diff --git a/CMakeLists.txt b/CMakeLists.txt
index 750eaea..e025a25 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -67,6 +67,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/component/vmc.c
 
     # User/device sources
+    User/device/bmi088.c
     User/device/buzzer.c
     User/device/dm_imu.c
     User/device/dr16.c
@@ -86,6 +87,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/blink.c
     User/task/ctrl_chassis.c
     User/task/ctrl_gimbal.c
+    User/task/imu.c
     User/task/init.c
     User/task/rc.c
     User/task/user_task.c
diff --git a/User/task/imu.c b/User/task/imu.c
index 25ac9de..24c2ed0 100644
--- a/User/task/imu.c
+++ b/User/task/imu.c
@@ -6,7 +6,13 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "bsp/mm.h"
+#include "bsp/pwm.h"
+#include "bsp/gpio.h"
+#include "component/ahrs.h"
+#include "component/pid.h"
+#include "device/bmi088.h"
+#include "task/user_task.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +20,54 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
+BMI088_t bmi088;
 
+AHRS_t gimbal_ahrs;
+AHRS_Magn_t magn;
+AHRS_Eulr_t eulr_to_send;
+
+KPID_t imu_temp_ctrl_pid;
+
+BMI088_Cali_t cali_bmi088= {
+  .gyro_offset = {0.00379243772f,0.00133061118f,-0.00154866849f},
+};
+    AHRS_Accl_t accl_modified;
+    AHRS_Gyro_t gyro_modified;
+    AHRS_Eulr_t eulr_modified;
+    
+static const KPID_Params_t imu_temp_ctrl_pid_param = {
+    .k = 0.2f,
+    .p = 1.0f,
+    .i = 0.01f,
+    .d = 0.0f,
+    .i_limit = 1.0f,
+    .out_limit = 1.0f,
+};
+
+/* 校准相关变量 */
+typedef enum {
+  CALIB_IDLE,     // 空闲状态
+  CALIB_RUNNING,  // 正在校准
+  CALIB_DONE      // 校准完成
+} CalibState_t;
+
+static CalibState_t calib_state = CALIB_IDLE;
+static uint16_t calib_count = 0;
+static struct {
+  float x_sum;
+  float y_sum; 
+  float z_sum;
+} gyro_sum = {0.00341676874f, 0.000505680335f, -0.00134522165f};
+static void start_gyro_calibration(void) {
+  if (calib_state == CALIB_IDLE) {
+    calib_state = CALIB_RUNNING;
+    calib_count = 0;
+    gyro_sum.x_sum = 0.0f;
+    gyro_sum.y_sum = 0.0f;
+    gyro_sum.z_sum = 0.0f;
+  }
+}
+#define CALIB_SAMPLES 5000  // 校准采样数量
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -30,15 +83,92 @@ void Task_imu(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  BMI088_Init(&bmi088,&cali_bmi088);
+  AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
+  PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
+           1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
+  BSP_PWM_Start(BSP_PWM_IMU_HEAT_PWM);
+  
+  /* 注册按钮回调函数并启用中断 */
+  BSP_GPIO_RegisterCallback(BSP_GPIO_USER_KEY, start_gyro_calibration);
+  BSP_GPIO_EnableIRQ(BSP_GPIO_USER_KEY);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
+    BMI088_WaitNew();
+    BMI088_AcclStartDmaRecv();
+    BMI088_AcclWaitDmaCplt();
+
+    BMI088_GyroStartDmaRecv();
+    BMI088_GyroWaitDmaCplt();
+
+    /* 锁住RTOS内核防止数据解析过程中断，造成错误 */
+    osKernelLock();
+    /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */
+    BMI088_ParseAccl(&bmi088);
+    BMI088_ParseGyro(&bmi088);
+    // IST8310_Parse(&ist8310);
+
+    /* 陀螺仪校准处理 */
+    if (calib_state == CALIB_RUNNING) {
+      /* 累加陀螺仪数据用于计算零偏 */
+      gyro_sum.x_sum += bmi088.gyro.x;
+      gyro_sum.y_sum += bmi088.gyro.y;
+      gyro_sum.z_sum += bmi088.gyro.z;
+      calib_count++;
+
+      /* 达到采样数量后计算平均值并更新零偏 */
+      if (calib_count >= CALIB_SAMPLES) {
+        /* 计算平均值作为零偏 */
+        cali_bmi088.gyro_offset.x = gyro_sum.x_sum / CALIB_SAMPLES;
+        cali_bmi088.gyro_offset.y = gyro_sum.y_sum / CALIB_SAMPLES;
+        cali_bmi088.gyro_offset.z = gyro_sum.z_sum / CALIB_SAMPLES;
+        
+        /* 校准完成，重置为空闲状态以便下次校准 */
+        calib_state = CALIB_IDLE;
+        
+        /* 重新初始化BMI088以应用新的校准数据 */
+        BMI088_Init(&bmi088, &cali_bmi088);
+        AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
+      }
+    }
+
+    /* 只有在非校准状态下才进行正常的姿态解析 */
+    if (calib_state != CALIB_RUNNING) {
+      /* 根据设备接收到的数据进行姿态解析 */
+      AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn);
+
+      /* 根据解析出来的四元数计算欧拉角 */
+      AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
+    }
+    
+    osKernelUnlock();
+
+    /* 创建修改后的数据副本用于发送到消息队列 */
+
+    /* 加速度数据：x和y互换，y取负值，全部乘10 */
+    accl_modified.x = bmi088.accl.y * 10.0f;
+    accl_modified.y = -bmi088.accl.x * 10.0f;
+    accl_modified.z = bmi088.accl.z * 10.0f;
+    
+    
+    /* 陀螺仪数据：x和y互换，y取负值 */
+    gyro_modified.x = bmi088.gyro.y;
+    gyro_modified.y = -bmi088.gyro.x;
+    gyro_modified.z = bmi088.gyro.z;
+    
+    /* 欧拉角数据：roll和pitch互换 */
+    eulr_modified.yaw = eulr_to_send.yaw;
+    eulr_modified.pit = -eulr_to_send.pit;
+    eulr_modified.rol =  eulr_to_send.rol;
+
+    BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 50.0f, bmi088.temp, 0.0f, 0.0f));
 
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
   
-}
\ No newline at end of file
+}
+