重构bsp层，bsp层将和HAL的配置一致，修改CubeMX之后不需要修改bsp。重构bmi088。

2022-12-30 23:39:04 +08:00 · 2022-12-30 23:39:04 +08:00 · a3631a5ca5
parent ab1a9726b1
commit a3631a5ca5
39 changed files with 842 additions and 256 deletions
--- a/24
+++ b/24
@ -101,23 +101,25 @@ HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_
 HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c \
 HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c \
 HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c \
-bsp/bsp_dwt.c \
-bsp/bsp_pwm.c \
+bsp/dwt/bsp_dwt.c \
+bsp/pwm/bsp_pwm.c \
 bsp/bsp_temperature.c \
 bsp/bsp_led.c \
-bsp/bsp_spi.c \
-bsp/bsp_iic.c \
-bsp/bsp_can.c \
+bsp/spi/bsp_spi.c \
+bsp/iic/bsp_iic.c \
+bsp/can/bsp_can.c \
 bsp/bsp_buzzer.c \
-bsp/bsp_usart.c \
-bsp/bsp_log.c \
+bsp/usart/bsp_usart.c \
+bsp/log/bsp_log.c \
 bsp/bsp_init.c \
+bsp/gpio/bsp_gpio.c \
 modules/algorithm/controller.c \
 modules/algorithm/kalman_filter.c \
 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 \
@ -225,6 +227,14 @@ C_INCLUDES =  \
 -Iapplication/gimbal \
 -Iapplication/cmd \
 -Iapplication \
+-Ibsp/dwt \
+-Ibsp/can \
+-Ibsp/gpio \
+-Ibsp/usart \
+-Ibsp/spi \
+-Ibsp/iic \
+-Ibsp/log \
+-Ibsp/pwm \
 -Ibsp \
 -Imodules/algorithm \
 -Imodules/imu \
--- a/basic_framework.ioc
+++ b/basic_framework.ioc
@ -21,135 +21,171 @@ CAN2.CalculateBaudRate=1000000
 CAN2.CalculateTimeQuantum=71.42857142857143
 CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate
 CAN2.Prescaler=3
-Dma.MEMTOMEM.5.Direction=DMA_MEMORY_TO_MEMORY
-Dma.MEMTOMEM.5.FIFOMode=DMA_FIFOMODE_ENABLE
-Dma.MEMTOMEM.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
-Dma.MEMTOMEM.5.Instance=DMA2_Stream3
-Dma.MEMTOMEM.5.MemBurst=DMA_MBURST_SINGLE
-Dma.MEMTOMEM.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.MEMTOMEM.5.MemInc=DMA_MINC_ENABLE
-Dma.MEMTOMEM.5.Mode=DMA_NORMAL
-Dma.MEMTOMEM.5.PeriphBurst=DMA_PBURST_SINGLE
-Dma.MEMTOMEM.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.MEMTOMEM.5.PeriphInc=DMA_PINC_ENABLE
-Dma.MEMTOMEM.5.Priority=DMA_PRIORITY_HIGH
-Dma.MEMTOMEM.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
-Dma.Request0=USART3_RX
-Dma.Request1=USART6_RX
-Dma.Request2=USART6_TX
-Dma.Request3=USART1_TX
-Dma.Request4=USART1_RX
-Dma.Request5=MEMTOMEM
-Dma.Request6=SPI1_RX
-Dma.Request7=SPI1_TX
-Dma.Request8=SPI2_RX
-Dma.Request9=SPI2_TX
-Dma.RequestsNb=10
-Dma.SPI1_RX.6.Direction=DMA_PERIPH_TO_MEMORY
-Dma.SPI1_RX.6.FIFOMode=DMA_FIFOMODE_ENABLE
-Dma.SPI1_RX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
-Dma.SPI1_RX.6.Instance=DMA2_Stream0
-Dma.SPI1_RX.6.MemBurst=DMA_MBURST_SINGLE
-Dma.SPI1_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.SPI1_RX.6.MemInc=DMA_MINC_ENABLE
-Dma.SPI1_RX.6.Mode=DMA_NORMAL
-Dma.SPI1_RX.6.PeriphBurst=DMA_PBURST_SINGLE
-Dma.SPI1_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.SPI1_RX.6.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI1_RX.6.Priority=DMA_PRIORITY_LOW
-Dma.SPI1_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
-Dma.SPI1_TX.7.Direction=DMA_MEMORY_TO_PERIPH
-Dma.SPI1_TX.7.FIFOMode=DMA_FIFOMODE_ENABLE
-Dma.SPI1_TX.7.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
-Dma.SPI1_TX.7.Instance=DMA2_Stream5
-Dma.SPI1_TX.7.MemBurst=DMA_MBURST_SINGLE
-Dma.SPI1_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.SPI1_TX.7.MemInc=DMA_MINC_ENABLE
-Dma.SPI1_TX.7.Mode=DMA_NORMAL
-Dma.SPI1_TX.7.PeriphBurst=DMA_PBURST_SINGLE
-Dma.SPI1_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.SPI1_TX.7.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI1_TX.7.Priority=DMA_PRIORITY_LOW
-Dma.SPI1_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
-Dma.SPI2_RX.8.Direction=DMA_PERIPH_TO_MEMORY
-Dma.SPI2_RX.8.FIFOMode=DMA_FIFOMODE_ENABLE
-Dma.SPI2_RX.8.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
