diff --git a/HAL_N_Middlewares/Src/main.c b/HAL_N_Middlewares/Src/main.c
index f6de927..3abe357 100644
--- a/HAL_N_Middlewares/Src/main.c
+++ b/HAL_N_Middlewares/Src/main.c
@@ -34,7 +34,6 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "robot.h"
-#include "oled.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -115,6 +114,7 @@ int main(void)
 	MX_I2C3_Init();
 	/* USER CODE BEGIN 2 */
 	RobotInit();
+	
 	/* USER CODE END 2 */
 
 	/* Call init function for freertos objects (in freertos.c) */
diff --git a/HAL_N_Middlewares/Src/stm32f4xx_it.c b/HAL_N_Middlewares/Src/stm32f4xx_it.c
index f44f90b..b1f1195 100644
--- a/HAL_N_Middlewares/Src/stm32f4xx_it.c
+++ b/HAL_N_Middlewares/Src/stm32f4xx_it.c
@@ -1,20 +1,20 @@
 /* USER CODE BEGIN Header */
 /**
-  ******************************************************************************
-  * @file    stm32f4xx_it.c
-  * @brief   Interrupt Service Routines.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2023 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * @file    stm32f4xx_it.c
+ * @brief   Interrupt Service Routines.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
 /* USER CODE END Header */
 
 /* Includes ------------------------------------------------------------------*/
@@ -87,8 +87,8 @@ extern UART_HandleTypeDef huart6;
 /*           Cortex-M4 Processor Interruption and Exception Handlers          */
 /******************************************************************************/
 /**
-  * @brief This function handles Non maskable interrupt.
-  */
+ * @brief This function handles Non maskable interrupt.
+ */
 void NMI_Handler(void)
 {
   /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
@@ -102,25 +102,26 @@ void NMI_Handler(void)
 }
 
 /**
-  * @brief This function handles Hard fault interrupt.
-  */
+ * @brief This function handles Hard fault interrupt.
+ */
 void HardFault_Handler(void)
 {
   /* USER CODE BEGIN HardFault_IRQn 0 */
-
+  // 发生hardfault,点击step over会自动跳转回出错的指令,方便调试
+  asm("bx lr");
   /* USER CODE END HardFault_IRQn 0 */
   while (1)
   {
-    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
-    // 发生hardfault,点击step over会自动跳转回出错的指令,方便调试
     asm("bx lr");
+    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+
     /* USER CODE END W1_HardFault_IRQn 0 */
   }
 }
 
 /**
-  * @brief This function handles Memory management fault.
-  */
+ * @brief This function handles Memory management fault.
+ */
 void MemManage_Handler(void)
 {
   /* USER CODE BEGIN MemoryManagement_IRQn 0 */
@@ -134,8 +135,8 @@ void MemManage_Handler(void)
 }
 
 /**
-  * @brief This function handles Pre-fetch fault, memory access fault.
-  */
+ * @brief This function handles Pre-fetch fault, memory access fault.
+ */
 void BusFault_Handler(void)
 {
   /* USER CODE BEGIN BusFault_IRQn 0 */
@@ -149,8 +150,8 @@ void BusFault_Handler(void)
 }
 
 /**
-  * @brief This function handles Undefined instruction or illegal state.
-  */
+ * @brief This function handles Undefined instruction or illegal state.
+ */
 void UsageFault_Handler(void)
 {
   /* USER CODE BEGIN UsageFault_IRQn 0 */
@@ -164,8 +165,8 @@ void UsageFault_Handler(void)
 }
 
 /**
-  * @brief This function handles Debug monitor.
-  */
+ * @brief This function handles Debug monitor.
+ */
 void DebugMon_Handler(void)
 {
   /* USER CODE BEGIN DebugMonitor_IRQn 0 */
@@ -177,20 +178,20 @@ void DebugMon_Handler(void)
 }
 
 /**
-  * @brief This function handles System tick timer.
-  */
+ * @brief This function handles System tick timer.
+ */
 void SysTick_Handler(void)
 {
   /* USER CODE BEGIN SysTick_IRQn 0 */
 
