diff --git a/.vscode/settings.json b/.vscode/settings.json
index 3cf2627..eaab07f 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,5 +1,7 @@
 {
     "files.associations": {
-        "user_math.h": "c"
+        "user_math.h": "c",
+        "bsp.h": "c",
+        "stdint.h": "c"
     }
 }
\ No newline at end of file
diff --git a/app/__pycache__/__init__.cpython-39.pyc b/app/__pycache__/__init__.cpython-39.pyc
index 3462ec2..8636fd1 100644
Binary files a/app/__pycache__/__init__.cpython-39.pyc and b/app/__pycache__/__init__.cpython-39.pyc differ
diff --git a/app/code_page/bsp_interface.py b/app/code_page/bsp_interface.py
index 099e9cd..cfb5892 100644
--- a/app/code_page/bsp_interface.py
+++ b/app/code_page/bsp_interface.py
@@ -366,6 +366,14 @@ def get_available_gpio(project_path):
         return analyzing_ioc.get_enabled_gpio_from_ioc(ioc_path)
     return []
 
+def get_available_pwm(project_path):
+    """获取可用的PWM通道"""
+    ioc_files = [f for f in os.listdir(project_path) if f.endswith('.ioc')]
+    if ioc_files:
+        ioc_path = os.path.join(project_path, ioc_files[0])
+        return analyzing_ioc.get_enabled_pwm_from_ioc(ioc_path)
+    return []
+
 # 具体外设类
 class bsp_i2c(BspPeripheralBase):
     def __init__(self, project_path):
@@ -391,6 +399,70 @@ class bsp_can(BspPeripheralBase):
             get_available_can
         )
 
+    def _generate_source_file(self, configs, template_dir):
+        template_path = os.path.join(template_dir, self.template_names['source'])
+        template_content = CodeGenerator.load_template(template_path)
+        if not template_content:
+            return False
+            
+        # Get函数
+        get_lines = []
+        for idx, (name, instance) in enumerate(configs):
+            if idx == 0:
+                get_lines.append(f"  if (hcan->Instance == {instance})")
+            else:
+                get_lines.append(f"  else if (hcan->Instance == {instance})")
+            get_lines.append(f"    return {self.enum_prefix}_{name};")
+        content = CodeGenerator.replace_auto_generated(
+            template_content, "AUTO GENERATED CAN_GET", "\n".join(get_lines)
+        )
+        
+        # Handle函数
+        handle_lines = []
+        for name, instance in configs:
+            handle_lines.append(f"    case {self.enum_prefix}_{name}:")
+            handle_lines.append(f"      return &h{instance.lower()};")
+        content = CodeGenerator.replace_auto_generated(
+            content, f"AUTO GENERATED {self.enum_prefix}_GET_HANDLE", "\n".join(handle_lines)
+        )
+        
+        # 生成CAN初始化代码
+        init_lines = []
+        for idx, (name, instance) in enumerate(configs):
+            can_num = instance[-1]  # CAN1 -> 1, CAN2 -> 2
+            
+            init_lines.append(f"  // 初始化 {instance}")
+            init_lines.append(f"  CAN_FilterTypeDef can{can_num}_filter = {{0}};")
+            init_lines.append(f"  can{can_num}_filter.FilterBank = {0 if can_num == '1' else 14};")
+            init_lines.append(f"  can{can_num}_filter.FilterIdHigh = 0;")
+            init_lines.append(f"  can{can_num}_filter.FilterIdLow = 0;")
+            init_lines.append(f"  can{can_num}_filter.FilterMode = CAN_FILTERMODE_IDMASK;")
+            init_lines.append(f"  can{can_num}_filter.FilterScale = CAN_FILTERSCALE_32BIT;")
+            init_lines.append(f"  can{can_num}_filter.FilterMaskIdHigh = 0;")
+            init_lines.append(f"  can{can_num}_filter.FilterMaskIdLow = 0;")
+            init_lines.append(f"  can{can_num}_filter.FilterActivation = ENABLE;")
+            if can_num == '1':
+                init_lines.append(f"  can{can_num}_filter.SlaveStartFilterBank = 14;")
+                init_lines.append(f"  can{can_num}_filter.FilterFIFOAssignment = CAN_RX_FIFO0;")
+            else:
+                init_lines.append(f"  can{can_num}_filter.FilterFIFOAssignment = CAN_RX_FIFO1;")
+            
+            init_lines.append(f"  HAL_CAN_ConfigFilter(BSP_CAN_GetHandle({self.enum_prefix}_{name}), &can{can_num}_filter);")
+            init_lines.append(f"  HAL_CAN_Start(BSP_CAN_GetHandle({self.enum_prefix}_{name}));")
+            
+            # 注册回调和激活中断
+            fifo = "FIFO0" if can_num == '1' else "FIFO1"
+            init_lines.append(f"  HAL_CAN_ActivateNotification(BSP_CAN_GetHandle({self.enum_prefix}_{name}), CAN_IT_RX_{fifo}_MSG_PENDING);")
+            init_lines.append("")
+            
+        content = CodeGenerator.replace_auto_generated(
+            content, "AUTO GENERATED CAN_INIT", "\n".join(init_lines)
+        )
+        
+        output_path = os.path.join(self.project_path, f"User/bsp/{self.template_names['source']}")
+        save_with_preserve(output_path, content)
+        return True
+
 class bsp_spi(BspPeripheralBase):
     def __init__(self, project_path):
         super().__init__(
@@ -419,19 +491,30 @@ class bsp_gpio(QWidget):
     def __init__(self, project_path):
         super().__init__()
         self.project_path = project_path
-        self.available_list = get_available_gpio(project_path)
-        # 新增：加载描述
+        self.available_list = self._get_all_gpio_list()
+        # 加载描述
         describe_path = os.path.join(os.path.dirname(__file__), "../../assets/User_code/bsp/describe.csv")
         self.descriptions = load_descriptions(describe_path)
         self._init_ui()
+        self._load_config()
+
+    def _get_all_gpio_list(self):
+        """获取所有GPIO配置"""
+        ioc_files = [f for f in os.listdir(self.project_path) if f.endswith('.ioc')]
+        if ioc_files:
+            ioc_path = os.path.join(self.project_path, ioc_files[0])
+            return analyzing_ioc.get_all_gpio_from_ioc(ioc_path)
+        return []
 
     def _init_ui(self):
         layout = QVBoxLayout(self)
 
+        # 顶部布局
         top_layout = QHBoxLayout()
         top_layout.setAlignment(Qt.AlignVCenter)
 
         self.generate_checkbox = CheckBox("生成 GPIO 代码")
+        self.generate_checkbox.stateChanged.connect(self._on_generate_changed)
         top_layout.addWidget(self.generate_checkbox, alignment=Qt.AlignLeft)
 
         top_layout.addStretch()
@@ -449,77 +532,407 @@ class bsp_gpio(QWidget):
             desc_label = BodyLabel(f"功能说明：{desc}")
             desc_label.setWordWrap(True)
             layout.addWidget(desc_label)
+
+        # 内容区域
+        self.content_widget = QWidget()
+        content_layout = QVBoxLayout(self.content_widget)
+
         if not self.available_list:
-            layout.addWidget(BodyLabel("在 .ioc 文件中未找到可用的 GPIO"))
+            content_layout.addWidget(BodyLabel("在 .ioc 文件中未找到可用的 GPIO"))
         else:
+            # 创建表格
             self.table = TableWidget()
-            self.table.setColumnCount(1)
-            self.table.setRowCount(len(self.available_list))
-            self.table.setHorizontalHeaderLabels(["Label"])
+            self.table.setColumnCount(4)
+            self.table.setHorizontalHeaderLabels(["IOC Label", "自定义名称", "类型", "包含"])
             self.table.horizontalHeader().setSectionResizeMode(QHeaderView.Stretch)
-            for row, item in enumerate(self.available_list):
+            
+            # 填充表格
+            for row, gpio_info in enumerate(self.available_list):
+                self.table.insertRow(row)
+                
+                # IOC Label (只读)
                 from PyQt5.QtWidgets import QTableWidgetItem
-                self.table.setItem(row, 0, QTableWidgetItem(item['label']))
-            self.table.setEditTriggers(TableWidget.NoEditTriggers)
-            layout.addWidget(self.table)
+                label_item = QTableWidgetItem(gpio_info['label'])
+                label_item.setFlags(label_item.flags() & ~Qt.ItemIsEditable)
+                self.table.setItem(row, 0, label_item)
+                
+                # 自定义名称 (可编辑)
+                name_edit = LineEdit()
+                name_edit.setText(gpio_info['label'])  # 默认使用IOC的label
+                name_edit.setPlaceholderText("输入自定义名称")
+                self.table.setCellWidget(row, 1, name_edit)
+                
+                # 类型显示
+                gpio_type = "EXTI" if gpio_info['has_exti'] else ("输出" if gpio_info['is_output'] else "输入")
+                type_item = QTableWidgetItem(gpio_type)
+                type_item.setFlags(type_item.flags() & ~Qt.ItemIsEditable)
+                self.table.setItem(row, 2, type_item)
+                
+                # 包含复选框
+                include_checkbox = CheckBox("")
+                include_checkbox.setChecked(True)  # 默认选中
+                self.table.setCellWidget(row, 3, include_checkbox)
+
+            content_layout.addWidget(self.table)
+
+        layout.addWidget(self.content_widget)
+        self.content_widget.setEnabled(False)
+
+    def _on_generate_changed(self, state):
+        self.content_widget.setEnabled(state == 2)
 
     def is_need_generate(self):
         return self.generate_checkbox.isChecked() and bool(self.available_list)
 
+    def _collect_configs(self):
+        """收集用户配置"""
+        configs = []
+        for row in range(self.table.rowCount()):
+            include_widget = self.table.cellWidget(row, 3)
+            if include_widget and include_widget.isChecked():
+                name_widget = self.table.cellWidget(row, 1)
+                if name_widget:
+                    custom_name = name_widget.text().strip()
+                    if custom_name:
+                        gpio_info = self.available_list[row]
+                        configs.append({
+                            'custom_name': custom_name.upper(),
+                            'ioc_label': gpio_info['label'],
+                            'pin': gpio_info['pin'], 
+                            'has_exti': gpio_info['has_exti']
+                        })
+        return configs
+
     def _generate_bsp_code_internal(self):
         if not self.is_need_generate():
             return False
+        
+        configs = self._collect_configs()
+        if not configs:
+            return False
+            
         template_dir = CodeGenerator.get_template_dir()
-        if not self._generate_header_file(template_dir):
+        if not self._generate_header_file(configs, template_dir):
             return False
-        if not self._generate_source_file(template_dir):
+        if not self._generate_source_file(configs, template_dir):
             return False
-        self._save_config()
+        self._save_config(configs)
         return True
 
-    def _generate_header_file(self, template_dir):
+    def _generate_header_file(self, configs, template_dir):
         template_path = os.path.join(template_dir, "gpio.h")
         template_content = CodeGenerator.load_template(template_path)
         if not template_content:
             return False
+            
+        # 生成枚举
+        enum_lines = []
+        for config in configs:
+            enum_lines.append(f"  BSP_GPIO_{config['custom_name']},")
+            
+        content = CodeGenerator.replace_auto_generated(
+            template_content, "AUTO GENERATED BSP_GPIO_ENUM", "\n".join(enum_lines)
+        )
+        
         output_path = os.path.join(self.project_path, "User/bsp/gpio.h")
-        save_with_preserve(output_path, template_content)  # 使用保留用户区域的写入
+        save_with_preserve(output_path, content)
         return True
 
-    def _generate_source_file(self, template_dir):
+    def _generate_source_file(self, configs, template_dir):
         template_path = os.path.join(template_dir, "gpio.c")
         template_content = CodeGenerator.load_template(template_path)
         if not template_content:
             return False
+            
+        # 生成MAP数组
+        map_lines = []
+        for config in configs:
+            ioc_label = config['ioc_label']
+            map_lines.append(f"    {{{ioc_label}_Pin, {ioc_label}_GPIO_Port}},")
+            
+        content = CodeGenerator.replace_auto_generated(
+            template_content, "AUTO GENERATED BSP_GPIO_MAP", "\n".join(map_lines)
+        )
+        
+        # 生成EXTI使能代码
         enable_lines = []
         disable_lines = []
-        for item in self.available_list:
-            label = item['label']
-            enable_lines.append(f"    case {label}_Pin:")
-            enable_lines.append(f"      HAL_NVIC_EnableIRQ({label}_EXTI_IRQn);")
-            enable_lines.append(f"      break;")
-            disable_lines.append(f"    case {label}_Pin:")
-            disable_lines.append(f"      HAL_NVIC_DisableIRQ({label}_EXTI_IRQn);")
-            disable_lines.append(f"      break;")
+        for config in configs:
+            if config['has_exti']:
+                ioc_label = config['ioc_label']
+                enable_lines.append(f"    case {ioc_label}_Pin:")
+                enable_lines.append(f"      HAL_NVIC_EnableIRQ({ioc_label}_EXTI_IRQn);")
+                enable_lines.append(f"      break;")
+                disable_lines.append(f"    case {ioc_label}_Pin:")
+                disable_lines.append(f"      HAL_NVIC_DisableIRQ({ioc_label}_EXTI_IRQn);")
+                disable_lines.append(f"      break;")
+                
         content = CodeGenerator.replace_auto_generated(
-            template_content, "AUTO GENERATED BSP_GPIO_ENABLE_IRQ", "\n".join(enable_lines)
+            content, "AUTO GENERATED BSP_GPIO_ENABLE_IRQ", "\n".join(enable_lines)
         )
         content = CodeGenerator.replace_auto_generated(
             content, "AUTO GENERATED BSP_GPIO_DISABLE_IRQ", "\n".join(disable_lines)
         )
+        
         output_path = os.path.join(self.project_path, "User/bsp/gpio.c")
-        save_with_preserve(output_path, content)  # 使用保留用户区域的写入
+        save_with_preserve(output_path, content)
         return True
 
-    def _save_config(self):
+    def _save_config(self, configs):
         config_path = os.path.join(self.project_path, "User/bsp/bsp_config.yaml")
         config_data = CodeGenerator.load_config(config_path)
         config_data['gpio'] = {
             'enabled': True,
-            'labels': [item['label'] for item in self.available_list]
+            'configs': [
+                {
+                    'custom_name': config['custom_name'],
+                    'ioc_label': config['ioc_label'],
+                    'pin': config['pin'],
+                    'has_exti': config['has_exti']
+                } for config in configs
+            ]
         }
         CodeGenerator.save_config(config_data, config_path)
 
