diff --git a/assets/User_code/bsp/can.c b/assets/User_code/bsp/can.c
index d0376f5..91727db 100644
--- a/assets/User_code/bsp/can.c
+++ b/assets/User_code/bsp/can.c
@@ -2,7 +2,7 @@
 #include "bsp/can.h"
 #include "bsp/bsp.h"
 #include <can.h>
-#include <cmsis_os.h>
+#include <cmsis_os2.h>
 #include <string.h>
 
 /* Private define ----------------------------------------------------------- */
diff --git a/assets/User_code/config.csv b/assets/User_code/config.csv
index fc088aa..84b7c39 100644
--- a/assets/User_code/config.csv
+++ b/assets/User_code/config.csv
@@ -1,4 +1,4 @@
 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
 component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
-device,dr16,bmi088,ist8310,motor,motor_rm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,servo,buzzer,led,ws2812,vofa
+device,dr16,bmi088,ist8310,motor,motor_rm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,servo,buzzer,led,ws2812,vofa,ops9
 module,
\ No newline at end of file
diff --git a/assets/User_code/device/config.yaml b/assets/User_code/device/config.yaml
index 7472db7..a24a6f6 100644
--- a/assets/User_code/device/config.yaml
+++ b/assets/User_code/device/config.yaml
@@ -15,6 +15,22 @@ devices:
       header: "dr16.h"
       source: "dr16.c"
   
+  ops9:
+    name: "OPS9"
+    description: "ACTION OPS9 码盘"
+    dependencies:
+      bsp: ["uart"]
+      component: ["user_math"]
+    bsp_requirements:
+      - type: "uart"
+        var_name: "BSP_UART_OPS9"  # 需要替换的变量名
+        description: "用于接收码盘"
+    thread_signals:
+      - name: "SIGNAL_OPS9_RAW_REDY"
+    files:
+      header: "ops9.h"
+      source: "ops9.c"
+
   bmi088:
     name: "BMI088"
     description: "BMI088 陀螺仪+加速度计传感器"
@@ -81,8 +97,6 @@ devices:
     dependencies:
       bsp: ["can", "time", "mm"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_VESC_DATA_REDY"
     files:
       header: "motor_vesc.h"
       source: "motor_vesc.c"
@@ -93,8 +107,6 @@ devices:
     dependencies:
       bsp: ["can", "time", "mm"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_ODRIVE_DATA_REDY"
     files:
       header: "motor_odrive.h"
       source: "motor_odrive.c"
@@ -105,8 +117,6 @@ devices:
     dependencies:
       bsp: ["can", "time", "mm"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_RM_MOTOR_DATA_REDY"
     files:
       header: "motor_rm.h"
       source: "motor_rm.c"
@@ -155,8 +165,6 @@ devices:
     dependencies:
       bsp: ["can", "time"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_DM_IMU_DATA_REDY"
     files:
       header: "dm_imu.h"
       source: "dm_imu.c"
@@ -178,8 +186,6 @@ devices:
     dependencies:
       bsp: ["can", "time", "mm"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_LK_MOTOR_DATA_REDY"
     files:
       header: "motor_lk.h"
       source: "motor_lk.c"
@@ -190,8 +196,6 @@ devices:
     dependencies:
       bsp: ["can", "time", "mm"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_LZ_MOTOR_DATA_REDY"
     files:
       header: "motor_lz.h"
       source: "motor_lz.c"
diff --git a/assets/User_code/device/ops9.c b/assets/User_code/device/ops9.c
new file mode 100644
index 0000000..70cc0aa
--- /dev/null
+++ b/assets/User_code/device/ops9.c
@@ -0,0 +1,58 @@
+/*
+    ACTION全场定位码盘ops9
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/ops9.h"
+
+#include <string.h>
+
+#include "bsp/uart.h"
+#include "bsp/time.h"
+/* Private define ----------------------------------------------------------- */
+
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+static osThreadId_t thread_alert;
+static bool inited = false;
+
+/* Private function  -------------------------------------------------------- */
+static void OPS9_RxCpltCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_OPS9_RAW_REDY);
+
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t OPS9_init(OPS9_t *ops9) {
+  if (ops9 == NULL) return DEVICE_ERR_NULL;
+  if (inited) return DEVICE_ERR_INITED;
+  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
+
+  BSP_UART_RegisterCallback(BSP_UART_OPS9, BSP_UART_RX_CPLT_CB,
+                            OPS9_RxCpltCallback);
+
+  inited = true;
+  return DEVICE_OK;
+}
+
+int8_t OPS9_Restart(void) {
+  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_OPS9));
+  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_OPS9));
+  return DEVICE_OK;
+}
+
+int8_t OPS9_StartDmaRecv(OPS9_t *ops9) {
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_OPS9),
+                           (uint8_t *)&(ops9->data),
+                           sizeof(ops9->data)) == HAL_OK)
+    return DEVICE_OK;
+  return DEVICE_ERR;
+}
+
+bool OPS9_WaitDmaCplt(uint32_t timeout) {
+  return (osThreadFlagsWait(SIGNAL_OPS9_RAW_REDY, osFlagsWaitAll, timeout) ==
+          SIGNAL_OPS9_RAW_REDY);
+}
+
diff --git a/assets/User_code/device/ops9.h b/assets/User_code/device/ops9.h
new file mode 100644
index 0000000..9a0a37e
--- /dev/null
+++ b/assets/User_code/device/ops9.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+#include <stdint.h>
+
+#include "component/user_math.h"
+#include "device/device.h"
+/* Exported constants ------------------------------------------------------- */
+
+#define OPS9_HEADER 0x0D0A
+#define OPS9_TAIL   0x0A0D
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+// 数据包结构体
+typedef struct __packed {
+    uint16_t header; // 2字节
+    float yaw;                // 4字节
+    float pitch;              // 4字节
+    float roll;               // 4字节
+    float x;                  // 4字节
+    float y;                  // 4字节
+    float angular_velocity;   // 4字节
+    uint16_t tail;     // 2字节
+} OPS9_Data_t; // 共28字节
+
+typedef struct {
+    DEVICE_Header_t header; // 设备头
+    OPS9_Data_t data;          // 存储接收到的数据
+} OPS9_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file
diff --git a/assets/User_code/task/init.c.template b/assets/User_code/task/init.c.template
index d9968ef..5dc631a 100644
--- a/assets/User_code/task/init.c.template
+++ b/assets/User_code/task/init.c.template
@@ -8,7 +8,7 @@
 
 /* USER INCLUDE BEGIN */
 
-/* USER INCLUDE BEGIN */
+/* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */