diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5b2e137..d340a72 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -96,6 +96,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/module/shoot.c
     User/module/track.c
     User/module/vision_bridge.c
+    User/module/aimbot.c
     # User/task sources
     User/task/atti_esti.c
     User/task/blink.c
@@ -108,7 +109,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/supercap.c
     User/task/user_task.c
     User/task/ai.c
-    User/task/referee.c
+    User/task/ref_main.c
 )
 
 # Add include paths
diff --git a/Core/Inc/stm32h7xx_it.h b/Core/Inc/stm32h7xx_it.h
index 360c432..920363c 100644
--- a/Core/Inc/stm32h7xx_it.h
+++ b/Core/Inc/stm32h7xx_it.h
@@ -62,7 +62,10 @@ void TIM2_IRQHandler(void);
 void SPI2_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
 void UART5_IRQHandler(void);
+void DMA2_Stream1_IRQHandler(void);
+void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream5_IRQHandler(void);
+void USART10_IRQHandler(void);
 void FDCAN3_IT0_IRQHandler(void);
 void FDCAN3_IT1_IRQHandler(void);
 /* USER CODE BEGIN EFP */
diff --git a/Core/Src/dma.c b/Core/Src/dma.c
index 8cf8599..9e093ba 100644
--- a/Core/Src/dma.c
+++ b/Core/Src/dma.c
@@ -50,6 +50,12 @@ void MX_DMA_Init(void)
   /* DMA1_Stream1_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
+  /* DMA2_Stream1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
+  /* DMA2_Stream2_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
   /* DMA2_Stream5_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn);
diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c
index 4b34eea..44298d4 100644
--- a/Core/Src/stm32h7xx_it.c
+++ b/Core/Src/stm32h7xx_it.c
@@ -62,7 +62,10 @@ extern DMA_HandleTypeDef hdma_spi2_rx;
 extern DMA_HandleTypeDef hdma_spi2_tx;
 extern SPI_HandleTypeDef hspi2;
 extern DMA_HandleTypeDef hdma_uart5_rx;
+extern DMA_HandleTypeDef hdma_usart10_rx;
+extern DMA_HandleTypeDef hdma_usart10_tx;
 extern UART_HandleTypeDef huart5;
+extern UART_HandleTypeDef huart10;
 extern TIM_HandleTypeDef htim2;
 
 /* USER CODE BEGIN EV */
@@ -309,6 +312,34 @@ void UART5_IRQHandler(void)
   /* USER CODE END UART5_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA2 stream1 global interrupt.
+  */
+void DMA2_Stream1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart10_rx);
+  /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA2 stream2 global interrupt.
+  */
+void DMA2_Stream2_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream2_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart10_tx);
+  /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream2_IRQn 1 */
+}
+
 /**
   * @brief This function handles DMA2 stream5 global interrupt.
   */
@@ -323,6 +354,20 @@ void DMA2_Stream5_IRQHandler(void)
   /* USER CODE END DMA2_Stream5_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USART10 global interrupt.
+  */
+void USART10_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART10_IRQn 0 */
+
+  /* USER CODE END USART10_IRQn 0 */
+  HAL_UART_IRQHandler(&huart10);
+  /* USER CODE BEGIN USART10_IRQn 1 */
+
+  /* USER CODE END USART10_IRQn 1 */
+}
+
 /**
   * @brief This function handles FDCAN3 interrupt 0.
   */
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index 34de662..95513fc 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -27,6 +27,8 @@
 UART_HandleTypeDef huart5;
 UART_HandleTypeDef huart10;
 DMA_HandleTypeDef hdma_uart5_rx;
+DMA_HandleTypeDef hdma_usart10_rx;
+DMA_HandleTypeDef hdma_usart10_tx;
 
 /* UART5 init function */
 void MX_UART5_Init(void)
@@ -222,6 +224,46 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Alternate = GPIO_AF11_USART10;
     HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
+    /* USART10 DMA Init */
+    /* USART10_RX Init */
+    hdma_usart10_rx.Instance = DMA2_Stream1;
+    hdma_usart10_rx.Init.Request = DMA_REQUEST_USART10_RX;
+    hdma_usart10_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart10_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart10_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart10_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart10_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart10_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart10_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart10_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart10_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart10_rx);
+
+    /* USART10_TX Init */
+    hdma_usart10_tx.Instance = DMA2_Stream2;
+    hdma_usart10_tx.Init.Request = DMA_REQUEST_USART10_TX;
+    hdma_usart10_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_usart10_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart10_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart10_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart10_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart10_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart10_tx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart10_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart10_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart10_tx);
+
+    /* USART10 interrupt Init */
+    HAL_NVIC_SetPriority(USART10_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(USART10_IRQn);
   /* USER CODE BEGIN USART10_MspInit 1 */
 
   /* USER CODE END USART10_MspInit 1 */
@@ -270,6 +312,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOE, GPIO_PIN_2|GPIO_PIN_3);
 
+    /* USART10 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+    HAL_DMA_DeInit(uartHandle->hdmatx);
+
+    /* USART10 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART10_IRQn);
   /* USER CODE BEGIN USART10_MspDeInit 1 */
 
   /* USER CODE END USART10_MspDeInit 1 */
diff --git a/User/bsp/fdcan.c b/User/bsp/fdcan.c
index 8944cb9..7f3425e 100644
--- a/User/bsp/fdcan.c
+++ b/User/bsp/fdcan.c
@@ -431,11 +431,6 @@ int8_t BSP_FDCAN_Init(void) {
 #undef FDCANX_MSG_PENDING_CB_INNER
 #undef FDCANX_MSG_PENDING_CB
 
