diff --git a/User/bsp/fdcan.c b/User/bsp/fdcan.c
index 6734700..481548d 100644
--- a/User/bsp/fdcan.c
+++ b/User/bsp/fdcan.c
@@ -21,19 +21,19 @@
   #define FDCAN1_FILTER_CONFIG_TABLE(X) \
     X(0,       FDCAN_STANDARD_ID,   FDCAN_FILTER_MASK,   0x000     ,   0x000     ,   0) \
     X(1,       FDCAN_EXTENDED_ID,   FDCAN_FILTER_MASK,   0x00000000,   0x00000000,   0) 
-    #define FDCAN1_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
+  #define FDCAN1_GLOBAL_FILTER FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
 #endif
 #ifdef FDCAN2_EN
   #define FDCAN2_FILTER_CONFIG_TABLE(X) \
     X(0,       FDCAN_STANDARD_ID,   FDCAN_FILTER_MASK,   0x000     ,   0x000     ,   0) \
     X(1,       FDCAN_EXTENDED_ID,   FDCAN_FILTER_MASK,   0x00000000,   0x00000000,   0) 
-    #define FDCAN2_GLOBAL_FILTER FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
+  #define FDCAN2_GLOBAL_FILTER FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
 #endif
 #ifdef FDCAN3_EN
   #define FDCAN3_FILTER_CONFIG_TABLE(X) \
     X(0,       FDCAN_STANDARD_ID,   FDCAN_FILTER_MASK,   0x000     ,   0x000     ,   0) \
     X(1,       FDCAN_EXTENDED_ID,   FDCAN_FILTER_MASK,   0x00000000,   0x00000000,   0) 
-  #define FDCAN3_GLOBAL_FILTER FDCAN_REJECT, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
+  #define FDCAN3_GLOBAL_FILTER FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
 #endif
 
 /* ====宏展开实现==== */
diff --git a/User/bsp/gpio.c b/User/bsp/gpio.c
index 8ec7c27..4c2e388 100644
--- a/User/bsp/gpio.c
+++ b/User/bsp/gpio.c
@@ -90,6 +90,7 @@ int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
     default:
       return BSP_ERR;
   }
+  return BSP_OK;
 }
 
 int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
@@ -107,6 +108,7 @@ int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
     default:
       return BSP_ERR;
   }
+  return BSP_OK;
 }
 int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value){
   if (gpio >= BSP_GPIO_NUM) return BSP_ERR;
diff --git a/User/device/bmi088.h b/User/device/bmi088.h
index c057918..eb44e0c 100644
--- a/User/device/bmi088.h
+++ b/User/device/bmi088.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <sys/_intsup.h>
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -31,7 +30,6 @@ typedef struct {
   } gyro_offset; /* 陀螺仪偏置 */
 } BMI088_Cali_t; /* BMI088校准数据 */
 
-
 typedef struct {
   DEVICE_Header_t header;
   AHRS_Accl_t accl;
diff --git a/User/device/device_config.yaml b/User/device/device_config.yaml
index b07f920..dd505bb 100644
--- a/User/device/device_config.yaml
+++ b/User/device/device_config.yaml
@@ -29,6 +29,10 @@ motor_lz:
 motor_rm:
   bsp_config: {}
   enabled: true
+mrobot:
+  bsp_config:
+    BSP_UART_MROBOT: BSP_UART_VOFA
+  enabled: true
 vofa:
   bsp_config:
     BSP_UART_VOFA: BSP_UART_VOFA
diff --git a/User/device/mrobot.c b/User/device/mrobot.c
index e96471a..f1a185a 100644
--- a/User/device/mrobot.c
+++ b/User/device/mrobot.c
@@ -120,7 +120,7 @@ static void send_string(const char *str) {
     if (str == NULL || *str == '\0') return;
     
     ctx.tx_complete = false;
-    BSP_UART_Transmit(MROBOT_UART_PORT, (uint8_t *)str, strlen(str), true);
+    BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)str, strlen(str), true);
     while (!ctx.tx_complete) { osDelay(1); }
 }
 