-Dma.SPI2_RX.8.Instance=DMA1_Stream3
-Dma.SPI2_RX.8.MemBurst=DMA_MBURST_SINGLE
-Dma.SPI2_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.SPI2_RX.8.MemInc=DMA_MINC_ENABLE
-Dma.SPI2_RX.8.Mode=DMA_NORMAL
-Dma.SPI2_RX.8.PeriphBurst=DMA_PBURST_SINGLE
-Dma.SPI2_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.SPI2_RX.8.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI2_RX.8.Priority=DMA_PRIORITY_LOW
-Dma.SPI2_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
-Dma.SPI2_TX.9.Direction=DMA_MEMORY_TO_PERIPH
-Dma.SPI2_TX.9.FIFOMode=DMA_FIFOMODE_ENABLE
-Dma.SPI2_TX.9.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
-Dma.SPI2_TX.9.Instance=DMA1_Stream4
-Dma.SPI2_TX.9.MemBurst=DMA_MBURST_SINGLE
-Dma.SPI2_TX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.SPI2_TX.9.MemInc=DMA_MINC_ENABLE
-Dma.SPI2_TX.9.Mode=DMA_NORMAL
-Dma.SPI2_TX.9.PeriphBurst=DMA_PBURST_SINGLE
-Dma.SPI2_TX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.SPI2_TX.9.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI2_TX.9.Priority=DMA_PRIORITY_LOW
-Dma.SPI2_TX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
-Dma.USART1_RX.4.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART1_RX.4.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART1_RX.4.Instance=DMA2_Stream2
-Dma.USART1_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART1_RX.4.MemInc=DMA_MINC_ENABLE
-Dma.USART1_RX.4.Mode=DMA_NORMAL
-Dma.USART1_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART1_RX.4.PeriphInc=DMA_PINC_DISABLE
-Dma.USART1_RX.4.Priority=DMA_PRIORITY_VERY_HIGH
-Dma.USART1_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART1_TX.3.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART1_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART1_TX.3.Instance=DMA2_Stream7
-Dma.USART1_TX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART1_TX.3.MemInc=DMA_MINC_ENABLE
-Dma.USART1_TX.3.Mode=DMA_NORMAL
-Dma.USART1_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART1_TX.3.PeriphInc=DMA_PINC_DISABLE
-Dma.USART1_TX.3.Priority=DMA_PRIORITY_VERY_HIGH
-Dma.USART1_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART3_RX.0.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART3_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART3_RX.0.Instance=DMA1_Stream1
-Dma.USART3_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART3_RX.0.MemInc=DMA_MINC_ENABLE
-Dma.USART3_RX.0.Mode=DMA_NORMAL
-Dma.USART3_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART3_RX.0.PeriphInc=DMA_PINC_DISABLE
-Dma.USART3_RX.0.Priority=DMA_PRIORITY_VERY_HIGH
-Dma.USART3_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART6_RX.1.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART6_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART6_RX.1.Instance=DMA2_Stream1
-Dma.USART6_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART6_RX.1.MemInc=DMA_MINC_ENABLE
-Dma.USART6_RX.1.Mode=DMA_NORMAL
-Dma.USART6_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART6_RX.1.PeriphInc=DMA_PINC_DISABLE
-Dma.USART6_RX.1.Priority=DMA_PRIORITY_HIGH
-Dma.USART6_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART6_TX.2.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART6_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART6_TX.2.Instance=DMA2_Stream6
-Dma.USART6_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART6_TX.2.MemInc=DMA_MINC_ENABLE
-Dma.USART6_TX.2.Mode=DMA_NORMAL
-Dma.USART6_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART6_TX.2.PeriphInc=DMA_PINC_DISABLE
-Dma.USART6_TX.2.Priority=DMA_PRIORITY_HIGH
-Dma.USART6_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-FREERTOS.IPParameters=Tasks01,configENABLE_FPU
+Dma.ADC1.12.Direction=DMA_PERIPH_TO_MEMORY
+Dma.ADC1.12.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.ADC1.12.Instance=DMA2_Stream4