-//Power-en
-  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
-  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_SET);
-  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_15, GPIO_PIN_SET);
-
   return BSP_OK;
 }
 
diff --git a/User/bsp/uart.h b/User/bsp/uart.h
index 4ac2ab3..5e270f5 100644
--- a/User/bsp/uart.h
+++ b/User/bsp/uart.h
@@ -28,8 +28,8 @@ extern "C" {
 /* UART实体枚举，与设备对应 */
 typedef enum {
   BSP_UART_RC,
-  BSP_UART_AI,
   BSP_UART_REF,
+  BSP_UART_AI,
   BSP_UART_NUM,
   BSP_UART_ERR,
 } BSP_UART_t;
diff --git a/User/device/device.h b/User/device/device.h
index c03ccfb..6954037 100644
--- a/User/device/device.h
+++ b/User/device/device.h
@@ -27,11 +27,11 @@ extern "C" {
 #define SIGNAL_BMI088_GYRO_RAW_REDY (1u << 2)
 #define SIGNAL_BMI088_ACCL_NEW_DATA (1u << 3)
 #define SIGNAL_BMI088_GYRO_NEW_DATA (1u << 4)
-#define SIGNAL_AT9S_RAW_REDY (1u << 7)
-#define SIGNAL_VT13_RAW_REDY (1u << 8)
-#define SIGNAL_REFEREE_RAW_REDY (1u << 10)
-#define SIGNAL_REFEREE_FAST_REFRESH_UI (1u << 11)
-#define SIGNAL_REFEREE_SLOW_REFRESH_UI (1u << 12)
+#define SIGNAL_AT9S_RAW_REDY (1u << 5)
+#define SIGNAL_VT13_RAW_REDY (1u << 6)
+#define SIGNAL_REFEREE_RAW_REDY (1u << 7)
+#define SIGNAL_REFEREE_FAST_REFRESH_UI (1u << 8)
+#define SIGNAL_REFEREE_SLOW_REFRESH_UI (1u << 9)
 /* AUTO GENERATED SIGNALS END */
 
 /* USER SIGNALS BEGIN */
diff --git a/User/device/motor_dm.c b/User/device/motor_dm.c
index 24e41ee..bbbef2c 100644
--- a/User/device/motor_dm.c
+++ b/User/device/motor_dm.c
@@ -366,7 +366,15 @@ int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output) {
     if (motor == NULL) {
         return DEVICE_ERR_NO_DEV;
     }
-    
+
+    if (motor->param.reverse) {
+        MOTOR_MIT_Output_t reversed = *output;
+        reversed.angle    = -reversed.angle;
+        reversed.velocity = -reversed.velocity;
+        reversed.torque   = -reversed.torque;
+        return MOTOR_DM_SendMITCmd(motor, &reversed);
+    }
+
     return MOTOR_DM_SendMITCmd(motor, output);
 }
 
diff --git a/User/device/referee.c b/User/device/referee.c
index f6b4dca..aac7039 100644
--- a/User/device/referee.c
+++ b/User/device/referee.c
@@ -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;
@@ -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;
@@ -646,8 +647,8 @@ 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);
         float start_pos_h = 0.0f;
         switch (ui->chassis_ui.mode) {
           case CHASSIS_MODE_RELAX:
diff --git a/User/device/referee.h b/User/device/referee.h
index 4537285..ff1919b 100644
--- a/User/device/referee.h
+++ b/User/device/referee.h
@@ -574,11 +574,6 @@ typedef struct {
   osTimerId_t ui_slow_timer_id;
 } Referee_t;
 
-/* Referee_ChassisUI_t 已移至 module/chassis.h */
-/* Referee_CapUI_t     已移至 device/supercap.h */
-/* Referee_GimbalUI_t  已移至 module/gimbal.h   */
-/* Referee_ShootUI_t   已移至 module/shoot.h    */
-
 typedef struct __packed {
   /* UI缓冲数据 */
   UI_Ele_t grapic[REF_UI_MAX_GRAPIC_NUM];
@@ -589,10 +584,10 @@ 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 Referee_Screen_t *screen;
diff --git a/User/device/supercap.h b/User/device/supercap.h
index 5cb600c..07a638c 100644
--- a/User/device/supercap.h
+++ b/User/device/supercap.h
@@ -101,7 +101,7 @@ int8_t SuperCap_Update(void);
 typedef struct {
   float percentage;
   SuperCap_Status_t status;
-} Referee_CapUI_t;
+} Cap_RefereeUI_t;
 
