diff --git a/CMakeLists.txt b/CMakeLists.txt
index e5cadc8..cdb3d91 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,6 +63,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/bmi088.c
     User/device/dr16.c
     User/device/motor.c
+    User/device/motor_lz.c
 
     # User/module sources
     User/module/config.c
diff --git a/User/bsp/can.h b/User/bsp/can.h
new file mode 100644
index 0000000..531f824
--- /dev/null
+++ b/User/bsp/can.h
@@ -0,0 +1,79 @@
+/**
+ * @file can.h
+ * @brief CAN兼容层 - 将CAN接口映射到FDCAN
+ * @note 本文件用于FDCAN兼容CAN接口，设备层代码可以继续使用BSP_CAN_xxx接口
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/fdcan.h"
+
+/* 类型映射 */
+typedef BSP_FDCAN_t BSP_CAN_t;
+typedef BSP_FDCAN_Callback_t BSP_CAN_Callback_t;
+typedef BSP_FDCAN_Format_t BSP_CAN_Format_t;
+typedef BSP_FDCAN_FrameType_t BSP_CAN_FrameType_t;
+typedef BSP_FDCAN_Message_t BSP_CAN_Message_t;
+typedef BSP_FDCAN_StdDataFrame_t BSP_CAN_StdDataFrame_t;
+typedef BSP_FDCAN_ExtDataFrame_t BSP_CAN_ExtDataFrame_t;
+typedef BSP_FDCAN_RemoteFrame_t BSP_CAN_RemoteFrame_t;
+typedef BSP_FDCAN_IdParser_t BSP_CAN_IdParser_t;
+
+/* 常量映射 */
+#define BSP_CAN_MAX_DLC                 BSP_FDCAN_MAX_DLC
+#define BSP_CAN_DEFAULT_QUEUE_SIZE      BSP_FDCAN_DEFAULT_QUEUE_SIZE
+#define BSP_CAN_TIMEOUT_IMMEDIATE       BSP_FDCAN_TIMEOUT_IMMEDIATE
+#define BSP_CAN_TIMEOUT_FOREVER         BSP_FDCAN_TIMEOUT_FOREVER
+#define BSP_CAN_TX_QUEUE_SIZE           BSP_FDCAN_TX_QUEUE_SIZE
+
+/* 枚举值映射 */
+#define BSP_CAN_1                       BSP_FDCAN_1
+#define BSP_CAN_2                       BSP_FDCAN_2
+#define BSP_CAN_3                       BSP_FDCAN_3
+#define BSP_CAN_NUM                     BSP_FDCAN_NUM
+#define BSP_CAN_ERR                     BSP_FDCAN_ERR
+
+#define BSP_CAN_FORMAT_STD_DATA         BSP_FDCAN_FORMAT_STD_DATA
+#define BSP_CAN_FORMAT_EXT_DATA         BSP_FDCAN_FORMAT_EXT_DATA
+#define BSP_CAN_FORMAT_STD_REMOTE       BSP_FDCAN_FORMAT_STD_REMOTE
+#define BSP_CAN_FORMAT_EXT_REMOTE       BSP_FDCAN_FORMAT_EXT_REMOTE
+
+#define BSP_CAN_FRAME_STD_DATA          BSP_FDCAN_FRAME_STD_DATA
+#define BSP_CAN_FRAME_EXT_DATA          BSP_FDCAN_FRAME_EXT_DATA
+#define BSP_CAN_FRAME_STD_REMOTE        BSP_FDCAN_FRAME_STD_REMOTE
+#define BSP_CAN_FRAME_EXT_REMOTE        BSP_FDCAN_FRAME_EXT_REMOTE
+
+/* 函数映射 */
+#define BSP_CAN_Init()                  BSP_FDCAN_Init()
+#define BSP_CAN_GetHandle(can)          BSP_FDCAN_GetHandle(can)
+#define BSP_CAN_RegisterCallback(can, type, callback) \
+                                        BSP_FDCAN_RegisterCallback(can, type, callback)
+#define BSP_CAN_Transmit(can, format, id, data, dlc) \
+                                        BSP_FDCAN_Transmit(can, format, id, data, dlc)
+#define BSP_CAN_TransmitStdDataFrame(can, frame) \
+                                        BSP_FDCAN_TransmitStdDataFrame(can, frame)
+#define BSP_CAN_TransmitExtDataFrame(can, frame) \
+                                        BSP_FDCAN_TransmitExtDataFrame(can, frame)
+#define BSP_CAN_TransmitRemoteFrame(can, frame) \
+                                        BSP_FDCAN_TransmitRemoteFrame(can, frame)