+    def _load_config(self):
+        config_path = os.path.join(self.project_path, "User/bsp/bsp_config.yaml")
+        config_data = CodeGenerator.load_config(config_path)
+        conf = config_data.get('gpio', {})
+        if conf.get('enabled', False):
+            self.generate_checkbox.setChecked(True)
+            saved_configs = conf.get('configs', [])
+            # 恢复用户的自定义名称和选择状态
+            for saved_config in saved_configs:
+                for row in range(len(self.available_list)):
+                    if (self.available_list[row]['label'] == saved_config['ioc_label'] and
+                        hasattr(self, 'table')):
+                        name_widget = self.table.cellWidget(row, 1)
+                        if name_widget:
+                            name_widget.setText(saved_config['custom_name'])
+
+class bsp_pwm(QWidget):
+    def __init__(self, project_path):
+        super().__init__()
+        self.project_path = project_path
+        self.available_list = self._get_pwm_channels()
+        # 加载描述
+        describe_path = os.path.join(os.path.dirname(__file__), "../../assets/User_code/bsp/describe.csv")
+        self.descriptions = load_descriptions(describe_path)
+        self._init_ui()
+        self._load_config()
+
+    def _get_pwm_channels(self):
+        """获取所有PWM通道配置"""
+        return get_available_pwm(self.project_path)
+
+    def _init_ui(self):
+        layout = QVBoxLayout(self)
+
+        # 顶部布局
+        top_layout = QHBoxLayout()
+        top_layout.setAlignment(Qt.AlignVCenter)
+
+        self.generate_checkbox = CheckBox("生成 PWM 代码")
+        self.generate_checkbox.stateChanged.connect(self._on_generate_changed)
+        top_layout.addWidget(self.generate_checkbox, alignment=Qt.AlignLeft)
+
+        top_layout.addStretch()
+
+        title = SubtitleLabel("PWM 配置             ")
+        title.setAlignment(Qt.AlignHCenter)
+        top_layout.addWidget(title, alignment=Qt.AlignHCenter)
+
+        top_layout.addStretch()
+
+        layout.addLayout(top_layout)
+
+        desc = self.descriptions.get("pwm", "")
+        if desc:
+            desc_label = BodyLabel(f"功能说明：{desc}")
+            desc_label.setWordWrap(True)
+            layout.addWidget(desc_label)
+
+        # 内容区域
+        self.content_widget = QWidget()
+        content_layout = QVBoxLayout(self.content_widget)
+
+        if not self.available_list:
+            content_layout.addWidget(BodyLabel("在 .ioc 文件中未找到可用的 PWM 通道"))
+        else:
+            # 创建表格
+            self.table = TableWidget()
+            self.table.setColumnCount(4)
+            self.table.setHorizontalHeaderLabels(["PWM通道", "自定义名称", "定时器信息", "选择"])
+            
+            # 设置列宽度 - 手动调整各列的初始宽度
+            header = self.table.horizontalHeader()
+            header.setSectionResizeMode(0, QHeaderView.Interactive)  # PWM通道列可调整
+            header.setSectionResizeMode(1, QHeaderView.Stretch)      # 自定义名称列拉伸
+            header.setSectionResizeMode(2, QHeaderView.Interactive)  # 定时器信息列可调整
+            header.setSectionResizeMode(3, QHeaderView.Fixed)        # 选择列固定宽度
+            
+            # 设置初始列宽
+            self.table.setColumnWidth(0, 150)  # PWM通道列宽度
+            self.table.setColumnWidth(2, 120)  # 定时器信息列宽度  
+            self.table.setColumnWidth(3, 80)   # 选择列宽度
+            
+            # 填充表格
+            for row, pwm_info in enumerate(self.available_list):
+                self.table.insertRow(row)
+                
+                # PWM通道信息 (只读) - 显示完整的通道信息
+                from PyQt5.QtWidgets import QTableWidgetItem
+                channel_display = f"{pwm_info['timer']} {pwm_info['channel'].replace('TIM_CHANNEL_', 'CH')}"
+                channel_item = QTableWidgetItem(channel_display)
+                channel_item.setFlags(channel_item.flags() & ~Qt.ItemIsEditable)
+                self.table.setItem(row, 0, channel_item)
+                
+                # 自定义名称 (可编辑)
+                name_edit = LineEdit()
+                name_edit.setText(pwm_info['label'])  # 默认使用IOC的label
+                name_edit.setPlaceholderText("输入自定义名称")
+                self.table.setCellWidget(row, 1, name_edit)
+                
+                # 定时器信息 - 显示引脚和信号
+                timer_info = f"{pwm_info['pin']}"
+                timer_item = QTableWidgetItem(timer_info)
+                timer_item.setFlags(timer_item.flags() & ~Qt.ItemIsEditable)
+                self.table.setItem(row, 2, timer_item)
+                
+                # 选择复选框 - 放在中央
+                checkbox_widget = QWidget()
+                checkbox_layout = QHBoxLayout(checkbox_widget)
+                checkbox_layout.setContentsMargins(0, 0, 0, 0)
+                checkbox_layout.setAlignment(Qt.AlignCenter)
+                
+                include_checkbox = CheckBox("")
+                include_checkbox.setChecked(True)  # 默认选中
+                checkbox_layout.addWidget(include_checkbox)
+                
+                self.table.setCellWidget(row, 3, checkbox_widget)
+
+            content_layout.addWidget(self.table)
+
+        layout.addWidget(self.content_widget)
+        self.content_widget.setEnabled(False)
+
+    def _on_generate_changed(self, state):
+        self.content_widget.setEnabled(state == 2)
+
+    def is_need_generate(self):
+        return self.generate_checkbox.isChecked() and bool(self.available_list)
+
+    def _collect_configs(self):
+        """收集用户配置"""
+        configs = []
+        for row in range(self.table.rowCount()):
+            checkbox_widget = self.table.cellWidget(row, 3)
+            if checkbox_widget:
+                # 获取复选框
+                include_checkbox = checkbox_widget.findChild(CheckBox)
+                if include_checkbox and include_checkbox.isChecked():
+                    name_widget = self.table.cellWidget(row, 1)
+                    if name_widget:
+                        custom_name = name_widget.text().strip()
+                        if custom_name:
+                            pwm_info = self.available_list[row]
+                            configs.append({
+                                'custom_name': custom_name.upper(),
+                                'timer': pwm_info['timer'],
+                                'channel': pwm_info['channel'],
+                                'label': pwm_info['label']
+                            })
+        return configs
+
+    def _generate_bsp_code_internal(self):
+        if not self.is_need_generate():
+            return False
+        
+        configs = self._collect_configs()
+        if not configs:
+            return False
+            
+        template_dir = CodeGenerator.get_template_dir()
+        if not self._generate_header_file(configs, template_dir):
+            return False
+        if not self._generate_source_file(configs, template_dir):
+            return False
+        self._save_config(configs)
+        return True
+
+    def _generate_header_file(self, configs, template_dir):
+        template_path = os.path.join(template_dir, "pwm.h")
+        template_content = CodeGenerator.load_template(template_path)
+        if not template_content:
+            return False
+            
+        # 生成枚举
+        enum_lines = []
+        for config in configs:
+            enum_lines.append(f"  BSP_PWM_{config['custom_name']},")
+            
+        content = CodeGenerator.replace_auto_generated(
+            template_content, "AUTO GENERATED BSP_PWM_ENUM", "\n".join(enum_lines)
+        )
+        
+        output_path = os.path.join(self.project_path, "User/bsp/pwm.h")
+        save_with_preserve(output_path, content)
+        return True
+
+    def _generate_source_file(self, configs, template_dir):
+        template_path = os.path.join(template_dir, "pwm.c")
+        template_content = CodeGenerator.load_template(template_path)
+        if not template_content:
+            return False
+            
+        # 生成MAP数组
+        map_lines = []
+        for config in configs:
+            timer = config['timer'].lower()  # tim1 -> htim1
+            channel = config['channel']
+            map_lines.append(f"  {{&h{timer}, {channel}}},")
+            
+        content = CodeGenerator.replace_auto_generated(
+            template_content, "AUTO GENERATED BSP_PWM_MAP", "\n".join(map_lines)
+        )
+        
+        output_path = os.path.join(self.project_path, "User/bsp/pwm.c")
+        save_with_preserve(output_path, content)
+        return True
+
+    def _save_config(self, configs):
+        config_path = os.path.join(self.project_path, "User/bsp/bsp_config.yaml")
+        config_data = CodeGenerator.load_config(config_path)
+        config_data['pwm'] = {
+            'enabled': True,
+            'configs': [
+                {
+                    'custom_name': config['custom_name'],
+                    'timer': config['timer'],
+                    'channel': config['channel'],
+                    'label': config['label']
+                } for config in configs
+            ]
+        }
+        CodeGenerator.save_config(config_data, config_path)
+
+    def _load_config(self):
+        config_path = os.path.join(self.project_path, "User/bsp/bsp_config.yaml")
+        config_data = CodeGenerator.load_config(config_path)
+        conf = config_data.get('pwm', {})
+        if conf.get('enabled', False):
+            self.generate_checkbox.setChecked(True)
+            saved_configs = conf.get('configs', [])
+            # 恢复用户的自定义名称和选择状态
+            for saved_config in saved_configs:
+                for row in range(len(self.available_list)):
+                    if (self.available_list[row]['label'] == saved_config['label'] and
+                        hasattr(self, 'table')):
+                        name_widget = self.table.cellWidget(row, 1)
+                        if name_widget:
+                            name_widget.setText(saved_config['custom_name'])
+
+# 更新get_bsp_page函数以包含PWM
 def get_bsp_page(peripheral_name, project_path):
     """根据外设名返回对应的页面类，没有特殊类则返回默认BspSimplePeripheral"""
     name_lower = peripheral_name.lower()
@@ -529,6 +942,7 @@ def get_bsp_page(peripheral_name, project_path):
         "spi": bsp_spi,
         "uart": bsp_uart,
         "gpio": bsp_gpio,
+        "pwm": bsp_pwm,  # 添加PWM
         # 以后可以继续添加特殊外设
     }
     if name_lower in special_classes:
@@ -539,7 +953,8 @@ def get_bsp_page(peripheral_name, project_path):
             'source': f'{name_lower}.c'
         }
         return BspSimplePeripheral(project_path, peripheral_name, template_names)
-    
+
+
 class bsp(QWidget):
     def __init__(self, project_path):
         super().__init__()
diff --git a/app/tools/analyzing_ioc.py b/app/tools/analyzing_ioc.py
index c92517a..6a85c3d 100644
--- a/app/tools/analyzing_ioc.py
+++ b/app/tools/analyzing_ioc.py
@@ -113,13 +113,15 @@ class analyzing_ioc:
                             enabled_uart.append(uart_name)
         return sorted(enabled_uart)
     
+
     @staticmethod
     def get_enabled_gpio_from_ioc(ioc_path):
         """
-        获取所有带 EXTI 且有 Label 的 GPIO，返回 [{'pin': 'PC4', 'label': 'ACCL_INT'}, ...]
+        获取所有带 EXTI 且有 Label 的 GPIO，排除其他外设功能的引脚
         """
         gpio_list = []
-        gpio_params = {}
+        gpio_configs = {}
+        
         with open(ioc_path, encoding='utf-8', errors='ignore') as f:
             for line in f:
                 line = line.strip()
@@ -129,18 +131,191 @@ class analyzing_ioc:
                     key, value = line.split('=', 1)
                     key = key.strip()
                     value = value.strip()
-                    if '.GPIOParameters' in key:
-                        gpio_params[key.split('.')[0]] = value
-                    elif '.GPIO_Label' in key:
+                    
+                    # 收集GPIO相关配置
+                    if '.' in key:
                         pin = key.split('.')[0]
-                        gpio_params[f"{pin}_label"] = value
-                    elif '.GPIO_ModeDefaultEXTI' in key:
+                        param = key.split('.', 1)[1]
+                        
+                        if pin not in gpio_configs:
+                            gpio_configs[pin] = {}
+                        
+                        gpio_configs[pin][param] = value
+        
+        # 定义需要排除的Signal类型
+        excluded_signals = [
+            'SPI1_SCK', 'SPI1_MISO', 'SPI1_MOSI', 'SPI2_SCK', 'SPI2_MISO', 'SPI2_MOSI', 
+            'SPI3_SCK', 'SPI3_MISO', 'SPI3_MOSI',
+            'I2C1_SCL', 'I2C1_SDA', 'I2C2_SCL', 'I2C2_SDA', 'I2C3_SCL', 'I2C3_SDA',
+            'USART1_TX', 'USART1_RX', 'USART2_TX', 'USART2_RX', 'USART3_TX', 'USART3_RX',
+            'USART6_TX', 'USART6_RX', 'UART4_TX', 'UART4_RX', 'UART5_TX', 'UART5_RX',
+            'CAN1_TX', 'CAN1_RX', 'CAN2_TX', 'CAN2_RX',
+            'USB_OTG_FS_DM', 'USB_OTG_FS_DP', 'USB_OTG_HS_DM', 'USB_OTG_HS_DP',
+            'SYS_JTMS-SWDIO', 'SYS_JTCK-SWCLK', 'SYS_JTDI', 'SYS_JTDO-SWO',
+            'RCC_OSC_IN', 'RCC_OSC_OUT',
+        ]
+        
+        # 处理每个GPIO配置，只选择EXTI类型的
+        for pin, config in gpio_configs.items():
+            signal = config.get('Signal', '')
+            
+            # 只处理有Label和EXTI功能的GPIO
+            if ('GPIO_Label' not in config or 
+                ('GPIO_ModeDefaultEXTI' not in config and not signal.startswith('GPXTI'))):
+                continue
+                
+            # 排除用于其他外设功能的引脚
+            if signal in excluded_signals or signal.startswith('S_TIM') or signal.startswith('ADC'):
+                continue
+                
+            # 只包含EXTI功能的GPIO
+            if signal.startswith('GPXTI'):
+                label = config['GPIO_Label']
+                gpio_list.append({'pin': pin, 'label': label})
+        
+        return gpio_list
+
+
+
+    @staticmethod  
+    def get_all_gpio_from_ioc(ioc_path):
+        """
+        获取所有GPIO配置，但排除用于其他外设功能的引脚
+        只包含纯GPIO功能：GPIO_Input, GPIO_Output, GPXTI
+        """
+        gpio_list = []
+        gpio_configs = {}
+        
+        with open(ioc_path, encoding='utf-8', errors='ignore') as f:
+            for line in f:
+                line = line.strip()
+                if not line or line.startswith('#'):
+                    continue
+                if '=' in line:
+                    key, value = line.split('=', 1)
+                    key = key.strip()
+                    value = value.strip()
+                    
+                    # 收集GPIO相关配置
+                    if '.' in key:
                         pin = key.split('.')[0]
-                        gpio_params[f"{pin}_exti"] = value
-        for pin in gpio_params:
-            if not pin.endswith('_label') and not pin.endswith('_exti'):
-                label = gpio_params.get(f"{pin}_label", None)
-                exti = gpio_params.get(f"{pin}_exti", None)
-                if label and exti:
-                    gpio_list.append({'pin': pin, 'label': label})
-        return gpio_list
\ No newline at end of file
+                        param = key.split('.', 1)[1]
+                        
+                        if pin not in gpio_configs:
+                            gpio_configs[pin] = {}
+                        
+                        gpio_configs[pin][param] = value
+        
+        # 定义需要排除的Signal类型（用于其他外设功能的）
+        excluded_signals = [
+            # SPI相关
+            'SPI1_SCK', 'SPI1_MISO', 'SPI1_MOSI', 'SPI2_SCK', 'SPI2_MISO', 'SPI2_MOSI', 
+            'SPI3_SCK', 'SPI3_MISO', 'SPI3_MOSI',
+            # I2C相关
+            'I2C1_SCL', 'I2C1_SDA', 'I2C2_SCL', 'I2C2_SDA', 'I2C3_SCL', 'I2C3_SDA',
+            # UART/USART相关
+            'USART1_TX', 'USART1_RX', 'USART2_TX', 'USART2_RX', 'USART3_TX', 'USART3_RX',
+            'USART6_TX', 'USART6_RX', 'UART4_TX', 'UART4_RX', 'UART5_TX', 'UART5_RX',
+            # CAN相关
+            'CAN1_TX', 'CAN1_RX', 'CAN2_TX', 'CAN2_RX',
+            # USB相关
+            'USB_OTG_FS_DM', 'USB_OTG_FS_DP', 'USB_OTG_HS_DM', 'USB_OTG_HS_DP',
+            # 系统相关
+            'SYS_JTMS-SWDIO', 'SYS_JTCK-SWCLK', 'SYS_JTDI', 'SYS_JTDO-SWO',
+            'RCC_OSC_IN', 'RCC_OSC_OUT',
+        ]
+        
+        # 处理每个GPIO配置
+        for pin, config in gpio_configs.items():
+            signal = config.get('Signal', '')
+            
+            # 只处理有Label的GPIO
+            if 'GPIO_Label' not in config:
+                continue
+                
+            # 排除用于其他外设功能的引脚
+            if signal in excluded_signals:
+                continue
+                
+            # 排除TIM相关的引脚（以S_TIM开头的信号）
+            if signal.startswith('S_TIM'):
+                continue
+                
+            # 排除ADC相关的引脚
+            if signal.startswith('ADC'):
+                continue
+                
+            # 只包含纯GPIO功能
+            if signal in ['GPIO_Input', 'GPIO_Output'] or signal.startswith('GPXTI'):
+                gpio_info = {
+                    'pin': pin,
+                    'label': config['GPIO_Label'],
+                    'has_exti': 'GPIO_ModeDefaultEXTI' in config or signal.startswith('GPXTI'),
+                    'signal': signal,
+                    'mode': config.get('GPIO_ModeDefaultEXTI', ''),
+                    'is_output': signal == 'GPIO_Output',
+                    'is_input': signal == 'GPIO_Input'
+                }
+                gpio_list.append(gpio_info)
+        
+        return gpio_list
+    
+    @staticmethod
+    def get_enabled_pwm_from_ioc(ioc_path):
+        """
+        获取已启用的PWM通道列表
+        返回格式: [{'timer': 'TIM1', 'channel': 'TIM_CHANNEL_1', 'label': 'PWM_MOTOR1'}, ...]
+        """
+        pwm_channels = []
+        gpio_configs = {}
+        
+        with open(ioc_path, encoding='utf-8', errors='ignore') as f:
+            for line in f:
+                line = line.strip()
+                if not line or line.startswith('#'):
+                    continue
+                if '=' in line:
+                    key, value = line.split('=', 1)
+                    key = key.strip()
+                    value = value.strip()
+                    
+                    # 收集GPIO相关配置
+                    if '.' in key:
+                        pin = key.split('.')[0]
+                        param = key.split('.', 1)[1]
+                        
+                        if pin not in gpio_configs:
+                            gpio_configs[pin] = {}
+                        
+                        gpio_configs[pin][param] = value
+        
+        # 处理每个GPIO配置，查找PWM信号
+        for pin, config in gpio_configs.items():
+            signal = config.get('Signal', '')
+            
+            # 检查是否为PWM信号（格式如：S_TIM1_CH1, S_TIM2_CH3等）
+            if signal.startswith('S_TIM') and '_CH' in signal:
+                # 解析定时器和通道信息
+                # 例如：S_TIM1_CH1 -> TIM1, CH1
+                parts = signal.replace('S_', '').split('_')
+                if len(parts) >= 2:
+                    timer = parts[0]  # TIM1
+                    channel_part = parts[1]  # CH1
+                    
+                    # 转换通道格式：CH1 -> TIM_CHANNEL_1
+                    if channel_part.startswith('CH'):
+                        channel_num = channel_part[2:]  # 提取数字
+                        channel = f"TIM_CHANNEL_{channel_num}"
+                        
+                        # 获取标签
+                        label = config.get('GPIO_Label', f"{timer}_{channel_part}")
+                        
+                        pwm_channels.append({
+                            'timer': timer,
+                            'channel': channel,
+                            'label': label,
+                            'pin': pin,
+                            'signal': signal
+                        })
+        
+        return pwm_channels
\ No newline at end of file
diff --git a/assets/User_code/bsp/.DS_Store b/assets/User_code/bsp/.DS_Store
index dc0ff54..ec9a612 100644
Binary files a/assets/User_code/bsp/.DS_Store and b/assets/User_code/bsp/.DS_Store differ
diff --git a/assets/User_code/bsp/can.c b/assets/User_code/bsp/can.c
index f887116..98acb19 100644
--- a/assets/User_code/bsp/can.c
+++ b/assets/User_code/bsp/can.c
@@ -1,19 +1,106 @@
 /* Includes ----------------------------------------------------------------- */
-#include "bsp\can.h"
+#include "bsp/can.h"
+#include "bsp/bsp.h"
+#include <can.h>
+#include <cmsis_os.h>
+#include <stdlib.h>
+#include <string.h>
 
