diff --git a/assets/User_code/bsp/gpio/gpio.c b/assets/User_code/bsp/gpio/gpio.c
index 2950620..5c3113c 100644
--- a/assets/User_code/bsp/gpio/gpio.c
+++ b/assets/User_code/bsp/gpio/gpio.c
@@ -69,6 +69,7 @@ int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
     default:
       return BSP_ERR;
   }
+  return BSP_OK;
 }
 
 int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
@@ -77,6 +78,7 @@ int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
     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;
diff --git a/assets/User_code/device/motor_dm/motor_dm.c b/assets/User_code/device/motor_dm/motor_dm.c
index a77656f..703c936 100644
--- a/assets/User_code/device/motor_dm/motor_dm.c
+++ b/assets/User_code/device/motor_dm/motor_dm.c
@@ -111,11 +111,21 @@ static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output)
 	uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp;
 	uint16_t id = motor->param.can_id;
 
-	pos_tmp = float_to_uint(output->angle, DM_P_MIN , DM_P_MAX, 16);
-	vel_tmp = float_to_uint(output->velocity, DM_V_MIN , DM_V_MAX, 12);
+    /* 根据 reverse 参数调整控制值 */
+    float angle = output->angle;
+    float velocity = output->velocity;
+    float torque = output->torque;
+    if (motor->param.reverse) {
+        angle = -angle;
+        velocity = -velocity;
+        torque = -torque;
+    }
+
+	pos_tmp = float_to_uint(angle, DM_P_MIN , DM_P_MAX, 16);
+	vel_tmp = float_to_uint(velocity, DM_V_MIN , DM_V_MAX, 12);
 	kp_tmp  = float_to_uint(output->kp,   DM_KP_MIN, DM_KP_MAX, 12);
 	kd_tmp  = float_to_uint(output->kd,   DM_KD_MIN, DM_KD_MAX, 12);
-	tor_tmp = float_to_uint(output->torque, DM_T_MIN , DM_T_MAX, 12);
+	tor_tmp = float_to_uint(torque, DM_T_MIN , DM_T_MAX, 12);
 
     /* 打包数据 */
 	data[0] = (pos_tmp >> 8);
@@ -151,6 +161,11 @@ static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) {
     
     uint8_t data[8] = {0};
 
+    /* 根据 reverse 参数调整控制值 */
+    if (motor->param.reverse) {
+        pos = -pos;
+        vel = -vel;
+    }
     
     /* 直接发送浮点数数据 */
     memcpy(&data[0], &pos, 4);  // 位置，低位在前
@@ -179,6 +194,11 @@ static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) {
     
     uint8_t data[4] = {0};
     
+    /* 根据 reverse 参数调整控制值 */
+    if (motor->param.reverse) {
+        vel = -vel;
+    }
+    
     /* 直接发送浮点数数据 */
     memcpy(&data[0], &vel, 4);  // 速度，低位在前
     
diff --git a/assets/User_code/module/cmd/cmd.c b/assets/User_code/module/cmd/cmd.c
index 6dcca41..13f09ac 100644
--- a/assets/User_code/module/cmd/cmd.c
+++ b/assets/User_code/module/cmd/cmd.c
@@ -197,7 +197,7 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
   }
   
   /* 自动仲裁：优先级 PC > RC > NUC */
-  CMD_InputSource_t candidates[] = {CMD_SRC_PC, CMD_SRC_RC, CMD_SRC_NUC};
+  CMD_InputSource_t candidates[] = {CMD_SRC_RC, CMD_SRC_PC, CMD_SRC_NUC};
   const int num_candidates = sizeof(candidates) / sizeof(candidates[0]);
   
   /* 如果当前输入源仍然在线且有效，保持使用 */
diff --git a/assets/User_code/module/cmd/cmd_adapter.c b/assets/User_code/module/cmd/cmd_adapter.c
index d8023f6..6246469 100644
--- a/assets/User_code/module/cmd/cmd_adapter.c
+++ b/assets/User_code/module/cmd/cmd_adapter.c
@@ -10,7 +10,7 @@
 // static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
 CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
 /* ========================================================================== */
-/*                        DR16 抽象实现                                       */
+/*                        DR16 适配器实现                                       */
 /* ========================================================================== */
 #if CMD_RC_DEVICE_TYPE == 0
 
@@ -27,19 +27,19 @@ int8_t CMD_DR16_RC_GetInput(void *data, CMD_RawInput_t *output) {
     output->online[CMD_SRC_RC] = dr16->header.online;
     
     /* 遥控器摇杆映射 */
-    output->rc.joy_left.x  = dr16->data.rc.ch_l_x;
-    output->rc.joy_left.y  = dr16->data.rc.ch_l_y;
-    output->rc.joy_right.x = dr16->data.rc.ch_r_x;
-    output->rc.joy_right.y = dr16->data.rc.ch_r_y;
+    output->rc.joy_left.x  = dr16->data.ch_l_x;
+    output->rc.joy_left.y  = dr16->data.ch_l_y;
+    output->rc.joy_right.x = dr16->data.ch_r_x;
+    output->rc.joy_right.y = dr16->data.ch_r_y;
     
     /* 拨杆映射 */
-    switch (dr16->data.rc.sw_l) {
+    switch (dr16->data.sw_l) {
         case DR16_SW_UP:   output->rc.sw[0] = CMD_SW_UP;   break;
         case DR16_SW_MID:  output->rc.sw[0] = CMD_SW_MID;  break;
         case DR16_SW_DOWN: output->rc.sw[0] = CMD_SW_DOWN; break;
         default:           output->rc.sw[0] = CMD_SW_ERR;  break;
     }
-    switch (dr16->data.rc.sw_r) {
+    switch (dr16->data.sw_r) {
         case DR16_SW_UP:   output->rc.sw[1] = CMD_SW_UP;   break;
         case DR16_SW_MID:  output->rc.sw[1] = CMD_SW_MID;  break;
         case DR16_SW_DOWN: output->rc.sw[1] = CMD_SW_DOWN; break;
@@ -47,7 +47,7 @@ int8_t CMD_DR16_RC_GetInput(void *data, CMD_RawInput_t *output) {
     }
     
     /* 拨轮映射 */
-    output->rc.dial = dr16->data.rc.ch_res;
+    output->rc.dial = dr16->data.ch_res;
     
     return CMD_OK;
 }
@@ -60,10 +60,10 @@ int8_t CMD_DR16_PC_GetInput(void *data, CMD_RawInput_t *output) {
     output->online[CMD_SRC_PC] = dr16->header.online;
     
     /* PC端鼠标映射 */
-    output->pc.mouse.x = dr16->data.pc.mouse.x;
-    output->pc.mouse.y = dr16->data.pc.mouse.y;
-    output->pc.mouse.l_click = dr16->data.pc.mouse.l_click;
-    output->pc.mouse.r_click = dr16->data.pc.mouse.r_click;
+    output->pc.mouse.x = dr16->data.mouse.x;
+    output->pc.mouse.y = dr16->data.mouse.y;
+    output->pc.mouse.l_click = dr16->data.mouse.l_click;
+    output->pc.mouse.r_click = dr16->data.mouse.r_click;
     
     /* 键盘映射 */
     output->pc.keyboard.bitmap = dr16->raw_data.key;
@@ -83,7 +83,7 @@ CMD_DEFINE_ADAPTER(DR16_PC, cmd_dr16, CMD_SRC_PC, CMD_DR16_Init, CMD_DR16_PC_Get
 #endif /* CMD_RC_DEVICE_TYPE == 0 */
 
 /* ========================================================================== */
-/*                        AT9S 抽象实现 (示例框架)                            */
+/*                        AT9S 适配器实现 (示例框架)                            */
 /* ========================================================================== */
 #if CMD_RC_DEVICE_TYPE == 1
 
@@ -100,10 +100,10 @@ int8_t CMD_AT9S_GetInput(void *data, CMD_RawInput_t *output) {
     output->online[CMD_SRC_RC] = at9s->header.online;
     
     /* TODO: 按照AT9S的数据格式进行映射 */
-    output->joy_left.x  = at9s->data.rc.ch_l_x;
-    output->joy_left.y  = at9s->data.rc.ch_l_y;
-    output->joy_right.x = at9s->data.rc.ch_r_x;
-    output->joy_right.y = at9s->data.rc.ch_r_y;
+    output->joy_left.x  = at9s->data.ch_l_x;
+    output->joy_left.y  = at9s->data.ch_l_y;
+    output->joy_right.x = at9s->data.ch_r_x;
+    output->joy_right.y = at9s->data.ch_r_y;
     
     /* 拨杆映射需要根据AT9S的实际定义 */
     
@@ -142,10 +142,6 @@ int8_t CMD_Adapter_InitAll(void) {
     CMD_Adapter_Register(&g_adapter_AT9S);
 #endif
     
-    /* 注册NUC适配器 */
-
-    /* 注册REF适配器 */
-    
     /* 初始化所有已注册的适配器 */
     for (int i = 0; i < CMD_SRC_NUM; i++) {
         if (g_adapters[i] != NULL && g_adapters[i]->init != NULL) {
diff --git a/assets/User_code/module/cmd/cmd_example.c b/assets/User_code/module/cmd/cmd_example.c
index dbea4b0..476c32e 100644
--- a/assets/User_code/module/cmd/cmd_example.c
+++ b/assets/User_code/module/cmd/cmd_example.c
@@ -6,7 +6,7 @@
 #include "cmd.h"
 
 /* ========================================================================== */
-/*                           配置示例                                          */
+/*                           config示例                                          */
 /* ========================================================================== */
 
 /* 默认配置 */
@@ -37,35 +37,58 @@
 // /* CMD上下文 */
 // static CMD_t g_cmd_ctx;
 
+/* ========================================================================== */
+/*                          队列创建示例                                       */
+/* ========================================================================== */
+// #if CMD_RCTypeTable_Index == 0
+//   task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(DR16_t), NULL);
+// #elif CMD_RCTypeTable_Index == 1
+//   task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(AT9S_t), NULL);
+// #endif
+
 /* ========================================================================== */
 /*                           任务示例                                          */
 /* ========================================================================== */
 
-/*
- * 初始化示例
- */
-// void Example_CMD_Init(void) {
-//     CMD_Init(&g_cmd_ctx, &g_cmd_config);
-// }
+// #if CMD_RCTypeTable_Index == 0
+// DR16_t cmd_dr16;
+// #elif CMD_RCTypeTable_Index == 1
+// AT9S_t cmd_at9s;
+// #endif
+// Shoot_CMD_t    *cmd_for_shoot;
+// Chassis_CMD_t  *cmd_for_chassis;
+// Gimbal_CMD_t   *cmd_for_gimbal;
 
-// /*
-//  * 任务循环示例
-//  */
-// void Example_CMD_Task(void) {
-//     /* 一键更新 */
-//     CMD_Update(&g_cmd_ctx);
+// static CMD_t cmd;
+
+// void Task_cmd() {
+
+//   CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param);
+  
+//   while (1) {
+//     #if CMD_RCTypeTable_Index == 0
+//     osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0);
+//     #elif CMD_RCTypeTable_Index == 1
+//     osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
+//     #endif
+//     CMD_Update(&cmd);
     
 //     /* 获取命令发送到各模块 */
-//     Chassis_CMD_t *chassis_cmd = CMD_GetChassisCmd(&g_cmd_ctx);
-//     Gimbal_CMD_t *gimbal_cmd = CMD_GetGimbalCmd(&g_cmd_ctx);
-//     Shoot_CMD_t *shoot_cmd = CMD_GetShootCmd(&g_cmd_ctx);
-    
-//     /* 使用命令... */
-//     (void)chassis_cmd;
-//     (void)gimbal_cmd;
-//     (void)shoot_cmd;
+//     cmd_for_chassis = CMD_GetChassisCmd(&cmd);
+//     cmd_for_gimbal = CMD_GetGimbalCmd(&cmd);
+//     cmd_for_shoot = CMD_GetShootCmd(&cmd);
+// 	osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
+//     osMessageQueuePut(task_runtime.msgq.gimbal.cmd, cmd_for_gimbal, 0, 0);
+// 	osMessageQueueReset(task_runtime.msgq.shoot.cmd);
+//     osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0);
+// 	osMessageQueueReset(task_runtime.msgq.chassis.cmd);
+//     osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0);
+//   }
+  
 // }
 
+
+
 /* ========================================================================== */
 /*                   架构说明                                                   */
 /* ========================================================================== */