+#define BSP_CAN_RegisterId(can, can_id, queue_size) \
+                                        BSP_FDCAN_RegisterId(can, can_id, queue_size)
+#define BSP_CAN_GetMessage(can, can_id, msg, timeout) \
+                                        BSP_FDCAN_GetMessage(can, can_id, msg, timeout)
+#define BSP_CAN_GetQueueCount(can, can_id) \
+                                        BSP_FDCAN_GetQueueCount(can, can_id)
+#define BSP_CAN_FlushQueue(can, can_id) \
+                                        BSP_FDCAN_FlushQueue(can, can_id)
+#define BSP_CAN_RegisterIdParser(parser) \
+                                        BSP_FDCAN_RegisterIdParser(parser)
+#define BSP_CAN_ParseId(original_id, frame_type) \
+                                        BSP_FDCAN_ParseId(original_id, frame_type)
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/User/device/device_config.yaml b/User/device/device_config.yaml
index 834cabd..e187851 100644
--- a/User/device/device_config.yaml
+++ b/User/device/device_config.yaml
@@ -13,3 +13,6 @@ dr16:
 motor:
   bsp_config: {}
   enabled: true
+motor_lz:
+  bsp_config: {}
+  enabled: true
diff --git a/User/device/motor_lz.c b/User/device/motor_lz.c
new file mode 100644
index 0000000..7ed7344
--- /dev/null
+++ b/User/device/motor_lz.c
@@ -0,0 +1,440 @@
+/*
+  灵足电机驱动
+  
+  灵足电机通信协议：
+  - CAN 2.0通信接口，波特率1Mbps
+  - 采用扩展帧格式(29位ID)
+  - ID格式：Bit28~24(通信类型) + Bit23~8(数据区2) + Bit7~0(目标地址)
+*/
+/* Includes ----------------------------------------------------------------- */
+#include "motor_lz.h"
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include "bsp/can.h"
+#include "bsp/mm.h"
+#include "bsp/time.h"
+#include "component/user_math.h"
+
+/* Private define ----------------------------------------------------------- */
+// 灵足电机协议参数
+#define LZ_ANGLE_RANGE_RAD          (12.57f)        /* 角度范围 ±12.57 rad */
+#define LZ_VELOCITY_RANGE_RAD_S     (20.0f)         /* 角速度范围 ±20 rad/s */
+#define LZ_TORQUE_RANGE_NM          (60.0f)         /* 力矩范围 ±60 Nm */
+#define LZ_KP_MAX                   (5000.0f)       /* Kp最大值 */
+#define LZ_KD_MAX                   (100.0f)        /* Kd最大值 */
+
+#define LZ_RAW_VALUE_MAX            (65535)         /* 16位原始值最大值 */
+#define LZ_TEMP_SCALE               (10.0f)         /* 温度缩放因子 */
+
+#define LZ_MAX_RECOVER_DIFF_RAD    (0.28f)
+#define MOTOR_TX_BUF_SIZE           (8)
+#define MOTOR_RX_BUF_SIZE           (8)
+
+/* Private macro ------------------------------------------------------------ */
+
+MOTOR_LZ_MotionParam_t lz_relax_param = {
+    .target_angle = 0.0f,
+    .target_velocity = 0.0f,
+    .kp = 0.0f,
+    .kd = 0.0f,
+    .torque = 0.0f,
+};
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+static MOTOR_LZ_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
+
+/* Private function prototypes ---------------------------------------------- */
+static MOTOR_LZ_CANManager_t* MOTOR_LZ_GetCANManager(BSP_CAN_t can);
+static int8_t MOTOR_LZ_CreateCANManager(BSP_CAN_t can);
+static void MOTOR_LZ_Decode(MOTOR_LZ_t *motor, BSP_CAN_Message_t *msg);
+static uint32_t MOTOR_LZ_BuildExtID(MOTOR_LZ_CmdType_t cmd_type, uint16_t data2, uint8_t target_id);