   /* USER CODE END SysTick_IRQn 0 */
   HAL_IncTick();
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
+#if (INCLUDE_xTaskGetSchedulerState == 1)
   if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
   {
 #endif /* INCLUDE_xTaskGetSchedulerState */
-  xPortSysTickHandler();
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
+    xPortSysTickHandler();
+#if (INCLUDE_xTaskGetSchedulerState == 1)
   }
 #endif /* INCLUDE_xTaskGetSchedulerState */
   /* USER CODE BEGIN SysTick_IRQn 1 */
@@ -206,8 +207,8 @@ void SysTick_Handler(void)
 /******************************************************************************/
 
 /**
-  * @brief This function handles EXTI line3 interrupt.
-  */
+ * @brief This function handles EXTI line3 interrupt.
+ */
 void EXTI3_IRQHandler(void)
 {
   /* USER CODE BEGIN EXTI3_IRQn 0 */
@@ -220,8 +221,8 @@ void EXTI3_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles EXTI line4 interrupt.
-  */
+ * @brief This function handles EXTI line4 interrupt.
+ */
 void EXTI4_IRQHandler(void)
 {
   /* USER CODE BEGIN EXTI4_IRQn 0 */
@@ -234,8 +235,8 @@ void EXTI4_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA1 stream1 global interrupt.
-  */
+ * @brief This function handles DMA1 stream1 global interrupt.
+ */
 void DMA1_Stream1_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
@@ -248,8 +249,8 @@ void DMA1_Stream1_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA1 stream2 global interrupt.
-  */
+ * @brief This function handles DMA1 stream2 global interrupt.
+ */
 void DMA1_Stream2_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
@@ -262,8 +263,8 @@ void DMA1_Stream2_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA1 stream3 global interrupt.
-  */
+ * @brief This function handles DMA1 stream3 global interrupt.
+ */
 void DMA1_Stream3_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
@@ -276,8 +277,8 @@ void DMA1_Stream3_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA1 stream4 global interrupt.
-  */
+ * @brief This function handles DMA1 stream4 global interrupt.
+ */
 void DMA1_Stream4_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
@@ -290,8 +291,8 @@ void DMA1_Stream4_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles CAN1 RX0 interrupts.
-  */
+ * @brief This function handles CAN1 RX0 interrupts.
+ */
 void CAN1_RX0_IRQHandler(void)
 {
   /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
@@ -304,8 +305,8 @@ void CAN1_RX0_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles CAN1 RX1 interrupt.
-  */
+ * @brief This function handles CAN1 RX1 interrupt.
+ */
 void CAN1_RX1_IRQHandler(void)
 {
   /* USER CODE BEGIN CAN1_RX1_IRQn 0 */
@@ -318,8 +319,8 @@ void CAN1_RX1_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles I2C2 event interrupt.
-  */
+ * @brief This function handles I2C2 event interrupt.
+ */
 void I2C2_EV_IRQHandler(void)
 {
   /* USER CODE BEGIN I2C2_EV_IRQn 0 */
@@ -332,8 +333,8 @@ void I2C2_EV_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles I2C2 error interrupt.
-  */
+ * @brief This function handles I2C2 error interrupt.
+ */
 void I2C2_ER_IRQHandler(void)
 {
   /* USER CODE BEGIN I2C2_ER_IRQn 0 */
@@ -346,8 +347,8 @@ void I2C2_ER_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles SPI1 global interrupt.
-  */
+ * @brief This function handles SPI1 global interrupt.
+ */
 void SPI1_IRQHandler(void)
 {
   /* USER CODE BEGIN SPI1_IRQn 0 */
@@ -360,8 +361,8 @@ void SPI1_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles SPI2 global interrupt.
-  */
+ * @brief This function handles SPI2 global interrupt.
+ */
 void SPI2_IRQHandler(void)
 {
   /* USER CODE BEGIN SPI2_IRQn 0 */
@@ -374,8 +375,8 @@ void SPI2_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles USART1 global interrupt.
-  */
+ * @brief This function handles USART1 global interrupt.
+ */
 void USART1_IRQHandler(void)
 {
   /* USER CODE BEGIN USART1_IRQn 0 */
@@ -388,8 +389,8 @@ void USART1_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles USART3 global interrupt.
-  */
+ * @brief This function handles USART3 global interrupt.
+ */
 void USART3_IRQHandler(void)
 {
   /* USER CODE BEGIN USART3_IRQn 0 */
@@ -402,8 +403,8 @@ void USART3_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA1 stream7 global interrupt.
-  */
