diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index c081c8b..6c40c25 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -68,7 +68,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)15360)
+#define configTOTAL_HEAP_SIZE                    ((size_t)0x10000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index 14e6ef5..c0becd0 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -69,6 +69,8 @@ void Error_Handler(void);
 #define GYRO_CS_GPIO_Port GPIOC
 #define DCMI_PWDN_Pin GPIO_PIN_5
 #define DCMI_PWDN_GPIO_Port GPIOC
+#define IMU_HEAT_Pin GPIO_PIN_1
+#define IMU_HEAT_GPIO_Port GPIOB
 #define ACCL_INT_Pin GPIO_PIN_10
 #define ACCL_INT_GPIO_Port GPIOE
 #define ACCL_INT_EXTI_IRQn EXTI15_10_IRQn
@@ -83,6 +85,8 @@ void Error_Handler(void);
 #define LCD_RES_GPIO_Port GPIOB
 #define DCMI_REST_Pin GPIO_PIN_12
 #define DCMI_REST_GPIO_Port GPIOB
+#define BUZZER_Pin GPIO_PIN_15
+#define BUZZER_GPIO_Port GPIOB
 #define LCD_DC_Pin GPIO_PIN_10
 #define LCD_DC_GPIO_Port GPIOD
 
diff --git a/Core/Inc/spi.h b/Core/Inc/spi.h
index b45c5e5..f250bc8 100644
--- a/Core/Inc/spi.h
+++ b/Core/Inc/spi.h
@@ -36,15 +36,12 @@ extern SPI_HandleTypeDef hspi1;
 
 extern SPI_HandleTypeDef hspi2;
 
-extern SPI_HandleTypeDef hspi6;
-
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
 void MX_SPI1_Init(void);
 void MX_SPI2_Init(void);
-void MX_SPI6_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 
diff --git a/Core/Inc/stm32h7xx_it.h b/Core/Inc/stm32h7xx_it.h
index 5f13fd7..8616f22 100644
--- a/Core/Inc/stm32h7xx_it.h
+++ b/Core/Inc/stm32h7xx_it.h
@@ -55,6 +55,7 @@ void DebugMon_Handler(void);
 void DMA1_Stream0_IRQHandler(void);
 void DMA1_Stream1_IRQHandler(void);
 void DMA1_Stream2_IRQHandler(void);
+void DMA1_Stream3_IRQHandler(void);
 void FDCAN1_IT0_IRQHandler(void);
 void FDCAN2_IT0_IRQHandler(void);
 void FDCAN1_IT1_IRQHandler(void);
@@ -64,6 +65,7 @@ void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
+void UART5_IRQHandler(void);
 void UART7_IRQHandler(void);
 void USART10_IRQHandler(void);
 void FDCAN3_IT0_IRQHandler(void);
diff --git a/Core/Inc/usart.h b/Core/Inc/usart.h
index 12583e3..e706206 100644
--- a/Core/Inc/usart.h
+++ b/Core/Inc/usart.h
@@ -32,6 +32,8 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern UART_HandleTypeDef huart5;
+
 extern UART_HandleTypeDef huart7;
 
 extern UART_HandleTypeDef huart1;
@@ -46,6 +48,7 @@ extern UART_HandleTypeDef huart10;
 
 /* USER CODE END Private defines */
 
+void MX_UART5_Init(void);
 void MX_UART7_Init(void);
 void MX_USART1_UART_Init(void);
 void MX_USART2_UART_Init(void);
diff --git a/Core/Src/dma.c b/Core/Src/dma.c
index 2928315..f793c82 100644
--- a/Core/Src/dma.c
+++ b/Core/Src/dma.c
@@ -52,6 +52,9 @@ void MX_DMA_Init(void)
   /* DMA1_Stream2_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
+  /* DMA1_Stream3_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
 
