diff --git a/.DS_Store b/.DS_Store
index 99e2101..e391af5 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/bsp/can.c b/bsp/can.c
index 71451fc..c2fe26b 100644
--- a/bsp/can.c
+++ b/bsp/can.c
@@ -37,16 +37,21 @@ static osMutexId_t queue_mutex = NULL;
 static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
 static bool inited = false;
 static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
+static BSP_CAN_TxQueue_t tx_queues[BSP_CAN_NUM]; /* 每个CAN的发送队列 */
 
 /* Private function prototypes ---------------------------------------------- */
 static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan);
 static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id);
 static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
-static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
 static void BSP_CAN_RxFifo0Callback(void);
 static void BSP_CAN_RxFifo1Callback(void);
+static void BSP_CAN_TxCompleteCallback(void);
 static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
 static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
+static void BSP_CAN_TxQueueInit(BSP_CAN_t can);
+static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
+static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
+static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can);
 
 /* Private functions -------------------------------------------------------- */
 /* USER FUNCTION BEGIN */
@@ -118,29 +123,7 @@ static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queu
     return BSP_OK;
 }
 
-/**
- * @brief 删除指定CAN ID的消息队列
- * @note 内部函数，已包含互斥锁保护
- */
-static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id) {
-    if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
-        return BSP_ERR_TIMEOUT;
-    }
-    BSP_CAN_QueueNode_t **current = &queue_list;
-    while (*current != NULL) {
-        if ((*current)->can == can && (*current)->can_id == can_id) {
-            BSP_CAN_QueueNode_t *to_delete = *current;
-            *current = (*current)->next;
-            osMessageQueueDelete(to_delete->queue);
-            BSP_Free(to_delete);
-            osMutexRelease(queue_mutex);
-            return BSP_OK;
-        }
-        current = &(*current)->next;
-    }
-    osMutexRelease(queue_mutex);
-    return BSP_ERR;  // 未找到
-}
+
 /**
  * @brief 获取帧类型
  */
@@ -160,6 +143,106 @@ static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_
     return original_id;
 }
 
+/**
+ * @brief 初始化发送队列
+ */
+static void BSP_CAN_TxQueueInit(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return;
+    
+    tx_queues[can].head = 0;
+    tx_queues[can].tail = 0;
+}
+
+/**
+ * @brief 向发送队列添加消息（无锁）
+ */
+static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
+    if (can >= BSP_CAN_NUM || msg == NULL) return false;
+    
+    BSP_CAN_TxQueue_t *queue = &tx_queues[can];
+    uint32_t next_head = (queue->head + 1) % BSP_CAN_TX_QUEUE_SIZE;
+    
+    // 队列满
+    if (next_head == queue->tail) {
+        return false;
+    }
+    
+    // 复制消息
+    queue->buffer[queue->head] = *msg;
+    
+    // 更新头指针（原子操作）
+    queue->head = next_head;
+    
+    return true;
+}
+
+
+/**
+ * @brief 从发送队列取出消息（无锁）
+ */
+static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
+    if (can >= BSP_CAN_NUM || msg == NULL) return false;
+    
+    BSP_CAN_TxQueue_t *queue = &tx_queues[can];
+    
+    // 队列空
+    if (queue->head == queue->tail) {
+        return false;
+    }
+    
+    // 复制消息
+    *msg = queue->buffer[queue->tail];
+    
+    // 更新尾指针（原子操作）
+    queue->tail = (queue->tail + 1) % BSP_CAN_TX_QUEUE_SIZE;
+    
+    return true;
+}
+
+/**
+ * @brief 检查发送队列是否为空
+ */
+static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return true;
+    
+    return tx_queues[can].head == tx_queues[can].tail;
+}
+
+/**
+ * @brief 处理所有CAN实例的发送队列
+ */
+static void BSP_CAN_TxCompleteCallback(void) {
+    // 处理所有CAN实例的发送队列
+    for (int i = 0; i < BSP_CAN_NUM; i++) {
+        BSP_CAN_t can = (BSP_CAN_t)i;
+        CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
+        if (hcan == NULL) continue;
+        
+        BSP_CAN_TxMessage_t msg;
+        uint32_t mailbox;
+        
+        // 尝试发送队列中的消息
+        while (!BSP_CAN_TxQueueIsEmpty(can)) {
+            // 检查是否有空闲邮箱
+            if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
+                break; // 没有空闲邮箱，等待下次中断
+            }
+            
+            // 从队列中取出消息
+            if (!BSP_CAN_TxQueuePop(can, &msg)) {
+                break;
+            }
+            
+            // 发送消息
+            if (HAL_CAN_AddTxMessage(hcan, &msg.header, msg.data, &mailbox) != HAL_OK) {
+                // 发送失败，消息已经从队列中移除，直接丢弃
+                break;
+            }
+        }
+    }
+}
+
+
 /**
  * @brief FIFO0接收处理函数
  */
@@ -344,7 +427,12 @@ int8_t BSP_CAN_Init(void) {
     
     // 清零回调函数数组
     memset(CAN_Callback, 0, sizeof(CAN_Callback));
-    
+        
+    // 初始化发送队列
+    for (int i = 0; i < BSP_CAN_NUM; i++) {
+        BSP_CAN_TxQueueInit((BSP_CAN_t)i);
+    }
+
     // 初始化ID解析器为默认解析器
     id_parser = BSP_CAN_DefaultIdParser;
     
@@ -360,39 +448,6 @@ int8_t BSP_CAN_Init(void) {
     return BSP_OK;
 }
 
-int8_t BSP_CAN_DeInit(void) {
-    if (!inited) {
-        return BSP_ERR;
-    }
-    
-    // 删除所有队列
-    if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) == osOK) {
-        BSP_CAN_QueueNode_t *current = queue_list;
-        while (current != NULL) {
-            BSP_CAN_QueueNode_t *next = current->next;
-            osMessageQueueDelete(current->queue);
-            BSP_Free(current);
-            current = next;
-        }
-        queue_list = NULL;
-        osMutexRelease(queue_mutex);
-    }
-    
-    // 删除互斥锁
-    if (queue_mutex != NULL) {
-        osMutexDelete(queue_mutex);
-        queue_mutex = NULL;
-    }
-    
-    // 清零回调函数数组
-    memset(CAN_Callback, 0, sizeof(CAN_Callback));
-    
-    // 重置ID解析器
-    id_parser = NULL;
-    
-    inited = false;
-    return BSP_OK;
-}
 
 CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
     if (can >= BSP_CAN_NUM) {
@@ -445,44 +500,58 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
         return BSP_ERR_NULL;
     }
     
-    CAN_TxHeaderTypeDef header = {0};
-    uint32_t mailbox;
+    // 准备发送消息
+    BSP_CAN_TxMessage_t tx_msg = {0};
     
     switch (format) {
         case BSP_CAN_FORMAT_STD_DATA:
-            header.StdId = id;
-            header.IDE = CAN_ID_STD;
-            header.RTR = CAN_RTR_DATA;
+            tx_msg.header.StdId = id;
+            tx_msg.header.IDE = CAN_ID_STD;
+            tx_msg.header.RTR = CAN_RTR_DATA;
             break;
         case BSP_CAN_FORMAT_EXT_DATA:
-            header.ExtId = id;
-            header.IDE = CAN_ID_EXT;
-            header.RTR = CAN_RTR_DATA;
+            tx_msg.header.ExtId = id;
+            tx_msg.header.IDE = CAN_ID_EXT;
+            tx_msg.header.RTR = CAN_RTR_DATA;
             break;
         case BSP_CAN_FORMAT_STD_REMOTE:
-            header.StdId = id;
-            header.IDE = CAN_ID_STD;
-            header.RTR = CAN_RTR_REMOTE;
+            tx_msg.header.StdId = id;
+            tx_msg.header.IDE = CAN_ID_STD;
+            tx_msg.header.RTR = CAN_RTR_REMOTE;
             break;
         case BSP_CAN_FORMAT_EXT_REMOTE:
-            header.ExtId = id;
-            header.IDE = CAN_ID_EXT;
-            header.RTR = CAN_RTR_REMOTE;
+            tx_msg.header.ExtId = id;
+            tx_msg.header.IDE = CAN_ID_EXT;
+            tx_msg.header.RTR = CAN_RTR_REMOTE;
             break;
         default:
             return BSP_ERR;
     }
     
-    header.DLC = dlc;
-    header.TransmitGlobalTime = DISABLE;
+    tx_msg.header.DLC = dlc;
+    tx_msg.header.TransmitGlobalTime = DISABLE;
     
-    HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
-    
-    if (result != HAL_OK) {
-        return BSP_ERR;
+    // 复制数据
+    if (data != NULL && dlc > 0) {
+        memcpy(tx_msg.data, data, dlc);
     }
     
-    return BSP_OK;
+    // 尝试直接发送到邮箱
+    uint32_t mailbox;
+    if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) > 0) {
+        HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &tx_msg.header, tx_msg.data, &mailbox);
+        if (result == HAL_OK) {
+            return BSP_OK; // 发送成功
+        }
+    }
+    
+    // 邮箱满，尝试放入队列
+    if (BSP_CAN_TxQueuePush(can, &tx_msg)) {
+        return BSP_OK; // 成功放入队列
+    }
+    
+    // 队列也满，丢弃数据
+    return BSP_ERR; // 数据丢弃
 }
 
 int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) {
@@ -514,12 +583,6 @@ int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) {
     return BSP_CAN_CreateIdQueue(can, can_id, queue_size);
 }
 