 /* Private define ----------------------------------------------------------- */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+typedef struct CAN_QueueNode {
+    uint32_t can_id;
+    osMessageQueueId_t queue;
+    uint8_t queue_size;
+    struct CAN_QueueNode *next;
+} CAN_QueueNode_t;
+
 /* Private variables -------------------------------------------------------- */
+static CAN_QueueNode_t *can_queue_list = NULL;
 static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
 
+/* Private function prototypes ---------------------------------------------- */
+static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan);
+static osMessageQueueId_t find_queue(uint32_t can_id);
+static void can_rx_fifo0_handler(void);
+static void can_rx_fifo1_handler(void);
+
+/* AUTO GENERATED CAN_RX_CALLBACKS */
 /* Private function  -------------------------------------------------------- */
+
+/* 查找指定CAN ID的队列 */
+static osMessageQueueId_t find_queue(uint32_t can_id) {
+    CAN_QueueNode_t *node = can_queue_list;
+    while (node) {
+        if (node->can_id == can_id) return node->queue;
+        node = node->next;
+    }
+    return NULL;
+}
+
+/* FIFO0接收处理函数 */
+static void can_rx_fifo0_handler(void) {
+    CAN_RxHeaderTypeDef rx_header;
+    uint8_t rx_data[8];
+    
+    // 遍历所有CAN接口处理FIFO0
+    for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) {
+        CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle((BSP_CAN_t)can_idx);
+        if (hcan == NULL) continue;
+        
+        while (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO0) > 0) {
+            if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) {
+                uint32_t can_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId;
+                osMessageQueueId_t queue = find_queue(can_id);
+                if (queue) {
+                    CAN_Message_t msg;
+                    msg.header = rx_header;
+                    memcpy(msg.data, rx_data, 8);
+                    // 非阻塞发送，如果队列满了就丢弃
+                    osMessageQueuePut(queue, &msg, 0, 0);
+                }
+                // 如果没有找到对应的队列，消息被直接丢弃
+            }
+        }
+    }
+}
+
+/* FIFO1接收处理函数 */
+static void can_rx_fifo1_handler(void) {
+    CAN_RxHeaderTypeDef rx_header;
+    uint8_t rx_data[8];
+    
+    // 遍历所有CAN接口处理FIFO1
+    for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) {
+        CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle((BSP_CAN_t)can_idx);
+        if (hcan == NULL) continue;
+        
+        while (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO1) > 0) {
+            if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) {
+                uint32_t can_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId;
+                osMessageQueueId_t queue = find_queue(can_id);
+                if (queue) {
+                    CAN_Message_t msg;
+                    msg.header = rx_header;
+                    memcpy(msg.data, rx_data, 8);
+                    // 非阻塞发送，如果队列满了就丢弃
+                    osMessageQueuePut(queue, &msg, 0, 0);
+                }
+                // 如果没有找到对应的队列，消息被直接丢弃
+            }
+        }
+    }
+}
+
 static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan) {
 /* AUTO GENERATED CAN_GET */
   else
     return BSP_CAN_ERR;
 }
 
+/* HAL Callback Functions --------------------------------------------------- */
 void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
   BSP_CAN_t bsp_can = CAN_Get(hcan);
   if (bsp_can != BSP_CAN_ERR) {
@@ -130,6 +217,132 @@ CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
 int8_t BSP_CAN_RegisterCallback(BSP_CAN_t can, BSP_CAN_Callback_t type,
                                 void (*callback)(void)) {
   if (callback == NULL) return BSP_ERR_NULL;
+  if (can >= BSP_CAN_NUM) return BSP_ERR_INITED;
+  if (type >= BSP_CAN_CB_NUM) return BSP_ERR;
+  
   CAN_Callback[can][type] = callback;
   return BSP_OK;
 }
+
+int BSP_CAN_GetMessage(uint32_t can_id, CAN_Message_t *msg, uint32_t timeout) {
+    if (msg == NULL) return BSP_ERR_NULL;
+    osMessageQueueId_t queue = find_queue(can_id);
+    if (!queue) return BSP_ERR_NO_DEV; // 没有该队列
+    if (osMessageQueueGet(queue, msg, NULL, timeout) == osOK) {
+        return BSP_OK; // 成功
+    }
+    return BSP_ERR; // 超时或队列为空
+}
+
+int8_t BSP_CAN_CreateIdQueue(uint32_t can_id, uint8_t queue_size) {
+    // 检查是否已存在
+    CAN_QueueNode_t *node = can_queue_list;
+    while (node) {
+        if (node->can_id == can_id) {
+            return BSP_ERR; // 已存在
+        }
+        node = node->next;
+    }
+    // 创建新节点
+    CAN_QueueNode_t *new_node = malloc(sizeof(CAN_QueueNode_t));
+    if (new_node == NULL) return BSP_ERR_NULL;
+    new_node->can_id = can_id;
+    new_node->queue_size = queue_size;
+    new_node->queue = osMessageQueueNew(queue_size, sizeof(CAN_Message_t), NULL);
+    if (new_node->queue == NULL) {
+        free(new_node);
+        return BSP_ERR;
+    }
+    new_node->next = can_queue_list;
+    can_queue_list = new_node;
+    return BSP_OK;
+}
+
+
+int8_t BSP_CAN_DeleteIdQueue(uint32_t can_id) {
+    CAN_QueueNode_t **current = &can_queue_list;
+    while (*current) {
+        if ((*current)->can_id == can_id) {
+            CAN_QueueNode_t *to_delete = *current;
+            *current = (*current)->next;
+            osMessageQueueDelete(to_delete->queue);
+            free(to_delete);
+            return BSP_OK;
+        }
+        current = &(*current)->next;
+    }
+    return BSP_ERR; // 未找到
+}
+
+
+void BSP_CAN_RegisterId(uint32_t can_id, uint8_t queue_size) {
+    BSP_CAN_CreateIdQueue(can_id, queue_size);
+}
+
+
+int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
+                        uint32_t id, uint8_t *data, uint8_t dlc) {
+  if (can >= BSP_CAN_NUM) return BSP_ERR;
+  if (data == NULL) return BSP_ERR_NULL;
+  if (dlc > 8) return BSP_ERR;
+  
+  CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
+  if (hcan == NULL) return BSP_ERR_NULL;
+  
+  CAN_TxHeaderTypeDef header;
+  uint32_t mailbox;
+  
+  switch (format) {
+    case CAN_FORMAT_STD_DATA:
+      header.StdId = id;
+      header.IDE = CAN_ID_STD;
+      header.RTR = CAN_RTR_DATA;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = dlc;
+      break;
+    case CAN_FORMAT_EXT_DATA:
+      header.ExtId = id;
+      header.IDE = CAN_ID_EXT;
+      header.RTR = CAN_RTR_DATA;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = dlc;
+      break;
+    case CAN_FORMAT_STD_REMOTE:
+      header.StdId = id;
+      header.IDE = CAN_ID_STD;
+      header.RTR = CAN_RTR_REMOTE;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = dlc;
+      break;
+    case CAN_FORMAT_EXT_REMOTE:
+      header.ExtId = id;
+      header.IDE = CAN_ID_EXT;
+      header.RTR = CAN_RTR_REMOTE;
+      header.TransmitGlobalTime = DISABLE;
+      header.DLC = dlc;
+      break;
+    default:
+      return BSP_ERR;
+  }
+
+  HAL_StatusTypeDef res = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
+
+  if (res == HAL_OK) {
+    return BSP_OK;
+  } else {
+    return BSP_ERR;
+  }
+}
+
+int8_t BSP_CAN_Init(void) {
+/* AUTO GENERATED CAN_INIT */
+  
+  // 注册接收中断处理函数
+  for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) {
+    BSP_CAN_RegisterCallback((BSP_CAN_t)can_idx, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, can_rx_fifo0_handler);
+    BSP_CAN_RegisterCallback((BSP_CAN_t)can_idx, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, can_rx_fifo1_handler);
+  }
+
+  return BSP_OK;
+}
+
diff --git a/assets/User_code/bsp/can.h b/assets/User_code/bsp/can.h
index 4cfe168..709d37c 100644
--- a/assets/User_code/bsp/can.h
+++ b/assets/User_code/bsp/can.h
@@ -6,10 +6,14 @@ extern "C" {
 
 /* Includes ----------------------------------------------------------------- */
 #include <can.h>
-
 #include "bsp/bsp.h"
+#include <stdint.h>
+#include <stdbool.h>
+#include <cmsis_os.h>
 
 /* Exported constants ------------------------------------------------------- */
+
+
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
 typedef enum {
@@ -35,11 +39,85 @@ typedef enum {
   BSP_CAN_CB_NUM
 } BSP_CAN_Callback_t;
 
+typedef enum {
+  CAN_FORMAT_STD_DATA, /* 标准数据帧 */
+  CAN_FORMAT_EXT_DATA, /* 扩展数据帧 */
+  CAN_FORMAT_STD_REMOTE,  /* 标准远程帧 */
+  CAN_FORMAT_EXT_REMOTE,  /* 扩展远程帧 */
+} BSP_CAN_Format_t;
+
+typedef struct {
+    CAN_RxHeaderTypeDef header;
+    uint8_t data[8];
+} CAN_Message_t;
+
 /* Exported functions prototypes -------------------------------------------- */
+/**
+ * @brief 获取 CAN 句柄
+ * @param can CAN 枚举类型
+ * @return CAN_HandleTypeDef 指针，失败返回 NULL
+ */
 CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can);
+
+/**
+ * @brief 注册 CAN 回调
+ * @param can CAN 枚举类型
+ * @param type 回调类型
+ * @param callback 回调函数指针
+ * @return BSP_OK 成功，BSP_ERR_NULL/BSP_ERR_INVALID_PARAM 失败
+ */
 int8_t BSP_CAN_RegisterCallback(BSP_CAN_t can, BSP_CAN_Callback_t type,
                                 void (*callback)(void));
 
-#ifdef __cplusplus
-}
-#endif
+/**
+ * @brief 发送 CAN 消息
+ * @param can CAN 枚举类型
+ * @param format 消息格式
+ * @param id CAN ID
+ * @param data 数据指针
+ * @param dlc 数据长度
+ * @return BSP_OK 成功，BSP_ERR/BSP_ERR_NULL/BSP_ERR_INVALID_PARAM 失败
+ */
+int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
+                        uint32_t id, uint8_t *data, uint8_t dlc);
+
+/**
+ * @brief 初始化 CAN
+ * @return BSP_OK 成功，BSP_ERR/BSP_ERR_NULL/BSP_ERR_INITED 失败
+ */
+int8_t BSP_CAN_Init(void);
+
+/**
+ * @brief 获取 CAN 消息
+ * @param can_id CAN ID
+ * @param msg 存储消息的结构体指针
+ * @param timeout 超时时间（毫秒）
+ * @return BSP_OK 成功，BSP_ERR/BSP_ERR_NULL/BSP_ERR_NO_DEV 失败
+ */
+int BSP_CAN_GetMessage(uint32_t can_id, CAN_Message_t *msg, uint32_t timeout);
+
+/**
+ * @brief 注册 CAN ID
+ * @param can_id CAN ID
+ * @param queue_size 队列大小
+ * @return 无
+ */
+void BSP_CAN_RegisterId(uint32_t can_id, uint8_t queue_size);
+
+/**
+ * @brief 创建指定 CAN ID 的队列
+ * @param can_id CAN ID
+ * @param queue_size 队列大小
+ * @return BSP_OK 成功，BSP_ERR/BSP_ERR_NULL/BSP_ERR_INVALID_PARAM 失败
+ */
+int8_t BSP_CAN_CreateIdQueue(uint32_t can_id, uint8_t queue_size);
+
+/**
+ * @brief 删除指定 CAN ID 的队列
+ * @param can_id CAN ID
+ * @return BSP_OK 成功，BSP_ERR/BSP_ERR_INVALID_PARAM 失败
+ */
+int8_t BSP_CAN_DeleteIdQueue(uint32_t can_id);
+
+/* USER CAN FUNCTIONS BEGIN */
+/* USER CAN FUNCTIONS END */
\ No newline at end of file
diff --git a/assets/User_code/bsp/describe.csv b/assets/User_code/bsp/describe.csv
index 620500e..25a5f06 100644
--- a/assets/User_code/bsp/describe.csv
+++ b/assets/User_code/bsp/describe.csv
@@ -3,4 +3,5 @@ can,要求开启can的中断要求开启can的中断要求开启can的中断要
 gpio,要求设置label开启中断
 spi,要求开启spi中断
 i2c,要求开始spi中断
-mm,这是套了一层的内存
\ No newline at end of file
+mm,这是套了一层的内存
+time,需要使用开启freerots
\ No newline at end of file
diff --git a/assets/User_code/bsp/gpio.c b/assets/User_code/bsp/gpio.c
index 19fd446..da3a24c 100644
--- a/assets/User_code/bsp/gpio.c
+++ b/assets/User_code/bsp/gpio.c
@@ -7,7 +7,16 @@
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+typedef struct {
+  uint16_t pin;
+  GPIO_TypeDef *gpio;
+} BSP_GPIO_MAP_t;
+
 /* Private variables -------------------------------------------------------- */
+static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
+/* AUTO GENERATED BSP_GPIO_MAP */
+};
+
 static void (*GPIO_Callback[16])(void);
 
 /* Private function  -------------------------------------------------------- */
@@ -36,7 +45,7 @@ int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void)) {
 
 int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
   switch (pin) {
-    /* AUTO GENERATED BSP_GPIO_ENABLE_IRQ */
+/* AUTO GENERATED BSP_GPIO_ENABLE_IRQ */
     default:
       return BSP_ERR;
   }
@@ -45,9 +54,26 @@ int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
 
 int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
   switch (pin) {
-    /* AUTO GENERATED BSP_GPIO_DISABLE_IRQ */
+/* AUTO GENERATED BSP_GPIO_DISABLE_IRQ */
     default:
       return BSP_ERR;
   }
   return BSP_OK;
+}
+
+int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value){
+  if (gpio >= BSP_GPIO_NUM) return BSP_ERR;
+  HAL_GPIO_WritePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin, value);
+  return BSP_OK;
+}
+
+int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio){
+  if (gpio >= BSP_GPIO_NUM) return BSP_ERR;
+  HAL_GPIO_TogglePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin);
+  return BSP_OK;
+}
+
+bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio){
+  if (gpio >= BSP_GPIO_NUM) return false;
+  return HAL_GPIO_ReadPin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin) == GPIO_PIN_SET;
 }
\ No newline at end of file
diff --git a/assets/User_code/bsp/gpio.h b/assets/User_code/bsp/gpio.h
index d2eeae8..a11d717 100644
--- a/assets/User_code/bsp/gpio.h
+++ b/assets/User_code/bsp/gpio.h
@@ -6,18 +6,30 @@ extern "C" {
 
 /* Includes ----------------------------------------------------------------- */
 #include <stdint.h>
+#include <stdbool.h>
 
 #include "bsp/bsp.h"
 
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
+typedef enum {
+/* AUTO GENERATED BSP_GPIO_ENUM */
+  BSP_GPIO_NUM,
+  BSP_GPIO_ERR,
+} BSP_GPIO_t;
+
 /* Exported functions prototypes -------------------------------------------- */
 int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void));
 
 int8_t BSP_GPIO_EnableIRQ(uint16_t pin);
 int8_t BSP_GPIO_DisableIRQ(uint16_t pin);
 
+int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value);
+int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio);
+
+bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio);
+
 #ifdef __cplusplus
 }
-#endif
+#endif
\ No newline at end of file
diff --git a/assets/User_code/bsp/i2c.c b/assets/User_code/bsp/i2c.c
index de66db3..12c7539 100644
--- a/assets/User_code/bsp/i2c.c
+++ b/assets/User_code/bsp/i2c.c
@@ -101,3 +101,76 @@ int8_t BSP_I2C_RegisterCallback(BSP_I2C_t i2c, BSP_I2C_Callback_t type,
   I2C_Callback[i2c][type] = callback;
   return BSP_OK;
 }
+
+int8_t BSP_I2C_Transmit(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data,
+                        uint16_t size, bool dma) {
+  if (i2c >= BSP_I2C_NUM) return BSP_ERR;
+  I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
+  if (hi2c == NULL) return BSP_ERR;
+
+  if (dma) {
+    return HAL_I2C_Master_Transmit_DMA(hi2c, devAddr, data, size);
+  } else {
+    return HAL_I2C_Master_Transmit_IT(hi2c, devAddr, data, size);
+  }
+}
+
+int8_t BSP_I2C_Receive(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data,
+                       uint16_t size, bool dma) {
+  if (i2c >= BSP_I2C_NUM) return BSP_ERR;
+  I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
+  if (hi2c == NULL) return BSP_ERR;
+
+  if (dma) {
+    return HAL_I2C_Master_Receive_DMA(hi2c, devAddr, data, size);
+  } else {
+    return HAL_I2C_Master_Receive_IT(hi2c, devAddr, data, size);
+  }
+}
+
+uint8_t BSP_I2C_MemReadByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr) {
+  if (i2c >= BSP_I2C_NUM) return 0xFF;
+  I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
+  if (hi2c == NULL) return 0xFF;
+
+  uint8_t data;
+  HAL_I2C_Mem_Read(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, &data, 1, HAL_MAX_DELAY);
+  return data;
+}
+
+int8_t BSP_I2C_MemWriteByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
+                            uint8_t data) {
+  if (i2c >= BSP_I2C_NUM) return BSP_ERR;
+  I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
+  if (hi2c == NULL) return BSP_ERR;
+
+  return HAL_I2C_Mem_Write(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, &data, 1, HAL_MAX_DELAY);
+}
+
+int8_t BSP_I2C_MemRead(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
+                       uint8_t *data, uint16_t size, bool dma) {
+  if (i2c >= BSP_I2C_NUM || data == NULL || size == 0) return BSP_ERR;
+  I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
+  if (hi2c == NULL) return BSP_ERR;
+
+  if (dma) {
+    return HAL_I2C_Mem_Read_DMA(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size);
+  }
+  else {
+    return HAL_I2C_Mem_Read(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size, HAL_MAX_DELAY);
+  }
+}
+
+
+int8_t BSP_I2C_MemWrite(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
+                        uint8_t *data, uint16_t size, bool dma) {
+  if (i2c >= BSP_I2C_NUM || data == NULL || size == 0) return BSP_ERR;
+  I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
+  if (hi2c == NULL) return BSP_ERR;
+
+  if (dma) {
+    return HAL_I2C_Mem_Write_DMA(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size);
+  } else {
+    return HAL_I2C_Mem_Write(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size, HAL_MAX_DELAY);
+  }
+}
\ No newline at end of file
diff --git a/assets/User_code/bsp/i2c.h b/assets/User_code/bsp/i2c.h
index fecb246..ab75d48 100644
--- a/assets/User_code/bsp/i2c.h
+++ b/assets/User_code/bsp/i2c.h
@@ -6,6 +6,8 @@ extern "C" {
 