 #ifdef __cplusplus
 }
diff --git a/User/module/aimbot.c b/User/module/aimbot.c
new file mode 100644
index 0000000..ebaffee
--- /dev/null
+++ b/User/module/aimbot.c
@@ -0,0 +1,338 @@
+#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）
+ * ===================================================================== */
+#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)     */
+
+/* =====================================================================
+ * UART 通信接口（上层板 ↔ 上位机 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->id != ID_AI) {
+    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;
+  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。
+ */
+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) {
+  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->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。
+ */
+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);
+
+  /* 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 从 Gimbal/IMU/Shoot 数据打包 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) {
+    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。
+ *
+ * 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)
+ */
+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: 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;
+  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。
+ *
+ * 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)
+ *
+ * @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;
+  if (BSP_FDCAN_GetMessage(param->can, param->cmd_id, &msg,
+                            BSP_FDCAN_TIMEOUT_IMMEDIATE) != 0) {
+    return DEVICE_ERR;
+  }
+
+  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;
+
+  /* 速度/加速度前馈由上层板另行扩展，此处置零 */
+  result->gimbal_t.vel.yaw  = 0.0f;
+  result->gimbal_t.vel.pit  = 0.0f;
+  result->gimbal_t.accl.yaw = 0.0f;
+  result->gimbal_t.accl.pit = 0.0f;
+
+  return DEVICE_OK;
+}
+
+/**
+ * @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。
+ */
+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);
+}
+
+/**
+ * @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。
+ *
+ * @return DEVICE_OK（始终返回，允许部分帧缺失）
+ */
+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: IMU 四元数 q[0], q[1] */
+  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) {
+    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
new file mode 100644
index 0000000..a4335ba
--- /dev/null
+++ b/User/module/aimbot.h
@@ -0,0 +1,205 @@
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* 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
+
+/* ============================  CAN 通信定义  ============================
+ * 通路：上位机 <--串口--> 上层板 <--CAN--> 下层板（本代码）
+ *
+ * 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)
+ *
+ * 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_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 */
+    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） */
+} 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） */
+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 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
+} Aimbot_MCUData_t;
+
+typedef struct __attribute__((packed))
+{
+    uint8_t id;         // 数据包 ID: 0xC4
+    Aimbot_MCUData_t data;
+    uint16_t crc16;
+} 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 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;
+} 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);
+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 从 Gimbal/IMU/Shoot 数据中打包反馈结构体
+ * @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）
+ */
+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 9ea2afe..30ea340 100644
--- a/User/module/chassis.c
+++ b/User/module/chassis.c
@@ -317,7 +317,7 @@ void Chassis_ResetOutput(Chassis_t *c) {
  * @param chassis 底盘数据结构体
  * @param ui UI数据结构体
  */
-void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui) {
+void Chassis_DumpUI(const Chassis_t *c, Chassis_RefereeUI_t *ui) {
   ui->mode = c->mode;
   ui->angle = c->feedback.encoder_gimbalYawMotor - c->mech_zero;
 }
diff --git a/User/module/chassis.h b/User/module/chassis.h
index 24416aa..e666ed7 100644
--- a/User/module/chassis.h
+++ b/User/module/chassis.h
@@ -46,7 +46,7 @@ typedef enum {
 typedef struct {
   Chassis_Mode_t mode;
   float angle;
-} Referee_ChassisUI_t;
+} Chassis_RefereeUI_t;
 
 /* µ×ÅÌ¿ØÖÆÃüÁî */
 typedef struct {
@@ -233,9 +233,9 @@ void Chassis_Power_Control(Chassis_t *c,float max_power);
  * @param chassis µ×ÅÌÊý¾Ý½á¹¹Ìå
  * @param ui UIÊý¾Ý½á¹¹Ìå
  */
-//void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui);
+//void Chassis_DumpUI(const Chassis_t *c, Chassis_RefereeUI_t *ui);
 
-void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui);
+void Chassis_DumpUI(const Chassis_t *c, Chassis_RefereeUI_t *ui);
 
 #ifdef __cplusplus
 }
diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
index 9ca682f..4a180b0 100644
--- a/User/module/cmd/cmd.c
+++ b/User/module/cmd/cmd.c
@@ -119,11 +119,12 @@ static void CMD_RC_BuildTrackCmd(CMD_t *ctx) {
           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)
+  if (ctx->input.rc.joy_right.y>=0) {
+      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;
-  
+          : -1.0f;   
+  }
   CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_TRACK);
 }
 #endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_TRACK */
@@ -211,10 +212,13 @@ 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_RELATIVE;
-  ctx->output.gimbal.cmd.is_ai = true;
-  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.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;
+  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;
   }
 
 }
diff --git a/User/module/cmd/cmd_adapter.c b/User/module/cmd/cmd_adapter.c
index 584e5e5..ebc8d79 100644
--- a/User/module/cmd/cmd_adapter.c
+++ b/User/module/cmd/cmd_adapter.c
@@ -124,32 +124,6 @@ CMD_DEFINE_ADAPTER(AT9S, at9s, CMD_SRC_RC, CMD_AT9S_Init, CMD_AT9S_GetInput, CMD
 /* ========================================================================== */
 /*                        NUC/AI 适配器实现                                    */
 /* ========================================================================== */
-/* ========================================================================== */
-/*                        REF/裁判系统 适配器实现                               */
-/* ========================================================================== */
-#if CMD_ENABLE_SRC_REF
-
-int8_t CMD_REF_AdapterInit(void *data) {
-    (void)data;
-    return CMD_OK;
-}
-
-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] = true;
-    output->ref = *ref;
-    return CMD_OK;
-}
-
-bool CMD_REF_IsOnline(void *data) {
-    (void)data;
-    return true;
-}
-
-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) {
@@ -183,7 +157,34 @@ 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 */
+/* ========================================================================== */
+/*                        REF/裁判系统 适配器实现                               */
+/* ========================================================================== */
+#if CMD_ENABLE_SRC_REF
 
+int8_t CMD_REF_AdapterInit(void *data) {
+    (void)data;
+    return CMD_OK;
+}
+
+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 */
 /* ========================================================================== */
 /*                           适配器管理实现                                     */
 /* ========================================================================== */
diff --git a/User/module/config.c b/User/module/config.c
index 12fc0cc..9ca2c83 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -20,10 +20,21 @@
 