+static uint16_t MOTOR_LZ_FloatToRaw(float value, float max_value);
+static float MOTOR_LZ_RawToFloat(uint16_t raw_value, float max_value);
+static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *data, uint8_t dlc);
+static uint32_t MOTOR_LZ_IdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
+
+/* Private functions -------------------------------------------------------- */
+
+/**
+ * @brief 获取CAN管理器
+ */
+static MOTOR_LZ_CANManager_t* MOTOR_LZ_GetCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return NULL;
+    return can_managers[can];
+}
+
+/**
+ * @brief 创建CAN管理器
+ */
+static int8_t MOTOR_LZ_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_LZ_CANManager_t*)BSP_Malloc(sizeof(MOTOR_LZ_CANManager_t));
+    if (can_managers[can] == NULL) return DEVICE_ERR;
+    
+    memset(can_managers[can], 0, sizeof(MOTOR_LZ_CANManager_t));
+    can_managers[can]->can = can;
+    return DEVICE_OK;
+}
+
+/**
+ * @brief 构建扩展ID
+ */
+static uint32_t MOTOR_LZ_BuildExtID(MOTOR_LZ_CmdType_t cmd_type, uint16_t data2, uint8_t target_id) {
+    uint32_t ext_id = 0;
+    ext_id |= ((uint32_t)cmd_type & 0x1F) << 24;      // Bit28~24: 通信类型
+    ext_id |= ((uint32_t)data2 & 0xFFFF) << 8;        // Bit23~8: 数据区2
+    ext_id |= ((uint32_t)target_id & 0xFF);           // Bit7~0: 目标地址
+    return ext_id;
+}
+
+/**
+ * @brief 浮点值转换为原始值（对称范围：-max_value ~ +max_value）
+ */
+static uint16_t MOTOR_LZ_FloatToRaw(float value, float max_value) {
+    // 限制范围
+    if (value > max_value) value = max_value;
+    if (value < -max_value) value = -max_value;
+    
+    // 转换为0~65535范围，对应-max_value~max_value
+    return (uint16_t)((value + max_value) / (2.0f * max_value) * (float)LZ_RAW_VALUE_MAX);
+}
+
+/**
+ * @brief 浮点值转换为原始值（单向范围：0 ~ +max_value）
+ */
+static uint16_t MOTOR_LZ_FloatToRawPositive(float value, float max_value) {
+    // 限制范围
+    if (value > max_value) value = max_value;
+    if (value < 0.0f) value = 0.0f;
+    
+    // 转换为0~65535范围，对应0~max_value
+    return (uint16_t)(value / max_value * (float)LZ_RAW_VALUE_MAX);
+}
+
+/**
+ * @brief 原始值转换为浮点值
+ */
+static float MOTOR_LZ_RawToFloat(uint16_t raw_value, float max_value) {
+    // 将0~65535范围转换为-max_value~max_value
+    return ((float)raw_value / (float)LZ_RAW_VALUE_MAX) * (2.0f * max_value) - max_value;
+}
+
+/**
+ * @brief 发送扩展帧
+ */
+static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *data, uint8_t dlc) {
+    BSP_CAN_ExtDataFrame_t tx_frame;
+    tx_frame.id = ext_id;
+    tx_frame.dlc = dlc;
+    if (data != NULL) {
+        memcpy(tx_frame.data, data, dlc);
+    } else {
+        memset(tx_frame.data, 0, dlc);
+    }
+    return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+/**
+ * @brief 灵足电机ID解析器
+ * @param original_id 原始CAN ID（29位扩展帧）
+ * @param frame_type 帧类型
+ * @return 解析后的ID（用于队列匹配）
+ * 
+ * 灵足电机扩展ID格式：
+ * Bit28~24: 通信类型 (0x1=运控控制, 0x2=反馈数据, 0x3=使能, 0x4=停止, 0x6=设零位)
+ * Bit23~8:  数据区2 (根据通信类型而定)
+ * Bit7~0:   目标地址 (目标电机CAN ID)
+ */
+static uint32_t MOTOR_LZ_IdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
+    // 只处理扩展数据帧
+    if (frame_type != BSP_CAN_FRAME_EXT_DATA) {
