diff --git a/.clangd b/.clangd
new file mode 100644
index 0000000..50c62c4
--- /dev/null
+++ b/.clangd
@@ -0,0 +1,11 @@
+CompileFlags:
+  Add:
+    - '-ferror-limit=0'
+    - '-Wno-implicit-int'
+  CompilationDatabase: build/Debug
+Diagnostics:
+  Suppress:
+    - unused-includes
+    - unknown_typename
+    - unknown_typename_suggest
+    - typename_requires_specqual
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..185b49a
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+build
+mx.scratch
+!.settings
\ No newline at end of file
diff --git a/.settings/bundles-lock.store.json b/.settings/bundles-lock.store.json
new file mode 100644
index 0000000..1568284
--- /dev/null
+++ b/.settings/bundles-lock.store.json
@@ -0,0 +1,158 @@
+{
+  "resolved": [
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "14.3.1+st.2",
+      "platform": "aarch64-darwin",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "14.3.1+st.2"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "14.3.1+st.2",
+      "platform": "x86_64-darwin",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "14.3.1+st.2"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "14.3.1+st.2",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "14.3.1+st.2"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "14.3.1+st.2",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "14.3.1+st.2"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32-14_3_1-description",
+      "version": "1.0.1+st.2",
+      "platform": "all",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32-14_3_1-description",
+          "version": ">=0.0.1"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.13.1+st.1"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.13.1+st.1"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.13.1+st.1"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "19.1.2+st.3"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "19.1.2+st.3"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "19.1.2+st.3"
+        }
+      ]
+    }
+  ]
+}
diff --git a/.settings/bundles.store.json b/.settings/bundles.store.json
new file mode 100644
index 0000000..dd143ba
--- /dev/null
+++ b/.settings/bundles.store.json
@@ -0,0 +1,20 @@
+{
+  "bundles": [
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3"
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1"
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "14.3.1+st.2"
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3"
+    }
+  ]
+}
diff --git a/.settings/ide.store.json b/.settings/ide.store.json
new file mode 100644
index 0000000..b530633
--- /dev/null
+++ b/.settings/ide.store.json
@@ -0,0 +1,9 @@
+{
+  "source": {
+    "sourceType": "STM32CubeMX"
+  },
+  "device": "STM32F407IGH6",
+  "core": "Cortex-M4",
+  "order": 0,
+  "toolchain": "GCC"
+}
\ No newline at end of file
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..233ee1f
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,8 @@
+{
+    "configurations": [
+        {
+            "name": "STM32",
+            "compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..6456ac2
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,15 @@
+{
+  "cmake.cmakePath": "cube-cmake",
+  "cmake.configureArgs": [
+    "-DCMAKE_COMMAND=cube-cmake"
+  ],
+  "cmake.preferredGenerators": [
+    "Ninja"
+  ],
+  "stm32cube-ide-clangd.path": "cube",
+  "stm32cube-ide-clangd.arguments": [
+    "starm-clangd",
+    "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc*",
+    "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-g++*"
+  ]
+}
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ecc39ec..28f8167 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -81,14 +81,14 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/referee.c
     User/device/remote_control.c
     User/device/supercap.c
-
+    User/device/referee.c
     # User/module sources
     User/module/cap.c
     User/module/chassis.c
-    User/module/cmd.c
-    User/module/cmd_adapter.c
-    User/module/cmd_behavior.c
-    User/module/cmd_example.c
+    User/module/cmd/cmd.c
+    User/module/cmd/cmd_adapter.c
+    User/module/cmd/cmd_behavior.c
+    User/module/cmd/cmd_example.c
     User/module/config.c
     User/module/gimbal.c
     User/module/shoot.c
diff --git a/User/device/CMakeLists.txt b/User/device/CMakeLists.txt
new file mode 100644
index 0000000..ed5915f
--- /dev/null
+++ b/User/device/CMakeLists.txt
@@ -0,0 +1,138 @@
+cmake_minimum_required(VERSION 3.22)
+
+#
+# This file is generated only once,
+# and is not re-generated if converter is called multiple times.
+#
+# User is free to modify the file as much as necessary
+#
+
+# Setup compiler settings
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_C_EXTENSIONS ON)
+
+
+# Define the build type
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Debug")
+endif()
+
+# Set the project name
+set(CMAKE_PROJECT_NAME CtrBoard-H7_ALL)
+
+# Enable compile command to ease indexing with e.g. clangd
+set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
+
+# Core project settings
+project(${CMAKE_PROJECT_NAME})
+message("Build type: " ${CMAKE_BUILD_TYPE})
+
+# Enable CMake support for ASM and C languages
+enable_language(C ASM)
+
+# Create an executable object type
+add_executable(${CMAKE_PROJECT_NAME})
+
+# Add STM32CubeMX generated sources
+add_subdirectory(cmake/stm32cubemx)
+
+# Link directories setup
+target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined library search paths
+)
+
+# Add sources to executable
+target_sources(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user sources here
+    # User/bsp sources
+    User/bsp/fdcan.c
+    User/bsp/flash.c
+    User/bsp/gpio.c
+    User/bsp/mm.c
+    User/bsp/pwm.c
+    User/bsp/spi.c
+    User/bsp/time.c
+    User/bsp/uart.c
+
+    # User/component sources
+    User/component/QuaternionEKF.c
+    User/component/ahrs.c
+    User/component/crc16.c
+    User/component/crc8.c
+    User/component/error_detect.c
+    User/component/filter.c
+    User/component/freertos_cli.c
+    User/component/kalman_filter.c
+    User/component/limiter.c
+    User/component/lqr.c
+    User/component/pid.c
+    User/component/user_math.c
+    User/component/vmc.c
+    User/component/ui.c
+    # User/device sources
+    User/device/bmi088.c
+    User/device/buzzer.c
+    User/device/dr16.c
+    User/device/gimbal_imu.c
+    User/device/motor.c
+    User/device/motor_dm.c
+    User/device/motor_lk.c
+    User/device/motor_lz.c
+    User/device/motor_rm.c
+    User/device/vofa.c
+    User/device/mrobot.c
+    User/device/referee.c
+    User/device/supercap.c
+    # User/module sources
+    User/module/balance_chassis.c
+    User/module/config.c
+    User/module/gimbal.c
+    User/module/shoot.c
+    User/module/cap.c
+    User/module/cmd/cmd.c
+    User/module/cmd/cmd_adapter.c
+    User/module/cmd/cmd_behavior.c
+    User/module/cmd/cmd_example.c
+    User/module/vision_bridge.c
+    User/module/aimbot.c
+    # User/task sources
+    User/task/ai.c
+    User/task/atti_esit.c
+    User/task/blink.c
+    User/task/ctrl_chassis.c
+    User/task/ctrl_gimbal.c
+    User/task/ctrl_shoot.c
+    User/task/debug.c
+    User/task/init.c
+    User/task/monitor.c
+    User/task/rc.c
+    User/task/cli.c
+    User/task/cap.c
+    User/task/user_task.c
+    User/task/vofa.c
+    User/task/cmd.c
+    User/task/ref_main.c
+)
+
+# Add include paths
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined include paths
+    User
+)
+
+# Add project symbols (macros)
+target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined symbols
+)
+
+# Remove wrong libob.a library dependency when using cpp files
+list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
+
+# Add linked libraries
+target_link_libraries(${CMAKE_PROJECT_NAME}
+    stm32cubemx
+    ${CMAKE_SOURCE_DIR}/Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfsp_math.a
+
+    # Add user defined libraries
+)
diff --git a/User/device/dr16.c b/User/device/dr16.c
index b0bf495..650f748 100644
--- a/User/device/dr16.c
+++ b/User/device/dr16.c
@@ -1,169 +1,218 @@
-// /*
-//     DR16接收机
-//     Example：
+/*
+    DR16接收机
+    Example：
 
-//   DR16_Init(&dr16);
+  DR16_Init(&dr16);
   
-//   while (1) {
-//     DR16_StartDmaRecv(&dr16);
-//     if (DR16_WaitDmaCplt(20)) {
-//       DR16_ParseData(&dr16);
-//     } else {
-//       DR16_Offline(&dr16);
-//     }
-// }
-// */
+  while (1) {
+    DR16_StartDmaRecv(&dr16);
+    if (DR16_WaitDmaCplt(20)) {
+      DR16_ParseData(&dr16);
+    } else {
+      DR16_Offline(&dr16);
+    }
+}
+*/
 
-// /* Includes ----------------------------------------------------------------- */
-// #include "dr16.h"
-// #include "bsp/uart.h"
-// #include "bsp/time.h"
-// #include "device.h"
+/* Includes ----------------------------------------------------------------- */
+#include "dr16.h"
+#include "bsp/uart.h"
+#include "bsp/time.h"
+#include "device.h"
 
-// #include <string.h>
-// #include <stdbool.h>
+#include <string.h>
+#include <stdbool.h>
 
-// /* USER INCLUDE BEGIN */
+/* USER INCLUDE BEGIN */
 
-// /* USER INCLUDE END */
-// /* Private define ----------------------------------------------------------- */
-// #define DR16_CH_VALUE_MIN (364u)
-// #define DR16_CH_VALUE_MID (1024u)
-// #define DR16_CH_VALUE_MAX (1684u)
+/* USER INCLUDE END */
+/* Private define ----------------------------------------------------------- */
+#define DR16_CH_VALUE_MIN (364u)
+#define DR16_CH_VALUE_MID (1024u)
+#define DR16_CH_VALUE_MAX (1684u)
 
-// /* USER DEFINE BEGIN */
+/* USER DEFINE BEGIN */
 
-// /* USER DEFINE END */
+/* USER DEFINE END */
 
-// /* Private macro ------------------------------------------------------------ */
-// /* Private typedef ---------------------------------------------------------- */
-// /* Private variables -------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
 
-// static osThreadId_t thread_alert;
-// static bool inited = false;
+static osThreadId_t thread_alert;
+static bool inited = false;
+static DR16_t *dr16_instance = NULL;  /* 用于空闲中断回调中访问实例 */
+static uint8_t sync_buf[32];         /* 帧同步时的丢弃缓冲区 */
 
-// /* Private function  -------------------------------------------------------- */
-// static void DR16_RxCpltCallback(void) {
-//   osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
-// }
+/* Private function  -------------------------------------------------------- */
+static void DR16_RxCpltCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
+}
 
-// static bool DR16_DataCorrupted(const DR16_t *dr16) {
-//   if (dr16 == NULL) return DEVICE_ERR_NULL;
+/**
+ * @brief 空闲中断回调 - 用于帧同步
+ * 空闲中断表示一帧传输结束（总线空闲），此时停止当前DMA接收，
+ * 丢弃不完整的数据，这样下一次 StartDmaRecv 就能从帧头开始。
+ */
+static void DR16_IdleCallback(void) {
+  /* 停止当前DMA接收（无论收了多少字节） */
+  HAL_UART_AbortReceive(BSP_UART_GetHandle(BSP_UART_DR16));
+  /* 通知任务：可以启动下一次对齐的接收了 */
+  osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
+}
 
-//   if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
-//       (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX))
-//     return DEVICE_ERR;
+static bool DR16_DataCorrupted(const DR16_t *dr16) {
+  if (dr16 == NULL) return DEVICE_ERR_NULL;
 
-//   if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) ||
-//       (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX))
-//     return DEVICE_ERR;
+  if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
 
-//   if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) ||
-//       (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX))
-//     return DEVICE_ERR;
+  if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
 
-//   if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) ||
-//       (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX))
-//     return DEVICE_ERR;
+  if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
 
-//   if (dr16->raw_data.sw_l == 0) return DEVICE_ERR;
+  if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
 
-//   if (dr16->raw_data.sw_r == 0) return DEVICE_ERR;
+  if (dr16->raw_data.sw_l == 0) return DEVICE_ERR;
 
-//   return DEVICE_OK;
-// }
+  if (dr16->raw_data.sw_r == 0) return DEVICE_ERR;
 
-// /* Exported functions ------------------------------------------------------- */
-// int8_t DR16_Init(DR16_t *dr16) {
-//   if (dr16 == NULL) return DEVICE_ERR_NULL;
-//   if (inited) return DEVICE_ERR_INITED;
-//   if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
+  return DEVICE_OK;
+}
 
-//   BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB,
-//                             DR16_RxCpltCallback);
+/* Exported functions ------------------------------------------------------- */
+int8_t DR16_Init(DR16_t *dr16) {
+  if (dr16 == NULL) return DEVICE_ERR_NULL;
+  if (inited) return DEVICE_ERR_INITED;
+  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
 
-//   inited = true;
-//   return DEVICE_OK;
-// }
+  dr16_instance = dr16;
 
-// int8_t DR16_Restart(void) {
-//   __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16));
-//   __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16));
-//   return DEVICE_OK;
-// }
+  /* 注册 DMA 接收完成回调 */
+  BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB,
+                            DR16_RxCpltCallback);
 
-// int8_t DR16_StartDmaRecv(DR16_t *dr16) {
-//   if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
-//                            (uint8_t *)&(dr16->raw_data),
-//                            sizeof(dr16->raw_data)) == HAL_OK)
-//     return DEVICE_OK;
-//   return DEVICE_ERR;
-// }
+  /* 注册空闲中断回调并使能空闲中断，用于帧同步 */
+  BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_IDLE_LINE_CB,
+                            DR16_IdleCallback);
+  __HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_DR16), UART_IT_IDLE);
 
-// bool DR16_WaitDmaCplt(uint32_t timeout) {
-//   return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
-//           SIGNAL_DR16_RAW_REDY);
-// }
+  /*
+   * 首次帧同步：启动一次丢弃式DMA接收。
+   * 如果遥控器已经在发送，DMA会从帧中间开始收，空闲中断到来时
+   * IdleCallback 会 Abort 这次接收并通知任务，下一次 StartDmaRecv
+   * 就能从完整帧头开始。
+   */
+  HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
+                       sync_buf, sizeof(sync_buf));
+  /* 等待空闲中断完成首次同步（最多50ms，足够等一帧） */
+  osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, 50);
 
-// int8_t DR16_ParseData(DR16_t *dr16){
-//   if (dr16 == NULL) return DEVICE_ERR_NULL;
+  inited = true;
+  return DEVICE_OK;
+}
 
-//   if (DR16_DataCorrupted(dr16)) {
-//     return DEVICE_ERR;
-//   }
+int8_t DR16_Restart(void) {
+  UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_DR16);
 
-//   dr16->header.online = true;
-//   dr16->header.last_online_time = BSP_TIME_Get_us();
+  /* 先终止当前DMA接收 */
+  HAL_UART_AbortReceive(huart);
+
+  /* 重置串口 */
+  __HAL_UART_DISABLE(huart);
+  __HAL_UART_ENABLE(huart);
+
+  /* 重新使能空闲中断 */
+  __HAL_UART_ENABLE_IT(huart, UART_IT_IDLE);
+
+  /* 重新做帧同步：丢弃式接收，等空闲中断对齐 */
+  HAL_UART_Receive_DMA(huart, sync_buf, sizeof(sync_buf));
+  osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, 50);
+
+  return DEVICE_OK;
+}
+
+int8_t DR16_StartDmaRecv(DR16_t *dr16) {
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
+                           (uint8_t *)&(dr16->raw_data),
+                           sizeof(dr16->raw_data)) == HAL_OK)
+    return DEVICE_OK;
+  return DEVICE_ERR;
+}
+
+bool DR16_WaitDmaCplt(uint32_t timeout) {
+  return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
+          SIGNAL_DR16_RAW_REDY);
+}
+
+int8_t DR16_ParseData(DR16_t *dr16){
+  if (dr16 == NULL) return DEVICE_ERR_NULL;
+
+  if (DR16_DataCorrupted(dr16)) {
+    /* 数据损坏说明帧错位了，重启串口并重新同步 */
+    DR16_Restart();
+    return DEVICE_ERR;
+  }
+
+  dr16->header.online = true;
+  dr16->header.last_online_time = BSP_TIME_Get_us();
   
-//   memset(&(dr16->data), 0, sizeof(dr16->data));
+  memset(&(dr16->data), 0, sizeof(dr16->data));
 
-//   float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
+  float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
 
-//   // 解析摇杆数据
-//   dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
-//   dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
-//   dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
-//   dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
+  // 解析摇杆数据
+  dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
+  dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
+  dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
+  dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
 
-//   // 解析拨杆位置
-//   dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l;
-//   dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r;
+  // 解析拨杆位置
+  dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l;
+  dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r;
 
-//   // 解析鼠标数据
-//   dr16->data.mouse.x = dr16->raw_data.x;
-//   dr16->data.mouse.y = dr16->raw_data.y;
-//   dr16->data.mouse.z = dr16->raw_data.z;
+  // 解析鼠标数据
+  dr16->data.mouse.x = dr16->raw_data.x;
+  dr16->data.mouse.y = dr16->raw_data.y;
+  dr16->data.mouse.z = dr16->raw_data.z;
 
-//   dr16->data.mouse.l_click = dr16->raw_data.press_l;
-//   dr16->data.mouse.r_click = dr16->raw_data.press_r;
+  dr16->data.mouse.l_click = dr16->raw_data.press_l;
+  dr16->data.mouse.r_click = dr16->raw_data.press_r;
 
-//   // 解析键盘按键 - 使用union简化代码
-//   uint16_t key_value = dr16->raw_data.key;
+  // 解析键盘按键 - 使用union简化代码
+  uint16_t key_value = dr16->raw_data.key;
   
-//   // 解析键盘位映射（W-B键，位0-15）
-//   for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) {
-//     dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
-//   }
+  // 解析键盘位映射（W-B键，位0-15）
+  for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) {
+    dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
+  }
 
-//   // 解析鼠标点击
-//   dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click;
-//   dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click;
+  // 解析鼠标点击
+  dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click;
+  dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click;
 
-//   // 解析第五通道
-//   dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
+  // 解析第五通道
+  dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
   
-//   return DEVICE_OK;
-// }
+  return DEVICE_OK;
+}
 
-// int8_t DR16_Offline(DR16_t *dr16){
-//   if (dr16 == NULL) return DEVICE_ERR_NULL;
+int8_t DR16_Offline(DR16_t *dr16){
+  if (dr16 == NULL) return DEVICE_ERR_NULL;
 
-//   dr16->header.online = false;
-//   memset(&(dr16->data), 0, sizeof(dr16->data));
+  dr16->header.online = false;
+  memset(&(dr16->data), 0, sizeof(dr16->data));
 
-//   return DEVICE_OK;
-// }
+  return DEVICE_OK;
+}
 
-// /* USER FUNCTION BEGIN */
+/* USER FUNCTION BEGIN */
 
-// /* USER FUNCTION END */
+/* USER FUNCTION END */
diff --git a/User/device/dr16.h b/User/device/dr16.h
index 567d155..03fa526 100644
--- a/User/device/dr16.h
+++ b/User/device/dr16.h
@@ -1,117 +1,117 @@
-// #pragma once
+#pragma once
 
-// #ifdef __cplusplus
-// extern "C" {
-// #endif
+#ifdef __cplusplus
+extern "C" {
+#endif
 
-// /* Includes ----------------------------------------------------------------- */
-// #include <cmsis_os2.h>
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
 
-// #include "component/user_math.h"
-// #include "device.h"
+#include "component/user_math.h"
+#include "device.h"
 
-// /* USER INCLUDE BEGIN */
+/* USER INCLUDE BEGIN */
 
-// // // // ///* USER INCLUDE END */
+/* USER INCLUDE END */
 
-// /* USER DEFINE BEGIN */
+/* USER DEFINE BEGIN */
 
-// // // // ///* USER DEFINE END */
+/* USER DEFINE END */
 
-// /* Exported constants ------------------------------------------------------- */
-// /* Exported macro ----------------------------------------------------------- */
-// /* Exported types ----------------------------------------------------------- */
-// typedef struct __packed {
-//   uint16_t ch_r_x : 11;
-//   uint16_t ch_r_y : 11;
-//   uint16_t ch_l_x : 11;
-//   uint16_t ch_l_y : 11;
-//   uint8_t sw_r : 2;
-//   uint8_t sw_l : 2;
-//   int16_t x;
-//   int16_t y;
-//   int16_t z;
-//   uint8_t press_l;
-//   uint8_t press_r;
-//   uint16_t key;
-//   uint16_t res;
-// } DR16_RawData_t;
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef struct __packed {
+  uint16_t ch_r_x : 11;
+  uint16_t ch_r_y : 11;
+  uint16_t ch_l_x : 11;
+  uint16_t ch_l_y : 11;
+  uint8_t sw_r : 2;
+  uint8_t sw_l : 2;
+  int16_t x;
+  int16_t y;
+  int16_t z;
+  uint8_t press_l;
+  uint8_t press_r;
+  uint16_t key;
+  uint16_t res;
+} DR16_RawData_t;
 
-// typedef enum {
-//   DR16_SW_ERR = 0,
-//   DR16_SW_UP = 1,
-//   DR16_SW_MID = 3,
-//   DR16_SW_DOWN = 2,
-// } DR16_SwitchPos_t;
+typedef enum {
+  DR16_SW_ERR = 0,
+  DR16_SW_UP = 1,
+  DR16_SW_MID = 3,
+  DR16_SW_DOWN = 2,
+} DR16_SwitchPos_t;
 
-// /* 键盘按键值 */
-// 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_L_CLICK,
-//   DR16_R_CLICK,
-//   DR16_KEY_NUM,
-// } DR16_Key_t;
+/* 键盘按键值 */
+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_L_CLICK,
+  DR16_R_CLICK,
+  DR16_KEY_NUM,
+} DR16_Key_t;
 
-// typedef struct {
-//   float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
-//   float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
-//   float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
-//   float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
+typedef struct {
+  float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
+  float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
+  float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
+  float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
 
-//   float ch_res; /* 第五通道值 */
+  float ch_res; /* 第五通道值 */
 
-//    DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */
-//    DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */
+   DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */
+   DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */
 
-//   struct {
-//     int16_t x;
-//     int16_t y;
-//     int16_t z;
-//     bool l_click; /* 左键 */
-//     bool r_click; /* 右键 */
-//   } mouse;        /* 鼠标值 */
+  struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+    bool l_click; /* 左键 */
+    bool r_click; /* 右键 */
+  } mouse;        /* 鼠标值 */
 
-//   union {
-//     bool key[DR16_KEY_NUM]; /* 键盘按键值 */
-//     uint16_t value;        /* 键盘按键值的位映射 */
-//   } keyboard;
+  union {
+    bool key[DR16_KEY_NUM]; /* 键盘按键值 */
+    uint16_t value;        /* 键盘按键值的位映射 */
+  } keyboard;
 
-//   uint16_t res; /* 保留，未启用 */
-// } DR16_Data_t;
+  uint16_t res; /* 保留，未启用 */
+} DR16_Data_t;
 
-// typedef struct {
-//   DEVICE_Header_t header;
-//   DR16_RawData_t raw_data;
-//   DR16_Data_t data;
-// } DR16_t;
+typedef struct {
+  DEVICE_Header_t header;
+  DR16_RawData_t raw_data;
+  DR16_Data_t data;
+} DR16_t;
 
-// /* Exported functions prototypes -------------------------------------------- */
-// int8_t DR16_Init(DR16_t *dr16);
-// int8_t DR16_Restart(void);
-// int8_t DR16_StartDmaRecv(DR16_t *dr16);
-// bool DR16_WaitDmaCplt(uint32_t timeout);
-// int8_t DR16_ParseData(DR16_t *dr16);
-// int8_t DR16_Offline(DR16_t *dr16);
+/* Exported functions prototypes -------------------------------------------- */
+int8_t DR16_Init(DR16_t *dr16);
+int8_t DR16_Restart(void);
+int8_t DR16_StartDmaRecv(DR16_t *dr16);
+bool DR16_WaitDmaCplt(uint32_t timeout);
+int8_t DR16_ParseData(DR16_t *dr16);
+int8_t DR16_Offline(DR16_t *dr16);
 
-// /* USER FUNCTION BEGIN */
+/* USER FUNCTION BEGIN */
 
-// // // // ///* USER FUNCTION END */
+/* USER FUNCTION END */
 
-// #ifdef __cplusplus
-// }
-// #endif
+#ifdef __cplusplus
+}
+#endif
diff --git a/User/device/referee.c b/User/device/referee.c
index 565e017..badb195 100644
--- a/User/device/referee.c
+++ b/User/device/referee.c
@@ -12,7 +12,7 @@
 #include "component/crc8.h"
 #include "component/user_math.h"
 #include "device/referee.h"
-#include "module/cmd.h"
+// #include "module/cmd/cmd.h"
 
 /* Private define ----------------------------------------------------------- */
 #define REF_HEADER_SOF (0xA5)
@@ -31,7 +31,8 @@
 /* Private variables -------------------------------------------------------- */
 static volatile uint32_t drop_message = 0;
 
-static uint8_t rxbuf[REF_LEN_RX_BUFF];
+// static uint8_t rxbuf[REF_LEN_RX_BUFF];
+ uint8_t rxbuf[REF_LEN_RX_BUFF];
 
 static osThreadId_t thread_alert;
 static bool inited = false;
@@ -61,7 +62,7 @@ static void RefereeSlowRefreshTimerCallback(void *arg) {
 
 /* Exported functions ------------------------------------------------------- */
 int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui,
-                    const CMD_Screen_t *screen) {
+                    const Referee_Screen_t *screen) {
   if (ref == NULL) return DEVICE_ERR_NULL;
   if (inited) return DEVICE_ERR_INITED;
 
@@ -88,7 +89,7 @@ int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui,
   osTimerStart(ref->ui_fast_timer_id, fast_period_ms);
   osTimerStart(ref->ui_slow_timer_id, slow_period_ms);
 
-  __HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_REF), UART_IT_IDLE);
+  // __HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_REF), UART_IT_IDLE);
 
   inited = true;
   return 0;
@@ -103,7 +104,7 @@ int8_t Referee_Restart(void) {
 int8_t Referee_StartReceiving(Referee_t *ref) {
   (void)ref;
 
-  if (	BSP_UART_Receive(BSP_UART_REF, rxbuf, REF_LEN_RX_BUFF,true)  
+  if (	BSP_UART_Receive(BSP_UART_REF, rxbuf, REF_LEN_RX_BUFF,0)  
 		== BSP_OK)
     return DEVICE_OK;
   return DEVICE_ERR;
@@ -567,7 +568,7 @@ UI_Del_t *Referee_GetDelAdd(Referee_UI_t *ref_ui) {
     return &(ref_ui->del[ref_ui->del_counter++]);
 }
 
-uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd) {
+uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, Referee_UI_CMD_t cmd) {
   switch (cmd) {
     /* Demo */
     case UI_NOTHING:
@@ -614,8 +615,6 @@ uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref) {
 
 uint8_t Referee_PackAI(Referee_ForAI_t *ai, const Referee_t *ref) {
   ai->ref_status = ref->ref_status;
-  memcpy(&(ai->robot_status), &(ref->robot_status), sizeof(ai->robot_status));
-  memcpy(&(ai->game_status), &(ref->game_status), sizeof(ai->game_status));
   return 0;
 }
 
@@ -648,11 +647,31 @@ uint8_t Referee_UIRefresh(Referee_UI_t *ui) {
         UI_DrawLine(Referee_GetGrapicAdd(ui), "6", UI_GRAPIC_OPERATION_ADD,
                     UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12,
                     ui->screen->width * 0.4, ui->screen->height * 0.2,
-                    ui->screen->width * 0.4 + sin(ui->chassis_ui.angle) * 46,
-                    ui->screen->height * 0.2 + cos(ui->chassis_ui.angle) * 46);
+                    ui->screen->width * 0.4f + sinf(ui->chassis_ui.angle) * 46.0f,
+                    ui->screen->height * 0.2f + cosf(ui->chassis_ui.angle) * 46.0f);
+        UI_DrawLine(Referee_GetGrapicAdd(ui), "7", UI_GRAPIC_OPERATION_ADD,
+                    UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12,
+                    ui->screen->width * 0.4, ui->screen->height * 0.4,
+                    ui->screen->width * 0.4f - sinf(ui->chassis_ui.l0[0]) * 46.0f,
+                    ui->screen->height * 0.4f - cosf(ui->chassis_ui.l0[0]) * 46.0f);       
+        UI_DrawLine(Referee_GetGrapicAdd(ui), "8", UI_GRAPIC_OPERATION_ADD,
+                    UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12,
+                    ui->screen->width * 0.4, ui->screen->height * 0.6,
+                    ui->screen->width * 0.4f - sinf(ui->chassis_ui.theta[0]) * 46.0f,
+                    ui->screen->height * 0.6f - cosf(ui->chassis_ui.theta[0]) * 46.0f);   
+        UI_DrawLine(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD,
+                    UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12,
+                    ui->screen->width * 0.4, ui->screen->height * 0.4,
+                    ui->screen->width * 0.4f - sinf(ui->chassis_ui.l0[1]) * 46.0f,
+                    ui->screen->height * 0.4f - cosf(ui->chassis_ui.l0[1]) * 46.0f);
+        UI_DrawLine(Referee_GetGrapicAdd(ui), "a", UI_GRAPIC_OPERATION_ADD,
+                    UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12,
+                    ui->screen->width * 0.4, ui->screen->height * 0.8,
+                    ui->screen->width * 0.4f - sinf(ui->chassis_ui.theta[1]) * 46.0f,
+                    ui->screen->height * 0.8f - cosf(ui->chassis_ui.theta[1]) * 46.0f);                                  
         float start_pos_h = 0.0f;
         switch (ui->chassis_ui.mode) {
-          case STOP:
+          case CHASSIS_MODE_RELAX:
             start_pos_h = 0.68f;
             break;
           case CHASSIS_MODE_FOLLOW_GIMBAL:
diff --git a/User/device/referee.h b/User/device/referee.h
index c74b5a1..0f89cab 100644
--- a/User/device/referee.h
+++ b/User/device/referee.h
@@ -13,12 +13,12 @@ extern "C" {
 #include <stdbool.h>
 #include "component/ui.h"
 #include "component/user_math.h"
-//#include "device/can.h"
-#include "module/shoot.h"
 #include "device/device.h"
-#include "module/cmd.h"
-#include "module/config.h"
+#include "device/referee_proto_types.h"
 #include "device/supercap.h"
+#include "module/chassis.h"
+#include "module/gimbal.h"
+#include "module/shoot.h"
 
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -37,7 +37,13 @@ typedef struct __packed {
   uint8_t crc8;
 } Referee_Header_t;
 
-typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t;
+	/* 分辨率配置 */
+
+/* Referee_Status_t, PowerHeat_t, RobotStatus_t, ShootData_t,
+   ForCap/AI/Chassis/Shoot_t, Screen_t, UI_CMD_t
+   均定义在 device/referee_proto_types.h（已在上方 include）*/
+
+
 
 typedef enum {
   REF_CMD_ID_GAME_STATUS = 0x0001,
@@ -121,29 +127,7 @@ typedef struct __packed {
  uint16_t dart_info; 
 } Referee_DartInfo_t;
 
-typedef struct __packed 
-{ 
- uint8_t robot_id; 
- uint8_t robot_level; 
- uint16_t current_HP; 
- uint16_t maximum_HP; 
 
- uint16_t shooter_barrel_cooling_value; 
- uint16_t shooter_barrel_heat_limit; 
- uint16_t chassis_power_limit; 
- uint8_t power_management_gimbal_output : 1; 
- uint8_t power_management_chassis_output : 1; 
- uint8_t power_management_shooter_output : 1; 
-}Referee_RobotStatus_t;
-
-typedef struct __packed {
-  uint16_t chassis_volt;
-  uint16_t chassis_amp;
-  float chassis_watt;
-  uint16_t chassis_pwr_buff;
-  uint16_t shooter_17mm_barrel_heat;
-  uint16_t shooter_42mm_barrel_heat;
-} Referee_PowerHeat_t;
 
 typedef struct __packed {
   float x;
@@ -166,13 +150,6 @@ typedef struct __packed {
 } Referee_RobotDamage_t;
 
 
-typedef struct __packed {
-  uint8_t bullet_type;
-  uint8_t shooter_id;
-  uint8_t bullet_freq;
-  float bullet_speed;
-} Referee_ShootData_t;/* 0x0207 */
-
 typedef struct __packed { 
  uint16_t bullet_17_remain; 
  uint16_t bullet_42_remain; 
@@ -597,28 +574,6 @@ typedef struct {
   osTimerId_t ui_slow_timer_id;
 } Referee_t;
 
-typedef struct {
-  Chassis_Mode_t mode;
-  float angle;
-} Referee_ChassisUI_t;
-
-typedef struct {
-  float percentage;
-	SuperCapReadyEnum ready;//超电状态
-	SuperCapStateEnum status;//超电是否可用
-	uint8_t online;//超电是否离线
-	// CAN_CapStatus_t status;
-} Referee_CapUI_t;
-
-typedef struct {
-  Gimbal_Mode_t mode;
-} Referee_GimbalUI_t;
-
-typedef struct {
-  Shoot_Mode_t mode;
-  Shoot_Running_State_t fire;
-} Referee_ShootUI_t;
-
 typedef struct __packed {
   /* UI缓冲数据 */
   UI_Ele_t grapic[REF_UI_MAX_GRAPIC_NUM];
@@ -629,15 +584,16 @@ typedef struct __packed {
   uint8_t character_counter;
   uint8_t del_counter;
   /* UI所需信息 */
-  Referee_CapUI_t cap_ui;
-  Referee_ChassisUI_t chassis_ui;
-  Referee_ShootUI_t shoot_ui;
-  Referee_GimbalUI_t gimbal_ui;
+  Cap_RefereeUI_t cap_ui;
+  Chassis_RefereeUI_t chassis_ui;
+  Shoot_RefereeUI_t shoot_ui;
+  Gimbal_RefereeUI_t gimbal_ui;
   bool cmd_pc;
   /* 屏幕分辨率 */
-  const CMD_Screen_t *screen;
+  const Referee_Screen_t *screen;
 } Referee_UI_t;
 
+
 typedef struct __packed {
   uint16_t data_cmd_id;
   uint16_t sender_ID;
@@ -692,35 +648,10 @@ typedef struct __packed {
   uint16_t crc16;
 } Referee_UI_Del_t;
 
-typedef struct {
-  Referee_Status_t ref_status;
-  float chassis_watt;
-  float chassis_power_limit;
-  float chassis_pwr_buff;
-} Referee_ForCap_t;
-
-typedef struct {
-  Referee_Status_t ref_status;
-  Referee_RobotStatus_t robot_status;
-  Referee_GameStatus_t game_status;
-} Referee_ForAI_t;
-
-typedef struct {
-  Referee_Status_t ref_status;
-  float chassis_power_limit;
-  float chassis_pwr_buff;
-} Referee_ForChassis_t;
-
-typedef struct {
-  Referee_Status_t ref_status;
-  Referee_PowerHeat_t power_heat;
-  Referee_RobotStatus_t robot_status;
-  Referee_ShootData_t shoot_data;
-} Referee_ForShoot_t;
 
 /* Exported functions prototypes -------------------------------------------- */
 int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui,
-                    const CMD_Screen_t *screen);
+                    const Referee_Screen_t *screen);
 int8_t Referee_Restart(void);
 
 int8_t Referee_StartReceiving(Referee_t *ref);
@@ -733,7 +664,7 @@ int8_t Referee_MoveData(void *data, void *tmp, uint32_t len);
 int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref);
 UI_Ele_t *Referee_GetGrapicAdd(Referee_UI_t *ref_ui);
 UI_Drawcharacter_t *Referee_GetCharacterAdd(Referee_UI_t *ref_ui);
-uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd);
+uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, Referee_UI_CMD_t cmd);
 uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref);
 uint8_t Referee_PackShoot(Referee_ForShoot_t *ai, Referee_t *ref);
 uint8_t Referee_PackChassis(Referee_ForChassis_t *chassis,
diff --git a/User/device/referee_proto_types.h b/User/device/referee_proto_types.h
new file mode 100644
index 0000000..97d9364
--- /dev/null
+++ b/User/device/referee_proto_types.h
@@ -0,0 +1,89 @@
+/*
+ * 裁判系统协议基础类型（叶节点头文件）
+ */
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+
+/* ---- 在线状态 ---- */
+typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t;
+
+/* ---- 协议报文字段子集 ---- */
+typedef struct __attribute__((packed)) {
+  uint8_t  robot_id;
+  uint8_t  robot_level;
+  uint16_t current_HP;
+  uint16_t maximum_HP;
+  uint16_t shooter_barrel_cooling_value;
+  uint16_t shooter_barrel_heat_limit;
+  uint16_t chassis_power_limit;
+  uint8_t  power_management_gimbal_output  : 1;
+  uint8_t  power_management_chassis_output : 1;
+  uint8_t  power_management_shooter_output : 1;
+} Referee_RobotStatus_t;
+
+typedef struct __attribute__((packed)) {
+  uint16_t chassis_volt;
+  uint16_t chassis_amp;
+  float    chassis_watt;
+  uint16_t chassis_pwr_buff;
+  uint16_t shooter_17mm_barrel_heat;
+  uint16_t shooter_42mm_barrel_heat;
+} Referee_PowerHeat_t;
+
+typedef struct __attribute__((packed)) {
+  uint8_t bullet_type;
+  uint8_t shooter_id;
+  uint8_t bullet_freq;
+  float   bullet_speed;
+} Referee_ShootData_t;
+
+/* ---- 转发包：各 module/task 消费 ---- */
+typedef struct {
+  Referee_Status_t ref_status;
+  float chassis_watt;
+  float chassis_power_limit;
+  float chassis_pwr_buff;
+} Referee_ForCap_t;
+
+typedef struct {
+  Referee_Status_t ref_status;
+} Referee_ForAI_t;
+
+typedef struct {
+  Referee_Status_t ref_status;
+  float chassis_power_limit;
+  float chassis_pwr_buff;
+ 
+} Referee_ForChassis_t;
+
+typedef struct {
+  Referee_Status_t      ref_status;
+  Referee_PowerHeat_t   power_heat;
+  Referee_RobotStatus_t robot_status;
+  Referee_ShootData_t   shoot_data;
+} Referee_ForShoot_t;
+
+/* ---- 屏幕分辨率 & UI 指令 ---- */
+typedef struct {
+  uint16_t width;
+  uint16_t height;
+} Referee_Screen_t;
+
+typedef enum {
+  UI_NOTHING,
+  UI_AUTO_AIM_START,
+  UI_AUTO_AIM_STOP,
+  UI_HIT_SWITCH_START,
+  UI_HIT_SWITCH_STOP
+} Referee_UI_CMD_t;
+
+#ifdef __cplusplus
+}
+#endif
+
diff --git a/User/device/supercap.h b/User/device/supercap.h
index 12f68c9..fc920b0 100644
--- a/User/device/supercap.h
+++ b/User/device/supercap.h
@@ -96,7 +96,14 @@ uint8_t get_supercap_energy(void);
 uint32_t get_chassis_energy_from_supercap(void);
 
 int8_t PowerLimit_Output(float power_limit, float *motor_out, uint32_t len);
-
+/* UI 导出结构（供 referee 系统绘制） */
+typedef struct {
+  float percentage;
+	SuperCapReadyEnum ready;//超电状态
+	SuperCapStateEnum status;//超电是否可用
+	uint8_t online;//超电是否离线
+	// CAN_CapStatus_t status;
+} Cap_RefereeUI_t;
 #ifdef __cplusplus
 }
 #endif /*SUPERCAP_H*/
diff --git a/User/module/aimbot.c b/User/module/aimbot.c
new file mode 100644
index 0000000..09e2c84
--- /dev/null
+++ b/User/module/aimbot.c
@@ -0,0 +1,269 @@
+#include "module/aimbot.h"
+#include "device/device.h"
+#include "bsp/uart.h"
+#include "component/crc16.h"
+#include <string.h>
+
+/* =====================================================================
+ * FDCAN 帧索引（反馈方向：下层板?上层板）
+ * 注：上层板使用自己的IMU，下层板只发送射击数据与模式
+ * ===================================================================== */
+#define FB_FRAME_DATA  0u  /* 弹速(4B)+弹数(2B)+模式(1B)+保留(1B)      */
+
+/* =====================================================================
+ * UART 通信接口（上层板 �?上位�?PC�?
+ * ===================================================================== */
+
+int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai) {
+  if (BSP_UART_Receive(BSP_UART_AI, (uint8_t *)ai, sizeof(*ai), true) == DEVICE_OK) {
+    return DEVICE_OK;
+  }
+  return DEVICE_ERR;
+}
+
+int8_t Aimbot_AIGetResult(Aimbot_AI_t *ai, Aimbot_AIResult_t *result) {
+  if (ai->head[0] != 'M' || ai->head[1] != 'R') {
+    return DEVICE_ERR;
+  }
+  if (!CRC16_Verify((const uint8_t *)ai, sizeof(*ai))) {
+    return DEVICE_ERR;
+  }
+  result->mode                  = ai->mode;
+  result->gimbal_t.setpoint.yaw = ai->yaw;
+  result->gimbal_t.vel.yaw      = ai->yaw_vel;
+  result->gimbal_t.accl.yaw     = ai->yaw_acc;
+  result->gimbal_t.setpoint.pit = ai->pitch;
+  result->gimbal_t.vel.pit      = ai->pitch_vel;
+  result->gimbal_t.accl.pit     = ai->pitch_acc;
+  return DEVICE_OK;
+}
+
+/**
+ * @brief 打包 MCU 数据（UART 发给上位机格式），修正了原始实现中的字段错误�?
+ *        四元数来�?quat 参数；欧拉角、角速度来自 gimbal_fb->imu�?
+ */
+int8_t Aimbot_MCUPack(Aimbot_MCU_t *mcu, const Gimbal_Feedback_t *gimbal_fb,
+                      const AHRS_Quaternion_t *quat,
+                      float bullet_speed, uint16_t bullet_count, uint8_t mode) {
+  if (mcu == NULL || gimbal_fb == NULL || quat == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+  mcu->head[0]       = 'M';
+  mcu->head[1]       = 'R';
+  mcu->mode          = mode;
+  mcu->q[0]          = quat->q0;
+  mcu->q[1]          = quat->q1;
+  mcu->q[2]          = quat->q2;
+  mcu->q[3]          = quat->q3;
+  mcu->yaw           = gimbal_fb->imu.eulr.yaw;
+  mcu->yaw_vel       = gimbal_fb->imu.gyro.z;
+  mcu->pitch         = gimbal_fb->imu.eulr.pit;
+  mcu->pitch_vel     = gimbal_fb->imu.gyro.x;
+  mcu->bullet_speed  = bullet_speed;
+  mcu->bullet_count  = bullet_count;
+  mcu->crc16 = CRC16_Calc((const uint8_t *)mcu,
+                           sizeof(*mcu) - sizeof(uint16_t), CRC16_INIT);
+  if (!CRC16_Verify((const uint8_t *)mcu, sizeof(*mcu))) {
+    return DEVICE_ERR;
+  }
+  return DEVICE_OK;
+}
+
+int8_t Aimbot_MCUStartSend(Aimbot_MCU_t *mcu) {
+  if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)mcu, sizeof(*mcu), true) == DEVICE_OK) {
+    return DEVICE_OK;
+  }
+  return DEVICE_ERR;
+}
+
+/* =====================================================================
+ * CAN 通信接口（下层板 �?上层板）
+ * ===================================================================== */
+
+/**
+ * @brief 初始�?Aimbot CAN 通信：注册指令接收队列和反馈收发队列�?
+ *        下层板只需注册 cmd_id；上层板只需注册 fb_base_id �?6 �?ID�?
+ *        本函数同时注册两侧所需 ID，上/下层板共用同一初始化流程即可�?
+ */
+int8_t Aimbot_Init(Aimbot_Param_t *param) {
+  if (param == NULL) return DEVICE_ERR_NULL;
+
+  BSP_FDCAN_Init();
+
+  /* 注册 AI 指令帧队列（下层板接收／上层板发送） */
+  BSP_FDCAN_RegisterId(param->can, param->cmd_id,
+                     BSP_FDCAN_DEFAULT_QUEUE_SIZE);
+ for (uint8_t i = 0; i < 3; i++) {
+    BSP_CAN_RegisterId(param->can, param->cmd_id + i,
+                       10);
+  }
+  /* 注册反馈数据帧队列（上层板接收／下层板发送） */
+  for (uint8_t i = 0; i < AIMBOT_FB_FRAME_NUM; i++) {
+    BSP_FDCAN_RegisterId(param->can, param->fb_base_id + i,
+                       BSP_FDCAN_DEFAULT_QUEUE_SIZE);
+  }
+
+  return DEVICE_OK;
+}
+
+/**
+ * @brief �?Gimbal/IMU/Shoot 数据打包 CAN 反馈结构体�?
+/**
+ * @brief 【下层板】打包 CAN 反馈结构体。
+ */
+int8_t Aimbot_PackFeedback(Aimbot_FeedbackData_t *fb,
+                            float bullet_speed, uint16_t bullet_count,
+                            uint8_t mode) {
+  if (fb == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+  fb->mode         = mode;
+  fb->bullet_speed = bullet_speed;
+  fb->bullet_count = bullet_count;
+  return DEVICE_OK;
+}
+
+/**
+ * @brief 【下层板】将反馈数据打成 1 个 CAN 标准帧发给上层板。
+ *
+ * 帧格式（每帧 8 字节）：
+ *   帧0: bullet_speed(float,4B) bullet_count(uint16,2B) mode(1B) rsv(1B)
+ */
+void Aimbot_SendFeedbackOnCAN(const Aimbot_Param_t *param,
+                               const Aimbot_FeedbackData_t *fb) {
+  if (param == NULL || fb == NULL) return;
+
+  BSP_FDCAN_StdDataFrame_t frame;
+  frame.dlc = AIMBOT_CAN_DLC;
+
+  /* 帧0: 弹速 + 弹数 + 模式 */
+  frame.id = param->fb_base_id + FB_FRAME_DATA;
+  memcpy(&frame.data[0], &fb->bullet_speed, 4);
+  frame.data[4] = (uint8_t)(fb->bullet_count & 0xFFu);
+  frame.data[5] = (uint8_t)((fb->bullet_count >> 8u) & 0xFFu);
+  frame.data[6] = fb->mode;
+  frame.data[7] = 0u;
+  BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
+}
+
+/**
+ * @brief 【下层板】从 CAN 队列中非阻塞地取出上层板发来�?AI 指令并解析�?
+ *
+ * 指令帧格式（8 字节，与 vision_bridge 一致）�?
+ *   data[0]      : mode (1B)
+ *   data[1..3.5] : yaw  (28bit 有符号定点数�?.1µrad/LSB)
+ *   data[4.5..7] : pit  (28bit 有符号定点数�?.1µrad/LSB)
+ *
+ * @return DEVICE_OK  成功解析到新指令
+ *         DEVICE_ERR 队列空，无新数据
+ */
+int8_t Aimbot_ParseCmdFromCAN(const Aimbot_Param_t *param,
+                               Aimbot_AIResult_t *result) {
+  if (param == NULL || result == NULL) return DEVICE_ERR_NULL;
+
+  BSP_FDCAN_Message_t msg;
+  int8_t ret = DEVICE_ERR;
+  
+  if (BSP_FDCAN_GetMessage(param->can, param->cmd_id, &msg,
+                          BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
+    result->mode = msg.data[0];
+
+    /* 解析 yaw（高 28 位），符号扩展为 int32 */
+    int32_t yaw_raw = (int32_t)(((uint32_t)msg.data[1] << 20u) |
+                                 ((uint32_t)msg.data[2] << 12u) |
+                                 ((uint32_t)msg.data[3] << 4u)  |
+                                 ((uint32_t)(msg.data[4] >> 4u) & 0xFu));
+    if (yaw_raw & 0x08000000) yaw_raw |= (int32_t)0xF0000000;
+    result->gimbal_t.setpoint.yaw = (float)yaw_raw / AIMBOT_ANGLE_SCALE;
+
+    /* 解析 pit（低 28 位），符号扩展为 int32 */
+    int32_t pit_raw = (int32_t)(((uint32_t)(msg.data[4] & 0xFu) << 24u) |
+                                 ((uint32_t)msg.data[5] << 16u) |
+                                 ((uint32_t)msg.data[6] << 8u)  |
+                                 (uint32_t)msg.data[7]);
+    if (pit_raw & 0x08000000) pit_raw |= (int32_t)0xF0000000;
+    result->gimbal_t.setpoint.pit = (float)pit_raw / AIMBOT_ANGLE_SCALE;
+    ret = DEVICE_OK;
+  }
+
+  if (BSP_FDCAN_GetMessage(param->can, param->cmd_id + 1, &msg,
+                          BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
+    memcpy(&result->gimbal_t.vel.yaw, &msg.data[0], 4);
+    memcpy(&result->gimbal_t.vel.pit, &msg.data[4], 4);
+    ret = DEVICE_OK;
+  }
+
+  if (BSP_FDCAN_GetMessage(param->can, param->cmd_id + 2, &msg,
+                          BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
+    memcpy(&result->gimbal_t.accl.yaw, &msg.data[0], 4);
+    memcpy(&result->gimbal_t.accl.pit, &msg.data[4], 4);
+    ret = DEVICE_OK;
+  }
+
+  return ret;
+}
+
+/**
+ * @brief 【上层板】将 AI 指令通过 CAN 发送给下层板（单帧 8 字节）�?
+ *
+ * �?vision_bridge.c �?AI_SendCmdOnFDCAN 编码格式完全一致，
+ * 上层板可直接调用本函数替�?vision_bridge 中的同名函数�?
+ */
+void Aimbot_SendCmdOnCAN(const Aimbot_Param_t *param,
+                          const Aimbot_AIResult_t *cmd) {
+  if (param == NULL || cmd == NULL) return;
+
+  const int32_t yaw = (int32_t)(cmd->gimbal_t.setpoint.yaw * AIMBOT_ANGLE_SCALE);
+  const int32_t pit = (int32_t)(cmd->gimbal_t.setpoint.pit * AIMBOT_ANGLE_SCALE);
+
+  BSP_FDCAN_StdDataFrame_t frame = {0};
+  frame.id  = param->cmd_id;
+  frame.dlc = AIMBOT_CAN_DLC;
+
+  frame.data[0] = cmd->mode;
+  frame.data[1] = (uint8_t)((yaw >> 20) & 0xFF);
+  frame.data[2] = (uint8_t)((yaw >> 12) & 0xFF);
+  frame.data[3] = (uint8_t)((yaw >>  4) & 0xFF);
+  frame.data[4] = (uint8_t)(((yaw & 0xF) << 4) | ((pit >> 24) & 0xF));
+  frame.data[5] = (uint8_t)((pit >> 16) & 0xFF);
+  frame.data[6] = (uint8_t)((pit >>  8) & 0xFF);
+  frame.data[7] = (uint8_t)(pit         & 0xFF);
+
+  BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
+
+    /* 第二帧：发速度 */
+  frame.id = param->cmd_id + 1;
+  memcpy(&frame.data[0], &cmd->gimbal_t.vel.yaw, 4);
+  memcpy(&frame.data[4], &cmd->gimbal_t.vel.pit, 4);
+  BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
+
+  /* 第三帧：发加速度 */
+  frame.id = param->cmd_id + 2;
+  memcpy(&frame.data[0], &cmd->gimbal_t.accl.yaw, 4);
+  memcpy(&frame.data[4], &cmd->gimbal_t.accl.pit, 4);
+  BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
+}
+
+/**
+ * @brief 【上层板】从 CAN 队列中非阻塞地解析下层板发来的反馈数据（共1帧）。
+ *
+ * @return DEVICE_OK
+ */
+int8_t Aimbot_ParseFeedbackFromCAN(const Aimbot_Param_t *param,
+                                    Aimbot_FeedbackData_t *fb) {
+  if (param == NULL || fb == NULL) return DEVICE_ERR_NULL;
+
+  BSP_FDCAN_Message_t msg;
+
+  /* 帧0: 弹速 + 弹数 + 模式 */
+  if (BSP_FDCAN_GetMessage(param->can,
+                          param->fb_base_id + FB_FRAME_DATA,
+                          &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
+    memcpy(&fb->bullet_speed, &msg.data[0], 4);
+    fb->bullet_count = (uint16_t)(msg.data[4] | ((uint16_t)msg.data[5] << 8u));
+    fb->mode         = msg.data[6];
+  }
+
+  return DEVICE_OK;
+}
+
diff --git a/User/module/aimbot.h b/User/module/aimbot.h
new file mode 100644
index 0000000..19d4eaf
--- /dev/null
+++ b/User/module/aimbot.h
@@ -0,0 +1,174 @@
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "component/user_math.h"
+#include "module/gimbal.h"
+#include "bsp/can.h"
+#include <stdint.h>
+
+// 数据包协议定义（UART 通信使用 head[2]={'M', 'R'} 标识）
+
+/* ============================  CAN 通信定义  ============================
+ * 通路：上位机 <--串口--> 上层板 <--CAN--> 下层板
+ *
+ * 注：上层板使用自己的IMU（atti_esti），下层板只需反馈电机和射击数据
+ *
+ * 下层板 → 上层板：反馈数据，单帧 8 字节
+ *   帧0 (fb_base_id+0): 弹速(4B) + 弹数(2B) + 模式(1B) + 保留(1B)
+ *
+ * 上层板 → 下层板：AI 指令，单帧 8 字节
+ *   帧 (cmd_id): mode(1B) + yaw(28bit) + pit(28bit)，定点数精度 0.1µrad
+ * ====================================================================== */
+#define AIMBOT_FB_FRAME_NUM    1u            /* 反馈数据帧总数（仅下层三字段） */
+#define AIMBOT_CAN_DLC         8u            /* CAN 帧数据长度 */
+#define AIMBOT_ANGLE_SCALE     10000000.0f   /* 指令角度定点数比例（0.1µrad/LSB） */
+
+/* CAN 通信参数结构体 */
+typedef struct {
+    BSP_CAN_t can;          /* 使用的 CAN 总线实例 */
+    uint32_t cmd_id;        /* 上层板→下层板 AI 指令帧 CAN ID */
+    uint32_t fb_base_id;    /* 下层板→上层板 反馈数据起始 CAN ID */
+} Aimbot_Param_t;
+
+/* CAN 反馈数据结构体（下层板打包后经 CAN 发给上层板的内容）
+ * 注：下层板只反馈 bullet_speed / bullet_count / mode */
+typedef struct {
+    uint8_t  mode;           /* 下层板当前工作模式 */
+    float    bullet_speed;   /* 弹速（m/s） */
+    uint16_t bullet_count;   /* 子弹累计发射次数 */
+} Aimbot_FeedbackData_t;
+
+/*-----------------------------to上位机---------------------------------*/
+typedef struct __attribute__((packed))
+{
+    uint8_t head[2];        // 数据包头: {'M', 'R'}
+    uint8_t mode;           // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
+    float q[4];             // 四元数 wxyz 顺序
+    float yaw;              // 偏航角
+    float yaw_vel;          // 偏航角速度
+    float pitch;            // 俯仰角
+    float pitch_vel;        // 俯仰角速度
+    float bullet_speed;     // 弹速
+    uint16_t bullet_count;  // 子弹累计发送次数
+    uint16_t crc16;         // CRC16 校验
+} Aimbot_MCU_t;
+
+// 裁判系统数据结构
+typedef struct __attribute__((packed))
+{
+    uint16_t remain_hp;         // 剩余血量
+    uint8_t game_progress : 4;  // 比赛进度
+    uint16_t stage_remain_time; // 比赛剩余时间
+} Aimbot_RefereeData_t;
+
+typedef struct __attribute__((packed))
+{
+    uint8_t id;         // 数据包 ID: 0xA8
+    Aimbot_RefereeData_t data;
+    uint16_t crc16;
+} Aimbot_Referee_t;
+
+/*------------------------------------上位机back-------------------------------------*/
+typedef struct __attribute__((packed))
+{
+    uint8_t head[2];        // 数据包头: {'M', 'R'}
+    uint8_t mode;           // 0: 不控制, 1: 控制云台但不开火，2: 控制云台且开火
+    float yaw;              // 目标偏航角
+    float yaw_vel;          // 偏航角速度
+    float yaw_acc;          // 偏航角加速度
+    float pitch;            // 目标俯仰角
+    float pitch_vel;        // 俯仰角速度
+    float pitch_acc;        // 俯仰角加速度
+    uint16_t crc16;         // CRC16 校验
+} Aimbot_AI_t;
+
+typedef struct __attribute__((packed)) {
+	uint8_t mode;  // 0: 不控制, 1: 控制云台但不开火, 2: 控制云台且开火
+	struct{
+//	Gimbal_CMD_t g_cmd;
+		struct{
+				float yaw; // 目标偏航角
+				float pit;	// 目标俯仰角	
+		}setpoint;
+		
+		struct{
+					float pit;	// 俯仰角加速度
+					float yaw;	// 偏航角加速度	
+					}accl;
+		struct{
+					float pit;	// 俯仰角速度
+					float yaw;	// 偏航角速度
+					}vel;		
+	}gimbal_t;
+
+    struct{
+        float Vx;  // X 方向速度
+        float Vy;  // Y 方向速度
+        float Vw;  // Z 方向角速度
+    }chassis_t;
+	
+    uint8_t reserved;  // 预留字段
+} Aimbot_AIResult_t;  // 解析后的AI控制指令
+
+/* ---------- UART 通信接口（上层板与上位机 PC 间） ---------- */
+int8_t Aimbot_MCUPack(Aimbot_MCU_t *mcu, const Gimbal_feedback_t *gimbal_fb,
+                      const AHRS_Quaternion_t *quat,
+                      float bullet_speed, uint16_t bullet_count, uint8_t mode);
+int8_t Aimbot_MCUStartSend(Aimbot_MCU_t *mcu);
+int8_t Aimbot_AIGetResult(Aimbot_AI_t *ai, Aimbot_AIResult_t *result);
+int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai);
+
+/* ---------- CAN 通信接口（下层板与上层板间） ---------- */
+
+/**
+ * @brief 初始化 Aimbot CAN 通信，注册所有收发 CAN ID 队列
+ * @param param CAN 通信参数
+ * @return DEVICE_OK / DEVICE_ERR_NULL
+ */
+int8_t Aimbot_Init(Aimbot_Param_t *param);
+
+/**
+ * @brief 【下层板】打包反馈结构体
+ * @param fb            输出：反馈数据
+ * @param bullet_speed  弹速（m/s）
+ * @param bullet_count  已发射子弹数
+ * @param mode          当前工作模式
+ */
+int8_t Aimbot_PackFeedback(Aimbot_FeedbackData_t *fb,
+                            float bullet_speed, uint16_t bullet_count,
+                            uint8_t mode);
+
+/**
+ * @brief 【下层板】将反馈数据经 CAN 发送给上层板（1 帧）
+ */
+void Aimbot_SendFeedbackOnCAN(const Aimbot_Param_t *param,
+                               const Aimbot_FeedbackData_t *fb);
+
+/**
+ * @brief 【下层板】从 CAN 解析上层板发来的 AI 指令
+ * @return DEVICE_OK 表示成功取到新数据；DEVICE_ERR 表示队列暂无数据
+ */
+int8_t Aimbot_ParseCmdFromCAN(const Aimbot_Param_t *param,
+                               Aimbot_AIResult_t *result);
+
+/**
+ * @brief 【上层板】通过 CAN 将 AI 指令发送给下层板（单帧 8 字节）
+ */
+void Aimbot_SendCmdOnCAN(const Aimbot_Param_t *param,
+                          const Aimbot_AIResult_t *cmd);
+
+/**
+ * @brief 【上层板】从 CAN 解析下层板发来的反馈数据（逐帧读取，非阻塞）
+ * @return DEVICE_OK（部分或全部帧已更新均返回 OK）
+ */
+int8_t Aimbot_ParseFeedbackFromCAN(const Aimbot_Param_t *param,
+                                    Aimbot_FeedbackData_t *fb);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/User/module/chassis.c b/User/module/chassis.c
index 55a6141..fc80505 100644
--- a/User/module/chassis.c
+++ b/User/module/chassis.c
@@ -40,7 +40,7 @@ chassis_init(&chassis,&Config_GetRobotParam()->chassis,CHASSIS_FREQ);
 #include "math.h"
 #include "component/pid.h"
 #include "component/filter.h"
-#include "module/cmd.h"
+#include "module/cmd/cmd.h"
 #include "stdlib.h"
 
 /*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处(define.h里有快捷方法)，
diff --git a/User/module/chassis.h b/User/module/chassis.h
index 9f6f36f..dcc9918 100644
--- a/User/module/chassis.h
+++ b/User/module/chassis.h
@@ -84,6 +84,7 @@ extern "C"
 	} Chassis_out_t;
 
 
+
 	/*底盘模式*/
 typedef enum
 {
@@ -104,6 +105,15 @@ typedef enum
 
 }Chassis_ctrl_mode_t;
 