 }
 
diff --git a/Core/Src/fdcan.c b/Core/Src/fdcan.c
index 72e2780..80df4c7 100644
--- a/Core/Src/fdcan.c
+++ b/Core/Src/fdcan.c
@@ -47,7 +47,7 @@ void MX_FDCAN1_Init(void)
   hfdcan1.Init.ProtocolException = DISABLE;
   hfdcan1.Init.NominalPrescaler = 24;
   hfdcan1.Init.NominalSyncJumpWidth = 1;
-  hfdcan1.Init.NominalTimeSeg1 = 2;
+  hfdcan1.Init.NominalTimeSeg1 = 3;
   hfdcan1.Init.NominalTimeSeg2 = 1;
   hfdcan1.Init.DataPrescaler = 1;
   hfdcan1.Init.DataSyncJumpWidth = 1;
@@ -95,7 +95,7 @@ void MX_FDCAN2_Init(void)
   hfdcan2.Init.ProtocolException = DISABLE;
   hfdcan2.Init.NominalPrescaler = 24;
   hfdcan2.Init.NominalSyncJumpWidth = 1;
-  hfdcan2.Init.NominalTimeSeg1 = 1;
+  hfdcan2.Init.NominalTimeSeg1 = 3;
   hfdcan2.Init.NominalTimeSeg2 = 1;
   hfdcan2.Init.DataPrescaler = 1;
   hfdcan2.Init.DataSyncJumpWidth = 1;
@@ -143,7 +143,7 @@ void MX_FDCAN3_Init(void)
   hfdcan3.Init.ProtocolException = DISABLE;
   hfdcan3.Init.NominalPrescaler = 24;
   hfdcan3.Init.NominalSyncJumpWidth = 1;
-  hfdcan3.Init.NominalTimeSeg1 = 1;
+  hfdcan3.Init.NominalTimeSeg1 = 3;
   hfdcan3.Init.NominalTimeSeg2 = 1;
   hfdcan3.Init.DataPrescaler = 1;
   hfdcan3.Init.DataSyncJumpWidth = 1;
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 8d21e2e..1f17afb 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -1,127 +1,127 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * File Name          : freertos.c
-  * Description        : Code for freertos applications
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Includes ------------------------------------------------------------------*/
-#include "FreeRTOS.h"
-#include "task.h"
-#include "main.h"
-#include "cmsis_os.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-#include "task/user_task.h"
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN PTD */
-
-/* USER CODE END PTD */
-
-/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN PD */
-
-/* USER CODE END PD */
-
-/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN PM */
-
-/* USER CODE END PM */
-
-/* Private variables ---------------------------------------------------------*/
-/* USER CODE BEGIN Variables */
-
-/* USER CODE END Variables */
-/* Definitions for defaultTask */
-osThreadId_t defaultTaskHandle;
-const osThreadAttr_t defaultTask_attributes = {
-  .name = "defaultTask",
-  .stack_size = 128 * 4,
-  .priority = (osPriority_t) osPriorityNormal,
-};
-
-/* Private function prototypes -----------------------------------------------*/
-/* USER CODE BEGIN FunctionPrototypes */
-
-/* USER CODE END FunctionPrototypes */
-
-void StartDefaultTask(void *argument);
-
-void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
-
-/**
-  * @brief  FreeRTOS initialization
-  * @param  None
-  * @retval None
-  */
-void MX_FREERTOS_Init(void) {
-  /* USER CODE BEGIN Init */
-
-  /* USER CODE END Init */
-
-  /* USER CODE BEGIN RTOS_MUTEX */
-  /* add mutexes, ... */
-  /* USER CODE END RTOS_MUTEX */
-
-  /* USER CODE BEGIN RTOS_SEMAPHORES */
-  /* add semaphores, ... */
-  /* USER CODE END RTOS_SEMAPHORES */
-
-  /* USER CODE BEGIN RTOS_TIMERS */
-  /* start timers, add new ones, ... */
-  /* USER CODE END RTOS_TIMERS */
-
-  /* USER CODE BEGIN RTOS_QUEUES */
-  /* add queues, ... */
-  /* USER CODE END RTOS_QUEUES */
-
-  /* Create the thread(s) */
-  /* creation of defaultTask */
-  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
-
-  /* USER CODE BEGIN RTOS_THREADS */
-  /* add threads, ... */
-   osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
-/* USER CODE END RTOS_THREADS */
-
-  /* USER CODE BEGIN RTOS_EVENTS */
-  /* add events, ... */
-  /* USER CODE END RTOS_EVENTS */
-
-}
-
-/* USER CODE BEGIN Header_StartDefaultTask */
-/**
-  * @brief  Function implementing the defaultTask thread.
-  * @param  argument: Not used
-  * @retval None
-  */
-/* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void *argument)
-{
-  /* USER CODE BEGIN StartDefaultTask */
-    osThreadTerminate(osThreadGetId());
-/* USER CODE END StartDefaultTask */
-}
-
-/* Private application code --------------------------------------------------*/
-/* USER CODE BEGIN Application */
-
-/* USER CODE END Application */
-
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * File Name          : freertos.c
+  * Description        : Code for freertos applications
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "FreeRTOS.h"
+#include "task.h"
+#include "main.h"
+#include "cmsis_os.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+#include "task/user_task.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN Variables */
+
+/* USER CODE END Variables */
+/* Definitions for defaultTask */
+osThreadId_t defaultTaskHandle;
+const osThreadAttr_t defaultTask_attributes = {
+  .name = "defaultTask",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
+};
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN FunctionPrototypes */
+
+/* USER CODE END FunctionPrototypes */
+
+void StartDefaultTask(void *argument);
+
+void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
+
+/**
+  * @brief  FreeRTOS initialization
+  * @param  None
+  * @retval None
+  */
+void MX_FREERTOS_Init(void) {
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* USER CODE BEGIN RTOS_MUTEX */
+  /* add mutexes, ... */
+  /* USER CODE END RTOS_MUTEX */
+
+  /* USER CODE BEGIN RTOS_SEMAPHORES */
+  /* add semaphores, ... */
+  /* USER CODE END RTOS_SEMAPHORES */
+
+  /* USER CODE BEGIN RTOS_TIMERS */
+  /* start timers, add new ones, ... */
+  /* USER CODE END RTOS_TIMERS */
+
+  /* USER CODE BEGIN RTOS_QUEUES */
+  /* add queues, ... */
+  /* USER CODE END RTOS_QUEUES */
+
+  /* Create the thread(s) */
+  /* creation of defaultTask */
+  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+
+  /* USER CODE BEGIN RTOS_THREADS */
+  /* add threads, ... */
+   osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
+  /* USER CODE END RTOS_THREADS */
+
+  /* USER CODE BEGIN RTOS_EVENTS */
+  /* add events, ... */
+  /* USER CODE END RTOS_EVENTS */
+
+}
+
+/* USER CODE BEGIN Header_StartDefaultTask */
+/**
+  * @brief  Function implementing the defaultTask thread.
+  * @param  argument: Not used
+  * @retval None
+  */
+/* USER CODE END Header_StartDefaultTask */
+void StartDefaultTask(void *argument)
+{
+  /* USER CODE BEGIN StartDefaultTask */
+    osThreadTerminate(osThreadGetId());
+  /* USER CODE END StartDefaultTask */
+}
+
+/* Private application code --------------------------------------------------*/
+/* USER CODE BEGIN Application */
+
+/* USER CODE END Application */
+
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 23571a0..104f22b 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -100,7 +100,6 @@ int main(void)
   MX_ADC1_Init();
   MX_TIM12_Init();
   MX_SPI1_Init();
-  MX_SPI6_Init();
   MX_SPI2_Init();
   MX_TIM3_Init();
   MX_USART1_UART_Init();
@@ -115,6 +114,7 @@ int main(void)
   MX_TIM2_Init();
   MX_OCTOSPI1_Init();
   MX_USB_OTG_HS_PCD_Init();
+  MX_UART5_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
diff --git a/Core/Src/spi.c b/Core/Src/spi.c
index d53f842..e7f60ea 100644
--- a/Core/Src/spi.c
+++ b/Core/Src/spi.c
@@ -26,7 +26,6 @@
 