@@ -151,7 +151,7 @@ static void uart_rx_callback(void) {
         if (ch == 'q' || ch == 'Q' || ch == 27) {
             ctx.htop_exit = true;
         }
-        BSP_UART_Receive(MROBOT_UART_PORT, &ctx.uart_rx_char, 1, false);
+        BSP_UART_Receive(BSP_UART_VOFA, &ctx.uart_rx_char, 1, false);
         return;
     }
     
@@ -160,19 +160,19 @@ static void uart_rx_callback(void) {
         if (ctx.cmd_index > 0) {
             ctx.cmd_buffer[ctx.cmd_index] = '\0';
             ctx.cmd_ready = true;
-            BSP_UART_Transmit(MROBOT_UART_PORT, (uint8_t *)"\r\n", 2, false);
+            BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)"\r\n", 2, false);
         }
     } else if (ch == 127 || ch == 8) {  /* 退格键 */
         if (ctx.cmd_index > 0) {
             ctx.cmd_index--;
-            BSP_UART_Transmit(MROBOT_UART_PORT, (uint8_t *)ANSI_BACKSPACE, 3, false);
+            BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)ANSI_BACKSPACE, 3, false);
         }
     } else if (ch >= 32 && ch < 127 && ctx.cmd_index < sizeof(ctx.cmd_buffer) - 1) {
         ctx.cmd_buffer[ctx.cmd_index++] = ch;
-        BSP_UART_Transmit(MROBOT_UART_PORT, &ch, 1, false);
+        BSP_UART_Transmit(BSP_UART_VOFA, &ch, 1, false);
     }
     
-    BSP_UART_Receive(MROBOT_UART_PORT, &ctx.uart_rx_char, 1, false);
+    BSP_UART_Receive(BSP_UART_VOFA, &ctx.uart_rx_char, 1, false);
 }
 
 /* ========================================================================== */
@@ -500,11 +500,11 @@ void MRobot_Init(void) {
     }
     
     /* 注册 UART 回调 */
-    BSP_UART_RegisterCallback(MROBOT_UART_PORT, BSP_UART_RX_CPLT_CB, uart_rx_callback);
-    BSP_UART_RegisterCallback(MROBOT_UART_PORT, BSP_UART_TX_CPLT_CB, uart_tx_callback);
+    BSP_UART_RegisterCallback(BSP_UART_VOFA, BSP_UART_RX_CPLT_CB, uart_rx_callback);
+    BSP_UART_RegisterCallback(BSP_UART_VOFA, BSP_UART_TX_CPLT_CB, uart_tx_callback);
     
     /* 启动 UART 接收 */
-    BSP_UART_Receive(MROBOT_UART_PORT, &ctx.uart_rx_char, 1, false);
+    BSP_UART_Receive(BSP_UART_VOFA, &ctx.uart_rx_char, 1, false);
     
     /* 等待用户按下回车 */
     while (ctx.uart_rx_char != '\r' && ctx.uart_rx_char != '\n') {
diff --git a/User/device/mrobot.h b/User/device/mrobot.h
index 74c0875..69d8b3a 100644
--- a/User/device/mrobot.h
+++ b/User/device/mrobot.h
@@ -143,10 +143,6 @@ extern "C" {
 #define MROBOT_HTOP_REFRESH_MS      200     /* htop 刷新间隔 (ms) */
 #endif
 
-#ifndef MROBOT_UART_PORT
-#define MROBOT_UART_PORT            BSP_UART_VOFA  /* 默认 UART 端口 */
-#endif
-
 #ifndef MROBOT_USER_NAME
 #define MROBOT_USER_NAME            "root"         /* CLI 用户名 */
 #endif
diff --git a/User/task/ai.c b/User/task/ai.c
index 1c71886..6fd6395 100644
--- a/User/task/ai.c
+++ b/User/task/ai.c
@@ -23,6 +23,9 @@ Gimbal_AI_t ai_for_gimbal;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_ai(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
diff --git a/User/task/atti_esit.c b/User/task/atti_esit.c
index 66e4487..45b5a9d 100644
--- a/User/task/atti_esit.c
+++ b/User/task/atti_esit.c
@@ -51,27 +51,9 @@ static const KPID_Params_t imu_temp_ctrl_pid_param = {
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
 