+Dma.ADC1.12.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
+Dma.ADC1.12.MemInc=DMA_MINC_ENABLE
+Dma.ADC1.12.Mode=DMA_NORMAL
+Dma.ADC1.12.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
+Dma.ADC1.12.PeriphInc=DMA_PINC_DISABLE
+Dma.ADC1.12.Priority=DMA_PRIORITY_LOW
+Dma.ADC1.12.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.I2C2_RX.8.Direction=DMA_PERIPH_TO_MEMORY
+Dma.I2C2_RX.8.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.I2C2_RX.8.Instance=DMA1_Stream2
+Dma.I2C2_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.I2C2_RX.8.MemInc=DMA_MINC_ENABLE
+Dma.I2C2_RX.8.Mode=DMA_NORMAL
+Dma.I2C2_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.I2C2_RX.8.PeriphInc=DMA_PINC_DISABLE
+Dma.I2C2_RX.8.Priority=DMA_PRIORITY_LOW
+Dma.I2C2_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.I2C2_TX.9.Direction=DMA_MEMORY_TO_PERIPH
+Dma.I2C2_TX.9.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.I2C2_TX.9.Instance=DMA1_Stream7
+Dma.I2C2_TX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.I2C2_TX.9.MemInc=DMA_MINC_ENABLE
+Dma.I2C2_TX.9.Mode=DMA_NORMAL
+Dma.I2C2_TX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.I2C2_TX.9.PeriphInc=DMA_PINC_DISABLE
+Dma.I2C2_TX.9.Priority=DMA_PRIORITY_LOW
+Dma.I2C2_TX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.MEMTOMEM.11.Direction=DMA_MEMORY_TO_MEMORY
+Dma.MEMTOMEM.11.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.MEMTOMEM.11.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.MEMTOMEM.11.Instance=DMA2_Stream5
+Dma.MEMTOMEM.11.MemBurst=DMA_MBURST_SINGLE
+Dma.MEMTOMEM.11.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.MEMTOMEM.11.MemInc=DMA_MINC_ENABLE
+Dma.MEMTOMEM.11.Mode=DMA_NORMAL
+Dma.MEMTOMEM.11.PeriphBurst=DMA_PBURST_SINGLE
+Dma.MEMTOMEM.11.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.MEMTOMEM.11.PeriphInc=DMA_PINC_ENABLE
+Dma.MEMTOMEM.11.Priority=DMA_PRIORITY_LOW
+Dma.MEMTOMEM.11.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.Request0=USART6_RX
+Dma.Request1=USART6_TX
+Dma.Request10=USART3_RX
+Dma.Request11=MEMTOMEM
+Dma.Request12=ADC1
+Dma.Request2=USART1_TX
+Dma.Request3=USART1_RX
+Dma.Request4=SPI1_RX
+Dma.Request5=SPI1_TX
+Dma.Request6=SPI2_RX
+Dma.Request7=SPI2_TX
+Dma.Request8=I2C2_RX
+Dma.Request9=I2C2_TX
+Dma.RequestsNb=13
+Dma.SPI1_RX.4.Direction=DMA_PERIPH_TO_MEMORY
+Dma.SPI1_RX.4.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI1_RX.4.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI1_RX.4.Instance=DMA2_Stream0
+Dma.SPI1_RX.4.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI1_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI1_RX.4.MemInc=DMA_MINC_ENABLE
+Dma.SPI1_RX.4.Mode=DMA_NORMAL
+Dma.SPI1_RX.4.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI1_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI1_RX.4.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI1_RX.4.Priority=DMA_PRIORITY_LOW
+Dma.SPI1_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.SPI1_TX.5.Direction=DMA_MEMORY_TO_PERIPH
+Dma.SPI1_TX.5.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI1_TX.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI1_TX.5.Instance=DMA2_Stream3
+Dma.SPI1_TX.5.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI1_TX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI1_TX.5.MemInc=DMA_MINC_ENABLE
+Dma.SPI1_TX.5.Mode=DMA_NORMAL
+Dma.SPI1_TX.5.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI1_TX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI1_TX.5.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI1_TX.5.Priority=DMA_PRIORITY_LOW
+Dma.SPI1_TX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.SPI2_RX.6.Direction=DMA_PERIPH_TO_MEMORY
+Dma.SPI2_RX.6.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI2_RX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI2_RX.6.Instance=DMA1_Stream3
+Dma.SPI2_RX.6.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI2_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI2_RX.6.MemInc=DMA_MINC_ENABLE
+Dma.SPI2_RX.6.Mode=DMA_NORMAL
+Dma.SPI2_RX.6.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI2_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI2_RX.6.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI2_RX.6.Priority=DMA_PRIORITY_LOW
+Dma.SPI2_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.SPI2_TX.7.Direction=DMA_MEMORY_TO_PERIPH
+Dma.SPI2_TX.7.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI2_TX.7.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI2_TX.7.Instance=DMA1_Stream4
+Dma.SPI2_TX.7.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI2_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI2_TX.7.MemInc=DMA_MINC_ENABLE
+Dma.SPI2_TX.7.Mode=DMA_NORMAL
+Dma.SPI2_TX.7.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI2_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI2_TX.7.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI2_TX.7.Priority=DMA_PRIORITY_LOW
+Dma.SPI2_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.USART1_RX.3.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART1_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_RX.3.Instance=DMA2_Stream2
+Dma.USART1_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_RX.3.MemInc=DMA_MINC_ENABLE
+Dma.USART1_RX.3.Mode=DMA_NORMAL
+Dma.USART1_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_RX.3.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_RX.3.Priority=DMA_PRIORITY_VERY_HIGH
+Dma.USART1_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART1_TX.2.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART1_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_TX.2.Instance=DMA2_Stream7
+Dma.USART1_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_TX.2.MemInc=DMA_MINC_ENABLE
+Dma.USART1_TX.2.Mode=DMA_NORMAL
+Dma.USART1_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_TX.2.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_TX.2.Priority=DMA_PRIORITY_VERY_HIGH
+Dma.USART1_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART3_RX.10.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART3_RX.10.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART3_RX.10.Instance=DMA1_Stream1
+Dma.USART3_RX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART3_RX.10.MemInc=DMA_MINC_ENABLE
+Dma.USART3_RX.10.Mode=DMA_NORMAL
+Dma.USART3_RX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART3_RX.10.PeriphInc=DMA_PINC_DISABLE
+Dma.USART3_RX.10.Priority=DMA_PRIORITY_LOW
+Dma.USART3_RX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART6_RX.0.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART6_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART6_RX.0.Instance=DMA2_Stream1
+Dma.USART6_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART6_RX.0.MemInc=DMA_MINC_ENABLE
+Dma.USART6_RX.0.Mode=DMA_NORMAL
+Dma.USART6_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART6_RX.0.PeriphInc=DMA_PINC_DISABLE
+Dma.USART6_RX.0.Priority=DMA_PRIORITY_HIGH
+Dma.USART6_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART6_TX.1.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART6_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART6_TX.1.Instance=DMA2_Stream6
+Dma.USART6_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART6_TX.1.MemInc=DMA_MINC_ENABLE
+Dma.USART6_TX.1.Mode=DMA_NORMAL
+Dma.USART6_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART6_TX.1.PeriphInc=DMA_PINC_DISABLE
+Dma.USART6_TX.1.Priority=DMA_PRIORITY_HIGH
+Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO
 FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configENABLE_FPU=1
+FREERTOS.configMAX_TASK_NAME_LEN=32