 /* Includes ----------------------------------------------------------------- */
 #include <i2c.h>
+#include <stdint.h>
+#include <stdbool.h>
 
 #include "bsp/bsp.h"
 
@@ -44,6 +46,22 @@ I2C_HandleTypeDef *BSP_I2C_GetHandle(BSP_I2C_t i2c);
 int8_t BSP_I2C_RegisterCallback(BSP_I2C_t i2c, BSP_I2C_Callback_t type,
                                 void (*callback)(void));
 
+int8_t BSP_I2C_Transmit(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data,
+                        uint16_t size, bool dma);
+int8_t BSP_I2C_Receive(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data,
+                       uint16_t size, bool dma);
+
+
+uint8_t BSP_I2C_MemReadByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr);
+int8_t BSP_I2C_MemWriteByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
+                            uint8_t data);
+
+int8_t BSP_I2C_MemRead(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
+                       uint8_t *data, uint16_t size, bool dma);
+int8_t BSP_I2C_MemWrite(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
+                        uint8_t *data, uint16_t size, bool dma);
+
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/assets/User_code/bsp/pwm.c b/assets/User_code/bsp/pwm.c
new file mode 100644
index 0000000..550d7a4
--- /dev/null
+++ b/assets/User_code/bsp/pwm.c
@@ -0,0 +1,70 @@
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/pwm.h"
+#include "bsp.h"
+
+#include <tim.h>
+
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+typedef struct {
+  TIM_HandleTypeDef *tim;
+  uint16_t channel;
+} BSP_PWM_Config_t;
+
+/* Private variables -------------------------------------------------------- */
+static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = {
+/* AUTO GENERATED BSP_PWM_MAP */
+};
+
+/* Private function  -------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) {
+  if (ch >= BSP_PWM_NUM) return BSP_ERR;
+  
+  HAL_TIM_PWM_Start(PWM_Map[ch].tim, PWM_Map[ch].channel);
+  return BSP_OK;
+}
+
+int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) {
+  if (ch >= BSP_PWM_NUM) return BSP_ERR;
+  
+  if (duty_cycle > 1.0f) {
+    duty_cycle = 1.0f;
+  }
+  if (duty_cycle < 0.0f) {
+    duty_cycle = 0.0f;
+  }
+  
+  // 获取ARR值（周期值）
+  uint32_t arr = __HAL_TIM_GET_AUTORELOAD(PWM_Map[ch].tim);
+  
+  // 计算比较值：CCR = duty_cycle * (ARR + 1)
+  uint32_t ccr = (uint32_t)(duty_cycle * (arr + 1));
+  
+  __HAL_TIM_SET_COMPARE(PWM_Map[ch].tim, PWM_Map[ch].channel, ccr);
+  return BSP_OK;
+}
+
+int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq) {
+  if (ch >= BSP_PWM_NUM) return BSP_ERR;
+
+  uint32_t timer_clock = HAL_RCC_GetPCLK1Freq(); // Get the timer clock frequency
+  uint32_t prescaler = PWM_Map[ch].tim->Init.Prescaler;
+  uint32_t period = (timer_clock / (prescaler + 1)) / freq - 1;
+  
+  if (period > UINT16_MAX) {
+    return BSP_ERR; // Frequency too low
+  }
+  __HAL_TIM_SET_AUTORELOAD(PWM_Map[ch].tim, period);
+  
+  return BSP_OK;
+}
+
+int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch) {
+  if (ch >= BSP_PWM_NUM) return BSP_ERR;
+  
+  HAL_TIM_PWM_Stop(PWM_Map[ch].tim, PWM_Map[ch].channel);
+  return BSP_OK;
+}
\ No newline at end of file
diff --git a/assets/User_code/bsp/pwm.h b/assets/User_code/bsp/pwm.h
new file mode 100644
index 0000000..03f6cf5
--- /dev/null
+++ b/assets/User_code/bsp/pwm.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdint.h>
+
+#include "bsp.h"
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+/* PWM通道 */
+typedef enum {
+/* AUTO GENERATED BSP_PWM_ENUM */
+  BSP_PWM_NUM,
+  BSP_PWM_ERR,
+} BSP_PWM_Channel_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch);
+int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle);
+int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq);
+int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch);
+
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file
diff --git a/assets/User_code/bsp/spi.c b/assets/User_code/bsp/spi.c
index 7560f3f..5226feb 100644
--- a/assets/User_code/bsp/spi.c
+++ b/assets/User_code/bsp/spi.c
@@ -94,3 +94,74 @@ int8_t BSP_SPI_RegisterCallback(BSP_SPI_t spi, BSP_SPI_Callback_t type,
   SPI_Callback[spi][type] = callback;
   return BSP_OK;
 }
+
+int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) {
+  if (spi >= BSP_SPI_NUM) return BSP_ERR;
+  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
+  if (hspi == NULL) return BSP_ERR;
+
+  if (dma) {
+    return HAL_SPI_Transmit_DMA(hspi, data, size);
+  } else {
+    return HAL_SPI_Transmit_IT(hspi, data, size);
+  }
+}
+
+int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) {
+  if (spi >= BSP_SPI_NUM) return BSP_ERR;
+  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
+  if (hspi == NULL) return BSP_ERR;
+
+  if (dma) {
+    return HAL_SPI_Receive_DMA(hspi, data, size);
+  } else {
+    return HAL_SPI_Receive_IT(hspi, data, size);
+  }
+}
+
+int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData,
+                               uint16_t size, bool dma) {
+  if (spi >= BSP_SPI_NUM) return BSP_ERR;
+  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
+  if (hspi == NULL) return BSP_ERR;
+  
+  if (dma) {
+    return HAL_SPI_TransmitReceive_DMA(hspi, txData, rxData, size);
+  } else {
+    return HAL_SPI_TransmitReceive_IT(hspi, txData, rxData, size);
+  }
+}
+
+uint8_t BSP_SPI_MemReadByte(BSP_SPI_t spi, uint8_t reg) {
+  if (spi >= BSP_SPI_NUM) return 0xFF;
+  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
+  if (hspi == NULL) return 0xFF;
+
+  uint8_t data = 0;
+  HAL_SPI_Mem_Read(hspi, reg, &data, sizeof(data));
+  return data;
+}
+
+int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data) {
+  if (spi >= BSP_SPI_NUM) return BSP_ERR;
+  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
+  if (hspi == NULL) return BSP_ERR;
+
+  return HAL_SPI_Mem_Write(hspi, reg, &data, sizeof(data));
+}
+
+int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) {
+  if (spi >= BSP_SPI_NUM) return BSP_ERR;
+  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
+  if (hspi == NULL || data == NULL || size == 0) return BSP_ERR_NULL;
+
+  return HAL_SPI_Mem_Read(hspi, reg, data, size);
+}
+
+int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) {
+  if (spi >= BSP_SPI_NUM) return BSP_ERR;
+  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
+  if (hspi == NULL || data == NULL || size == 0) return BSP_ERR_NULL;
+
+  return HAL_SPI_Mem_Write(hspi, reg, data, size);
+}
diff --git a/assets/User_code/bsp/spi.h b/assets/User_code/bsp/spi.h
index e42bab7..a4d0ea7 100644
--- a/assets/User_code/bsp/spi.h
+++ b/assets/User_code/bsp/spi.h
@@ -6,6 +6,7 @@ extern "C" {
 
 /* Includes ----------------------------------------------------------------- */
 #include <spi.h>
+#include <stdint.h>
 
 #include "bsp/bsp.h"
 
@@ -40,6 +41,17 @@ SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi);
 int8_t BSP_SPI_RegisterCallback(BSP_SPI_t spi, BSP_SPI_Callback_t type,
                                 void (*callback)(void));
 
+
+int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma);
+int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma);
+int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData,
+                               uint16_t size, bool dma);
+
+uint8_t BSP_SPI_MemReadByte(BSP_SPI_t spi, uint8_t reg);
+int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data);
+int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size);
+int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/assets/User_code/bsp/delay.c b/assets/User_code/bsp/time.c
similarity index 53%
rename from assets/User_code/bsp/delay.c
rename to assets/User_code/bsp/time.c
index d63fb61..0ea6087 100644
--- a/assets/User_code/bsp/delay.c
+++ b/assets/User_code/bsp/time.c
@@ -1,16 +1,35 @@
 /* Includes ----------------------------------------------------------------- */
 #include "bsp/delay.h"
+#include "bsp.h"
 
 #include <cmsis_os2.h>
-#include <main.h>
-
+#include "FreeRTOS.h"
+#include "main.h"
+#include "task.h"
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
 /* Private variables -------------------------------------------------------- */
 /* Private function  -------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
-int8_t BSP_Delay(uint32_t ms) {
+
+uint32_t BSP_TIME_Get_ms() { return xTaskGetTickCount(); }
+
+uint64_t BSP_TIME_Get_us() {
+  uint32_t ms_old = xTaskGetTickCount();
+  uint32_t tick_value_old = SysTick->VAL;
+  uint32_t ms_new = xTaskGetTickCount();
+  uint32_t tick_value_new = SysTick->VAL;
+  if (ms_old == ms_new) {
+    return ms_new * 1000 + 1000 - tick_value_old * 1000 / (SysTick->LOAD + 1);
+  } else {
+    return ms_new * 1000 + 1000 - tick_value_new * 1000 / (SysTick->LOAD + 1);
+  }
+}
+
+uint64_t BSP_TIME_Get() __attribute__((alias("BSP_TIME_Get_us")));
+
+int8_t BSP_TIME_Delay_ms(uint32_t ms) {
   uint32_t tick_period = 1000u / osKernelGetTickFreq();
   uint32_t ticks = ms / tick_period;
 
@@ -32,3 +51,14 @@ int8_t BSP_Delay(uint32_t ms) {
   }
   return BSP_OK;
 }
+
+/*阻塞us延迟*/
+int8_t BSP_TIME_Delay_us(uint32_t us) {
+    uint64_t start = BSP_TIME_Get_us();
+    while (BSP_TIME_Get_us() - start < us) {
+        // 等待us时间
+    }
+    return BSP_OK;
+}
+
+int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms")));
\ No newline at end of file
diff --git a/assets/User_code/bsp/delay.h b/assets/User_code/bsp/time.h
similarity index 69%
rename from assets/User_code/bsp/delay.h
rename to assets/User_code/bsp/time.h
index 82e730f..5273f0f 100644
--- a/assets/User_code/bsp/delay.h
+++ b/assets/User_code/bsp/time.h
@@ -13,7 +13,18 @@ extern "C" {
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
 /* Exported functions prototypes -------------------------------------------- */
-int8_t BSP_Delay(uint32_t ms);
+uint32_t BSP_TIME_Get_ms();
+
+uint64_t BSP_TIME_Get_us();
+
+uint64_t BSP_TIME_Get();
+
+int8_t BSP_TIME_Delay_ms(uint32_t ms);
+
+/*微秒阻塞延时，一般别用*/
+int8_t BSP_TIME_Delay_us(uint32_t us);
+
+int8_t BSP_TIME_Delay(uint32_t ms);
 
 #ifdef __cplusplus
 }
diff --git a/assets/User_code/bsp/uart.c b/assets/User_code/bsp/uart.c
index 0fde9d0..d9a235d 100644
--- a/assets/User_code/bsp/uart.c
+++ b/assets/User_code/bsp/uart.c
@@ -1,5 +1,7 @@
 /* Includes ----------------------------------------------------------------- */
-#include "bsp\uart.h"
+#include <uart.h>
+
+#include "bsp/uart.h"
 
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
@@ -107,6 +109,29 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
 int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type,
                                  void (*callback)(void)) {
   if (callback == NULL) return BSP_ERR_NULL;
+  if (uart >= BSP_UART_NUM || type >= BSP_UART_CB_NUM) return BSP_ERR;
   UART_Callback[uart][type] = callback;
   return BSP_OK;
 }
+
+int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma) {
+  if (uart >= BSP_UART_NUM) return BSP_ERR;
+  if (data == NULL || size == 0) return BSP_ERR_NULL;
+
+  if (dma) {
+    return HAL_UART_Transmit_DMA(BSP_UART_GetHandle(uart), data, size);
+  } else {
+    return HAL_UART_Transmit_IT(BSP_UART_GetHandle(uart), data, size);
+  }
+}
+
+int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma) {
+  if (uart >= BSP_UART_NUM) return BSP_ERR;
+  if (data == NULL || size == 0) return BSP_ERR_NULL;
+
+  if (dma) {
+    return HAL_UART_Receive_DMA(BSP_UART_GetHandle(uart), data, size);
+  } else {
+    return HAL_UART_Receive_IT(BSP_UART_GetHandle(uart), data, size);
+  }
+}
\ No newline at end of file
diff --git a/assets/User_code/bsp/uart.h b/assets/User_code/bsp/uart.h
index 1a0b795..bbb6126 100644
--- a/assets/User_code/bsp/uart.h
+++ b/assets/User_code/bsp/uart.h
@@ -6,6 +6,7 @@ extern "C" {
 
 /* Includes ----------------------------------------------------------------- */
 #include <usart.h>
+#include <stdint.h>
 
 #include "bsp/bsp.h"
 
@@ -38,9 +39,13 @@ typedef enum {
 } BSP_UART_Callback_t;
 
 /* Exported functions prototypes -------------------------------------------- */
+
 UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart);
 int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type,
                                  void (*callback)(void));
+                                 
+int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma);
+int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma);
 
