
index e6d8266..a3f792f 100644
--- a/component/freertos_cli/FreeRTOS_CLI.h
+++ b/component/freertos_cli/FreeRTOS_CLI.h
@@ -28,6 +28,9 @@
 #ifndef COMMAND_INTERPRETER_H
 #define COMMAND_INTERPRETER_H
 
+#include <stddef.h>
+#include "FreeRTOS.h"
+
 /* This config should be defined in FreeRTOSConfig.h. But due to the limition of CubeMX I put it here. */
 #define configCOMMAND_INT_MAX_OUTPUT_SIZE  512
 
diff --git a/component/limiter/limiter.c b/component/limiter/limiter.c
index 71e4bf1..b7e8138 100644
--- a/component/limiter/limiter.c
+++ b/component/limiter/limiter.c
@@ -105,3 +105,8 @@ float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
   else
     return (heat_percent > 0.7f) ? stable_freq : 3.0f * stable_freq;
 }
+
+
+/* USER CODE BEGIN */
+
+/* USER CODE END */
\ No newline at end of file
diff --git a/component/limiter/limiter.h b/component/limiter/limiter.h
index d0aa92a..5853c73 100644
--- a/component/limiter/limiter.h
+++ b/component/limiter/limiter.h
@@ -61,3 +61,7 @@ float PowerLimit_TargetPower(float power_limit, float power_buffer);
  */
 float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
                           float heat_increase, bool is_big);
+
+/* USER CODE BEGIN */
+
+/* USER CODE END */
\ No newline at end of file
diff --git a/device/mrobot/mrobot.c b/device/mrobot/mrobot.c
index e96471a..3a77112 100644
--- a/device/mrobot/mrobot.c
+++ b/device/mrobot/mrobot.c
@@ -120,7 +120,7 @@ static void send_string(const char *str) {
     if (str == NULL || *str == '\0') return;
     
     ctx.tx_complete = false;
-    BSP_UART_Transmit(MROBOT_UART_PORT, (uint8_t *)str, strlen(str), true);
+    BSP_UART_Transmit(BSP_UART_MROBOT, (uint8_t *)str, strlen(str), true);
     while (!ctx.tx_complete) { osDelay(1); }
 }
 
@@ -151,7 +151,7 @@ static void uart_rx_callback(void) {
         if (ch == 'q' || ch == 'Q' || ch == 27) {
             ctx.htop_exit = true;
         }
-        BSP_UART_Receive(MROBOT_UART_PORT, &ctx.uart_rx_char, 1, false);
+        BSP_UART_Receive(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
         return;
     }
     
@@ -160,19 +160,20 @@ static void uart_rx_callback(void) {
         if (ctx.cmd_index > 0) {
             ctx.cmd_buffer[ctx.cmd_index] = '\0';
             ctx.cmd_ready = true;
-            BSP_UART_Transmit(MROBOT_UART_PORT, (uint8_t *)"\r\n", 2, false);
+            BSP_UART_Transmit(BSP_UART_MROBOT, (uint8_t *)"\r\n", 2, false);
         }
     } else if (ch == 127 || ch == 8) {  /* 退格键 */
         if (ctx.cmd_index > 0) {
             ctx.cmd_index--;
-            BSP_UART_Transmit(MROBOT_UART_PORT, (uint8_t *)ANSI_BACKSPACE, 3, false);
+            BSP_UART_Transmit(BSP_UART_MROBOT, (uint8_t *)ANSI_BACKSPACE, 3, false);
         }
     } else if (ch >= 32 && ch < 127 && ctx.cmd_index < sizeof(ctx.cmd_buffer) - 1) {
         ctx.cmd_buffer[ctx.cmd_index++] = ch;
-        BSP_UART_Transmit(MROBOT_UART_PORT, &ch, 1, false);
+        /* 回显：使用静态变量地址，避免异步发送时局部变量已失效 */
+        BSP_UART_Transmit(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
     }
     
-    BSP_UART_Receive(MROBOT_UART_PORT, &ctx.uart_rx_char, 1, false);
+    BSP_UART_Receive(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
 }
 
 /* ========================================================================== */
@@ -483,9 +484,8 @@ void MRobot_Init(void) {
     /* 创建互斥锁 */
     ctx.mutex = xSemaphoreCreateMutex();
     