-int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id) {
-    if (!inited) {
-        return BSP_ERR_INITED;
-    }
-    return BSP_CAN_DeleteIdQueue(can, can_id);
-}
 
 int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) {
     if (!inited) {
@@ -586,15 +649,6 @@ int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser) {
     return BSP_OK;
 }
 
-int8_t BSP_CAN_UnregisterIdParser(void) {
-    if (!inited) {
-        return BSP_ERR_INITED;
-    }
-    
-    id_parser = BSP_CAN_DefaultIdParser;
-    return BSP_OK;
-}
-
 uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
     if (id_parser != NULL) {
         return id_parser(original_id, frame_type);
@@ -602,43 +656,4 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
     return BSP_CAN_DefaultIdParser(original_id, frame_type);
 }
 
-int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) {
-    if (!inited) {
-        return BSP_ERR_INITED;
-    }
-    if (can >= BSP_CAN_NUM) {
-        return BSP_ERR;
-    }
-    
-    CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
-    if (hcan == NULL) {
-        return BSP_ERR_NULL;
-    }
-    
-    uint32_t start_time = HAL_GetTick();
-    
-    // 如果超时时间为0，立即检查并返回
-    if (timeout == 0) {
-        uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
-        return (free_level > 0) ? BSP_OK : BSP_ERR_TIMEOUT;
-    }
-    
-    // 等待至少有一个邮箱空闲
-    while (true) {
-        uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
-        if (free_level > 0) {
-            return BSP_OK;
-        }
-        
-        // 检查超时
-        if (timeout != BSP_CAN_TIMEOUT_FOREVER) {
-            uint32_t elapsed = HAL_GetTick() - start_time;
-            if (elapsed >= timeout) {
-                return BSP_ERR_TIMEOUT;
-            }
-        }
-        
-        // 短暂延时，避免占用过多CPU
-        osDelay(1);
-    }
-}
+
diff --git a/bsp/can.h b/bsp/can.h
index f987abe..e6b5f71 100644
--- a/bsp/can.h
+++ b/bsp/can.h
@@ -21,6 +21,7 @@ extern "C" {
 #define BSP_CAN_DEFAULT_QUEUE_SIZE      10
 #define BSP_CAN_TIMEOUT_IMMEDIATE       0
 #define BSP_CAN_TIMEOUT_FOREVER         osWaitForever
+#define BSP_CAN_TX_QUEUE_SIZE           32    /* 发送队列大小 */
 
 /* USER DEFINE BEGIN */
 
@@ -29,7 +30,8 @@ extern "C" {
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
 typedef enum {
-/* AUTO GENERATED BSP_CAN_NAME */
+  BSP_CAN_1,
+  BSP_CAN_2,
   BSP_CAN_NUM,
   BSP_CAN_ERR,
 } BSP_CAN_t;
@@ -101,6 +103,19 @@ typedef struct {
 /* ID解析回调函数类型 */
 typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
 
+/* CAN发送消息结构体 */
+typedef struct {
+    CAN_TxHeaderTypeDef header;         /* 发送头 */
+    uint8_t data[BSP_CAN_MAX_DLC];      /* 数据 */
+} BSP_CAN_TxMessage_t;
+
+/* 无锁环形队列结构体 */
+typedef struct {
+    BSP_CAN_TxMessage_t buffer[BSP_CAN_TX_QUEUE_SIZE];  /* 缓冲区 */
+    volatile uint32_t head;             /* 队列头 */
+    volatile uint32_t tail;             /* 队列尾 */
+} BSP_CAN_TxQueue_t;
+
 /* USER STRUCT BEGIN */
 
 /* USER STRUCT END */
@@ -113,12 +128,6 @@ typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t
  */
 int8_t BSP_CAN_Init(void);
 
-/**
- * @brief 反初始化 CAN 模块
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_DeInit(void);
-
 /**
  * @brief 获取 CAN 句柄
  * @param can CAN 枚举
@@ -172,13 +181,20 @@ int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame
  */
 int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
 
+
 /**
- * @brief 等待CAN发送邮箱空闲
+ * @brief 获取发送队列中待发送消息数量
+ * @param can CAN 枚举
+ * @return 队列中消息数量，-1表示错误
+ */
+int32_t BSP_CAN_GetTxQueueCount(BSP_CAN_t can);
+
+/**
+ * @brief 清空发送队列
  * @param can CAN 枚举
- * @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
  * @return BSP_OK 成功，其他值失败
  */
-int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
+int8_t BSP_CAN_FlushTxQueue(BSP_CAN_t can);
 
 /**
  * @brief 注册 CAN ID 接收队列
@@ -189,13 +205,7 @@ int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
  */
 int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
 
-/**
- * @brief 注销 CAN ID 接收队列
- * @param can CAN 枚举
- * @param can_id 解析后的CAN ID
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id);
+
 
 /**
  * @brief 获取 CAN 消息
@@ -230,11 +240,6 @@ int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id);
  */
 int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser);
 
-/**
- * @brief 注销ID解析器
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_UnregisterIdParser(void);
 
 /**
  * @brief 解析CAN ID
diff --git a/bsp/describe.csv b/bsp/describe.csv
index fd64d14..5206a52 100644
--- a/bsp/describe.csv
+++ b/bsp/describe.csv
@@ -1,5 +1,5 @@
 uart,请开启uart的dma和中断
-can,请开启can中断，使用函数前请确保can已经初始化。
+can,请开启can中断，使用函数前请确保can已经初始化。一定要开启can发送中断！！！
 gpio,会自动读取cubemx中配置为gpio的引脚，并自动区分输入输出和中断。
 spi,请开启spi的dma和中断
 i2c,要求开始spi中断
diff --git a/component/user_math.c b/component/user_math.c
index 6bc958d..5e0b0c4 100644
--- a/component/user_math.c
+++ b/component/user_math.c
@@ -9,33 +9,33 @@
 /* USER INCLUDE END */
 
 inline float InvSqrt(float x) {
-  // #if 0
+//#if 0
   /* Fast inverse square-root */
   /* See: http://en.wikipedia.org/wiki/Fast_inverse_square_root */
-  float halfx = 0.5f * x;
-  float y = x;
-  long i = *(long *)&y;
-  i = 0x5f3759df - (i >> 1);
-  y = *(float *)&i;
-  y = y * (1.5f - (halfx * y * y));
-  y = y * (1.5f - (halfx * y * y));
-  return y;
-  // #else
-  //   return 1.0f / sqrtf(x);
-  // #endif
+	float halfx = 0.5f * x;
+	float y = x;
+	long i = *(long*)&y;
+	i = 0x5f3759df - (i>>1);
+	y = *(float*)&i;
+	y = y * (1.5f - (halfx * y * y));
+	y = y * (1.5f - (halfx * y * y));
+	return y;	
+//#else
+//  return 1.0f / sqrtf(x);
+//#endif
 }
 
 inline float AbsClip(float in, float limit) {
   return (in < -limit) ? -limit : ((in > limit) ? limit : in);
 }
 
-float fAbs(float in) { return (in > 0) ? in : -in; }
+float fAbs(float in){
+  return (in > 0) ? in : -in;
+}
 
 inline void Clip(float *origin, float min, float max) {
-  if (*origin > max)
-    *origin = max;
-  if (*origin < min)
-    *origin = min;
+  if (*origin > max) *origin = max;
+  if (*origin < min) *origin = min;
 }
 
 inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; }
@@ -48,9 +48,8 @@ inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; }
 inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); }
 
 /**
- * \brief
- *计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
- *例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
+ * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
+ * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
  * \param sp 设定值
  * \param fb 反馈值
  * \param range 被操作的值变化范围，正数时起效
@@ -70,8 +69,7 @@ inline float CircleError(float sp, float fb, float range) {
 }
 
 /**
- * \brief 循环加法，适用于被操作的值在（x,y）范围内循环的情况，range应设定为y-x
- * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
+ * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况
  * \param origin 被操作的值
  * \param delta 变化量
  * \param range 被操作的值变化范围，正数时起效
@@ -103,20 +101,14 @@ inline void CircleReverse(float *origin) { *origin = -(*origin) + M_2PI; }
  * @return 摩擦轮转速
  */
 inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
-  if (bullet_speed == 0.0f)
-    return 0.f;
+  if (bullet_speed == 0.0f) return 0.f;
   if (is17mm) {
-    if (bullet_speed == 15.0f)
-      return 4670.f;
-    if (bullet_speed == 18.0f)
-      return 5200.f;
-    if (bullet_speed == 30.0f)
-      return 7350.f;
+    if (bullet_speed == 15.0f) return 4670.f;
+    if (bullet_speed == 18.0f) return 5200.f;
+    if (bullet_speed == 30.0f) return 7350.f;
   } else {
-    if (bullet_speed == 10.0f)
-      return 4450.f;
-    if (bullet_speed == 16.0f)
-      return 5800.f;
+    if (bullet_speed == 10.0f) return 4450.f;
+    if (bullet_speed == 16.0f) return 5800.f;
   }
 
   /* 不为裁判系统设定值时,计算转速 */
diff --git a/component/user_math.h b/component/user_math.h
index 405edf3..6e61ca2 100644
--- a/component/user_math.h
+++ b/component/user_math.h
@@ -21,6 +21,10 @@ extern "C" {
 #define M_DEG2RAD_MULT (0.01745329251f)
 #define M_RAD2DEG_MULT (57.2957795131f)
 
+#ifndef M_PI_2
+#define M_PI_2 1.57079632679f
+#endif
+
 #ifndef M_PI
 #define M_PI 3.14159265358979323846f
 #endif
@@ -83,20 +87,16 @@ void ResetMoveVector(MoveVector_t *mv);
 
 /**
  * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
- *例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
- *
+ * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
  * \param sp 设定值
  * \param fb 反馈值
  * \param range 被操作的值变化范围，正数时起效
- *
  * \return 函数运行结果
  */
 float CircleError(float sp, float fb, float range);
 
 /**
- * \brief 循环加法，适用于被操作的值在（x,y）范围内循环的情况，range应设定为y-x
- * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
- *
+ * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况
  * \param origin 被操作的值
  * \param delta 变化量
  * \param range 被操作的值变化范围，正数时起效
diff --git a/config.csv b/config.csv
index 84b7c39..32290e1 100644
--- a/config.csv
+++ b/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,ops9
-module,
\ No newline at end of file
+device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9
+module,config,
\ No newline at end of file
diff --git a/device/dm_imu.c b/device/dm_imu.c
index e05c1de..e5380d9 100644
--- a/device/dm_imu.c
+++ b/device/dm_imu.c
@@ -166,7 +166,6 @@ int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
         .dlc = 4,
     };
     memcpy(frame.data, tx_data, 4);
-    BSP_CAN_WaitTxMailboxEmpty(imu->param.can, 1); // 等待发送邮箱空闲
     int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
     return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
 }
@@ -253,8 +252,9 @@ int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu){
     count++;
     if (count >= 4) {
         count = 0; // 重置计数器
+        return DEVICE_OK;
     }
-    return DEVICE_OK;
+    return DEVICE_ERR;
 }
 
 /**
diff --git a/device/dr16.h b/device/dr16.h
index d537ffa..03fa526 100644
--- a/device/dr16.h
+++ b/device/dr16.h
@@ -94,7 +94,6 @@ typedef struct {
   uint16_t res; /* 保留，未启用 */
 } DR16_Data_t;
 
-
 typedef struct {
   DEVICE_Header_t header;
   DR16_RawData_t raw_data;
diff --git a/device/motor_dm.c b/device/motor_dm.c
new file mode 100644
index 0000000..a77656f
--- /dev/null
+++ b/device/motor_dm.c
@@ -0,0 +1,496 @@
+#define MOTOR_DM_FLOAT_TO_INT_SIGNED(x, x_min, x_max, bits) \
+    ((int32_t)roundf(((x) / ((x_max) - (x_min))) * (1 << (bits)) + (1 << ((bits) - 1))))
+
+#define MOTOR_DM_INT_TO_FLOAT_SIGNED(x_int, x_min, x_max, bits) \
+    (((float)((int32_t)(x_int) - (1 << ((bits) - 1))) * ((x_max) - (x_min)) / (float)(1 << (bits))))
+/* Includes ----------------------------------------------------------------- */
+#include "device/motor_dm.h"
+#include "bsp/mm.h"
+#include "bsp/time.h"
+#include "component/user_math.h"
+#include "string.h"
+#include "math.h"
+
+/* Private constants -------------------------------------------------------- */
+/* DM电机数据映射范围 */
+#define DM_P_MIN   (-12.56637f)
+#define DM_P_MAX   (12.56637f)
+#define DM_V_MIN   (-30.0f)
+#define DM_V_MAX   (30.0f)
+#define DM_T_MIN   (-12.0f)
+#define DM_T_MAX   (12.0f)
+#define DM_KP_MIN  (0.0f)
+#define DM_KP_MAX  (500.0f)
+#define DM_KD_MIN  (0.0f)
+#define DM_KD_MAX  (5.0f)
+
+/* CAN ID偏移量 */
+#define DM_CAN_ID_OFFSET_POS_VEL  0x100
+#define DM_CAN_ID_OFFSET_VEL      0x200
+
+/* Private macro ------------------------------------------------------------ */
+#define FLOAT_TO_UINT(x, x_min, x_max, bits) \
+    (uint32_t)((x - x_min) * ((1 << bits) - 1) / (x_max - x_min))
+
+#define UINT_TO_FLOAT(x_int, x_min, x_max, bits) \
+    ((float)(x_int) * (x_max - x_min) / ((1 << bits) - 1) + x_min)
+
+
+/* Private variables -------------------------------------------------------- */
+static MOTOR_DM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
+
+static int float_to_uint(float x_float, float x_min, float x_max, int bits)
+{
+	/* Converts a float to an unsigned int, given range and number of bits */
+	float span = x_max - x_min;
+	float offset = x_min;
+	return (int) ((x_float-offset)*((float)((1<<bits)-1))/span);
+}
+
+static float uint_to_float(int x_int, float x_min, float x_max, int bits)
+{
+	/* converts unsigned int to float, given range and number of bits */
+	float span = x_max - x_min;
+	float offset = x_min;
+	return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
+}
+/* Private function prototypes ---------------------------------------------- */
+static int8_t MOTOR_DM_ParseFeedbackFrame(MOTOR_DM_t *motor, const uint8_t *data);
+static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output);
+static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel);
+static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel);
+static MOTOR_DM_CANManager_t* MOTOR_DM_GetCANManager(BSP_CAN_t can);
+
+/* Private functions -------------------------------------------------------- */
+
+/**
+ * @brief 解析DM电机反馈帧
+ * @param motor 电机实例
+ * @param data CAN数据
+ * @return 解析结果
+ */
+static int8_t MOTOR_DM_ParseFeedbackFrame(MOTOR_DM_t *motor, const uint8_t *data) {
+    if (motor == NULL || data == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    uint16_t p_int=(data[1]<<8)|data[2];
+    motor->motor.feedback.rotor_abs_angle = uint_to_float(p_int, DM_P_MIN, DM_P_MAX, 16); // (-12.5,12.5)
+    uint16_t v_int=(data[3]<<4)|(data[4]>>4);
+    motor->motor.feedback.rotor_speed = uint_to_float(v_int, DM_V_MIN, DM_V_MAX, 12); // (-30.0,30.0)
+    uint16_t t_int=((data[4]&0xF)<<8)|data[5];
+    motor->motor.feedback.torque_current = uint_to_float(t_int, DM_T_MIN, DM_T_MAX, 12);  // (-12.0,12.0)
+    motor->motor.feedback.temp = (float)(data[6]);
+
+    while (motor->motor.feedback.rotor_abs_angle < 0) {
+        motor->motor.feedback.rotor_abs_angle += M_2PI;
+    }
+    while (motor->motor.feedback.rotor_abs_angle >= M_2PI) {
+        motor->motor.feedback.rotor_abs_angle -= M_2PI;
+    }
+
+    if (motor->param.reverse) {
+        motor->motor.feedback.rotor_abs_angle = M_2PI - motor->motor.feedback.rotor_abs_angle;
+        motor->motor.feedback.rotor_speed = -motor->motor.feedback.rotor_speed;
+        motor->motor.feedback.torque_current = -motor->motor.feedback.torque_current;
+    }
+    return DEVICE_OK;
+}
+
+/**
+ * @brief 发送MIT模式控制命令
+ * @param motor 电机实例
+ * @param output MIT控制参数
+ * @return 发送结果
+ */
+static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output) {
+    if (motor == NULL || output == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+	uint8_t data[8];
+	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);
+	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);
+
+    /* 打包数据 */
+	data[0] = (pos_tmp >> 8);
+	data[1] = pos_tmp;
+	data[2] = (vel_tmp >> 4);
+	data[3] = ((vel_tmp&0xF)<<4)|(kp_tmp>>8);
+	data[4] = kp_tmp;
+	data[5] = (kd_tmp >> 4);
+	data[6] = ((kd_tmp&0xF)<<4)|(tor_tmp>>8);
+	data[7] = tor_tmp;
+    
+    /* 发送CAN消息 */
+    BSP_CAN_StdDataFrame_t frame;
+    frame.id = motor->param.can_id;
+    frame.dlc = 8;
+    memcpy(frame.data, data, 8);
+    
+
+    return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+/**
+ * @brief 发送位置速度模式控制命令
+ * @param motor 电机实例
+ * @param pos 目标位置
+ * @param vel 目标速度
+ * @return 发送结果
+ */
+static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) {
+    if (motor == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    uint8_t data[8] = {0};
+
+    
+    /* 直接发送浮点数数据 */
+    memcpy(&data[0], &pos, 4);  // 位置，低位在前
+    memcpy(&data[4], &vel, 4);  // 速度，低位在前
+    
+    /* 发送CAN消息，ID为原ID+0x100 */
+    uint32_t can_id = DM_CAN_ID_OFFSET_POS_VEL + motor->param.can_id;
+    BSP_CAN_StdDataFrame_t frame;
+    frame.id = can_id;
+    frame.dlc = 8;
+    memcpy(frame.data, data, 8);
+    
+    return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+/**
+ * @brief 发送速度模式控制命令
+ * @param motor 电机实例
+ * @param vel 目标速度
+ * @return 发送结果
+ */
+static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) {
+    if (motor == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    uint8_t data[4] = {0};
+    
+    /* 直接发送浮点数数据 */
+    memcpy(&data[0], &vel, 4);  // 速度，低位在前
+    
+    /* 发送CAN消息，ID为原ID+0x200 */
+    uint32_t can_id = DM_CAN_ID_OFFSET_VEL + motor->param.can_id;
+    BSP_CAN_StdDataFrame_t frame;
+    frame.id = can_id;
+    frame.dlc = 4;
+    memcpy(frame.data, data, 4);
+    
+    return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+/**
+ * @brief 获取指定CAN总线的管理器
+ * @param can CAN总线
+ * @return CAN管理器指针
+ */
+static MOTOR_DM_CANManager_t* MOTOR_DM_GetCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) {
+        return NULL;
+    }
+    
+    return can_managers[can];
+}
+
+/**
+ * @brief 创建CAN管理器
+ * @param can CAN总线
+ * @return 创建结果
+ */
+static int8_t MOTOR_DM_CreateCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return DEVICE_ERR;
+    if (can_managers[can] != NULL) return DEVICE_OK;
+    
+    can_managers[can] = (MOTOR_DM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_DM_CANManager_t));
+    if (can_managers[can] == NULL) return DEVICE_ERR;
+    
+    memset(can_managers[can], 0, sizeof(MOTOR_DM_CANManager_t));
+    can_managers[can]->can = can;
+    return DEVICE_OK;
+}
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * @brief 注册一个DM电机
+ * @param param 电机参数
+ * @return 注册结果
+ */
+int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    /* 创建CAN管理器 */
+    if (MOTOR_DM_CreateCANManager(param->can) != DEVICE_OK) {
+        return DEVICE_ERR;
+    }
+    
+    /* 获取CAN管理器 */
+    MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can);
+    if (manager == NULL) {
+        return DEVICE_ERR;
+    }
+    
+    /* 检查是否已注册 */
+    for (int i = 0; i < manager->motor_count; i++) {
+        if (manager->motors[i] && manager->motors[i]->param.master_id == param->master_id) {
+            return DEVICE_ERR_INITED;
+        }
+    }
+    
+    /* 检查是否已达到最大数量 */
+    if (manager->motor_count >= MOTOR_DM_MAX_MOTORS) {
+        return DEVICE_ERR;
+    }
+    
+    /* 分配内存 */
+    MOTOR_DM_t *motor = (MOTOR_DM_t *)BSP_Malloc(sizeof(MOTOR_DM_t));
+    if (motor == NULL) {
+        return DEVICE_ERR;
+    }
+    
+    /* 初始化电机 */
+    memset(motor, 0, sizeof(MOTOR_DM_t));
+    memcpy(&motor->param, param, sizeof(MOTOR_DM_Param_t));
+    motor->motor.header.online = false;
+    motor->motor.reverse = param->reverse;
+    
+    /* 注册CAN接收ID - DM电机使用Master ID接收反馈 */
+    uint16_t feedback_id = param->master_id;
+    if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) {
+        BSP_Free(motor);
+        return DEVICE_ERR;
+    }
+    
+    /* 添加到管理器 */
+    manager->motors[manager->motor_count] = motor;
+    manager->motor_count++;
+    
+    return DEVICE_OK;
+}
+
+/**
+ * @brief 更新指定电机数据
+ * @param param 电机参数
+ * @return 更新结果
+ */
+int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can);
+    if (manager == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    /* 查找电机 */
+    MOTOR_DM_t *motor = NULL;
+    for (int i = 0; i < manager->motor_count; i++) {
+        if (manager->motors[i] && manager->motors[i]->param.master_id == param->master_id) {
+            motor = manager->motors[i];
+            break;
+        }
+    }
+    
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    /* 主动接收CAN消息 */
+    uint16_t feedback_id = param->master_id;
+    BSP_CAN_Message_t rx_msg;
+    if (BSP_CAN_GetMessage(param->can, feedback_id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+        uint64_t now_time = BSP_TIME_Get();
+        if (now_time - motor->motor.header.last_online_time > 100000) {  // 100ms超时，单位微秒
+            motor->motor.header.online = false;
+        }
+        return DEVICE_ERR;
+    }
+    
+    motor->motor.header.online = true;
+    motor->motor.header.last_online_time = BSP_TIME_Get();
+    MOTOR_DM_ParseFeedbackFrame(motor, rx_msg.data);
+    
+    return DEVICE_OK;
+}
+
+/**
+ * @brief 更新所有电机数据
+ * @return 更新结果
+ */
+int8_t MOTOR_DM_UpdateAll(void) {
+    int8_t ret = DEVICE_OK;
+    for (int can = 0; can < BSP_CAN_NUM; can++) {
+        MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager((BSP_CAN_t)can);
+        if (manager == NULL) continue;
+        
+        for (int i = 0; i < manager->motor_count; i++) {
+            MOTOR_DM_t *motor = manager->motors[i];
+            if (motor != NULL) {
+                if (MOTOR_DM_Update(&motor->param) != DEVICE_OK) {
+                    ret = DEVICE_ERR;
+                }
+            }
+        }
+    }
+    return ret;
+}
+
+/**
+ * @brief MIT模式控制
+ * @param param 电机参数
+ * @param output MIT控制参数
+ * @return 控制结果
+ */
+int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output) {
+    if (param == NULL || output == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    return MOTOR_DM_SendMITCmd(motor, output);
+}
+
+/**
+ * @brief 位置速度模式控制
+ * @param param 电机参数
+ * @param target_pos 目标位置
+ * @param target_vel 目标速度
+ * @return 控制结果
+ */
+int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    return MOTOR_DM_SendPosVelCmd(motor, target_pos, target_vel);
+}
+
+/**
+ * @brief 速度模式控制
+ * @param param 电机参数
+ * @param target_vel 目标速度
+ * @return 控制结果
+ */
+int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    return MOTOR_DM_SendVelCmd(motor, target_vel);
+}
+
+/**
+ * @brief 获取指定电机的实例指针
+ * @param param 电机参数
+ * @return 电机实例指针
+ */
+MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param) {
+    if (param == NULL) {
+        return NULL;
+    }
+    
+    MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can);
+    if (manager == NULL) {
+        return NULL;
+    }
+    
+    /* 查找对应的电机 */
+    for (int i = 0; i < manager->motor_count; i++) {
+        MOTOR_DM_t *motor = manager->motors[i];
+        if (motor && motor->param.can == param->can && 
+            motor->param.master_id == param->master_id) {
+            return motor;
+        }
+    }
+    
+    return NULL;
+}
+
+
+int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param){
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+
+    BSP_CAN_StdDataFrame_t frame;
+    frame.id = motor->param.can_id;
+    frame.dlc = 8;
+    frame.data[0] = 0XFF;
+    frame.data[1] = 0xFF;
+    frame.data[2] = 0xFF;
+    frame.data[3] = 0xFF;
+    frame.data[4] = 0xFF;
+    frame.data[5] = 0xFF;
+    frame.data[6] = 0xFF;
+    frame.data[7] = 0xFC;
+
+    return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+/**
+ * @brief 使电机松弛（设置输出为0）
+ * @param param 电机参数
+ * @return 操作结果
+ */
+int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_MIT_Output_t output = {0};
+    return MOTOR_DM_MITCtrl(param, &output);
+}
+
+/**
+ * @brief 使电机离线（设置在线状态为false）
+ * @param param 电机参数
+ * @return 操作结果
+ */
+int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    motor->motor.header.online = false;
+    return DEVICE_OK;
+}
diff --git a/device/motor_dm.h b/device/motor_dm.h
new file mode 100644
index 0000000..20e91d4
--- /dev/null
+++ b/device/motor_dm.h
@@ -0,0 +1,98 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/device.h"
+#include "device/motor.h"
+#include "bsp/can.h"
+
+/* Exported constants ------------------------------------------------------- */
+#define MOTOR_DM_MAX_MOTORS 32
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+    MOTOR_DM_J4310,
+} MOTOR_DM_Module_t;
+
+/*每个电机需要的参数*/
+typedef struct {
+    BSP_CAN_t can;
+    uint16_t master_id;    /* 主站ID，用于发送控制命令 */
+    uint16_t can_id;       /* 反馈ID，用于接收电机反馈 */
+    MOTOR_DM_Module_t module;
+    bool reverse;
+} MOTOR_DM_Param_t;
+
+/*电机实例*/
+typedef struct{
+    MOTOR_DM_Param_t param;
+    MOTOR_t motor;
+} MOTOR_DM_t;
+
+/*CAN管理器，管理一个CAN总线上所有的电机*/
+typedef struct {
+    BSP_CAN_t can;
+    MOTOR_DM_t *motors[MOTOR_DM_MAX_MOTORS];
+    uint8_t motor_count;
+} MOTOR_DM_CANManager_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 注册一个LK电机
+ * @param param 电机参数
+ * @return 
+ */
+int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param);
+
+/**
+ * @brief 更新指定电机数据
+ * @param param 电机参数
+ * @return 
+ */
+int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param);
+
+/**
+ * @brief 更新所有电机数据
+ * @return 
+ */
+int8_t MOTOR_DM_UpdateAll(void);
+
+int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output);
+
+int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel);
+
+int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel);
+
+/**
+ * @brief 获取指定电机的实例指针
+ * @param param 电机参数
+ * @return 
+ */
+MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param);
+
+int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param);
+
+/**
+ * @brief 使电机松弛（设置输出为0）
+ * @param param 
+ * @return 
+ */
+int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param);
+
+/**
+ * @brief 使电机离线（设置在线状态为false）
+ * @param param 
+ * @return 
+ */
+int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param);
+
+
+
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file
diff --git a/device/motor_lk.c b/device/motor_lk.c
index c7911d6..c26878e 100644
--- a/device/motor_lk.c
+++ b/device/motor_lk.c
@@ -253,7 +253,6 @@ int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) {
     tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF);
     tx_frame.data[6] = 0x00;
     tx_frame.data[7] = 0x00;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -279,7 +278,6 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
     tx_frame.data[5] = 0x00;
     tx_frame.data[6] = 0x00;
     tx_frame.data[7] = 0x00;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -299,7 +297,6 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
     tx_frame.data[5] = 0x00;
     tx_frame.data[6] = 0x00;
     tx_frame.data[7] = 0x00;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
diff --git a/device/motor_lz.c b/device/motor_lz.c
index eb55f36..7ed7344 100644
--- a/device/motor_lz.c
+++ b/device/motor_lz.c
@@ -134,7 +134,6 @@ static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *dat
     } else {
         memset(tx_frame.data, 0, dlc);
     }
-    BSP_CAN_WaitTxMailboxEmpty(can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -244,14 +243,6 @@ int8_t MOTOR_LZ_Init(void) {
     return BSP_CAN_RegisterIdParser(MOTOR_LZ_IdParser) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
-/**
- * @brief 反初始化灵足电机驱动系统
- * @return 设备状态码
- */
-int8_t MOTOR_LZ_DeInit(void) {
-    // 注销ID解析器
-    return BSP_CAN_UnregisterIdParser() == BSP_OK ? DEVICE_OK : DEVICE_ERR;
-}
 
 int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param) {
     if (param == NULL) return DEVICE_ERR_NULL;
@@ -369,7 +360,6 @@ int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *m
     uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX);
     data[6] = (raw_kd >> 8) & 0xFF;
     data[7] = raw_kd & 0xFF;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
 }
 
diff --git a/device/motor_lz.h b/device/motor_lz.h
index 76a72ae..d2a8002 100644
--- a/device/motor_lz.h
+++ b/device/motor_lz.h
@@ -111,12 +111,6 @@ typedef struct {
  */
 int8_t MOTOR_LZ_Init(void);
 
-/**
- * @brief 反初始化灵足电机驱动系统
- * @return 设备状态码
- */
-int8_t MOTOR_LZ_DeInit(void);
-
 /**
  * @brief 注册一个灵足电机
  * @param param 电机参数
diff --git a/device/motor_rm.c b/device/motor_rm.c
index 1b61374..1e78a47 100644
--- a/device/motor_rm.c
+++ b/device/motor_rm.c
@@ -74,7 +74,7 @@ static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module
 static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) {
     switch (module) {
         case MOTOR_M2006: return 36.0f;
-        case MOTOR_M3508: return 19.0f;
+        case MOTOR_M3508: return 3591.0f / 187.0f;
         case MOTOR_GM6020: return 1.0f;
         default: return 1.0f;
     }
@@ -139,12 +139,12 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
         motor->feedback.rotor_speed = rotor_speed;
         motor->feedback.torque_current = torque_current;
     }
-    while (motor->feedback.rotor_abs_angle < 0) {
-        motor->feedback.rotor_abs_angle += M_2PI;
-    }
-    while (motor->feedback.rotor_abs_angle >= M_2PI) {
-        motor->feedback.rotor_abs_angle -= M_2PI;
-    }
+        while (motor->feedback.rotor_abs_angle < 0) {
+            motor->feedback.rotor_abs_angle += M_2PI;
+        }
+        while (motor->feedback.rotor_abs_angle >= M_2PI) {
+            motor->feedback.rotor_abs_angle -= M_2PI;
+        }
     if (motor->motor.reverse) {
         motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle;
         motor->feedback.rotor_speed = -motor->feedback.rotor_speed;
@@ -291,7 +291,6 @@ int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
         default:
             return DEVICE_ERR;
     }
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
diff --git a/device/rc_can.c b/device/rc_can.c
new file mode 100644
index 0000000..77d9733
--- /dev/null
+++ b/device/rc_can.c
@@ -0,0 +1,328 @@
+/* Includes ----------------------------------------------------------------- */
+#include "device/rc_can.h"
+#include "bsp/time.h"
+#include "device/device.h"
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private constants -------------------------------------------------------- */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Private macro ------------------------------------------------------------ */
+/* Private types ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+
+/* USER VARIABLE BEGIN */
+
+/* USER VARIABLE END */
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+/* Private function prototypes ---------------------------------------------- */
+static int8_t RC_CAN_ValidateParams(const RC_CAN_Param_t *param);
+static int8_t RC_CAN_RegisterIds(RC_CAN_t *rc_can);
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * @brief 初始化RC CAN发送模块
+ * @param rc_can RC_CAN结构体指针
+ * @param param 初始化参数
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_Init(RC_CAN_t *rc_can, RC_CAN_Param_t *param) {
+  if (rc_can == NULL || param == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+
+  // 参数验证
+  if (RC_CAN_ValidateParams(param) != DEVICE_OK) {
+    return DEVICE_ERR;
+  }
+
+  rc_can->param = *param;
+
+  // 初始化header
+  rc_can->header.online = false;
+  rc_can->header.last_online_time = 0;
+
+  // 手动初始化数据结构
+  rc_can->data.joy.ch_l_x = 0.0f;
+  rc_can->data.joy.ch_l_y = 0.0f;
+  rc_can->data.joy.ch_r_x = 0.0f;
+  rc_can->data.joy.ch_r_y = 0.0f;
+  rc_can->data.sw.sw_l = RC_CAN_SW_ERR;
+  rc_can->data.sw.sw_r = RC_CAN_SW_ERR;
+  rc_can->data.sw.ch_res = 0.0f;
+  rc_can->data.mouse.x = 0.0f;
+  rc_can->data.mouse.y = 0.0f;
+  rc_can->data.mouse.z = 0.0f;
+  rc_can->data.mouse.mouse_l = false;
+  rc_can->data.mouse.mouse_r = false;
+  rc_can->data.keyboard.key_value = 0;
+  for (int i = 0; i < 6; i++) {
+    rc_can->data.keyboard.keys[i] = RC_CAN_KEY_NONE;
+  }
+
+  // 注册CAN ID队列（从机模式需要接收数据）
+  if (rc_can->param.mode == RC_CAN_MODE_SLAVE) {
+    return RC_CAN_RegisterIds(rc_can);
+  }
+
+  return DEVICE_OK;
+}
+
+/**
+ * @brief 更新并发送数据到CAN总线
+ * @param rc_can RC_CAN结构体指针
+ * @param data_type 数据类型
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) {
+  if (rc_can == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+  if (rc_can->param.mode != RC_CAN_MODE_MASTER) {
+    return DEVICE_ERR;
+  }
+  BSP_CAN_StdDataFrame_t frame;
+  frame.dlc = 8;
+  // 边界裁剪宏
+  #define RC_CAN_CLAMP(x, min, max) ((x) < (min) ? (min) : ((x) > (max) ? (max) : (x)))
+  switch (data_type) {
+  case RC_CAN_DATA_JOYSTICK: {
+    frame.id = rc_can->param.joy_id;
+    float l_x = RC_CAN_CLAMP(rc_can->data.joy.ch_l_x, -0.999969f, 0.999969f);
+    float l_y = RC_CAN_CLAMP(rc_can->data.joy.ch_l_y, -0.999969f, 0.999969f);
+    float r_x = RC_CAN_CLAMP(rc_can->data.joy.ch_r_x, -0.999969f, 0.999969f);
+    float r_y = RC_CAN_CLAMP(rc_can->data.joy.ch_r_y, -0.999969f, 0.999969f);
+    int16_t l_x_i = (int16_t)(l_x * 32768.0f);
+    int16_t l_y_i = (int16_t)(l_y * 32768.0f);
+    int16_t r_x_i = (int16_t)(r_x * 32768.0f);
+    int16_t r_y_i = (int16_t)(r_y * 32768.0f);
+    frame.data[0] = (uint8_t)(l_x_i & 0xFF);
+    frame.data[1] = (uint8_t)((l_x_i >> 8) & 0xFF);
+    frame.data[2] = (uint8_t)(l_y_i & 0xFF);
+    frame.data[3] = (uint8_t)((l_y_i >> 8) & 0xFF);
+    frame.data[4] = (uint8_t)(r_x_i & 0xFF);
+    frame.data[5] = (uint8_t)((r_x_i >> 8) & 0xFF);
+    frame.data[6] = (uint8_t)(r_y_i & 0xFF);
+    frame.data[7] = (uint8_t)((r_y_i >> 8) & 0xFF);
+    break;
+  }
+  case RC_CAN_DATA_SWITCH: {
+    frame.id = rc_can->param.sw_id;
+    frame.data[0] = (uint8_t)(rc_can->data.sw.sw_l);
+    frame.data[1] = (uint8_t)(rc_can->data.sw.sw_r);
+    float ch_res = RC_CAN_CLAMP(rc_can->data.sw.ch_res, -0.999969f, 0.999969f);
+    int16_t ch_res_i = (int16_t)(ch_res * 32768.0f);
+    frame.data[2] = (uint8_t)(ch_res_i & 0xFF);
+    frame.data[3] = (uint8_t)((ch_res_i >> 8) & 0xFF);
+    frame.data[4] = 0; // 保留字节
+    frame.data[5] = 0; // 保留字节
+    frame.data[6] = 0; // 保留字节
+    frame.data[7] = 0; // 保留字节
+    break;
+  }
+  case RC_CAN_DATA_MOUSE: {
+    frame.id = rc_can->param.mouse_id;
+    // 鼠标x/y/z一般为增量，若有极限也可加clamp
+    int16_t x = (int16_t)(rc_can->data.mouse.x);
+    int16_t y = (int16_t)(rc_can->data.mouse.y);
+    int16_t z = (int16_t)(rc_can->data.mouse.z);
+    frame.data[0] = (uint8_t)(x & 0xFF);
+    frame.data[1] = (uint8_t)((x >> 8) & 0xFF);
+    frame.data[2] = (uint8_t)(y & 0xFF);
+    frame.data[3] = (uint8_t)((y >> 8) & 0xFF);
+    frame.data[4] = (uint8_t)(z & 0xFF);
+    frame.data[5] = (uint8_t)((z >> 8) & 0xFF);
+    frame.data[6] = (uint8_t)(rc_can->data.mouse.mouse_l ? 1 : 0);
+    frame.data[7] = (uint8_t)(rc_can->data.mouse.mouse_r ? 1 : 0);
+    break;
+  }
+  case RC_CAN_DATA_KEYBOARD: {
+    frame.id = rc_can->param.keyboard_id;
+    frame.data[0] = (uint8_t)(rc_can->data.keyboard.key_value & 0xFF);
+    frame.data[1] = (uint8_t)((rc_can->data.keyboard.key_value >> 8) & 0xFF);
+    for (int i = 0; i < 6; i++) {
+      frame.data[2 + i] = (i < 6) ? (uint8_t)(rc_can->data.keyboard.keys[i]) : 0;
+    }
+    break;
+  }
+  default:
+    return DEVICE_ERR;
+  }
+  #undef RC_CAN_CLAMP
+  if (BSP_CAN_Transmit(rc_can->param.can, BSP_CAN_FORMAT_STD_DATA, frame.id,
+                       frame.data, frame.dlc) != BSP_OK) {
+    return DEVICE_ERR;
+  }
+  return DEVICE_OK;
+}
+
+/**
+ * @brief 接收并更新CAN数据
+ * @param rc_can RC_CAN结构体指针
+ * @param data_type 数据类型
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_Update(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) {
+  if (rc_can == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+
+  // 只有从机模式才能接收数据
+  if (rc_can->param.mode != RC_CAN_MODE_SLAVE) {
+    return DEVICE_ERR;
+  }
+  BSP_CAN_Message_t msg;
+  
+  switch (data_type) {
+  case RC_CAN_DATA_JOYSTICK:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.joy_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    int16_t ch_l_x = (int16_t)((msg.data[1] << 8) | msg.data[0]);
+    int16_t ch_l_y = (int16_t)((msg.data[3] << 8) | msg.data[2]);
+    int16_t ch_r_x = (int16_t)((msg.data[5] << 8) | msg.data[4]);
+    int16_t ch_r_y = (int16_t)((msg.data[7] << 8) | msg.data[6]);
+
+    // 转换为浮点数（范围：-1.0到1.0）
+    rc_can->data.joy.ch_l_x = (float)ch_l_x / 32768.0f;
+    rc_can->data.joy.ch_l_y = (float)ch_l_y / 32768.0f;
+    rc_can->data.joy.ch_r_x = (float)ch_r_x / 32768.0f;
+    rc_can->data.joy.ch_r_y = (float)ch_r_y / 32768.0f;
+    break;
+  case RC_CAN_DATA_SWITCH:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.sw_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    rc_can->data.sw.sw_l = (RC_CAN_SW_t)msg.data[0];
+    rc_can->data.sw.sw_r = (RC_CAN_SW_t)msg.data[1];
+
+    int16_t ch_res = (int16_t)((msg.data[3] << 8) | msg.data[2]);
+    rc_can->data.sw.ch_res = (float)ch_res / 32768.0f;
+    break;
+  case RC_CAN_DATA_MOUSE:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.mouse_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    int16_t x = (int16_t)((msg.data[1] << 8) | msg.data[0]);
+    int16_t y = (int16_t)((msg.data[3] << 8) | msg.data[2]);
+    int16_t z = (int16_t)((msg.data[5] << 8) | msg.data[4]);
+    rc_can->data.mouse.x = (float)x;
+    rc_can->data.mouse.y = (float)y;
+    rc_can->data.mouse.z = (float)z;
+    rc_can->data.mouse.mouse_l = (msg.data[6] & 0x01) ? true : false;
+    rc_can->data.mouse.mouse_r = (msg.data[7] & 0x01) ? true : false;
+    break;
+  case RC_CAN_DATA_KEYBOARD:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.keyboard_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    if (msg.dlc < 2) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    rc_can->data.keyboard.key_value =
+        (uint16_t)((msg.data[1] << 8) | msg.data[0]);
+    for (int i = 0; i < 6 && (i + 2) < msg.dlc; i++) {
+      rc_can->data.keyboard.keys[i] = (RC_CAN_Key_t)(msg.data[2 + i]);
+    }
+    // 清空未使用的按键位置
+    for (int i = (msg.dlc > 2 ? msg.dlc - 2 : 0); i < 6; i++) {
+      rc_can->data.keyboard.keys[i] = RC_CAN_KEY_NONE;
+    }
+    break;
+  default:
+    return DEVICE_ERR;
+  }
+
+  // 更新header状态
+  rc_can->header.online = true;
+  rc_can->header.last_online_time = BSP_TIME_Get_us();
+
+  return DEVICE_OK;
+}
+
+/* Private functions -------------------------------------------------------- */
+
+/**
+ * @brief 验证RC_CAN参数
+ * @param param 参数指针
+ * @return DEVICE_OK 成功，其他值失败
+ */
+static int8_t RC_CAN_ValidateParams(const RC_CAN_Param_t *param) {
+  if (param == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+
+  // 检查CAN总线有效性
+  if (param->can >= BSP_CAN_NUM) {
+    return DEVICE_ERR;
+  }
+
+  // 检查工作模式有效性
+  if (param->mode != RC_CAN_MODE_MASTER && param->mode != RC_CAN_MODE_SLAVE) {
+    return DEVICE_ERR;
+  }
+
+  // 检查CAN ID是否重复
+  if (param->joy_id == param->sw_id || param->joy_id == param->mouse_id ||
+      param->joy_id == param->keyboard_id || param->sw_id == param->mouse_id ||
+      param->sw_id == param->keyboard_id ||
+      param->mouse_id == param->keyboard_id) {
+    return DEVICE_ERR;
+  }
+
+  return DEVICE_OK;
+}
+
+/**
+ * @brief 注册CAN ID
+ * @param rc_can RC_CAN结构体指针
+ * @return DEVICE_OK 成功，其他值失败
+ */
+static int8_t RC_CAN_RegisterIds(RC_CAN_t *rc_can) {
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.joy_id, 0) !=
+      BSP_OK) {
+    return DEVICE_ERR;
+  }
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.sw_id, 0) != BSP_OK) {
+    return DEVICE_ERR;
+  }
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.mouse_id, 0) !=
+      BSP_OK) {
+    return DEVICE_ERR;
+  }
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.keyboard_id, 0) !=
+      BSP_OK) {
+    return DEVICE_ERR;
+  }
+
+  return DEVICE_OK;
+}
+
+int8_t RC_CAN_OFFLINE(RC_CAN_t *rc_can){
+    if (rc_can == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    rc_can->header.online = false;
+    return DEVICE_OK;
+}
+/* USER CODE BEGIN */
+
+/* USER CODE END */
diff --git a/device/rc_can.h b/device/rc_can.h
new file mode 100644
index 0000000..e5c6d90
--- /dev/null
+++ b/device/rc_can.h
@@ -0,0 +1,157 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/can.h"
+#include "device/device.h"
+#include <stdint.h>
+#include <stdbool.h>
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Exported constants ------------------------------------------------------- */
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+  RC_CAN_SW_ERR = 0,
+  RC_CAN_SW_UP = 1,
+  RC_CAN_SW_MID = 3,
+  RC_CAN_SW_DOWN = 2,
+} RC_CAN_SW_t;
+
+typedef enum {
+    RC_CAN_MODE_MASTER = 0, // 主机模式
+    RC_CAN_MODE_SLAVE = 1, // 从机模式
+} RC_CAN_Mode_t;
+
+typedef enum {
+    RC_CAN_DATA_JOYSTICK = 0,
+    RC_CAN_DATA_SWITCH,
+    RC_CAN_DATA_MOUSE,
+    RC_CAN_DATA_KEYBOARD
+} RC_CAN_DataType_t;
+
+typedef enum {
+  RC_CAN_KEY_NONE = 0xFF,  // 无按键
+  RC_CAN_KEY_W = 0,
+  RC_CAN_KEY_S,
+  RC_CAN_KEY_A,
+  RC_CAN_KEY_D,
+  RC_CAN_KEY_SHIFT,
+  RC_CAN_KEY_CTRL,
+  RC_CAN_KEY_Q,
+  RC_CAN_KEY_E,
+  RC_CAN_KEY_R,
+  RC_CAN_KEY_F,
+  RC_CAN_KEY_G,
+  RC_CAN_KEY_Z,
+  RC_CAN_KEY_X,
+  RC_CAN_KEY_C,
+  RC_CAN_KEY_V,
+  RC_CAN_KEY_B,
+  RC_CAN_KEY_NUM,
+} RC_CAN_Key_t;
+
+// 遥杆数据包
+typedef struct {
+    float ch_l_x;
+    float ch_l_y;
+    float ch_r_x;
+    float ch_r_y;
+} RC_CAN_JoyData_t;
+
+// 拨杆数据包
+typedef struct {
+    RC_CAN_SW_t sw_l;     // 左拨杆状态
+    RC_CAN_SW_t sw_r;     // 右拨杆状态 
+    float ch_res;   // 第五通道
+} RC_CAN_SwitchData_t;
+
+// 鼠标数据包
+typedef struct {
+    float x;  // 鼠标X轴移动
+    float y;  // 鼠标Y轴移动
+    float z;  // 鼠标Z轴(滚轮)
+    bool mouse_l;  // 鼠标左键
+    bool mouse_r;  // 鼠标右键
+} RC_CAN_MouseData_t;
+
+// 键盘数据包
+typedef struct {
+    uint16_t key_value; // 键盘按键位映射
+    RC_CAN_Key_t keys[16];
+} RC_CAN_KeyboardData_t;
+
+
+typedef struct {
+    RC_CAN_JoyData_t joy;
+    RC_CAN_SwitchData_t sw;
+    RC_CAN_MouseData_t mouse;
+    RC_CAN_KeyboardData_t keyboard;
+} RC_CAN_Data_t;
+
+// RC_CAN 参数结构
+typedef struct {
+    BSP_CAN_t can;         // 使用的CAN总线
+    RC_CAN_Mode_t mode;    // 工作模式
+    uint16_t joy_id;      // 遥杆CAN ID
+    uint16_t sw_id;   // 拨杆CAN ID
+    uint16_t mouse_id; // 鼠标CAN ID
+    uint16_t keyboard_id; // 键盘CAN ID
+} RC_CAN_Param_t;
+
+// RC_CAN 主结构
+typedef struct {
+    DEVICE_Header_t header;
+    RC_CAN_Param_t param;
+    RC_CAN_Data_t data;
+} RC_CAN_t;
+
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 初始化RC CAN发送模块
+ * @param rc_can RC_CAN结构体指针
+ * @param param 初始化参数
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_Init(RC_CAN_t *rc_can, RC_CAN_Param_t *param);
+
+/**
+ * @brief 更新并发送数据到CAN总线
+ * @param rc_can RC_CAN结构体指针
+ * @param data_type 数据类型
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type);
+
+/**
+ * @brief 接收并更新CAN数据
+ * @param rc_can RC_CAN结构体指针
+ * @param data_type 数据类型
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_Update(RC_CAN_t *rc_can , RC_CAN_DataType_t data_type);
+
+int8_t RC_CAN_OFFLINE(RC_CAN_t *rc_can);
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/module/2_axis_gimbal.c b/module/2_axis_gimbal.c
new file mode 100644
index 0000000..53ff302
--- /dev/null
+++ b/module/2_axis_gimbal.c
@@ -0,0 +1,259 @@
+/*
+ * 云台模组
+ */
+
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/can.h"
+#include "bsp/time.h"
+#include "component/filter.h"
+#include "component/pid.h"
+#include "device/motor_dm.h"
+#include "device/motor_rm.h"
+#include "gimbal.h"
+#include <math.h>
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+
+/**
+ * \brief 设置云台模式
+ *
+ * \param c 包含云台数据的结构体
+ * \param mode 要设置的模式
+ *
+ * \return 函数运行结果
+ */
+static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
+  if (g == NULL)
+    return -1;
+  if (mode == g->mode)
+    return GIMBAL_OK;
+
+  PID_Reset(&g->pid.yaw_angle);
+  PID_Reset(&g->pid.yaw_omega);
+  PID_Reset(&g->pid.pit_angle);
+  PID_Reset(&g->pid.pit_omega);
+  LowPassFilter2p_Reset(&g->filter_out.yaw, 0.0f);
+  LowPassFilter2p_Reset(&g->filter_out.pit, 0.0f);
+
+  MOTOR_DM_Enable(&(g->param->yaw_motor));
+
+  AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
+  // if (g->mode == GIMBAL_MODE_RELAX) {
+  //   if (mode == GIMBAL_MODE_ABSOLUTE) {
+  //     g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
+  //   } else if (mode == GIMBAL_MODE_RELATIVE) {
+  //     g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
+  //   }
+  // }
+  g->setpoint.eulr.pit = g->feedback.imu.eulr.rol;
+  g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
+
+  g->mode = mode;
+  return 0;
+}
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * \brief 初始化云台
+ *
+ * \param g 包含云台数据的结构体
+ * \param param 包含云台参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param,
+                   float target_freq) {
+  if (g == NULL)
+    return -1;
+
+  g->param = param;
+  g->mode = GIMBAL_MODE_RELAX; /* 设置默认模式 */
+
+  /* 初始化云台电机控制PID和LPF */
+  PID_Init(&(g->pid.yaw_angle), KPID_MODE_NO_D, target_freq,
+           &(g->param->pid.yaw_angle));
+  PID_Init(&(g->pid.yaw_omega), KPID_MODE_CALC_D, target_freq,
+           &(g->param->pid.yaw_omega));
+  PID_Init(&(g->pid.pit_angle), KPID_MODE_NO_D, target_freq,
+           &(g->param->pid.pit_angle));
+  PID_Init(&(g->pid.pit_omega), KPID_MODE_CALC_D, target_freq,
+           &(g->param->pid.pit_omega));
+
+  LowPassFilter2p_Init(&g->filter_out.yaw, target_freq,
+                       g->param->low_pass_cutoff_freq.out);
+  LowPassFilter2p_Init(&g->filter_out.pit, target_freq,
+                       g->param->low_pass_cutoff_freq.out);
+  g->limit.yaw.max = g->param->mech_zero.yaw + g->param->travel.yaw;
+  g->limit.yaw.min = g->param->mech_zero.yaw;
+  g->limit.pit.max = g->param->mech_zero.pit + g->param->travel.pit;
+  g->limit.pit.min = g->param->mech_zero.pit;
+  BSP_CAN_Init();
+
+  MOTOR_RM_Register(&(g->param->pit_motor));
+  MOTOR_DM_Register(&(g->param->yaw_motor));
+
+  MOTOR_DM_Enable(&(g->param->yaw_motor));
+  return 0;
+}
+
+/**
+ * \brief 通过CAN设备更新云台反馈信息
+ *
+ * \param gimbal 云台
+ * \param can CAN设备
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal) {
+  if (gimbal == NULL)
+    return -1;