+ * @brief This function handles DMA1 stream7 global interrupt.
+ */
 void DMA1_Stream7_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
@@ -416,8 +417,8 @@ void DMA1_Stream7_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA2 stream0 global interrupt.
-  */
+ * @brief This function handles DMA2 stream0 global interrupt.
+ */
 void DMA2_Stream0_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
@@ -430,8 +431,8 @@ void DMA2_Stream0_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA2 stream2 global interrupt.
-  */
+ * @brief This function handles DMA2 stream2 global interrupt.
+ */
 void DMA2_Stream2_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
@@ -444,8 +445,8 @@ void DMA2_Stream2_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA2 stream3 global interrupt.
-  */
+ * @brief This function handles DMA2 stream3 global interrupt.
+ */
 void DMA2_Stream3_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */
@@ -458,8 +459,8 @@ void DMA2_Stream3_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA2 stream4 global interrupt.
-  */
+ * @brief This function handles DMA2 stream4 global interrupt.
+ */
 void DMA2_Stream4_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA2_Stream4_IRQn 0 */
@@ -472,8 +473,8 @@ void DMA2_Stream4_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles CAN2 RX0 interrupts.
-  */
+ * @brief This function handles CAN2 RX0 interrupts.
+ */
 void CAN2_RX0_IRQHandler(void)
 {
   /* USER CODE BEGIN CAN2_RX0_IRQn 0 */
@@ -486,8 +487,8 @@ void CAN2_RX0_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles CAN2 RX1 interrupt.
-  */
+ * @brief This function handles CAN2 RX1 interrupt.
+ */
 void CAN2_RX1_IRQHandler(void)
 {
   /* USER CODE BEGIN CAN2_RX1_IRQn 0 */
@@ -500,8 +501,8 @@ void CAN2_RX1_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles USB On The Go FS global interrupt.
-  */
+ * @brief This function handles USB On The Go FS global interrupt.
+ */
 void OTG_FS_IRQHandler(void)
 {
   /* USER CODE BEGIN OTG_FS_IRQn 0 */
@@ -514,8 +515,8 @@ void OTG_FS_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA2 stream5 global interrupt.
-  */
+ * @brief This function handles DMA2 stream5 global interrupt.
+ */
 void DMA2_Stream5_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */
@@ -528,8 +529,8 @@ void DMA2_Stream5_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA2 stream6 global interrupt.
-  */
+ * @brief This function handles DMA2 stream6 global interrupt.
+ */
 void DMA2_Stream6_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
@@ -542,8 +543,8 @@ void DMA2_Stream6_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA2 stream7 global interrupt.
-  */
+ * @brief This function handles DMA2 stream7 global interrupt.
+ */
 void DMA2_Stream7_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
@@ -556,8 +557,8 @@ void DMA2_Stream7_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles USART6 global interrupt.
-  */
+ * @brief This function handles USART6 global interrupt.
+ */
 void USART6_IRQHandler(void)
 {
   /* USER CODE BEGIN USART6_IRQn 0 */
@@ -570,8 +571,8 @@ void USART6_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles I2C3 event interrupt.
-  */
+ * @brief This function handles I2C3 event interrupt.
+ */
 void I2C3_EV_IRQHandler(void)
 {
   /* USER CODE BEGIN I2C3_EV_IRQn 0 */
@@ -584,8 +585,8 @@ void I2C3_EV_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles I2C3 error interrupt.
-  */
+ * @brief This function handles I2C3 error interrupt.
+ */
 void I2C3_ER_IRQHandler(void)
 {
   /* USER CODE BEGIN I2C3_ER_IRQn 0 */
diff --git a/Makefile b/Makefile
index 21b9c0b..4691fd1 100644
--- a/Makefile
+++ b/Makefile
@@ -119,6 +119,7 @@ modules/algorithm/QuaternionEKF.c \
 modules/algorithm/crc8.c \
 modules/algorithm/crc16.c \
 modules/algorithm/user_lib.c \
+modules/BMI088/bmi088.c \
 modules/imu/BMI088driver.c \
 modules/imu/BMI088Middleware.c \
 modules/imu/ins_task.c \
@@ -239,6 +240,7 @@ C_INCLUDES =  \
 -Ibsp/bsp_legacy_support \
 -Ibsp \
 -Imodules/algorithm \
+-Imodules/BMI088 \
 -Imodules/imu \
 -Imodules/ist8310 \
 -Imodules/led \
diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index e30a9fe..55625a1 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -49,7 +49,7 @@ static DJIMotorInstance *motor_lb;
 static DJIMotorInstance *motor_rb;
 