-    /* 初始化状态 */
-    memset(ctx.devices, 0, sizeof(ctx.devices));
-    ctx.device_count = 0;
+    /* 初始化状态（保留已注册的设备） */
+    // 注意：不清除 devices 和 device_count，因为其他任务可能已经注册了设备
     ctx.custom_cmd_count = 0;
     ctx.state = MROBOT_STATE_IDLE;
     strcpy(ctx.current_path, "/");
@@ -500,11 +500,11 @@ void MRobot_Init(void) {
     }
     
     /* 注册 UART 回调 */
-    BSP_UART_RegisterCallback(MROBOT_UART_PORT, BSP_UART_RX_CPLT_CB, uart_rx_callback);
-    BSP_UART_RegisterCallback(MROBOT_UART_PORT, BSP_UART_TX_CPLT_CB, uart_tx_callback);
+    BSP_UART_RegisterCallback(BSP_UART_MROBOT, BSP_UART_RX_CPLT_CB, uart_rx_callback);
+    BSP_UART_RegisterCallback(BSP_UART_MROBOT, BSP_UART_TX_CPLT_CB, uart_tx_callback);
     
     /* 启动 UART 接收 */
-    BSP_UART_Receive(MROBOT_UART_PORT, &ctx.uart_rx_char, 1, false);
+    BSP_UART_Receive(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
     
     /* 等待用户按下回车 */
     while (ctx.uart_rx_char != '\r' && ctx.uart_rx_char != '\n') {
diff --git a/device/mrobot/mrobot.h b/device/mrobot/mrobot.h
index 74c0875..69d8b3a 100644
--- a/device/mrobot/mrobot.h
+++ b/device/mrobot/mrobot.h
@@ -143,10 +143,6 @@ extern "C" {
 #define MROBOT_HTOP_REFRESH_MS      200     /* htop 刷新间隔 (ms) */
 #endif
 
-#ifndef MROBOT_UART_PORT
-#define MROBOT_UART_PORT            BSP_UART_VOFA  /* 默认 UART 端口 */
-#endif
-
 #ifndef MROBOT_USER_NAME
 #define MROBOT_USER_NAME            "root"         /* CLI 用户名 */
 #endif
diff --git a/task/task.c.template b/task/task.c.template
index e238fa2..807631e 100644
--- a/task/task.c.template
+++ b/task/task.c.template
@@ -18,6 +18,9 @@
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void {{task_function}}(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
diff --git a/task/template_task/cli.c b/task/template_task/cli.c
new file mode 100644
index 0000000..29ae053
--- /dev/null
+++ b/task/template_task/cli.c
@@ -0,0 +1,52 @@
+/*
+    cli Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/mrobot.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+/**
+ * @brief hello 命令回调
+ * @note 命令回调必须返回 0 (pdFALSE) 表示完成，返回非0会继续调用
+ */
+static long Cli_Hello(char *buffer, size_t size, const char *cmd) {
+  (void)cmd; /* 未使用cmd，消除警告 */
+  MRobot_Snprintf(buffer, size, "Ciallo～(∠・ω< )⌒★\r\n");
+  return 0;  /* 返回0表示命令执行完成 */
+}
+/* USER PRIVATE CODE END */
+/* Exported functions ------------------------------------------------------- */
+void Task_cli(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  osDelay(CLI_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  /* USER CODE INIT BEGIN */
+  /* 初始化 MRobot CLI 系统 */
+  MRobot_Init();
+  MRobot_RegisterCommand("hello", " --hello: 打印问候语\r\n", Cli_Hello, -1);
+  /* USER CODE INIT END */
+
+  while (1) {
+    /* USER CODE BEGIN */
+    /* 运行 MRobot 主循环 */
+    MRobot_Run();
+    /* USER CODE END */
+  }
+  
+}
\ No newline at end of file
diff --git a/task/template_task/task.yaml b/task/template_task/task.yaml
index 5a6d279..2d63f85 100644
--- a/task/template_task/task.yaml
+++ b/task/template_task/task.yaml
@@ -1,7 +1,7 @@
 atti_esti:
   name: "atti_esti"
   frequency: 1000
-  delay: 100
+  delay: 0
   stack: 512
   freq_control: false
   description: |
@@ -16,3 +16,13 @@ atti_esti:
     - 陀螺仪使用前需要校准，校准结果保存在bmi088_cali结构体中
     - 无磁力计版本，适用于干净的电磁环境
     - 需要配置PWM通道用于IMU加热控制
+cli:
+  name: "cli"
+  frequency: 500
+  delay: 0
+  stack: 1024
+  freq_control: false
+  description: |
+    命令行接口任务
+    通过串口实现的虚拟终端，配合putty食用更佳
+    需要freertos_cli组件支持，还有mrobot设备驱动
\ No newline at end of file