 SPI_HandleTypeDef hspi1;
 SPI_HandleTypeDef hspi2;
-SPI_HandleTypeDef hspi6;
 DMA_HandleTypeDef hdma_spi2_rx;
 DMA_HandleTypeDef hdma_spi2_tx;
 
@@ -113,48 +112,6 @@ void MX_SPI2_Init(void)
 
   /* USER CODE END SPI2_Init 2 */
 
-}
-/* SPI6 init function */
-void MX_SPI6_Init(void)
-{
-
-  /* USER CODE BEGIN SPI6_Init 0 */
-
-  /* USER CODE END SPI6_Init 0 */
-
-  /* USER CODE BEGIN SPI6_Init 1 */
-
-  /* USER CODE END SPI6_Init 1 */
-  hspi6.Instance = SPI6;
-  hspi6.Init.Mode = SPI_MODE_MASTER;
-  hspi6.Init.Direction = SPI_DIRECTION_2LINES_TXONLY;
-  hspi6.Init.DataSize = SPI_DATASIZE_8BIT;
-  hspi6.Init.CLKPolarity = SPI_POLARITY_LOW;
-  hspi6.Init.CLKPhase = SPI_PHASE_2EDGE;
-  hspi6.Init.NSS = SPI_NSS_SOFT;
-  hspi6.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
-  hspi6.Init.FirstBit = SPI_FIRSTBIT_MSB;
-  hspi6.Init.TIMode = SPI_TIMODE_DISABLE;
-  hspi6.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
-  hspi6.Init.CRCPolynomial = 0x0;
-  hspi6.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
-  hspi6.Init.NSSPolarity = SPI_NSS_POLARITY_LOW;
-  hspi6.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA;
-  hspi6.Init.TxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
-  hspi6.Init.RxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
-  hspi6.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE;
-  hspi6.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE;
-  hspi6.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE;
-  hspi6.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_DISABLE;
-  hspi6.Init.IOSwap = SPI_IO_SWAP_DISABLE;
-  if (HAL_SPI_Init(&hspi6) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN SPI6_Init 2 */
-
-  /* USER CODE END SPI6_Init 2 */
-
 }
 
 void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
@@ -287,48 +244,6 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
 
   /* USER CODE END SPI2_MspInit 1 */
   }
-  else if(spiHandle->Instance==SPI6)
-  {
-  /* USER CODE BEGIN SPI6_MspInit 0 */
-
-  /* USER CODE END SPI6_MspInit 0 */
-
-  /** Initializes the peripherals clock
-  */
-    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI6;
-    PeriphClkInitStruct.Spi6ClockSelection = RCC_SPI6CLKSOURCE_HSE;
-    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    /* SPI6 clock enable */
-    __HAL_RCC_SPI6_CLK_ENABLE();
-
-    __HAL_RCC_GPIOA_CLK_ENABLE();
-    __HAL_RCC_GPIOC_CLK_ENABLE();
-    /**SPI6 GPIO Configuration
-    PA7     ------> SPI6_MOSI
-    PC12     ------> SPI6_SCK
-    */
-    GPIO_InitStruct.Pin = GPIO_PIN_7;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF8_SPI6;
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-    GPIO_InitStruct.Pin = GPIO_PIN_12;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF5_SPI6;
-    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN SPI6_MspInit 1 */
-
-  /* USER CODE END SPI6_MspInit 1 */
-  }
 }
 
 void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
@@ -381,26 +296,6 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
 
   /* USER CODE END SPI2_MspDeInit 1 */
   }
-  else if(spiHandle->Instance==SPI6)
-  {
-  /* USER CODE BEGIN SPI6_MspDeInit 0 */
-
-  /* USER CODE END SPI6_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_SPI6_CLK_DISABLE();
-
-    /**SPI6 GPIO Configuration
-    PA7     ------> SPI6_MOSI
-    PC12     ------> SPI6_SCK
-    */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_7);
-
-    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_12);
-
-  /* USER CODE BEGIN SPI6_MspDeInit 1 */
-
-  /* USER CODE END SPI6_MspDeInit 1 */
-  }
 }
 
 /* USER CODE BEGIN 1 */
diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c
index 8bbbfd9..8633010 100644
--- a/Core/Src/stm32h7xx_it.c
+++ b/Core/Src/stm32h7xx_it.c
@@ -62,6 +62,8 @@ extern FDCAN_HandleTypeDef hfdcan3;
 extern DMA_HandleTypeDef hdma_spi2_rx;
 extern DMA_HandleTypeDef hdma_spi2_tx;
 extern SPI_HandleTypeDef hspi2;
+extern DMA_HandleTypeDef hdma_uart5_rx;
+extern UART_HandleTypeDef huart5;
 extern UART_HandleTypeDef huart7;
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
@@ -213,6 +215,20 @@ void DMA1_Stream2_IRQHandler(void)
   /* USER CODE END DMA1_Stream2_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA1 stream3 global interrupt.
+  */
+void DMA1_Stream3_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_uart5_rx);
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 1 */
+}
+
 /**
   * @brief This function handles FDCAN1 interrupt 0.
   */
@@ -340,6 +356,20 @@ void EXTI15_10_IRQHandler(void)
   /* USER CODE END EXTI15_10_IRQn 1 */
 }
 
+/**
+  * @brief This function handles UART5 global interrupt.
+  */
+void UART5_IRQHandler(void)
+{
+  /* USER CODE BEGIN UART5_IRQn 0 */
+
+  /* USER CODE END UART5_IRQn 0 */
+  HAL_UART_IRQHandler(&huart5);
+  /* USER CODE BEGIN UART5_IRQn 1 */
+
+  /* USER CODE END UART5_IRQn 1 */
+}
+
 /**
   * @brief This function handles UART7 global interrupt.
   */
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index 2287a4b..506740f 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -340,12 +340,12 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
     /**TIM3 GPIO Configuration
     PB1     ------> TIM3_CH4
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_1;
+    GPIO_InitStruct.Pin = IMU_HEAT_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    HAL_GPIO_Init(IMU_HEAT_GPIO_Port, &GPIO_InitStruct);
 
   /* USER CODE BEGIN TIM3_MspPostInit 1 */
 
@@ -361,12 +361,12 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
     /**TIM12 GPIO Configuration
     PB15     ------> TIM12_CH2
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_15;
+    GPIO_InitStruct.Pin = BUZZER_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF2_TIM12;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    HAL_GPIO_Init(BUZZER_GPIO_Port, &GPIO_InitStruct);
 
   /* USER CODE BEGIN TIM12_MspPostInit 1 */
 
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index f6c9d54..af0ce00 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -24,12 +24,57 @@
 
 /* USER CODE END 0 */
 
+UART_HandleTypeDef huart5;
 UART_HandleTypeDef huart7;
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
 UART_HandleTypeDef huart3;
 UART_HandleTypeDef huart10;
+DMA_HandleTypeDef hdma_uart5_rx;
 
+/* UART5 init function */
+void MX_UART5_Init(void)
+{
+
+  /* USER CODE BEGIN UART5_Init 0 */
+
+  /* USER CODE END UART5_Init 0 */
+
+  /* USER CODE BEGIN UART5_Init 1 */
+
+  /* USER CODE END UART5_Init 1 */
+  huart5.Instance = UART5;
+  huart5.Init.BaudRate = 100000;
+  huart5.Init.WordLength = UART_WORDLENGTH_9B;
+  huart5.Init.StopBits = UART_STOPBITS_1;
+  huart5.Init.Parity = UART_PARITY_EVEN;
+  huart5.Init.Mode = UART_MODE_RX;
+  huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart5.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart5.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetTxFifoThreshold(&huart5, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetRxFifoThreshold(&huart5, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_DisableFifoMode(&huart5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN UART5_Init 2 */
+
+  /* USER CODE END UART5_Init 2 */
+
+}
 /* UART7 init function */
 void MX_UART7_Init(void)
 {
@@ -255,7 +300,71 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
-  if(uartHandle->Instance==UART7)
+  if(uartHandle->Instance==UART5)
+  {
+  /* USER CODE BEGIN UART5_MspInit 0 */
+
+  /* USER CODE END UART5_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART5;
+    PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* UART5 clock enable */
+    __HAL_RCC_UART5_CLK_ENABLE();
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**UART5 GPIO Configuration
+    PC12     ------> UART5_TX
+    PD2     ------> UART5_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF8_UART5;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_2;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF8_UART5;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    /* UART5 DMA Init */
+    /* UART5_RX Init */
+    hdma_uart5_rx.Instance = DMA1_Stream3;
+    hdma_uart5_rx.Init.Request = DMA_REQUEST_UART5_RX;
+    hdma_uart5_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_uart5_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_uart5_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_uart5_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_uart5_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_uart5_rx.Init.Mode = DMA_NORMAL;
+    hdma_uart5_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_uart5_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_uart5_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_uart5_rx);
+
+    /* UART5 interrupt Init */
+    HAL_NVIC_SetPriority(UART5_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(UART5_IRQn);
+  /* USER CODE BEGIN UART5_MspInit 1 */
+
+  /* USER CODE END UART5_MspInit 1 */
+  }
+  else if(uartHandle->Instance==UART7)
   {
   /* USER CODE BEGIN UART7_MspInit 0 */
 