+        return original_id; // 非扩展帧直接返回原始ID
+    }
+    
+    // 解析扩展ID各个字段
+    uint8_t cmd_type = (original_id >> 24) & 0x1F;    // Bit28~24: 通信类型
+    uint16_t data2 = (original_id >> 8) & 0xFFFF;     // Bit23~8: 数据区2
+    uint8_t host_id = (uint8_t)(original_id & 0xFF);  // Bit7~0: 主机CAN ID
+    
+    // 对于反馈数据帧，我们使用特殊的解析规则
+    if (cmd_type == MOTOR_LZ_CMD_FEEDBACK) {
+        // 反馈数据的data2字段包含：
+        // Bit8~15: 当前电机CAN ID
+        // Bit16~21: 故障信息
+        // Bit22~23: 模式状态
+        uint8_t motor_can_id = data2 & 0xFF;          // bit8~15: 当前电机CAN ID
+        
+        // 返回格式化的ID，便于匹配
+        // 格式：0x02HHMMTT (02=反馈命令, HH=主机ID, MM=电机ID, TT=主机ID)
+        return (0x02000000) | (host_id << 16) | (motor_can_id << 8) | host_id;
+    }
+    
+    // 对于其他命令类型，直接返回原始ID
+    return original_id;
+}
+
+/**
+ * @brief 解码灵足电机反馈数据
+ */
+static void MOTOR_LZ_Decode(MOTOR_LZ_t *motor, BSP_CAN_Message_t *msg) {
+    if (motor == NULL || msg == NULL) return;
+    uint8_t cmd_type = (msg->original_id >> 24) & 0x1F;
+    if (cmd_type != MOTOR_LZ_CMD_FEEDBACK) return;
+    uint16_t id_data2 = (msg->original_id >> 8) & 0xFFFF;
+    uint8_t motor_can_id = id_data2 & 0xFF;
+    uint8_t fault_info = (id_data2 >> 8) & 0x3F;
+    uint8_t mode_state = (id_data2 >> 14) & 0x03;
+    motor->lz_feedback.motor_can_id = motor_can_id;
+    motor->lz_feedback.fault.under_voltage = (fault_info & 0x01) != 0;
+    motor->lz_feedback.fault.driver_fault = (fault_info & 0x02) != 0;
+    motor->lz_feedback.fault.over_temp = (fault_info & 0x04) != 0;
+    motor->lz_feedback.fault.encoder_fault = (fault_info & 0x08) != 0;
+    motor->lz_feedback.fault.stall_overload = (fault_info & 0x10) != 0;
+    motor->lz_feedback.fault.uncalibrated = (fault_info & 0x20) != 0;
+    motor->lz_feedback.state = (MOTOR_LZ_State_t)mode_state;
+
+    // 反馈解码并自动反向
+    uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]);
+    float angle = MOTOR_LZ_RawToFloat(raw_angle, LZ_ANGLE_RANGE_RAD);
+    uint16_t raw_velocity = (uint16_t)((msg->data[2] << 8) | msg->data[3]);
+    float velocity = MOTOR_LZ_RawToFloat(raw_velocity, LZ_VELOCITY_RANGE_RAD_S);
+    uint16_t raw_torque = (uint16_t)((msg->data[4] << 8) | msg->data[5]);
+    float torque = MOTOR_LZ_RawToFloat(raw_torque, LZ_TORQUE_RANGE_NM);
+
+    while (angle <0){
+        angle += M_2PI;
+    }
+    while (angle > M_2PI){
+        angle -= M_2PI;
+    }
+    // 自动反向
+    if (motor->param.reverse) {
+        angle = M_2PI - angle;
+        velocity = -velocity;
+        torque = -torque;
+    }
+
+    motor->lz_feedback.current_angle = angle;
+    motor->lz_feedback.current_velocity = velocity;
+    motor->lz_feedback.current_torque = torque;
+
+    uint16_t raw_temp = (uint16_t)((msg->data[6] << 8) | msg->data[7]);
+    motor->lz_feedback.temperature = (float)raw_temp / LZ_TEMP_SCALE;
+
+    motor->motor.feedback.rotor_abs_angle = angle;
+    motor->motor.feedback.rotor_speed = velocity; 
+    motor->motor.feedback.torque_current = torque;
+    motor->motor.feedback.temp = (int8_t)motor->lz_feedback.temperature;
+    motor->motor.header.online = true;
+    motor->motor.header.last_online_time = BSP_TIME_Get();
+}
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * @brief 初始化灵足电机驱动系统
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_Init(void) {
+    // 注册灵足电机专用的ID解析器
+    return BSP_CAN_RegisterIdParser(MOTOR_LZ_IdParser) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+
+int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    
+    if (MOTOR_LZ_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR;
+    MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_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.motor_id == param->motor_id) {
+            return DEVICE_ERR; // 已注册
+        }
+    }
+    
+    // 检查数量
+    if (manager->motor_count >= MOTOR_LZ_MAX_MOTORS) return DEVICE_ERR;
+    
+    // 创建新电机实例
+    MOTOR_LZ_t *new_motor = (MOTOR_LZ_t*)BSP_Malloc(sizeof(MOTOR_LZ_t));
+    if (new_motor == NULL) return DEVICE_ERR;
+    
+    memcpy(&new_motor->param, param, sizeof(MOTOR_LZ_Param_t));
+    memset(&new_motor->motor, 0, sizeof(MOTOR_t));
+    memset(&new_motor->lz_feedback, 0, sizeof(MOTOR_LZ_Feedback_t));
+    memset(&new_motor->motion_param, 0, sizeof(MOTOR_LZ_MotionParam_t));
+    
+    new_motor->motor.reverse = param->reverse;
+    
+    // 注册CAN接收ID - 使用解析后的反馈数据ID
+    // 构建反馈数据的原始扩展ID
+    // 反馈数据：data2包含电机ID(bit8~15)，target_id是主机ID
+    uint32_t original_feedback_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_FEEDBACK, param->motor_id, param->host_id);
+    // 通过ID解析器得到解析后的ID
+    uint32_t parsed_feedback_id = MOTOR_LZ_IdParser(original_feedback_id, BSP_CAN_FRAME_EXT_DATA);
+    
+    if (BSP_CAN_RegisterId(param->can, parsed_feedback_id, 3) != BSP_OK) {
+        BSP_Free(new_motor);
+        return DEVICE_ERR;
+    }
+    
+    manager->motors[manager->motor_count] = new_motor;
+    manager->motor_count++;
+    return DEVICE_OK;
+}
+
+int8_t MOTOR_LZ_Update(MOTOR_LZ_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    
+    MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR_NO_DEV;
+    
+    for (int i = 0; i < manager->motor_count; i++) {
+        MOTOR_LZ_t *motor = manager->motors[i];
+        if (motor && motor->param.motor_id == param->motor_id) {
+            // 获取反馈数据 - 使用解析后的ID
+            uint32_t original_feedback_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_FEEDBACK, param->motor_id, param->host_id);
+            uint32_t parsed_feedback_id = MOTOR_LZ_IdParser(original_feedback_id, BSP_CAN_FRAME_EXT_DATA);
+            BSP_CAN_Message_t msg;
+            
+            while (BSP_CAN_GetMessage(param->can, parsed_feedback_id, &msg, 0) == BSP_OK) {
+                MOTOR_LZ_Decode(motor, &msg);
+            }
+            return DEVICE_OK;
+        }
+    }
+    return DEVICE_ERR_NO_DEV;
+}
+
+int8_t MOTOR_LZ_UpdateAll(void) {
+    int8_t ret = DEVICE_OK;
+    for (int can = 0; can < BSP_CAN_NUM; can++) {
+        MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager((BSP_CAN_t)can);
+        if (manager == NULL) continue;
+        
+        for (int i = 0; i < manager->motor_count; i++) {
+            MOTOR_LZ_t *motor = manager->motors[i];
+            if (motor) {
+                if (MOTOR_LZ_Update(&motor->param) != DEVICE_OK) {
+                    ret = DEVICE_ERR;
+                }
+            }
+        }
+    }
+    return ret;
+}
+
+int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *motion_param) {
+    if (param == NULL || motion_param == NULL) return DEVICE_ERR_NULL;
+    MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param);
+    if (motor == NULL) return DEVICE_ERR_NO_DEV;
+
+    // 自动反向控制
+    MOTOR_LZ_MotionParam_t send_param = *motion_param;
+    if (param->reverse) {
+        send_param.target_angle = -send_param.target_angle;
+        send_param.target_velocity = -send_param.target_velocity;
+        send_param.torque = -send_param.torque;
+    }
+
+    memcpy(&motor->motion_param, motion_param, sizeof(MOTOR_LZ_MotionParam_t));
+
+    uint16_t raw_torque = MOTOR_LZ_FloatToRaw(send_param.torque, LZ_TORQUE_RANGE_NM);
+    uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_MOTION, raw_torque, param->motor_id);
+    uint8_t data[8];
+    uint16_t raw_angle = MOTOR_LZ_FloatToRaw(send_param.target_angle, LZ_ANGLE_RANGE_RAD);
+    data[0] = (raw_angle >> 8) & 0xFF;
+    data[1] = raw_angle & 0xFF;
+    uint16_t raw_velocity = MOTOR_LZ_FloatToRaw(send_param.target_velocity, LZ_VELOCITY_RANGE_RAD_S);
+    data[2] = (raw_velocity >> 8) & 0xFF;
+    data[3] = raw_velocity & 0xFF;
+    uint16_t raw_kp = MOTOR_LZ_FloatToRawPositive(send_param.kp, LZ_KP_MAX);
+    data[4] = (raw_kp >> 8) & 0xFF;
+    data[5] = raw_kp & 0xFF;
+    uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX);
+    data[6] = (raw_kd >> 8) & 0xFF;
+    data[7] = raw_kd & 0xFF;
+    return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
+}
+
+
+int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    
+    // 构建扩展ID - 使能命令
+    uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_ENABLE, param->host_id, param->motor_id);
+    
+    // 数据区清零
+    uint8_t data[8] = {0};
+    
+    return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
+}
+
+int8_t MOTOR_LZ_Disable(MOTOR_LZ_Param_t *param, bool clear_fault) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    
+    // 构建扩展ID - 停止命令
+    uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_DISABLE, param->host_id, param->motor_id);
+    
+    // 数据区
+    uint8_t data[8] = {0};
+    if (clear_fault) {
+        data[0] = 1; // Byte[0]=1时清故障
+    }
+    
+    return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
+}
+
+int8_t MOTOR_LZ_SetZero(MOTOR_LZ_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    
+    // 构建扩展ID - 设置零位命令
+    uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_SET_ZERO, param->host_id, param->motor_id);
+    
+    // 数据区 - Byte[0]=1
+    uint8_t data[8] = {1, 0, 0, 0, 0, 0, 0, 0};
+    
+    return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
+}
+
+MOTOR_LZ_t* MOTOR_LZ_GetMotor(MOTOR_LZ_Param_t *param) {
+    if (param == NULL) return NULL;
+    
+    MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager(param->can);
+    if (manager == NULL) return NULL;
+    