+FREERTOS.configUSE_POSIX_ERRNO=0
+FREERTOS.configUSE_TIMERS=0
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 I2C2.I2C_Mode=I2C_Fast
@ -161,29 +197,31 @@ Mcu.CPN=STM32F407IGH6
 Mcu.Family=STM32F4
 Mcu.IP0=ADC1
 Mcu.IP1=CAN1
-Mcu.IP10=RTC
-Mcu.IP11=SPI1
-Mcu.IP12=SPI2
-Mcu.IP13=SYS
-Mcu.IP14=TIM1
-Mcu.IP15=TIM4
-Mcu.IP16=TIM5
-Mcu.IP17=TIM8
-Mcu.IP18=TIM10
-Mcu.IP19=USART1
+Mcu.IP10=RCC
+Mcu.IP11=RNG
+Mcu.IP12=RTC
+Mcu.IP13=SPI1
+Mcu.IP14=SPI2
+Mcu.IP15=SYS
+Mcu.IP16=TIM1
+Mcu.IP17=TIM4
+Mcu.IP18=TIM5
+Mcu.IP19=TIM8
 Mcu.IP2=CAN2
-Mcu.IP20=USART3
-Mcu.IP21=USART6
-Mcu.IP22=USB_DEVICE
-Mcu.IP23=USB_OTG_FS
-Mcu.IP3=DMA
-Mcu.IP4=FREERTOS
-Mcu.IP5=I2C2
-Mcu.IP6=I2C3
-Mcu.IP7=NVIC
-Mcu.IP8=RCC
-Mcu.IP9=RNG
-Mcu.IPNb=24
+Mcu.IP20=TIM10
+Mcu.IP21=USART1
+Mcu.IP22=USART3
+Mcu.IP23=USART6
+Mcu.IP24=USB_DEVICE
+Mcu.IP25=USB_OTG_FS
+Mcu.IP3=CRC
+Mcu.IP4=DAC
+Mcu.IP5=DMA
+Mcu.IP6=FREERTOS
+Mcu.IP7=I2C2
+Mcu.IP8=I2C3
+Mcu.IP9=NVIC
+Mcu.IPNb=26
 Mcu.Name=STM32F407I(E-G)Hx
 Mcu.Package=UFBGA176
 Mcu.Pin0=PB8
@ -214,35 +252,39 @@ Mcu.Pin30=PH10
 Mcu.Pin31=PD14
 Mcu.Pin32=PA0-WKUP
 Mcu.Pin33=PA4
-Mcu.Pin34=PE13
-Mcu.Pin35=PE9
-Mcu.Pin36=PE11
-Mcu.Pin37=PE14
-Mcu.Pin38=PB13
-Mcu.Pin39=PA7
+Mcu.Pin34=PC4
+Mcu.Pin35=PE13
+Mcu.Pin36=PA5
+Mcu.Pin37=PC5
+Mcu.Pin38=PE9
+Mcu.Pin39=PE11
 Mcu.Pin4=PB3
-Mcu.Pin40=PB0
-Mcu.Pin41=PB14
-Mcu.Pin42=PB15
-Mcu.Pin43=VP_ADC1_TempSens_Input
-Mcu.Pin44=VP_ADC1_Vref_Input
-Mcu.Pin45=VP_FREERTOS_VS_CMSIS_V1
-Mcu.Pin46=VP_RNG_VS_RNG
-Mcu.Pin47=VP_RTC_VS_RTC_Activate
-Mcu.Pin48=VP_SYS_VS_Systick
-Mcu.Pin49=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin40=PE14
+Mcu.Pin41=PB13
+Mcu.Pin42=PA7
+Mcu.Pin43=PB0
+Mcu.Pin44=PB14
+Mcu.Pin45=PB15
+Mcu.Pin46=VP_ADC1_TempSens_Input
+Mcu.Pin47=VP_ADC1_Vref_Input
+Mcu.Pin48=VP_CRC_VS_CRC
+Mcu.Pin49=VP_FREERTOS_VS_CMSIS_V1
 Mcu.Pin5=PA14
-Mcu.Pin50=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin51=VP_TIM5_VS_ClockSourceINT
-Mcu.Pin52=VP_TIM8_VS_ClockSourceINT
-Mcu.Pin53=VP_TIM10_VS_ClockSourceINT
-Mcu.Pin54=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
-Mcu.Pin55=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0
+Mcu.Pin50=VP_RNG_VS_RNG
+Mcu.Pin51=VP_RTC_VS_RTC_Activate
+Mcu.Pin52=VP_SYS_VS_Systick
+Mcu.Pin53=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin54=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin55=VP_TIM5_VS_ClockSourceINT
+Mcu.Pin56=VP_TIM8_VS_ClockSourceINT
+Mcu.Pin57=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin58=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin59=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0
 Mcu.Pin6=PA13
 Mcu.Pin7=PB7
 Mcu.Pin8=PB6
 Mcu.Pin9=PD0
-Mcu.PinsNb=56
+Mcu.PinsNb=60
 Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0
 Mcu.ThirdPartyNb=1
 Mcu.UserConstants=
@ -254,18 +296,26 @@ NVIC.CAN1_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.DMA2_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\: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.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
+NVIC.I2C2_EV_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.I2C3_ER_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.I2C3_EV_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
@ -302,6 +352,7 @@ PA4.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PA4.Locked=true
 PA4.PinState=GPIO_PIN_SET
 PA4.Signal=GPIO_Output
+PA5.Signal=COMP_DAC2_group
 PA7.GPIOParameters=GPIO_PuPd
 PA7.GPIO_PuPd=GPIO_PULLUP
 PA7.Locked=true
@ -359,6 +410,16 @@ PC10.Signal=USART3_TX
 PC11.Locked=true
 PC11.Mode=Asynchronous
 PC11.Signal=USART3_RX
+PC4.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
+PC4.GPIO_Label=INT_ACCEL
+PC4.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
+PC4.Locked=true
+PC4.Signal=GPXTI4
+PC5.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