 #ifdef __cplusplus
 }
diff --git a/assets/User_code/config.csv b/assets/User_code/config.csv
index 2aa03c1..bd8d5ac 100644
--- a/assets/User_code/config.csv
+++ b/assets/User_code/config.csv
@@ -1,4 +1,4 @@
-bsp,can,delay,dwt,,gpio,i2c,mm,spi,uart,
+bsp,can,delay,dwt,,gpio,i2c,mm,spi,uart,pwm,time
 component,pid,filter,ahrs
 device,dr16,ai,nuc
 module,chassis,gimbal,arm,shoot
\ No newline at end of file
diff --git a/assets/User_code/device/.DS_Store b/assets/User_code/device/.DS_Store
index 42ce4ca..1fc8ef0 100644
Binary files a/assets/User_code/device/.DS_Store and b/assets/User_code/device/.DS_Store differ
diff --git a/assets/User_code/device/bmp280_i2c.c b/assets/User_code/device/bmp280_i2c.c
deleted file mode 100644
index 1cac0f2..0000000
--- a/assets/User_code/device/bmp280_i2c.c
+++ /dev/null
@@ -1,301 +0,0 @@
-#include "bmp280_i2c.h"
-#include "bsp/i2c.h"
-
-#define I2C_Handle BSP_I2C_GetHandle(BSP_I2C_BMP280)
-
-/**
- * @brief  读寄存器
- * @param  regAdd 寄存器开始地址
- * @param  pdata  存储数据的指针
- * @param  size   寄存器个数
- * @retval 无
- */
-void bmp280_readReg(uint8_t regAdd, uint8_t *pdata, uint8_t size) {
-    HAL_I2C_Mem_Read(I2C_Handle, BMP280_I2C_ADDR << 1, regAdd, I2C_MEMADD_SIZE_8BIT, pdata, size, 1000);
-}
-
-
-
-/**
- * @brief  写1个寄存器
- * @param  regAdd 寄存器开始地址
- * @param  pdata  存储数据的指针
- * @retval 0 写入成功
- *         1 写入失败
- */
-uint8_t bmp280_writeReg(uint8_t regAdd, uint8_t *pdata) {
-    if (HAL_I2C_Mem_Write(I2C_Handle, BMP280_I2C_ADDR << 1, regAdd, I2C_MEMADD_SIZE_8BIT, pdata, 1, 1000) == HAL_OK) {
-        return 0;
-    }
-    return 1;
-}
-
-
-/**
- * @brief  读取设备物理id，用于调试
- * @param  无
- * @retval 设备id
- */
-uint8_t bmp280_get_id(void) {
-    uint8_t temp = 0;
-    bmp280_readReg(BMP280_ID, &temp, 1);
-    return temp;
-}
-
-/**
- * @brief  重启设备
- * @param  无
- * @retval 0 重启成功
- *         1 重启失败
- */
-uint8_t bmp280_reset(void) {
-    uint8_t temp = 0xB6;
-    return bmp280_writeReg(BMP280_RESET, &temp);
-}
-
-/**
- * @brief  获取设备状态
- * @param  无
- * @retval 0 空闲
- *         1 正在测量或者正在复制
- */
-uint8_t bmp280_getStatus(void) {
-    uint8_t temp = 0;
-    bmp280_readReg(BMP280_STATUS, &temp, 1);
-    return (temp & 0x09) ? 1 : 0;
-}
-
-
- /**
-  * @brief  工作模式设置推荐
-  * @param 	mode 0 睡眠模式
-  *              1 单次测量模式，测量完成后回到休眠模式
-  *              2 连续测量模式
-  * @retval 0 设置成功
-  *         1 设置失败 
-  */
-uint8_t bmp280_setMode(uint8_t mode)
-{
-	uint8_t temp=0;
-	bmp280_readReg(BMP280_CTRL_MEAS,&temp,1);
-	switch(mode)
-	{
-		case 0: 
-			temp&=0xFC;
-			break;
-		case 1:
-			temp&=0xFC;
-			temp|=0x01;
-			break;
-		case 2:
-			temp&=0xFC;
-			temp|=0x03;	
-			break;
-		default: 
-			return 1;
-	}
-	return bmp280_writeReg(BMP280_CTRL_MEAS,&temp);
-}
-
-
- /**
-  * @brief  过采样设置
-  * @param 	mode temp&press 0 禁用
-  *                  1 过采样×1
-  *                  2 过采样×2
-  *                  3 过采样×4
-  *                  ..  .....
-  *                  5 过采样×16
-  * @retval 0 设置成功
-  *         1 设置失败 
-  */
-uint8_t bmp280_setOversampling(uint8_t osrs_p,uint8_t osrs_t)
-{
-	uint8_t temp=0;
-	bmp280_readReg(BMP280_CTRL_MEAS,&temp,1);
-	temp&=0xE3;
-	osrs_p = osrs_p<<2;
-	osrs_p&= 0x1C;
-	temp|=osrs_p;
-	
-	temp&=0x1F;
-	osrs_t = osrs_t<<5;
-	osrs_t&= 0xE0;
-	temp|=osrs_t;
-	return bmp280_writeReg(BMP280_CTRL_MEAS,&temp);
-}
-
-
- /**
-  * @brief  滤波器系数和采样间隔时间设置
-  * @param 	Standbyt   0 0.5ms    filter  0 关闭滤波器
-  *                  1 62.5ms           1 2
-  *                  2 125ms            2 4
-  *                  3 250ms            3 8
-  *                  4 500ms            4 16
-  *                  5 1000ms
-  *                  6 2000ms
-  *                  7 4000ms
-  * @retval 0 设置成功
-  *         1 设置失败 
-  */
-uint8_t bmp280_setConfig(uint8_t Standbyt,uint8_t filter)
-{
-		uint8_t temp=0;
-		temp = Standbyt<<5;
-		filter&=0x07;
-		filter=filter<<2;
-		temp|=filter;
-		return bmp280_writeReg(BMP280_CONFIG,&temp);
-}
-
-
- /**
-  * @brief  获取校准系数
-  * @param 	calib 储存系数的结构体
-  * @retval 无
-  */
-void bmp280_getCalibration(bmp280_calib *calib)
-{
-	uint8_t buf[20];
-	bmp280_readReg(BMP280_DIGT,buf,6);
-	calib->dig_t1 =(uint16_t)(bmp280_msblsb_to_u16(buf[1], buf[0])); 
-	calib->dig_t2 =(int16_t)(bmp280_msblsb_to_u16(buf[3], buf[2])); 
-	calib->dig_t3 =(int16_t)(bmp280_msblsb_to_u16(buf[5], buf[4])); 
-	bmp280_readReg(BMP280_DIGP,buf,18);
-	calib->dig_p1 = (uint16_t)(bmp280_msblsb_to_u16(buf[1], buf[0])); 
-	calib->dig_p2 =(int16_t)(bmp280_msblsb_to_u16(buf[3], buf[2]));
-  calib->dig_p3 =(int16_t)(bmp280_msblsb_to_u16(buf[5], buf[4])); 
-  calib->dig_p4 =(int16_t)(bmp280_msblsb_to_u16(buf[7], buf[6])); 
-  calib->dig_p5 =(int16_t)(bmp280_msblsb_to_u16(buf[9], buf[8])); 
-  calib->dig_p6 =(int16_t)(bmp280_msblsb_to_u16(buf[11], buf[10])); 
-  calib->dig_p7 =(int16_t)(bmp280_msblsb_to_u16(buf[13], buf[12])); 
-  calib->dig_p8 =(int16_t)(bmp280_msblsb_to_u16(buf[15], buf[14])); 
-  calib->dig_p9 =(int16_t)(bmp280_msblsb_to_u16(buf[17], buf[16])); 	
-}
-
-
-
- /**
-  * @brief  获取温度
-  * @param 	calib 系数的结构体
-  *       *temperature 温度值指针
-  *       *t_fine  精细分辨率温度值指针
-  * @retval 无 
-  */
-void bmp280_getTemperature(bmp280_calib *calib,double *temperature,int32_t *t_fine)
-{
-	uint8_t buf[3];
-	uint32_t data_xlsb;
-  uint32_t data_lsb;
-  uint32_t data_msb;
-	int32_t uncomp_temperature;
-	double var1, var2;
-
-	bmp280_readReg(BMP280_TEMP,buf,3);
-	data_msb = (int32_t)buf[0] << 12;
-  data_lsb = (int32_t)buf[1] << 4;
-  data_xlsb = (int32_t)buf[2] >> 4;
-	uncomp_temperature = (int32_t)(data_msb | data_lsb | data_xlsb);
-
-
-   var1 = (((double) uncomp_temperature) / 16384.0 - ((double) calib->dig_t1) / 1024.0) *
-           ((double) calib->dig_t2);
-   var2 =
-        ((((double) uncomp_temperature) / 131072.0 - ((double) calib->dig_t1) / 8192.0) *
-         (((double) uncomp_temperature) / 131072.0 - ((double) calib->dig_t1) / 8192.0)) *
-        ((double) calib->dig_t3);
-	*t_fine = (int32_t) (var1 + var2);
-	 *temperature = (var1 + var2) / 5120.0;
-}
-
-
- /**
-  * @brief  获取气压
-  * @param 	calib 系数的结构体
-  *       *pressure 气压值指针
-  *       *t_fine 精细分辨率温度值指针
-  * @retval 无 
-  */
-void bmp280_getPressure(bmp280_calib *calib,double *pressure,int32_t *t_fine)
-{
-	uint8_t buf[3];
-	uint32_t data_xlsb;
-  uint32_t data_lsb;
-  uint32_t data_msb;
-	int32_t uncomp_pressure;
-	double var1, var2;
-	
-	bmp280_readReg(BMP280_PRES,buf,3);
-	data_msb = (uint32_t)buf[0] << 12;
-  data_lsb = (uint32_t)buf[1] << 4;
-  data_xlsb = (uint32_t)buf[2] >> 4;
-	uncomp_pressure = (data_msb | data_lsb | data_xlsb);
-	
-	var1 = ((double) *t_fine / 2.0) - 64000.0;
-  var2 = var1 * var1 * ((double) calib->dig_p6) / 32768.0;
-  var2 = var2 + var1 * ((double) calib->dig_p5) * 2.0;
-  var2 = (var2 / 4.0) + (((double) calib->dig_p4) * 65536.0);
-  var1 = (((double)calib->dig_p3) * var1 * var1 / 524288.0 + ((double)calib->dig_p2) * var1) /
-           524288.0;
-  var1 = (1.0 + var1 / 32768.0) * ((double) calib->dig_p1);
-	        *pressure = 1048576.0 - (double)uncomp_pressure;
-        *pressure = (*pressure - (var2 / 4096.0)) * 6250.0 / var1;
-        var1 = ((double)calib->dig_p9) * *pressure * *pressure / 2147483648.0;
-        var2 = *pressure * ((double)calib->dig_p8) / 32768.0;
-
-        *pressure = *pressure + (var1 + var2 + ((double)calib->dig_p7)) / 16.0;
-}	
-
-
- /**
-  * @brief  初始化
-  * @param 	*calib 系数的结构体指针
-  * @retval 0 设置成功
-  *         1 设置失败
-  */
-uint8_t bmp280_init(bmp280_calib *calib)
-{
-		uint8_t rslt;
-		rslt = bmp280_get_id();
-		if(rslt == BMP2_CHIP_ID)
-		{
-			bmp280_getCalibration(calib);
-			rslt = bmp280_setOversampling(5,2);
-			if(rslt)
-			{
-				return 1;
-			}
-			rslt = bmp280_setConfig(0,4);
-			if(rslt)
-			{
-				return 1;
-			}
-			rslt = bmp280_setMode(2);
-			if(rslt)
-			{
-				return 1;
-			}
-		}
-		else
-		{
-			return 1;	
-		}
-		return 0;
-}
-
-
- /**
-  * @brief  获取最终数据
-  * @param 	*calib 系数的结构体指针
-  * @retval 无 
-  */
-void bmp280_getdata(bmp280_calib *calib,float *temperature,float *pressure)
-{	
-		double temp_T,temp_P;
-		int32_t t_fine; 
-		bmp280_getTemperature(calib,&temp_T,&t_fine);
-		bmp280_getPressure(calib,&temp_P,&t_fine);
-		*temperature = (float)temp_T;
-		*pressure = (float)temp_P;
-}	
diff --git a/assets/User_code/device/bmp280_i2c.h b/assets/User_code/device/bmp280_i2c.h
deleted file mode 100644
index 9ec329d..0000000
--- a/assets/User_code/device/bmp280_i2c.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-/*底层接口定义*/
-#include "bsp/i2c.h"
-#include "stdint.h"
-
-#define BMP280_I2C_ADDR 0x76  // BMP280 默认 I2C 地址
-
-/*寄存器地址*/
-#define BMP280_ID 0xD0      // 设备ID地址
-#define BMP280_RESET 0xE0   // 设备重启
-#define BMP280_STATUS 0xF3  // 设备状态
-#define BMP280_CTRL_MEAS 0xF4  // 数据采集和模式设置
-#define BMP280_CONFIG 0xF5  // 采样速率，滤波器和接口设置
-#define BMP280_DIGT 0x88  // 温度校准系数起始位置
-#define BMP280_DIGP 0x8E  // 气压校准系数起始位置
-#define BMP280_TEMP 0xFA  // 温度储存起始位置
-#define BMP280_PRES 0xF7  // 气压储存起始位置
-
-#define BMP2_CHIP_ID 0x58  // 设备ID地址
-
-#define bmp280_msblsb_to_u16(msb, lsb) (((uint16_t)msb << 8) | ((uint16_t)lsb))
-
-typedef struct {
-    unsigned short dig_t1;
-    signed short dig_t2;
-    signed short dig_t3;
-    unsigned short dig_p1;
-    signed short dig_p2;
-    signed short dig_p3;
-    signed short dig_p4;
-    signed short dig_p5;
-    signed short dig_p6;
-    signed short dig_p7;
-    signed short dig_p8;
-    signed short dig_p9;
-} bmp280_calib;
-
-uint8_t bmp280_get_id(void);
-uint8_t bmp280_reset(void);
-uint8_t bmp280_getStatus(void);
-uint8_t bmp280_setMode(uint8_t mode);
-uint8_t bmp280_setOversampling(uint8_t osrs_p, uint8_t osrs_t);
-uint8_t bmp280_setConfig(uint8_t Standbyt, uint8_t filter);
-void bmp280_getCalibration(bmp280_calib *calib);
-void bmp280_getTemperature(bmp280_calib *calib, double *temperature, int32_t *t_fine);
-void bmp280_getPressure(bmp280_calib *calib, double *pressure, int32_t *t_fine);
-uint8_t bmp280_init(bmp280_calib *calib);
-void bmp280_getdata(bmp280_calib *calib, float *temperature, float *pressure);
diff --git a/assets/User_code/device/key_gpio.c b/assets/User_code/device/key_gpio.c
deleted file mode 100644
index a5ce605..0000000
--- a/assets/User_code/device/key_gpio.c
+++ /dev/null
@@ -1,65 +0,0 @@
-/* Includes ----------------------------------------------------------------- */
-#include "key_gpio.h"
-#include "device.h"
-#include "bsp/gpio_exti.h"
-#include "gpio.h"
-/* Private define ----------------------------------------------------------- */
-#define DEBOUNCE_TIME_MS  20
-/* Private macro ------------------------------------------------------------ */
-/* Private typedef ---------------------------------------------------------- */
-/* Private variables -------------------------------------------------------- */
-/* Private function  -------------------------------------------------------- */
-/* �ⲿ������־λ����־λ�� */
-volatile uint8_t key_flag = 0; // 1=���£�0=�ɿ�
-volatile uint8_t key_exti = 0; 
-volatile uint8_t key_pressed = 0;  // ȫ�ֱ�־λ
-static uint32_t last_debounce_time = 0;    // ����
-
-/* Private function  -------------------------------------------------------- */
-static void KEY_Interrupt_Callback(void) {
-    // �л���־λ״̬
-
-    key_flag = !key_flag;
-	key_exti = 1;
-
-} 
-
-/* Exported functions ------------------------------------------------------- */
-void KEY_Process(void)
-{
-     BSP_GPIO_RegisterCallback(BSP_GPIO_USER_KEY, BSP_GPIO_EXTI_CB, KEY_Interrupt_Callback);
-
-	if(key_exti == 1)
-	{
-		uint32_t now = HAL_GetTick();  
-        // ����Ƿ񳬹�����ʱ��
-        if ((now - last_debounce_time) > DEBOUNCE_TIME_MS) {
-            // ������Ч״̬�����谴��Ϊ�͵�ƽ��
-		    if(key_flag == 0)
-	        {
-		        key_pressed = DEVICE_KEY_RELEASED;
-	        }
-	        if(key_flag == 1)
-	        {
-		        key_pressed = DEVICE_KEY_PRESSED;
-	         }
-		 }
-		else
-		{
-			 HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_6);
-			
-		}
-	   last_debounce_time = now; // ����������ʱ��
-	   key_exti = 0;
-    }
-	else
-	{
-		
-	}
- }
-
-uint8_t KEY_Get_State(void) {
-    return key_pressed;
-}
-
-
diff --git a/assets/User_code/device/key_gpio.h b/assets/User_code/device/key_gpio.h
deleted file mode 100644
index 8e0024a..0000000
--- a/assets/User_code/device/key_gpio.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef KEY_GPIO_H
-#define KEY_GPIO_H
-/* Includes ----------------------------------------------------------------- */
-#include <stdint.h>
-#include "main.h"
-
-/* Exported constants ------------------------------------------------------- */