 // 机器人参数配置
 Config_RobotParam_t robot_config = {
+			.ref_screen={
+					.width=1920,
+					.height=1080,
+      },
     .ai_param = {
         .can = BSP_FDCAN_2,
         .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,
+    },
     .imu_param = {
         .can=BSP_FDCAN_2,
         .accl_id=0x100,
@@ -196,11 +207,11 @@ Config_RobotParam_t robot_config = {
         },
         .mech_zero = {
             .yaw = 0.0f,
-            .pit = 3.15f,  
+            .pit = 0.9f,  
         },
         .travel = {
             .yaw = -1.0f,
-            .pit = 0.6f,
+            .pit = 0.65f,
         },
         .low_pass_cutoff_freq = {
             .out = -1.0f,
@@ -237,6 +248,13 @@ Config_RobotParam_t robot_config = {
             .threshold=310.0f, 
             .suspectedTime=0.5f, 
         },
+        .heatControl={
+            .enable=true,
+            .nmax=2.0f,      // 最大射频 Hz
+            .Hwarn=200.0f,    // 热量预警值
+            .Hsatu=100.0f,    // 热量饱和值
+            .Hthres=50.0f,    // 热量阈值
+        },
         .motor={
             .fric = {
                 {
diff --git a/User/module/config.h b/User/module/config.h
index 923bd20..f2f0723 100644
--- a/User/module/config.h
+++ b/User/module/config.h
@@ -20,6 +20,7 @@ extern "C" {
 #include "component/PowerControl.h"
 #include "device/gimbal_imu.h"
 #include "module/vision_bridge.h"
+#include "module/aimbot.h"
 
 typedef struct {
     Shoot_Params_t shoot_param;
@@ -29,6 +30,7 @@ typedef struct {
     CMD_Config_t cmd_param;
     GIMBAL_IMU_Param_t imu_param;
     AI_Param_t ai_param;
+    Aimbot_Param_t aimbot_param;  /* 下层板 ↔ 上层板 CAN 通信参数 */
     Referee_Screen_t ref_screen;
 } Config_RobotParam_t;
 
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index 37da408..add7754 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -56,6 +56,9 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
     g->setpoint.eulr.yaw = g->feedback.motor.yaw.rotor_abs_angle;
   } 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->mode = mode;
@@ -237,7 +240,11 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
   CircleAdd(&(g->setpoint.eulr.pit), delta_pit, M_2PI);
   // g->setpoint.eulr.pit = (g_cmd->delta_pit)/3.0f + 2.98f + 1/3.0f; //2.98f为机械零点位置
 
-    if (g_cmd->is_ai) {
+    if (g_cmd->mode == GIMBAL_MODE_AI_CONTROL) {
+    /* 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;
     }
@@ -247,7 +254,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
   case GIMBAL_MODE_RELAX:
     g->out.yaw = 0.0f;
     g->out.pit = 0.0f;
-    break;
+    break;   
 
   case GIMBAL_MODE_ABSOLUTE:
     yaw_omega_set_point = PID_Calc(&(g->pid.absolute.yaw_angle), g->setpoint.eulr.yaw,
@@ -281,6 +288,37 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
     g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
     g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);
     break;
+
+    case GIMBAL_MODE_AI_CONTROL:
+      /* 位置环 → 速度设定值 + 速度前馈 */
+      yaw_omega_set_point = PID_Calc(&(g->pid.absolute.yaw_angle),
+                                     g->setpoint.eulr.yaw,
+                                     g->feedback.motor.yaw.rotor_abs_angle,
+                                     0.0f, g->dt)
+                          + g_cmd->ff_vel_yaw;
+
+      /* 速度环 + 加速度前馈 → yaw 输出 */
+      g->out.yaw = PID_Calc(&(g->pid.absolute.yaw_omega), yaw_omega_set_point,
+                            g->feedback.imu.gyro.z, 0.0f, g->dt)
+                + g_cmd->ff_accl_yaw;
+
+      /* pit 位置环 → 速度设定值 + 速度前馈 */
+      pit_omega_set_point = PID_Calc(&(g->pid.absolute.pit_angle),
+                                     g->setpoint.eulr.pit,
+                                     g->feedback.motor.pit.rotor_abs_angle,
+                                     0.0f, g->dt)
+                          + g_cmd->ff_vel_pit;
+
+      /* 速度环 + 加速度前馈 → pit 输出 */
+      g->out.pit = PID_Calc(&(g->pid.absolute.pit_omega), pit_omega_set_point,
+                            g->feedback.imu.gyro.x, 0.0f, g->dt)
+                + g_cmd->ff_accl_pit;
+
+      /* 输出滤波 */
+      g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
+      g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);
+      break;
+
   }
   
   return 0;
@@ -310,6 +348,6 @@ void Gimbal_Output(Gimbal_t *g){
  * @param g 云台结构体
  * @param ui UI结构体
  */
-void Gimbal_DumpUI(const Gimbal_t *g, Referee_GimbalUI_t *ui) {
+void Gimbal_DumpUI(const Gimbal_t *g, Gimbal_RefereeUI_t *ui) {
   ui->mode = g->mode;
 }
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index 204f453..cfede90 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -29,22 +29,26 @@ typedef enum {
   GIMBAL_MODE_RELAX,    /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
   GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
   GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
+  GIMBAL_MODE_AI_CONTROL,
   GIMBAL_MODE_NUM
 } Gimbal_Mode_t;
 
 /* UI 导出结构（供 referee 系统绘制） */
 typedef struct {
   Gimbal_Mode_t mode;
-} Referee_GimbalUI_t;
-
+} Gimbal_RefereeUI_t;
 typedef struct {
   Gimbal_Mode_t mode;
   float delta_yaw;
   float delta_pit;
-  float feedforward_pit; 
+  float feedforward_pit;
   float setpoint_yaw;
   float setpoint_pit;
-  bool is_ai;
+  /* GIMBAL_MODE_AI_CONTROL 速度/加速度前馈（来自 NUC） */
+  float ff_vel_yaw;    /* yaw 速度前馈（rad/s），叠加到内环角速度设定值 */
+  float ff_vel_pit;    /* pit 速度前馈（rad/s） */
+  float ff_accl_yaw;   /* yaw 加速度前馈（归一化），叠加到力矩输出 */
+  float ff_accl_pit;   /* pit 加速度前馈（归一化） */
 } Gimbal_CMD_t;
 
 /* 软件限位 */
@@ -203,7 +207,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd);
  */
 void Gimbal_Output(Gimbal_t *g);
 