@@ -462,7 +571,32 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 {
 
-  if(uartHandle->Instance==UART7)
+  if(uartHandle->Instance==UART5)
+  {
+  /* USER CODE BEGIN UART5_MspDeInit 0 */
+
+  /* USER CODE END UART5_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_UART5_CLK_DISABLE();
+
+    /**UART5 GPIO Configuration
+    PC12     ------> UART5_TX
+    PD2     ------> UART5_RX
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_12);
+
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_2);
+
+    /* UART5 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+
+    /* UART5 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(UART5_IRQn);
+  /* USER CODE BEGIN UART5_MspDeInit 1 */
+
+  /* USER CODE END UART5_MspDeInit 1 */
+  }
+  else if(uartHandle->Instance==UART7)
   {
   /* USER CODE BEGIN UART7_MspDeInit 0 */
 
diff --git a/CtrBoard-H7_ALL.ioc b/CtrBoard-H7_ALL.ioc
index 1e9f041..8ce2224 100644
--- a/CtrBoard-H7_ALL.ioc
+++ b/CtrBoard-H7_ALL.ioc
@@ -50,7 +50,8 @@ Dma.ADC1.0.SyncSignalID=NONE
 Dma.Request0=ADC1
 Dma.Request1=SPI2_RX
 Dma.Request2=SPI2_TX
-Dma.RequestsNb=3
+Dma.Request3=UART5_RX
+Dma.RequestsNb=4
 Dma.SPI2_RX.1.Direction=DMA_PERIPH_TO_MEMORY
 Dma.SPI2_RX.1.EventEnable=DISABLE
 Dma.SPI2_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -87,35 +88,56 @@ Dma.SPI2_TX.2.SyncEnable=DISABLE
 Dma.SPI2_TX.2.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
 Dma.SPI2_TX.2.SyncRequestNumber=1
 Dma.SPI2_TX.2.SyncSignalID=NONE
-FDCAN1.CalculateBaudRateNominal=1250000
-FDCAN1.CalculateTimeBitNominal=800
+Dma.UART5_RX.3.Direction=DMA_PERIPH_TO_MEMORY
+Dma.UART5_RX.3.EventEnable=DISABLE
+Dma.UART5_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.UART5_RX.3.Instance=DMA1_Stream3
+Dma.UART5_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.UART5_RX.3.MemInc=DMA_MINC_ENABLE
+Dma.UART5_RX.3.Mode=DMA_NORMAL
+Dma.UART5_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.UART5_RX.3.PeriphInc=DMA_PINC_DISABLE
+Dma.UART5_RX.3.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Dma.UART5_RX.3.Priority=DMA_PRIORITY_LOW
+Dma.UART5_RX.3.RequestNumber=1
+Dma.UART5_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Dma.UART5_RX.3.SignalID=NONE
+Dma.UART5_RX.3.SyncEnable=DISABLE
+Dma.UART5_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Dma.UART5_RX.3.SyncRequestNumber=1
+Dma.UART5_RX.3.SyncSignalID=NONE
+FDCAN1.CalculateBaudRateNominal=1000000
+FDCAN1.CalculateTimeBitNominal=1000
 FDCAN1.CalculateTimeQuantumNominal=200.0
 FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1
 FDCAN1.NominalPrescaler=24
-FDCAN1.NominalTimeSeg1=2
+FDCAN1.NominalTimeSeg1=3
 FDCAN1.RxFifo0ElmtsNbr=32
 FDCAN1.StdFiltersNbr=1
 FDCAN1.TxFifoQueueElmtsNbr=32
-FDCAN2.CalculateBaudRateNominal=1666666
-FDCAN2.CalculateTimeBitNominal=600
+FDCAN2.CalculateBaudRateNominal=1000000
+FDCAN2.CalculateTimeBitNominal=1000
 FDCAN2.CalculateTimeQuantumNominal=200.0
-FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr
+FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1
 FDCAN2.MessageRAMOffset=0x406
 FDCAN2.NominalPrescaler=24
+FDCAN2.NominalTimeSeg1=3
 FDCAN2.RxFifo0ElmtsNbr=32
 FDCAN2.StdFiltersNbr=1
 FDCAN2.TxFifoQueueElmtsNbr=32
-FDCAN3.CalculateBaudRateNominal=1666666
-FDCAN3.CalculateTimeBitNominal=600
+FDCAN3.CalculateBaudRateNominal=1000000
+FDCAN3.CalculateTimeBitNominal=1000
 FDCAN3.CalculateTimeQuantumNominal=200.0
-FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr
+FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1
 FDCAN3.MessageRAMOffset=0x812
 FDCAN3.NominalPrescaler=24
+FDCAN3.NominalTimeSeg1=3
 FDCAN3.RxFifo0ElmtsNbr=32
 FDCAN3.StdFiltersNbr=1
 FDCAN3.TxFifoQueueElmtsNbr=32
-FREERTOS.IPParameters=Tasks01
+FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE
 FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.configTOTAL_HEAP_SIZE=0x10000
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@@ -129,12 +151,12 @@ Mcu.IP10=OCTOSPI1
 Mcu.IP11=RCC
 Mcu.IP12=SPI1
 Mcu.IP13=SPI2
-Mcu.IP14=SPI6
-Mcu.IP15=SYS
-Mcu.IP16=TIM1
-Mcu.IP17=TIM2
-Mcu.IP18=TIM3
-Mcu.IP19=TIM12
+Mcu.IP14=SYS
+Mcu.IP15=TIM1
+Mcu.IP16=TIM2
+Mcu.IP17=TIM3
+Mcu.IP18=TIM12
+Mcu.IP19=UART5
 Mcu.IP2=DEBUG
 Mcu.IP20=UART7
 Mcu.IP21=USART1
@@ -160,47 +182,47 @@ Mcu.Pin12=PA1
 Mcu.Pin13=PA2
 Mcu.Pin14=PA3
 Mcu.Pin15=PA5
-Mcu.Pin16=PA7
-Mcu.Pin17=PC4
-Mcu.Pin18=PC5
-Mcu.Pin19=PB0
+Mcu.Pin16=PC4
+Mcu.Pin17=PC5
+Mcu.Pin18=PB0
+Mcu.Pin19=PB1
 Mcu.Pin2=PC13
-Mcu.Pin20=PB1
-Mcu.Pin21=PB2
-Mcu.Pin22=PE7
-Mcu.Pin23=PE8
-Mcu.Pin24=PE9
-Mcu.Pin25=PE10
-Mcu.Pin26=PE11
-Mcu.Pin27=PE12
-Mcu.Pin28=PE13
-Mcu.Pin29=PE15
+Mcu.Pin20=PB2
+Mcu.Pin21=PE7
+Mcu.Pin22=PE8
+Mcu.Pin23=PE9
+Mcu.Pin24=PE10
+Mcu.Pin25=PE11
+Mcu.Pin26=PE12
+Mcu.Pin27=PE13
+Mcu.Pin28=PE15
+Mcu.Pin29=PB10
 Mcu.Pin3=PC14-OSC32_IN
-Mcu.Pin30=PB10
-Mcu.Pin31=PB11
-Mcu.Pin32=PB12
-Mcu.Pin33=PB13
-Mcu.Pin34=PB14
-Mcu.Pin35=PB15
-Mcu.Pin36=PD8
-Mcu.Pin37=PD9
-Mcu.Pin38=PD10
-Mcu.Pin39=PD11
+Mcu.Pin30=PB11
+Mcu.Pin31=PB12
+Mcu.Pin32=PB13
+Mcu.Pin33=PB14
+Mcu.Pin34=PB15
+Mcu.Pin35=PD8
+Mcu.Pin36=PD9