+PC5.GPIO_Label=INT_GYRO
+PC5.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
+PC5.Locked=true
+PC5.Signal=GPXTI5
 PC6.Locked=true
 PC6.Signal=S_TIM8_CH1
 PC9.Mode=I2C
@ -379,10 +440,8 @@ PE11.Signal=S_TIM1_CH2
 PE13.Locked=true
 PE13.Signal=S_TIM1_CH3
 PE14.Signal=S_TIM1_CH4
-PE9.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
+PE9.GPIOParameters=GPIO_Label
 PE9.GPIO_Label=SERVO
-PE9.GPIO_PuPd=GPIO_PULLUP
-PE9.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PE9.Locked=true
 PE9.Signal=S_TIM1_CH1
 PF0.Mode=I2C
@ -393,7 +452,7 @@ PG14.Locked=true
 PG14.Mode=Asynchronous
 PG14.Signal=USART6_TX
 PG3.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
-PG3.GPIO_Label=MAG_DR
+PG3.GPIO_Label=INT_MAG
 PG3.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
 PG3.GPIO_PuPd=GPIO_PULLUP
 PG3.Locked=true
@ -460,7 +519,7 @@ ProjectManager.StackSize=0x4000
 ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM5_Init-TIM5-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_RNG_Init-RNG-false-HAL-true,12-MX_RTC_Init-RTC-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_TIM10_Init-TIM10-false-HAL-true,15-MX_USART1_UART_Init-USART1-false-HAL-true,16-MX_USART6_UART_Init-USART6-false-HAL-true,17-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,18-MX_TIM8_Init-TIM8-false-HAL-true,19-MX_I2C2_Init-I2C2-false-HAL-true,20-MX_I2C3_Init-I2C3-false-HAL-true,21-MX_SPI2_Init-SPI2-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM5_Init-TIM5-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_RNG_Init-RNG-false-HAL-true,12-MX_RTC_Init-RTC-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_TIM10_Init-TIM10-false-HAL-true,15-MX_USART1_UART_Init-USART1-false-HAL-true,16-MX_USART6_UART_Init-USART6-false-HAL-true,17-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,18-MX_TIM8_Init-TIM8-false-HAL-true,19-MX_I2C2_Init-I2C2-false-HAL-true,20-MX_I2C3_Init-I2C3-false-HAL-true,21-MX_SPI2_Init-SPI2-false-HAL-true,22-MX_CRC_Init-CRC-false-HAL-true,23-MX_DAC_Init-DAC-false-HAL-true
 RCC.48MHZClocksFreq_Value=48000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@ -499,8 +558,14 @@ RCC.VcooutputI2S=192000000
 RTC.AsynchPrediv=124
 RTC.IPParameters=SynchPrediv,AsynchPrediv
 RTC.SynchPrediv=3199
+SH.COMP_DAC2_group.0=DAC_OUT2,DAC_OUT2
+SH.COMP_DAC2_group.ConfNb=1
 SH.GPXTI3.0=GPIO_EXTI3
 SH.GPXTI3.ConfNb=1
+SH.GPXTI4.0=GPIO_EXTI4
+SH.GPXTI4.ConfNb=1
+SH.GPXTI5.0=GPIO_EXTI5
+SH.GPXTI5.ConfNb=1
 SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
 SH.S_TIM10_CH1.ConfNb=1
 SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
@ -549,7 +614,7 @@ TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM1.IPParameters=Period,Prescaler,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM1.IPParameters=Period,Prescaler,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Channel-PWM Generation1 CH1
 TIM1.Period=19999
 TIM1.Prescaler=167
 TIM10.Channel=TIM_CHANNEL_1
@ -591,6 +656,8 @@ VP_ADC1_TempSens_Input.Mode=IN-TempSens
 VP_ADC1_TempSens_Input.Signal=ADC1_TempSens_Input
 VP_ADC1_Vref_Input.Mode=IN-Vrefint
 VP_ADC1_Vref_Input.Signal=ADC1_Vref_Input
+VP_CRC_VS_CRC.Mode=CRC_Activate
+VP_CRC_VS_CRC.Signal=CRC_VS_CRC
 VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
 VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
 VP_RNG_VS_RNG.Mode=RNG_Activate
--- a/bsp/adc/bsp_adc.c
+++ b/bsp/adc/bsp_adc.c
--- a/bsp/adc/bsp_adc.h
+++ b/bsp/adc/bsp_adc.h
--- a/bsp/adc/bsp_adc.md
+++ b/bsp/adc/bsp_adc.md
--- a/bsp/bsp_iic.c
+++ b/bsp/bsp_iic.c
@ -1,4 +0,0 @@
-#include "bsp_iic.h"
-#include "memory.h"
-#include "stdlib.h"
-
--- a/bsp/bsp_iic.h
+++ b/bsp/bsp_iic.h
@ -1,11 +0,0 @@
-#include "i2c.h"
-#include "stdint.h"
-
-#define IIC_DEVICE_CNT ()
-
-typedef struct
-{
-    I2C_HandleTypeDef* handle;
-