-/* Exported macro ----------------------------------------------------------- */
-/* Exported types ----------------------------------------------------------- */
-
-///* KEY����״̬�������� */
-typedef enum
-{
-    DEVICE_KEY_RELEASED,  //�����ͷ�
-    DEVICE_KEY_PRESSED,   //��������
-} DEVICE_KEY_Status_t;
-
-void KEY_Process(void);
-uint8_t KEY_Get_State(void);
-
-#endif
diff --git a/assets/User_code/device/oled.c b/assets/User_code/device/oled.c
new file mode 100644
index 0000000..3e9688f
--- /dev/null
+++ b/assets/User_code/device/oled.c
@@ -0,0 +1,381 @@
+/* 
+	OLED显示模块。
+	
+	使用SPI通信时，需要#define OLED_USE_SPI
+	使用I2C通信时，需要#define OLED_USE_I2C
+
+*/
+
+/* Includes ----------------------------------------------------------------- */
+/* Include 自身的头文件。*/
+#include "oled.h"
+
+/* Include 标准库。*/
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+
+/* Include HAL相关的头文件。*/
+#include "bsp_delay.h"
+#include "bsp_spi.h"
+#include <gpio.h>
+
+#ifdef OLED_USE_SPI
+#include "spi.h"
+#
+
+#elif defined OLED_USE_I2C
+#include "i2c.h"
+
+#endif
+
+
+/* Include Component相关的头文件 */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+#ifdef OLED_USE_SPI
+
+#define OLED_CMD_Set()	HAL_GPIO_WritePin(OLED_DC_GPIO_Port, OLED_DC_Pin, GPIO_PIN_SET)
+#define OLED_CMD_Clr()	HAL_GPIO_WritePin(OLED_DC_GPIO_Port, OLED_DC_Pin, GPIO_PIN_RESET)
+
+#define OLED_RST_Set()	HAL_GPIO_WritePin(OLED_RST_GPIO_Port, OLED_RST_Pin, GPIO_PIN_SET)
+#define OLED_RST_Clr()	HAL_GPIO_WritePin(OLED_RST_GPIO_Port, OLED_RST_Pin, GPIO_PIN_RESET)
+
+#elif defined OLED_USE_I2C
+#define OLED_I2C_HANDLE hi2c1
+
+#endif
+
+/* Private typedef ---------------------------------------------------------- */
+typedef enum {
+	OLED_WriteCMD = 0,
+	OLED_WriteData = 1,
+}OLED_Write_t;
+
+
+/* Private variables -------------------------------------------------------- */
+static const uint8_t oled_font[95][8] = {
+	{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,}, /* " ", 0 */
+	{0x00,0x00,0x00,0xcf,0xcf,0x00,0x00,0x00,}, /* "!", 1 */
+	{0x00,0x0c,0x06,0x00,0x0c,0x06,0x00,0x00,}, /* """, 2 */
+	{0x24,0xe4,0x3c,0x27,0xe4,0x3c,0x27,0x24,}, /* "#", 3 */
+	{0x00,0x20,0x46,0xf9,0x9f,0x62,0x04,0x00,}, /* "$", 4 */
+	{0x06,0x09,0xc6,0x30,0x0c,0x63,0x90,0x60,}, /* "%", 5 */
+	{0x00,0x00,0x6e,0x91,0xa9,0x46,0xa0,0x00,}, /* "&", 6 */
+	{0x00,0x00,0x00,0x1c,0x0e,0x00,0x00,0x00,}, /* "'", 7 */
+	{0x00,0x00,0x3c,0x42,0x81,0x00,0x00,0x00,}, /* "(", 8 */
+	{0x00,0x00,0x00,0x81,0x42,0x3c,0x00,0x00,}, /* ")", 9 */
+	{0x00,0x10,0x54,0x38,0x38,0x54,0x10,0x00,}, /* "*", 10 */
+	{0x00,0x10,0x10,0xfc,0x10,0x10,0x00,0x00,}, /* "+", 11 */
+	{0x00,0x00,0x00,0xc0,0x60,0x00,0x00,0x00,}, /* ",", 12 */
+	{0x00,0x00,0x10,0x10,0x10,0x10,0x00,0x00,}, /* "-", 13 */
+	{0x00,0x00,0x00,0x00,0xc0,0xc0,0x00,0x00,}, /* ".", 14 */
+	{0x00,0x00,0x00,0xc0,0x38,0x07,0x00,0x00,}, /* "/", 15 */
+	{0x00,0x00,0x7c,0x92,0x8a,0x7c,0x00,0x00,}, /* "0", 16 */
+	{0x00,0x00,0x00,0x84,0xfe,0x80,0x00,0x00,}, /* "1", 17 */
+	{0x00,0x00,0x8c,0xc2,0xa2,0x9c,0x00,0x00,}, /* "2", 18 */
+	{0x00,0x00,0x44,0x92,0x92,0x6c,0x00,0x00,}, /* "3", 19 */
+	{0x00,0x20,0x38,0x24,0xfe,0x20,0x00,0x00,}, /* "4", 20 */
+	{0x00,0x00,0x5e,0x92,0x92,0x62,0x00,0x00,}, /* "5", 21 */
+	{0x00,0x00,0x78,0x94,0x92,0x62,0x00,0x00,}, /* "6", 22 */
+	{0x00,0x00,0x82,0x62,0x1a,0x06,0x00,0x00,}, /* "7", 23 */
+	{0x00,0x00,0x6c,0x92,0x92,0x6c,0x00,0x00,}, /* "8", 24 */
+	{0x00,0x00,0x8c,0x52,0x32,0x1c,0x00,0x00,}, /* "9", 25 */
+	{0x00,0x00,0x00,0x6c,0x6c,0x00,0x00,0x00,}, /* ":", 26 */
+	{0x00,0x00,0x80,0xec,0x6c,0x00,0x00,0x00,}, /* ";", 27 */
+	{0x00,0x00,0x10,0x28,0x44,0x00,0x00,0x00,}, /* "<", 28 */
+	{0x00,0x00,0x24,0x24,0x24,0x24,0x00,0x00,}, /* "=", 29 */
+	{0x00,0x00,0x00,0x44,0x28,0x10,0x00,0x00,}, /* ">", 30 */
+	{0x00,0x00,0x0c,0xa2,0x92,0x1c,0x00,0x00,}, /* "?", 31 */
+	{0x00,0x3c,0x42,0x99,0xa5,0xa2,0x3c,0x00,}, /* "@", 32 */
+	{0x00,0xe0,0x1c,0x12,0x12,0x1c,0xe0,0x00,}, /* "A", 33 */
+	{0x00,0xfe,0x92,0x92,0x9c,0x90,0x60,0x00,}, /* "B", 34 */
+	{0x00,0x38,0x44,0x82,0x82,0x82,0x44,0x00,}, /* "C", 35 */
+	{0x00,0xfe,0x82,0x82,0x82,0x82,0x7c,0x00,}, /* "D", 36 */
+	{0x00,0xfe,0x92,0x92,0x92,0x92,0x92,0x00,}, /* "E", 37 */
+	{0x00,0xfe,0x12,0x12,0x12,0x12,0x02,0x00,}, /* "F", 38 */
+	{0x00,0x7c,0x82,0x92,0x92,0x72,0x00,0x00,}, /* "G", 39 */
+	{0x00,0xfe,0x10,0x10,0x10,0x10,0xfe,0x00,}, /* "H", 40 */
+	{0x00,0x82,0x82,0xfe,0x82,0x82,0x00,0x00,}, /* "I", 41 */
+	{0x00,0x82,0x82,0x7e,0x02,0x02,0x00,0x00,}, /* "J", 42 */
+	{0x00,0xfe,0x10,0x28,0x44,0x82,0x00,0x00,}, /* "K", 43 */
+	{0x00,0xfe,0x80,0x80,0x80,0x80,0x00,0x00,}, /* "L", 44 */
+	{0xfc,0x02,0x04,0xf8,0x04,0x02,0xfc,0x00,}, /* "M", 45 */
+	{0x00,0xfe,0x04,0x18,0x30,0x40,0xfe,0x00,}, /* "N", 46 */
+	{0x00,0x7c,0x82,0x82,0x82,0x82,0x7c,0x00,}, /* "O", 47 */
+	{0x00,0x00,0xfe,0x12,0x12,0x0c,0x00,0x00,}, /* "P", 48 */
+	{0x00,0x00,0x3c,0x42,0xc2,0xbc,0x00,0x00,}, /* "Q", 49 */
+	{0x00,0x00,0xfe,0x32,0x52,0x8c,0x00,0x00,}, /* "R", 50 */
+	{0x00,0x00,0x4c,0x92,0x92,0x64,0x00,0x00,}, /* "S", 51 */
+	{0x00,0x02,0x02,0xfe,0x02,0x02,0x00,0x00,}, /* "T", 52 */
+	{0x00,0x7e,0x80,0x80,0x80,0x80,0x7e,0x00,}, /* "U", 53 */
+	{0x00,0x0c,0x30,0xc0,0x30,0x0c,0x00,0x00,}, /* "V", 54 */
+	{0x7c,0x80,0x80,0x78,0x80,0x80,0x7c,0x00,}, /* "W", 55 */
+	{0x00,0x84,0x48,0x30,0x30,0x48,0x84,0x00,}, /* "X", 56 */
+	{0x00,0x06,0x08,0xf0,0x08,0x06,0x00,0x00,}, /* "Y", 57 */
+	{0x00,0x00,0xc2,0xa2,0x92,0x8e,0x00,0x00,}, /* "Z", 58 */
+	{0x00,0x00,0xfe,0x82,0x82,0x82,0x00,0x00,}, /* "[", 59 */
+	{0x00,0x00,0x06,0x18,0x60,0x80,0x00,0x00,}, /* "\", 60 */
+	{0x00,0x00,0x82,0x82,0x82,0xfe,0x00,0x00,}, /* "]", 61 */
+	{0x00,0x30,0x0c,0x02,0x0c,0x30,0x00,0x00,}, /* "^", 62 */
+	{0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,}, /* "_", 63 */
+	{0x00,0x00,0x04,0x0c,0x18,0x00,0x00,0x00,}, /* "`", 64 */
+	{0x00,0x00,0x60,0x90,0x90,0xe0,0x00,0x00,}, /* "a", 65 */
+	{0x00,0x00,0xf8,0xa0,0xe0,0x00,0x00,0x00,}, /* "b", 66 */
+	{0x00,0x00,0x60,0x90,0x90,0x00,0x00,0x00,}, /* "c", 67 */
+	{0x00,0x00,0xe0,0xa0,0xf8,0x00,0x00,0x00,}, /* "d", 68 */
+	{0x00,0x00,0x70,0xa8,0xa8,0x90,0x00,0x00,}, /* "e", 69 */
+	{0x00,0x00,0x10,0xf8,0x14,0x00,0x00,0x00,}, /* "f", 70 */
+	{0x00,0x00,0xd8,0xa4,0x7c,0x00,0x00,0x00,}, /* "g", 71 */
+	{0x00,0x00,0xf8,0x20,0xe0,0x00,0x00,0x00,}, /* "h", 72 */
+	{0x00,0x00,0x00,0xe8,0x00,0x00,0x00,0x00,}, /* "i", 73 */
+	{0x00,0x00,0x40,0x90,0x74,0x00,0x00,0x00,}, /* "j", 74 */
+	{0x00,0x00,0xf8,0x60,0x90,0x00,0x00,0x00,}, /* "k", 75 */
+	{0x00,0x00,0x78,0x80,0x80,0x00,0x00,0x00,}, /* "l", 76 */
+	{0x00,0xe0,0x10,0xe0,0x10,0xe0,0x00,0x00,}, /* "m", 77 */
+	{0x00,0x00,0xf0,0x10,0x10,0xe0,0x00,0x00,}, /* "n", 78 */
+	{0x00,0x00,0x60,0x90,0x90,0x60,0x00,0x00,}, /* "o", 79 */
+	{0x00,0x00,0xf0,0x48,0x48,0x30,0x00,0x00,}, /* "p", 80 */
+	{0x00,0x00,0x30,0x48,0x48,0xf0,0x00,0x00,}, /* "q", 81 */
+	{0x00,0x00,0x00,0xf0,0x20,0x10,0x00,0x00,}, /* "r", 82 */
+	{0x00,0x00,0x90,0xa8,0xa8,0x48,0x00,0x00,}, /* "s", 83 */
+	{0x00,0x10,0x10,0xf8,0x90,0x90,0x00,0x00,}, /* "t", 84 */
+	{0x00,0x00,0x78,0x80,0x80,0xf8,0x00,0x00,}, /* "u", 85 */
+	{0x00,0x18,0x60,0x80,0x60,0x18,0x00,0x00,}, /* "v", 86 */
+	{0x00,0x38,0xc0,0x38,0xc0,0x38,0x00,0x00,}, /* "w", 87 */
+	{0x00,0x88,0x50,0x20,0x50,0x88,0x00,0x00,}, /* "x", 88 */
+	{0x00,0x8c,0x50,0x20,0x10,0x0c,0x00,0x00,}, /* "y", 89 */
+	{0x00,0x88,0xc8,0xa8,0x98,0x88,0x00,0x00,}, /* "z", 90 */
+	{0x00,0x00,0x10,0x7c,0x82,0x00,0x00,0x00,}, /* "{", 91 */
+	{0x00,0x00,0x00,0xfe,0x00,0x00,0x00,0x00,}, /* "|", 92 */
+	{0x00,0x00,0x00,0x82,0x7c,0x10,0x00,0x00,}, /* "}", 93 */
+	{0x00,0x08,0x04,0x04,0x08,0x10,0x10,0x08,}, /* "~", 94 */
+};
+
+static const uint8_t gram_logo[8][128] = {
+	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x02,0x06,0x0E,0X1E,0X3E,0X7E,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFC,0XFC,0XF8,0XF8,0XF0,0XE0,0XC0,0X80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x03,0x07,0x0F,0X1F,0X3F,0X7F,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XF7,0XE7,0XC7,0X87,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x0F,0X1F,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFE,0XF0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0XC0,0XFC,0XFC,0XFC,0XFC,0XFC,0XFD,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFE,0XFC,0XFC,0XFC,0XFC,0XFC,0XFC,0XFC,0XFC,0XFC,0XFC,0XFE,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0X7F,0X3F,0x0F,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0X80,0XF0,0XFE,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0X1F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0X1F,0X3F,0X7F,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XEF,0XCF,0X87,0x07,0x03,0x03,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0XE0,0XFC,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0X3F,0x07,0x00,0x00,0x00,0x00,0x00,0x00,0X40,0X40,0X40,0XC0,0XC0,0XC0,0XC0,0XC1,0XC3,0XC7,0XCF,0XDF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFE,0XFC,0XF8,0XF0,0XE0,0XC0,0X80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x08,0x0C,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x03,0x03,0x07,0x07,0x0F,0x0F,0X1F,0X1F,0X3F,0X3F,0X7F,0X7F,0XFF,0XF3,0XE3,0XC3,0X83,0x03,0x03,0x03,0x03,0x03,0x02,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x03,0x03,0x06,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x60,0x78,0x7B,0x1B,0x1B,0x1B,0x7B,0x7F,0x6F,0x4E,0x00,0x3E,0x7F,0x63,0x63,0x63,0x7F,0x3E,0x00,0x78,0x7B,0x6B,0x6B,0x6B,0x6B,0x7B,0x7F,0x36,0x00,0x3E,0x7F,0x63,0x63,0x63,0x7F,0x3E,0x40,0x60,0x78,0x3D,0x07,0x1F,0x7C,0x70,0x1D,0x07,0x7F,0x78,0x40,0x00,0x60,0x70,0x38,0x5D,0x6F,0x67,0x6F,0x7C,0x70,0x40,0x00,0x40,0x66,0x6F,0x6B,0x6B,0x6B,0x6B,0x7B,0x31,0x02,0x03,0x03,0x7F,0x7F,0x03,0x03,0x61,0x68,0x6B,0x6B,0x6B,0x6B,0x6B,0x0B,0x03,0x60,0x78,0x7B,0x1B,0x1B,0x1B,0x7B,0x7B,0x6F,0x4E,0x00,0x46,0x6F,0x6F,0x6B,0x6B,0x6B,0x7B,0x31,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+};
+
+static OLED_t *goled;
+static bool inited = false;
+
+/* Private function ---------------------------------------------- */
+static void OLED_WriteByte(uint8_t data, OLED_Write_t type) {
+	
+#ifdef OLED_USE_SPI
+	switch(type) {
+		case OLED_WriteCMD:
+			OLED_CMD_Clr();
+		break;
+		
+		case OLED_WriteData:
+			OLED_CMD_Set();
+		break;
+	}
+	BSP_SPI_Transmit(BSP_SPI_OLED, &data, 1);
+	
+#elif defined OLED_USE_I2C
+	uint8_t cmd_data[2];
+	
+	switch(type) {
+		case OLED_WriteCMD:
+			cmd_data[0] = 0x00;
+		break;
+		
+		case OLED_WriteData:
+			cmd_data[0] = 0x40;
+		break;
+	}
+	cmd_data[1] = data;
+	HAL_I2C_Master_Transmit_DMA(OLED_I2C, OLED_I2C_ADDRESS, cmd_data, 2);
+#endif
+	
+	BSP_Delay(1);
+}
+
+static void OLED_WriteSequenceData(uint8_t *data, uint16_t len) {
+#ifdef OLED_USE_SPI
+	OLED_CMD_Set();
+	HAL_SPI_Transmit_DMA(&hspi1, data, len);
+	
+#elif defined OLED_USE_I2C
+	/* TODO */
+	uint8_t cmd_data[2];
+	cmd_data[0] = 0x40;
+	cmd_data[1] = data;
+	HAL_I2C_Master_Transmit_DMA(OLED_I2C, OLED_I2C_ADDRESS, cmd_data, 2);
+#endif
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t OLED_Init(OLED_t *oled) {
+	if (oled == NULL)
+		return -1;
+
+	if (inited)
+		return -1;
+	
+	oled->cursor.column = 0;
+	oled->cursor.page = 0;
+	oled->modified = true;
+	
+	goled = oled;
+	
+	OLED_RST_Clr();
+	BSP_Delay(1);
+	OLED_RST_Set();
+	BSP_Delay(5);
+	
+	OLED_WriteByte(0xae, OLED_WriteCMD);	/* Dot martix display off. */
+	OLED_WriteByte(0x00, OLED_WriteCMD);	/* Set lower column address:(00H~0FH). */
+	OLED_WriteByte(0x10, OLED_WriteCMD);	/* Set higher column address:(10H~1FH). */
+	OLED_WriteByte(0x20, OLED_WriteCMD);	/* Set Memory Addressing Mode */
+	OLED_WriteByte(0x10, OLED_WriteCMD);	/* 00,Horizontal Addressing Mode;01,Vertical Addressing Mode;10,Page Addressing Mode (RESET);11,Invalid */
+	OLED_WriteByte(0x32, OLED_WriteCMD);	/* Set pump voltage 8v. */
+	OLED_WriteByte(0x40, OLED_WriteCMD);	/* Set display start line:(40H~7FH). */
+	OLED_WriteByte(0x81, OLED_WriteCMD);	/* Contarst control. */
+	OLED_WriteByte(0x6f, OLED_WriteCMD);	/* 		Contarst: 0x00~0xff. */
+	OLED_WriteByte(0xa1, OLED_WriteCMD);	/* Set segment re-map. 0xa0 or 0xa1. */
+	OLED_WriteByte(0xa4, OLED_WriteCMD);	/* Entire display off. */
+	OLED_WriteByte(0xa6, OLED_WriteCMD);	/* Set normal display. */
+	OLED_WriteByte(0xa8, OLED_WriteCMD);	/* Set multiplex ratio. */
+	OLED_WriteByte(0x3f, OLED_WriteCMD);
+	OLED_WriteByte(0xad, OLED_WriteCMD);	/* Set DC/DC booster. */
+	OLED_WriteByte(0x8b, OLED_WriteCMD);
+	OLED_WriteByte(0xb0, OLED_WriteCMD);	/* Set page address. */
+	OLED_WriteByte(0xc8, OLED_WriteCMD);	/* Com scan COM0->COM63. */
+	OLED_WriteByte(0xd3, OLED_WriteCMD);	/* Set display offset. */
+	OLED_WriteByte(0x00, OLED_WriteCMD);
+	OLED_WriteByte(0xd5, OLED_WriteCMD);	/* Set frame frequency. */
+	OLED_WriteByte(0xf0, OLED_WriteCMD);
+	OLED_WriteByte(0xd9, OLED_WriteCMD);	/* Set pre_charge period. */
+	OLED_WriteByte(0x22, OLED_WriteCMD);
+	OLED_WriteByte(0xda, OLED_WriteCMD);	/* Com pin configuration. */
+	OLED_WriteByte(0x12, OLED_WriteCMD);
+	OLED_WriteByte(0xdb, OLED_WriteCMD);	/* Set vcom deselect level. */
+	OLED_WriteByte(0x20, OLED_WriteCMD);
+	OLED_WriteByte(0x8d, OLED_WriteCMD);	/* Set DC-DC enable */
+	OLED_WriteByte(0x14, OLED_WriteCMD);
+	OLED_WriteByte(0xaf, OLED_WriteCMD);	/* Display on. */
+	
+	memcmp(oled->gram, gram_logo, sizeof(oled->gram));
+	
+	OLED_SetAllRam(oled, OLED_PEN_WRITE);  /* Clear memory. */
+	
+	OLED_Refresh(oled); /* Display initial picture. */
+	return 0;
+}
+
+OLED_t *OLED_GetDevice(void) {
+	if (inited) {
+		return goled;
+	}
+	return NULL;
+}
+
+int8_t OLED_PrintRam(OLED_t *oled, const char* str) {
+	if (str == NULL)
+		return -1;
+	
+	oled->modified = true;
+	
+	for (uint16_t i = 0; str[i] != '\0'; i++) {
+		uint8_t c = str[i];
+		if (c < 32) {
+			switch (c) {
+				case '\n':
+					oled->cursor.page ++;
+					oled->cursor.column = 0;
+				break;
+				
+				case '\t':
+					oled->cursor.column += 16;
+				break;
+			}
+		} else if (c < 126) {
+			if (oled->cursor.column == 128) {
+				oled->cursor.page ++;
+				oled->cursor.column = 0;
+			}
+			if (oled->cursor.page == 8) {
+				OLED_SetAllRam(oled, OLED_PEN_CLEAR);
+				oled->cursor.page = 0;
+			}
+			memcpy(&oled->gram[oled->cursor.page][oled->cursor.column], oled_font[c- 32], sizeof(oled_font[0]));
+			oled->cursor.column += 8;
+		}
+	}
+	return 0;
+}
+
+uint8_t OLED_RewindRam(OLED_t *oled) {
+	oled->modified = true;
+
+	OLED_SetAllRam(oled, OLED_PEN_CLEAR);
+	
+	oled->cursor.page = 0;
+	oled->cursor.column = 0;
+	return 0;
+}
+
+uint8_t OLED_SetAllRam(OLED_t *oled, OLED_Pen_t pen) {
+	switch(pen) {
+		case OLED_PEN_WRITE:
+			memset(oled->gram, -1, sizeof(oled->gram));
+		break;
+		
+		case OLED_PEN_CLEAR:
+			memset(oled->gram, 0, sizeof(oled->gram));
+		break;
+				
+		case OLED_PEN_INVERSION:
+			for (uint8_t i = 0; i < 8; i++) {
+				for (uint8_t n = 0; n < 128; n++) {
+					oled->gram[i][n] = ~oled->gram[i][n];
+				}
+			}
+		break;
+	}
+	return 0;
+}
+
+uint8_t OLED_DisplayOn(OLED_t *oled) {
+	OLED_WriteByte(0x8d, OLED_WriteCMD);
+	OLED_WriteByte(0x14, OLED_WriteCMD);
+	OLED_WriteByte(0xaf, OLED_WriteCMD);
+	return 0;
+}
+
+uint8_t OLED_DisplayOff(OLED_t *oled) {
+	OLED_WriteByte(0x8d, OLED_WriteCMD);
+	OLED_WriteByte(0x10, OLED_WriteCMD);
+	OLED_WriteByte(0xae, OLED_WriteCMD);
+	return 0;
+}
+
+
+void OLED_SetCursor(uint8_t x, uint8_t y)
+{	
+	OLED_WriteByte((0xb0 + y), OLED_WriteCMD);			  /*set page address y */
+	OLED_WriteByte(((x&0xf0)>>4)|0x10, OLED_WriteCMD);	  /*set column high address */
+	OLED_WriteByte((x&0x0f), OLED_WriteCMD);				/*set column low address */
+}
+
+uint8_t OLED_Refresh(OLED_t *oled) {
+	for (uint8_t i = 0; i < 8; i++) {
+		OLED_SetCursor(0, i);
+		for (uint8_t n = 0; n < 8; n++) {
+			OLED_WriteByte(oled->gram[i][n], OLED_WriteData);
+		}
+	}
+	oled->modified = false;
+	
+	return 0;
+}
diff --git a/assets/User_code/device/oled.h b/assets/User_code/device/oled.h
new file mode 100644
index 0000000..e296bc6
--- /dev/null
+++ b/assets/User_code/device/oled.h
@@ -0,0 +1,45 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdbool.h>
+#include <stdint.h>
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+  OLED_PEN_CLEAR = 0,
+  OLED_PEN_WRITE = 1,
+  OLED_PEN_INVERSION = 2,
+} OLED_Pen_t;
+
+typedef struct {
+  uint8_t column;
+  s uint8_t page;
+} OLED_Cursor_t;
+
+typedef struct {
+  OLED_Cursor_t cursor;
+  uint8_t gram[8][128];
+  bool modified;
+} OLED_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+uint8_t OLED_Init(OLED_t *oled);
+OLED_t *OLED_GetDevice(void);
+
+uint8_t OLED_PrintRam(OLED_t *oled, const char *str);
+uint8_t OLED_RewindRam(OLED_t *oled);
+uint8_t OLED_SetAllRam(OLED_t *oled, OLED_Pen_t pen);
+
+uint8_t OLED_DisplayOn(OLED_t *oled);
+uint8_t OLED_DisplayOff(OLED_t *oled);
+uint8_t OLED_Refresh(OLED_t *oled);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/assets/User_code/device/oled_i2c.c b/assets/User_code/device/oled_i2c.c
deleted file mode 100644
index f0100a0..0000000
--- a/assets/User_code/device/oled_i2c.c
+++ /dev/null
@@ -1,267 +0,0 @@
-/* Includes ----------------------------------------------------------------- */
-#include "device/oled_i2c.h"
-#include "bsp/i2c.h"
-#include <string.h>
-#include <stdint.h>
-/* Private define ----------------------------------------------------------- */
-#define OLED_I2C_ADDR 0x78 // OLED I2C 地址
-#define OLED_WIDTH 128
-#define OLED_HEIGHT 64
-
-/* Private variables -------------------------------------------------------- */
-static uint8_t oled_buffer[OLED_WIDTH * OLED_HEIGHT / 8];
-static struct {
-    uint8_t x_min;
-    uint8_t x_max;
-    uint8_t y_min;
-    uint8_t y_max;
-    uint8_t dirty; // 标志是否有脏区域
-} dirty_rect = {0, 0, 0, 0, 0};
-
-/* Private function prototypes ---------------------------------------------- */
-static void OLED_WriteCommand(uint8_t cmd) {
-    uint8_t data[2] = {0x00, cmd};
-    HAL_I2C_Master_Transmit(BSP_I2C_GetHandle(BSP_I2C_OLED), OLED_I2C_ADDR, data, 2, HAL_MAX_DELAY);
-}
-
-static void OLED_WriteData(uint8_t *data, uint16_t size) {
-    uint8_t buffer[size + 1];
-    buffer[0] = 0x40;
-    memcpy(&buffer[1], data, size);
-    HAL_I2C_Master_Transmit(BSP_I2C_GetHandle(BSP_I2C_OLED), OLED_I2C_ADDR, buffer, size + 1, HAL_MAX_DELAY);
-}
-
-static void OLED_MarkDirty(uint8_t x, uint8_t y);
-static void OLED_UpdateDirtyScreen(void);
-
-static const uint8_t oled_font[95][8] = {
-	{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,}, /* " ", 0 */
-	{0x00,0x00,0x00,0xcf,0xcf,0x00,0x00,0x00,}, /* "!", 1 */
-	{0x00,0x0c,0x06,0x00,0x0c,0x06,0x00,0x00,}, /* """, 2 */
-	{0x24,0xe4,0x3c,0x27,0xe4,0x3c,0x27,0x24,}, /* "#", 3 */
-	{0x00,0x20,0x46,0xf9,0x9f,0x62,0x04,0x00,}, /* "$", 4 */
-	{0x06,0x09,0xc6,0x30,0x0c,0x63,0x90,0x60,}, /* "%", 5 */
-	{0x00,0x00,0x6e,0x91,0xa9,0x46,0xa0,0x00,}, /* "&", 6 */
-	{0x00,0x00,0x00,0x1c,0x0e,0x00,0x00,0x00,}, /* "'", 7 */
-	{0x00,0x00,0x3c,0x42,0x81,0x00,0x00,0x00,}, /* "(", 8 */
-	{0x00,0x00,0x00,0x81,0x42,0x3c,0x00,0x00,}, /* ")", 9 */
-	{0x00,0x10,0x54,0x38,0x38,0x54,0x10,0x00,}, /* "*", 10 */
-	{0x00,0x10,0x10,0xfc,0x10,0x10,0x00,0x00,}, /* "+", 11 */
-	{0x00,0x00,0x00,0xc0,0x60,0x00,0x00,0x00,}, /* ",", 12 */
-	{0x00,0x00,0x10,0x10,0x10,0x10,0x00,0x00,}, /* "-", 13 */
-	{0x00,0x00,0x00,0x00,0xc0,0xc0,0x00,0x00,}, /* ".", 14 */
-	{0x00,0x00,0x00,0xc0,0x38,0x07,0x00,0x00,}, /* "/", 15 */
-	{0x00,0x00,0x7c,0x92,0x8a,0x7c,0x00,0x00,}, /* "0", 16 */
-	{0x00,0x00,0x00,0x84,0xfe,0x80,0x00,0x00,}, /* "1", 17 */
-	{0x00,0x00,0x8c,0xc2,0xa2,0x9c,0x00,0x00,}, /* "2", 18 */
-	{0x00,0x00,0x44,0x92,0x92,0x6c,0x00,0x00,}, /* "3", 19 */
-	{0x00,0x20,0x38,0x24,0xfe,0x20,0x00,0x00,}, /* "4", 20 */
-	{0x00,0x00,0x5e,0x92,0x92,0x62,0x00,0x00,}, /* "5", 21 */
-	{0x00,0x00,0x78,0x94,0x92,0x62,0x00,0x00,}, /* "6", 22 */
-	{0x00,0x00,0x82,0x62,0x1a,0x06,0x00,0x00,}, /* "7", 23 */
-	{0x00,0x00,0x6c,0x92,0x92,0x6c,0x00,0x00,}, /* "8", 24 */
-	{0x00,0x00,0x8c,0x52,0x32,0x1c,0x00,0x00,}, /* "9", 25 */
-	{0x00,0x00,0x00,0x6c,0x6c,0x00,0x00,0x00,}, /* ":", 26 */
-	{0x00,0x00,0x80,0xec,0x6c,0x00,0x00,0x00,}, /* ";", 27 */
-	{0x00,0x00,0x10,0x28,0x44,0x00,0x00,0x00,}, /* "<", 28 */
-	{0x00,0x00,0x24,0x24,0x24,0x24,0x00,0x00,}, /* "=", 29 */
-	{0x00,0x00,0x00,0x44,0x28,0x10,0x00,0x00,}, /* ">", 30 */
-	{0x00,0x00,0x0c,0xa2,0x92,0x1c,0x00,0x00,}, /* "?", 31 */
-	{0x00,0x3c,0x42,0x99,0xa5,0xa2,0x3c,0x00,}, /* "@", 32 */
-	{0x00,0xe0,0x1c,0x12,0x12,0x1c,0xe0,0x00,}, /* "A", 33 */
-	{0x00,0xfe,0x92,0x92,0x9c,0x90,0x60,0x00,}, /* "B", 34 */
-	{0x00,0x38,0x44,0x82,0x82,0x82,0x44,0x00,}, /* "C", 35 */
-	{0x00,0xfe,0x82,0x82,0x82,0x82,0x7c,0x00,}, /* "D", 36 */
-	{0x00,0xfe,0x92,0x92,0x92,0x92,0x92,0x00,}, /* "E", 37 */
-	{0x00,0xfe,0x12,0x12,0x12,0x12,0x02,0x00,}, /* "F", 38 */
-	{0x00,0x7c,0x82,0x92,0x92,0x72,0x00,0x00,}, /* "G", 39 */
-	{0x00,0xfe,0x10,0x10,0x10,0x10,0xfe,0x00,}, /* "H", 40 */
-	{0x00,0x82,0x82,0xfe,0x82,0x82,0x00,0x00,}, /* "I", 41 */
-	{0x00,0x82,0x82,0x7e,0x02,0x02,0x00,0x00,}, /* "J", 42 */
-	{0x00,0xfe,0x10,0x28,0x44,0x82,0x00,0x00,}, /* "K", 43 */
-	{0x00,0xfe,0x80,0x80,0x80,0x80,0x00,0x00,}, /* "L", 44 */
-	{0xfc,0x02,0x04,0xf8,0x04,0x02,0xfc,0x00,}, /* "M", 45 */
-	{0x00,0xfe,0x04,0x18,0x30,0x40,0xfe,0x00,}, /* "N", 46 */
-	{0x00,0x7c,0x82,0x82,0x82,0x82,0x7c,0x00,}, /* "O", 47 */
-	{0x00,0x00,0xfe,0x12,0x12,0x0c,0x00,0x00,}, /* "P", 48 */
-	{0x00,0x00,0x3c,0x42,0xc2,0xbc,0x00,0x00,}, /* "Q", 49 */
-	{0x00,0x00,0xfe,0x32,0x52,0x8c,0x00,0x00,}, /* "R", 50 */
-	{0x00,0x00,0x4c,0x92,0x92,0x64,0x00,0x00,}, /* "S", 51 */
-	{0x00,0x02,0x02,0xfe,0x02,0x02,0x00,0x00,}, /* "T", 52 */
-	{0x00,0x7e,0x80,0x80,0x80,0x80,0x7e,0x00,}, /* "U", 53 */
-	{0x00,0x0c,0x30,0xc0,0x30,0x0c,0x00,0x00,}, /* "V", 54 */
-	{0x7c,0x80,0x80,0x78,0x80,0x80,0x7c,0x00,}, /* "W", 55 */
-	{0x00,0x84,0x48,0x30,0x30,0x48,0x84,0x00,}, /* "X", 56 */
-	{0x00,0x06,0x08,0xf0,0x08,0x06,0x00,0x00,}, /* "Y", 57 */
-	{0x00,0x00,0xc2,0xa2,0x92,0x8e,0x00,0x00,}, /* "Z", 58 */
-	{0x00,0x00,0xfe,0x82,0x82,0x82,0x00,0x00,}, /* "[", 59 */
-	{0x00,0x00,0x06,0x18,0x60,0x80,0x00,0x00,}, /* "\", 60 */
-	{0x00,0x00,0x82,0x82,0x82,0xfe,0x00,0x00,}, /* "]", 61 */
-	{0x00,0x30,0x0c,0x02,0x0c,0x30,0x00,0x00,}, /* "^", 62 */
-	{0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,}, /* "_", 63 */
-	{0x00,0x00,0x04,0x0c,0x18,0x00,0x00,0x00,}, /* "`", 64 */
-	{0x00,0x00,0x60,0x90,0x90,0xe0,0x00,0x00,}, /* "a", 65 */
-	{0x00,0x00,0xf8,0xa0,0xe0,0x00,0x00,0x00,}, /* "b", 66 */
-	{0x00,0x00,0x60,0x90,0x90,0x00,0x00,0x00,}, /* "c", 67 */
-	{0x00,0x00,0xe0,0xa0,0xf8,0x00,0x00,0x00,}, /* "d", 68 */
-	{0x00,0x00,0x70,0xa8,0xa8,0x90,0x00,0x00,}, /* "e", 69 */
-	{0x00,0x00,0x10,0xf8,0x14,0x00,0x00,0x00,}, /* "f", 70 */
-	{0x00,0x00,0xd8,0xa4,0x7c,0x00,0x00,0x00,}, /* "g", 71 */
-	{0x00,0x00,0xf8,0x20,0xe0,0x00,0x00,0x00,}, /* "h", 72 */
-	{0x00,0x00,0x00,0xe8,0x00,0x00,0x00,0x00,}, /* "i", 73 */
-	{0x00,0x00,0x40,0x90,0x74,0x00,0x00,0x00,}, /* "j", 74 */
-	{0x00,0x00,0xf8,0x60,0x90,0x00,0x00,0x00,}, /* "k", 75 */
-	{0x00,0x00,0x78,0x80,0x80,0x00,0x00,0x00,}, /* "l", 76 */
-	{0x00,0xe0,0x10,0xe0,0x10,0xe0,0x00,0x00,}, /* "m", 77 */
-	{0x00,0x00,0xf0,0x10,0x10,0xe0,0x00,0x00,}, /* "n", 78 */
-	{0x00,0x00,0x60,0x90,0x90,0x60,0x00,0x00,}, /* "o", 79 */
-	{0x00,0x00,0xf0,0x48,0x48,0x30,0x00,0x00,}, /* "p", 80 */
-	{0x00,0x00,0x30,0x48,0x48,0xf0,0x00,0x00,}, /* "q", 81 */
-	{0x00,0x00,0x00,0xf0,0x20,0x10,0x00,0x00,}, /* "r", 82 */
-	{0x00,0x00,0x90,0xa8,0xa8,0x48,0x00,0x00,}, /* "s", 83 */
-	{0x00,0x10,0x10,0xf8,0x90,0x90,0x00,0x00,}, /* "t", 84 */
-	{0x00,0x00,0x78,0x80,0x80,0xf8,0x00,0x00,}, /* "u", 85 */
-	{0x00,0x18,0x60,0x80,0x60,0x18,0x00,0x00,}, /* "v", 86 */
-	{0x00,0x38,0xc0,0x38,0xc0,0x38,0x00,0x00,}, /* "w", 87 */
-	{0x00,0x88,0x50,0x20,0x50,0x88,0x00,0x00,}, /* "x", 88 */
-	{0x00,0x8c,0x50,0x20,0x10,0x0c,0x00,0x00,}, /* "y", 89 */
-	{0x00,0x88,0xc8,0xa8,0x98,0x88,0x00,0x00,}, /* "z", 90 */
-	{0x00,0x00,0x10,0x7c,0x82,0x00,0x00,0x00,}, /* "{", 91 */
-	{0x00,0x00,0x00,0xfe,0x00,0x00,0x00,0x00,}, /* "|", 92 */
-	{0x00,0x00,0x00,0x82,0x7c,0x10,0x00,0x00,}, /* "}", 93 */
-	{0x00,0x08,0x04,0x04,0x08,0x10,0x10,0x08,}, /* "~", 94 */
-};
-
-
-/* Exported functions ------------------------------------------------------- */
-
-void OLED_Init(void) {
-    OLED_WriteCommand(0xAE); // 关闭显示
-    OLED_WriteCommand(0x20); // 设置内存寻址模式
-    OLED_WriteCommand(0x10); // 页寻址模式
-    OLED_WriteCommand(0xB0); // 设置页起始地址
-    OLED_WriteCommand(0xC8); // 设置COM扫描方向
-    OLED_WriteCommand(0x00); // 设置低列地址
-    OLED_WriteCommand(0x10); // 设置高列地址
-    OLED_WriteCommand(0x40); // 设置显示起始行
-    OLED_WriteCommand(0x81); // 设置对比度
-    OLED_WriteCommand(0xFF); // 最大对比度
-    OLED_WriteCommand(0xA1); // 设置段重映射
-    OLED_WriteCommand(0xA6); // 正常显示
-    OLED_WriteCommand(0xA8); // 设置多路复用比率
-    OLED_WriteCommand(0x3F); // 1/64
-    OLED_WriteCommand(0xA4); // 输出跟随 RAM 内容
-    OLED_WriteCommand(0xD3); // 设置显示偏移
-    OLED_WriteCommand(0x00); // 无偏移
-    OLED_WriteCommand(0xD5); // 设置显示时钟分频比/振荡频率
-    OLED_WriteCommand(0xF0); // 高频
-    OLED_WriteCommand(0xD9); // 设置预充电周期
-    OLED_WriteCommand(0x22); // 修复缺少分号