+Mcu.Pin37=PD10
+Mcu.Pin38=PD11
+Mcu.Pin39=PD12
 Mcu.Pin4=PC15-OSC32_OUT
-Mcu.Pin40=PD12
-Mcu.Pin41=PD13
-Mcu.Pin42=PA8
-Mcu.Pin43=PA9
-Mcu.Pin44=PA10
-Mcu.Pin45=PA11
-Mcu.Pin46=PA12
-Mcu.Pin47=PA13(JTMS/SWDIO)
-Mcu.Pin48=PA14(JTCK/SWCLK)
-Mcu.Pin49=PA15(JTDI)
+Mcu.Pin40=PD13
+Mcu.Pin41=PA8
+Mcu.Pin42=PA9
+Mcu.Pin43=PA10
+Mcu.Pin44=PA11
+Mcu.Pin45=PA12
+Mcu.Pin46=PA13(JTMS/SWDIO)
+Mcu.Pin47=PA14(JTCK/SWCLK)
+Mcu.Pin48=PA15(JTDI)
+Mcu.Pin49=PC12
 Mcu.Pin5=PH0-OSC_IN
-Mcu.Pin50=PC12
-Mcu.Pin51=PD0
-Mcu.Pin52=PD1
+Mcu.Pin50=PD0
+Mcu.Pin51=PD1
+Mcu.Pin52=PD2
 Mcu.Pin53=PD4
 Mcu.Pin54=PD5
 Mcu.Pin55=PD6
@@ -226,6 +248,7 @@ NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@@ -249,6 +272,7 @@ NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
 NVIC.TIM23_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.TimeBase=TIM23_IRQn
 NVIC.TimeBaseIP=TIM23
+NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.UART7_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.USART10_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.USART1_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
@@ -282,8 +306,6 @@ PA3.Mode=OCTOSPI1_IOL_Port1L
 PA3.Signal=OCTOSPIM_P1_IO2
 PA5.Locked=true
 PA5.Signal=ADCx_INP19
-PA7.Mode=TX_Only_Simplex_Unidirect_Master
-PA7.Signal=SPI6_MOSI
 PA8.Locked=true
 PA8.Mode=Clock-out-1
 PA8.Signal=RCC_MCO_1
@@ -293,6 +315,8 @@ PA9.Signal=USART1_TX
 PB0.Locked=true
 PB0.Mode=OCTOSPI1_IOL_Port1L
 PB0.Signal=OCTOSPIM_P1_IO1
+PB1.GPIOParameters=GPIO_Label
+PB1.GPIO_Label=IMU_HEAT
 PB1.Locked=true
 PB1.Signal=S_TIM3_CH4
 PB10.GPIOParameters=GPIO_Label
@@ -317,6 +341,8 @@ PB13.Mode=Full_Duplex_Master
 PB13.Signal=SPI2_SCK
 PB14.Mode=Hardware Flow Control (RS485)
 PB14.Signal=USART3_DE
+PB15.GPIOParameters=GPIO_Label
+PB15.GPIO_Label=BUZZER
 PB15.Locked=true
 PB15.Signal=S_TIM12_CH2
 PB2.Locked=true
@@ -342,8 +368,8 @@ PC1.GPIOParameters=GPIO_Speed
 PC1.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PC1.Mode=Full_Duplex_Master
 PC1.Signal=SPI2_MOSI
-PC12.Mode=TX_Only_Simplex_Unidirect_Master
-PC12.Signal=SPI6_SCK
+PC12.Mode=Asynchronous
+PC12.Signal=UART5_TX
 PC13.GPIOParameters=PinState,GPIO_Label
 PC13.GPIO_Label=POWER_24V_2
 PC13.Locked=true
@@ -395,6 +421,8 @@ PD12.Signal=FDCAN3_RX
 PD13.Locked=true
 PD13.Mode=FDCAN_Activate
 PD13.Signal=FDCAN3_TX
+PD2.Mode=Asynchronous
+PD2.Signal=UART5_RX
 PD4.Locked=true
 PD4.Mode=Hardware Flow Control (RS485)
 PD4.Signal=USART2_DE
@@ -475,7 +503,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,6-MX_TIM12_Init-TIM12-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_SPI6_Init-SPI6-false-HAL-true,9-MX_SPI2_Init-SPI2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_USART1_UART_Init-USART1-false-HAL-true,12-MX_USART2_UART_Init-USART2-false-HAL-true,13-MX_USART3_UART_Init-USART3-false-HAL-true,14-MX_UART7_Init-UART7-false-HAL-true,15-MX_USART10_UART_Init-USART10-false-HAL-true,16-MX_FDCAN1_Init-FDCAN1-false-HAL-true,17-MX_FDCAN2_Init-FDCAN2-false-HAL-true,18-MX_FDCAN3_Init-FDCAN3-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM2_Init-TIM2-false-HAL-true,21-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_TIM12_Init-TIM12-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true,11-MX_USART3_UART_Init-USART3-false-HAL-true,12-MX_UART7_Init-UART7-false-HAL-true,13-MX_USART10_UART_Init-USART10-false-HAL-true,14-MX_FDCAN1_Init-FDCAN1-false-HAL-true,15-MX_FDCAN2_Init-FDCAN2-false-HAL-true,16-MX_FDCAN3_Init-FDCAN3-false-HAL-true,17-MX_TIM1_Init-TIM1-false-HAL-true,18-MX_TIM2_Init-TIM2-false-HAL-true,19-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,20-MX_USB_OTG_HS_PCD_Init-USB_OTG_HS-false-HAL-true,21-MX_UART5_Init-UART5-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
 RCC.ADCFreq_Value=96000000
 RCC.AHB12Freq_Value=240000000
 RCC.AHB4Freq_Value=240000000
@@ -600,14 +628,6 @@ SPI2.Direction=SPI_DIRECTION_2LINES
 SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity,CLKPhase
 SPI2.Mode=SPI_MODE_MASTER
 SPI2.VirtualType=VM_MASTER
-SPI6.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
-SPI6.CLKPhase=SPI_PHASE_2EDGE
-SPI6.CalculateBaudRate=6.0 MBits/s
-SPI6.DataSize=SPI_DATASIZE_8BIT
-SPI6.Direction=SPI_DIRECTION_2LINES_TXONLY
-SPI6.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPhase
-SPI6.Mode=SPI_MODE_MASTER
-SPI6.VirtualType=VM_MASTER
 TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM1.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation3 CH3,Prescaler
@@ -631,6 +651,11 @@ TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period,AutoReloadPreload
 TIM3.Period=10000-1
 TIM3.Prescaler=24-1
+UART5.BaudRate=100000
+UART5.IPParameters=Mode,WordLength,Parity,BaudRate
+UART5.Mode=MODE_RX
+UART5.Parity=PARITY_EVEN
+UART5.WordLength=WORDLENGTH_9B
 UART7.BaudRate=921600
 UART7.IPParameters=BaudRate
 USART1.BaudRate=921600
diff --git a/STM32H723XG_FLASH.ld b/STM32H723XG_FLASH.ld
index a1d75c7..a041b39 100644
--- a/STM32H723XG_FLASH.ld
+++ b/STM32H723XG_FLASH.ld
@@ -165,7 +165,7 @@ SECTIONS
     *(.RamFunc*)       /* .RamFunc* sections */
 