+    for (int i = 0; i < manager->motor_count; i++) {
+        MOTOR_LZ_t *motor = manager->motors[i];
+        if (motor && motor->param.motor_id == param->motor_id) {
+            return motor;
+        }
+    }
+    return NULL;
+}
+
+int8_t MOTOR_LZ_Relax(MOTOR_LZ_Param_t *param) {
+    return MOTOR_LZ_MotionControl(param, &lz_relax_param);
+}
+
+int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param) {
+    MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param);
+    if (motor) {
+        motor->motor.header.online = false;
+        return DEVICE_OK;
+    }
+    return DEVICE_ERR_NO_DEV;
+}
+
+static MOTOR_LZ_Feedback_t* MOTOR_LZ_GetFeedback(MOTOR_LZ_Param_t *param) {
+    MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param);
+    if (motor && motor->motor.header.online) {
+        return &motor->lz_feedback;
+    }
+    return NULL;
+}
diff --git a/User/device/motor_lz.h b/User/device/motor_lz.h
new file mode 100644
index 0000000..d2a8002
--- /dev/null
+++ b/User/device/motor_lz.h
@@ -0,0 +1,212 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/device.h"
+#include "device/motor.h"
+#include "bsp/can.h"
+
+/* Exported constants ------------------------------------------------------- */
+#define MOTOR_LZ_MAX_MOTORS 32
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+    MOTOR_LZ_RSO0,
+    MOTOR_LZ_RSO1,
+    MOTOR_LZ_RSO2,
+    MOTOR_LZ_RSO3,
+    MOTOR_LZ_RSO4,
+    MOTOR_LZ_RSO5,
+    MOTOR_LZ_RSO6,
+} MOTOR_LZ_Module_t;
+
+/* 灵足电机控制模式 */
+typedef enum {
+    MOTOR_LZ_MODE_MOTION = 0x1,     /* 运控模式 */
+    MOTOR_LZ_MODE_CURRENT = 0x2,    /* 电流模式 */
+    MOTOR_LZ_MODE_VELOCITY = 0x3,   /* 速度模式 */
+    MOTOR_LZ_MODE_POSITION = 0x4,   /* 位置模式 */
+} MOTOR_LZ_ControlMode_t;
+
+/* 灵足电机通信类型 */
+typedef enum {
+    MOTOR_LZ_CMD_MOTION = 0x1,      /* 运控模式控制 */
+    MOTOR_LZ_CMD_FEEDBACK = 0x2,    /* 电机反馈数据 */
+    MOTOR_LZ_CMD_ENABLE = 0x3,      /* 电机使能运行 */
+    MOTOR_LZ_CMD_DISABLE = 0x4,     /* 电机停止运行 */
+    MOTOR_LZ_CMD_SET_ZERO = 0x6,    /* 设置电机机械零位 */
+} MOTOR_LZ_CmdType_t;
+
+/* 灵足电机运行状态 */
+typedef enum {
+    MOTOR_LZ_STATE_RESET = 0,       /* Reset模式[复位] */
+    MOTOR_LZ_STATE_CALI = 1,        /* Cali模式[标定] */
+    MOTOR_LZ_STATE_MOTOR = 2,       /* Motor模式[运行] */
+} MOTOR_LZ_State_t;
+
+/* 灵足电机故障信息 */
+typedef struct {
+    bool uncalibrated;      /* bit21: 未标定 */
+    bool stall_overload;    /* bit20: 堵转过载故障 */
+    bool encoder_fault;     /* bit19: 磁编码故障 */
+    bool over_temp;         /* bit18: 过温 */
+    bool driver_fault;      /* bit17: 驱动故障 */
+    bool under_voltage;     /* bit16: 欠压故障 */
+} MOTOR_LZ_Fault_t;
+
+/* 灵足电机运控参数 */
+typedef struct {
+    float target_angle;     /* 目标角度 (-12.57f~12.57f rad) */
+    float target_velocity;  /* 目标角速度 (-20~20 rad/s) */
+    float kp;               /* 位置增益 (0.0~5000.0) */
+    float kd;               /* 微分增益 (0.0~100.0) */
+    float torque;           /* 力矩 (-60~60 Nm) */
+} MOTOR_LZ_MotionParam_t;
+
+/*每个电机需要的参数*/
+typedef struct {
+    BSP_CAN_t can;              /* CAN总线 */
+    uint8_t motor_id;           /* 电机CAN ID */
+    uint8_t host_id;            /* 主机CAN ID */
+    MOTOR_LZ_Module_t module;   /* 电机型号 */
+    bool reverse;               /* 是否反向 */
+    MOTOR_LZ_ControlMode_t mode; /* 控制模式 */
+} MOTOR_LZ_Param_t;
+
+/*电机反馈信息扩展*/
+typedef struct {
+    float current_angle;        /* 当前角度 (-12.57f~12.57f rad) */
+    float current_velocity;     /* 当前角速度 (-20~20 rad/s) */
+    float current_torque;       /* 当前力矩 (-60~60 Nm) */
+    float temperature;          /* 当前温度 (摄氏度) */
+    MOTOR_LZ_State_t state;     /* 运行状态 */
+    MOTOR_LZ_Fault_t fault;     /* 故障信息 */
+    uint8_t motor_can_id;       /* 当前电机CAN ID */
+} MOTOR_LZ_Feedback_t;
+
+/*电机实例*/
+typedef struct {
+    MOTOR_LZ_Param_t param;
+    MOTOR_t motor;
+    MOTOR_LZ_Feedback_t lz_feedback;    /* 灵足电机特有反馈信息 */
+    MOTOR_LZ_MotionParam_t motion_param; /* 运控模式参数 */
+} MOTOR_LZ_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_LZ_t *motors[MOTOR_LZ_MAX_MOTORS];
+    uint8_t motor_count;
+} MOTOR_LZ_CANManager_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 初始化灵足电机驱动系统
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_Init(void);
+
+/**
+ * @brief 注册一个灵足电机
+ * @param param 电机参数
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param);
+
+/**
+ * @brief 更新指定电机数据
+ * @param param 电机参数
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_Update(MOTOR_LZ_Param_t *param);
+
+/**
+ * @brief 更新所有电机数据
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_UpdateAll(void);
+
+/**
+ * @brief 运控模式控制电机
+ * @param param 电机参数
+ * @param motion_param 运控参数
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *motion_param);
+
+/**
+ * @brief 电流(力矩)模式控制电机
+ * @param param 电机参数
+ * @param torque 目标力矩 (-60~60 Nm)
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_TorqueControl(MOTOR_LZ_Param_t *param, float torque);
+
+/**
+ * @brief 位置模式控制电机
+ * @param param 电机参数
+ * @param target_angle 目标角度 (-12.57~12.57 rad)
+ * @param max_velocity 最大速度 (0~20 rad/s)
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_PositionControl(MOTOR_LZ_Param_t *param, float target_angle, float max_velocity);
+
+/**
+ * @brief 速度模式控制电机
+ * @param param 电机参数
+ * @param target_velocity 目标速度 (-20~20 rad/s)
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_VelocityControl(MOTOR_LZ_Param_t *param, float target_velocity);
+
+/**
+ * @brief 电机使能运行
+ * @param param 电机参数
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param);
+
+/**
+ * @brief 电机停止运行
+ * @param param 电机参数
+ * @param clear_fault 是否清除故障
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_Disable(MOTOR_LZ_Param_t *param, bool clear_fault);
+
+/**
+ * @brief 设置电机机械零位
+ * @param param 电机参数
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_SetZero(MOTOR_LZ_Param_t *param);
+
+/**
+ * @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，失败返回NULL
+ */
+MOTOR_LZ_t* MOTOR_LZ_GetMotor(MOTOR_LZ_Param_t *param);
+
+/**
+ * @brief 使电机松弛（发送停止命令）
+ * @param param 电机参数
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_Relax(MOTOR_LZ_Param_t *param);
+
+/**
+ * @brief 使电机离线（设置在线状态为false）
+ * @param param 电机参数
+ * @return 设备状态码
+ */
+int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param);
+
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file