diff --git a/CMakeLists.txt b/CMakeLists.txt
index ec9e9fe..1154f40 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -69,6 +69,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/dr16.c
     User/device/motor.c
     User/device/motor_rm.c
+    User/device/motor_dm.c
 
     # User/module sources
     User/module/config.c
diff --git a/User/device/motor_dm.c b/User/device/motor_dm.c
new file mode 100644
index 0000000..b394d59
--- /dev/null
+++ b/User/device/motor_dm.c
@@ -0,0 +1,498 @@
+#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);
+    
+    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+    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);
+    
+    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+    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);
+    
+    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+    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;
+    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+    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/User/device/motor_dm.h b/User/device/motor_dm.h
new file mode 100644
index 0000000..20e91d4
--- /dev/null
+++ b/User/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