+/* UI 导出结构（供 referee 系统绘制） */
+typedef struct {
+  Chassis_Mode_t mode;
+  float angle;
+  /* 轮腿角度和距轮长 */
+  float l0[2];
+  float theta[2];
+} Chassis_RefereeUI_t;
+
 typedef struct
 {
     int cmd_power_on_safe; // 上电安全标志
diff --git a/User/module/cmd.c b/User/module/cmd.c
deleted file mode 100644
index df69bff..0000000
--- a/User/module/cmd.c
+++ /dev/null
@@ -1,316 +0,0 @@
-/*
- * CMD 模块 V2 - 主控制模块实现
- */
-#include "module/cmd.h"
-#include "bsp/time.h"
-#include "chassis.h"
-#include <stdint.h>
-#include <string.h>
-
-/* ========================================================================== */
-/*                           命令构建函数                                       */
-/* ========================================================================== */
-
-/* 从RC输入生成底盘命令 */
-static void CMD_RC_BuildChassisCmd(CMD_t *ctx) {
-  CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
-  
-  /* 根据左拨杆位置选择模式 */
-  switch (ctx->input.rc.sw[0]) {
-      case CMD_SW_UP:
-          ctx->output.chassis.cmd.mode = map->sw_left_up;
-          					
-          break;
-      case CMD_SW_MID:
-          ctx->output.chassis.cmd.mode = map->sw_left_mid;
-          				
-          
-          break;
-      case CMD_SW_DOWN:
-          ctx->output.chassis.cmd.mode = map->sw_left_down;
-        
-          break;
-      default:
-          ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
-          break;
-  }
-  
-  /* 左摇杆控制移动 */
-  ctx->output.chassis.cmd.Vx = ctx->input.rc.joy_right.x;
-  ctx->output.chassis.cmd.Vy = ctx->input.rc.joy_right.y;
-}
-
-/* 从RC输入生成云台命令 */
-static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
-  CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
-  
-  /* 根据拨杆选择云台模式 */
-  switch (ctx->input.rc.sw[4]) {
-      case CMD_SW_UP:
-          ctx->output.gimbal.cmd.mode = map->gimbal_sw_up;
-          break;
-      case CMD_SW_MID:
-          ctx->output.gimbal.cmd.mode = map->gimbal_sw_mid;
-          break;
-      case CMD_SW_DOWN:
-          ctx->output.gimbal.cmd.mode = map->gimbal_sw_down;
-          break;
-      default:
-          ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
-          break;
-  }
-  
-  /* 右摇杆控制云台 */
-  ctx->output.gimbal.cmd.delta_yaw_6020 = -ctx->input.rc.joy_left.x * 2.0f;
-  ctx->output.gimbal.cmd.delta_yaw_4310 = -ctx->input.rc.joy_left.x * 1.2f;
-  ctx->output.gimbal.cmd.delta_pitch_4310 = -ctx->input.rc.joy_left.y * 1.5f;
-}
-
-/* 从RC输入生成射击命令 */
-static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
-  if (ctx->input.online[CMD_SRC_RC]) {
-      ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
-  } else {
-      ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
-  }
-    /* C拨杆选择发弹模式：上单发，中多发，下连发 */
-  switch (ctx->input.rc.sw[2]) {
-      case CMD_SW_DOWN:
-					ctx->output.shoot.cmd.mode = SHOOT_MODE_CONTINUE;
-          break;
-      case CMD_SW_MID:
-					ctx->output.shoot.cmd.mode = SHOOT_MODE_BURST;
-          break;
-      case CMD_SW_UP:
-					ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
-          break;
-      default:
-          ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
-          break;
-  }
-  /* 根据D拨杆控制射击 */
-  switch (ctx->input.rc.sw[3]) {
-      case CMD_SW_DOWN:
-          ctx->output.shoot.cmd.ready = true;
-          ctx->output.shoot.cmd.firecmd = true;
-          break;
-      case CMD_SW_MID:
-          ctx->output.shoot.cmd.ready = true;
-          ctx->output.shoot.cmd.firecmd = false;
-          break;
-      case CMD_SW_UP:
-				  ctx->output.shoot.cmd.ready = false;
-          ctx->output.shoot.cmd.firecmd = false;
-      default:
-          ctx->output.shoot.cmd.ready = false;
-          ctx->output.shoot.cmd.firecmd = false;
-          break;
-  }
-  switch (ctx->input.rc.sw[1]) {
-      case CMD_SW_UP:
-        ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_RC;
-        ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_REMOTE;
-        ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE;
-          break;
-      case CMD_SW_MID:
-         ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_DAOHANG;
-         ctx->output.gimbal.cmd.mode = GIMBAL_MODE_DAOHANG;
-         ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE;
-          break;
-      case CMD_SW_DOWN:
-          ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_FOLLOW_GIMBAL;
-            ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_SCAN;
-            ctx->output.shoot.cmd.control_mode = SHOOT_AI;
-          break;
-      default:
-        ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
-            ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
-            ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE;
-          break;
-  }
-
-  /* sw[5] (F拨杆): 下=纯AI自瞄(无扫描), 上/中=保持B拨杆的设定 */
-  if (ctx->input.rc.sw[5] == CMD_SW_DOWN) {
-    ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_AI;
-    ctx->output.shoot.cmd.control_mode = SHOOT_AI;
-  }	
-	
-}
-
-/* 从PC输入生成底盘命令 */
-static void CMD_PC_BuildChassisCmd(CMD_t *ctx) {
-  
-  if (!ctx->input.online[CMD_SRC_PC]) {
-      ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
-      return;
-  }
-  
-  ctx->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
-  
-  /* WASD控制移动 */
-  ctx->output.chassis.cmd.Vx = 0.0f;
-  ctx->output.chassis.cmd.Vy = 0.0f;
-  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS);
-}
-
-/* 从PC输入生成云台命令 */
-static void CMD_PC_BuildGimbalCmd(CMD_t *ctx) {
-  CMD_Sensitivity_t *sens = &ctx->config->sensitivity;
-  
-  if (!ctx->input.online[CMD_SRC_PC]) {
-      ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
-      return;
-  }
-  
-  ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
-  
-  /* 鼠标控制云台 */
-  ctx->output.gimbal.cmd.delta_yaw_6020 = (float)-ctx->input.pc.mouse.x * ctx->timer.dt * sens->mouse_sens;
-  ctx->output.gimbal.cmd.delta_pitch_4310 = (float)ctx->input.pc.mouse.y * ctx->timer.dt * sens->mouse_sens * 1.5f;
-  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_GIMBAL);
-}
-
-/* 从PC输入生成射击命令 */
-static void CMD_PC_BuildShootCmd(CMD_t *ctx) {
-  if (!ctx->input.online[CMD_SRC_PC]) {
-      ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
-      return;
-  }
-  
-  ctx->output.shoot.cmd.ready = true;
-  ctx->output.shoot.cmd.firecmd = ctx->input.pc.mouse.l_click;
-
-  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_SHOOT);
-
-}
-
-/* 离线安全模式 */
-static void CMD_SetOfflineMode(CMD_t *ctx) {
-  ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
-  ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
-  ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
-}
-
-/* ========================================================================== */
-/*                           公开API实现                                        */
-/* ========================================================================== */
-
-int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config) {
-  if (ctx == NULL || config == NULL) {
-      return CMD_ERR_NULL;
-  }
-  
-  memset(ctx, 0, sizeof(CMD_t));
-  ctx->config = config;
-  
-  /* 初始化适配器 */
-  CMD_Adapter_InitAll();
-  
-  /* 初始化行为处理器 */
-  CMD_Behavior_Init();
-  
-  return CMD_OK;
-}
-
-int8_t CMD_UpdateInput(CMD_t *ctx) {
-  if (ctx == NULL) {
-      return CMD_ERR_NULL;
-  }
-  
-  /* 保存上一帧输入 */
-  memcpy(&ctx->last_input, &ctx->input, sizeof(ctx->input));
-  
-  /* 更新所有输入源 */
-  for (int i = 0; i < CMD_SRC_NUM; i++) {
-      CMD_Adapter_GetInput((CMD_InputSource_t)i, &ctx->input);
-  }
-  
-  return CMD_OK;
-}
-typedef void (*CMD_BuildCommandFunc)(CMD_t *cmd);
-typedef struct {
-  CMD_InputSource_t source;
-  CMD_BuildCommandFunc chassisFunc;
-  CMD_BuildCommandFunc gimbalFunc;
-  CMD_BuildCommandFunc shootFunc;
-} CMD_SourceHandler_t;
-
-CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = {
-  {CMD_SRC_RC, CMD_RC_BuildChassisCmd, CMD_RC_BuildGimbalCmd, CMD_RC_BuildShootCmd},
-  {CMD_SRC_PC, CMD_PC_BuildChassisCmd, CMD_PC_BuildGimbalCmd, CMD_PC_BuildShootCmd},
-  {CMD_SRC_NUC, NULL, NULL, NULL},
-  {CMD_SRC_REF, NULL, NULL, NULL},
-};
-
-int8_t CMD_Arbitrate(CMD_t *ctx) {
-  if (ctx == NULL) {
-      return CMD_ERR_NULL;
-  }
-  
-  /* 自动仲裁：优先级 PC > RC > NUC */
-  CMD_InputSource_t candidates[] = {CMD_SRC_RC, CMD_SRC_PC, CMD_SRC_NUC};
-  const int num_candidates = sizeof(candidates) / sizeof(candidates[0]);
-  
-  /* 如果当前输入源仍然在线且有效，保持使用 */
-  if (ctx->active_source < CMD_SRC_NUM && 
-      ctx->active_source != CMD_SRC_REF && 
-      ctx->input.online[ctx->active_source]) {
-      goto seize;
-  }
-  
-  /* 否则选择第一个可用的控制输入源 */
-  for (int i = 0; i < num_candidates; i++) {
-      CMD_InputSource_t src = candidates[i];
-      if (ctx->input.online[src]) {
-          ctx->active_source = src;
-          break;
-      }else {
-          ctx->active_source = CMD_SRC_NUM;
-          continue;
-      }
-  }
-  ctx->output.chassis.source = ctx->active_source;
-  ctx->output.gimbal.source = ctx->active_source;
-  ctx->output.shoot.source = ctx->active_source;
-
-  /* 优先级抢占逻辑 */
-  seize:
-  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE);
-
-  return CMD_OK;
-}
-
-int8_t CMD_GenerateCommands(CMD_t *ctx) {
-  if (ctx == NULL) {
-      return CMD_ERR_NULL;
-  }
-  
-  /* 更新时间 */
-  uint64_t now_us = BSP_TIME_Get_us();
-  ctx->timer.now = now_us / 1000000.0f;
-  ctx->timer.dt = (now_us - ctx->timer.last_us) / 1000000.0f;
-  ctx->timer.last_us = now_us;
-  
-  /* 没有有效输入源 */
-  if (ctx->active_source >= CMD_SRC_NUM) {
-      CMD_SetOfflineMode(ctx);
-      return CMD_ERR_NO_INPUT;
-  }
-
-  sourceHandlers[ctx->output.gimbal.source].gimbalFunc(ctx);
-  sourceHandlers[ctx->output.chassis.source].chassisFunc(ctx);
-  sourceHandlers[ctx->output.shoot.source].shootFunc(ctx);
-  return CMD_OK;
-}
-
-int8_t CMD_Update(CMD_t *ctx) {
-    int8_t ret;
-    
-    ret = CMD_UpdateInput(ctx);
-    if (ret != CMD_OK) return ret;
-    
-    CMD_Arbitrate(ctx);
-    
-    ret = CMD_GenerateCommands(ctx);
-    return ret;
-}
diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
new file mode 100644
index 0000000..bedb1ce
--- /dev/null
+++ b/User/module/cmd/cmd.c
@@ -0,0 +1,748 @@
+/*
+ * CMD 模块 V2 - 主控制模块实现
+ */
+#include "cmd.h"
+#include "bsp/time.h"
+#include "module/cmd/cmd_types.h"
+#include "module/gimbal.h"
+#include "module/shoot.h"
+#include <stdint.h>
+#include <string.h>
+
+/* ========================================================================== */
+/*                           命令构建函数                                       */
+/* ========================================================================== */
+
+/* 从RC输入生成底盘命令 */
+#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_CHASSIS
+static void CMD_RC_BuildChassisCmd(CMD_t *ctx) {
+  CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
+  
+  /* 根据左拨杆位置选择模式 */
+  switch (ctx->input.rc.sw[0]) {
+      case CMD_SW_UP:
+          ctx->output.chassis.cmd.mode = map->sw_left_up;
+          break;
+      case CMD_SW_MID:
+          ctx->output.chassis.cmd.mode = map->sw_left_mid;
+          break;
+      case CMD_SW_DOWN:
+          ctx->output.chassis.cmd.mode = map->sw_left_down;
+          break;
+      default:
+          ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
+          break;
+  }
+  
+  /* 摇杆控制移动 */
+  ctx->output.chassis.cmd.Vx = ctx->input.rc.joy_right.x;
+  ctx->output.chassis.cmd.Vy = ctx->input.rc.joy_right.y;
+  ctx->output.chassis.cmd.Vw = ctx->input.rc.joy_left.x;
+}
+#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_CHASSIS */
+
+/* 从 RC 输入生成云台命令 */
+#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL
+static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
+  CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
+  /* 根据拨杆选择云台模式 */
+  switch (ctx->input.rc.sw[0]) {
+      case CMD_SW_UP:
+          ctx->output.gimbal.cmd.mode = map->gimbal_sw_up;
+          break;
+      case CMD_SW_MID:
+          ctx->output.gimbal.cmd.mode = map->gimbal_sw_mid;
+          break;
+      case CMD_SW_DOWN:
+          ctx->output.gimbal.cmd.mode = map->gimbal_sw_down;
+          break;
+      default:
+          ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
+          break;
+  }
+  
+  /* 左摇杆控制云台 */
+  ctx->output.gimbal.cmd.delta_yaw_4310 = -ctx->input.rc.joy_right.x * 5.0f;
+  ctx->output.gimbal.cmd.delta_pitch_4310 = ctx->input.rc.joy_right.y * 5.0f;
+}
+#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL */
+
+/* 从 RC 输入生成射击命令 */
+#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT
+static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
+  if (ctx->input.online[CMD_SRC_RC]) {
+      ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
+  } else {
+      ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
+  }
+  
+  /* 根据右拨杆控制射击 */
+  switch (ctx->input.rc.sw[1]) {
+      case CMD_SW_DOWN:
+          ctx->output.shoot.cmd.ready = true;
+          ctx->output.shoot.cmd.firecmd = true;
+          break;
+      case CMD_SW_MID:
+          ctx->output.shoot.cmd.ready = true;
+          ctx->output.shoot.cmd.firecmd = false;
+          break;
+      case CMD_SW_UP:
+      default:
+          ctx->output.shoot.cmd.ready = false;
+          ctx->output.shoot.cmd.firecmd = false;
+          break;
+  }
+}
+#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT */
+
+/* 从 RC 输入生成履带命令 */
+#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_TRACK
+static void CMD_RC_BuildTrackCmd(CMD_t *ctx) {
+  CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
+  
+  if (!ctx->input.online[CMD_SRC_RC]) {
+      ctx->output.track.cmd.enable = false;
+      ctx->output.track.cmd.vel = 0.0f;
+      ctx->output.track.cmd.omega = 0.0f;
+      return;
+  }
+    switch (ctx->input.rc.sw[0]) {
+      case CMD_SW_UP:
+          ctx->output.track.cmd.enable = map->track_sw_up;
+          break;
+      case CMD_SW_MID:
+          ctx->output.track.cmd.enable = map->track_sw_mid;
+          break;
+      case CMD_SW_DOWN:
+          ctx->output.track.cmd.enable = map->track_sw_down;
+          break;
+      default:
+          ctx->output.track.cmd.enable = false;
+          break;
+  }
+  ctx->output.track.cmd.enable = ctx->input.online[CMD_SRC_RC];
+  ctx->output.track.cmd.vel = ctx->input.rc.joy_right.y * 2.0f;
+  if(fabsf(ctx->input.rc.joy_right.y * 2.0f) > 1.0f)
+          ctx->output.track.cmd.vel = ctx->output.track.cmd.vel > 0 ? 1.0f
+          : -1.0f;
+  
+  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_TRACK);
+}
+#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_TRACK */
+
+/* 从PC输入生成底盘命令 */
+#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_CHASSIS
+static void CMD_PC_BuildChassisCmd(CMD_t *ctx) {
+  
+  if (!ctx->input.online[CMD_SRC_PC]) {
+      ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
+      return;
+  }
+  
+  ctx->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+  
+  /* WASD控制移动 */
+  ctx->output.chassis.cmd.Vx = 0.0f;
+  ctx->output.chassis.cmd.Vy = 0.0f;
+  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS);
+}
+#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_CHASSIS */
+
+/* 从PC输入生成云台命令 */
+#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_GIMBAL
+static void CMD_PC_BuildGimbalCmd(CMD_t *ctx) {
+  CMD_Sensitivity_t *sens = &ctx->config->sensitivity;
+  
+  if (!ctx->input.online[CMD_SRC_PC]) {
+      ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
+      return;
+  }
+  ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
+  
+  /* 鼠标控制云台 */
+  ctx->output.gimbal.cmd.delta_yaw_4310 = (float)-ctx->input.pc.mouse.x * ctx->timer.dt * sens->mouse_sens;
+  ctx->output.gimbal.cmd.delta_pitch_4310 = (float)ctx->input.pc.mouse.y * ctx->timer.dt * sens->mouse_sens * 1.5f;
+  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_GIMBAL);
+}
+#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_GIMBAL */
+
+/* 从PC输入生成射击命令 */
+#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_SHOOT
+static void CMD_PC_BuildShootCmd(CMD_t *ctx) {
+  if (!ctx->input.online[CMD_SRC_PC]) {
+      ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
+      return;
+  }
+  
+  ctx->output.shoot.cmd.ready = true;
+  ctx->output.shoot.cmd.firecmd = ctx->input.pc.mouse.l_click;
+}
+#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_SHOOT */
+
+/* 从PC输入生成履带命令 */
+#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_TRACK
+static void CMD_PC_BuildTrackCmd(CMD_t *ctx) {
+  if (!ctx->input.online[CMD_SRC_PC]) {
+      ctx->output.track.cmd.enable = false;
+      ctx->output.track.cmd.vel = 0.0f;
+      ctx->output.track.cmd.omega = 0.0f;
+      return;
+  }
+  
+  ctx->output.track.cmd.enable = true;
+  /* 可根据需要添加PC对履带的控制，例如键盘按键 */
+  ctx->output.track.cmd.vel = 0.0f;
+  ctx->output.track.cmd.omega = 0.0f;
+  
+  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_TRACK);
+}
+#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_TRACK */
+
+/* 从NUC/AI输入生成云台命令 */
+#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL
+static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) {
+  if (!ctx->input.online[CMD_SRC_NUC]) {
+      ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
+      return;
+  }
+  ctx->output.chassis.cmd.Vx = ctx->input.nuc.chassis.vx;
+  ctx->output.chassis.cmd.Vy = ctx->input.nuc.chassis.vy;
+  ctx->output.chassis.cmd.Vw = ctx->input.nuc.chassis.vw;
+  /* 使用AI提供的云台控制数据 */
+  
+  #error  "gimbal未写完"
+  // if (ctx->input.nuc.mode!=0) {
+  // ctx->output.gimbal.cmd.mode = GIMBAL_MODE_AI_CONTROL;
+  // ctx->output.gimbal.cmd.mode_ai = (uint8_t)ctx->input.nuc.mode; /* 直接使用AI模式细分字段 */
+  // ctx->output.gimbal.cmd.setpoint_yaw = ctx->input.nuc.gimbal.setpoint.yaw;
+  // ctx->output.gimbal.cmd.setpoint_pit = ctx->input.nuc.gimbal.setpoint.pit;
+  // ctx->output.gimbal.cmd.ff_vel_yaw = ctx->input.nuc.gimbal.vel.yaw;
+  // ctx->output.gimbal.cmd.ff_vel_pit = ctx->input.nuc.gimbal.vel.pit;
+  // ctx->output.gimbal.cmd.ff_accl_yaw = ctx->input.nuc.gimbal.accl.yaw;
+  // ctx->output.gimbal.cmd.ff_accl_pit = ctx->input.nuc.gimbal.accl.pit;
+  // }
+
+}
+#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL */
+
+/* 从 NUC/AI 输入生成射击命令 */
+#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_SHOOT
+static void CMD_NUC_BuildShootCmd(CMD_t *ctx) {
+  if (!ctx->input.online[CMD_SRC_NUC]) {
+      ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
+      return;
+  }
+  
+  /* 根据AI模式决定射击行为 */
+  switch (ctx->input.nuc.mode) {
+    case 0:
+    case 1:
+      /* mode=1 只控云台，不让射击机构进入 ready，避免摩擦轮继续预转。 */
+      ctx->output.shoot.cmd.ready = false;
+      ctx->output.shoot.cmd.firecmd = false; 
+      break;
+    case 2:
+      if ((ctx->active_source == CMD_SRC_PC && ctx->input.pc.mouse.l_click) || 
+          (ctx->active_source == CMD_SRC_RC && ctx->input.rc.sw[1] == CMD_SW_DOWN)) {
+        ctx->output.shoot.cmd.ready = true;
+        ctx->output.shoot.cmd.firecmd = true; 
+      } else {
+        ctx->output.shoot.cmd.ready = true;
+        ctx->output.shoot.cmd.firecmd = false; 
+      }
+      break;
+    default:
+      ctx->output.shoot.cmd.ready = false;
+      ctx->output.shoot.cmd.firecmd = false;
+      break;
+  }
+}
+#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_SHOOT */
+
+/* 从 RC 输入生成机械臂命令 */
+#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_ARM
+static void CMD_RC_BuildArmCmd(CMD_t *ctx) {
+  /*
+   * 遥控器控制机械臂末端位姿 —— 笛卡尔增量方案
+   *
+   * 左拨杆 SW_L (sw[0]) —— 整体使能:
+   *   UP   → 失能（电机松弛/重力补偿）
+   *   MID  → 使能，笛卡尔增量控制
+   *   DOWN → 使能（保留备用）
+   *
+   * 右拨杆 SW_R (sw[1]) —— 自由度分组:
+   *
+   *   UP  【位置模式】3轴平移 + 偏航（最常用操作放第一层）
+   *         右摇杆X (RX) → X 平移（末端左右移动）
+   *         右摇杆Y (RY) → Y 平移（末端前后移动）
+   *         左摇杆Y (LY) → Z 平移（末端升降）
+   *         左摇杆X (LX) → Yaw 偏航旋转
+   *
+   *   MID 【姿态模式】俯仰/横滚全姿态，同时保留 Z 和偏航可调
+   *         右摇杆X (RX) → Yaw  偏航旋转（持续可调，避免强制切换模式）
+   *         右摇杆Y (RY) → Pitch 俯仰旋转
+   *         左摇杆X (LX) → Roll  横滚旋转
+   *         左摇杆Y (LY) → Z 平移（升降保持可调，避免强制切换模式）
+   *
+   *   DOWN → set_target_as_current（目标位姿吸附当前实际位姿，消除累积漂移）
+   *
+   * 摇杆直觉映射总结:
+   *   右摇杆 = "末端去哪里"（XY平移，最自然）
+   *   左Y    = "臂的高低"  （Z升降，推上=升高）
+   *   左X    = 位置模式→偏航 / 姿态模式→横滚
+   */
+  ctx->output.arm.cmd.set_target_as_current = false;
+  if (ctx->input.rc.sw[1] == CMD_SW_DOWN) {
+    ctx->output.arm.cmd.set_target_as_current = true;
+  }
+
+  switch (ctx->input.rc.sw[0]) {
+    case CMD_SW_MID:
+    case CMD_SW_DOWN:
+      ctx->output.arm.cmd.enable = true;
+      break;
+    default:
+      ctx->output.arm.cmd.enable = false;
+      goto end;
+  }
+
+  /* 遥控器模式使用笛卡尔位姿累积控制 */
+  ctx->output.arm.cmd.ctrl_type = ARM_CTRL_REMOTE_CARTESIAN;
+
+  /* set_target_as_current 置位时不叠加摇杆增量，由上层负责同步位姿基准 */
+  if (ctx->output.arm.cmd.set_target_as_current) return;
+
+  /* 输出摇杆速度命令（m/s, rad/s）——不含 dt，由arm_main在正确坐标系下积分到世界系 target_pose */
+  float pos_scale = 0.3f;   /* 末端线速度上限 (m/s) */
+  float rot_scale = 1.0f;   /* 末端角速度上限 (rad/s) */
+
+  memset(&ctx->output.arm.cmd.joy_vel, 0, sizeof(ctx->output.arm.cmd.joy_vel));
+
+  switch (ctx->input.rc.sw[1]) {
+    case CMD_SW_UP:
+      /* 位置模式：3轴平移 + 偏航 */
+      ctx->output.arm.cmd.joy_vel.x   = ctx->input.rc.joy_right.x * pos_scale;
+      ctx->output.arm.cmd.joy_vel.y   = ctx->input.rc.joy_right.y * pos_scale;
+      ctx->output.arm.cmd.joy_vel.z   = ctx->input.rc.joy_left.y  * pos_scale;
+      ctx->output.arm.cmd.joy_vel.yaw = ctx->input.rc.joy_left.x  * rot_scale;
+      break;
+    case CMD_SW_MID:
+      /* 姿态模式：俯仰 + 横滚 + 偏航 + 升降（全6自由度可达，Z/Yaw持续可调） */
+      ctx->output.arm.cmd.joy_vel.yaw   = ctx->input.rc.joy_right.x * rot_scale;
+      ctx->output.arm.cmd.joy_vel.pitch = ctx->input.rc.joy_right.y * rot_scale;
+      ctx->output.arm.cmd.joy_vel.roll  = ctx->input.rc.joy_left.x  * rot_scale;
+      ctx->output.arm.cmd.joy_vel.z     = ctx->input.rc.joy_left.y  * pos_scale;
+      break;
+    default:
+      break;
+  }
+  end:
+  return;
+}
+#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_ARM */
+
+/* 从 PC 输入生成机械臂命令 */
+#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_ARM
+static void CMD_PC_BuildArmCmd(CMD_t *ctx) {
+  if (!ctx->input.online[CMD_SRC_PC]) {
+      ctx->output.arm.cmd.enable = false;
+      return;
+  }
+  ctx->output.arm.cmd.enable = true;
+  ctx->output.arm.cmd.ctrl_type = ARM_CTRL_REMOTE_CARTESIAN;
+
+  /* 鼠标控制末端位坐 XY，其他轴可根据需要扩展 */
+  float sens = ctx->config->sensitivity.mouse_sens * 0.001f;
+  ctx->output.arm.cmd.target_pose.x += (float)ctx->input.pc.mouse.x * sens * ctx->timer.dt;
+  ctx->output.arm.cmd.target_pose.y += (float)ctx->input.pc.mouse.y * sens * ctx->timer.dt;
+}
+#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_ARM */
+
+/* 从 RC 输入生成平衡底盘命令 */
+#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_BALANCE_CHASSIS
+static void CMD_RC_BuildBalanceChassisCmd(CMD_t *ctx) {
+  CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
+
+  switch (ctx->input.rc.sw[0]) {
+    case CMD_SW_UP:
+      ctx->output.balance_chassis.cmd.mode = map->balance_sw_up;
+      break;
+    case CMD_SW_MID:
+      ctx->output.balance_chassis.cmd.mode = map->balance_sw_mid;
+      break;
+    case CMD_SW_DOWN:
+      ctx->output.balance_chassis.cmd.mode = map->balance_sw_down;
+      break;
+    default:
+      ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX;
+      break;
+  }
+
+  /* 左摩杆Y/X → 平移，右摩杆X → 转向 */
+  ctx->output.balance_chassis.cmd.move_vec.vx = ctx->input.rc.joy_left.y;
+  ctx->output.balance_chassis.cmd.move_vec.vy = ctx->input.rc.joy_left.x;
+  ctx->output.balance_chassis.cmd.move_vec.wz = ctx->input.rc.joy_right.x;
+  /* 拨轮传递目标高度 */
+  ctx->output.balance_chassis.cmd.height       = ctx->input.rc.dial;
+  ctx->output.balance_chassis.cmd.jump_trigger  = false;
+
+}
+#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_BALANCE_CHASSIS */
+
+/* 从 PC 输入生成平衡底盘命令 */
+#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_BALANCE_CHASSIS
+static void CMD_PC_BuildBalanceChassisCmd(CMD_t *ctx) {
+  CMD_Sensitivity_t *sens = &ctx->config->sensitivity;
+
+  if (!ctx->input.online[CMD_SRC_PC]) {
+    ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX;
+    return;
+  }
+
+  ctx->output.balance_chassis.cmd.move_vec.vx = 0.0f;
+  ctx->output.balance_chassis.cmd.move_vec.vy = 0.0f;
+  ctx->output.balance_chassis.cmd.move_vec.wz = 0.0f;
+
+  ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
+  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_BALANCE_CHASSIS);
+
+}
+#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_BALANCE_CHASSIS */
+#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_REFUI
+static void CMD_NUC_BuildRefUICmd(CMD_t *ctx) {
+  if (!ctx->input.online[CMD_SRC_NUC]) {
+    ctx->output.refui.cmd = UI_AUTO_AIM_STOP;
+    return;
+  }
+  ctx->output.refui.cmd = (ctx->input.nuc.mode != 0) ? UI_AUTO_AIM_START : UI_AUTO_AIM_STOP;
+}
+#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_REFUI */
+
+/* 离线安全模式 */
+static void CMD_SetOfflineMode(CMD_t *ctx) {
+#if CMD_ENABLE_MODULE_CHASSIS
+  ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
+#endif
+#if CMD_ENABLE_MODULE_GIMBAL
+  ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
+#endif
+#if CMD_ENABLE_MODULE_SHOOT
+  ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
+#endif
+#if CMD_ENABLE_MODULE_TRACK
+  ctx->output.track.cmd.enable = false;
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+  ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX;
+#endif
+#if CMD_ENABLE_MODULE_ARM
+  ctx->output.arm.cmd.enable = false;
+#endif
+#if CMD_ENABLE_MODULE_REFUI
+  ctx->output.refui.cmd = UI_NOTHING;
+#endif
+}
+
+/* ========================================================================== */
+/*                           公开API实现                                        */
+/* ========================================================================== */
+
+int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config) {
+  if (ctx == NULL || config == NULL) {
+      return CMD_ERR_NULL;
+  }
+  
+  memset(ctx, 0, sizeof(CMD_t));
+  ctx->config = config;
+  
+  /* 初始化适配器 */
+  CMD_Adapter_InitAll();
+  
+  /* 初始化行为处理器 */
+  CMD_Behavior_Init();
+  
+  return CMD_OK;
+}
+
+int8_t CMD_UpdateInput(CMD_t *ctx) {
+  if (ctx == NULL) {
+      return CMD_ERR_NULL;
+  }
+  
+  /* 保存上一帧输入 */
+  memcpy(&ctx->last_input, &ctx->input, sizeof(ctx->input));
+  
+  /* 更新所有输入源 */
+  for (int i = 0; i < CMD_SRC_NUM; i++) {
+      CMD_Adapter_GetInput((CMD_InputSource_t)i, &ctx->input);
+  }
+  
+  return CMD_OK;
+}
+typedef void (*CMD_BuildCommandFunc)(CMD_t *cmd);
+typedef struct {
+  CMD_InputSource_t source;
+  CMD_BuildCommandFunc chassisFunc;
+  CMD_BuildCommandFunc gimbalFunc;
+  CMD_BuildCommandFunc shootFunc;
+  CMD_BuildCommandFunc trackFunc;
+  CMD_BuildCommandFunc armFunc;
+  CMD_BuildCommandFunc refuiFunc;
+    CMD_BuildCommandFunc balanceChassisFunc;
+} CMD_SourceHandler_t;
+
+/* Build-function conditional references */
+#if CMD_ENABLE_MODULE_CHASSIS && CMD_ENABLE_SRC_RC
+  #define _FN_RC_CHASSIS  CMD_RC_BuildChassisCmd
+#else
+  #define _FN_RC_CHASSIS  NULL
+#endif
+#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_RC
+  #define _FN_RC_GIMBAL   CMD_RC_BuildGimbalCmd
+#else
+  #define _FN_RC_GIMBAL   NULL
+#endif
+#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_RC
+  #define _FN_RC_SHOOT    CMD_RC_BuildShootCmd
+#else
+  #define _FN_RC_SHOOT    NULL
+#endif
+#if CMD_ENABLE_MODULE_TRACK && CMD_ENABLE_SRC_RC
+  #define _FN_RC_TRACK    CMD_RC_BuildTrackCmd
+#else
+  #define _FN_RC_TRACK    NULL
+#endif
+#if CMD_ENABLE_MODULE_CHASSIS && CMD_ENABLE_SRC_PC
+  #define _FN_PC_CHASSIS  CMD_PC_BuildChassisCmd
+#else
+  #define _FN_PC_CHASSIS  NULL
+#endif
+#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_PC
+  #define _FN_PC_GIMBAL   CMD_PC_BuildGimbalCmd
+#else
+  #define _FN_PC_GIMBAL   NULL
+#endif
+#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_PC
+  #define _FN_PC_SHOOT    CMD_PC_BuildShootCmd
+#else
+  #define _FN_PC_SHOOT    NULL
+#endif
+#if CMD_ENABLE_MODULE_TRACK && CMD_ENABLE_SRC_PC
+  #define _FN_PC_TRACK    CMD_PC_BuildTrackCmd
+#else
+  #define _FN_PC_TRACK    NULL
+#endif
+#if CMD_ENABLE_MODULE_ARM && CMD_ENABLE_SRC_RC
+  #define _FN_RC_ARM      CMD_RC_BuildArmCmd
+#else
+  #define _FN_RC_ARM      NULL
+#endif
+#if CMD_ENABLE_MODULE_ARM && CMD_ENABLE_SRC_PC
+  #define _FN_PC_ARM      CMD_PC_BuildArmCmd
+#else
+  #define _FN_PC_ARM      NULL
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS && CMD_ENABLE_SRC_RC
+  #define _FN_RC_BALANCE_CHASSIS  CMD_RC_BuildBalanceChassisCmd
+#else
+  #define _FN_RC_BALANCE_CHASSIS  NULL
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS && CMD_ENABLE_SRC_PC
+  #define _FN_PC_BALANCE_CHASSIS  CMD_PC_BuildBalanceChassisCmd
+#else
+  #define _FN_PC_BALANCE_CHASSIS  NULL
+#endif
+#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_NUC
+  #define _FN_NUC_GIMBAL  CMD_NUC_BuildGimbalCmd
+#else
+  #define _FN_NUC_GIMBAL  NULL
+#endif
+#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_NUC
+  #define _FN_NUC_SHOOT   CMD_NUC_BuildShootCmd
+#else
+  #define _FN_NUC_SHOOT   NULL
+#endif
+
+CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = {
+#if CMD_ENABLE_SRC_RC
+  [CMD_SRC_RC]  = {CMD_SRC_RC,  _FN_RC_CHASSIS, _FN_RC_GIMBAL, _FN_RC_SHOOT, _FN_RC_TRACK, _FN_RC_ARM,  NULL,  _FN_RC_BALANCE_CHASSIS},
+#endif
+#if CMD_ENABLE_SRC_PC
+  [CMD_SRC_PC]  = {CMD_SRC_PC,  _FN_PC_CHASSIS, _FN_PC_GIMBAL, _FN_PC_SHOOT, _FN_PC_TRACK, _FN_PC_ARM,  NULL,  _FN_PC_BALANCE_CHASSIS},
+#endif
+#if CMD_ENABLE_SRC_NUC
+  #if CMD_ENABLE_MODULE_REFUI
+    #define _FN_NUC_REFUI  CMD_NUC_BuildRefUICmd
+  #else
+    #define _FN_NUC_REFUI  NULL
+  #endif
+  [CMD_SRC_NUC] = {CMD_SRC_NUC, NULL, _FN_NUC_GIMBAL, _FN_NUC_SHOOT, NULL, NULL, _FN_NUC_REFUI, NULL},
+#endif
+#if CMD_ENABLE_SRC_REF
+  [CMD_SRC_REF] = {CMD_SRC_REF, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#endif
+};
+
+int8_t CMD_Arbitrate(CMD_t *ctx) {
+  if (ctx == NULL) {
+      return CMD_ERR_NULL;
+  }
+  
+  /* RC > PC priority arbitration */
+  CMD_InputSource_t candidates[] = {
+#if CMD_ENABLE_SRC_RC
+    CMD_SRC_RC,
+#endif
+#if CMD_ENABLE_SRC_PC
+    CMD_SRC_PC,
+#endif
+  };
+  const int num_candidates = sizeof(candidates) / sizeof(candidates[0]);
+  
+  /* keep current source if still online */
+  if (ctx->active_source < CMD_SRC_NUM &&
+#if CMD_ENABLE_SRC_REF
+      ctx->active_source != CMD_SRC_REF &&
+#endif
+      ctx->input.online[ctx->active_source]) {
+      goto seize;
+  }
+  
+  /* 否则选择第一个可用的控制输入源 */
+  for (int i = 0; i < num_candidates; i++) {
+      CMD_InputSource_t src = candidates[i];
+      if (ctx->input.online[src]) {
+          ctx->active_source = src;
+          break;
+      }else {
+          ctx->active_source = CMD_SRC_NUM;
+          continue;
+      }
+  }
+
+  /* 优先级抢占逻辑 */
+  seize:
+
+  /* reset output sources */
+#if CMD_ENABLE_MODULE_CHASSIS
+  ctx->output.chassis.source = ctx->active_source;
+#endif
+#if CMD_ENABLE_MODULE_GIMBAL
+  ctx->output.gimbal.source = ctx->active_source;
+#endif
+#if CMD_ENABLE_MODULE_SHOOT
+  ctx->output.shoot.source = ctx->active_source;
+#endif
+#if CMD_ENABLE_MODULE_TRACK
+  ctx->output.track.source = ctx->active_source;
+#endif
+#if CMD_ENABLE_MODULE_ARM
+  ctx->output.arm.source = ctx->active_source;
+#endif
+#if CMD_ENABLE_MODULE_REFUI
+  ctx->output.refui.source = ctx->active_source;
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+  ctx->output.balance_chassis.source = ctx->active_source;
+#endif
+
+  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE);
+
+#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT
+  if (ctx->input.online[CMD_SRC_NUC]) {
+    if (ctx->active_source==CMD_SRC_RC) {
+      if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
+        //用遥控器调自瞄的时候打开下面两行
+        ctx->output.gimbal.source = CMD_SRC_NUC;
+        ctx->output.shoot.source = CMD_SRC_NUC;
+        ctx->output.chassis.source = CMD_SRC_NUC;
+#if CMD_ENABLE_MODULE_REFUI
+        ctx->output.refui.source = CMD_SRC_NUC;
+#endif
+    }
+  }
+}
+#endif
+
+  return CMD_OK;
+}
+
+int8_t CMD_GenerateCommands(CMD_t *ctx) {
+  if (ctx == NULL) {
+      return CMD_ERR_NULL;
+  }
+  
+  /* 更新时间 */
+  uint64_t now_us = BSP_TIME_Get_us();
+  ctx->timer.now = now_us / 1000000.0f;
+  ctx->timer.dt = (now_us - ctx->timer.last_us) / 1000000.0f;
+  ctx->timer.last_us = now_us;
+  
+  /* 没有有效输入源 */
+  if (ctx->active_source >= CMD_SRC_NUM) {
+      CMD_SetOfflineMode(ctx);
+      return CMD_ERR_NO_INPUT;
+  }
+
+#if CMD_ENABLE_MODULE_GIMBAL
+  if (sourceHandlers[ctx->output.gimbal.source].gimbalFunc != NULL) {
+    sourceHandlers[ctx->output.gimbal.source].gimbalFunc(ctx);
+  }
+#endif
+#if CMD_ENABLE_MODULE_CHASSIS
+  if (sourceHandlers[ctx->output.chassis.source].chassisFunc != NULL) {
+    sourceHandlers[ctx->output.chassis.source].chassisFunc(ctx);
+  }
+#endif
+#if CMD_ENABLE_MODULE_SHOOT
+  if (sourceHandlers[ctx->output.shoot.source].shootFunc != NULL) {
+    sourceHandlers[ctx->output.shoot.source].shootFunc(ctx);
+  }
+#endif
+#if CMD_ENABLE_MODULE_TRACK
+  if (sourceHandlers[ctx->output.track.source].trackFunc != NULL) {
+    sourceHandlers[ctx->output.track.source].trackFunc(ctx);
+  }
+#endif
+#if CMD_ENABLE_MODULE_ARM
+  if (sourceHandlers[ctx->output.arm.source].armFunc != NULL) {
+    sourceHandlers[ctx->output.arm.source].armFunc(ctx);
+  }
+#endif
+#if CMD_ENABLE_MODULE_REFUI
+  if (sourceHandlers[ctx->output.refui.source].refuiFunc != NULL) {
+    sourceHandlers[ctx->output.refui.source].refuiFunc(ctx);
+  } else {
+    ctx->output.refui.cmd = UI_NOTHING;
+  }
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+  if (sourceHandlers[ctx->output.balance_chassis.source].balanceChassisFunc != NULL) {
+    sourceHandlers[ctx->output.balance_chassis.source].balanceChassisFunc(ctx);
+  }
+#endif
+  return CMD_OK;
+}
+  
+#if CMD_ENABLE_SRC_REF
+static void CMD_REF_BuildOutput(CMD_t *ctx) {
+    ctx->output.ref = ctx->input.ref;
+}
+#endif
+
+int8_t CMD_Update(CMD_t *ctx) {
+    int8_t ret;
+    
+    ret = CMD_UpdateInput(ctx);
+    if (ret != CMD_OK) return ret;
+    
+    CMD_Arbitrate(ctx);
+    
+    ret = CMD_GenerateCommands(ctx);
+
+#if CMD_ENABLE_SRC_REF
+    CMD_REF_BuildOutput(ctx);
+#endif
+
+    return ret;
+}
diff --git a/User/module/cmd.h b/User/module/cmd/cmd.h
similarity index 58%
rename from User/module/cmd.h
rename to User/module/cmd/cmd.h
index 8d6383b..58d58c2 100644
--- a/User/module/cmd.h
+++ b/User/module/cmd/cmd.h
@@ -4,15 +4,30 @@
  */
 #pragma once
 
-#include "gimbal.h"
-#include "module/cmd_types.h"
-#include "module/cmd_adapter.h"
-#include "module/cmd_behavior.h"
+#include "cmd_types.h"
+#include "cmd_adapter.h"
+#include "cmd_behavior.h"
+
+/* 按需引入输出模块的命令类型 */
+#if CMD_ENABLE_MODULE_CHASSIS
+  #include "module/chassis.h"
+#endif
+#if CMD_ENABLE_MODULE_GIMBAL
+  #include "module/gimbal.h"
+#endif
+#if CMD_ENABLE_MODULE_SHOOT
+  #include "module/shoot.h"
+#endif
+#if CMD_ENABLE_MODULE_TRACK
+  #include "module/track.h"
+#endif
+#if CMD_ENABLE_MODULE_ARM
+  #include "component/arm_kinematics/arm6dof.h"
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+  #include "module/balance_chassis.h"
+#endif
 
-/* 引入输出模块的命令类型 */
-#include "module/chassis.h"
-#include "module/gimbal.h"
-#include "module/shoot.h"
 #include <stdint.h>
 
 #ifdef __cplusplus
@@ -24,42 +39,64 @@ extern "C" {
 /* ========================================================================== */
 
 /* 每个模块的输出包含源信息和命令 */
+#if CMD_ENABLE_MODULE_CHASSIS
 typedef struct {
     CMD_InputSource_t source;
     Chassis_CMD_t cmd;
 } CMD_ChassisOutput_t;
+#endif
 
+#if CMD_ENABLE_MODULE_GIMBAL
 typedef struct {
     CMD_InputSource_t source;
     Gimbal_CMD_t cmd;
 } CMD_GimbalOutput_t;
+#endif
 
+#if CMD_ENABLE_MODULE_SHOOT
 typedef struct {
     CMD_InputSource_t source;
     Shoot_CMD_t cmd;
 } CMD_ShootOutput_t;
+#endif
+
+#if CMD_ENABLE_MODULE_TRACK
+typedef struct {
+    CMD_InputSource_t source;
+    Track_CMD_t cmd;
+} CMD_TrackOutput_t;
+#endif
+
+#if CMD_ENABLE_MODULE_ARM
+typedef struct {
+    CMD_InputSource_t source;
+    Arm_CMD_t         cmd;
+} CMD_ArmOutput_t;
+#endif
+
+#if CMD_ENABLE_MODULE_REFUI
+typedef struct {
+    CMD_InputSource_t source;
+    Referee_UI_CMD_t  cmd;
+} CMD_RefUIOutput_t;
+#endif
+
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+typedef struct {
+    CMD_InputSource_t source;
+    Chassis_CMD_t     cmd;
+} CMD_BalanceChassisOutput_t;
+#endif
+
+#if CMD_ENABLE_SRC_REF
+// /* REF 透传输出：裁判数据直通各模块，不参与仲裁 */
+// typedef CMD_RawInput_REF_t CMD_RawInput_REF_t;
+#endif
 
 /* ========================================================================== */
 /*                           配置结构                                           */
 /* ========================================================================== */
 
-	/* AI行为状态 */
-typedef enum {
-  AI_STATUS_STOP,      /* 停止状态 */
-  AI_STATUS_AUTOAIM,   /* 自瞄状态 */
-  AI_STATUS_HITSWITCH, /* 打符状态 */
-  AI_STATUS_AUTOMATIC  /* 自动状态 */
-} CMD_AI_Status_t;
-
-/* UI所用行为状态 */
-typedef enum {
-  UI_NOTHING,          /* 当前无状态 */
-  UI_AUTO_AIM_START,   /* 自瞄状态开启 */
-  UI_AUTO_AIM_STOP,    /* 自瞄状态关闭 */
-  UI_HIT_SWITCH_START, /* 打符状态开启 */
-  UI_HIT_SWITCH_STOP   /* 打符状态关闭 */
-} CMD_UI_t;
-
 /* 灵敏度配置 */
 typedef struct {
     float mouse_sens;       /* 鼠标灵敏度 */
@@ -68,37 +105,34 @@ typedef struct {
     float move_slow_mult;   /* 慢速移动倍率 */
 } CMD_Sensitivity_t;
 
-	/* 分辨率配置 */
-typedef struct {
-  uint16_t width;
-  uint16_t height;
-} CMD_Screen_t;
-
 /* RC模式映射配置 - 定义开关位置到模式的映射 */
 typedef struct {
+#if CMD_ENABLE_MODULE_CHASSIS
     /* 左拨杆映射 - 底盘模式 */
     Chassis_Mode_t sw_left_up;
     Chassis_Mode_t sw_left_mid;
     Chassis_Mode_t sw_left_down;
+#endif
 
-    Chassis_ctrl_mode_t chassis_ctrl_mode_sw_up;
-    Chassis_ctrl_mode_t chassis_ctrl_mode_sw_mid;
-    Chassis_ctrl_mode_t chassis_ctrl_mode_sw_down;
-    
+#if CMD_ENABLE_MODULE_GIMBAL
     /* 右拨杆映射 - 云台/射击模式 */
     Gimbal_Mode_t gimbal_sw_up;
     Gimbal_Mode_t gimbal_sw_mid;
     Gimbal_Mode_t gimbal_sw_down;
+#endif
 
-    GIMBAL_Ctrl_mode_t gimmbal_ctrl_mode_sw_up;
-    GIMBAL_Ctrl_mode_t gimmbal_ctrl_mode_sw_mid;
-    GIMBAL_Ctrl_mode_t gimmbal_ctrl_mode_sw_down;
-		
-	Shoot_Mode_t shoot_sw_up;
-	Shoot_Mode_t shoot_sw_mid;
-	Shoot_Mode_t shoot_sw_down;	
-	
-	
+#if CMD_ENABLE_MODULE_TRACK
+    /* 左拨杆映射 - 履带使能 */
+    bool track_sw_up;
+    bool track_sw_mid;
+    bool track_sw_down;
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+    /* 左拨杆映射 - 平衡底盘模式 */
+    Chassis_Mode_t balance_sw_up;
+    Chassis_Mode_t balance_sw_mid;
+    Chassis_Mode_t balance_sw_down;
+#endif
 } CMD_RCModeMap_t;
 
 /* 整体配置 */
@@ -108,8 +142,7 @@ typedef struct {
     
     /* 灵敏度设置 */
     CMD_Sensitivity_t sensitivity;
-    /* 分辨率设置 */	
-		CMD_Screen_t screen;
+    
     /* RC模式映射 */
     CMD_RCModeMap_t rc_mode_map;
     
@@ -141,10 +174,30 @@ typedef struct CMD_Context {
     
     /* 输出 */
     struct {
+#if CMD_ENABLE_MODULE_CHASSIS
     CMD_ChassisOutput_t chassis;
+#endif
+#if CMD_ENABLE_MODULE_GIMBAL
     CMD_GimbalOutput_t gimbal;
+#endif
+#if CMD_ENABLE_MODULE_SHOOT
     CMD_ShootOutput_t shoot;
-		
+#endif
+#if CMD_ENABLE_MODULE_TRACK
+    CMD_TrackOutput_t track;
+#endif
+#if CMD_ENABLE_MODULE_ARM
+    CMD_ArmOutput_t arm;
+#endif
+#if CMD_ENABLE_MODULE_REFUI
+    CMD_RefUIOutput_t refui;
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+    CMD_BalanceChassisOutput_t balance_chassis;
+#endif
+#if CMD_ENABLE_SRC_REF
+    CMD_RawInput_REF_t ref;
+#endif
     } output;
 } CMD_t;
 
@@ -193,19 +246,60 @@ int8_t CMD_Update(CMD_t *ctx);
 /* ========================================================================== */
 
 /* 获取底盘命令 */
+#if CMD_ENABLE_MODULE_CHASSIS
 static inline Chassis_CMD_t* CMD_GetChassisCmd(CMD_t *ctx) {
     return &ctx->output.chassis.cmd;
   }
+#endif
 
 /* 获取云台命令 */
+#if CMD_ENABLE_MODULE_GIMBAL
 static inline Gimbal_CMD_t* CMD_GetGimbalCmd(CMD_t *ctx) {
     return &ctx->output.gimbal.cmd;
 }
+#endif
 
 /* 获取射击命令 */
+#if CMD_ENABLE_MODULE_SHOOT
 static inline Shoot_CMD_t* CMD_GetShootCmd(CMD_t *ctx) {
     return &ctx->output.shoot.cmd;
 }
+#endif
+
+/* 获取履带命令 */
+#if CMD_ENABLE_MODULE_TRACK
+static inline Track_CMD_t* CMD_GetTrackCmd(CMD_t *ctx) {
+    return &ctx->output.track.cmd;
+}
+#endif
+
+/* 获取机械臂命令 */
+#if CMD_ENABLE_MODULE_ARM
+static inline Arm_CMD_t* CMD_GetArmCmd(CMD_t *ctx) {
+    return &ctx->output.arm.cmd;
+}
+#endif
+
+/* 获取裁判系UI命令 */
+#if CMD_ENABLE_MODULE_REFUI
+static inline Referee_UI_CMD_t* CMD_GetRefUICmd(CMD_t *ctx) {
+    return &ctx->output.refui.cmd;
+}
+#endif
+
+/* 获取平衡底盘命令 */
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+static inline Chassis_CMD_t* CMD_GetBalanceChassisCmd(CMD_t *ctx) {
+    return &ctx->output.balance_chassis.cmd;
+}
+#endif
+
+/* 获取裁判系透传数据 */
+#if CMD_ENABLE_SRC_REF
+static inline CMD_RawInput_REF_t* CMD_GetRefData(CMD_t *ctx) {
+    return &ctx->output.ref;
+}
+#endif
 
 #ifdef __cplusplus
 }
diff --git a/User/module/cmd_adapter.c b/User/module/cmd/cmd_adapter.c
similarity index 62%
rename from User/module/cmd_adapter.c
rename to User/module/cmd/cmd_adapter.c
index ed0dade..9638392 100644
--- a/User/module/cmd_adapter.c
+++ b/User/module/cmd/cmd_adapter.c
@@ -1,7 +1,9 @@
 /*
  * CMD 模块 V2 - 输入适配器实现
  */
-#include "module/cmd_adapter.h"
+#include "cmd_adapter.h"
+#include "module/cmd/cmd_adapter.h"
+#include <stdbool.h>
 #include <string.h>
 
 /* ========================================================================== */
@@ -9,7 +11,6 @@
 /* ========================================================================== */
 // static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
 CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
-
 /* ========================================================================== */
 /*                        DR16 适配器实现                                       */
 /* ========================================================================== */
@@ -63,6 +64,7 @@ int8_t CMD_DR16_PC_GetInput(void *data, CMD_RawInput_t *output) {
     /* PC端鼠标映射 */
     output->pc.mouse.x = dr16->data.mouse.x;
     output->pc.mouse.y = dr16->data.mouse.y;
+    output->pc.mouse.z = dr16->data.mouse.z;
     output->pc.mouse.l_click = dr16->data.mouse.l_click;
     output->pc.mouse.r_click = dr16->data.mouse.r_click;
     
@@ -121,92 +123,70 @@ CMD_DEFINE_ADAPTER(AT9S, at9s, CMD_SRC_RC, CMD_AT9S_Init, CMD_AT9S_GetInput, CMD
 #endif /* CMD_RC_DEVICE_TYPE == 1 */
 
 /* ========================================================================== */
-/*                        ET16s 适配器实现                          					*/
+/*                        NUC/AI 适配器实现                                    */
 /* ========================================================================== */
-#if CMD_RC_DEVICE_TYPE == 3
-int8_t CMD_ET16s_Init(void *data) {
+/* ========================================================================== */
+/*                        REF/裁判系统 适配器实现                               */
+/* ========================================================================== */
+#if CMD_ENABLE_SRC_REF
+
+int8_t CMD_REF_AdapterInit(void *data) {
     (void)data;
-    /* RC DMA/IRQ is owned by Task_rc; avoid re-initializing REMOTE here.
-       Re-init would overwrite ET16s.c static thread_alert and lose RC flags. */
     return CMD_OK;
 }
 
-int8_t CMD_ET16s_GetInput(void *data, CMD_RawInput_t *output) {
-	
-    ET16s_t *et16s = (ET16s_t *)data;
+int8_t CMD_REF_GetInput(void *data, CMD_RawInput_t *output) {
+    CMD_RawInput_REF_t *ref = (CMD_RawInput_REF_t *)data;
+    output->online[CMD_SRC_REF] = CMD_REF_IsOnline(ref);
+    output->ref = *ref;
+    return CMD_OK;
+}
+
+bool CMD_REF_IsOnline(void *data) {
+    CMD_RawInput_REF_t *ref = (CMD_RawInput_REF_t *)data;
+    return !(ref->chassis.ref_status == REF_STATUS_OFFLINE&&
+      ref->ai.ref_status == REF_STATUS_OFFLINE&&
+      ref->cap.ref_status == REF_STATUS_OFFLINE&&
+      ref->shoot.ref_status == REF_STATUS_OFFLINE);
+}
+
+CMD_DEFINE_ADAPTER(REF, cmd_ref, CMD_SRC_REF, CMD_REF_AdapterInit, CMD_REF_GetInput, CMD_REF_IsOnline)
+
+#endif /* CMD_ENABLE_SRC_REF */
+
+#if CMD_ENABLE_SRC_NUC
+
+int8_t CMD_NUC_AdapterInit(void *data) {
+    /* NUC适配器不需要特殊初始化 */
+    return CMD_OK;
+}
+
+int8_t CMD_NUC_GetInput(void *data, CMD_RawInput_t *output) {
+    AI_cmd_t *ai_cmd = (AI_cmd_t *)data;
     
-		memset(output, 0, sizeof(CMD_RawInput_RC_t));
-//    memset(output, 0, sizeof(CMD_RawInput_RC_t));
-
-    output->online[CMD_SRC_RC] = et16s->header.online;
-
-    /* TODO: 按照AT9S的数据格式进行映射 */
-    output->rc.joy_left.x  = et16s->ET16s.ch_l_x;
-    output->rc.joy_left.y  = et16s->ET16s.ch_l_y;
-    output->rc.joy_right.x = et16s->ET16s.ch_r_x;
-    output->rc.joy_right.y = et16s->ET16s.ch_r_y;
-    /* 拨杆映射需要根据AT9S的实际定义 */
-    switch (et16s->ET16s.key_A) {
-        case ET16S_SW_UP:   output->rc.sw[0] = CMD_SW_UP;   break;
-        case ET16S_SW_MID:  output->rc.sw[0] = CMD_SW_MID;  break;
-        case ET16S_SW_DOWN: output->rc.sw[0] = CMD_SW_DOWN; break;
-        default:           	output->rc.sw[0] = CMD_SW_ERR;  break;
-    }
-    switch (et16s->ET16s.key_B) {
-        case ET16S_SW_UP:   output->rc.sw[1] = CMD_SW_UP;   break;
-        case ET16S_SW_MID:  output->rc.sw[1] = CMD_SW_MID;  break;
-        case ET16S_SW_DOWN: output->rc.sw[1] = CMD_SW_DOWN; break;
-        default:           	output->rc.sw[1] = CMD_SW_ERR;  break;
-    }
-		switch (et16s->ET16s.key_C) {
-        case ET16S_SW_UP:   output->rc.sw[2] = CMD_SW_UP;   break;
-        case ET16S_SW_MID:  output->rc.sw[2] = CMD_SW_MID;  break;
-        case ET16S_SW_DOWN: output->rc.sw[2] = CMD_SW_DOWN; break;
-        default:           	output->rc.sw[2] = CMD_SW_ERR;  break;
-    }
-    switch (et16s->ET16s.key_D) {
-        case ET16S_SW_UP:   output->rc.sw[3] = CMD_SW_UP;   break;
-        case ET16S_SW_MID:  output->rc.sw[3] = CMD_SW_MID;  break;
-        case ET16S_SW_DOWN: output->rc.sw[3] = CMD_SW_DOWN; break;
-        default:           output->rc.sw[3] = CMD_SW_ERR;  break;
-    }
-		switch (et16s->ET16s.key_E) {
-        case ET16S_SW_UP:   output->rc.sw[4] = CMD_SW_UP;   break;
-        case ET16S_SW_MID:  output->rc.sw[4] = CMD_SW_MID;  break;
-        case ET16S_SW_DOWN: output->rc.sw[4] = CMD_SW_DOWN; break;
-        default:           	output->rc.sw[4] = CMD_SW_ERR;  break;
-    }
-		    switch (et16s->ET16s.key_F) {
-        case ET16S_SW_UP:   output->rc.sw[5] = CMD_SW_UP;   break;
-        case ET16S_SW_MID:  output->rc.sw[5] = CMD_SW_MID;  break;
-        case ET16S_SW_DOWN: output->rc.sw[5] = CMD_SW_DOWN; break;
-        default:           	output->rc.sw[5] = CMD_SW_ERR;  break;
-    }
-    switch (et16s->ET16s.key_G) {
-        case ET16S_SW_UP:   output->rc.sw[6] = CMD_SW_UP;   break;
-        case ET16S_SW_MID:  output->rc.sw[6] = CMD_SW_MID;  break;
-        case ET16S_SW_DOWN: output->rc.sw[6] = CMD_SW_DOWN; break;
-        default:           output->rc.sw[6] = CMD_SW_ERR;  break;
-    }
-		switch (et16s->ET16s.key_H) {
-        case ET16S_SW_UP:   output->rc.sw[7] = CMD_SW_UP;   break;
-        case ET16S_SW_MID:  output->rc.sw[7] = CMD_SW_MID;  break;
-        case ET16S_SW_DOWN: output->rc.sw[7] = CMD_SW_DOWN; break;
-        default:           output->rc.sw[7] = CMD_SW_ERR;  break;
-    }
+    output->online[CMD_SRC_NUC] = true;
+    
+    /* 映射AI数据到NUC输入结构 */
+    output->nuc.mode = ai_cmd->mode;
+    output->nuc.gimbal.setpoint.yaw = ai_cmd->gimbal.setpoint.yaw;
+    output->nuc.gimbal.setpoint.pit = ai_cmd->gimbal.setpoint.pit;
+    output->nuc.gimbal.accl.pit = ai_cmd->gimbal.accl.pit;
+    output->nuc.gimbal.accl.yaw = ai_cmd->gimbal.accl.yaw;
+    output->nuc.gimbal.vel.pit = ai_cmd->gimbal.vel.pit;
+    output->nuc.gimbal.vel.yaw = ai_cmd->gimbal.vel.yaw;
 
     return CMD_OK;
 }
 
-bool CMD_ET16s_IsOnline(void *data) {
-    ET16s_t *et16s = (ET16s_t *)data;
-    return et16s->header.online;
+bool CMD_NUC_IsOnline(void *data) {
+    return true;
 }
 
-CMD_DEFINE_ADAPTER(ET16s, cmd_et16s, CMD_SRC_RC, CMD_ET16s_Init, CMD_ET16s_GetInput, CMD_ET16s_IsOnline)
-#endif /* CMD_RC_DEVICE_TYPE == 3 */
-
+/* 定义NUC适配器实例 */
+extern AI_cmd_t ai_cmd;
+CMD_DEFINE_ADAPTER(NUC, cmd_ai, CMD_SRC_NUC, CMD_NUC_AdapterInit, CMD_NUC_GetInput, CMD_NUC_IsOnline)
 
+#endif /* CMD_ENABLE_SRC_NUC */
 
 /* ========================================================================== */
 /*                           适配器管理实现                                     */
@@ -229,12 +209,16 @@ int8_t CMD_Adapter_InitAll(void) {
 #elif CMD_RC_DEVICE_TYPE == 1
     /* AT9S 目前只支持 RC 输入 */
     CMD_Adapter_Register(&g_adapter_AT9S);
-#elif CMD_RC_DEVICE_TYPE == 2
-    /*  目前只支持 RC 输入 */
-  	
-#elif CMD_RC_DEVICE_TYPE == 3
-    /* ET16s 目前只支持 RC 输入 */
-    CMD_Adapter_Register(&g_adapter_ET16s);	
+#endif
+
+#if CMD_ENABLE_SRC_NUC
+    /* 注册NUC适配器 */
+    CMD_Adapter_Register(&g_adapter_NUC);
+#endif
+
+#if CMD_ENABLE_SRC_REF
+    /* 注册REF适配器 */
+    CMD_Adapter_Register(&g_adapter_REF);
 #endif
     
     /* 初始化所有已注册的适配器 */
diff --git a/User/module/cmd_adapter.h b/User/module/cmd/cmd_adapter.h
similarity index 79%
rename from User/module/cmd_adapter.h
rename to User/module/cmd/cmd_adapter.h
index 56a6cc5..e8aa285 100644
--- a/User/module/cmd_adapter.h
+++ b/User/module/cmd/cmd_adapter.h
@@ -4,7 +4,7 @@
  */
 #pragma once
 
-#include "module/cmd_types.h"
+#include "cmd_types.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -45,7 +45,6 @@ typedef struct {
  * - bool CMD_DR16_IsOnline(void *data);
  */
 #define CMD_DECLARE_ADAPTER(NAME, var, TYPE) \
-    extern TYPE var; \
     int8_t CMD_##NAME##_Init(void *data); \
     int8_t CMD_##NAME##_GetInput(void *data, CMD_RawInput_t *output); \
     bool CMD_##NAME##_IsOnline(void *data);
@@ -70,7 +69,7 @@ typedef struct {
 /* ========================================================================== */
 
 /* 选择使用的RC设备 - 只需修改这里 */
-		#define CMD_RC_DEVICE_TYPE  3   /* 0:DR16, 1:AT9S, 2:VT13 3:ET16s*/
+#define CMD_RC_DEVICE_TYPE  0   /* 0:DR16, 1:AT9S, 2:VT13 */
 
 #if CMD_RC_DEVICE_TYPE == 0
     #include "device/dr16.h"
@@ -88,11 +87,27 @@ typedef struct {
     CMD_DECLARE_ADAPTER(VT13, vt13, VT13_t)
     #define CMD_RC_ADAPTER_NAME VT13
     #define CMD_RC_ADAPTER_VAR  vt13
-#elif CMD_RC_DEVICE_TYPE == 3
-    #include "device/ET16s.h"
-    CMD_DECLARE_ADAPTER(ET16s, cmd_et16s, ET16s_t)
-    #define CMD_RC_ADAPTER_NAME ET16s
-    #define CMD_RC_ADAPTER_VAR  ET16s		
+#endif
+
+/* ========================================================================== */
+/*                        NUC/AI适配器配置                                     */
+/* ========================================================================== */
+#if CMD_ENABLE_SRC_NUC
+  #include "module/vision_bridge.h"
+  extern AI_cmd_t cmd_ai;
+  int8_t CMD_NUC_AdapterInit(void *data);
+  int8_t CMD_NUC_GetInput(void *data, CMD_RawInput_t *output);
+  bool CMD_NUC_IsOnline(void *data);
+#endif
+
+/* ========================================================================== */
+/*                        REF/裁判系统适配器配置                                */
+/* ========================================================================== */
+#if CMD_ENABLE_SRC_REF
+  extern CMD_RawInput_REF_t cmd_ref;
+  int8_t CMD_REF_AdapterInit(void *data);
+  int8_t CMD_REF_GetInput(void *data, CMD_RawInput_t *output);
+  bool CMD_REF_IsOnline(void *data);
 #endif
 
 /* ========================================================================== */
diff --git a/User/module/cmd_behavior.c b/User/module/cmd/cmd_behavior.c
similarity index 67%
rename from User/module/cmd_behavior.c
rename to User/module/cmd/cmd_behavior.c
index 8f6c571..7fa8c58 100644
--- a/User/module/cmd_behavior.c
+++ b/User/module/cmd/cmd_behavior.c
@@ -1,9 +1,12 @@
 /*
  * CMD 模块 V2 - 行为处理器实现
  */
-#include "module/cmd_behavior.h"
-#include "module/cmd.h"
-#include "module/gimbal.h"
+#include "cmd_behavior.h"
+#include "cmd.h"
+#include "module/chassis.h"
+#if CMD_ENABLE_MODULE_GIMBAL
+  #include "module/gimbal.h"
+#endif
 #include <string.h>
 
 /* ========================================================================== */
@@ -12,75 +15,151 @@
 
 /* 行为处理函数实现 */
 int8_t CMD_Behavior_Handle_FORE(CMD_t *ctx) {
+#if CMD_ENABLE_MODULE_CHASSIS
     ctx->output.chassis.cmd.Vy += ctx->config->sensitivity.move_sens;
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+    ctx->output.balance_chassis.cmd.move_vec.vx = ctx->config->sensitivity.move_sens;
+#endif
     return CMD_OK;
 }
 
 int8_t CMD_Behavior_Handle_BACK(CMD_t *ctx) {
+#if CMD_ENABLE_MODULE_CHASSIS
     ctx->output.chassis.cmd.Vy -= ctx->config->sensitivity.move_sens;
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+    ctx->output.balance_chassis.cmd.move_vec.vx = -ctx->config->sensitivity.move_sens;
+#endif
     return CMD_OK;
 }
 
 int8_t CMD_Behavior_Handle_LEFT(CMD_t *ctx) {
+#if CMD_ENABLE_MODULE_CHASSIS
     ctx->output.chassis.cmd.Vx -= ctx->config->sensitivity.move_sens;
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+    ctx->output.balance_chassis.cmd.move_vec.vy = -ctx->config->sensitivity.move_sens;
+#endif
     return CMD_OK;
 }
 
 int8_t CMD_Behavior_Handle_RIGHT(CMD_t *ctx) {
+#if CMD_ENABLE_MODULE_CHASSIS
     ctx->output.chassis.cmd.Vx += ctx->config->sensitivity.move_sens;
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+    ctx->output.balance_chassis.cmd.move_vec.vy = ctx->config->sensitivity.move_sens;
+#endif
     return CMD_OK;
 }
 
 int8_t CMD_Behavior_Handle_ACCELERATE(CMD_t *ctx) {
+#if CMD_ENABLE_MODULE_CHASSIS
     ctx->output.chassis.cmd.Vx *= ctx->config->sensitivity.move_fast_mult;
     ctx->output.chassis.cmd.Vy *= ctx->config->sensitivity.move_fast_mult;
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+    ctx->output.balance_chassis.cmd.move_vec.vx *= ctx->config->sensitivity.move_fast_mult;
+    ctx->output.balance_chassis.cmd.move_vec.vy *= ctx->config->sensitivity.move_fast_mult;
+#endif
     return CMD_OK;
 }
 
-int8_t CMD_Behavior_Handle_DECELERATE(CMD_t *ctx) {
-    ctx->output.chassis.cmd.Vx *= ctx->config->sensitivity.move_slow_mult;
-    ctx->output.chassis.cmd.Vy *= ctx->config->sensitivity.move_slow_mult;
+int8_t CMD_Behavior_Handle_CLIMB(CMD_t *ctx) {
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+    ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_CLIMB_STEP;
+#endif
     return CMD_OK;
 }
 
 int8_t CMD_Behavior_Handle_FIRE(CMD_t *ctx) {
+#if CMD_ENABLE_MODULE_SHOOT
     ctx->output.shoot.cmd.firecmd = true;
+#endif
     return CMD_OK;
 }
 
 int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_t *ctx) {
+#if CMD_ENABLE_MODULE_SHOOT
     ctx->output.shoot.cmd.mode = (ctx->output.shoot.cmd.mode + 1) % SHOOT_MODE_NUM;
+#endif
     return CMD_OK;
 }
 
 int8_t CMD_Behavior_Handle_ROTOR(CMD_t *ctx) {
-  ctx->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
-//  ctx->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND;
+#if CMD_ENABLE_MODULE_GIMBAL
   ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE;
+  #if CMD_ENABLE_MODULE_CHASSIS
+  ctx->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
+  #endif
+  #if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+  ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_BALANCE_ROTOR;
+  #endif
+#endif
   return CMD_OK;
 }
 
 int8_t CMD_Behavior_Handle_AUTOAIM(CMD_t *ctx) {
-    /* TODO: 自瞄模式切换 */
-    return CMD_OK;
+    /* 自瞄模式切换 */
+#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT
+  if (ctx->input.online[CMD_SRC_NUC]) {
+    if (ctx->active_source == CMD_SRC_PC){
+      ctx->output.gimbal.source = CMD_SRC_NUC;
+      ctx->output.shoot.source = CMD_SRC_NUC;
+#if CMD_ENABLE_MODULE_REFUI
+      ctx->output.refui.source = CMD_SRC_NUC;
+#endif
+    }
+  }
+#endif
+  return CMD_OK;
 }
 
 int8_t CMD_Behavior_Handle_CHECKSOURCERCPC(CMD_t *ctx) {
-    /* TODO: 切换RC和PC输入源 */
+    /* 切换RC和PC输入源 */
     if (ctx->active_source == CMD_SRC_PC) {
       ctx->active_source = CMD_SRC_RC;
+#if CMD_ENABLE_MODULE_CHASSIS
       ctx->output.chassis.source = CMD_SRC_RC;
+#endif
+#if CMD_ENABLE_MODULE_GIMBAL
       ctx->output.gimbal.source = CMD_SRC_RC;
+#endif
+#if CMD_ENABLE_MODULE_SHOOT
       ctx->output.shoot.source = CMD_SRC_RC;
+#endif
+#if CMD_ENABLE_MODULE_ARM
+      ctx->output.arm.source = CMD_SRC_RC;
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+      ctx->output.balance_chassis.source = CMD_SRC_RC;
+#endif
     } else if(ctx->active_source == CMD_SRC_RC) {
       ctx->active_source = CMD_SRC_PC;
+#if CMD_ENABLE_MODULE_CHASSIS
       ctx->output.chassis.source = CMD_SRC_PC;
+#endif
+#if CMD_ENABLE_MODULE_GIMBAL
       ctx->output.gimbal.source = CMD_SRC_PC;
+#endif
+#if CMD_ENABLE_MODULE_SHOOT
       ctx->output.shoot.source = CMD_SRC_PC;
+#endif
+#if CMD_ENABLE_MODULE_ARM
+      ctx->output.arm.source = CMD_SRC_PC;
+#endif
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+      ctx->output.balance_chassis.source = CMD_SRC_PC;
+#endif
     }
     return CMD_OK;
 }
-
+extern bool reset;
+int8_t CMD_Behavior_Handle_RESET(CMD_t *ctx) {
+    reset = !reset;
+    return CMD_OK;
+}
 /* 行为配置表 - 由宏生成 */
 static const CMD_BehaviorConfig_t g_behavior_configs[] = {
     CMD_BEHAVIOR_TABLE(BUILD_BEHAVIOR_CONFIG)
diff --git a/User/module/cmd_behavior.h b/User/module/cmd/cmd_behavior.h
similarity index 98%
rename from User/module/cmd_behavior.h
rename to User/module/cmd/cmd_behavior.h
index 1df0cee..fda9074 100644
--- a/User/module/cmd_behavior.h
+++ b/User/module/cmd/cmd_behavior.h
@@ -4,7 +4,7 @@
  */
 #pragma once
 
-#include "module/cmd_types.h"
+#include "cmd_types.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/User/module/cmd_example.c b/User/module/cmd/cmd_example.c
similarity index 99%
rename from User/module/cmd_example.c
rename to User/module/cmd/cmd_example.c
index f934420..476c32e 100644
--- a/User/module/cmd_example.c
+++ b/User/module/cmd/cmd_example.c
@@ -3,7 +3,7 @@
  * 
  * 本文件展示如何配置和使用新的CMD模块
  */
-#include "module/cmd.h"
+#include "cmd.h"
 
 /* ========================================================================== */
 /*                           config示例                                          */
diff --git a/User/module/cmd/cmd_feature.h b/User/module/cmd/cmd_feature.h
new file mode 100644
index 0000000..d9d0366
--- /dev/null
+++ b/User/module/cmd/cmd_feature.h
@@ -0,0 +1,66 @@
+/*
+ * CMD 模块 V2 - 功能特性开关配置
+ *
+ * 修改此文件来快速使能/失能各个模块和输入源。
+ * 失能后，对应的代码和头文件依赖将被完全排除在编译之外。
+ */
+#pragma once
+
+/* ========================================================================== */
+/*                          输入源使能开关                                      */
+/* ========================================================================== */
+
+/** 遥控器输入 (DR16 / AT9S 等) */
+#define CMD_ENABLE_SRC_RC    1
+
+/** PC 端键鼠输入 (通过 DR16 转发) */
+#define CMD_ENABLE_SRC_PC    1
+
+/** NUC / AI 输入  */
+#define CMD_ENABLE_SRC_NUC   1
+
+/**
+ * 裁判系统数据中转开关
+ *  1 (比赛模式): cmd 将 referee 数据转发到各模块的 .ref 队列
+ *  0 (调试模式): cmd 不转发，裁判系统可断开，不影响其他功能
+ */
+#define CMD_ENABLE_SRC_REF   1
+
+/* ========================================================================== */
+/*                          输出模块使能开关                                    */
+/* ========================================================================== */
+
+/** 底盘模块 (需要 module/chassis.h) */
+#define CMD_ENABLE_MODULE_CHASSIS  1
+
+/** 云台模块 (需要 module/gimbal.h) */
+#define CMD_ENABLE_MODULE_GIMBAL   1
+
+/** 射击模块 (需要 module/shoot.h) */
+#define CMD_ENABLE_MODULE_SHOOT    1
+
+/** 履带模块 (需要 module/track.h) */
+#define CMD_ENABLE_MODULE_TRACK    0
+
+/** 机械臂模块 (需要 component/arm_kinematics/arm6dof.h) */
+#define CMD_ENABLE_MODULE_ARM      0
+
+/** 裁判系统UI命令模块 (需要 device/referee.h) */
+#define CMD_ENABLE_MODULE_REFUI    1
+
+/** 平衡底盘模块 (需要 module/balance_chassis.h) */
+#define CMD_ENABLE_MODULE_BALANCE_CHASSIS  0
+
+/* ========================================================================== */
+/*                          合法性检查                                          */
+/* ========================================================================== */
+
+/* PC输入源依赖RC适配器共同存在（DR16同时提供RC和PC数据） */
+#if CMD_ENABLE_SRC_PC && !CMD_ENABLE_SRC_RC
+  #error "CMD_ENABLE_SRC_PC requires CMD_ENABLE_SRC_RC (both share the DR16 adapter)"
+#endif
+
+/* NUC依赖vision_bridge模块，确保已包含相关模块 */
+/* #if CMD_ENABLE_SRC_NUC && !defined(VISION_BRIDGE_ENABLED)
+  #error "CMD_ENABLE_SRC_NUC requires vision_bridge module"
+#endif */
diff --git a/User/module/cmd_types.h b/User/module/cmd/cmd_types.h
similarity index 58%
rename from User/module/cmd_types.h
rename to User/module/cmd/cmd_types.h
index d357796..aab6caf 100644
--- a/User/module/cmd_types.h
+++ b/User/module/cmd/cmd_types.h
@@ -6,6 +6,7 @@
 
 #include <stdint.h>
 #include <stdbool.h>
+#include "cmd_feature.h"          /* 功能特性开关 */
 
 #ifdef __cplusplus
 extern "C" {
@@ -23,22 +24,94 @@ extern "C" {
 /* ========================================================================== */
 /*                            输入源配置宏表                                    */
 /* ========================================================================== */
-/* 
- * 使用方法：在config中定义需要启用的输入源
- * 格式: X(枚举名, 优先级, 适配器初始化函数, 获取数据函数)
+/*
+ * 使用方法：在 cmd_feature.h 中设置各 CMD_ENABLE_SRC_xxx 宏。
+ * 格式: X(枚举名, 适配器初始化函数, 获取数据函数)
  */
+
+/* 各输入源条件展开辅助宏 */
+#if CMD_ENABLE_SRC_RC
+  #define _X_SRC_RC(X)   X(RC,  CMD_RC_AdapterInit,  CMD_RC_GetInput)
+#else
+  #define _X_SRC_RC(X)
+#endif
+
+#if CMD_ENABLE_SRC_PC
+  #define _X_SRC_PC(X)   X(PC,  CMD_PC_AdapterInit,  CMD_PC_GetInput)
+#else
+  #define _X_SRC_PC(X)
+#endif
+
+#if CMD_ENABLE_SRC_NUC
+  #define _X_SRC_NUC(X)  X(NUC, CMD_NUC_AdapterInit, CMD_NUC_GetInput)
+#else
+  #define _X_SRC_NUC(X)
+#endif
+
+#if CMD_ENABLE_SRC_REF
+  #define _X_SRC_REF(X)  X(REF, CMD_REF_AdapterInit, CMD_REF_GetInput)
+#else
+  #define _X_SRC_REF(X)
+#endif
+
 #define CMD_INPUT_SOURCE_TABLE(X) \
-    X(RC,  CMD_RC_AdapterInit,  CMD_RC_GetInput)  \
-    X(PC,  CMD_PC_AdapterInit,  CMD_PC_GetInput)  \
-    X(NUC, CMD_NUC_AdapterInit, CMD_NUC_GetInput) \
-    X(REF, CMD_REF_AdapterInit, CMD_REF_GetInput)
+    _X_SRC_RC(X)  \
+    _X_SRC_PC(X)  \
+    _X_SRC_NUC(X) \
+    _X_SRC_REF(X)
+
+/* 各输出模块条件展开辅助宏 */
+#if CMD_ENABLE_MODULE_CHASSIS
+  #define _X_MOD_CHASSIS(X)  X(CHASSIS, Chassis_CMD_t, chassis)
+#else
+  #define _X_MOD_CHASSIS(X)
+#endif
+
+#if CMD_ENABLE_MODULE_GIMBAL
+  #define _X_MOD_GIMBAL(X)   X(GIMBAL,  Gimbal_CMD_t,  gimbal)
+#else
+  #define _X_MOD_GIMBAL(X)
+#endif
+
+#if CMD_ENABLE_MODULE_SHOOT
+  #define _X_MOD_SHOOT(X)    X(SHOOT,   Shoot_CMD_t,   shoot)
+#else
+  #define _X_MOD_SHOOT(X)
+#endif
+
+#if CMD_ENABLE_MODULE_TRACK
+  #define _X_MOD_TRACK(X)    X(TRACK,   Track_CMD_t,   track)
+#else
+  #define _X_MOD_TRACK(X)
+#endif
+
+#if CMD_ENABLE_MODULE_ARM
+  #define _X_MOD_ARM(X)      X(ARM,     Arm_CMD_t,     arm)
+#else
+  #define _X_MOD_ARM(X)
+#endif
+
+#if CMD_ENABLE_MODULE_REFUI
+  #define _X_MOD_REFUI(X)    X(REFUI,   Referee_UI_CMD_t, refui)
+#else
+  #define _X_MOD_REFUI(X)
+#endif
+
+#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
+  #define _X_MOD_BALANCE_CHASSIS(X)  X(BALANCE_CHASSIS, Chassis_CMD_t, balance_chassis)
+#else
+  #define _X_MOD_BALANCE_CHASSIS(X)
+#endif
 
 /* 输出模块配置宏表 */
 #define CMD_OUTPUT_MODULE_TABLE(X) \
-    X(CHASSIS, Chassis_CMD_t, chassis) \
-    X(GIMBAL,  Gimbal_CMD_t,  gimbal)  \
-    X(SHOOT,   Shoot_CMD_t,   shoot)
-
+    _X_MOD_CHASSIS(X) \
+    _X_MOD_GIMBAL(X)  \
+    _X_MOD_SHOOT(X)   \
+    _X_MOD_TRACK(X)   \
+    _X_MOD_ARM(X)     \
+    _X_MOD_REFUI(X)   \
+    _X_MOD_BALANCE_CHASSIS(X) \
 
 /* ========================================================================== */
 /*                              输入源枚举                                      */
@@ -92,15 +165,10 @@ typedef enum {
     CMD_KEY_NUM
 } CMD_KeyIndex_t;
 
-/* 裁判系统数据 */
-typedef struct {
-    uint8_t game_status;       /* 比赛状态 */
-} CMD_Referee_t;
-
 typedef struct {
   CMD_Joystick_t joy_left;   /* 左摇杆 */
   CMD_Joystick_t joy_right;  /* 右摇杆 */
-  CMD_SwitchPos_t sw[8];     /* 4个拨杆 */
+  CMD_SwitchPos_t sw[4];     /* 4个拨杆 */
   float dial;                /* 拨轮 */
 } CMD_RawInput_RC_t;
 
@@ -109,60 +177,100 @@ typedef struct {
   CMD_Keyboard_t keyboard;
 } CMD_RawInput_PC_t;
 
+/* AI输入数据 */
 typedef struct {
-  int a;
+  uint8_t mode;
+  struct {
+    struct {
+      float yaw;
+      float pit;
+    } setpoint;
+    struct {
+      float pit;
+      float yaw;
+    } accl;
+    struct {
+      float pit;
+      float yaw;
+    } vel;
+  } gimbal;
+  struct {
+    float vx;
+    float vy;
+    float vw;
+  } chassis;
 } CMD_RawInput_NUC_t;
 
+#if CMD_ENABLE_SRC_REF
+#include "device/referee_proto_types.h" 
+/* 裁判系统原始输入，包含需转发给各模块的完整子集 */
 typedef struct {
-  CMD_Referee_t referee;
+    Referee_ForChassis_t chassis;
+    Referee_ForShoot_t   shoot;
+    Referee_ForCap_t     cap;
+    Referee_ForAI_t      ai;
 } CMD_RawInput_REF_t;
+#endif
 
 /* 统一的原始输入结构 - 所有设备适配后都转换成这个格式 */
 typedef struct {
     bool online[CMD_SRC_NUM];
 
+#if CMD_ENABLE_SRC_RC
     /* 遥控器部分 */
     CMD_RawInput_RC_t rc;
+#endif
 
+#if CMD_ENABLE_SRC_PC
     /* PC部分 */
     CMD_RawInput_PC_t pc;
+#endif
 
+#if CMD_ENABLE_SRC_NUC
     /* NUC部分 */
-    /* 暂无定义，预留扩展 */
     CMD_RawInput_NUC_t nuc;
+#endif
 
+#if CMD_ENABLE_SRC_REF
     /* REF部分 - 裁判系统数据 */
     CMD_RawInput_REF_t ref;
+#endif
 } CMD_RawInput_t;
 
 /* ========================================================================== */
 /*                              模块掩码                                        */
 /* ========================================================================== */
 typedef enum {
-    CMD_MODULE_NONE    = (1 << 0),
-    CMD_MODULE_CHASSIS = (1 << 1),
-    CMD_MODULE_GIMBAL  = (1 << 2),
-    CMD_MODULE_SHOOT   = (1 << 3),
-    CMD_MODULE_ALL     = 0x0E
+    CMD_MODULE_NONE            = (1 << 0),
+    CMD_MODULE_CHASSIS         = (1 << 1),
+    CMD_MODULE_GIMBAL          = (1 << 2),
+    CMD_MODULE_SHOOT           = (1 << 3),
+    CMD_MODULE_TRACK           = (1 << 4),
+    CMD_MODULE_ARM             = (1 << 5),
+    CMD_MODULE_REFUI           = (1 << 6),
+    CMD_MODULE_BALANCE_CHASSIS = (1 << 7),
+    CMD_MODULE_ALL             = 0xFE
+
 } CMD_ModuleMask_t;
 
 /* ========================================================================== */
 /*                              行为定义                                        */
 /* ========================================================================== */
 /* 行为-按键映射宏表 */
-#define BEHAVIOR_CONFIG_COUNT (11)
+#define BEHAVIOR_CONFIG_COUNT (12)
 #define CMD_BEHAVIOR_TABLE(X) \
-  X(FORE,           CMD_KEY_W,     CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
-  X(BACK,           CMD_KEY_S,     CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
-  X(LEFT,           CMD_KEY_A,     CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
-  X(RIGHT,          CMD_KEY_D,     CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
-  X(ACCELERATE,     CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
-  X(DECELERATE,     CMD_KEY_CTRL,  CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
-  X(FIRE,           CMD_KEY_L_CLICK,  CMD_ACTIVE_PRESSED,      CMD_MODULE_SHOOT)   \
+  X(FORE,           CMD_KEY_W,     CMD_ACTIVE_PRESSED,      CMD_MODULE_BALANCE_CHASSIS) \
+  X(BACK,           CMD_KEY_S,     CMD_ACTIVE_PRESSED,      CMD_MODULE_BALANCE_CHASSIS) \
+  X(LEFT,           CMD_KEY_A,     CMD_ACTIVE_PRESSED,      CMD_MODULE_BALANCE_CHASSIS) \
+  X(RIGHT,          CMD_KEY_D,     CMD_ACTIVE_PRESSED,      CMD_MODULE_BALANCE_CHASSIS) \
+  X(ACCELERATE,     CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED,      CMD_MODULE_BALANCE_CHASSIS) \
+  X(ROTOR,          CMD_KEY_CTRL,  CMD_ACTIVE_PRESSED,      CMD_MODULE_BALANCE_CHASSIS) \
+  X(FIRE,           CMD_KEY_L_CLICK,  CMD_ACTIVE_PRESSED,   CMD_MODULE_SHOOT)   \
   X(FIRE_MODE,      CMD_KEY_B,     CMD_ACTIVE_RISING_EDGE,  CMD_MODULE_SHOOT)   \
-  X(ROTOR,          CMD_KEY_E,     CMD_ACTIVE_PRESSED,  CMD_MODULE_CHASSIS) \
-  X(AUTOAIM,        CMD_KEY_R,     CMD_ACTIVE_RISING_EDGE,  CMD_MODULE_GIMBAL | CMD_MODULE_SHOOT) \
-  X(CHECKSOURCERCPC, CMD_KEY_CTRL|CMD_KEY_SHIFT|CMD_KEY_V, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_NONE)
+  X(CLIMB,          CMD_KEY_R,     CMD_ACTIVE_PRESSED,      CMD_MODULE_BALANCE_CHASSIS) \
+  X(AUTOAIM,        CMD_KEY_R_CLICK,     CMD_ACTIVE_PRESSED,  CMD_MODULE_NONE) \
+  X(CHECKSOURCERCPC,CMD_KEY_CTRL|CMD_KEY_SHIFT|CMD_KEY_V, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_NONE) \
+  X(RESET,          CMD_KEY_CTRL|CMD_KEY_SHIFT|CMD_KEY_G,     CMD_ACTIVE_RISING_EDGE,      CMD_MODULE_NONE)
 /* 触发类型 */
 typedef enum {
     CMD_ACTIVE_PRESSED,       /* 按住时触发 */
@@ -191,6 +299,7 @@ typedef enum {
 #define CMD_KEY_SET(kb, key)       ((kb)->bitmap |= (1 << (key)))
 #define CMD_KEY_CLEAR(kb, key)     ((kb)->bitmap &= ~(1 << (key)))
 
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/User/module/config.c b/User/module/config.c
index e1420f8..7731b20 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -369,12 +369,10 @@ Config_Param_t config = {
             CMD_SRC_NUC,
             CMD_SRC_REF,
         },
-				.screen={
-							.width=1920,
-							.height=1080,
-				
-				
-				},
+        .ref_screen={
+                    .width=1920,
+                    .height=1080,
+      },
         .sensitivity = {
 					
             .mouse_sens = 2.0f,
@@ -390,20 +388,6 @@ Config_Param_t config = {
             .gimbal_sw_up   = GIMBAL_MODE_RELAX,
             .gimbal_sw_mid  = GIMBAL_MODE_ABSOLUTE,
             .gimbal_sw_down = GIMBAL_MODE_RELATIVE,
-					
-			.shoot_sw_up = SHOOT_MODE_SAFE,
-			.shoot_sw_mid = SHOOT_MODE_SINGLE,					
-			.shoot_sw_down = SHOOT_MODE_CONTINUE,	
-                        
-            .gimmbal_ctrl_mode_sw_up = GIMBAL_MODE_REMOTE,
-            .gimmbal_ctrl_mode_sw_mid = GIMBAL_MODE_AI,
-            .gimmbal_ctrl_mode_sw_down = GIMBAL_MODE_REMOTE,
-
-
-            .chassis_ctrl_mode_sw_up = CHASSIS_MODE_RC,
-            .chassis_ctrl_mode_sw_mid = CHASSIS_MODE_DAOHANG,
-            .chassis_ctrl_mode_sw_down = CHASSIS_MODE_RC,
-
         },
     },
 		
diff --git a/User/module/config.h b/User/module/config.h
index 4ec71e6..33789fb 100644
--- a/User/module/config.h
+++ b/User/module/config.h
@@ -12,13 +12,15 @@ extern "C" {
 #include "module/chassis.h"
 #include "module/gimbal.h"
 #include "module/shoot.h"
-#include "module/cmd.h"
+#include "module/cmd/cmd.h"
+#include "device/referee_proto_types.h"
+#include "module/aimbot.h"
 typedef struct{
 Chassis_Param_t chassis; /**/
 Gimbal_Param_t gimbal;
 Shoot_Params_t shoot;
 CMD_Config_t cmd_param;
-
+    Referee_Screen_t ref_screen;
 AHRS_Eulr_t mech_zero[4];
 	
 }Config_Param_t;
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index fd527be..6c9e05a 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -38,7 +38,7 @@ Gimbal_Output(&gimbal);
 #include "bsp/time.h"
 #include "component/filter.h"
 #include "math.h"
-#include "module/cmd.h"
+#include "module/cmd/cmd.h"
 #include "device/motor_rm.h"
 #include "device/motor.h"
 
@@ -472,6 +472,15 @@ void Gimbal_Output(Gimbal_t *g)
     MOTOR_DM_MITCtrl(&g->param->pitch_4310_motor, &output_pitch_4310);
 }
 
+/**
+ * @brief 导出云台UI数据
+ *
+ * @param g 云台结构体
+ * @param ui UI结构体
+ */
+void Gimbal_DumpUI(const Gimbal_t *g, Gimbal_RefereeUI_t *ui) {
+  ui->mode = g->mode;
+}
 
 /* @brief 导出云台UI数据
  *
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index d9be017..c056fc6 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -118,7 +118,10 @@ extern "C"
     GIMBAL_MODE_AI,
     GIMBAL_MODE_SCAN,
 }GIMBAL_Ctrl_mode_t;
-
+/* UI 导出结构（供 referee 系统绘制） */
+typedef struct {
+  Gimbal_Mode_t mode;
+} Gimbal_RefereeUI_t;
 typedef struct {
   Gimbal_Mode_t mode;
   float delta_yaw_4310;
@@ -247,6 +250,14 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd);
  */
 void Gimbal_Output(Gimbal_t *g);
 
+/**
+ * \brief 云台输出
+ *
+ * \param s 包含云台数据的结构体
+ * \param out CAN设备云台输出结构体
+ */
+void Gimbal_Output(Gimbal_t *g);
+
 #ifdef __cplusplus
 }
 #endif
\ No newline at end of file
diff --git a/User/module/shoot.c b/User/module/shoot.c
index 820a986..12301ad 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -38,14 +38,21 @@ void Task(void *argument) {
 #include "bsp/time.h"
 #include "component/filter.h"
 #include "component/user_math.h"
-#include "module/cmd.h"
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 #define MAX_FRIC_RPM 7000.0f
 #define MAX_TRIG_RPM 6000.0f//这里可能也会影响最高发射频率，待测试
+
+/* 发射检测参数 */
+#define SHOT_DETECT_RPM_DROP_THRESHOLD 100.0f  /* 摩擦轮转速下降阈值，单位rpm */
+#define SHOT_DETECT_SUSPECTED_TIME 0.0005f      /* 发射嫌疑持续时间阈值，单位秒 */
+#define FRIC_READY_RPM_RATIO 0.95f             /* 摩擦轮准备好的转速比例 */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 static bool last_firecmd;
+
+
 /* Private function  -------------------------------------------------------- */
 
 /**
@@ -176,12 +183,336 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
 		s->target_variable.fric_rpm=6500.0f;
 		break;
 		case SHOOT_PROJECTILE_42MM:
-		s->target_variable.fric_rpm=4000.0f;
-		break;	
+		s->target_variable.fric_rpm=4000.0f;//6500
+		break;	 
 	}
     return SHOOT_OK;
 }
 
+/**
+ * \brief 更新热量控制数据（使用融合后的热量值）
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 函数运行结果
+ */
+static int8_t Shoot_UpdateHeatControl(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL;
+    }
+
+    if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) {
+        s->heatcontrol.Hres = 0.0f;
+        s->heatcontrol.ncd = s->param->basic.shot_freq;
+        return SHOOT_OK;
+    }
+    
+    /* 使用融合后的热量值计算剩余热量 */
+    s->heatcontrol.Hres = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused;
+    
+    /* 计算冷却射频 ncd = Hcd / Hgen */   
+    if (s->heatcontrol.Hgen > 0.0f) {
+        s->heatcontrol.ncd = s->heatcontrol.Hcd / s->heatcontrol.Hgen;
+    } else {
+        s->heatcontrol.ncd = 0.0f;
+    }      
+    
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 计算摩擦轮平均转速
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 平均转速
+ */
+static float Shoot_CalcAvgFricRpm(Shoot_t *s)
+{
+    if (s == NULL) {
+        return 0.0f;
+    }
+    
+    float sum = 0.0f;
+    uint8_t fric_num = s->param->basic.fric_num;
+    
+    for (int i = 0; i < fric_num; i++) {
+        sum += fabs(s->var_fric.fil_rpm[i]);
+    }
+    
+    return (fric_num > 0) ? (sum / fric_num) : 0.0f;
+}
+
+/**
+ * \brief 发射检测：通过摩擦轮掉速检测发射
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 是否检测到掉速超过阈值
+ */
+static bool Shoot_DetectShotByRpmDrop(Shoot_t *s)
+{
+    if (s == NULL) {
+        return false;
+    }
+    
+    /* 只在READY和FIRE状态下检测，避免停机时误判 */
+    if (s->running_state != SHOOT_STATE_READY && 
+        s->running_state != SHOOT_STATE_FIRE) {
+        return false;
+    }
+    
+    /* 计算当前摩擦轮平均转速 */
+    s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
+    
+    /* 计算当前转速与目标转速的差值（掉速量） */
+    s->heatcontrol.rpmDrop = s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm;
+    
+    /* 判断是否发生明显掉速 */
+    if (s->heatcontrol.rpmDrop > SHOT_DETECT_RPM_DROP_THRESHOLD) {
+        return true;
+    }
+    
+    return false;
+}
+
+
+/**
+ * \brief 热量数据融合：用裁判系统数据修正自主估计
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 函数运行结果
+ * 
+ * \note 裁判系统数据准确但更新慢，自主计算实时但可能误差累积
+ *       只在裁判系统数据更新时才修正估计值，保证准确性和实时性
+ */
+static int8_t Shoot_FuseHeatData(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL;
+    }
+
+    if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) {
+        return SHOOT_OK;
+    }
+    
+    /* 如果裁判系统数据有效（Hmax > 0） */
+    if (s->heatcontrol.Hmax > 0.0f && s->heatcontrol.Hnow >= 0.0f) {
+        /* 检测裁判系统数据是否有更新 */
+        if (s->heatcontrol.Hnow != s->heatcontrol.Hnow_last) {
+            /* 数据更新了，用裁判系统数据修正估计值 */
+            s->heatcontrol.Hnow_estimated = s->heatcontrol.Hnow;
+            s->heatcontrol.Hnow_last = s->heatcontrol.Hnow; /* 记录本次值 */
+        }
+        
+        /* 融合值就是裁判系统值（作为基准） */
+        s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow;
+    } else {
+        /* 裁判系统数据无效，仅使用自主估计值 */
+        s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow_estimated;
+    }
+    
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 计算可发射弹数
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 函数运行结果
+ */
+static int8_t Shoot_CalcAvailableShots(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL;
+    }
+
+    if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) {
+        s->heatcontrol.shots_available = UINT16_MAX;
+        return SHOOT_OK;
+    }
+    
+    /* 计算剩余热量 */
+    float heat_available = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused;
+    
+    /* 计算可发射弹数 */
+    if (s->heatcontrol.Hgen > 0.0f && heat_available > 0.0f) {
+        s->heatcontrol.shots_available = (uint16_t)(heat_available / s->heatcontrol.Hgen);
+    } else {
+        s->heatcontrol.shots_available = 0;
+    }
+    
+    return SHOOT_OK;
+}
+
+
+/**
+ * \brief 热量检测状态机
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 函数运行结果
+ */
+static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL;
+    }
+
+    if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) {
+        s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE;
+        s->heatcontrol.shotDetected = false;
+        return SHOOT_OK;
+    }
+    
+    switch (s->heatcontrol.detectState) {
+        case SHOOT_HEAT_DETECT_IDLE:
+            /* 停机状态：等待摩擦轮启动并加速到目标速度附近 */
+            if (s->running_state == SHOOT_STATE_READY || 
+                s->running_state == SHOOT_STATE_FIRE) {
+                /* 计算当前平均转速 */
+                s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
+                
+                /* 检查摩擦轮是否达到目标转速的85%以上 */
+                if (s->heatcontrol.avgFricRpm >= s->target_variable.fric_rpm * FRIC_READY_RPM_RATIO) {
+                    s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
+                    s->heatcontrol.lastAvgFricRpm = s->heatcontrol.avgFricRpm;
+                }
+            }
+            break;
+            
+        case SHOOT_HEAT_DETECT_READY:
+            /* 准备检测状态：监测摩擦轮掉速 */
+            /* 检测掉速（当前转速低于目标转速超过阈值） */
+            if (Shoot_DetectShotByRpmDrop(s)) {
+                s->heatcontrol.detectState = SHOOT_HEAT_DETECT_SUSPECTED;
+                s->heatcontrol.detectTime = s->timer.now; /* 记录进入嫌疑状态的时间 */
+            }
+            
+            /* 如果摩擦轮停止 */
+            if (s->running_state == SHOOT_STATE_IDLE) {
+                s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE;
+            }
+            break;
+            
+        case SHOOT_HEAT_DETECT_SUSPECTED:
+            /* 发射嫌疑状态：持续检测掉速 */
+            /* 更新掉速量 */
+            s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
+            s->heatcontrol.rpmDrop = s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm;
+            
+            /* 若掉速消失（转速恢复正常），回到准备状态 */
+            if (s->heatcontrol.rpmDrop < SHOT_DETECT_RPM_DROP_THRESHOLD) {
+                s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
+            }
+            /* 若嫌疑状态持续超过阈值时间，确认发射 */
+            else if ((s->timer.now - s->heatcontrol.detectTime) >= SHOT_DETECT_SUSPECTED_TIME) {
+                s->heatcontrol.detectState = SHOOT_HEAT_DETECT_CONFIRMED;
+            }
+            break;
+            
+        case SHOOT_HEAT_DETECT_CONFIRMED:
+            /* 确认发射状态：增加热量并返回准备状态 */
+            /* 根据弹丸类型增加估计热量 */
+            switch (s->param->basic.projectileType) {
+                case SHOOT_PROJECTILE_17MM:
+                    s->heatcontrol.Hnow_estimated += 10.0f;
+                    break;
+                case SHOOT_PROJECTILE_42MM:
+                    s->heatcontrol.Hnow_estimated += 100.0f;
+                    break;
+                default:
+                    s->heatcontrol.Hnow_estimated += s->heatcontrol.Hgen;
+                    break;
+            }
+            
+            /* 限制估计热量不超过最大值 */
+            if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) {
+                s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax;
+            }
+            
+            /* 增加发射计数 */
+            s->heatcontrol.shots_detected++;
+            
+            /* 返回准备检测状态 */
+            s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
+            break;
+            
+        default:
+            s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE;
+            break;
+    }
+    
+    /* 善后工作：热量冷却（每个周期都执行） */
+    if (s->heatcontrol.Hnow_estimated > 0.0f && s->heatcontrol.Hcd > 0.0f) {
+        s->heatcontrol.Hnow_estimated -= s->heatcontrol.Hcd * s->timer.dt;
+        if (s->heatcontrol.Hnow_estimated < 0.0f) {
+            s->heatcontrol.Hnow_estimated = 0.0f;
+        }
+    }
+    
+    /* 数据融合 */
+    Shoot_FuseHeatData(s);
+    
+    /* 计算可发射弹数 */
+    Shoot_CalcAvailableShots(s);
+    
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 根据热量控制计算射频
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 计算出的射频值，单位Hz
+ */
+static float Shoot_CaluFreqByHeat(Shoot_t *s)
+{
+    if (s == NULL) {
+        return 0.0f;
+    }
+    
+    /* 如果热量控制未启用，返回配置的射频 */
+    if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) {
+        return s->param->basic.shot_freq;
+    }
+    
+    /* 检查Hmax和Hcd是否有效 */
+    if (s->heatcontrol.Hmax <= 0.0f || s->heatcontrol.Hcd <= 0.0f) {
+        return s->param->basic.shot_freq; /* 数据无效，使用默认射频 */
+    }
+    
+    float Hres = s->heatcontrol.Hres;
+    float Hwarn = s->param->heatControl.Hwarn;
+    float Hsatu = s->param->heatControl.Hsatu;
+    float Hthres = s->param->heatControl.Hthres;
+    float nmax = s->param->heatControl.nmax;
+    float ncd = s->heatcontrol.ncd;
+    
+    /* 剩余热量大于预警值：最大射频 */
+    if (Hres > Hwarn) {
+        return nmax;
+    }
+    /* 剩余热量在预警值和饱和值之间：线性映射 */
+    else if (Hres > Hsatu) {
+        /* 线性插值: n = ncd + (nmax - ncd) * (Hres - Hsatu) / (Hwarn - Hsatu) */
+        float ratio = (Hres - Hsatu) / (Hwarn - Hsatu);
+        return ncd + (nmax - ncd) * ratio;
+    }
+    /* 剩余热量在饱和值和阈值之间：冷却射频 */
+    else if (Hres > Hthres) {
+        return ncd;
+    }
+    /* 剩余热量小于阈值：停止射击 */
+    else {
+        return 0.0f;
+    }
+}
+
 /**
  * \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度
  *
@@ -192,18 +523,37 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
  */
 int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
 {
-    if (s == NULL  || s->var_trig.num_toShoot == 0) {
+    if (s == NULL || cmd == NULL || s->var_trig.num_toShoot == 0 || s->param->basic.num_trig_tooth == 0) {
         return SHOOT_ERR_NULL; 
     }
+    
+    /* 更新热量控制数据 */
+    Shoot_UpdateHeatControl(s);
+    
+    /* 根据热量控制计算实际射频 */
+    float actual_freq = Shoot_CaluFreqByHeat(s);
+    
+    /* 检查可发射弹丸数是否满足安全余量 */
+    if (s->param->heatControl.enable  &&
+        s->heatcontrol.shots_available <= s->param->heatControl.safe_shots) {
+        actual_freq = 0.0f; /* 禁止发弹 */
+    }
+
     float dt = s->timer.now - s->var_trig.time_lastShoot;
-	float dpos;
+	  float dpos;
+    float dpos_abs;
     dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI);
-    if(dt >= 1.0f/s->param->basic.shot_freq && cmd->firecmd && dpos<=1.0f)
+    dpos_abs = fabsf(dpos);
+    
+    /* 使用热量控制计算出的射频，而不是配置的固定射频 */
+    if(actual_freq > 0.0f && dt >= 1.0f/actual_freq && cmd->firecmd && dpos_abs <= 1.0f)
     {
         s->var_trig.time_lastShoot=s->timer.now;
         CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI);
 		s->var_trig.num_toShoot--;
+    s->var_trig.num_shooted++;
     }
+
     return SHOOT_OK;
 }
 
@@ -299,8 +649,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s)
  * \param cmd 包含射击指令的结构体
  *
  * \return 函数运行结果
- */
-// float a;
+ */float a;
 int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 {
     if (s == NULL || cmd == NULL) {
@@ -351,8 +700,8 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                         float target_rpm=s->param->basic.ratio_multilevel[level]
                                     *s->target_variable.fric_rpm/MAX_FRIC_RPM;
 						/* 计算耦合控制权重 */
-                        float w=Shoot_CaluCoupledWeight(s,i);
-                        /* 计算跟随输出、计算修正输出 */
+            float w=Shoot_CaluCoupledWeight(s,i);
+            /* 计算跟随输出、计算修正输出 */
 						s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
 														target_rpm,
 														s->var_fric.normalized_fil_rpm[i],
@@ -395,6 +744,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                 else if(last_firecmd==false&&cmd->firecmd==true)
                     {
                         s->running_state=SHOOT_STATE_FIRE;
+                        s->target_variable.trig_angle = s->var_trig.trig_agl;
                         /* 根据模式设置待发射弹数 */
                         switch(s->mode)
                         {
@@ -422,9 +772,9 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                     float target_rpm=s->param->basic.ratio_multilevel[level]
                                     *s->target_variable.fric_rpm/MAX_FRIC_RPM;
 					/* 计算耦合控制权重 */
-                    float w=Shoot_CaluCoupledWeight(s,i);
-                    /* 计算跟随输出、计算修正输出 */ 
-                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
+          float w=Shoot_CaluCoupledWeight(s,i);
+          /* 计算跟随输出、计算修正输出 */ 
+          s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
 														target_rpm,
 														s->var_fric.normalized_fil_rpm[i],
 														0,
@@ -461,6 +811,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                     {
                       s->running_state=SHOOT_STATE_READY;
 						          pos=s->var_trig.trig_agl;
+                                            s->target_variable.trig_angle = pos;
                       s->var_trig.num_toShoot=0;
                     }
                 break;
@@ -524,7 +875,10 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                 /* 清空待发射弹 */
                 s->var_trig.num_toShoot=0;
                 /* 修改拨弹盘目标角度 */
-                s->target_variable.trig_angle = s->var_trig.trig_agl-(M_2PI/s->param->basic.num_trig_tooth);
+                s->target_variable.trig_angle = s->var_trig.trig_agl;
+                CircleAdd(&s->target_variable.trig_angle,
+                          -(M_2PI / s->param->basic.num_trig_tooth),
+                          M_2PI);
                 /* 切换状态 */
                 s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL;
                 /* 记录处理开始时间 */
@@ -623,6 +977,10 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
 
 	/* 归零变量 */
     memset(&s->var_trig,0,sizeof(s->var_trig));
+
+  /* 初始化热量控制 */
+    memset(&s->heatcontrol, 0, sizeof(s->heatcontrol));
+
 	return SHOOT_OK;
 }
 
@@ -644,15 +1002,27 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
     s->timer.lask_wakeup = BSP_TIME_Get_us();
     Shoot_CaluTargetRPM(s,233);
 
+    /* 运行热量检测状态机 */
+    Shoot_HeatDetectionFSM(s);
+
+    /* 运行卡弹检测状态机 */
     Shoot_JamDetectionFSM(s, cmd);
 //    Shoot_CalufeedbackRPM(s);
     return SHOOT_OK;
 }
 
+/**
+ * @brief 导出射击UI数据
+ *
+ * @param s 射击结构体
+ * @param ui UI结构体
+ */
+void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui) {
+  ui->mode = s->mode;
+  ui->fire = s->running_state;
+}
 
-
-
-
-
-
-
+void Shoot_DumpAI(Shoot_t *s, Shoot_AI_t *ai) {
+    ai->num_shooted=s->var_trig.num_shooted;
+    ai->bullet_speed=12.0f;
+}
diff --git a/User/module/shoot.h b/User/module/shoot.h
index 6dbddca..2773d8a 100644
--- a/User/module/shoot.h
+++ b/User/module/shoot.h
@@ -30,13 +30,37 @@ typedef enum {
     SHOOT_JAMFSM_STATE_CONFIRMED, /* 确认状态 */
     SHOOT_JAMFSM_STATE_DEAL       /* 处理状态 */
 }Shoot_JamDetectionFSM_State_t;
+
+typedef enum {
+    SHOOT_HEAT_DETECT_IDLE = 0,      /* 停机状态 */
+    SHOOT_HEAT_DETECT_READY,         /* 准备检测状态 */
+    SHOOT_HEAT_DETECT_SUSPECTED,     /* 发射嫌疑状态 */
+    SHOOT_HEAT_DETECT_CONFIRMED      /* 确认发射状态 */
+}Shoot_HeatDetectionFSM_State_t;
 typedef enum {
     SHOOT_STATE_IDLE = 0,/* 熄火 */
     SHOOT_STATE_READY,   /* 准备射击 */
     SHOOT_STATE_FIRE     /* 射击 */
 }Shoot_Running_State_t;
 
+typedef enum {
+    SHOOT_MODE_SAFE = 0,/* 安全模式 */
+    SHOOT_MODE_SINGLE,  /* 单发模式 */
+    SHOOT_MODE_BURST,   /* 多发模式 */
+    SHOOT_MODE_CONTINUE,/* 连发模式 */
+    SHOOT_MODE_NUM
+}Shoot_Mode_t;
 
+typedef struct {
+  uint16_t num_shooted;/* 已发射弹数 */
+  float bullet_speed;/* 目标弹速 */
+}Shoot_AI_t;
+
+/* UI 导出结构（供 referee 系统绘制） */
+typedef struct {
+  Shoot_Mode_t mode;
+  Shoot_Running_State_t fire;
+} Shoot_RefereeUI_t;
 
 typedef enum {
 	SHOOT_PROJECTILE_17MM,
@@ -76,6 +100,37 @@ typedef struct {
   float lastTime;/* 用于记录怀疑状态或处理状态的开始时间 */
   Shoot_JamDetectionFSM_State_t fsmState; /* 卡弹检测状态机 */
 }Shoot_JamDetection_t;
+
+typedef struct {
+  bool ref_online; /* 裁判系统数据是否在线 */
+  /* 从裁判系统读取的常量 */
+  float Hmax;  // 热量上限
+  float Hcd;   // 热量冷却速度
+  float Hgen;  // 每发射一发产生的热量
+  
+  /* 实时数据 */
+  float Hnow;  // 当前热量（从裁判系统实时读取）
+  float Hnow_last; // 上次裁判系统热量值（用于检测更新）
+  float Hres;  // 剩余热量 (Hmax - Hnow)
+  
+  /* 控制变量 */
+  float ncd;   // 冷却射频（消耗热量 = 自然恢复热量）
+  
+  /* 发射检测状态机 */
+  Shoot_HeatDetectionFSM_State_t detectState; // 检测状态
+  float detectTime;        // 检测计时器
+  float avgFricRpm;        // 摩擦轮平均转速
+  float lastAvgFricRpm;    // 上次摩擦轮平均转速
+  float rpmDrop;           // 转速下降量
+  bool shotDetected;       // 检测到发射标志
+  
+  /* 自主热量估计 */
+  float Hnow_estimated;    // 估计的当前热量
+  float Hnow_fused;        // 融合后的热量值
+  uint16_t shots_detected; // 检测到的发射数
+  uint16_t shots_available;// 当前热量可发射弹数
+}Shoot_HeatControl_t;
+
 typedef struct {
   float out_follow[MAX_FRIC_NUM];
   float out_err[MAX_FRIC_NUM];
@@ -87,7 +142,11 @@ typedef struct {
   float outlpf_trig;
 }Shoot_Output_t;
 
-
+typedef struct {
+  Shoot_Mode_t mode;/* 射击模式 */
+  bool ready;       /* 准备射击 */
+  bool firecmd;     /* 射击 */
+}Shoot_CMD_t;
 /* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */
 typedef struct {
   struct{
@@ -104,6 +163,14 @@ typedef struct {
     float threshold;    /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/
     float suspectedTime;/* 卡弹怀疑时间，单位秒 */
   }jamDetection;/* 卡弹检测参数 */
+  struct {
+    bool enable; /* 是否启用热量控制 */
+    uint16_t safe_shots;/* 安全余量，当shots_available小于等于该值时禁止发弹 */
+    float nmax;//最大射频
+    float Hwarn;//热量预警值
+    float Hsatu;//热量饱和值
+    float Hthres;//热量阈值，超过这个值将无法射击
+  }heatControl;/* 热量控制参数 */
   struct {
   Shoot_MOTOR_RM_Param_t fric[MAX_FRIC_NUM];
   MOTOR_RM_Param_t trig;
@@ -134,28 +201,6 @@ typedef struct {
   float dt;             /* 两次唤醒间隔时间，单位秒 */
 }Shoot_Timer_t;
 
-
-typedef enum {
-    SHOOT_MODE_SAFE = 0,/* 安全模式 */
-    SHOOT_MODE_SINGLE,  /* 单发模式 */
-    SHOOT_MODE_BURST,   /* 多发模式 */
-    SHOOT_MODE_CONTINUE,/* 连发模式 */
-    SHOOT_MODE_NUM
-}Shoot_Mode_t;
-
-typedef enum {
-    SHOOT_REMOTE = 0,/* 遥控器控制 */
-    SHOOT_AI,       /* AI控制 */
-} Shoot_Control_Mode_t;
-
-typedef struct {
-  Shoot_Mode_t mode;/* 射击模式 */
-
-  Shoot_Control_Mode_t control_mode;/* 控制模式 */
-  bool ready;       /* 准备射击 */
-  bool firecmd;     /* 射击 */
-}Shoot_CMD_t;
-
 /*
  * 运行的主结构体，所有这个文件里的函数都在操作这个结构体
  * 包含了初始化参数，中间变量，输出变量
@@ -170,6 +215,7 @@ typedef struct {
   /* 控制信息*/         
   Shoot_Running_State_t running_state; /* 运行状态机 */ 
   Shoot_JamDetection_t jamdetection; /* 卡弹检测控制信息 */
+  Shoot_HeatControl_t heatcontrol; /* 热量控制信息 */
   Shoot_VARSForFricCtrl_t var_fric; /* 摩擦轮控制信息 */
   Shoot_VARSForTrigCtrl_t var_trig; /* 角度计算控制信息 */
   Shoot_Output_t output; /* 输出信息 */
@@ -177,6 +223,7 @@ typedef struct {
   struct {           
     float fric_rpm;  /* 目标摩擦轮转速 */
     float trig_angle;/* 目标拨弹位置 */
+    float bullet_speed;/* 目标弹速 */
   }target_variable;
 
   /* 反馈控制用的PID */
@@ -245,8 +292,15 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s);
  */
 int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd);
 
+/**
+ * @brief 导出射击UI数据
+ *
+ * @param s 射击结构体
+ * @param ui UI结构体
+ */
+void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui);
 
-
+void Shoot_DumpAI(Shoot_t *s, Shoot_AI_t *ai) ;
 #ifdef __cplusplus
 }
 #endif
diff --git a/User/module/vision_bridge.c b/User/module/vision_bridge.c
new file mode 100644
index 0000000..8e97ef6
--- /dev/null
+++ b/User/module/vision_bridge.c
@@ -0,0 +1,120 @@
+#include "vision_bridge.h"
+#include "device/device.h"
+#include "bsp/uart.h"
+#include "component/crc16.h"
+#include <string.h>
+#include "bsp/fdcan.h"
+
+#define AI_CMD_CAN_DLC       (8u)  /* 1字节mode + 3.5字节yaw + 3.5字节pit */
+#define AI_CMD_ANGLE_SCALE   (10000000.0f)  /* 0.0000001 rad per LSB */
+
+int8_t AI_Init(AI_t *ai, AI_Param_t *param) {
+  if (ai == NULL) return DEVICE_ERR_NULL;
+  
+  BSP_FDCAN_Init();
+  
+	memset(ai, 0, sizeof(AI_t));
+
+	ai->param = param;
+	BSP_FDCAN_RegisterId(ai->param->can, ai->param->vision_id, 3);
+
+  return 0;
+}
+
+
+int8_t AI_ParseForHost(AI_t* ai, AI_RawData_t* raw_data){
+		ai->tohost.head[0]='M';
+		ai->tohost.head[1]='R';	
+		ai->tohost.mode=raw_data->mode;
+		ai->tohost.pitch=raw_data->pitch;
+		ai->tohost.yaw=raw_data->yaw;	
+		ai->tohost.pitch_vel=raw_data->pitch_vel;
+		ai->tohost.yaw_vel=raw_data->yaw_vel;	
+		ai->tohost.q[0]=raw_data->q[0];	
+		ai->tohost.q[1]=raw_data->q[1];	
+		ai->tohost.q[2]=raw_data->q[2];	
+		ai->tohost.q[3]=raw_data->q[3];		
+		ai->tohost.bullet_count=10;
+		ai->tohost.bullet_speed=10.5;	
+		
+		ai->tohost.crc16=CRC16_Calc(((const uint8_t*)&(ai->tohost)),sizeof(ai->tohost)-sizeof(uint16_t), CRC16_INIT );
+		if(CRC16_Verify(((const uint8_t*)&(ai->tohost)), sizeof(ai->tohost))!=true){
+				  return DEVICE_ERR;
+		}
+		      return DEVICE_OK;
+}
+
+int8_t AI_Get(AI_t *ai, AI_cmd_t* outcmd) {
+		if(ai->fromhost.head[0]!='M'&&ai->fromhost.head[1]!='R'){
+					return DEVICE_ERR;
+		}
+//		CRC16_Calc(&ai->fromhost,sizeof(ai->fromhost),ai->fromhost.crc16);
+		if(CRC16_Verify((const uint8_t*)&(ai->fromhost), sizeof(ai->fromhost))!=true){
+				  return DEVICE_ERR;
+		}
+		outcmd->gimbal.setpoint.pit	=	ai->fromhost.pitch;
+		outcmd->gimbal.setpoint.yaw	=	ai->fromhost.yaw;
+		outcmd->mode								=	ai->fromhost.mode;
+		outcmd->gimbal.accl.pit			=	ai->fromhost.pitch_acc;
+		outcmd->gimbal.vel.pit			=	ai->fromhost.pitch_vel;
+		outcmd->gimbal.accl.yaw			=	ai->fromhost.yaw_acc;
+		outcmd->gimbal.vel.yaw			=	ai->fromhost.yaw_vel;		
+  return DEVICE_OK;
+}
+
+
+/* 打包并通过 CAN2 发送AI命令给下层板（mode + yaw + pit） */
+void AI_SendCmdOnFDCAN(AI_t *ai, const AI_cmd_t *cmd) {
+  if (cmd == NULL) return;
+
+  /* 将float角度转换为int32_t定点数（0.0000001 rad/LSB） */
+  const int32_t yaw = (int32_t)(cmd->gimbal.setpoint.yaw * AI_CMD_ANGLE_SCALE);
+  const int32_t pit = (int32_t)(cmd->gimbal.setpoint.pit * AI_CMD_ANGLE_SCALE);
+
+  BSP_FDCAN_StdDataFrame_t frame = {0};
+  frame.id = ai->param->vision_id;
+  frame.dlc = AI_CMD_CAN_DLC;
+  
+  /* mode(1字节) + yaw(3.5字节) + pit(3.5字节) */
+  frame.data[0] = cmd->mode;
+  frame.data[1] = (uint8_t)((yaw >> 20) & 0xFF);
+  frame.data[2] = (uint8_t)((yaw >> 12) & 0xFF);
+  frame.data[3] = (uint8_t)((yaw >> 4) & 0xFF);
+  frame.data[4] = (uint8_t)(((yaw & 0xF) << 4) | ((pit >> 24) & 0xF));
+  frame.data[5] = (uint8_t)((pit >> 16) & 0xFF);
+  frame.data[6] = (uint8_t)((pit >> 8) & 0xFF);
+  frame.data[7] = (uint8_t)(pit & 0xFF);
+  
+  (void)BSP_FDCAN_TransmitStdDataFrame(ai->param->can, &frame);
+}
+
+/* 从CAN消息解析AI命令 (mode + yaw + pit) */
+ void AI_ParseCmdFromCan(AI_t *ai, AI_cmd_t *cmd) {
+
+  if (cmd == NULL) {
+    return;
+  }
+		BSP_FDCAN_Message_t msg;
+  if (BSP_FDCAN_GetMessage(ai->param->can, ai->param->vision_id, &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) != 0) {
+      return;
+  }
+
+  /* 解析mode (1字节) */
+  cmd->mode = msg.data[0];
+  
+  /* 解析yaw (3.5字节) */
+  int32_t yaw_raw = (int32_t)((msg.data[1] << 20) | (msg.data[2] << 12) | (msg.data[3] << 4) | ((msg.data[4] >> 4) & 0xF));
+  if (yaw_raw & 0x08000000) yaw_raw |= 0xF0000000;
+  cmd->gimbal.setpoint.yaw = (float)yaw_raw / AI_CMD_ANGLE_SCALE;
+  
+  /* 解析pit (3.5字节) */
+  int32_t pit_raw = (int32_t)(((msg.data[4] & 0xF) << 24) | (msg.data[5] << 16) | (msg.data[6] << 8) | msg.data[7]);
+  if (pit_raw & 0x08000000) pit_raw |= 0xF0000000;
+  cmd->gimbal.setpoint.pit = (float)pit_raw / AI_CMD_ANGLE_SCALE;
+  
+  /* 其他字段根据需要可以初始化为0 */
+  cmd->gimbal.vel.yaw = 0.0f;
+  cmd->gimbal.vel.pit = 0.0f;
+  cmd->gimbal.accl.yaw = 0.0f;
+  cmd->gimbal.accl.pit = 0.0f;
+}
\ No newline at end of file
diff --git a/User/module/vision_bridge.h b/User/module/vision_bridge.h
new file mode 100644
index 0000000..28413da
--- /dev/null
+++ b/User/module/vision_bridge.h
@@ -0,0 +1,99 @@
+/*
+ * 自瞄模组
+ */
+
+#pragma once
+
+#include "component/user_math.h"
+#include "bsp/can.h"
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+
+struct __attribute__((packed)) AI_ToHost
+{
+  uint8_t head[2];
+  uint8_t mode;  // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
+  float q[4];    // wxyz顺序	/q4,q0,q1,q2/
+  float yaw;
+  float yaw_vel;
+  float pitch;
+  float pitch_vel;
+  float bullet_speed;
+  uint16_t bullet_count;  // 子弹累计发送次数
+  uint16_t crc16;
+};
+
+struct __attribute__((packed)) AI_FromHost
+{
+  uint8_t head[2];
+  uint8_t mode;  // 0: 不控制, 1: 控制云台但不开火，2: 控制云台且开火
+  float yaw;
+  float yaw_vel;
+  float yaw_acc;
+  float pitch;
+  float pitch_vel;
+  float pitch_acc;
+  uint16_t crc16;
+};
+
+typedef struct {
+	uint8_t mode;
+	struct{
+		struct{
+				float yaw;
+				float pit;		
+		}setpoint;
+		struct{
+					float pit;
+					float yaw;	
+					}accl;
+		struct{
+					float pit;
+					float yaw;	
+					}vel;		
+	}gimbal;
+	
+}AI_cmd_t;
+
+typedef struct  {
+  uint8_t mode;  // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
+  float q[4];    // wxyz顺序	/q4,q0,q1,q2/
+  float yaw;
+  float yaw_vel;
+  float pitch;
+  float pitch_vel;
+  float bullet_speed;
+  uint16_t bullet_count;  // 子弹累计发送次数
+}AI_RawData_t;
+
+typedef struct  {
+	BSP_CAN_t can;
+  uint16_t vision_id;
+}AI_Param_t;
+
+typedef struct __attribute__((packed)) {
+	struct AI_ToHost tohost;
+	struct AI_FromHost fromhost;
+  AI_Param_t *param;
+}AI_t;
+
+
+int8_t AI_Init(AI_t *ai, AI_Param_t *param);
+
+int8_t AI_StartReceiving(AI_t *ai);
+
+int8_t AI_Get(AI_t *ai, AI_cmd_t* ai_cmd);
+
+int8_t AI_ParseForHost(AI_t* ai, AI_RawData_t* raw_data);
+
+int8_t AI_StartSend(AI_t *ai);
+
+void AI_SendCmdOnCan(AI_t *ai, const AI_cmd_t *cmd);
+
+ void AI_ParseCmdFromCan(AI_t *ai, AI_cmd_t *cmd);
+#ifdef __cplusplus
+}
+#endif
diff --git a/User/task/cmd.c b/User/task/cmd.c
index 848f861..deb95e2 100644
--- a/User/task/cmd.c
+++ b/User/task/cmd.c
@@ -9,10 +9,10 @@
 #include "device/ET16s.h"
 #include "device/dr16.h"
 #include "module/config.h"
-#include "module/cmd.h"
-#include "module/cmd_adapter.h"
-#include "module/cmd_behavior.h"
-#include "module/cmd_types.h"
+#include "module/cmd/cmd.h"
+#include "module/cmd/cmd_adapter.h"
+#include "module/cmd/cmd_behavior.h"
+#include "module/cmd/cmd_types.h"
 #include "module/gimbal.h"
 /* USER INCLUDE END */
 
diff --git a/User/task/init.c b/User/task/init.c
index d6091be..6846422 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -68,6 +68,7 @@ void Task_Init(void *argument) {
   task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count = osMessageQueueNew(2u, sizeof(PackageMCU_t),NULL);
   task_runtime.msgq.navi.c_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL); /* 新增的 ai 消息队列 主要是给底盘发送导航相关的命令*/
   	/* 裁判系统 */
+        
 	task_runtime.msgq.referee.ai= osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL);		
 	task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL);	
 	task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL);				
diff --git a/User/task/referee.c b/User/task/referee.c
index 3dd53df..d38fcda 100644
--- a/User/task/referee.c
+++ b/User/task/referee.c
@@ -7,6 +7,7 @@
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "device/referee.h"
+  #include "module/config.h"  
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -16,15 +17,18 @@
 /* USER STRUCT BEGIN */
 Referee_t ref;
 Referee_UI_t ui;
-CMD_UI_t ref_cmd;
+Referee_UI_CMD_t ref_cmd;
 Referee_ForCap_t for_cap;
 Referee_ForAI_t for_ai;
 Referee_ForChassis_t for_chassis;
 Referee_ForShoot_t for_shoot;
-
+uint8_t send_data[6]={1,2,3,4};
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_referee(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
@@ -39,18 +43,18 @@ void Task_referee(void *argument) {
   /* USER CODE INIT BEGIN */
 	uint32_t last_online_tick = 0;
   /* 初始化裁判系统 */
-  Referee_Init(&ref, &ui,&Config_GetRobotParam()->cmd_param.screen);
 
+  Referee_Init(&ref, &ui, &Config_GetRobotParam()->ref_screen);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
     Referee_StartReceiving(&ref);
-		
+
     if (osThreadFlagsWait(SIGNAL_REFEREE_RAW_REDY, osFlagsWaitAll, 10) !=
         SIGNAL_REFEREE_RAW_REDY) {
-      if (osKernelGetTickCount() - last_online_tick > 3000)
+      if (osKernelGetTickCount() - last_online_tick > 2500) 
         Referee_HandleOffline(&ref);
     } else {
       Referee_Parse(&ref);
@@ -60,30 +64,31 @@ void Task_referee(void *argument) {
     Referee_PackAI(&for_ai, &ref);
     Referee_PackShoot(&for_shoot, &ref);
     Referee_PackChassis(&for_chassis, &ref);
-    if (osKernelGetTickCount() > delay_tick){
-      tick += delay_tick;
+    {
 			/* 裁判系统数据读取 */
-      osMessageQueueReset(task_runtime.msgq.referee.cap);
-      osMessageQueuePut(task_runtime.msgq.referee.cap, &for_cap, 0, 0);
-      osMessageQueueReset(task_runtime.msgq.referee.ai);
-      osMessageQueuePut(task_runtime.msgq.referee.ai, &for_ai, 0, 0);
-      osMessageQueueReset(task_runtime.msgq.referee.chassis);
-      osMessageQueuePut(task_runtime.msgq.referee.chassis, &for_chassis, 0, 0);
-      osMessageQueueReset(task_runtime.msgq.referee.shoot);
-      osMessageQueuePut(task_runtime.msgq.referee.shoot, &for_shoot, 0, 0);
+      osMessageQueueReset(task_runtime.msgq.referee.tocmd.cap);
+      osMessageQueuePut(task_runtime.msgq.referee.tocmd.cap, &for_cap, 0, 0);
+      osMessageQueueReset(task_runtime.msgq.referee.tocmd.ai);
+      osMessageQueuePut(task_runtime.msgq.referee.tocmd.ai, &for_ai, 0, 0);
+      osMessageQueueReset(task_runtime.msgq.referee.tocmd.chassis);
+      osMessageQueuePut(task_runtime.msgq.referee.tocmd.chassis, &for_chassis, 0, 0);
+      osMessageQueueReset(task_runtime.msgq.referee.tocmd.shoot);
+      osMessageQueuePut(task_runtime.msgq.referee.tocmd.shoot, &for_shoot, 0, 0);
 			/* UI数据获取 */
-      osMessageQueueGet(task_runtime.msgq.ui.cap, &(ui.cap_ui), NULL, 0);
-      osMessageQueueGet(task_runtime.msgq.ui.chassis, &(ui.chassis_ui), NULL,0);
-      osMessageQueueGet(task_runtime.msgq.ui.gimbal, &(ui.gimbal_ui), NULL, 0);
-      osMessageQueueGet(task_runtime.msgq.ui.shoot, &(ui.shoot_ui), NULL, 0);
-      osMessageQueueGet(task_runtime.msgq.ui.cmd, &(ui.cmd_pc), NULL, 0);
+      osMessageQueueGet(task_runtime.msgq.referee.ui.tocap, &(ui.cap_ui), NULL, 0);
+      osMessageQueueGet(task_runtime.msgq.referee.ui.tochassis, &(ui.chassis_ui), NULL,0);
+      osMessageQueueGet(task_runtime.msgq.referee.ui.togimbal, &(ui.gimbal_ui), NULL, 0);
+      osMessageQueueGet(task_runtime.msgq.referee.ui.toshoot, &(ui.shoot_ui), NULL, 0);
+      osMessageQueueGet(task_runtime.msgq.referee.ui.tocmd, &(ui.cmd_pc), NULL, 0);
       Referee_UIRefresh(&ui);	
 			
-      while (osMessageQueueGet(task_runtime.msgq.referee.ui, &ref_cmd, NULL,
+      while (osMessageQueueGet(task_runtime.msgq.referee.ui.frcmd, &ref_cmd, NULL,
                                0) == osOK) {
+        ref_cmd=UI_AUTO_AIM_START;
         Referee_PraseCmd(&ui, ref_cmd);
-//				 Referee_StartSend(send_data, sizeof(send_data));
+				//  Referee_StartSend(send_data, sizeof(send_data));
       }			
+
       Referee_PackUI(&ui, &ref);			
 		} 		
 		
diff --git a/User/task/shoot.c b/User/task/shoot.c
index 25a52db..f920bed 100644
--- a/User/task/shoot.c
+++ b/User/task/shoot.c
@@ -1,14 +1,16 @@
 /*
-    shoot Task
+    ctrl_shoot Task
     
 */
 
 /* Includes ----------------------------------------------------------------- */
+#include "cmsis_os.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
+
 #include "module/shoot.h"
 #include "module/config.h"
-#include "device/ai.h"
+#include "device/referee_proto_types.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -18,95 +20,53 @@
 /* USER STRUCT BEGIN */
 Shoot_t shoot;
 Shoot_CMD_t shoot_cmd;
-AI_result_t shoot_ai_result_cmd;
-PackageMCU_t shoot_ai_mcu_package;
-
+Referee_ForShoot_t shoot_ref;
+Shoot_AI_t shoot_forai;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
-void Task_shoot(void *argument) {
+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() / SHOOT_FREQ;
+  const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_SHOOT_FREQ;
 
-  osDelay(SHOOT_INIT_DELAY); /* 延时一段时间再开启任务 */
+  osDelay(MONITOR_INIT_DELAY); /* 延时一段时间再开启任务 */
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ);
-Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
-shoot_ai_mcu_package.data.bullet_count = 0;
-static bool last_fire_state = false;
-bool current_fire_state = false; // 当前是否需要发射
-static uint32_t ai_last_fire_tick = 0;
-static const uint32_t ai_single_interval_ms = 220;
-static const uint32_t ai_burst_interval_ms = 110;
-static const uint32_t ai_continue_interval_ms = 0;
-/* USER CODE INIT END */
+  
+  Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,CTRL_SHOOT_FREQ);
+  MRobot_RegisterDevice("shoot", &shoot, print_shoot);
+
+  /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
-osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd, &shoot_ai_result_cmd, NULL, 0);
-  
-if(shoot_cmd.control_mode==SHOOT_REMOTE)
-{
-  //do nothing，使用遥控器的指令
-  current_fire_state = shoot_cmd.firecmd;
-}
-else if(shoot_cmd.control_mode==SHOOT_AI)
-{
-  uint32_t now_ms = osKernelGetTickCount();
-  uint32_t interval_ms = ai_single_interval_ms;
+    osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
+    osMessageQueueGet(task_runtime.msgq.shoot.ref, &shoot_ref, NULL, 0);
+    
 
-  shoot_cmd.ready = true;
-
-  if (shoot_ai_result_cmd.mode == 2) {
-    switch (shoot_cmd.mode) {
-      case SHOOT_MODE_CONTINUE:
-        interval_ms = ai_continue_interval_ms;
-        break;
-      case SHOOT_MODE_BURST:
-        interval_ms = ai_burst_interval_ms;
-        break;
-      case SHOOT_MODE_SINGLE:
-      default:
-        interval_ms = ai_single_interval_ms;
-        break;
-    }
-
-    if (interval_ms == 0) {
-      shoot_cmd.firecmd = true;
-    } else if ((now_ms - ai_last_fire_tick) >= interval_ms) {
-      shoot_cmd.firecmd = true;
-      ai_last_fire_tick = now_ms;
+    Shoot_DumpAI(&shoot, &shoot_forai);
+    osMessageQueuePut(task_runtime.msgq.ai.rawdata_FromShoot, &shoot_forai, 0, 0);
+    if (shoot_ref.ref_status == REF_STATUS_RUNNING) {
+      shoot.heatcontrol.ref_online = true;
+      shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit;
+      shoot.heatcontrol.Hcd  = (float)shoot_ref.robot_status.shooter_barrel_cooling_value;
+      shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat;
+      shoot.heatcontrol.Hgen = 10.0f; /* 42mm弹丸每发产生热量 */
     } else {
-      shoot_cmd.firecmd = false;
+      shoot.heatcontrol.ref_online = false;
     }
-  } else {
-    shoot_cmd.firecmd = false;
-    ai_last_fire_tick = now_ms;
-  }
-
-  current_fire_state = shoot_cmd.firecmd;
-  }
-
-  if(current_fire_state == true && last_fire_state == false)
-  {
-  shoot_ai_mcu_package.data.bullet_count++; /* 每次射击时增加射击数量 */
-  }
-last_fire_state = current_fire_state;
-
-    Shoot_UpdateFeedback(&shoot);
+	  Shoot_UpdateFeedback(&shoot);
     Shoot_SetMode(&shoot,shoot_cmd.mode);
-    Shoot_Control(&shoot,&shoot_cmd);
+	  Shoot_Control(&shoot,&shoot_cmd);
 
-    osMessageQueueReset(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count); 
-    osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count, &shoot_ai_mcu_package, 0, 0);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
diff --git a/build/Debug/.cmake/api/v1/reply/cache-v2-4c5028c5e3aae1ad4776.json b/build/Debug/.cmake/api/v1/reply/cache-v2-4c5028c5e3aae1ad4776.json
deleted file mode 100644
index 194452b..0000000
--- a/build/Debug/.cmake/api/v1/reply/cache-v2-4c5028c5e3aae1ad4776.json
+++ /dev/null
@@ -1,1263 +0,0 @@
-{
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index 4f98c12..0000000
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diff --git a/build/Debug/CMakeCache.txt b/build/Debug/CMakeCache.txt
index c44b50e..aba7b69 100644
--- a/build/Debug/CMakeCache.txt
+++ b/build/Debug/CMakeCache.txt
@@ -1,6 +1,6 @@
 # This is the CMakeCache file.
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-# It was generated by CMake: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/bin/cmake
+# For build in directory: d:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug
+# It was generated by CMake: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/bin/cmake.exe
 # You can edit this file to change values found and used by cmake.
 # If you do not want to change any of the values, simply exit the editor.
 # If you do want to change a value, simply edit, save, and exit the editor.
@@ -15,18 +15,18 @@
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+CMAKE_ADDR2LINE:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-addr2line.exe
 
 //Path to a program.
-CMAKE_AR:FILEPATH=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-ar
+CMAKE_AR:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-ar.exe
 
 //A wrapper around 'ar' adding the appropriate '--plugin' option
 // for the GCC compiler
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+CMAKE_ASM_COMPILER_AR:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ar.exe
 
 //A wrapper around 'ranlib' adding the appropriate '--plugin' option
 // for the GCC compiler
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+CMAKE_ASM_COMPILER_RANLIB:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ranlib.exe
 
 //Flags used by the ASM compiler during all build types.
 CMAKE_ASM_FLAGS:STRING=
@@ -52,11 +52,11 @@ CMAKE_COMMAND:UNINITIALIZED=cube-cmake
 
 //A wrapper around 'ar' adding the appropriate '--plugin' option
 // for the GCC compiler
-CMAKE_CXX_COMPILER_AR:FILEPATH=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc-ar
+CMAKE_CXX_COMPILER_AR:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ar.exe
 
 //A wrapper around 'ranlib' adding the appropriate '--plugin' option
 // for the GCC compiler
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+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ranlib.exe
 
 //Flags used by the CXX compiler during all build types.
 CMAKE_CXX_FLAGS:STRING=
@@ -75,11 +75,11 @@ CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
 
 //A wrapper around 'ar' adding the appropriate '--plugin' option
 // for the GCC compiler
-CMAKE_C_COMPILER_AR:FILEPATH=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc-ar
+CMAKE_C_COMPILER_AR:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ar.exe
 
 //A wrapper around 'ranlib' adding the appropriate '--plugin' option
 // for the GCC compiler
-CMAKE_C_COMPILER_RANLIB:FILEPATH=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc-ranlib
+CMAKE_C_COMPILER_RANLIB:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ranlib.exe
 
 //Flags used by the C compiler during all build types.
 CMAKE_C_FLAGS:STRING=
@@ -97,7 +97,7 @@ CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
 CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
 
 //Path to a program.
-CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+CMAKE_DLLTOOL:FILEPATH=D:/Drivers/MSYS2/ucrt64/bin/dlltool.exe
 
 //Flags used by the linker during all build types.
 CMAKE_EXE_LINKER_FLAGS:STRING=
@@ -118,13 +118,13 @@ CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
 CMAKE_EXPORT_BUILD_DATABASE:BOOL=
 
 //Value Computed by CMake.
-CMAKE_FIND_PACKAGE_REDIRECTS_DIR:STATIC=/Users/lvzucheng/Documents/R/Er_sentry/build/Debug/CMakeFiles/pkgRedirects
+CMAKE_FIND_PACKAGE_REDIRECTS_DIR:STATIC=D:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug/CMakeFiles/pkgRedirects
 
 //Install path prefix, prepended onto install directories.
-CMAKE_INSTALL_PREFIX:PATH=/usr/local
+CMAKE_INSTALL_PREFIX:PATH=C:/Program Files (x86)/lll0121
 
-//make program
-CMAKE_MAKE_PROGRAM:FILEPATH=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/ninja/1.12.1+st.9/bin/ninja
+//Program used to build from build.ninja files.
+CMAKE_MAKE_PROGRAM:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/ninja/1.13.1+st.1/bin/ninja.exe
 
 //Flags used by the linker during the creation of modules during
 // all build types.
@@ -147,10 +147,10 @@ CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
 CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
 
 //Path to a program.
-CMAKE_NM:FILEPATH=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-nm
+CMAKE_NM:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-nm.exe
 
 //Path to a program.
-CMAKE_OBJDUMP:FILEPATH=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-objdump
+CMAKE_OBJDUMP:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-objdump.exe
 
 //Value Computed by CMake
 CMAKE_PROJECT_DESCRIPTION:STATIC=
@@ -162,10 +162,10 @@ CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
 CMAKE_PROJECT_NAME:STATIC=lll0121
 
 //Path to a program.
-CMAKE_RANLIB:FILEPATH=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-ranlib
+CMAKE_RANLIB:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-ranlib.exe
 
 //Path to a program.
-CMAKE_READELF:FILEPATH=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-readelf
+CMAKE_READELF:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-readelf.exe
 
 //Flags used by the linker during the creation of shared libraries
 // during all build types.
@@ -215,13 +215,13 @@ CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
 CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
 
 //Path to a program.
-CMAKE_STRIP:FILEPATH=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-strip
+CMAKE_STRIP:FILEPATH=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-strip.exe
 
 //Path to a program.
 CMAKE_TAPI:FILEPATH=CMAKE_TAPI-NOTFOUND
 
 //No help, variable specified on the command line.
-CMAKE_TOOLCHAIN_FILE:UNINITIALIZED=/Users/lvzucheng/Documents/R/Er_sentry/cmake/gcc-arm-none-eabi.cmake
+CMAKE_TOOLCHAIN_FILE:UNINITIALIZED=D:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/gcc-arm-none-eabi.cmake
 
 //If this value is on, makefiles will be generated without the
 // .SILENT directive, and all commands will be echoed to the console
@@ -230,13 +230,13 @@ CMAKE_TOOLCHAIN_FILE:UNINITIALIZED=/Users/lvzucheng/Documents/R/Er_sentry/cmake/
 CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
 
 //Value Computed by CMake
-lll0121_BINARY_DIR:STATIC=/Users/lvzucheng/Documents/R/Er_sentry/build/Debug
+lll0121_BINARY_DIR:STATIC=D:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug
 
 //Value Computed by CMake
 lll0121_IS_TOP_LEVEL:STATIC=ON
 
 //Value Computed by CMake
-lll0121_SOURCE_DIR:STATIC=/Users/lvzucheng/Documents/R/Er_sentry
+lll0121_SOURCE_DIR:STATIC=D:/STM32Projects_HAL/board-F4/sentry/sentry2026
 
 
 ########################
@@ -263,7 +263,7 @@ CMAKE_ASM_FLAGS_RELEASE-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_ASM_FLAGS_RELWITHDEBINFO
 CMAKE_ASM_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
 //This is the directory where this CMakeCache.txt was created
-CMAKE_CACHEFILE_DIR:INTERNAL=/Users/lvzucheng/Documents/R/Er_sentry/build/Debug
+CMAKE_CACHEFILE_DIR:INTERNAL=d:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug
 //Major version of cmake used to create the current loaded cache
 CMAKE_CACHE_MAJOR_VERSION:INTERNAL=4
 //Minor version of cmake used to create the current loaded cache
@@ -271,9 +271,9 @@ CMAKE_CACHE_MINOR_VERSION:INTERNAL=0
 //Patch version of cmake used to create the current loaded cache
 CMAKE_CACHE_PATCH_VERSION:INTERNAL=1
 //Path to cpack program executable.
-CMAKE_CPACK_COMMAND:INTERNAL=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/bin/cpack
+CMAKE_CPACK_COMMAND:INTERNAL=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/bin/cpack.exe
 //Path to ctest program executable.
-CMAKE_CTEST_COMMAND:INTERNAL=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/bin/ctest
+CMAKE_CTEST_COMMAND:INTERNAL=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/bin/ctest.exe
 //ADVANCED property for variable: CMAKE_CXX_COMPILER_AR
 CMAKE_CXX_COMPILER_AR-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_CXX_COMPILER_RANLIB
@@ -305,7 +305,7 @@ CMAKE_C_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_DLLTOOL
 CMAKE_DLLTOOL-ADVANCED:INTERNAL=1
 //Path to cache edit program executable.
-CMAKE_EDIT_COMMAND:INTERNAL=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/bin/ccmake
+CMAKE_EDIT_COMMAND:INTERNAL=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/bin/cmake-gui.exe
 //Executable file format
 CMAKE_EXECUTABLE_FORMAT:INTERNAL=ELF
 //ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS
@@ -332,7 +332,7 @@ CMAKE_GENERATOR_PLATFORM:INTERNAL=
 CMAKE_GENERATOR_TOOLSET:INTERNAL=
 //Source directory with the top level CMakeLists.txt file for this
 // project
-CMAKE_HOME_DIRECTORY:INTERNAL=/Users/lvzucheng/Documents/R/Er_sentry
+CMAKE_HOME_DIRECTORY:INTERNAL=D:/STM32Projects_HAL/board-F4/sentry/sentry2026
 //Name of CMakeLists files to read
 CMAKE_LIST_FILE_NAME:INTERNAL=CMakeLists.txt
 //ADVANCED property for variable: CMAKE_MAKE_PROGRAM
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-CMAKE_ROOT:INTERNAL=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0
+CMAKE_ROOT:INTERNAL=C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0
 //ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS
 CMAKE_SHARED_LINKER_FLAGS-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_DEBUG
@@ -389,8 +389,6 @@ CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
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 CMAKE_TAPI-ADVANCED:INTERNAL=1
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diff --git a/build/Debug/CMakeFiles/4.0.1/CMakeASMCompiler.cmake b/build/Debug/CMakeFiles/4.0.1/CMakeASMCompiler.cmake
index 0264f46..709b804 100644
--- a/build/Debug/CMakeFiles/4.0.1/CMakeASMCompiler.cmake
+++ b/build/Debug/CMakeFiles/4.0.1/CMakeASMCompiler.cmake
@@ -1,10 +1,10 @@
-set(CMAKE_ASM_COMPILER "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc")
+set(CMAKE_ASM_COMPILER "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc.exe")
 set(CMAKE_ASM_COMPILER_ARG1 "")
-set(CMAKE_AR "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-ar")
-set(CMAKE_ASM_COMPILER_AR "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc-ar")
-set(CMAKE_RANLIB "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-ranlib")
-set(CMAKE_ASM_COMPILER_RANLIB "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc-ranlib")
-set(CMAKE_LINKER "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++")
+set(CMAKE_AR "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-ar.exe")
+set(CMAKE_ASM_COMPILER_AR "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ar.exe")
+set(CMAKE_RANLIB "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-ranlib.exe")
+set(CMAKE_ASM_COMPILER_RANLIB "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ranlib.exe")
+set(CMAKE_LINKER "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-g++.exe")
 set(CMAKE_LINKER_LINK "")
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diff --git a/build/Debug/CMakeFiles/4.0.1/CMakeCCompiler.cmake b/build/Debug/CMakeFiles/4.0.1/CMakeCCompiler.cmake
index 7e72760..1ede588 100644
--- a/build/Debug/CMakeFiles/4.0.1/CMakeCCompiler.cmake
+++ b/build/Debug/CMakeFiles/4.0.1/CMakeCCompiler.cmake
@@ -1,7 +1,7 @@
-set(CMAKE_C_COMPILER "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc")
+set(CMAKE_C_COMPILER "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc.exe")
 set(CMAKE_C_COMPILER_ARG1 "")
 set(CMAKE_C_COMPILER_ID "GNU")
-set(CMAKE_C_COMPILER_VERSION "13.3.1")
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 set(CMAKE_C_COMPILER_VERSION_INTERNAL "")
 set(CMAKE_C_COMPILER_WRAPPER "")
 set(CMAKE_C_STANDARD_COMPUTED_DEFAULT "17")
@@ -22,11 +22,11 @@ set(CMAKE_C_SIMULATE_VERSION "")
 
 
 
-set(CMAKE_AR "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-ar")
-set(CMAKE_C_COMPILER_AR "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc-ar")
-set(CMAKE_RANLIB "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-ranlib")
-set(CMAKE_C_COMPILER_RANLIB "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc-ranlib")
-set(CMAKE_LINKER "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++")
+set(CMAKE_AR "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-ar.exe")
+set(CMAKE_C_COMPILER_AR "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ar.exe")
+set(CMAKE_RANLIB "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-ranlib.exe")
+set(CMAKE_C_COMPILER_RANLIB "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ranlib.exe")
+set(CMAKE_LINKER "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-g++.exe")
 set(CMAKE_LINKER_LINK "")
 set(CMAKE_LINKER_LLD "")
 set(CMAKE_C_COMPILER_LINKER "NOTFOUND")
@@ -77,7 +77,7 @@ endif()
 
 
 
-set(CMAKE_C_IMPLICIT_INCLUDE_DIRECTORIES "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/lib/gcc/arm-none-eabi/13.3.1/include;/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/lib/gcc/arm-none-eabi/13.3.1/include-fixed;/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/arm-none-eabi/include")
+set(CMAKE_C_IMPLICIT_INCLUDE_DIRECTORIES "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/lib/gcc/arm-none-eabi/14.3.1/include;C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/lib/gcc/arm-none-eabi/14.3.1/include-fixed;C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/arm-none-eabi/include")
 set(CMAKE_C_IMPLICIT_LINK_LIBRARIES "")
 set(CMAKE_C_IMPLICIT_LINK_DIRECTORIES "")
 set(CMAKE_C_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "")
diff --git a/build/Debug/CMakeFiles/4.0.1/CMakeCXXCompiler.cmake b/build/Debug/CMakeFiles/4.0.1/CMakeCXXCompiler.cmake
index 5ac6467..cc40fde 100644
--- a/build/Debug/CMakeFiles/4.0.1/CMakeCXXCompiler.cmake
+++ b/build/Debug/CMakeFiles/4.0.1/CMakeCXXCompiler.cmake
@@ -1,20 +1,20 @@
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+set(CMAKE_CXX_COMPILER "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-g++.exe")
 set(CMAKE_CXX_COMPILER_ARG1 "")
 set(CMAKE_CXX_COMPILER_ID "GNU")
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 set(CMAKE_CXX_COMPILER_VERSION_INTERNAL "")
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 set(CMAKE_CXX_STANDARD_COMPUTED_DEFAULT "17")
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 set(CMAKE_CXX14_COMPILE_FEATURES "cxx_std_14;cxx_aggregate_default_initializers;cxx_attribute_deprecated;cxx_binary_literals;cxx_contextual_conversions;cxx_decltype_auto;cxx_digit_separators;cxx_generic_lambdas;cxx_lambda_init_captures;cxx_relaxed_constexpr;cxx_return_type_deduction;cxx_variable_templates")
 set(CMAKE_CXX17_COMPILE_FEATURES "cxx_std_17")
 set(CMAKE_CXX20_COMPILE_FEATURES "cxx_std_20")
 set(CMAKE_CXX23_COMPILE_FEATURES "cxx_std_23")
-set(CMAKE_CXX26_COMPILE_FEATURES "")
+set(CMAKE_CXX26_COMPILE_FEATURES "cxx_std_26")
 
 set(CMAKE_CXX_PLATFORM_ID "")
 set(CMAKE_CXX_SIMULATE_ID "")
@@ -24,14 +24,14 @@ set(CMAKE_CXX_SIMULATE_VERSION "")
 
 
 
-set(CMAKE_AR "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-ar")
-set(CMAKE_CXX_COMPILER_AR "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc-ar")
-set(CMAKE_RANLIB "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-ranlib")
-set(CMAKE_CXX_COMPILER_RANLIB "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc-ranlib")
-set(CMAKE_LINKER "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++")
+set(CMAKE_AR "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-ar.exe")
+set(CMAKE_CXX_COMPILER_AR "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ar.exe")
+set(CMAKE_RANLIB "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-ranlib.exe")
+set(CMAKE_CXX_COMPILER_RANLIB "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc-ranlib.exe")
+set(CMAKE_LINKER "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-g++.exe")
 set(CMAKE_LINKER_LINK "")
 set(CMAKE_LINKER_LLD "")
-set(CMAKE_CXX_COMPILER_LINKER "COLLECT_GCC=/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++")
+set(CMAKE_CXX_COMPILER_LINKER "[1/2] C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-g++.exe")
 set(CMAKE_CXX_COMPILER_LINKER_ID "")
 set(CMAKE_CXX_COMPILER_LINKER_VERSION )
 set(CMAKE_CXX_COMPILER_LINKER_FRONTEND_VARIANT )
@@ -89,7 +89,7 @@ endif()
 
 
 
-set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/arm-none-eabi/include/c++/13.3.1;/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/arm-none-eabi/include/c++/13.3.1/arm-none-eabi/thumb/v7e-m+fp/hard;/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/arm-none-eabi/include/c++/13.3.1/backward;/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/lib/gcc/arm-none-eabi/13.3.1/include;/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/lib/gcc/arm-none-eabi/13.3.1/include-fixed;/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/arm-none-eabi/include")
+set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/arm-none-eabi/include/c++/14.3.1;C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/arm-none-eabi/include/c++/14.3.1/arm-none-eabi/thumb/v7e-m+fp/hard;C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/arm-none-eabi/include/c++/14.3.1/backward;C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/lib/gcc/arm-none-eabi/14.3.1/include;C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/lib/gcc/arm-none-eabi/14.3.1/include-fixed;C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/arm-none-eabi/include")
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 set(CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES "")
 set(CMAKE_CXX_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "")
@@ -100,4 +100,8 @@ set(CMAKE_CXX_COMPILER_IMPORT_STD "")
 set(CMAKE_CXX23_COMPILER_IMPORT_STD_NOT_FOUND_MESSAGE "Experimental `import std` support not enabled when detecting toolchain; it must be set before `CXX` is enabled (usually a `project()` call)")
 
 
+### Imported target for C++26 standard library
+set(CMAKE_CXX26_COMPILER_IMPORT_STD_NOT_FOUND_MESSAGE "Experimental `import std` support not enabled when detecting toolchain; it must be set before `CXX` is enabled (usually a `project()` call)")
+
+
 
diff --git a/build/Debug/CMakeFiles/4.0.1/CMakeDetermineCompilerABI_C.bin b/build/Debug/CMakeFiles/4.0.1/CMakeDetermineCompilerABI_C.bin
index 684d167..a0e31e6 100644
Binary files a/build/Debug/CMakeFiles/4.0.1/CMakeDetermineCompilerABI_C.bin and b/build/Debug/CMakeFiles/4.0.1/CMakeDetermineCompilerABI_C.bin differ
diff --git a/build/Debug/CMakeFiles/4.0.1/CMakeDetermineCompilerABI_CXX.bin b/build/Debug/CMakeFiles/4.0.1/CMakeDetermineCompilerABI_CXX.bin
index d6037db..d19213a 100644
Binary files a/build/Debug/CMakeFiles/4.0.1/CMakeDetermineCompilerABI_CXX.bin and b/build/Debug/CMakeFiles/4.0.1/CMakeDetermineCompilerABI_CXX.bin differ
diff --git a/build/Debug/CMakeFiles/4.0.1/CMakeSystem.cmake b/build/Debug/CMakeFiles/4.0.1/CMakeSystem.cmake
index 546cac2..a8bba09 100644
--- a/build/Debug/CMakeFiles/4.0.1/CMakeSystem.cmake
+++ b/build/Debug/CMakeFiles/4.0.1/CMakeSystem.cmake
@@ -1,9 +1,9 @@
-set(CMAKE_HOST_SYSTEM "Darwin-25.0.0")
-set(CMAKE_HOST_SYSTEM_NAME "Darwin")
-set(CMAKE_HOST_SYSTEM_VERSION "25.0.0")
-set(CMAKE_HOST_SYSTEM_PROCESSOR "arm64")
+set(CMAKE_HOST_SYSTEM "Windows-10.0.26200")
+set(CMAKE_HOST_SYSTEM_NAME "Windows")
+set(CMAKE_HOST_SYSTEM_VERSION "10.0.26200")
+set(CMAKE_HOST_SYSTEM_PROCESSOR "AMD64")
 
-include("/Users/lvzucheng/Documents/R/Er_sentry/cmake/gcc-arm-none-eabi.cmake")
+include("D:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/gcc-arm-none-eabi.cmake")
 
 set(CMAKE_SYSTEM "Generic")
 set(CMAKE_SYSTEM_NAME "Generic")
diff --git a/build/Debug/CMakeFiles/4.0.1/CompilerIdC/CMakeCCompilerId.o b/build/Debug/CMakeFiles/4.0.1/CompilerIdC/CMakeCCompilerId.o
index 41ac088..24db653 100644
Binary files a/build/Debug/CMakeFiles/4.0.1/CompilerIdC/CMakeCCompilerId.o and b/build/Debug/CMakeFiles/4.0.1/CompilerIdC/CMakeCCompilerId.o differ
diff --git a/build/Debug/CMakeFiles/4.0.1/CompilerIdCXX/CMakeCXXCompilerId.o b/build/Debug/CMakeFiles/4.0.1/CompilerIdCXX/CMakeCXXCompilerId.o
index b6d991e..df970f0 100644
Binary files a/build/Debug/CMakeFiles/4.0.1/CompilerIdCXX/CMakeCXXCompilerId.o and b/build/Debug/CMakeFiles/4.0.1/CompilerIdCXX/CMakeCXXCompilerId.o differ
diff --git a/build/Debug/CMakeFiles/CMakeConfigureLog.yaml b/build/Debug/CMakeFiles/CMakeConfigureLog.yaml
index 8d1b79b..672427b 100644
--- a/build/Debug/CMakeFiles/CMakeConfigureLog.yaml
+++ b/build/Debug/CMakeFiles/CMakeConfigureLog.yaml
@@ -4,51 +4,63 @@ events:
   -
     kind: "message-v1"
     backtrace:
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineSystem.cmake:200 (message)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineSystem.cmake:200 (message)"
       - "CMakeLists.txt:28 (project)"
     message: |
       The target system is: Generic -  - arm
-      The host system is: Darwin - 25.0.0 - arm64
+      The host system is: Windows - 10.0.26200 - AMD64
   -
     kind: "message-v1"
     backtrace:
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCCompiler.cmake:123 (CMAKE_DETERMINE_COMPILER_ID)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCCompiler.cmake:123 (CMAKE_DETERMINE_COMPILER_ID)"
       - "CMakeLists.txt:28 (project)"
     message: |
       Compiling the C compiler identification source file "CMakeCCompilerId.c" failed.
-      Compiler: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc 
+      Compiler: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc.exe 
       Build flags: -mcpu=cortex-m4;-mfpu=fpv4-sp-d16;-mfloat-abi=hard;-Wall;-fdata-sections;-ffunction-sections;-mcpu=cortex-m4;-mfpu=fpv4-sp-d16;-mfloat-abi=hard;-Wall;-fdata-sections;-ffunction-sections
       Id flags:  
       
       The output was:
       1
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-exit.o): in function `exit':
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-exit.o): in function `exit':
       (.text.exit+0x14): undefined reference to `_exit'
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-closer.o): in function `_close_r':
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_exit): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-exit.o)
+      (.text.exit+0x14): dangerous relocation: unsupported relocation
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-closer.o): in function `_close_r':
       (.text._close_r+0xc): undefined reference to `_close'
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-lseekr.o): in function `_lseek_r':
-      (.text._lseek_r+0x10): undefined reference to `_lseek'
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-readr.o): in function `_read_r':
-      (.text._read_r+0x10): undefined reference to `_read'
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-sbrkr.o): in function `_sbrk_r':
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_close): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-closer.o)
+      (.text._close_r+0xc): dangerous relocation: unsupported relocation
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-lseekr.o): in function `_lseek_r':
+      (.text._lseek_r+0x14): undefined reference to `_lseek'
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_lseek): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-lseekr.o)
+      (.text._lseek_r+0x14): dangerous relocation: unsupported relocation
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-readr.o): in function `_read_r':
+      (.text._read_r+0x14): undefined reference to `_read'
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_read): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-readr.o)
+      (.text._read_r+0x14): dangerous relocation: unsupported relocation
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-writer.o): in function `_write_r':
+      (.text._write_r+0x14): undefined reference to `_write'
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_write): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-writer.o)
+      (.text._write_r+0x14): dangerous relocation: unsupported relocation
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-sbrkr.o): in function `_sbrk_r':
       (.text._sbrk_r+0xc): undefined reference to `_sbrk'
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-writer.o): in function `_write_r':
-      (.text._write_r+0x10): undefined reference to `_write'
-      collect2: error: ld returned 1 exit status
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_sbrk): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-sbrkr.o)
+      (.text._sbrk_r+0xc): dangerous relocation: unsupported relocation
+      collect2.exe: error: ld returned 1 exit status
       
       
   -
     kind: "message-v1"
     backtrace:
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCCompiler.cmake:123 (CMAKE_DETERMINE_COMPILER_ID)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCCompiler.cmake:123 (CMAKE_DETERMINE_COMPILER_ID)"
       - "CMakeLists.txt:28 (project)"
     message: |
       Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
-      Compiler: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc 
+      Compiler: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc.exe 
       Build flags: -mcpu=cortex-m4;-mfpu=fpv4-sp-d16;-mfloat-abi=hard;-Wall;-fdata-sections;-ffunction-sections;-mcpu=cortex-m4;-mfpu=fpv4-sp-d16;-mfloat-abi=hard;-Wall;-fdata-sections;-ffunction-sections
       Id flags: -c 
       
@@ -59,48 +71,60 @@ events:
       Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "CMakeCCompilerId.o"
       
       The C compiler identification is GNU, found in:
-        /Users/lvzucheng/Documents/R/Er_sentry/build/Debug/CMakeFiles/4.0.1/CompilerIdC/CMakeCCompilerId.o
+        D:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug/CMakeFiles/4.0.1/CompilerIdC/CMakeCCompilerId.o
       
   -
     kind: "message-v1"
     backtrace:
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCXXCompiler.cmake:126 (CMAKE_DETERMINE_COMPILER_ID)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCXXCompiler.cmake:126 (CMAKE_DETERMINE_COMPILER_ID)"
       - "CMakeLists.txt:28 (project)"
     message: |
       Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" failed.
-      Compiler: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++ 
+      Compiler: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-g++.exe 
       Build flags: -mcpu=cortex-m4;-mfpu=fpv4-sp-d16;-mfloat-abi=hard;-Wall;-fdata-sections;-ffunction-sections;-mcpu=cortex-m4;-mfpu=fpv4-sp-d16;-mfloat-abi=hard;-Wall;-fdata-sections;-ffunction-sections;-fno-rtti;-fno-exceptions;-fno-threadsafe-statics
       Id flags:  
       
       The output was:
       1
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-exit.o): in function `exit':
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-exit.o): in function `exit':
       (.text.exit+0x14): undefined reference to `_exit'
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-closer.o): in function `_close_r':
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_exit): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-exit.o)
+      (.text.exit+0x14): dangerous relocation: unsupported relocation
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-closer.o): in function `_close_r':
       (.text._close_r+0xc): undefined reference to `_close'
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-lseekr.o): in function `_lseek_r':
-      (.text._lseek_r+0x10): undefined reference to `_lseek'
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-readr.o): in function `_read_r':
-      (.text._read_r+0x10): undefined reference to `_read'
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-sbrkr.o): in function `_sbrk_r':
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_close): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-closer.o)
+      (.text._close_r+0xc): dangerous relocation: unsupported relocation
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-lseekr.o): in function `_lseek_r':
+      (.text._lseek_r+0x14): undefined reference to `_lseek'
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_lseek): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-lseekr.o)
+      (.text._lseek_r+0x14): dangerous relocation: unsupported relocation
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-readr.o): in function `_read_r':
+      (.text._read_r+0x14): undefined reference to `_read'
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_read): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-readr.o)
+      (.text._read_r+0x14): dangerous relocation: unsupported relocation
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-writer.o): in function `_write_r':
+      (.text._write_r+0x14): undefined reference to `_write'
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_write): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-writer.o)
+      (.text._write_r+0x14): dangerous relocation: unsupported relocation
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-sbrkr.o): in function `_sbrk_r':
       (.text._sbrk_r+0xc): undefined reference to `_sbrk'
-      /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-writer.o): in function `_write_r':
-      (.text._write_r+0x10): undefined reference to `_write'
-      collect2: error: ld returned 1 exit status
+      C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/bin/ld.exe: (_sbrk): Unknown destination type (ARM/Thumb) in C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\\libc.a(libc_a-sbrkr.o)
+      (.text._sbrk_r+0xc): dangerous relocation: unsupported relocation
+      collect2.exe: error: ld returned 1 exit status
       
       
   -
     kind: "message-v1"
     backtrace:
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeDetermineCXXCompiler.cmake:126 (CMAKE_DETERMINE_COMPILER_ID)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCXXCompiler.cmake:126 (CMAKE_DETERMINE_COMPILER_ID)"
       - "CMakeLists.txt:28 (project)"
     message: |
       Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
-      Compiler: /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++ 
+      Compiler: C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-g++.exe 
       Build flags: -mcpu=cortex-m4;-mfpu=fpv4-sp-d16;-mfloat-abi=hard;-Wall;-fdata-sections;-ffunction-sections;-mcpu=cortex-m4;-mfpu=fpv4-sp-d16;-mfloat-abi=hard;-Wall;-fdata-sections;-ffunction-sections;-fno-rtti;-fno-exceptions;-fno-threadsafe-statics
       Id flags: -c 
       
@@ -111,131 +135,145 @@ events:
       Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "CMakeCXXCompilerId.o"
       
       The CXX compiler identification is GNU, found in:
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   -
     kind: "try_compile-v1"
     backtrace:
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-      - "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeTestCCompiler.cmake:26 (CMAKE_DETERMINE_COMPILER_ABI)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCompilerABI.cmake:83 (try_compile)"
+      - "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeTestCCompiler.cmake:26 (CMAKE_DETERMINE_COMPILER_ABI)"
       - "CMakeLists.txt:28 (project)"
     checks:
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     directories:
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-      binary: "/Users/lvzucheng/Documents/R/Er_sentry/build/Debug/CMakeFiles/CMakeScratch/TryCompile-JQUgvf"
+      source: "D:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug/CMakeFiles/CMakeScratch/TryCompile-6gotpf"
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       CMAKE_C_FLAGS_DEBUG: "-O0 -g3"
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     buildResult:
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       stdout: |
-        Change Dir: '/Users/lvzucheng/Documents/R/Er_sentry/build/Debug/CMakeFiles/CMakeScratch/TryCompile-JQUgvf'
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+        Run Build Command(s): C:/Users/Lenovo/AppData/Local/stm32cube/bundles/ninja/1.13.1+st.1/bin/ninja.exe -v cmTC_618b7
+        [1/2] C:\\Users\\Lenovo\\AppData\\Local\\stm32cube\\bundles\\gnu-tools-for-stm32\\14.3.1+st.2\\bin\\arm-none-eabi-gcc.exe   -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections  -std=gnu11   -v -o CMakeFiles/cmTC_618b7.dir/CMakeCCompilerABI.c.obj -c C:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCCompilerABI.c
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+      Copyright (C) 2024 Free Software Foundation, Inc.
       This is free software; see the source for copying conditions.  There is NO
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diff --git a/build/Debug/CMakeFiles/lll0121.dir/User/task/user_task.c.obj b/build/Debug/CMakeFiles/lll0121.dir/User/task/user_task.c.obj
index 29f5509..528a92b 100644
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diff --git a/build/Debug/CMakeFiles/lll0121.dir/startup_stm32f407xx.s.obj b/build/Debug/CMakeFiles/lll0121.dir/startup_stm32f407xx.s.obj
index a3301db..49c6ae9 100644
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diff --git a/build/Debug/CMakeFiles/rules.ninja b/build/Debug/CMakeFiles/rules.ninja
index b80e6a3..e6b33c4 100644
--- a/build/Debug/CMakeFiles/rules.ninja
+++ b/build/Debug/CMakeFiles/rules.ninja
@@ -17,7 +17,7 @@
 rule ASM_COMPILER__lll0121_unscanned_Debug
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-  command = ${LAUNCHER}${CODE_CHECK}"/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc" $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in
+  command = ${LAUNCHER}${CODE_CHECK}C:\Users\Lenovo\AppData\Local\stm32cube\bundles\gnu-tools-for-stm32\14.3.1+st.2\bin\arm-none-eabi-gcc.exe $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in
   description = Building ASM object $out
 
 
@@ -27,7 +27,7 @@ rule ASM_COMPILER__lll0121_unscanned_Debug
 rule C_COMPILER__lll0121_unscanned_Debug
   depfile = $DEP_FILE
   deps = gcc
-  command = ${LAUNCHER}${CODE_CHECK}"/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc" $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in
+  command = ${LAUNCHER}${CODE_CHECK}C:\Users\Lenovo\AppData\Local\stm32cube\bundles\gnu-tools-for-stm32\14.3.1+st.2\bin\arm-none-eabi-gcc.exe $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in
   description = Building C object $out
 
 
@@ -35,7 +35,7 @@ rule C_COMPILER__lll0121_unscanned_Debug
 # Rule for linking C executable.
 
 rule C_EXECUTABLE_LINKER__lll0121_Debug
-  command = $PRE_LINK && "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc" $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD
+  command = C:\Windows\system32\cmd.exe /C "$PRE_LINK && C:\Users\Lenovo\AppData\Local\stm32cube\bundles\gnu-tools-for-stm32\14.3.1+st.2\bin\arm-none-eabi-gcc.exe $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD"
   description = Linking C executable $TARGET_FILE
   restat = $RESTAT
 
@@ -54,7 +54,7 @@ rule CUSTOM_COMMAND
 rule C_COMPILER__STM32_Drivers_unscanned_Debug
   depfile = $DEP_FILE
   deps = gcc
-  command = ${LAUNCHER}${CODE_CHECK}"/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc" $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in
+  command = ${LAUNCHER}${CODE_CHECK}C:\Users\Lenovo\AppData\Local\stm32cube\bundles\gnu-tools-for-stm32\14.3.1+st.2\bin\arm-none-eabi-gcc.exe $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in
   description = Building C object $out
 
 
@@ -64,7 +64,7 @@ rule C_COMPILER__STM32_Drivers_unscanned_Debug
 rule C_COMPILER__FreeRTOS_unscanned_Debug
   depfile = $DEP_FILE
   deps = gcc
-  command = ${LAUNCHER}${CODE_CHECK}"/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc" $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in
+  command = ${LAUNCHER}${CODE_CHECK}C:\Users\Lenovo\AppData\Local\stm32cube\bundles\gnu-tools-for-stm32\14.3.1+st.2\bin\arm-none-eabi-gcc.exe $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in
   description = Building C object $out
 
 
@@ -72,7 +72,7 @@ rule C_COMPILER__FreeRTOS_unscanned_Debug
 # Rule for re-running cmake.
 
 rule RERUN_CMAKE
-  command = "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/bin/cmake" --regenerate-during-build -S/Users/lvzucheng/Documents/R/Er_sentry -B/Users/lvzucheng/Documents/R/Er_sentry/build/Debug
+  command = C:\Users\Lenovo\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake.exe --regenerate-during-build -SD:\STM32Projects_HAL\board-F4\sentry\sentry2026 -BD:\STM32Projects_HAL\board-F4\sentry\sentry2026\build\Debug
   description = Re-running CMake...
   generator = 1
 
@@ -81,7 +81,7 @@ rule RERUN_CMAKE
 # Rule for cleaning additional files.
 
 rule CLEAN_ADDITIONAL
-  command = "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/bin/cmake" -DCONFIG=$CONFIG -P CMakeFiles/clean_additional.cmake
+  command = C:\Users\Lenovo\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake.exe -DCONFIG=$CONFIG -P CMakeFiles\clean_additional.cmake
   description = Cleaning additional files...
 
 
@@ -89,7 +89,7 @@ rule CLEAN_ADDITIONAL
 # Rule for cleaning all built files.
 
 rule CLEAN
-  command = "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/ninja/1.12.1+st.9/bin/ninja" $FILE_ARG -t clean $TARGETS
+  command = C:\Users\Lenovo\AppData\Local\stm32cube\bundles\ninja\1.13.1+st.1\bin\ninja.exe $FILE_ARG -t clean $TARGETS
   description = Cleaning all built files...
 
 
@@ -97,6 +97,6 @@ rule CLEAN
 # Rule for printing all primary targets available.
 
 rule HELP
-  command = "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/ninja/1.12.1+st.9/bin/ninja" -t targets
+  command = C:\Users\Lenovo\AppData\Local\stm32cube\bundles\ninja\1.13.1+st.1\bin\ninja.exe -t targets
   description = All primary targets available:
 
diff --git a/build/Debug/build.ninja b/build/Debug/build.ninja
index c716030..40dc5ad 100644
--- a/build/Debug/build.ninja
+++ b/build/Debug/build.ninja
@@ -39,7 +39,7 @@ include CMakeFiles/rules.ninja
 #############################################
 # Logical path to working directory; prefix for absolute paths.
 
-cmake_ninja_workdir = /Users/lvzucheng/Documents/R/Er_sentry/build/Debug/
+cmake_ninja_workdir = D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug/
 # =============================================================================
 # Object build statements for EXECUTABLE target lll0121
 
@@ -49,599 +49,599 @@ cmake_ninja_workdir = /Users/lvzucheng/Documents/R/Er_sentry/build/Debug/
 
 build cmake_object_order_depends_target_lll0121: phony || cmake_object_order_depends_target_FreeRTOS cmake_object_order_depends_target_STM32_Drivers
 
-build CMakeFiles/lll0121.dir/Core/Src/main.c.obj: C_COMPILER__lll0121_unscanned_Debug /Users/lvzucheng/Documents/R/Er_sentry/Core/Src/main.c || cmake_object_order_depends_target_lll0121
+build CMakeFiles/lll0121.dir/Core/Src/main.c.obj: C_COMPILER__lll0121_unscanned_Debug D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/Core/Src/main.c || cmake_object_order_depends_target_lll0121
   CONFIG = Debug
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
-  DEP_FILE = CMakeFiles/lll0121.dir/Core/Src/main.c.obj.d
+  DEP_FILE = CMakeFiles\lll0121.dir\Core\Src\main.c.obj.d
   FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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-  OBJECT_DIR = CMakeFiles/lll0121.dir
-  OBJECT_FILE_DIR = CMakeFiles/lll0121.dir/Core/Src
+  INCLUDES = -ID:/STM32Projects_HAL/board-F4/sentry/sentry2026/User -ID:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/stm32cubemx/../../Core/Inc -ID:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  OBJECT_DIR = CMakeFiles\lll0121.dir
+  OBJECT_FILE_DIR = CMakeFiles\lll0121.dir\Core\Src
 
-build CMakeFiles/lll0121.dir/Core/Src/gpio.c.obj: C_COMPILER__lll0121_unscanned_Debug /Users/lvzucheng/Documents/R/Er_sentry/Core/Src/gpio.c || cmake_object_order_depends_target_lll0121
+build CMakeFiles/lll0121.dir/Core/Src/gpio.c.obj: C_COMPILER__lll0121_unscanned_Debug D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/Core/Src/gpio.c || cmake_object_order_depends_target_lll0121
   CONFIG = Debug
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
-  DEP_FILE = CMakeFiles/lll0121.dir/Core/Src/gpio.c.obj.d
+  DEP_FILE = CMakeFiles\lll0121.dir\Core\Src\gpio.c.obj.d
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-  OBJECT_DIR = CMakeFiles/lll0121.dir
-  OBJECT_FILE_DIR = CMakeFiles/lll0121.dir/Core/Src
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+  OBJECT_DIR = CMakeFiles\lll0121.dir
+  OBJECT_FILE_DIR = CMakeFiles\lll0121.dir\Core\Src
 
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+build CMakeFiles/lll0121.dir/Core/Src/freertos.c.obj: C_COMPILER__lll0121_unscanned_Debug D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/Core/Src/freertos.c || cmake_object_order_depends_target_lll0121
   CONFIG = Debug
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
-  DEP_FILE = CMakeFiles/lll0121.dir/Core/Src/freertos.c.obj.d
+  DEP_FILE = CMakeFiles\lll0121.dir\Core\Src\freertos.c.obj.d
   FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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-  OBJECT_DIR = CMakeFiles/lll0121.dir
-  OBJECT_FILE_DIR = CMakeFiles/lll0121.dir/Core/Src
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+  LINK_FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -T "D:/STM32Projects_HAL/board-F4/sentry/sentry2026/STM32F407XX_FLASH.ld" --specs=nano.specs -Wl,-Map=lll0121.map -Wl,--gc-sections -Wl,--print-memory-usage
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+  COMMAND = C:\Windows\system32\cmd.exe /C "cd /D D:\STM32Projects_HAL\board-F4\sentry\sentry2026\build\Debug && C:\Users\Lenovo\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake-gui.exe -SD:\STM32Projects_HAL\board-F4\sentry\sentry2026 -BD:\STM32Projects_HAL\board-F4\sentry\sentry2026\build\Debug"
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+  COMMAND = C:\Windows\system32\cmd.exe /C "cd /D D:\STM32Projects_HAL\board-F4\sentry\sentry2026\build\Debug && C:\Users\Lenovo\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake.exe --regenerate-during-build -SD:\STM32Projects_HAL\board-F4\sentry\sentry2026 -BD:\STM32Projects_HAL\board-F4\sentry\sentry2026\build\Debug"
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Core/Src/system_stm32f4xx.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/Core/Src/system_stm32f4xx.c || cmake_object_order_depends_target_STM32_Drivers
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-  DEP_FILE = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Core/Src/system_stm32f4xx.c.obj.d
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-  OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
-  OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Core/Src
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+  OBJECT_DIR = cmake\stm32cubemx\CMakeFiles\STM32_Drivers.dir
+  OBJECT_FILE_DIR = cmake\stm32cubemx\CMakeFiles\STM32_Drivers.dir\__\__\Core\Src
 
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c || cmake_object_order_depends_target_STM32_Drivers
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c || cmake_object_order_depends_target_STM32_Drivers
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c || cmake_object_order_depends_target_STM32_Drivers
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c || cmake_object_order_depends_target_STM32_Drivers
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+  DEP_FILE = cmake\stm32cubemx\CMakeFiles\STM32_Drivers.dir\__\__\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c.obj.d
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c || cmake_object_order_depends_target_STM32_Drivers
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@@ -989,7 +989,7 @@ build cmake/stm32cubemx/FreeRTOS: phony cmake/stm32cubemx/CMakeFiles/FreeRTOS.di
 # Utility command for edit_cache
 
 build cmake/stm32cubemx/CMakeFiles/edit_cache.util: CUSTOM_COMMAND
-  COMMAND = cd /Users/lvzucheng/Documents/R/Er_sentry/build/Debug/cmake/stm32cubemx && "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/bin/ccmake" -S/Users/lvzucheng/Documents/R/Er_sentry -B/Users/lvzucheng/Documents/R/Er_sentry/build/Debug
+  COMMAND = C:\Windows\system32\cmd.exe /C "cd /D D:\STM32Projects_HAL\board-F4\sentry\sentry2026\build\Debug\cmake\stm32cubemx && C:\Users\Lenovo\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake-gui.exe -SD:\STM32Projects_HAL\board-F4\sentry\sentry2026 -BD:\STM32Projects_HAL\board-F4\sentry\sentry2026\build\Debug"
   DESC = Running CMake cache editor...
   pool = console
   restat = 1
@@ -1001,7 +1001,7 @@ build cmake/stm32cubemx/edit_cache: phony cmake/stm32cubemx/CMakeFiles/edit_cach
 # Utility command for rebuild_cache
 
 build cmake/stm32cubemx/CMakeFiles/rebuild_cache.util: CUSTOM_COMMAND
-  COMMAND = cd /Users/lvzucheng/Documents/R/Er_sentry/build/Debug/cmake/stm32cubemx && "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/bin/cmake" --regenerate-during-build -S/Users/lvzucheng/Documents/R/Er_sentry -B/Users/lvzucheng/Documents/R/Er_sentry/build/Debug
+  COMMAND = C:\Windows\system32\cmd.exe /C "cd /D D:\STM32Projects_HAL\board-F4\sentry\sentry2026\build\Debug\cmake\stm32cubemx && C:\Users\Lenovo\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake.exe --regenerate-during-build -SD:\STM32Projects_HAL\board-F4\sentry\sentry2026 -BD:\STM32Projects_HAL\board-F4\sentry\sentry2026\build\Debug"
   DESC = Running CMake to regenerate build system...
   pool = console
   restat = 1
@@ -1023,14 +1023,14 @@ build lll0121: phony lll0121.elf
 # =============================================================================
 
 #############################################
-# Folder: /Users/lvzucheng/Documents/R/Er_sentry/build/Debug
+# Folder: D:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug
 
 build all: phony lll0121.elf cmake/stm32cubemx/all
 
 # =============================================================================
 
 #############################################
-# Folder: /Users/lvzucheng/Documents/R/Er_sentry/build/Debug/cmake/stm32cubemx
+# Folder: D:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug/cmake/stm32cubemx
 
 build cmake/stm32cubemx/all: phony cmake/stm32cubemx/STM32_Drivers cmake/stm32cubemx/FreeRTOS
 
@@ -1041,14 +1041,14 @@ build cmake/stm32cubemx/all: phony cmake/stm32cubemx/STM32_Drivers cmake/stm32cu
 #############################################
 # Re-run CMake if any of its inputs changed.
 
-build build.ninja /Users/lvzucheng/Documents/R/Er_sentry/build/Debug/cmake_install.cmake /Users/lvzucheng/Documents/R/Er_sentry/build/Debug/cmake/stm32cubemx/cmake_install.cmake: RERUN_CMAKE | /Users/lvzucheng/Documents/R/Er_sentry/CMakeLists.txt /Users/lvzucheng/Documents/R/Er_sentry/cmake/gcc-arm-none-eabi.cmake /Users/lvzucheng/Documents/R/Er_sentry/cmake/stm32cubemx/CMakeLists.txt /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeASMInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeCInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeCXXInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeCommonLanguageInclude.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeGenericSystem.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeInitializeConfigs.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeLanguageInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeSystemSpecificInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeSystemSpecificInitialize.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Compiler/CMakeCommonCompilerMacros.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Compiler/GNU-ASM.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Compiler/GNU-C.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Compiler/GNU-CXX.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Compiler/GNU.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Internal/CMakeASMLinkerInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Internal/CMakeCLinkerInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Internal/CMakeCXXLinkerInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Internal/CMakeCommonLinkerInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Platform/Generic.cmake CMakeCache.txt CMakeFiles/4.0.1/CMakeASMCompiler.cmake CMakeFiles/4.0.1/CMakeCCompiler.cmake CMakeFiles/4.0.1/CMakeCXXCompiler.cmake CMakeFiles/4.0.1/CMakeSystem.cmake
+build build.ninja D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug/cmake_install.cmake D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug/cmake/stm32cubemx/cmake_install.cmake: RERUN_CMAKE | C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeASMInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCXXInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCommonLanguageInclude.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeGenericSystem.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeInitializeConfigs.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeLanguageInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeSystemSpecificInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeSystemSpecificInitialize.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/CMakeCommonCompilerMacros.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/GNU-ASM.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/GNU-C.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/GNU-CXX.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/GNU.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Internal/CMakeASMLinkerInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Internal/CMakeCLinkerInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Internal/CMakeCXXLinkerInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Internal/CMakeCommonLinkerInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Platform/Generic.cmake CMakeCache.txt CMakeFiles/4.0.1/CMakeASMCompiler.cmake CMakeFiles/4.0.1/CMakeCCompiler.cmake CMakeFiles/4.0.1/CMakeCXXCompiler.cmake CMakeFiles/4.0.1/CMakeSystem.cmake D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/CMakeLists.txt D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/gcc-arm-none-eabi.cmake D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/stm32cubemx/CMakeLists.txt
   pool = console
 
 
 #############################################
 # A missing CMake input file is not an error.
 
-build /Users/lvzucheng/Documents/R/Er_sentry/CMakeLists.txt /Users/lvzucheng/Documents/R/Er_sentry/cmake/gcc-arm-none-eabi.cmake /Users/lvzucheng/Documents/R/Er_sentry/cmake/stm32cubemx/CMakeLists.txt /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeASMInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeCInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeCXXInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeCommonLanguageInclude.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeGenericSystem.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeInitializeConfigs.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeLanguageInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeSystemSpecificInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/CMakeSystemSpecificInitialize.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Compiler/CMakeCommonCompilerMacros.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Compiler/GNU-ASM.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Compiler/GNU-C.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Compiler/GNU-CXX.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Compiler/GNU.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Internal/CMakeASMLinkerInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Internal/CMakeCLinkerInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Internal/CMakeCXXLinkerInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Internal/CMakeCommonLinkerInformation.cmake /Users/lvzucheng/Library/Application$ Support/stm32cube/bundles/cmake/4.0.1+st.3/CMake.app/Contents/share/cmake-4.0/Modules/Platform/Generic.cmake CMakeCache.txt CMakeFiles/4.0.1/CMakeASMCompiler.cmake CMakeFiles/4.0.1/CMakeCCompiler.cmake CMakeFiles/4.0.1/CMakeCXXCompiler.cmake CMakeFiles/4.0.1/CMakeSystem.cmake: phony
+build C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeASMInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCXXInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCommonLanguageInclude.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeGenericSystem.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeInitializeConfigs.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeLanguageInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeSystemSpecificInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeSystemSpecificInitialize.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/CMakeCommonCompilerMacros.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/GNU-ASM.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/GNU-C.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/GNU-CXX.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/GNU.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Internal/CMakeASMLinkerInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Internal/CMakeCLinkerInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Internal/CMakeCXXLinkerInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Internal/CMakeCommonLinkerInformation.cmake C$:/Users/Lenovo/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Platform/Generic.cmake CMakeCache.txt CMakeFiles/4.0.1/CMakeASMCompiler.cmake CMakeFiles/4.0.1/CMakeCCompiler.cmake CMakeFiles/4.0.1/CMakeCXXCompiler.cmake CMakeFiles/4.0.1/CMakeSystem.cmake D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/CMakeLists.txt D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/gcc-arm-none-eabi.cmake D$:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/stm32cubemx/CMakeLists.txt: phony
 
 
 #############################################
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c.obj
index 9b18190..7ca3d38 100644
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index 85e6eed..685d284 100644
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diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c.obj
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Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c.obj
index c10e41a..327179e 100644
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diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/tasks.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/tasks.c.obj
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diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/timers.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/timers.c.obj
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diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c.obj
index ffcc06e..39387ab 100644
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diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c.obj
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diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c.obj
index e193878..66e6a15 100644
Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c.obj
index 5f3bc4d..31a3984 100644
Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c.obj
index a19641b..cbd22fb 100644
Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c.obj
index 93791d3..c2e85d5 100644
Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c.obj
index 3173acb..cafa842 100644
Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c.obj
index e769e27..887948d 100644
Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c.obj
index e099ff1..d3a554f 100644
Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c.obj
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Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c.obj
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Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c.obj
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Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c.obj
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Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c.obj
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Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c.obj
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Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c.obj
index 583c519..cea1668 100644
Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c.obj b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c.obj
index 11b9624..1c0661a 100644
Binary files a/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c.obj and b/build/Debug/cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c.obj differ
diff --git a/build/Debug/cmake/stm32cubemx/cmake_install.cmake b/build/Debug/cmake/stm32cubemx/cmake_install.cmake
index 72797e7..36a5f37 100644
--- a/build/Debug/cmake/stm32cubemx/cmake_install.cmake
+++ b/build/Debug/cmake/stm32cubemx/cmake_install.cmake
@@ -1,8 +1,8 @@
-# Install script for directory: /Users/lvzucheng/Documents/R/Er_sentry/cmake/stm32cubemx
+# Install script for directory: D:/STM32Projects_HAL/board-F4/sentry/sentry2026/cmake/stm32cubemx
 
 # Set the install prefix
 if(NOT DEFINED CMAKE_INSTALL_PREFIX)
-  set(CMAKE_INSTALL_PREFIX "/usr/local")
+  set(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/lll0121")
 endif()
 string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
 
@@ -34,12 +34,12 @@ endif()
 
 # Set path to fallback-tool for dependency-resolution.
 if(NOT DEFINED CMAKE_OBJDUMP)
-  set(CMAKE_OBJDUMP "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-objdump")
+  set(CMAKE_OBJDUMP "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-objdump.exe")
 endif()
 
 string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
        "${CMAKE_INSTALL_MANIFEST_FILES}")
 if(CMAKE_INSTALL_LOCAL_ONLY)
-  file(WRITE "/Users/lvzucheng/Documents/R/Er_sentry/build/Debug/cmake/stm32cubemx/install_local_manifest.txt"
+  file(WRITE "D:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug/cmake/stm32cubemx/install_local_manifest.txt"
      "${CMAKE_INSTALL_MANIFEST_CONTENT}")
 endif()
diff --git a/build/Debug/cmake_install.cmake b/build/Debug/cmake_install.cmake
index 7510e3d..f869845 100644
--- a/build/Debug/cmake_install.cmake
+++ b/build/Debug/cmake_install.cmake
@@ -1,8 +1,8 @@
-# Install script for directory: /Users/lvzucheng/Documents/R/Er_sentry
+# Install script for directory: D:/STM32Projects_HAL/board-F4/sentry/sentry2026
 
 # Set the install prefix
 if(NOT DEFINED CMAKE_INSTALL_PREFIX)
-  set(CMAKE_INSTALL_PREFIX "/usr/local")
+  set(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/lll0121")
 endif()
 string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
 
@@ -34,18 +34,18 @@ endif()
 
 # Set path to fallback-tool for dependency-resolution.
 if(NOT DEFINED CMAKE_OBJDUMP)
-  set(CMAKE_OBJDUMP "/Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-objdump")
+  set(CMAKE_OBJDUMP "C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-objdump.exe")
 endif()
 
 if(NOT CMAKE_INSTALL_LOCAL_ONLY)
   # Include the install script for the subdirectory.
-  include("/Users/lvzucheng/Documents/R/Er_sentry/build/Debug/cmake/stm32cubemx/cmake_install.cmake")
+  include("D:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug/cmake/stm32cubemx/cmake_install.cmake")
 endif()
 
 string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
        "${CMAKE_INSTALL_MANIFEST_FILES}")
 if(CMAKE_INSTALL_LOCAL_ONLY)
-  file(WRITE "/Users/lvzucheng/Documents/R/Er_sentry/build/Debug/install_local_manifest.txt"
+  file(WRITE "D:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug/install_local_manifest.txt"
      "${CMAKE_INSTALL_MANIFEST_CONTENT}")
 endif()
 if(CMAKE_INSTALL_COMPONENT)
@@ -61,6 +61,6 @@ else()
 endif()
 
 if(NOT CMAKE_INSTALL_LOCAL_ONLY)
-  file(WRITE "/Users/lvzucheng/Documents/R/Er_sentry/build/Debug/${CMAKE_INSTALL_MANIFEST}"
+  file(WRITE "D:/STM32Projects_HAL/board-F4/sentry/sentry2026/build/Debug/${CMAKE_INSTALL_MANIFEST}"
      "${CMAKE_INSTALL_MANIFEST_CONTENT}")
 endif()
diff --git a/build/Debug/compile_commands.json b/build/Debug/compile_commands.json
index 46e23aa..ec2abab 100644
--- a/build/Debug/compile_commands.json
+++ b/build/Debug/compile_commands.json
@@ -1,572 +1,572 @@
 [
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