     . = ALIGN(4);
-  } >DTCMRAM AT> FLASH
+  } >RAM_D1 AT> FLASH
 
  /* Initialized TLS data section */
   .tdata : ALIGN(4)
@@ -175,7 +175,7 @@ SECTIONS
     _edata = .;        /* define a global symbol at data end */
     PROVIDE(__data_end = .);
     PROVIDE(__tdata_end = .);
-  } >DTCMRAM AT> FLASH
+  } >RAM_D1 AT> FLASH
 
   PROVIDE( __tdata_start = ADDR(.tdata) );
   PROVIDE( __tdata_size = __tdata_end - __tdata_start );
@@ -199,7 +199,7 @@ SECTIONS
     *(.tbss .tbss.*)
     . = ALIGN(4);
     PROVIDE( __tbss_end = . );
-  } >DTCMRAM
+  } >RAM_D1
 
   PROVIDE( __tbss_start = ADDR(.tbss) );
   PROVIDE( __tbss_size = __tbss_end - __tbss_start );
@@ -223,7 +223,7 @@ SECTIONS
     _ebss = .;         /* define a global symbol at bss end */
     __bss_end__ = _ebss;
       PROVIDE( __bss_end = .);
-  } >DTCMRAM
+  } >RAM_D1
   PROVIDE( __non_tls_bss_start = ADDR(.bss) );
 