-void Gimbal_DumpUI(const Gimbal_t *g, Referee_GimbalUI_t *ui);
+void Gimbal_DumpUI(const Gimbal_t *g, Gimbal_RefereeUI_t *ui);
 #ifdef __cplusplus
 }
 #endif
diff --git a/User/module/shoot.c b/User/module/shoot.c
index 8a719fc..8111aeb 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -42,6 +42,12 @@ void Task(void *argument) {
 /* Private define ----------------------------------------------------------- */
 #define MAX_FRIC_RPM 7000.0f
 #define MAX_TRIG_RPM 1500.0f//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;
@@ -183,6 +189,309 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
     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;
+    }
+    
+    /* 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;
+    }
+    
+    /* 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;
+    }
+    
+    /* 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;
+    }
+    
+    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) {
+        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
  *
@@ -196,10 +505,19 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
     if (s == NULL  || s->var_trig.num_toShoot == 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);
+    
     float dt = s->timer.now - s->var_trig.time_lastShoot;
 	float dpos;
     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)
+    
+    /* 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<=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);
@@ -623,6 +941,10 @@ 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;
 }
 
@@ -644,6 +966,10 @@ 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;
@@ -655,7 +981,7 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
  * @param s 射击结构体
  * @param ui UI结构体
  */
-void Shoot_DumpUI(Shoot_t *s, Referee_ShootUI_t *ui) {
+void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui) {
   ui->mode = s->mode;
   ui->fire = s->running_state;
 }
diff --git a/User/module/shoot.h b/User/module/shoot.h
index 15f868d..d98e66e 100644
--- a/User/module/shoot.h
+++ b/User/module/shoot.h
@@ -30,6 +30,13 @@ 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 */
@@ -48,7 +55,7 @@ typedef enum {
 typedef struct {
   Shoot_Mode_t mode;
   Shoot_Running_State_t fire;
-} Referee_ShootUI_t;
+} Shoot_RefereeUI_t;
 
 typedef enum {
 	SHOOT_PROJECTILE_17MM,
@@ -88,6 +95,36 @@ 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 {
+  /* 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];
@@ -120,6 +157,13 @@ 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 */
+    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;
@@ -164,6 +208,7 @@ 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 */
@@ -245,7 +290,7 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd);
  * @param s 射击结构体
  * @param ui UI结构体
  */
-void Shoot_DumpUI(Shoot_t *s, Referee_ShootUI_t *ui);
+void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui);
 
 
 #ifdef __cplusplus
diff --git a/User/task/ai.c b/User/task/ai.c
index f7c4611..7b7f2ca 100644
--- a/User/task/ai.c
+++ b/User/task/ai.c
@@ -1,29 +1,35 @@
 /*
     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
 */
 
 /* Includes ----------------------------------------------------------------- */
-
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-// #include "module/vision_bridge.h"
-// #include "component/ahrs/ahrs.h"
-// #include "module/gimbal.h"
-// #include "module/shoot.h"
+#include "module/aimbot.h"
+#include "module/config.h"
+#include "module/vision_bridge.h"
+#include "component/ahrs/ahrs.h"
+#include "module/gimbal.h"
+#include "device/referee_proto_types.h"
 /* USER INCLUDE END */
- 
+
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-// AI_t ai;
-// AI_cmd_t aiToCmd;
-
-// AI_RawData_t rawdata;
-// AHRS_Quaternion_t quat_from_imu;
-// Gimbal_Feedback_t rawdata_from_gimbal;
+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 AI_cmd_t            ai_cmd_for_nuc;   /* 转换后发往 cmd.nuc 的指令 */
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -31,7 +37,6 @@
 void Task_ai(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() / AI_FREQ;
 
@@ -39,33 +44,47 @@ void Task_ai(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  aimbot_can = Config_GetRobotParam()->aimbot_param;
+  Aimbot_Init(&aimbot_can);
   /* 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.ai.rawdata_FromGimbal, &rawdata_from_gimbal, NULL, 0);	
-		// osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromIMU, &quat_from_imu, NULL, 0);		
-    // rawdata.mode=1;
-    // rawdata.pitch=rawdata_from_gimbal.motor.pit.rotor_abs_angle;
-    // rawdata.yaw=rawdata_from_gimbal.motor.yaw.rotor_abs_angle;
-    // rawdata.pitch_vel=rawdata_from_gimbal.motor.pit.rotor_speed;
-    // rawdata.yaw_vel=rawdata_from_gimbal.motor.yaw.rotor_speed;
-    // rawdata.q[0]=quat_from_imu.q0;
-    // rawdata.q[1]=quat_from_imu.q1;
-    // rawdata.q[2]=quat_from_imu.q2;
-    // rawdata.q[3]=quat_from_imu.q3;
-    // AI_ParseForHost(&ai,&rawdata);
-		// AI_StartSend(&ai);
-		
-		// AI_StartReceiving(&ai);		
-		// AI_Get(&ai,&aiToCmd);		
-    // osMessageQueueReset(task_runtime.msgq.cmd.nuc);
-    // osMessageQueuePut(task_runtime.msgq.cmd.nuc, &aiToCmd, 0, 0);		
+
+    /* 读取裁判系统状态（非阻塞） */
+    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);
+
+    /* 读取 IMU 四元数（非阻塞） */
+    osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromIMU, &ai_imu_quat, NULL, 0);
+
+    /* 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);
+
+    /* 解析上层板发来的 AI 指令（非阻塞） */
+    if (Aimbot_ParseCmdFromCAN(&aimbot_can, &aimbot_cmd) == 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;
+
+      osMessageQueueReset(task_runtime.msgq.cmd.nuc);
+      osMessageQueuePut(task_runtime.msgq.cmd.nuc, &ai_cmd_for_nuc, 0, 0);
+    }
+
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
-  
 }
\ No newline at end of file
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index b491fae..6dbe54a 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -10,6 +10,7 @@
 #include "module/config.h"
 #include "device/supercap.h"
 #include "module/track.h"
+#include "device/referee_proto_types.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -21,9 +22,9 @@ Chassis_t chassis;
 Chassis_CMD_t chassis_cmd;   
 Chassis_IMU_t chassis_imu;
 Track_CMD_t track_cmd;
-float max =50.0f;
 
 Track_t track;
+Referee_ForChassis_t chassis_ref; /* 裁判系统底盘数据 */
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -53,12 +54,17 @@ void Task_ctrl_chassis(void *argument) {
     osMessageQueueGet(task_runtime.msgq.chassis.yaw, &encoder_gimbalYawMotor, NULL, 0);
 		osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0);
     osMessageQueueGet(task_runtime.msgq.track.cmd, &track_cmd, NULL, 0);
+    osMessageQueueGet(task_runtime.msgq.chassis.ref, &chassis_ref, NULL, 0);
     chassis.feedback.encoder_gimbalYawMotor=encoder_gimbalYawMotor;
     
 	  Chassis_UpdateFeedback(&chassis);
     Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
 
-    // Chassis_Power_Control(&chassis,max);
+    /* 功率限制：裁判系统在线时使用下发上限，否则使用保守默认值 */
+    float power_limit = (chassis_ref.ref_status == REF_STATUS_RUNNING)
+                        ? chassis_ref.chassis_power_limit
+                        : 500.0f;
+    Chassis_Power_Control(&chassis, power_limit);
     
     Chassis_Output(&chassis);
 
diff --git a/User/task/ctrl_shoot.c b/User/task/ctrl_shoot.c
index f5b2a44..8d9bb30 100644
--- a/User/task/ctrl_shoot.c
+++ b/User/task/ctrl_shoot.c
@@ -8,6 +8,7 @@
 /* USER INCLUDE BEGIN */
 #include "module/shoot.h"
 #include "module/config.h"
+#include "device/referee_proto_types.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -17,6 +18,7 @@
 /* USER STRUCT BEGIN */
 Shoot_t shoot;
 Shoot_CMD_t shoot_cmd;
+Referee_ForShoot_t shoot_ref; /* 裁判系统发射数据 */
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -39,6 +41,16 @@ void Task_ctrl_shoot(void *argument) {
     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.ref, &shoot_ref, NULL, 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;
+      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 = 100.0f; /* 42mm弹丸每发产生热量 */
+    }
+
 	  Shoot_UpdateFeedback(&shoot);
     Shoot_SetMode(&shoot,shoot_cmd.mode);
 	  Shoot_Control(&shoot,&shoot_cmd);
diff --git a/User/task/init.c b/User/task/init.c
index baeba7e..338e726 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -14,6 +14,7 @@
 #include "module/chassis.h"
 #include "module/track.h"
 #include "device/referee.h"
+#include "module/vision_bridge.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -34,7 +35,10 @@ void Task_Init(void *argument) {
 
     /* USER CODE INIT END */
   osKernelLock(); /* 锁定内核，防止任务切换 */
-  
+  //Power-en
+  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_15, GPIO_PIN_SET);
   /* 创建任务线程 */
   task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
   task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
@@ -44,8 +48,8 @@ void Task_Init(void *argument) {
   task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
   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.ai = osThreadNew(Task_ai, NULL, &attr_ai);
+  // task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
@@ -70,6 +74,8 @@ void Task_Init(void *argument) {
   task_runtime.msgq.ai.rawdata_FromGimbal = osMessageQueueNew(2u, sizeof(Gimbal_Feedback_t), NULL);
   task_runtime.msgq.ai.rawdata_FromIMU = osMessageQueueNew(2u, sizeof(AHRS_Quaternion_t), NULL);
   // task_runtime.msgq.ai.rawdata_FromShoot = osMessageQueueNew(2u, sizeof(), NULL);
+  /* cmd.nuc: AI task -> cmd task 的指令队列 */
+  task_runtime.msgq.cmd.nuc = osMessageQueueNew(2u, sizeof(AI_cmd_t), NULL);
 	/* 裁判系统 */
 	task_runtime.msgq.referee.tocmd.ai= osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL);		
 	task_runtime.msgq.referee.tocmd.cap= osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL);	
@@ -81,10 +87,10 @@ void Task_Init(void *argument) {
 	task_runtime.msgq.ai.ref      = osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL);
 	task_runtime.msgq.cap.ref     = osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL);		
 	/* UI */	
-  task_runtime.msgq.referee.ui.tochassis =osMessageQueueNew(2u, sizeof(Referee_ChassisUI_t), NULL);
-  task_runtime.msgq.referee.ui.tocap =osMessageQueueNew(2u, sizeof(Referee_CapUI_t), NULL);
-  task_runtime.msgq.referee.ui.togimbal =osMessageQueueNew(2u, sizeof(Referee_GimbalUI_t), NULL);
-  task_runtime.msgq.referee.ui.toshoot =osMessageQueueNew(2u, sizeof(Referee_ShootUI_t), NULL);
+  task_runtime.msgq.referee.ui.tochassis =osMessageQueueNew(2u, sizeof(Chassis_RefereeUI_t), NULL);
+  task_runtime.msgq.referee.ui.tocap =osMessageQueueNew(2u, sizeof(Cap_RefereeUI_t), NULL);
+  task_runtime.msgq.referee.ui.togimbal =osMessageQueueNew(2u, sizeof(Gimbal_RefereeUI_t), NULL);
+  task_runtime.msgq.referee.ui.toshoot =osMessageQueueNew(2u, sizeof(Shoot_RefereeUI_t), NULL);
   task_runtime.msgq.referee.ui.tocmd = osMessageQueueNew(2u, sizeof(bool), NULL);
   task_runtime.msgq.referee.ui.frcmd = osMessageQueueNew(2u, sizeof(Referee_UI_CMD_t), NULL);
   /* USER MESSAGE END */
diff --git a/User/task/referee.c b/User/task/ref_main.c
similarity index 95%
rename from User/task/referee.c
rename to User/task/ref_main.c
index b64899c..d38fcda 100644
--- a/User/task/referee.c
+++ b/User/task/ref_main.c
@@ -45,16 +45,16 @@ void Task_referee(void *argument) {
   /* 初始化裁判系统 */
 
   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 > 500)
+      if (osKernelGetTickCount() - last_online_tick > 2500) 
         Referee_HandleOffline(&ref);
     } else {
       Referee_Parse(&ref);
@@ -84,9 +84,11 @@ void Task_referee(void *argument) {
 			
       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/supercap.c b/User/task/supercap.c
index a955d90..aefb6e9 100644
--- a/User/task/supercap.c
+++ b/User/task/supercap.c
@@ -1,50 +1,64 @@
-/*
-    supercap Task
-    
-*/
-
-/* Includes ----------------------------------------------------------------- */
-#include "task/user_task.h"
-/* USER INCLUDE BEGIN */
-#include "device/supercap.h"
-
-/* USER INCLUDE END */
-
-/* Private typedef ---------------------------------------------------------- */
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private variables -------------------------------------------------------- */
-/* USER STRUCT BEGIN */
-CAN_SuperCapTXDataTypeDef SuperCap_CanTX;
-/* USER STRUCT END */
-
-/* Private function --------------------------------------------------------- */
-/* Exported functions ------------------------------------------------------- */
-void Task_supercap(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() / SUPERCAP_FREQ;
-
-  osDelay(SUPERCAP_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 */
-  SuperCap_Init();

-  SuperCap_CanTX.Enable = 1 ;                 //超级电容使能。1使能，0失能

-   SuperCap_CanTX.Charge = 1 ;                 //V1.1超级电容充电。1充电，0放电，在PLUS版本中，此标志位无效，超电的充放电是自动的

-   SuperCap_CanTX.Powerlimit = 120 ;          //裁判系统功率限制

-   SuperCap_CanTX.ChargePower = 1 ;         //V1.1超级电容充电功率，在PLUS版本中，此参数，超电的充电功率随着底盘功率变化

-  /* USER CODE INIT END */
-  
-  while (1) {
-    tick += delay_tick; /* 计算下一个唤醒时刻 */
-    /* USER CODE BEGIN */
-        SuperCap_Update();

-        CAN_TX_SuperCapData(&SuperCap_CanTX);

-    /* USER CODE END */
-    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
-  }
-  
-}
+/*
+    supercap Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/supercap.h"
+#include "device/referee_proto_types.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+CAN_SuperCapTXDataTypeDef SuperCap_CanTX;
+Referee_ForCap_t cap_ref; /* 裁判系统功率数据 */
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_supercap(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() / SUPERCAP_FREQ;
+
+  osDelay(SUPERCAP_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 */
+  SuperCap_Init();
+
+  SuperCap_CanTX.Enable = 1 ;                 //超级电容使能。1使能，0失能
+
+   SuperCap_CanTX.Charge = 1 ;                 //V1.1超级电容充电。1充电，0放电，在PLUS版本中，此标志位无效，超电的充放电是自动的
+
+   SuperCap_CanTX.Powerlimit = 120 ;          //裁判系统功率限制
+
+   SuperCap_CanTX.ChargePower = 1 ;         //V1.1超级电容充电功率，在PLUS版本中，此参数，超电的充电功率随着底盘功率变化
+
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    /* 动态更新功率上限：裁判系统在线时使用下发值，否则回退到初始化值120W */
+    osMessageQueueGet(task_runtime.msgq.cap.ref, &cap_ref, NULL, 0);
+    if (cap_ref.ref_status == REF_STATUS_RUNNING && cap_ref.chassis_power_limit > 0.0f) {
+        SuperCap_CanTX.Powerlimit = (uint8_t)cap_ref.chassis_power_limit;
+    }
+
+        SuperCap_Update();
+
+        CAN_TX_SuperCapData(&SuperCap_CanTX);
+
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}
diff --git a/User/task/user_task.c b/User/task/user_task.c
index 3af2890..131074b 100644
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@@ -27,7 +27,7 @@ const osThreadAttr_t attr_blink = {
 const osThreadAttr_t attr_ctrl_chassis = {
     .name = "ctrl_chassis",
     .priority = osPriorityNormal,
-    .stack_size = 512 * 16,
+    .stack_size = 256 * 4,
 };
 const osThreadAttr_t attr_ctrl_gimbal = {
     .name = "ctrl_gimbal",
@@ -57,5 +57,5 @@ const osThreadAttr_t attr_ai = {
 const osThreadAttr_t attr_referee = {
     .name = "referee",
     .priority = osPriorityNormal,
-    .stack_size = 256 * 4,
+    .stack_size = 512 * 4, /* 增大栈：UIRefresh调用sin/cos(软浮点)栈消耗大 */
 };
\ No newline at end of file
diff --git a/hero_DM02.ioc b/hero_DM02.ioc
index e964dcd..f1d129b 100644
--- a/hero_DM02.ioc
+++ b/hero_DM02.ioc
@@ -7,7 +7,9 @@ CORTEX_M7.default_mode_Activation=0
 Dma.Request0=SPI2_RX
 Dma.Request1=SPI2_TX
 Dma.Request2=UART5_RX
-Dma.RequestsNb=3
+Dma.Request3=USART10_RX
+Dma.Request4=USART10_TX
+Dma.RequestsNb=5
 Dma.SPI2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.SPI2_RX.0.EventEnable=DISABLE
 Dma.SPI2_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -62,6 +64,42 @@ Dma.UART5_RX.2.SyncEnable=DISABLE
 Dma.UART5_RX.2.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
 Dma.UART5_RX.2.SyncRequestNumber=1
 Dma.UART5_RX.2.SyncSignalID=NONE
+Dma.USART10_RX.3.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART10_RX.3.EventEnable=DISABLE
+Dma.USART10_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART10_RX.3.Instance=DMA2_Stream1
+Dma.USART10_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART10_RX.3.MemInc=DMA_MINC_ENABLE
+Dma.USART10_RX.3.Mode=DMA_NORMAL
+Dma.USART10_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART10_RX.3.PeriphInc=DMA_PINC_DISABLE
+Dma.USART10_RX.3.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Dma.USART10_RX.3.Priority=DMA_PRIORITY_LOW
+Dma.USART10_RX.3.RequestNumber=1
+Dma.USART10_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Dma.USART10_RX.3.SignalID=NONE
+Dma.USART10_RX.3.SyncEnable=DISABLE
+Dma.USART10_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Dma.USART10_RX.3.SyncRequestNumber=1
+Dma.USART10_RX.3.SyncSignalID=NONE
+Dma.USART10_TX.4.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART10_TX.4.EventEnable=DISABLE
+Dma.USART10_TX.4.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART10_TX.4.Instance=DMA2_Stream2
+Dma.USART10_TX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART10_TX.4.MemInc=DMA_MINC_ENABLE
+Dma.USART10_TX.4.Mode=DMA_NORMAL
+Dma.USART10_TX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART10_TX.4.PeriphInc=DMA_PINC_DISABLE
+Dma.USART10_TX.4.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Dma.USART10_TX.4.Priority=DMA_PRIORITY_LOW
+Dma.USART10_TX.4.RequestNumber=1
+Dma.USART10_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Dma.USART10_TX.4.SignalID=NONE
+Dma.USART10_TX.4.SyncEnable=DISABLE
+Dma.USART10_TX.4.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Dma.USART10_TX.4.SyncRequestNumber=1
+Dma.USART10_TX.4.SyncSignalID=NONE
 FDCAN1.AutoRetransmission=ENABLE
 FDCAN1.CalculateBaudRateNominal=1000000
 FDCAN1.CalculateTimeBitNominal=1000
@@ -127,6 +165,7 @@ GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 MMTAppRegionsCount=0
 MMTConfigApplied=false
+MMTSectionSuffix=_Section
 Mcu.CPN=STM32H723VGT6
 Mcu.Family=STM32H7
 Mcu.IP0=CORTEX_M7
@@ -192,6 +231,8 @@ MxDb.Version=DB.6.0.150
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream2_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.DMA2_Stream5_IRQn=true\:5\:0\:true\:false\:true\:false\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@@ -217,6 +258,7 @@ NVIC.TIM2_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.TimeBase=TIM2_IRQn
 NVIC.TimeBaseIP=TIM2
 NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.USART10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 PA13(JTMS/SWDIO).Mode=Serial_Wire
 PA13(JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO
@@ -326,6 +368,7 @@ ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32H723VGTx
 ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1
 ProjectManager.FreePins=false
+ProjectManager.FreePinsContext=
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x1000
 ProjectManager.KeepUserCode=true
diff --git a/ozone/hero.jdebug.user b/ozone/hero.jdebug.user
index dfef6dc..8094ebc 100644
--- a/ozone/hero.jdebug.user
+++ b/ozone/hero.jdebug.user
@@ -1,54 +1,63 @@
 
 
-
-Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/module/gimbal.c:158:10, State=BP_STATE_DISABLED
-GraphedExpression="((((gimbal).feedback).imu).eulr).yaw", Color=#e56a6f, Show=0
-GraphedExpression="(cmd_ai).mode", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#35792b, Show=0
-GraphedExpression="((gimbal).out).yaw", Color=#769dda
-OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor_rm.c", Line=129
-OpenDocument="ctrl_chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_chassis.c", Line=10
+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="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="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="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="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="cmsis_gcc.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/CMSIS/Include/cmsis_gcc.h", Line=1193
-OpenDocument="startup_stm32h723xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32h723xx.s", Line=48
+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="vision_bridge.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/vision_bridge.c", Line=78
-OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3637
+OpenDocument="ctrl_chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_chassis.c", Line=44
 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=42
+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
 OpenDocument="pid.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/pid.c", Line=61
 OpenDocument="gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/gimbal.c", Line=220
-OpenDocument="ctrl_gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_gimbal.c", Line=16
-OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60
+OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3655
+OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor_rm.c", Line=129
 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="stm32h7xx_hal_uart.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c", Line=3332
+OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/supercap.c", Line=27
 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=600, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
-OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=326, h=930, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=728, h=329, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=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="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="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=600, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=326, h=930, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+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="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="1 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="1232;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1248;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="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;463]
+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;1014]
-TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;229;145;100]
-TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((((gimbal).feedback).imu).eulr).yaw";" (cmd_ai).mode";" ((gimbal).out).yaw"], ColWidths=[100;100;100;100;100]
-TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;144;114;134;124;134;110;144;134]
-TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;366]
+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="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
 WatchedExpression="chassis", RefreshRate=5, Window=Watched Data 1
@@ -61,4 +70,7 @@ WatchedExpression="imu_to_can", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="cmd_ai", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="ai", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="queue_list", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="imu_to_can", RefreshRate=5, Window=Watched Data 1
\ No newline at end of file
+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