 /* 用于自旋变速策略的时间变量,后续考虑查表加速 */
-static float t;
+// static float t;
 
 /* 私有函数计算的中介变量,设为静态避免参数传递的开销 */
 static float chassis_vx, chassis_vy;     // 将云台系的速度投影到底盘
diff --git a/application/robot.c b/application/robot.c
index 9020d70..1cfe403 100644
--- a/application/robot.c
+++ b/application/robot.c
@@ -13,7 +13,10 @@
 #endif
 
 void RobotInit()
-{
+{  
+    // 关闭中断,防止在初始化过程中发生中断
+    // 请不要在初始化过程中使用中断!!!
+    __disable_irq();
     BSPInit();
 
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
@@ -25,6 +28,8 @@ void RobotInit()
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
     ChassisInit();
 #endif
+    // 初始化完成,开启中断
+    __enable_irq();
 }
 
 void RobotTask()
diff --git a/basic_framework.ioc b/basic_framework.ioc
index 2b502f5..d5de61e 100644
--- a/basic_framework.ioc
+++ b/basic_framework.ioc
@@ -293,8 +293,9 @@ NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.DMA2_Stream6_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.EXTI3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.EXTI3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.EXTI4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.EXTI9_5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.I2C2_ER_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@@ -396,7 +397,7 @@ PC11.Locked=true
 PC11.Mode=Asynchronous
 PC11.Signal=USART3_RX
 PC4.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
-PC4.GPIO_Label=INT_ACCEL
+PC4.GPIO_Label=INT_ACC
 PC4.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
 PC4.Locked=true
 PC4.Signal=GPXTI4
diff --git a/bsp/bsp_legacy_support/bsp_buzzer.c b/bsp/bsp_legacy_support/bsp_buzzer.c
index 063824d..cdf2534 100644
--- a/bsp/bsp_legacy_support/bsp_buzzer.c
+++ b/bsp/bsp_legacy_support/bsp_buzzer.c
@@ -18,6 +18,7 @@ void BuzzerOn(uint16_t psc, uint16_t pwm, uint8_t level)
         __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, pwm);
     }
 }
+
 void BuzzerOff(void)
 {
     __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, 0);
diff --git a/bsp/gpio/bsp_gpio.c b/bsp/gpio/bsp_gpio.c
index 0423b68..62ac154 100644
--- a/bsp/gpio/bsp_gpio.c
+++ b/bsp/gpio/bsp_gpio.c
@@ -31,14 +31,13 @@ GPIOInstance *GPIORegister(GPIO_Init_Config_s *GPIO_config)
 {
     GPIOInstance *ins=(GPIOInstance*)malloc(sizeof(GPIOInstance));
     memset(ins,0,sizeof(GPIOInstance));
-
+    
     ins->GPIOx=GPIO_config->GPIOx;
     ins->GPIO_Pin=GPIO_config->GPIO_Pin;
     ins->pin_state=GPIO_config->pin_state;
     ins->exti_mode=GPIO_config->exti_mode;
     ins->id=GPIO_config->id;
     ins->gpio_model_callback=GPIO_config->gpio_model_callback;
-
     gpio_instance[idx++]=ins;
     return ins;
 }
@@ -65,3 +64,4 @@ GPIO_PinState GPIORead(GPIOInstance *_instance)
 {
     return HAL_GPIO_ReadPin(_instance->GPIOx,_instance->GPIO_Pin);
 }
+
diff --git a/bsp/gpio/bsp_gpio.h b/bsp/gpio/bsp_gpio.h
index ced389c..2eab198 100644
--- a/bsp/gpio/bsp_gpio.h
+++ b/bsp/gpio/bsp_gpio.h
@@ -24,7 +24,8 @@ typedef struct tmpgpio
     GPIO_TypeDef *GPIOx;        // GPIOA,GPIOB,GPIOC...
     GPIO_PinState pin_state;    // 引脚状态,Set,Reset;not frequently used
     GPIO_EXTI_MODE_e exti_mode; // 外部中断模式 not frequently used
-    uint16_t GPIO_Pin;          // 引脚号
+    uint16_t GPIO_Pin;          // 引脚号,
+    // 这些引脚是stm32f4xx_hal_gpio.h中定义的宏!!! 一定要注意
     // 随便取个名字当临时声明
     void (*gpio_model_callback)(struct tmpgpio *); // exti中断回调函数
     void *id;                                      // 区分不同的GPIO实例
@@ -40,46 +41,47 @@ typedef struct
     GPIO_TypeDef *GPIOx;        // GPIOA,GPIOB,GPIOC...
     GPIO_PinState pin_state;    // 引脚状态,Set,Reset not frequently used
     GPIO_EXTI_MODE_e exti_mode; // 外部中断模式 not frequently used
-    uint16_t GPIO_Pin;          // 引脚号 
+    uint16_t GPIO_Pin;          // 引脚号,@note 这里的引脚号是GPIO_PIN_0,GPIO_PIN_1...
+    // 这些引脚是stm32f4xx_hal_gpio.h中定义的宏!!! 一定要注意
 
     void (*gpio_model_callback)(GPIOInstance *); // exti中断回调函数
-    void *id; // 区分不同的GPIO实例
-    
+    void *id;                                    // 区分不同的GPIO实例
+
 } GPIO_Init_Config_s;
 
 /**
  * @brief 注册GPIO实例
- * 
- * @param GPIO_config 
- * @return GPIOInstance* 
+ *
+ * @param GPIO_config
+ * @return GPIOInstance*
  */
 GPIOInstance *GPIORegister(GPIO_Init_Config_s *GPIO_config);
 
 /**
  * @brief GPIO API,切换GPIO电平
- * 
- * @param _instance 
+ *
+ * @param _instance
  */
 void GPIOToggel(GPIOInstance *_instance);
 
 /**
  * @brief 设置GPIO电平
- * 
- * @param _instance 
+ *
+ * @param _instance
  */
 void GPIOSet(GPIOInstance *_instance);
 
 /**
  * @brief 复位GPIO电平
- * 
- * @param _instance 
+ *
+ * @param _instance
  */
 void GPIOReset(GPIOInstance *_instance);
 
 /**
  * @brief 读取GPIO电平
- * 
- * @param _instance 
- * @return GPIO_PinState 
+ *
+ * @param _instance
+ * @return GPIO_PinState
  */
 GPIO_PinState GPIORead(GPIOInstance *_instance);
\ No newline at end of file
diff --git a/bsp/gpio/bsp_gpio.md b/bsp/gpio/bsp_gpio.md
index 4d604f0..d58df0d 100644
--- a/bsp/gpio/bsp_gpio.md
+++ b/bsp/gpio/bsp_gpio.md
@@ -1,3 +1,22 @@
+
+可以作为io接口,也可以处理外部中断.
+
 ![image-20230202151939109](../../assets/image-20230202151939109.png)
 
-![img](../../assets/00937839b59a4c039ee8ecb8a5136e3c.png)
\ No newline at end of file
+![img](../../assets/00937839b59a4c039ee8ecb8a5136e3c.png)
+
+
+使用示例
+
+```c
+
+GPIO_Init_Config_s gpio_init = {
+    .exti_mode = GPIO_EXTI_MODE_FALLING, // 注意和CUBEMX的配置一致
+    .GPIO_Pin = GPIO_PIN_6, // GPIO引脚
+    .GPIOx = GPIOG, // GPIO外设
+    .gpio_model_callback = NULL, // EXTI回调函数
+},
+
+GPIOInstance* test_example = GPIORegister(&gpio_init);
+GPIOSet(test_example);
+```
\ No newline at end of file
diff --git a/bsp/iic/bsp_iic.c b/bsp/iic/bsp_iic.c
index 1ea9d5f..fa6168e 100644
--- a/bsp/iic/bsp_iic.c
+++ b/bsp/iic/bsp_iic.c
@@ -15,7 +15,7 @@ IICInstance *IICRegister(IIC_Init_Config_s *conf)
     instance = (IICInstance *)malloc(sizeof(IICInstance));
     memset(instance, 0, sizeof(IICInstance));
 
-    instance->dev_address = conf->dev_address;
+    instance->dev_address = conf->dev_address << 1;
     instance->callback = conf->callback;
     instance->work_mode = conf->work_mode;
     instance->handle = conf->handle;
@@ -81,7 +81,7 @@ void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e s
     case IIC_BLOCK_MODE:
         if (seq_mode != IIC_RELEASE)
             while (1)
-                ; // 阻塞模式下不支持HOLD ON模式!!!
+                ;                                                               // 阻塞模式下不支持HOLD ON模式!!!
         HAL_I2C_Master_Receive(iic->handle, iic->dev_address, data, size, 100); // 默认超时时间100ms
         break;
     case IIC_IT_MODE:
@@ -103,7 +103,7 @@ void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e s
     }
 }
 
-void IICAcessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mem_mode)
+void IICAccessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mem_mode)
 {
     if (mem_mode == IIC_WRITE_MEM)
     {
@@ -129,7 +129,7 @@ void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c)
 {
     // 如果是当前i2c硬件发出的complete,且dev_address和之前发起接收的地址相同,同时回到函数不为空, 则调用回调函数
     for (uint8_t i = 0; i < idx; i++)
-    {   
+    {
         if (iic_instance[i]->handle == hi2c && hi2c->Devaddress == iic_instance[i]->dev_address)
         {
             if (iic_instance[i]->callback != NULL) // 回调函数不为空
diff --git a/bsp/iic/bsp_iic.h b/bsp/iic/bsp_iic.h
index 5b85330..bf17fc3 100644
--- a/bsp/iic/bsp_iic.h
+++ b/bsp/iic/bsp_iic.h
@@ -102,4 +102,4 @@ void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size,IIC_Seq_Mode_e mo
  * @param size 要读取或写入的数据长度
  * @param mode 写入或读取模式: IIC_READ_MEM or IIC_WRITE_MEM
  */
-void IICAcessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mode);
+void IICAccessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mode);
diff --git a/modules/BMI088/bmi088.c b/modules/BMI088/bmi088.c
index 6a4ca8b..b478e26 100644
--- a/modules/BMI088/bmi088.c
+++ b/modules/BMI088/bmi088.c
@@ -1,5 +1,5 @@
-#include "bmi088.h"
 #include "bmi088_regNdef.h"
+#include "bmi088.h"
 #include "stdlib.h"
 #include "memory.h"
 
diff --git a/modules/BMI088/bmi088.h b/modules/BMI088/bmi088.h
index cee962a..3e9184c 100644
--- a/modules/BMI088/bmi088.h
+++ b/modules/BMI088/bmi088.h
@@ -2,6 +2,7 @@
 #define __BMI088_H__
 