-/**
- * @brief IMU 设备打印回调函数
- */
-static int print_imu_callback(const void *data, char *buffer, size_t size) {
-    const BMI088_t *imu = (const BMI088_t *)data;
-    #define RAD2DEG 57.2957795131f
-    
-    return MRobot_Snprintf(buffer, size,
-        "  Status : %s\r\n"
-        "  Accel  : X=%.3f  Y=%.3f  Z=%.3f (m/s^2)\r\n"
-        "  Gyro   : X=%.3f  Y=%.3f  Z=%.3f (rad/s)\r\n"
-        "  Euler  : R=%.2f  P=%.2f  Y=%.2f (deg)\r\n"
-        "  Temp   : %.1f C\r\n",
-        imu->header.online ? "Online" : "Offline",
-        imu->accl.x, imu->accl.y, imu->accl.z,
-        imu->gyro.x, imu->gyro.y, imu->gyro.z,
-        eulr_to_send.rol * RAD2DEG, eulr_to_send.pit * RAD2DEG, eulr_to_send.yaw * RAD2DEG,
-        imu->temp);
-}
-
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_atti_esit(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
diff --git a/User/task/blink.c b/User/task/blink.c
index 7230e0a..6d0fd0d 100644
--- a/User/task/blink.c
+++ b/User/task/blink.c
@@ -20,6 +20,9 @@ static uint16_t count;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_blink(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
diff --git a/User/task/cli.c b/User/task/cli.c
index 40b5446..29ae053 100644
--- a/User/task/cli.c
+++ b/User/task/cli.c
@@ -18,6 +18,7 @@
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
 /**
  * @brief hello 命令回调
  * @note 命令回调必须返回 0 (pdFALSE) 表示完成，返回非0会继续调用
@@ -27,6 +28,7 @@ static long Cli_Hello(char *buffer, size_t size, const char *cmd) {
   MRobot_Snprintf(buffer, size, "Ciallo～(∠・ω< )⌒★\r\n");
   return 0;  /* 返回0表示命令执行完成 */
 }
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_cli(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index 41a2f7b..dacf854 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -32,6 +32,9 @@ Chassis_IMU_t chassis_imu;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_ctrl_chassis(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
diff --git a/User/task/ctrl_gimbal.c b/User/task/ctrl_gimbal.c
index 7d3fd82..fe6649d 100644
--- a/User/task/ctrl_gimbal.c
+++ b/User/task/ctrl_gimbal.c
@@ -24,6 +24,9 @@ Gimbal_AI_t gimbal_ai;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_ctrl_gimbal(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
diff --git a/User/task/ctrl_shoot.c b/User/task/ctrl_shoot.c
index ded9daf..4497430 100644
--- a/User/task/ctrl_shoot.c
+++ b/User/task/ctrl_shoot.c
@@ -20,9 +20,13 @@ Shoot_CMD_t shoot_cmd;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_ctrl_shoot(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
+
   
   /* 计算任务运行到指定频率需要等待的tick数 */
   const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_SHOOT_FREQ;
diff --git a/User/task/init.c b/User/task/init.c
index 546d0db..9f80448 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -40,7 +40,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
   task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
   task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
-  // task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
+  task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
   task_runtime.thread.cli = osThreadNew(Task_cli, NULL, &attr_cli);
 
   // 创建消息队列
diff --git a/User/task/monitor.c b/User/task/monitor.c
index 55d5bd3..94d8774 100644
--- a/User/task/monitor.c
+++ b/User/task/monitor.c
@@ -18,6 +18,9 @@
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_monitor(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
diff --git a/User/task/rc.c b/User/task/rc.c
index cc70232..ba22da6 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -25,6 +25,9 @@ Gimbal_CMD_t cmd_for_gimbal;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_rc(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
diff --git a/User/task/user_task.c b/User/task/user_task.c
index bacdc33..7ad2727 100644
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@@ -57,5 +57,5 @@ const osThreadAttr_t attr_vofa = {
 const osThreadAttr_t attr_cli = {
     .name = "cli",
     .priority = osPriorityNormal,
-    .stack_size = 256 * 16,
+    .stack_size = 1024 * 4,
 };
\ No newline at end of file
diff --git a/User/task/vofa.c b/User/task/vofa.c
index c9e01a3..8945c59 100644
--- a/User/task/vofa.c
+++ b/User/task/vofa.c
@@ -19,6 +19,9 @@ Chassis_t chassis_vofa;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_vofa(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */