diff --git a/User/module/aimbot.c b/User/module/aimbot.c
index ebaffee..48409fe 100644
--- a/User/module/aimbot.c
+++ b/User/module/aimbot.c
@@ -1,22 +1,17 @@
 #include "module/aimbot.h"
 #include "device/device.h"
 #include "bsp/uart.h"
-#include "bsp/fdcan.h"
 #include "component/crc16.h"
 #include <string.h>
 
 /* =====================================================================
- * CAN 帧索引（反馈方向：下层板 → 上层板）
+ * 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_Q01    0u  /* IMU 四元数 q[0](w), q[1](x)              */
-#define FB_FRAME_Q23    1u  /* IMU 四元数 q[2](y), q[3](z)              */
-#define FB_FRAME_EULR   2u  /* IMU 欧拉角 yaw, pitch (float x2)         */
-#define FB_FRAME_VEL    3u  /* IMU 角速度 yaw_vel, pitch_vel (float x2) */
-#define FB_FRAME_SHOOT  4u  /* 弹速(4B)+弹数(2B)+模式(1B)+保留(1B)      */
-#define FB_FRAME_MOTOR  5u  /* 云台电机绝对角度 yaw, pit (float x2)     */
+#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 ↔ 上位机 PC）
+ * UART 通信接口（上层板 �?上位�?PC�?
  * ===================================================================== */
 
 int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai) {
@@ -27,47 +22,45 @@ int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai) {
 }
 
 int8_t Aimbot_AIGetResult(Aimbot_AI_t *ai, Aimbot_AIResult_t *result) {
-  if (ai->id != ID_AI) {
+  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->data.mode;
-  result->gimbal_t.setpoint.yaw = ai->data.yaw;
-  result->gimbal_t.vel.yaw      = ai->data.yaw_vel;
-  result->gimbal_t.accl.yaw     = ai->data.yaw_acc;
-  result->gimbal_t.setpoint.pit = ai->data.pitch;
-  result->gimbal_t.vel.pit      = ai->data.pitch_vel;
-  result->gimbal_t.accl.pit     = ai->data.pitch_acc;
-  result->chassis_t.Vx          = ai->data.vx;
-  result->chassis_t.Vy          = ai->data.vy;
-  result->chassis_t.Vw          = ai->data.wz;
+  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。
- *        四元数来自 quat 参数；欧拉角、角速度来自 gimbal_fb->imu。
+ * @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) {
+                      float bullet_speed, uint16_t bullet_count, uint8_t mode) {
   if (mcu == NULL || gimbal_fb == NULL || quat == NULL) {
     return DEVICE_ERR_NULL;
   }
-  mcu->id           = ID_MCU;
-  mcu->data.mode    = 0;
-  mcu->data.q[0]    = quat->q0;
-  mcu->data.q[1]    = quat->q1;
-  mcu->data.q[2]    = quat->q2;
-  mcu->data.q[3]    = quat->q3;
-  mcu->data.yaw         = gimbal_fb->imu.eulr.yaw;
-  mcu->data.yaw_vel     = gimbal_fb->imu.gyro.z;
-  mcu->data.pitch       = gimbal_fb->imu.eulr.pit;
-  mcu->data.pitch_vel   = gimbal_fb->imu.gyro.x;
-  mcu->data.bullet_speed  = bullet_speed;
-  mcu->data.bullet_count  = bullet_count;
+  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))) {
@@ -84,13 +77,13 @@ int8_t Aimbot_MCUStartSend(Aimbot_MCU_t *mcu) {
 }
 
 /* =====================================================================
- * CAN 通信接口（下层板 ↔ 上层板）
+ * CAN 通信接口（下层板 �?上层板）
  * ===================================================================== */
 
 /**
- * @brief 初始化 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 的 6 个 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。
+ * @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;
@@ -99,54 +92,39 @@ int8_t Aimbot_Init(Aimbot_Param_t *param) {
 
   /* 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);
+                     BSP_FDCAN_DEFAULT_QUEUE_SIZE);
 
   /* 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);
+                       BSP_FDCAN_DEFAULT_QUEUE_SIZE);
   }
 
   return DEVICE_OK;
 }
 
 /**
- * @brief 从 Gimbal/IMU/Shoot 数据打包 CAN 反馈结构体。
+ * @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,
-                            const Gimbal_Feedback_t *gimbal_fb,
-                            const AHRS_Quaternion_t *quat,
                             float bullet_speed, uint16_t bullet_count,
                             uint8_t mode) {
-  if (fb == NULL || gimbal_fb == NULL || quat == NULL) {
+  if (fb == NULL) {
     return DEVICE_ERR_NULL;
   }
   fb->mode         = mode;
-  fb->q[0]         = quat->q0;
-  fb->q[1]         = quat->q1;
-  fb->q[2]         = quat->q2;
-  fb->q[3]         = quat->q3;
-  fb->yaw          = gimbal_fb->imu.eulr.yaw;
-  fb->pitch        = gimbal_fb->imu.eulr.pit;
-  fb->yaw_vel      = gimbal_fb->imu.gyro.z;
-  fb->pitch_vel    = gimbal_fb->imu.gyro.x;
   fb->bullet_speed = bullet_speed;
   fb->bullet_count = bullet_count;
-  fb->gimbal_yaw   = gimbal_fb->motor.yaw.rotor_abs_angle;
-  fb->gimbal_pit   = gimbal_fb->motor.pit.rotor_abs_angle;
   return DEVICE_OK;
 }
 
 /**
- * @brief 【下层板】将反馈数据打成 6 个 CAN 标准帧发给上层板。
+ * @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: q[0](float,4B)  q[1](float,4B)
- *   帧1: q[2](float,4B)  q[3](float,4B)
- *   帧2: yaw(float,4B)   pitch(float,4B)
- *   帧3: yaw_vel(float,4B) pitch_vel(float,4B)
- *   帧4: bullet_speed(float,4B) bullet_count(uint16,2B) mode(1B) rsv(1B)
- *   帧5: gimbal_yaw(float,4B)  gimbal_pit(float,4B)
+ *   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) {
@@ -155,53 +133,23 @@ void Aimbot_SendFeedbackOnCAN(const Aimbot_Param_t *param,
   BSP_FDCAN_StdDataFrame_t frame;
   frame.dlc = AIMBOT_CAN_DLC;
 
-  /* 帧0: IMU 四元数 q[0], q[1] */
-  frame.id = param->fb_base_id + FB_FRAME_Q01;
-  memcpy(&frame.data[0], &fb->q[0], 4);
-  memcpy(&frame.data[4], &fb->q[1], 4);
-  BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
-
-  /* 帧1: IMU 四元数 q[2], q[3] */
-  frame.id = param->fb_base_id + FB_FRAME_Q23;
-  memcpy(&frame.data[0], &fb->q[2], 4);
-  memcpy(&frame.data[4], &fb->q[3], 4);
-  BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
-
-  /* 帧2: IMU 欧拉角 yaw, pitch */
-  frame.id = param->fb_base_id + FB_FRAME_EULR;
-  memcpy(&frame.data[0], &fb->yaw,   4);
-  memcpy(&frame.data[4], &fb->pitch, 4);
-  BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
-
-  /* 帧3: IMU 角速度 yaw_vel, pitch_vel */
-  frame.id = param->fb_base_id + FB_FRAME_VEL;
-  memcpy(&frame.data[0], &fb->yaw_vel,   4);
-  memcpy(&frame.data[4], &fb->pitch_vel, 4);
-  BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
-
-  /* 帧4: 弹速 + 弹数 + 模式 */
-  frame.id = param->fb_base_id + FB_FRAME_SHOOT;
+  /* 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);
-
-  /* 帧5: 云台电机绝对角度 yaw, pit */
-  frame.id = param->fb_base_id + FB_FRAME_MOTOR;
-  memcpy(&frame.data[0], &fb->gimbal_yaw, 4);
-  memcpy(&frame.data[4], &fb->gimbal_pit, 4);
-  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的 AI 指令并解析。
+ * @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）：
+ * 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，0.1µrad/LSB)
- *   data[4.5..7] : pit  (28bit 有符号定点数，0.1µrad/LSB)
+ *   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
@@ -212,7 +160,7 @@ int8_t Aimbot_ParseCmdFromCAN(const Aimbot_Param_t *param,
 
   BSP_FDCAN_Message_t msg;
   if (BSP_FDCAN_GetMessage(param->can, param->cmd_id, &msg,
-                            BSP_FDCAN_TIMEOUT_IMMEDIATE) != 0) {
+                          BSP_FDCAN_TIMEOUT_IMMEDIATE) != 0) {
     return DEVICE_ERR;
   }
 
@@ -234,7 +182,7 @@ int8_t Aimbot_ParseCmdFromCAN(const Aimbot_Param_t *param,
   if (pit_raw & 0x08000000) pit_raw |= (int32_t)0xF0000000;
   result->gimbal_t.setpoint.pit = (float)pit_raw / AIMBOT_ANGLE_SCALE;
 
-  /* 速度/加速度前馈由上层板另行扩展，此处置零 */
+  /* 速度/加速度前馈由上层板另行扩展，此处置�?*/
   result->gimbal_t.vel.yaw  = 0.0f;
   result->gimbal_t.vel.pit  = 0.0f;
   result->gimbal_t.accl.yaw = 0.0f;
@@ -244,10 +192,10 @@ int8_t Aimbot_ParseCmdFromCAN(const Aimbot_Param_t *param,
 }
 
 /**
- * @brief 【上层板】将 AI 指令通过 CAN 发送给下层板（单帧 8 字节）。
+ * @brief 【上层板】将 AI 指令通过 CAN 发送给下层板（单帧 8 字节）�?
  *
- * 与 vision_bridge.c 的 AI_SendCmdOnFDCAN 编码格式完全一致，
- * 上层板可直接调用本函数替代 vision_bridge 中的同名函数。
+ * �?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) {
@@ -273,10 +221,9 @@ void Aimbot_SendCmdOnCAN(const Aimbot_Param_t *param,
 }
 
 /**
- * @brief 【上层板】从 CAN 队列中逐帧非阻塞地解析下层板发来的反馈数据。
- *        各帧独立读取，缺失的帧保留上一次的旧值，不影响其他帧。
+ * @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（始终返回，允许部分帧缺失）
+ * @return DEVICE_OK
  */
 int8_t Aimbot_ParseFeedbackFromCAN(const Aimbot_Param_t *param,
                                     Aimbot_FeedbackData_t *fb) {
@@ -284,55 +231,15 @@ int8_t Aimbot_ParseFeedbackFromCAN(const Aimbot_Param_t *param,
 
   BSP_FDCAN_Message_t msg;
 
-  /* 帧0: IMU 四元数 q[0], q[1] */
+  /* 帧0: 弹速 + 弹数 + 模式 */
   if (BSP_FDCAN_GetMessage(param->can,
-                            param->fb_base_id + FB_FRAME_Q01,
-                            &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
-    memcpy(&fb->q[0], &msg.data[0], 4);
-    memcpy(&fb->q[1], &msg.data[4], 4);
-  }
-
-  /* 帧1: IMU 四元数 q[2], q[3] */
-  if (BSP_FDCAN_GetMessage(param->can,
-                            param->fb_base_id + FB_FRAME_Q23,
-                            &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
-    memcpy(&fb->q[2], &msg.data[0], 4);
-    memcpy(&fb->q[3], &msg.data[4], 4);
-  }
-
-  /* 帧2: IMU 欧拉角 yaw, pitch */
-  if (BSP_FDCAN_GetMessage(param->can,
-                            param->fb_base_id + FB_FRAME_EULR,
-                            &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
-    memcpy(&fb->yaw,   &msg.data[0], 4);
-    memcpy(&fb->pitch, &msg.data[4], 4);
-  }
-
-  /* 帧3: IMU 角速度 yaw_vel, pitch_vel */
-  if (BSP_FDCAN_GetMessage(param->can,
-                            param->fb_base_id + FB_FRAME_VEL,
-                            &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
-    memcpy(&fb->yaw_vel,   &msg.data[0], 4);
-    memcpy(&fb->pitch_vel, &msg.data[4], 4);
-  }
-
-  /* 帧4: 弹速 + 弹数 + 模式 */
-  if (BSP_FDCAN_GetMessage(param->can,
-                            param->fb_base_id + FB_FRAME_SHOOT,
-                            &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
+                          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];
   }
 
-  /* 帧5: 云台电机绝对角度 yaw, pit */
-  if (BSP_FDCAN_GetMessage(param->can,
-                            param->fb_base_id + FB_FRAME_MOTOR,
-                            &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
-    memcpy(&fb->gimbal_yaw, &msg.data[0], 4);
-    memcpy(&fb->gimbal_pit, &msg.data[4], 4);
-  }
-
   return DEVICE_OK;
 }
 
diff --git a/User/module/aimbot.h b/User/module/aimbot.h
index a4335ba..1c87ce4 100644
--- a/User/module/aimbot.h
+++ b/User/module/aimbot.h
@@ -7,58 +7,46 @@ extern "C" {
 
 /* Includes ----------------------------------------------------------------- */
 #include "component\user_math.h"
-// #include "remote_control.h"
 #include "module/gimbal.h"
 #include "bsp/fdcan.h"
 #include <stdint.h>
 
-// 数据包 ID 定义
-#define ID_MCU (0xC4)  // MCU 数据包
-#define ID_REF (0xA8)  // 裁判系统数据包
-#define ID_AI  (0xB5)  // AI 控制数据包
+// 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（本代码）
+ * 通路：上位机 <--串口--> 上层板 <--CAN--> 下层板
  *
- * 下层板 → 上层板：反馈数据，共 AIMBOT_FB_FRAME_NUM 帧，CAN ID 连续
- *   帧0 (fb_base_id+0): IMU 四元数 q[0], q[1]
- *   帧1 (fb_base_id+1): IMU 四元数 q[2], q[3]
- *   帧2 (fb_base_id+2): IMU 欧拉角 yaw, pitch (rad)
- *   帧3 (fb_base_id+3): IMU 角速度 yaw_vel, pitch_vel (rad/s)
- *   帧4 (fb_base_id+4): 弹速(4B) + 弹数(2B) + 模式(1B) + 保留(1B)
- *   帧5 (fb_base_id+5): 云台电机绝对角度 yaw, pit (rad)
+ * 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    6u            /* 反馈数据帧总数 */
+#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_FDCAN_t can;        /* 使用的 CAN 总线实例 */
+    BSP_FDCAN_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（共6帧，ID连续递增） */
+    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） */
+/* 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    q[4];           /* IMU 四元数 q0(w) q1(x) q2(y) q3(z) */
-    float    yaw;            /* IMU yaw 角（rad） */
-    float    yaw_vel;        /* IMU yaw 角速度（rad/s） */
-    float    pitch;          /* IMU pitch 角（rad） */
-    float    pitch_vel;      /* IMU pitch 角速度（rad/s） */
     float    bullet_speed;   /* 弹速（m/s） */
     uint16_t bullet_count;   /* 子弹累计发射次数 */
-    float    gimbal_yaw;     /* 云台 yaw 电机绝对角度（rad） */
-    float    gimbal_pit;     /* 云台 pitch 电机绝对角度（rad） */
 } 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
@@ -67,13 +55,7 @@ typedef struct __attribute__((packed))
     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
-} Aimbot_MCUData_t;
-
-typedef struct __attribute__((packed))
-{
-    uint8_t id;         // 数据包 ID: 0xC4
-    Aimbot_MCUData_t data;
-    uint16_t crc16;
+    uint16_t crc16;         // CRC16 校验
 } Aimbot_MCU_t;
 
 // 裁判系统数据结构
@@ -94,24 +76,15 @@ typedef struct __attribute__((packed))
 /*------------------------------------上位机back-------------------------------------*/
 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
-    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
-    float vx;            // X 方向速度
-    float vy;            // Y 方向速度
-    float wz;            // Z 方向角速度
-    uint8_t reserved;    // 预留字段
-} Aimbot_AIData_t;
-
-typedef struct __attribute__((packed))
-{
-    uint8_t id;         // 数据包 ID: 0xB5
-    Aimbot_AIData_t data;
-    uint16_t crc16;
+    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)) {
@@ -125,7 +98,7 @@ typedef struct __attribute__((packed)) {
 		
 		struct{
 					float pit;	// 俯仰角加速度
-					float yaw;	// 偏航角加速度	 
+					float yaw;	// 偏航角加速度	
 					}accl;
 		struct{
 					float pit;	// 俯仰角速度
@@ -145,7 +118,7 @@ typedef struct __attribute__((packed)) {
 /* ---------- 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);
+                      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);
@@ -160,22 +133,18 @@ int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai);
 int8_t Aimbot_Init(Aimbot_Param_t *param);
 
 /**
- * @brief 从 Gimbal/IMU/Shoot 数据中打包反馈结构体
+ * @brief 【下层板】打包反馈结构体
  * @param fb            输出：反馈数据
- * @param gimbal_fb     云台反馈（含 IMU 欧拉角/角速度、电机角度）
- * @param quat          IMU 四元数
  * @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,
-                            const Gimbal_Feedback_t *gimbal_fb,
-                            const AHRS_Quaternion_t *quat,
                             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（6 帧）
+ * @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);
diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
index 4a180b0..5d77a24 100644
--- a/User/module/cmd/cmd.c
+++ b/User/module/cmd/cmd.c
@@ -42,7 +42,6 @@ static void CMD_RC_BuildChassisCmd(CMD_t *ctx) {
 #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;
-    ctx->output.gimbal.cmd.is_ai = false;
   /* 根据拨杆选择云台模式 */
   switch (ctx->input.rc.sw[0]) {
       case CMD_SW_UP:
@@ -156,7 +155,6 @@ static void CMD_PC_BuildGimbalCmd(CMD_t *ctx) {
       ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
       return;
   }
-  ctx->output.gimbal.cmd.is_ai = false;
   ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
   
   /* 鼠标控制云台 */
@@ -211,7 +209,6 @@ static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) {
   
   /* 使用AI提供的云台控制数据 */
   
-  if (ctx->input.nuc.mode!=0) {
   ctx->output.gimbal.cmd.mode          = GIMBAL_MODE_AI_CONTROL;
   ctx->output.gimbal.cmd.setpoint_yaw  = ctx->input.nuc.gimbal.setpoint.yaw;
   ctx->output.gimbal.cmd.setpoint_pit  = ctx->input.nuc.gimbal.setpoint.pit;
@@ -219,7 +216,7 @@ static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) {
   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 */
@@ -617,7 +614,7 @@ int8_t CMD_GenerateCommands(CMD_t *ctx) {
   if (sourceHandlers[ctx->output.gimbal.source].gimbalFunc != NULL) {
     sourceHandlers[ctx->output.gimbal.source].gimbalFunc(ctx);
   }
-#endif
+#endif       
 #if CMD_ENABLE_MODULE_CHASSIS
   if (sourceHandlers[ctx->output.chassis.source].chassisFunc != NULL) {
     sourceHandlers[ctx->output.chassis.source].chassisFunc(ctx);
diff --git a/User/module/cmd/cmd_types.h b/User/module/cmd/cmd_types.h
index 166a798..0e861e2 100644
--- a/User/module/cmd/cmd_types.h
+++ b/User/module/cmd/cmd_types.h
@@ -7,7 +7,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "cmd_feature.h"          /* 功能特性开关 */
-#include "device/referee_proto_types.h"  /* 裁判转发包基础类型（叶节点，无循环依赖） */
+
 
 #ifdef __cplusplus
 extern "C" {
@@ -192,6 +192,7 @@ typedef struct {
 } 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 {
     Referee_ForChassis_t chassis;
diff --git a/User/module/config.c b/User/module/config.c
index 9ca2c83..7f095a8 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -29,11 +29,9 @@ Config_RobotParam_t robot_config = {
         .vision_id = 0x104,
     },
     .aimbot_param = {
-        /* 下层板接收AI指令帧 ID（上层板发→下层板收） */
         .can        = BSP_FDCAN_2,
-        .cmd_id     = 0x250u,
-        /* 下层板反馈帧起始 ID（占连续6个ID:0x251-0x256） */
-        .fb_base_id = 0x251u,
+        .cmd_id     = 0x520u,
+        .fb_base_id = 0x521u,
     },
     .imu_param = {
         .can=BSP_FDCAN_2,
@@ -418,7 +416,7 @@ Config_RobotParam_t robot_config = {
             .sw_left_down = CHASSIS_MODE_RELAX,
             .gimbal_sw_up   = GIMBAL_MODE_ABSOLUTE,
             .gimbal_sw_mid  = GIMBAL_MODE_RELATIVE,
-            .gimbal_sw_down = GIMBAL_MODE_ABSOLUTE,
+            .gimbal_sw_down = GIMBAL_MODE_AI_CONTROL,
             .track_sw_up   = false,
             .track_sw_mid  = true,
             .track_sw_down = false,
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index add7754..95e16f9 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -57,8 +57,8 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
   } else if (mode == GIMBAL_MODE_RELATIVE) {
     g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
   } else if (mode == GIMBAL_MODE_AI_CONTROL) {
-    g->setpoint.eulr.yaw = g->feedback.motor.yaw.rotor_abs_angle;
-    g->setpoint.eulr.pit = g->feedback.motor.pit.rotor_abs_angle;
+    g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
+    g->setpoint.eulr.pit =g->feedback.imu.eulr.pit;
   }
 
   g->mode = mode;
@@ -244,9 +244,6 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
     /* AI 模式：直接从指令获取角度设定值（每周期刷新） */
     g->setpoint.eulr.yaw = g_cmd->setpoint_yaw;
     g->setpoint.eulr.pit = g_cmd->setpoint_pit;
-    } else if (g_cmd->is_ai) {
-    g->setpoint.eulr.yaw = g_cmd->setpoint_yaw;
-    g->setpoint.eulr.pit = g_cmd->setpoint_pit;
     }
   /* 控制相关逻辑 */
   float yaw_omega_set_point, pit_omega_set_point;
diff --git a/User/module/shoot.c b/User/module/shoot.c
index 8111aeb..e4de311 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -210,7 +210,7 @@ static int8_t Shoot_UpdateHeatControl(Shoot_t *s)
         s->heatcontrol.ncd = s->heatcontrol.Hcd / s->heatcontrol.Hgen;
     } else {
         s->heatcontrol.ncd = 0.0f;
-    }
+    }      
     
     return SHOOT_OK;
 }
@@ -522,7 +522,9 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
         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;
 }
 
@@ -967,7 +969,7 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
     Shoot_CaluTargetRPM(s,233);
 
     /* 运行热量检测状态机 */
-    Shoot_HeatDetectionFSM(s);
+    // Shoot_HeatDetectionFSM(s);
 