 #include "bsp_spi.h"
+#include "bsp_gpio.h"
 #include "controller.h"
 #include "bsp_pwm.h"
 #include "stdint.h"
@@ -16,8 +17,13 @@ typedef enum
 typedef struct
 {
     // 传输模式和工作模式控制
-    SPIInstance *spi_gyro;
-    SPIInstance *spi_acc;
+    BMI088_Work_Mode_e mode; 
+    // SPI接口
+    SPIInstance *spi_gyro; // 注意,SPIInstnace内部也有一个GPIOInstance,用于控制片选CS
+    SPIInstance *spi_acc;  // 注意,SPIInstnace内部也有一个GPIOInstance,用于控制片选CS
+    // EXTI GPIO,如果BMI088工作在中断模式,则需要配置中断引脚(有数据产生时触发解算)
+    GPIOInstance *gyro_int;
+    GPIOInstance *acc_int;
     // 温度控制
     PIDInstance *heat_pid; // 恒温PID
     PWMInstance *heat_pwm; // 加热PWM
@@ -38,6 +44,8 @@ typedef struct
 {
     SPI_Init_Config_s spi_gyro_config;
     SPI_Init_Config_s spi_acc_config;
+    GPIO_Init_Config_s gyro_int_config;
+    GPIO_Init_Config_s acc_int_config;
     BMI088_Work_Mode_e mode;
     PID_Init_Config_s heat_pid_config;
     PWM_Init_Config_s heat_pwm_config;
diff --git a/modules/BMI088/bmi088.md b/modules/BMI088/bmi088.md
new file mode 100644
index 0000000..e69de29
diff --git a/modules/ist8310/ist8310.c b/modules/ist8310/ist8310.c
index 85ccfd0..653fd36 100644
--- a/modules/ist8310/ist8310.c
+++ b/modules/ist8310/ist8310.c
@@ -1 +1,90 @@
+#include "bsp_dwt.h"
 #include "ist8310.h"
+#include "memory.h"
+#include "stdlib.h"
+
+static IST8310Instance *ist8310_instance = NULL;
+
+// -------------------初始化写入数组,只使用一次,详见datasheet-------------------------
+// the first column:the registers of IST8310. 第一列:IST8310的寄存器
+// the second column: the value to be writed to the registers.第二列:需要写入的寄存器值
+// the third column: return error value.第三列:返回的错误码
+#define IST8310_WRITE_REG_NUM 4
+#define IST8310_DATA_REG 0x03       // 数据寄存器
+#define IST8310_WHO_AM_I 0x00       // ist8310 id 寄存器值
+#define IST8310_WHO_AM_I_VALUE 0x10 // ist8310 id 寄存器值,用于检测是否连接成功
+static uint8_t ist8310_write_reg_data_error[IST8310_WRITE_REG_NUM][3] = {
+    {0x0B, 0x08, 0x01},  // enalbe interrupt  and low pin polarity.开启中断，并且设置低电平
+    {0x41, 0x09, 0x02},  // average 2 times.平均采样两次
+    {0x42, 0xC0, 0x03},  // must be 0xC0. 必须是0xC0
+    {0x0A, 0x0B, 0x04}}; // 200Hz output rate.200Hz输出频率
+
+/**
+ * @brief IST8310解码函数,EXTI中断来临时被调用,将数据放到ist.mag中
+ * @note 如果使用IT或DMA方式传输IIC,则传输完成后也会进入此函数
+ *
+ * @param ist 发生中断的IST8310实例
+ */
+static void IST8310Decode(IICInstance *iic)
+{
+    static int16_t temp[3];
+    static IST8310Instance *ist;
+    ist = (IST8310Instance *)(iic->id);
+
+    memcpy(temp, ist->iic_buffer, 6 * sizeof(uint8_t));
+    for (uint8_t i = 0; i < 3; i++)
+        ist->mag[i] = (float)temp[i] * MAG_SEN;
+}
+
+// EXTI中断回调函数,说明DRDY拉低.主机启动传输并在结束后调用IST8310Decode进行数据解析
+// 注意IICAccessMem是阻塞的
+static void IST8310StartTransfer(GPIOInstance *gpio)
+{
+    IST8310Instance *ist_for_transfer = (IST8310Instance *)gpio->id;
+    IICAccessMem(ist_for_transfer->iic, IST8310_DATA_REG, ist_for_transfer->iic_buffer, 6, IIC_READ_MEM);
+    IST8310Decode(ist_for_transfer->iic);
+}
+
+IST8310Instance *IST8310Init(IST8310_Init_Config_s *config)
+{
+    static const uint8_t sleepTime = 50;
+    uint8_t check_who_i_am = 0;
+
+    // 分配空间,清除flash
+    IST8310Instance *ist = (IST8310Instance *)malloc(sizeof(IST8310Instance));
+    memset(ist, 0, sizeof(IST8310Instance));
+
+    // c语言赋值从右到左
+    config->iic_config.id = config->gpio_conf_exti.id = config->gpio_conf_rst.id = ist;
+    // 传入回调函数
+    config->iic_config.callback = IST8310Decode;
+    config->gpio_conf_exti.gpio_model_callback = IST8310StartTransfer;
+    // 注册两个GPIO和IIC
+    ist->iic = IICRegister(&config->iic_config);
+    ist->gpio_exti = GPIORegister(&config->gpio_conf_exti);
+    ist->gpio_rst = GPIORegister(&config->gpio_conf_rst);
+
+    // 重置IST8310,需要HAL_Delay等待完成Reset
+    GPIOReset(ist->gpio_rst);
+    HAL_Delay(sleepTime);
+    GPIOSet(ist->gpio_rst);
+    HAL_Delay(sleepTime);
+
+    // 读取IST8310的ID,如果不是0x10,则返回错误
+    IICAccessMem(ist->iic, IST8310_WHO_AM_I, &check_who_i_am, 1, IIC_READ_MEM);
+    if (check_who_i_am != IST8310_WHO_AM_I_VALUE)
+        return NULL; // while(1)
+
+    // 进行初始化配置写入并检查是否写入成功
+    for (uint8_t i = 0; i < IST8310_WRITE_REG_NUM; i++)
+    { // 写入配置
+        IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &ist8310_write_reg_data_error[i][1], 1, IIC_WRITE_MEM);
+        IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &check_who_i_am, 1, IIC_READ_MEM); // 读回自身id
+        if (check_who_i_am != ist8310_write_reg_data_error[i][1])
+            while (1)
+                ist8310_write_reg_data_error[i][2]; // 掉线/写入失败/未知错误,返回对应的错误码
+    }
+
+    ist8310_instance = ist;
+    return ist;
+}
diff --git a/modules/ist8310/ist8310.h b/modules/ist8310/ist8310.h
index ee57556..64cf28d 100644
--- a/modules/ist8310/ist8310.h
+++ b/modules/ist8310/ist8310.h
@@ -1,5 +1,52 @@
 #pragma once
 
 #include "bsp_iic.h"
+#include "bsp_gpio.h"
 #include "stdint.h"
 
+// 传感器灵敏度系数
+#define MAG_SEN 0.3f // raw int16 data change to uT unit. 原始整型数据变成 单位ut
+
+// IST8310 ret ERROR CODE
+#define IST8310_NO_ERROR 0x00    // seldom used. 一般不会用到
+#define IST8310_NO_SENSOR 0x40   // seldom used. 一般不会用到
+#define IST8310_IIC_ADDRESS 0x0E // the I2C slave address of IST8310
+
+/**
+ * @brief IST8310 实例定义
+ *
+ */
+typedef struct tempist8310
+{
+    IICInstance *iic;             // iic实例
+    GPIOInstance* gpio_rst;       // gpio实例,用于复位
+    GPIOInstance* gpio_exti;      // gpio实例,用于获取MAG_DRDY引脚状态,判断数据是否准备好(EXTI外部中断)
+    uint8_t iic_buffer[8];        // iic接收缓冲区
+    float mag[3];                 // 三轴磁力计数据,[x,y,z]
+
+    void (*ist_module_callback)(IICInstance *); // 模块回调函数
+    // 后续有需要再添加
+    // ...
+} IST8310Instance;
+
+/**
+ * @brief IST8310 初始化配置结构体
+ *
+ */
+typedef struct
+{
+    IIC_Init_Config_s iic_config; // iic初始化配置
+    GPIO_Init_Config_s gpio_conf_rst;  // gpio初始化配置,用于复位
+    GPIO_Init_Config_s gpio_conf_exti; // gpio初始化配置,用于获取MAG_DRDY引脚状态,判断数据是否准备好(EXTI外部中断)
+} IST8310_Init_Config_s;
+
+/**
+ * @brief IST8310 初始化.
+ * @note  一条i2c总线只能挂载一个IST8310
+ *
+ */
+IST8310Instance *IST8310Init(IST8310_Init_Config_s *config);
+
+void rest(int aa);
+
+int nit(int bb);
diff --git a/modules/ist8310/ist8310.md b/modules/ist8310/ist8310.md
index e69de29..d89ee0f 100644
--- a/modules/ist8310/ist8310.md
+++ b/modules/ist8310/ist8310.md
@@ -0,0 +1,27 @@
+
+使用示例
+
+```c
+IST8310_Init_Config_s ist8310_conf = {
+    .gpio_conf_exti = {
+        .exti_mode = GPIO_EXTI_MODE_RISING,
+        .GPIO_Pin = GPIO_PIN_3,
+        .GPIOx = GPIOG,
+        .gpio_model_callback = NULL,
+    },
+    .gpio_conf_rst = {
+        .exti_mode = GPIO_EXTI_MODE_NONE,
+        .GPIO_Pin = GPIO_PIN_6,
+        .GPIOx = GPIOG,
+        .gpio_model_callback = NULL,
+    },
+    .iic_config = {
+        .handle = &hi2c3,
+        .dev_address = IST8310_IIC_ADDRESS,
+        .work_mode = IIC_BLOCK_MODE,
+    },
+};
+IST8310Instance *asdf = IST8310Init(&ist8310_conf);
+
+// 随后数据会被放到asdf.mag[i]中
+```
\ No newline at end of file
diff --git a/modules/referee/referee.c b/modules/referee/referee.c
index f59c2bb..3abb972 100644
--- a/modules/referee/referee.c
+++ b/modules/referee/referee.c
@@ -1,6 +1,6 @@
 #include "referee.h"
 #include "string.h"
-#include "crc.h"
+#include "crc_ref.h"
 #include "bsp_usart.h"
 #include "dma.h"