   PROVIDE( __bss_start = __tbss_start );
diff --git a/User/bsp/bsp_config.yaml b/User/bsp/bsp_config.yaml
index 0e7378d..18f4dd9 100644
--- a/User/bsp/bsp_config.yaml
+++ b/User/bsp/bsp_config.yaml
@@ -93,12 +93,12 @@ pwm:
     label: TIM2_CH3
     timer: TIM2
   - channel: TIM_CHANNEL_4
-    custom_name: TIM3_CH4
-    label: TIM3_CH4
+    custom_name: IMU_HEAT
+    label: IMU_HEAT
     timer: TIM3
   - channel: TIM_CHANNEL_2
-    custom_name: TIM12_CH2
-    label: TIM12_CH2
+    custom_name: BUZZER
+    label: BUZZER
     timer: TIM12
   - channel: TIM_CHANNEL_3
     custom_name: TIM1_CH3
@@ -118,6 +118,6 @@ time:
   enabled: true
 uart:
   devices:
-  - instance: USART1
+  - instance: UART5
     name: DR16
   enabled: true
diff --git a/User/bsp/pwm.h b/User/bsp/pwm.h
index f0e75f2..da2407b 100644
--- a/User/bsp/pwm.h
+++ b/User/bsp/pwm.h
@@ -25,8 +25,8 @@ extern "C" {
 typedef enum {
   BSP_PWM_TIM2_CH1,
   BSP_PWM_TIM2_CH3,
-  BSP_PWM_TIM3_CH4,
-  BSP_PWM_TIM12_CH2,
+  BSP_PWM_IMU_HEAT,
+  BSP_PWM_BUZZER,
   BSP_PWM_TIM1_CH3,
   BSP_PWM_TIM1_CH1,
   BSP_PWM_NUM,
diff --git a/User/bsp/uart.c b/User/bsp/uart.c
index 97eb8d3..96c4fd8 100644
--- a/User/bsp/uart.c
+++ b/User/bsp/uart.c
@@ -23,7 +23,7 @@ static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);
 
 /* Private function  -------------------------------------------------------- */
 static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
-  if (huart->Instance == USART1)
+  if (huart->Instance == UART5)
     return BSP_UART_DR16;
   else
     return BSP_UART_ERR;
@@ -114,7 +114,7 @@ void BSP_UART_IRQHandler(UART_HandleTypeDef *huart) {
 UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
   switch (uart) {
     case BSP_UART_DR16:
-      return &huart1;
+      return &huart5;
     default:
       return NULL;
   }
diff --git a/User/device/device_config.yaml b/User/device/device_config.yaml
index 46f042e..981bd38 100644
--- a/User/device/device_config.yaml
+++ b/User/device/device_config.yaml
@@ -8,7 +8,7 @@ bmi088:
   enabled: true
 buzzer:
   bsp_config:
-    BSP_PWM_BUZZER: BSP_PWM_TIM12_CH2
+    BSP_PWM_BUZZER: BSP_PWM_TIM2_CH1
   enabled: true
 dr16:
   bsp_config:
diff --git a/User/task/atti_esit.c b/User/task/atti_esit.c
index 19fd599..6e91e67 100644
--- a/User/task/atti_esit.c
+++ b/User/task/atti_esit.c
@@ -1,12 +1,18 @@
 /*
     atti_esit Task
-    
+
 */
 
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "bsp/gpio.h"
+#include "bsp/mm.h"
+#include "bsp/pwm.h"
+#include "component/ahrs.h"
+#include "component/pid.h"
+#include "device/bmi088.h"
+#include "task/user_task.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,6 +20,27 @@
 /* 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;
+
+/*默认校准参数*/
+BMI088_Cali_t cali_bmi088 = {
+    .gyro_offset = {-0.00147764047f, -0.00273479894f, 0.00154074503f},
+};
+
+static const KPID_Params_t imu_temp_ctrl_pid_param = {
+    .k = 0.1f,
+    .p = 0.15f,
+    .i = 0.01f,
+    .d = 0.02f,
+    .i_limit = 1.0f,
+    .out_limit = 1.0f,
+};
 
 /* USER STRUCT END */
 
@@ -22,17 +49,41 @@
 void Task_atti_esit(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
 
-  
   osDelay(ATTI_ESIT_INIT_DELAY); /* 延时一段时间再开启任务 */
 
   /* 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);
   /* USER CODE INIT END */
 
   while (1) {
     /* 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);
+
+    /* 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);
+    BSP_PWM_SetComp(BSP_PWM_IMU_HEAT, PID_Calc(&imu_temp_ctrl_pid, 40.5f,
+                                               bmi088.temp, 0.0f, 0.0f));
+    osKernelUnlock();
 
     /* USER CODE END */
   }
-  
 }
\ No newline at end of file
diff --git a/User/task/rc.c b/User/task/rc.c
index e1897c1..4ef9eed 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -4,9 +4,10 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
+#include "device/dr16.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "device/dr16.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +15,7 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+DR16_t dr16;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -30,13 +31,18 @@ void Task_rc(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  DR16_Init(&dr16);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-
+    DR16_StartDmaRecv(&dr16);
+    if (DR16_WaitDmaCplt(20)) {
+      DR16_ParseData(&dr16);
+    } else {
+      DR16_Offline(&dr16);
+    }
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }