diff --git a/assets/User_code/device/led.c b/assets/User_code/device/led.c
index eab5735..f796a1c 100644
--- a/assets/User_code/device/led.c
+++ b/assets/User_code/device/led.c
@@ -3,17 +3,13 @@
 */
 /*Includes   -----------------------------------------*/
 #include "device/led.h"
-#include "bsp/gpio.h"
-#include "bsp/pwm.h"
 #include "device.h"
 
 
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
-
-
-
+#ifdef LED_PWM
 int8_t DEVICE_LED_PWM_Set(BSP_PWM_Channel_t channel, float duty_cycle)
 {
     if (duty_cycle < 0.0f || duty_cycle > 1.0f) {
@@ -24,7 +20,9 @@ int8_t DEVICE_LED_PWM_Set(BSP_PWM_Channel_t channel, float duty_cycle)
     BSP_PWM_SetComp(channel, pulse);
     return DEVICE_OK;
 }
+#endif
 
+#ifdef LED_GPIO
 int8_t DEVICE_LED_GPIO_Set(BSP_GPIO_t gpio, bool value)
 {
 	if (value) {
@@ -34,5 +32,6 @@ int8_t DEVICE_LED_GPIO_Set(BSP_GPIO_t gpio, bool value)
 	}
 	return DEVICE_OK;
 }
+#endif
 
 
diff --git a/assets/User_code/device/led.h b/assets/User_code/device/led.h
index 04fdb54..421bac1 100644
--- a/assets/User_code/device/led.h
+++ b/assets/User_code/device/led.h
@@ -5,27 +5,58 @@ extern "C" {
 #endif
 
 /* Includes ----------------------------------------------------------------- */
-#include <stdint.h>
-#include "bsp/gpio.h"
-#include "bsp/pwm.h"
-#include "bsp/bsp.h"
+/* USER DEFIN BEGIN */
 
+/* USER DEFIN END */
+#include <stdint.h>
+#ifdef LED_GPIO
+#include "bsp/gpio.h"
+#endif
+#ifdef LED_PWM
+#include "bsp/pwm.h"
+#endif
+#include "bsp/bsp.h"
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
 
 
 typedef struct {
+#ifdef LED_GPIO
 BSP_GPIO_t gpio;
+#endif
+#ifdef LED_PWM
 BSP_PWM_Channel_t channel;	
+#endif
 } DEVICE_LED_t;
 
 
  extern DEVICE_LED_t LED_Map;
 /* Exported functions prototypes -------------------------------------------- */
+#ifdef LED_PWM
+int8_t DEVICE_LED_PWM_Set(BSP_PWM_Channel_t channel, float duty_cycle)
+{
+    if (duty_cycle < 0.0f || duty_cycle > 1.0f) {
+        return DEVICE_ERR_NULL; // 错误：占空比超出范围
+    }
+    uint16_t pulse = (uint16_t)(duty_cycle * (float)UINT16_MAX);
+    BSP_PWM_Start(channel);
+    BSP_PWM_SetComp(channel, pulse);
+    return DEVICE_OK;
+}
+#endif
 
-
-int8_t BSP_LED_Set(char sign,DEVICE_LED_t ch,bool value,float duty_cycle);
+#ifdef LED_GPIO
+int8_t DEVICE_LED_GPIO_Set(BSP_GPIO_t gpio, bool value)
+{
+	if (value) {
+		BSP_GPIO_WritePin(gpio, true);
+	} else {
+		BSP_GPIO_WritePin(gpio, false);
+	}
+	return DEVICE_OK;
+}
+#endif
 
 #ifdef __cplusplus
 }
diff --git a/assets/User_code/device/motor_rm.c b/assets/User_code/device/motor_rm.c
index 2ca4507..cd6e633 100644
--- a/assets/User_code/device/motor_rm.c
+++ b/assets/User_code/device/motor_rm.c
@@ -139,12 +139,16 @@ 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;
     }
+    if (motor->motor.reverse) {
+        motor->feedback.rotor_abs_angle = M_2_PI - motor->feedback.rotor_abs_angle;
+        motor->feedback.rotor_speed = -motor->feedback.rotor_speed;
+        motor->feedback.torque_current = -motor->feedback.torque_current;
+    }
     motor->feedback.temp = msg->data[6];
 }
 
 /* Exported functions ------------------------------------------------------- */
 
-
 int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param) {
     if (param == NULL) return DEVICE_ERR_NULL;
     if (MOTOR_RM_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR;
@@ -222,6 +226,9 @@ int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value) {
     if (manager == NULL) return DEVICE_ERR_NO_DEV;
     if (value > 1.0f) value = 1.0f;
     if (value < -1.0f) value = -1.0f;
+    if (param->reverse){
+        value = -value;
+    }
     MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param);
     if (motor == NULL) return DEVICE_ERR_NO_DEV;
     int8_t logical_index = MOTOR_RM_GetLogicalIndex(param->id, param->module);