-};
-
--- a/bsp/can/bsp_can.c
+++ b/bsp/can/bsp_can.c
@ -6,6 +6,7 @@
 /* can instance ptrs storage, used for recv callback */
 // 在CAN产生接收中断会遍历数组,选出hcan和rxid与发生中断的实例相同的那个,调用其回调函数
 static CANInstance *instance[MX_REGISTER_DEVICE_CNT] = {NULL};
+static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增

 /* ----------------two static function called by CANRegister()-------------------- */

@ -62,7 +63,6 @@ static void CANServiceInit()

 CANInstance *CANRegister(CAN_Init_Config_s *config)
 {
-    static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增
    if (!idx)
    {
        CANServiceInit(); // 第一次注册,先进行硬件初始化
@ -96,9 +96,9 @@ void CANTransmit(CANInstance *_instance)

 void CANSetDLC(CANInstance *_instance, uint8_t length)
 {
-    if (length > 8) // 安全检查
+    if (length > 8 || length < 0) // 安全检查
        while (1)
-            ;
+            ; // 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问
    _instance->txconf.DLC = length;
 }

@ -113,24 +113,23 @@ void CANSetDLC(CANInstance *_instance, uint8_t length)
 */
 static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
 {
-    uint8_t can_rx_buff[8];
-    CAN_RxHeaderTypeDef rxconf;
+    static uint8_t can_rx_buff[8];
+    static CAN_RxHeaderTypeDef rxconf;
    HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff);
-    for (size_t i = 0; i < MX_REGISTER_DEVICE_CNT; ++i)
+    for (size_t i = 0; i < idx; ++i)
    {
-        if (instance[i] != NULL) // 碰到NULL说明已经遍历完所有实例
-        {                        // 两者相等说明这是要找的实例
+        // 两者相等说明这是要找的实例
        if (_hcan == instance[i]->can_handle && rxconf.StdId == instance[i]->rx_id)
        {
            instance[i]->rx_len = rxconf.DLC;
            memcpy(instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
+            if (instance[i]->can_module_callback != NULL)
+            {
                instance[i]->can_module_callback(instance[i]); // 触发回调进行数据解析和处理
+            }
            break;
        }
    }
-        else
-            break;
-    }
 }

 /* ATTENTION: two CAN devices in STM32 share two FIFOs */
--- a/bsp/can/bsp_can.h
+++ b/bsp/can/bsp_can.h
@ -17,13 +17,13 @@ typedef struct _
    CAN_TxHeaderTypeDef txconf;    // CAN报文发送配置
    uint32_t tx_id;                // 发送id
    uint32_t tx_mailbox;           // CAN消息填入的邮箱号
-    uint8_t tx_buff[8];            // 发送缓存,最大为8
-    uint8_t rx_buff[8];            // 接收缓存
+    uint8_t tx_buff[8];            // 发送缓存,发送消息长度可以通过CANSetDLC()设定,最大为8
+    uint8_t rx_buff[8];            // 接收缓存,最大消息长度为8
    uint32_t rx_id;                // 接收id
    uint8_t rx_len;                // 接收长度,可能为0-8
    // 接收的回调函数,用于解析接收到的数据
    void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones
-    void* id;
+    void* id; // 使用can外设的
 } CANInstance;
 #pragma pack()

--- a/bsp/can/bsp_can.md
+++ b/bsp/can/bsp_can.md
--- a/bsp/dac/bsp_dac.c
+++ b/bsp/dac/bsp_dac.c
--- a/bsp/dac/bsp_dac.h
+++ b/bsp/dac/bsp_dac.h
--- a/bsp/dac/bsp_dac.md
+++ b/bsp/dac/bsp_dac.md
--- a/bsp/dwt/bsp_dwt.c
+++ b/bsp/dwt/bsp_dwt.c
--- a/bsp/dwt/bsp_dwt.h
+++ b/bsp/dwt/bsp_dwt.h
--- a/bsp/dwt/bsp_dwt.md
+++ b/bsp/dwt/bsp_dwt.md
--- a/bsp/gpio/bsp_gpio.c
+++ b/bsp/gpio/bsp_gpio.c
--- a/bsp/gpio/bsp_gpio.h
+++ b/bsp/gpio/bsp_gpio.h
--- a/bsp/gpio/bsp_gpio.md
+++ b/bsp/gpio/bsp_gpio.md
--- a/bsp/iic/bsp_iic.c
+++ b/bsp/iic/bsp_iic.c
@ -0,0 +1,145 @@
+#include "bsp_iic.h"
+#include "memory.h"
+#include "stdlib.h"
+
+static uint8_t idx = 0; // 配合中断以及初始化
+static IICInstance *iic_instance[IIC_DEVICE_CNT] = {NULL};
+
+/**
+ * @brief 接收完成回调函数
+ *
+ * @param hi2c handle
+ */
+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)
+                iic_instance[i]->callback(iic_instance[i]);
+            return;
+        }
+    }
+}
+
+/**
+ * @brief 仅做形式上的封装,仍然使用HAL_I2C_MasterRxCpltCallback
+ *
