diff --git a/assets/User_code/device/dm_imu.c b/assets/User_code/device/dm_imu.c
index 18b05e5..af6ada3 100644
--- a/assets/User_code/device/dm_imu.c
+++ b/assets/User_code/device/dm_imu.c
@@ -252,8 +252,9 @@ int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu){
     count++;
     if (count >= 4) {
         count = 0; // 重置计数器
+        return DEVICE_OK;
     }
-    return DEVICE_OK;
+    return DEVICE_ERROR;
 }
 
 /**
diff --git a/assets/User_code/device/motor_lz.c b/assets/User_code/device/motor_lz.c
index 3b79542..7ed7344 100644
--- a/assets/User_code/device/motor_lz.c
+++ b/assets/User_code/device/motor_lz.c
@@ -243,14 +243,6 @@ int8_t MOTOR_LZ_Init(void) {
     return BSP_CAN_RegisterIdParser(MOTOR_LZ_IdParser) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
-/**
- * @brief 反初始化灵足电机驱动系统
- * @return 设备状态码
- */
-int8_t MOTOR_LZ_DeInit(void) {
-    // 注销ID解析器
-    return BSP_CAN_UnregisterIdParser() == BSP_OK ? DEVICE_OK : DEVICE_ERR;
-}
 
 int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param) {
     if (param == NULL) return DEVICE_ERR_NULL;
diff --git a/assets/User_code/device/motor_lz.h b/assets/User_code/device/motor_lz.h
index 76a72ae..d2a8002 100644
--- a/assets/User_code/device/motor_lz.h
+++ b/assets/User_code/device/motor_lz.h
@@ -111,12 +111,6 @@ typedef struct {
  */
 int8_t MOTOR_LZ_Init(void);
 
-/**
- * @brief 反初始化灵足电机驱动系统
- * @return 设备状态码
- */
-int8_t MOTOR_LZ_DeInit(void);
-
 /**
  * @brief 注册一个灵足电机
  * @param param 电机参数