     /* 运行卡弹检测状态机 */
     Shoot_JamDetectionFSM(s, cmd);
@@ -986,3 +988,7 @@ void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui) {
   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 d98e66e..c41a856 100644
--- a/User/module/shoot.h
+++ b/User/module/shoot.h
@@ -51,6 +51,11 @@ typedef enum {
     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;
@@ -216,6 +221,7 @@ 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 */
@@ -292,7 +298,7 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd);
  */
 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/task/ai.c b/User/task/ai.c
index 7b7f2ca..e80e894 100644
--- a/User/task/ai.c
+++ b/User/task/ai.c
@@ -1,10 +1,12 @@
 /*
-    ai Task
-    通路：上位机 <--串口--> 上层板 <--CAN--> 下层板（本文件）
-    下层板职责：
-      1. 将云台/IMU 反馈数据通过 CAN 发送给上层板
-      2. 从 CAN 解析上层板转发的 AI 控制指令
-      3. 将解析结果写入 cmd.nuc 队列供 cmd task 消费
+    AI Task - 下层板
+    数据链路：
+      上层板 <--CAN--> 下层板（本板）
+    流程：
+      1. 从消息队列获取本板 射击反馈数据/裁判系统等数据
+      2. 打包弹速、弹数、模式，通过CAN发给上层板 (Aimbot_SendFeedbackOnCAN)
+      3. 从 CAN 接收上层板下发的 AI 指令 (Aimbot_ParseCmdFromCAN)
+      4. 将解析后的 AI 指令发送到 cmd task 的 nuc 队列
 */
 
 /* Includes ----------------------------------------------------------------- */
@@ -13,9 +15,10 @@
 #include "module/aimbot.h"
 #include "module/config.h"
 #include "module/vision_bridge.h"
-#include "component/ahrs/ahrs.h"
 #include "module/gimbal.h"
+#include "module/shoot.h"
 #include "device/referee_proto_types.h"
+#include <string.h>
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -24,12 +27,12 @@
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
 static Aimbot_Param_t      aimbot_can;       /* CAN 通信参数（从 config 拷贝） */
-static Aimbot_FeedbackData_t aimbot_fb;      /* 打包好的反馈数据 */
-static Aimbot_AIResult_t   aimbot_cmd;       /* 从 CAN 解析到的 AI 指令 */
-static Gimbal_Feedback_t   ai_gimbal_fb;     /* 来自云台任务的反馈 */
-static AHRS_Quaternion_t   ai_imu_quat;      /* 来自姿态估计任务的四元数 */
-static Referee_ForAI_t     ai_ref;           /* 裁判系统转发给 AI 的数据 */
+static Aimbot_FeedbackData_t lower_board_fb; /* 打包好发给上层板的数据 */
+static Aimbot_AIResult_t   ai_cmd_from_can;  /* 上层板下发并传到底板的指令 */
 static AI_cmd_t            ai_cmd_for_nuc;   /* 转换后发往 cmd.nuc 的指令 */
+
+static Referee_ForAI_t     ai_ref;           /* 裁判系统转发给 AI 的数据 */
+static Shoot_AI_t    raw_shoot;         /* 发射机构反馈 */
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -52,33 +55,35 @@ void Task_ai(void *argument) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
 
-    /* 读取裁判系统状态（非阻塞） */
+    /* 1. 读取裁判系统数据（获知机器人系统状态/弹速等） */
     osMessageQueueGet(task_runtime.msgq.ai.ref, &ai_ref, NULL, 0);
 
-    /* 读取云台反馈数据（非阻塞） */
-    osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromGimbal, &ai_gimbal_fb, NULL, 0);
+    /* 2. 读取发射机构反馈数据（非阻塞），以获取弹速、弹数等信息
+       todo: 检查是否有单独发弹速消息队列
+    */
+    osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromShoot, &raw_shoot, NULL, 0);
 
-    /* 读取 IMU 四元数（非阻塞） */
-    osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromIMU, &ai_imu_quat, NULL, 0);
+    /* 3. 打包当前底层板的数据（弹速、弹数、模式），通过CAN发送给上层板
+       由于现在只能拿到一部分，预留测试值，实车时接入射击模块返回的信息 
+    */
+    // TODO: 使用实际读取到的 bullet_speed 和 bullet_count
+    float current_bullet_speed = raw_shoot.bullet_speed;
+    uint16_t current_bullet_count = raw_shoot.num_shooted;
+    uint8_t current_mode = 1;
 
-    /* 打包反馈并通过 CAN 发给上层板（6 帧）
-     * bullet_speed / bullet_count 暂无独立队列，置零；
-     * 如有裁判系统弹速信息可在此处填入。                         */
-    Aimbot_PackFeedback(&aimbot_fb, &ai_gimbal_fb, &ai_imu_quat,
-                        0.0f, 0u,
-                        (uint8_t)(ai_ref.ref_status == REF_STATUS_RUNNING ? 1u : 0u));
-    Aimbot_SendFeedbackOnCAN(&aimbot_can, &aimbot_fb);
+    Aimbot_PackFeedback(&lower_board_fb, current_bullet_speed, current_bullet_count, current_mode);
+    Aimbot_SendFeedbackOnCAN(&aimbot_can, &lower_board_fb);
 
-    /* 解析上层板发来的 AI 指令（非阻塞） */
-    if (Aimbot_ParseCmdFromCAN(&aimbot_can, &aimbot_cmd) == DEVICE_OK) {
+    /* 4. 解析上层板发来的 AI 指令（非阻塞提取） */
+    if (Aimbot_ParseCmdFromCAN(&aimbot_can, &ai_cmd_from_can) == DEVICE_OK) {
       /* 将 Aimbot_AIResult_t 转换为 AI_cmd_t 并推送到 cmd.nuc 队列 */
-      ai_cmd_for_nuc.mode                 = aimbot_cmd.mode;
-      ai_cmd_for_nuc.gimbal.setpoint.yaw  = aimbot_cmd.gimbal_t.setpoint.yaw;
-      ai_cmd_for_nuc.gimbal.setpoint.pit  = aimbot_cmd.gimbal_t.setpoint.pit;
-      ai_cmd_for_nuc.gimbal.vel.yaw       = aimbot_cmd.gimbal_t.vel.yaw;
-      ai_cmd_for_nuc.gimbal.vel.pit       = aimbot_cmd.gimbal_t.vel.pit;
-      ai_cmd_for_nuc.gimbal.accl.yaw      = aimbot_cmd.gimbal_t.accl.yaw;
-      ai_cmd_for_nuc.gimbal.accl.pit      = aimbot_cmd.gimbal_t.accl.pit;
+      ai_cmd_for_nuc.mode                 = ai_cmd_from_can.mode;
+      ai_cmd_for_nuc.gimbal.setpoint.yaw  = ai_cmd_from_can.gimbal_t.setpoint.yaw;
+      ai_cmd_for_nuc.gimbal.setpoint.pit  = ai_cmd_from_can.gimbal_t.setpoint.pit;
+      ai_cmd_for_nuc.gimbal.vel.yaw       = ai_cmd_from_can.gimbal_t.vel.yaw;
+      ai_cmd_for_nuc.gimbal.vel.pit       = ai_cmd_from_can.gimbal_t.vel.pit;
+      ai_cmd_for_nuc.gimbal.accl.yaw      = ai_cmd_from_can.gimbal_t.accl.yaw;
+      ai_cmd_for_nuc.gimbal.accl.pit      = ai_cmd_from_can.gimbal_t.accl.pit;
 
       osMessageQueueReset(task_runtime.msgq.cmd.nuc);
       osMessageQueuePut(task_runtime.msgq.cmd.nuc, &ai_cmd_for_nuc, 0, 0);
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index 6dbe54a..84cfed6 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -66,14 +66,14 @@ void Task_ctrl_chassis(void *argument) {
                         : 500.0f;
     Chassis_Power_Control(&chassis, power_limit);
     
-    Chassis_Output(&chassis);
+    // Chassis_Output(&chassis);
 
 
     track.middle_val.seata=chassis.feedback.encoder_gimbalYawMotor-chassis.mech_zero;
     Track_UpdateFeedback(&track);
     Track_Control(&track, &track_cmd );
     // Track_AutoControl(&track,&chassis);
-    Track_Output(&track);
+    // Track_Output(&track);
     
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
diff --git a/User/task/ctrl_shoot.c b/User/task/ctrl_shoot.c
index 8d9bb30..504f6b2 100644
--- a/User/task/ctrl_shoot.c
+++ b/User/task/ctrl_shoot.c
@@ -4,6 +4,7 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
+#include "cmsis_os2.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "module/shoot.h"
@@ -19,6 +20,7 @@
 Shoot_t shoot;
 Shoot_CMD_t shoot_cmd;
 Referee_ForShoot_t shoot_ref; /* 裁判系统发射数据 */
+Shoot_AI_t shoot_forai; 
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -43,6 +45,10 @@ void Task_ctrl_shoot(void *argument) {
 	osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
     osMessageQueueGet(task_runtime.msgq.shoot.ref, &shoot_ref, NULL, 0);
 
+    Shoot_DumpAI(&shoot, &shoot_forai);
+    osMessageQueuePut(task_runtime.msgq.ai.rawdata_FromShoot, &shoot_forai, 0, 0);
+
+   
     /* 消费裁判系统发射数据：在线时更新热量控制参数 */
     if (shoot_ref.ref_status == REF_STATUS_RUNNING) {
       shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit;
diff --git a/User/task/init.c b/User/task/init.c
index 338e726..f423b3b 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -49,7 +49,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
   task_runtime.thread.supercap = osThreadNew(Task_supercap, NULL, &attr_supercap);
   task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
-  // task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee);
+  task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
diff --git a/ozone/hero.jdebug.user b/ozone/hero.jdebug.user
index 8094ebc..29f8293 100644
--- a/ozone/hero.jdebug.user
+++ b/ozone/hero.jdebug.user
@@ -1,29 +1,28 @@
 
 
-OpenDocument="ctrl_gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_gimbal.c", Line=30
-OpenDocument="startup_stm32h723xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32h723xx.s", Line=51
+OpenDocument="referee_proto_types.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee_proto_types.h", Line=15
+OpenDocument="ctrl_gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_gimbal.c", Line=0
+OpenDocument="startup_stm32h723xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32h723xx.s", Line=48
 OpenDocument="shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c", Line=33
 OpenDocument="ref_main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ref_main.c", Line=12
-OpenDocument="memcpy.c", FilePath="/build/gnu-tools-for-stm32_13.3.rel1.20250523-0900/src/newlib/newlib/libc/string/memcpy.c", Line=0
 OpenDocument="referee.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee.h", Line=0
-OpenDocument="referee.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/referee.c", Line=0
-OpenDocument="uart.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/uart.c", Line=119
+OpenDocument="uart.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/uart.c", Line=111
 OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/supercap.c", Line=0
 OpenDocument="stm32h7xx_it.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32h7xx_it.c", Line=351
 OpenDocument="cmsis_os2.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=515
-OpenDocument="config.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.c", Line=466
+OpenDocument="config.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.c", Line=455
 OpenDocument="ctrl_shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_shoot.c", Line=0
 OpenDocument="referee.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee.c", Line=21
-OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60
+OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=51
 OpenDocument="stm32h7xx_hal_fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c", Line=5367
 OpenDocument="track.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/track.c", Line=87
-OpenDocument="fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/fdcan.c", Line=240
+OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60
 OpenDocument="cmsis_gcc.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/CMSIS/Include/cmsis_gcc.h", Line=1193
-OpenDocument="referee_proto_types.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee_proto_types.h", Line=15
-OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=51
-OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd/cmd.c", Line=0
+OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd/cmd.c", Line=192
+OpenDocument="fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/fdcan.c", Line=98
+OpenDocument="cmd.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd/cmd.h", Line=0
 OpenDocument="vision_bridge.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/vision_bridge.c", Line=78
-OpenDocument="ctrl_chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_chassis.c", Line=44
+OpenDocument="ctrl_chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_chassis.c", Line=36
 OpenDocument="motor.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor.h", Line=20
 OpenDocument="filter.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/filter/filter.c", Line=54
 OpenDocument="user_math.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/user_math.c", Line=45
@@ -34,29 +33,29 @@ OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/mo
 OpenDocument="stm32h7xx_hal_uart_ex.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c", Line=964
 OpenDocument="queue.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=1275
 OpenDocument="chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/chassis.c", Line=213
-OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/supercap.c", Line=27
+OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/supercap.c", Line=18
 OpenDocument="atti_esti.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/atti_esti.c", Line=121
 OpenDocument="fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/fdcan.c", Line=0
 OpenDocument="time.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/time.c", Line=17
 OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=728, h=594, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
+OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=728, h=589, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=328, h=930, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=728, h=335, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=728, h=340, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Memory 1", DockArea=BOTTOM, x=0, y=0, w=239, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0xFFFF5088
-OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=728, h=594, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=728, h=589, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=328, h=930, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=866, h=525, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
 OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1453, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="21;187", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1157;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1164;0"
 OpenWindow="Console", DockArea=BOTTOM, x=2, y=0, w=866, h=525, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
-TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
-TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;100;110;126;126]
 TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;464]
 TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;100]
 TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
 TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
 TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;1022]
 TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[298;229;145;100]
+TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
+TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;100;110;126;126]
 TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
 WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="bmi088", RefreshRate=5, Window=Watched Data 1
@@ -73,4 +72,5 @@ WatchedExpression="queue_list", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="imu_to_can", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="ref", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="rxbuf", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="shoot_ref", RefreshRate=5, Window=Watched Data 1
\ No newline at end of file
+WatchedExpression="shoot_ref", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="gimbal_cmd", RefreshRate=5, Window=Watched Data 1
\ No newline at end of file