+
+  /* 更新RM电机反馈数据（pitch轴） */
+  MOTOR_RM_Update(&(gimbal->param->pit_motor));
+  MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(gimbal->param->pit_motor));
+  if (rm_motor != NULL) {
+    gimbal->feedback.motor.pit = rm_motor->feedback;
+  }
+
+  /* 更新DM电机反馈数据（yaw轴） */
+  MOTOR_DM_Update(&(gimbal->param->yaw_motor));
+  MOTOR_DM_t *dm_motor = MOTOR_DM_GetMotor(&(gimbal->param->yaw_motor));
+  if (dm_motor != NULL) {
+    gimbal->feedback.motor.yaw = dm_motor->motor.feedback;
+  }
+
+  return 0;
+}
+
+int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu) {
+
+  if (gimbal == NULL) {
+    return -1;
+  }
+  gimbal->feedback.imu.gyro = imu->gyro;
+  gimbal->feedback.imu.eulr = imu->eulr;
+}
+
+/**
+ * \brief 运行云台控制逻辑
+ *
+ * \param g 包含云台数据的结构体
+ * \param g_cmd 云台控制指令
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
+  if (g == NULL || g_cmd == NULL) {
+    return -1;
+  }
+
+  g->dt = (BSP_TIME_Get_us() - g->lask_wakeup) / 1000000.0f;
+  g->lask_wakeup = BSP_TIME_Get_us();
+
+  Gimbal_SetMode(g, g_cmd->mode);
+
+  /* 处理yaw控制命令，软件限位 - 使用电机绝对角度 */
+  float delta_yaw = g_cmd->delta_yaw * g->dt * 1.5f;
+  if (g->param->travel.yaw > 0) {
+    /* 计算当前电机角度与IMU角度的偏差 */
+    float motor_imu_offset =
+        g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
+    /* 处理跨越±π的情况 */
+    if (motor_imu_offset > M_PI)
+      motor_imu_offset -= M_2PI;
+    if (motor_imu_offset < -M_PI)
+      motor_imu_offset += M_2PI;
+
+    /* 计算到限位边界的距离 */
+    const float delta_max = CircleError(
+        g->limit.yaw.max, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw),
+        M_2PI);
+    const float delta_min = CircleError(
+        g->limit.yaw.min, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw),
+        M_2PI);
+
+    /* 限制控制命令 */
+    if (delta_yaw > delta_max)
+      delta_yaw = delta_max;
+    if (delta_yaw < delta_min)
+      delta_yaw = delta_min;
+  }
+  CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);
+
+  /* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
+  float delta_pit = g_cmd->delta_pit * g->dt;
+  if (g->param->travel.pit > 0) {
+    /* 计算当前电机角度与IMU角度的偏差 */
+    float motor_imu_offset =
+        g->feedback.motor.pit.rotor_abs_angle - g->feedback.imu.eulr.rol;
+    /* 处理跨越±π的情况 */
+    if (motor_imu_offset > M_PI)
+      motor_imu_offset -= M_2PI;
+    if (motor_imu_offset < -M_PI)
+      motor_imu_offset += M_2PI;
+
+    /* 计算到限位边界的距离 */
+    const float delta_max = CircleError(
+        g->limit.pit.max, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit),
+        M_2PI);
+    const float delta_min = CircleError(
+        g->limit.pit.min, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit),
+        M_2PI);
+
+    /* 限制控制命令 */
+    if (delta_pit > delta_max)
+      delta_pit = delta_max;
+    if (delta_pit < delta_min)
+      delta_pit = delta_min;
+  }
+  CircleAdd(&(g->setpoint.eulr.pit), delta_pit, M_2PI);
+
+  /* 控制相关逻辑 */
+  float yaw_omega_set_point, pit_omega_set_point;
+  switch (g->mode) {
+  case GIMBAL_MODE_RELAX:
+    g->out.yaw = 0.0f;
+    g->out.pit = 0.0f;
+    break;
+
+  case GIMBAL_MODE_ABSOLUTE:
+    yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
+                                   g->feedback.imu.eulr.yaw, 0.0f, g->dt);
+    g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
+                          g->feedback.imu.gyro.z, 0.f, g->dt);
+
+    pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
+                                   g->feedback.imu.eulr.rol, 0.0f, g->dt);
+    g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
+                          g->feedback.imu.gyro.y, 0.f, g->dt);
+
+    break;
+
+    /* 输出滤波 */
+    g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
+    g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);
+
+    return 0;
+  }
+}
+
+/**
+ * \brief 云台输出
+ *
+ * \param s 包含云台数据的结构体
+ * \param out CAN设备云台输出结构体
+ */
+void Gimbal_Output(Gimbal_t *g) {
+  MOTOR_RM_SetOutput(&g->param->pit_motor, g->out.pit);
+  MOTOR_MIT_Output_t output = {0};
+  output.torque = g->out.yaw * 5.0f; // 乘以减速比
+  output.kd = 0.3f;
+  MOTOR_RM_Ctrl(&g->param->pit_motor);
+  MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output);
+}
diff --git a/module/2_axis_gimbal.h b/module/2_axis_gimbal.h
new file mode 100644
index 0000000..e45faa7
--- /dev/null
+++ b/module/2_axis_gimbal.h
@@ -0,0 +1,179 @@
+/*
+ * 云台模组
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "component/ahrs.h"
+#include "component/filter.h"
+#include "component/pid.h"
+#include "device/motor.h"
+#include "device/motor_dm.h"
+#include "device/motor_rm.h"
+
+/* Exported constants ------------------------------------------------------- */
+#define GIMBAL_OK (0)        /* 运行正常 */
+#define GIMBAL_ERR (-1)      /* 运行时发现了其他错误 */
+#define GIMBAL_ERR_NULL (-2) /* 运行时发现NULL指针 */
+#define GIMBAL_ERR_MODE (-3) /* 运行时配置了错误的CMD_GimbalMode_t */
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+typedef enum {
+  GIMBAL_MODE_RELAX,    /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
+  GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
+  GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
+} Gimbal_Mode_t;
+
+typedef struct {
+  Gimbal_Mode_t mode;
+  float delta_yaw;
+  float delta_pit;
+} Gimbal_CMD_t;
+
+/* 软件限位 */
+typedef struct {
+  float max;
+  float min;
+} Gimbal_Limit_t;
+
+/* 云台参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/
+typedef struct {
+  MOTOR_RM_Param_t pit_motor; /* pitch轴电机参数 */
+  MOTOR_DM_Param_t yaw_motor; /* yaw轴电机参数 */
+  struct {
+    KPID_Params_t yaw_omega; /* yaw轴角速度环PID参数 */
+    KPID_Params_t yaw_angle; /* yaw轴角位置环PID参数 */
+    KPID_Params_t pit_omega; /* pitch轴角速度环PID参数 */
+    KPID_Params_t pit_angle; /* pitch轴角位置环PID参数 */
+  } pid;
+
+  /* 低通滤波器截止频率 */
+  struct {
+    float out;  /* 电机输出 */
+    float gyro; /* 陀螺仪数据 */
+  } low_pass_cutoff_freq;
+
+  struct {
+    float yaw; /* yaw轴机械限位 */
+    float pit; /* pitch轴机械限位 */
+  } mech_zero;
+
+  struct {
+    float yaw; /* yaw轴机械限位行程 -1表示无限位 */
+    float pit; /* pitch轴机械限位行程 -1表示无限位*/
+  } travel;
+
+} Gimbal_Params_t;
+
+typedef struct {
+  AHRS_Gyro_t gyro;
+  AHRS_Eulr_t eulr;
+} Gimbal_IMU_t;
+/* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */
+typedef struct {
+  Gimbal_IMU_t imu;
+  struct {
+    MOTOR_Feedback_t yaw; /* yaw轴电机反馈 */
+    MOTOR_Feedback_t pit; /* pitch轴电机反馈 */
+  } motor;
+} Gimbal_Feedback_t;
+
+/* 云台输出数据的结构体*/
+typedef struct {
+  float yaw; /* yaw轴电机输出 */
+  float pit; /* pitch轴电机输出 */
+} Gimbal_Output_t;
+/*
+ * 运行的主结构体，所有这个文件里的函数都在操作这个结构体。
+ * 包含了初始化参数，中间变量，输出变量。
+ */
+typedef struct {
+  uint64_t lask_wakeup;
+  float dt;
+
+  Gimbal_Params_t *param; /* 云台的参数，用Gimbal_Init设定 */
+  /* 模块通用 */
+  Gimbal_Mode_t mode; /* 云台模式 */
+
+  /* PID计算的目标值 */
+  struct {
+    AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */
+  } setpoint;
+
+  struct {
+    KPID_t yaw_angle; /* yaw轴角位置环PID */
+    KPID_t yaw_omega; /* yaw轴角速度环PID */
+    KPID_t pit_angle; /* pitch轴角位置环PID */
+    KPID_t pit_omega; /* pitch轴角速度环PID */
+  } pid;
+
+  struct {
+    Gimbal_Limit_t yaw;
+    Gimbal_Limit_t pit;
+  } limit;
+
+  struct {
+    LowPassFilter2p_t yaw;
+    LowPassFilter2p_t pit;
+  } filter_out;
+
+  Gimbal_Output_t out;        /* 云台输出 */
+  Gimbal_Feedback_t feedback; /* 反馈 */
+
+} Gimbal_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * \brief 初始化云台
+ *
+ * \param g 包含云台数据的结构体
+ * \param param 包含云台参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param,
+                   float target_freq);
+
+/**
+ * \brief 通过CAN设备更新云台反馈信息
+ *
+ * \param gimbal 云台
+ * \param can CAN设备
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal);
+
+int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu);
+/**
+ * \brief 运行云台控制逻辑
+ *
+ * \param g 包含云台数据的结构体
+ * \param fb 云台反馈信息
+ * \param g_cmd 云台控制指令
+ * \param dt_sec 两次调用的时间间隔
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd);
+
+/**
+ * \brief 云台输出
+ *
+ * \param s 包含云台数据的结构体
+ * \param out CAN设备云台输出结构体
+ */
+void Gimbal_Output(Gimbal_t *g);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/module/config.c b/module/config.c
index e69de29..cb4ed7c 100644
--- a/module/config.c
+++ b/module/config.c
@@ -0,0 +1,31 @@
+/*
+ * 配置相关
+ */
+
+/* Includes ----------------------------------------------------------------- */
+#include "module/config.h"
+
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+
+/* Exported variables ------------------------------------------------------- */
+
+// 机器人参数配置
+Config_RobotParam_t robot_config = {
+
+
+};
+
+/* Private function prototypes ---------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * @brief 获取机器人配置参数
+ * @return 机器人配置参数指针
+ */
+Config_RobotParam_t* Config_GetRobotParam(void) {
+    return &robot_config;
+}
\ No newline at end of file
diff --git a/module/config.h b/module/config.h
index e69de29..446fb6c 100644
--- a/module/config.h
+++ b/module/config.h
@@ -0,0 +1,27 @@
+/*
+ * 配置相关
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+typedef struct {
+    
+} Config_RobotParam_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 获取机器人配置参数
+ * @return 机器人配置参数指针
+ */
+Config_RobotParam_t* Config_GetRobotParam(void);
+
+#ifdef __cplusplus
+}
+#endif