diff --git a/User/device/rc_can.c b/User/device/rc_can.c
index c03410f..9f17a82 100644
--- a/User/device/rc_can.c
+++ b/User/device/rc_can.c
@@ -1,33 +1,7 @@
-/*
-    RC CAN数据发送模块
-    将DR16遥控器数据通过CAN总线发送
-    参考motor_rm的结构设计
-    
-    Example:
-    
-    RC_CAN_t rc_can;
-    RC_CAN_Param_t param = {
-        .can = BSP_CAN_1,
-        .enabled = true,
-        .send_period = 10  // 10ms发送一次
-    };
-    
-    RC_CAN_Init(&rc_can, &param);
-    
-    // 在主循环中
-    while(1) {
-        if (DR16_ParseData(&dr16) == DEVICE_OK) {
-            RC_CAN_SendData(&rc_can, &dr16);
-        }
-        osDelay(param.send_period);
-    }
-*/
 
 /* Includes ----------------------------------------------------------------- */
 #include "rc_can.h"
-#include "device/dr16.h"
 #include "bsp/time.h"
-#include <string.h>
 
 /* USER INCLUDE BEGIN */
 
diff --git a/User/device/rc_can.h b/User/device/rc_can.h
index 71e8847..92e4ace 100644
--- a/User/device/rc_can.h
+++ b/User/device/rc_can.h
@@ -19,16 +19,14 @@ extern "C" {
 /* USER DEFINE END */
 
 /* Exported constants ------------------------------------------------------- */
-// CAN ID 定义
-#define RC_CAN_DR16_JOYSTICK_ID     0x300  // 遥杆数据
-#define RC_CAN_DR16_SWITCH_ID       0x301  // 拨杆数据
-#define RC_CAN_DR16_MOUSE_ID        0x302  // 鼠标数据
-#define RC_CAN_DR16_KEYBOARD_ID     0x303  // 键盘数据
-#define RC_CAN_DR16_STATUS_ID       0x304  // 状态数据
+#define RC_CAN_DR16_JOY_ID     0x350  // 遥杆数据
+#define RC_CAN_DR16_SWITCH_ID       0x351  // 拨杆数据
+#define RC_CAN_DR16_MOUSE_ID        0x352  // 鼠标数据
+#define RC_CAN_DR16_KEYBOARD_ID     0x353  // 键盘数据
+#define RC_CAN_DR16_STATUS_ID       0x354  // 状态数据
 
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
-
 typedef enum {
   RC_CAN_SW_ERR = 0,
   RC_CAN_SW_UP = 1,
@@ -36,20 +34,38 @@ typedef enum {
   RC_CAN_SW_DOWN = 2,
 } RC_CAN_SW_t;
 
+typedef enum {
+  DR16_KEY_W = 0,
+  DR16_KEY_S,
+  DR16_KEY_A,
+  DR16_KEY_D,
+  DR16_KEY_SHIFT,
+  DR16_KEY_CTRL,
+  DR16_KEY_Q,
+  DR16_KEY_E,
+  DR16_KEY_R,
+  DR16_KEY_F,
+  DR16_KEY_G,
+  DR16_KEY_Z,
+  DR16_KEY_X,
+  DR16_KEY_C,
+  DR16_KEY_V,
+  DR16_KEY_B,
+  DR16_KEY_NUM,
+} DR16_Key_t;
 // 遥杆数据包 (CAN ID: 0x300)
-typedef struct __packed {
-    int16_t ch_l_x;   // 左侧摇杆X轴 (-1000~1000)
-    int16_t ch_l_y;   // 左侧摇杆Y轴 (-1000~1000)
-    int16_t ch_r_x;   // 右侧摇杆X轴 (-1000~1000)
-    int16_t ch_r_y;   // 右侧摇杆Y轴 (-1000~1000)
-} RC_CAN_JoystickData_t;
+typedef struct {
+    int16_t ch_l_x;
+    int16_t ch_l_y;
+    int16_t ch_r_x;
+    int16_t ch_r_y;
+} RC_CAN_JoyData_t;
 
 // 拨杆数据包 (CAN ID: 0x301)
 typedef struct __packed {
-    uint8_t sw_l;     // 左拨杆状态
-    uint8_t sw_r;     // 右拨杆状态
+    RC_CAN_SW_t sw_l;     // 左拨杆状态
+    RC_CAN_SW_t sw_r;     // 右拨杆状态 
     int16_t ch_res;   // 第五通道 (-1000~1000)
-    uint32_t reserved; // 保留字节
 } RC_CAN_SwitchData_t;
 
 // 鼠标数据包 (CAN ID: 0x302)
@@ -57,14 +73,14 @@ typedef struct __packed {
     int16_t mouse_x;  // 鼠标X轴移动
     int16_t mouse_y;  // 鼠标Y轴移动
     int16_t mouse_z;  // 鼠标Z轴(滚轮)
-    uint8_t mouse_l;  // 鼠标左键
-    uint8_t mouse_r;  // 鼠标右键
+    bool mouse_l;  // 鼠标左键
+    bool mouse_r;  // 鼠标右键
 } RC_CAN_MouseData_t;
 
 // 键盘数据包 (CAN ID: 0x303)
-typedef struct __packed {
+typedef union {
     uint16_t key_value; // 键盘按键位映射
-    uint8_t reserved[6]; // 保留字节
+    DR16_Key_t keys[16]; // 按键数组
 } RC_CAN_KeyboardData_t;
 
 // 状态数据包 (CAN ID: 0x304)