-    OLED_WriteCommand(0xDA); // 设置COM引脚硬件配置
-    OLED_WriteCommand(0x12); // 修复缺少分号
-    OLED_WriteCommand(0xDB); // 设置VCOMH电压
-    OLED_WriteCommand(0x20); // 修复缺少分号
-    OLED_WriteCommand(0x8D); // 设置充电泵
-    OLED_WriteCommand(0x14); // 修复缺少分号
-    OLED_WriteCommand(0xAF); // 打开显示
-}
-
-void OLED_Clear(void) {
-    memset(oled_buffer, 0, sizeof(oled_buffer));
-    dirty_rect.x_min = 0;
-    dirty_rect.x_max = OLED_WIDTH - 1;
-    dirty_rect.y_min = 0;
-    dirty_rect.y_max = OLED_HEIGHT - 1;
-    dirty_rect.dirty = 1;
-    OLED_UpdateScreen();
-}
-
-void OLED_UpdateScreen(void) {
-    OLED_UpdateDirtyScreen();
-}
-
-void OLED_DrawPixel(uint8_t x, uint8_t y, uint8_t color) {
-    if (x >= OLED_WIDTH || y >= OLED_HEIGHT) return;
-
-    if (color) {
-        if (!(oled_buffer[x + (y / 8) * OLED_WIDTH] & (1 << (y % 8)))) {
-            oled_buffer[x + (y / 8) * OLED_WIDTH] |= (1 << (y % 8));
-            OLED_MarkDirty(x, y);
-        }
-    } else {
-        if (oled_buffer[x + (y / 8) * OLED_WIDTH] & (1 << (y % 8))) {
-            oled_buffer[x + (y / 8) * OLED_WIDTH] &= ~(1 << (y % 8));
-            OLED_MarkDirty(x, y);
-        }
-    }
-}
-
-void OLED_DrawChar(uint8_t x, uint8_t y, char ch, uint8_t color) {
-    if (ch < ' ' || ch > '~') return;
-
-    if (x >= OLED_WIDTH || y >= OLED_HEIGHT || x + 8 > OLED_WIDTH || y + 8 > OLED_HEIGHT) {
-        return;
-    }
-
-    const uint8_t *font_data = oled_font[ch - ' '];
-
-    for (uint8_t i = 0; i < 8; i++) {
-        uint8_t column_data = font_data[i];
-        for (uint8_t j = 0; j < 8; j++) {
-            if (column_data & (1 << j)) {
-                OLED_DrawPixel(x + i, y + j, color);
-            } else {
-                OLED_DrawPixel(x + i, y + j, !color);
-            }
-        }
-    }
-}
-
-void OLED_DrawString(uint8_t x, uint8_t y, const char *str, uint8_t color) {
-    while (*str) {
-        OLED_DrawChar(x, y, *str, color);
-        x += 8;
-        if (x + 8 > OLED_WIDTH) {
-            x = 0;
-            y += 8;
-        }
-        if (y + 8 > OLED_HEIGHT) {
-            break;
-        }
-        str++;
-    }
-}
-
-/* Private functions -------------------------------------------------------- */
-
-static void OLED_MarkDirty(uint8_t x, uint8_t y) {
-    if (!dirty_rect.dirty) {
-        dirty_rect.x_min = x;
-        dirty_rect.x_max = x;
-        dirty_rect.y_min = y;
-        dirty_rect.y_max = y;
-        dirty_rect.dirty = 1;
-    } else {
-        if (x < dirty_rect.x_min) dirty_rect.x_min = x;
-        if (x > dirty_rect.x_max) dirty_rect.x_max = x;
-        if (y < dirty_rect.y_min) dirty_rect.y_min = y;
-        if (y > dirty_rect.y_max) dirty_rect.y_max = y;
-    }
-}
-
-static void OLED_UpdateDirtyScreen(void) {
-    if (!dirty_rect.dirty) return;
-
-    uint8_t y_start = dirty_rect.y_min / 8;
-    uint8_t y_end = dirty_rect.y_max / 8;
-
-    for (uint8_t i = y_start; i <= y_end; i++) {
-        OLED_WriteCommand(0xB0 + i);
-        OLED_WriteCommand(dirty_rect.x_min & 0x0F);
-        OLED_WriteCommand(0x10 | (dirty_rect.x_min >> 4));
-        uint8_t width = dirty_rect.x_max - dirty_rect.x_min + 1;
-        OLED_WriteData(&oled_buffer[dirty_rect.x_min + i * OLED_WIDTH], width);
-    }
-
-    dirty_rect.dirty = 0;
-}
diff --git a/assets/User_code/device/oled_i2c.h b/assets/User_code/device/oled_i2c.h
deleted file mode 100644
index 4958802..0000000
--- a/assets/User_code/device/oled_i2c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ----------------------------------------------------------------- */
-#include <stdint.h>
-
-/* Exported constants ------------------------------------------------------- */
-#define OLED_COLOR_BLACK 0
-#define OLED_COLOR_WHITE 1
-
-/* Exported functions prototypes -------------------------------------------- */
-void OLED_Init(void);
-void OLED_Clear(void);
-void OLED_UpdateScreen(void);
-void OLED_DrawPixel(uint8_t x, uint8_t y, uint8_t color);
-void OLED_DrawString(uint8_t x, uint8_t y, const char *str, uint8_t color);
-void OLED_DrawChar(uint8_t x, uint8_t y, char ch, uint8_t color);
-void OLED_ShowChinese(uint8_t x, uint8_t y, uint8_t index);
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/assets/User_code/device/pc_uart.c b/assets/User_code/device/pc_uart.c
deleted file mode 100644
index eaedcbd..0000000
--- a/assets/User_code/device/pc_uart.c
+++ /dev/null
@@ -1,57 +0,0 @@
-/* Includes ----------------------------------------------------------------- */
-#include "pc_uart.h"
-
-#include <string.h>
-
-#include "bsp\uart.h"
-#include "device.h"
-
-#define UART_HANDLE BSP_UART_GetHandle(BSP_UART_PC)
-
-#define AI_LEN_RX_BUFF (sizeof(UART_RxData_t))
-
-static bool rx_flag = false;
-
-static uint8_t rxbuf[AI_LEN_RX_BUFF];
-
-static void UART_RxCpltCallback(void) { rx_flag = true; }
-
-int UART_Init(UART_t *huart)
-{
-    UNUSED(huart);
-    //注册回调函数
-    HAL_UART_RegisterCallback(UART_HANDLE, BSP_UART_RX_CPLT_CB, UART_RxCpltCallback);
-    return DEVICE_OK
-}
-
-int UART_StartReceive(UART_t *huart)
-{
-    UNUSED(huart);
-    HAL_UART_Receive_DMA(UART_HANDLE, rxbuf, AI_LEN_RX_BUFF);
-    return DEVICE_OK;
-}
-
-bool UART_IsReceiveComplete(void)
-{
-    return rx_flag;
-}
-
-int8_t UART_ParseData(UART_t *huart)
-{
-
-    memcpy(&huart->rx_data, rxbuf, sizeof(UART_RxData_t));
-}
-
-void UART_PackTx(UART_t *huart, UART_TxData_t *tx_data)
-{
-    memcpy(tx_data, huart->tx_data, sizeof(UART_TxData_t));
-}
-
-int8_t UART_StartSend(UART_t *huart)
-{
-    if (HAL_UART_Transmit_DMA(UART_HANDLE, huart->tx_data, sizeof(UART_TxData_t)) == HAL_OK)
-    {
-        return DEVICE_OK
-    }
-    return DEVICE_ERR;
-}
\ No newline at end of file
diff --git a/assets/User_code/device/pc_uart.h b/assets/User_code/device/pc_uart.h
deleted file mode 100644
index 683eed4..0000000
--- a/assets/User_code/device/pc_uart.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-  UART通讯模板
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/* Includes ----------------------------------------------------------------- */
-#include <stdbool.h>
-#include <stdint.h>
-
-/* Exported constants ------------------------------------------------------- */
-/* Exported macro ----------------------------------------------------------- */
-/* Exported types ----------------------------------------------------------- */
-
-typedef struct
-{
-    uint8_t head;
-    uint8_t data;
-    uint8_t crc;
-} UART_RxData_t;
-
-typedef struct
-{
-    uint8_t head;
-    uint8_t data;
-    uint8_t crc;
-} UART_TxData_t;
-
-typedef struct
-{
-    UART_RxData_t rx_data; // Received data buffer
-    UART_TxData_t tx_data; // Transmit data buffer
-} UART_t;
-
-/* Exported functions prototypes -------------------------------------------- */
-
-int UART_Init(UART_t *huart);
-int UART_StartReceive(UART_t *huart);
-bool UART_IsReceiveComplete(void);
-int8_t UART_ParseData(UART_t *huart);
-void UART_PackTx(UART_t *huart, UART_TxData_t *tx_data);
-int8_t UART_StartSend(UART_t *huart);
-#ifdef __cplusplus
-}
-#endif
diff --git a/assets/User_code/device/servo.c b/assets/User_code/device/servo.c
deleted file mode 100644
index 12841fe..0000000
--- a/assets/User_code/device/servo.c
+++ /dev/null
@@ -1,36 +0,0 @@
-/* Includes ----------------------------------------------------------------- */
-#include "main.h"
-#include "servo.h"
-
-#include "bsp/servo_pwm.h"
-
-
-/* Private define ----------------------------------------------------------- */
-#define MIN_CYCLE 0.5f		//change begin
-#define MAX_CYCLE 2.5f
-#define ANGLE_LIMIT 180		//change end
-/* Private macro ------------------------------------------------------------ */
-/* Private typedef ---------------------------------------------------------- */
-/* Private variables -------------------------------------------------------- */
-/* Private function  -------------------------------------------------------- */
-/* Exported functions ------------------------------------------------------- */
-int serve_Init(BSP_PWM_Channel_t ch)
-{
-	if(BSP_PWM_Start(ch)!=0){
-		return -1;
-	}else return 0;	
-}
-
-
-int set_servo_angle(BSP_PWM_Channel_t ch,float angle)
-{
-	if (angle < 0.0f || angle > ANGLE_LIMIT) {
-        return -1; // ��Ч�ĽǶ�
-    }
-	
-	float duty_cycle=MIN_CYCLE+(MAX_CYCLE-MIN_CYCLE)*(angle/ANGLE_LIMIT);
-	if(BSP_PWM_Set(ch,duty_cycle)!=0){
-		return -1;
-	}else return 0;
-}
-
diff --git a/assets/User_code/device/servo.h b/assets/User_code/device/servo.h
deleted file mode 100644
index 97337df..0000000
--- a/assets/User_code/device/servo.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ----------------------------------------------------------------- */
-#include <stdint.h>
-#include "tim.h"
-#include "bsp/bsp.h"
-#include "bsp/servo_pwm.h"
-/* Exported constants ------------------------------------------------------- */
-/* Exported macro ----------------------------------------------------------- */
-/* Exported types ----------------------------------------------------------- */
-	
-	
-	
-extern int serve_Init(BSP_PWM_Channel_t ch);
-extern int set_servo_angle(BSP_PWM_Channel_t ch,float angle);
-	
-	
-	
-	
-	
-	
-	
-	
-	
-	
-	
-	
-	
-	
-#ifdef __cplusplus
-}
-#endif
-
-
-
-
-
diff --git a/gpio.c b/gpio.c
new file mode 100644
index 0000000..2c00ec4
--- /dev/null
+++ b/gpio.c
@@ -0,0 +1,93 @@
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/gpio.h"
+
+#include <gpio.h>
+#include <main.h>
+
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+typedef struct {
+  uint16_t pin;
+  GPIO_TypeDef *gpio;
+} BSP_GPIO_MAP_t;
+
+/* Private variables -------------------------------------------------------- */
+static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
+    {ACCL_CS_Pin, ACCL_CS_GPIO_Port},
+    {GYRO_CS_Pin, GYRO_CS_GPIO_Port},
+    {ACCL_INT_Pin, ACCL_INT_GPIO_Port},
+    {GYRO_INT_Pin, GYRO_INT_GPIO_Port},
+    {USER_KEY_Pin, USER_KEY_GPIO_Port},
+};
+
+static void (*GPIO_Callback[16])(void);
+
+/* Private function  -------------------------------------------------------- */
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+  for (uint8_t i = 0; i < 16; i++) {
+    if (GPIO_Pin & (1 << i)) {
+      if (GPIO_Callback[i]) {
+        GPIO_Callback[i]();
+      }
+    }
+  }
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void)) {
+  if (callback == NULL) return BSP_ERR_NULL;
+
+  for (uint8_t i = 0; i < 16; i++) {
+    if (pin & (1 << i)) {
+      GPIO_Callback[i] = callback;
+      break;
+    }
+  }
+  return BSP_OK;
+}
+
+int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
+  switch (pin) {
+    case BSP_GPIO_IMU_ACCL_CS:
+      HAL_NVIC_EnableIRQ(ACCL_INT_EXTI_IRQn);
+      break;
+    case BSP_GPIO_IMU_GYRO_CS:
+      HAL_NVIC_EnableIRQ(GYRO_INT_EXTI_IRQn);
+      break;
+    default:
+      return BSP_ERR;
+  }
+  return BSP_OK;
+}
+
+int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
+  switch (pin) {
+    case BSP_GPIO_IMU_ACCL_INT:
+      HAL_NVIC_DisableIRQ(ACCL_INT_EXTI_IRQn);
+      break;
+    case BSP_GPIO_IMU_GYRO_INT:
+      HAL_NVIC_DisableIRQ(GYRO_INT_EXTI_IRQn);
+      break;
+    default:
+      return BSP_ERR;
+  }
+  return BSP_OK;
+}
+
+int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value){
+  if (gpio >= BSP_GPIO_NUM) return BSP_ERR;
+  HAL_GPIO_WritePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin, value);
+  return BSP_OK;
+}
+
+int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio){
+  if (gpio >= BSP_GPIO_NUM) return BSP_ERR;
+  HAL_GPIO_TogglePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin);
+  return BSP_OK;
+}
+
+bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio){
+  if (gpio >= BSP_GPIO_NUM) return false;
+  return HAL_GPIO_ReadPin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin) == GPIO_PIN_SET;
+}
diff --git a/gpio.h b/gpio.h
new file mode 100644
index 0000000..3ad4f46
--- /dev/null
+++ b/gpio.h
@@ -0,0 +1,39 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "bsp/bsp.h"
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+  BSP_GPIO_IMU_ACCL_CS,
+  BSP_GPIO_IMU_GYRO_CS,
+  BSP_GPIO_IMU_ACCL_INT,
+  BSP_GPIO_IMU_GYRO_INT,
+  BSP_GPIO_USER_KEY,
+  BSP_GPIO_NUM,
+  BSP_GPIO_ERR,
+} BSP_GPIO_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void));
+
+int8_t BSP_GPIO_EnableIRQ(uint16_t pin);
+int8_t BSP_GPIO_DisableIRQ(uint16_t pin);
+
+int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value);
+int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio);
+
+bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio);
+
+#ifdef __cplusplus
+}
+#endif