+ * @param hi2c handle
+ */
+void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c)
+{
+    HAL_I2C_MasterRxCpltCallback(hi2c);
+}
+
+IICInstance *IICRegister(IIC_Init_Config_s *conf)
+{
+    // 申请到的空间未必是0, 所以需要手动初始化
+    iic_instance[idx] = (IICInstance *)malloc(sizeof(IICInstance));
+    memset(iic_instance[idx], 0, sizeof(IICInstance));
+
+    iic_instance[idx]->dev_address = conf->dev_address;
+    iic_instance[idx]->callback = conf->callback;
+    iic_instance[idx]->work_mode = conf->work_mode;
+    iic_instance[idx]->handle = conf->handle;
+    iic_instance[idx]->id = conf->id;
+
+    return iic_instance[idx++];
+}
+
+void IICSetMode(IICInstance *iic, IIC_Work_Mode_e mode)
+{ // HAL自带重入保护,不需要手动终止或等待传输完成
+    if (iic->work_mode != mode) // 如果不同才需要修改
+    {
+        iic->work_mode = mode;
+    }
+}
+
+void IICTransmit(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e seq_mode)
+{
+    if (seq_mode != IIC_RELEASE && seq_mode != IIC_HOLD_ON)
+        while (1)
+            ; // 未知传输模式, 程序停止
+
+    switch (iic->work_mode)
+    {
+    case IIC_BLOCK_MODE:
+        if (seq_mode != IIC_RELEASE)
+            while (1)
+                ; // 阻塞模式下不支持HOLD ON模式!!!
+        HAL_I2C_Master_Transmit(iic->handle, iic->dev_address, data, size, 100);
+        break;
+    case IIC_IT_MODE:
+        if (seq_mode == IIC_RELEASE)
+            HAL_I2C_Master_Seq_Transmit_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
+        else if (seq_mode == IIC_HOLD_ON)
+            HAL_I2C_Master_Seq_Transmit_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
+        break;
+    case IIC_DMA_MODE:
+        if (seq_mode == IIC_RELEASE)
+            HAL_I2C_Master_Seq_Transmit_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
+        else if (seq_mode == IIC_HOLD_ON)
+            HAL_I2C_Master_Seq_Transmit_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
+        break;
+    default:
+        while (1)
+            ; // 未知传输模式, 程序停止
+        break;
+    }
+}
+
+void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e seq_mode)
+{
+    if (seq_mode != IIC_RELEASE && seq_mode != IIC_HOLD_ON)
+        while (1)
+            ; // 未知传输模式, 程序停止
+
+    // 初始化接收缓冲区地址以及接受长度, 用于中断回调函数
+    iic->rx_buffer = data;
+    iic->rx_len = size;
+
+    switch (iic->work_mode)
+    {
+    case IIC_BLOCK_MODE:
+        if (seq_mode != IIC_RELEASE)
+            while (1)
+                ; // 阻塞模式下不支持HOLD ON模式!!!
+        HAL_I2C_Master_Receive(iic->handle, iic->dev_address, data, size, 100);
+        break;
+    case IIC_IT_MODE:
+        if (seq_mode == IIC_RELEASE)
+            HAL_I2C_Master_Seq_Receive_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
+        else if (seq_mode == IIC_HOLD_ON)
+            HAL_I2C_Master_Seq_Receive_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
+        break;
+    case IIC_DMA_MODE:
+        if (seq_mode == IIC_RELEASE)
+            HAL_I2C_Master_Seq_Receive_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
+        else if (seq_mode == IIC_HOLD_ON)
+            HAL_I2C_Master_Seq_Receive_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
+        break;
+    default:
+        while (1)
+            ; // 未知传输模式, 程序停止
+        break;
+    }
+}
+
+void IICAcessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mem_mode)
+{
+    if (mem_mode == IIC_WRITE_MEM)
+    {
+        HAL_I2C_Mem_Write(iic->handle, iic->dev_address, mem_addr, I2C_MEMADD_SIZE_8BIT, data, size, 1000);
+    }
+    else if (mem_mode == IIC_READ_MEM)
+    {
+        HAL_I2C_Mem_Read(iic->handle, iic->dev_address, mem_addr, I2C_MEMADD_SIZE_8BIT, data, size, 1000);
+    }
+    else
+    {
+        while (1)
+            ; // 未知模式, 程序停止
+    }
+}
--- a/bsp/iic/bsp_iic.h
+++ b/bsp/iic/bsp_iic.h
@ -0,0 +1,105 @@
+#include "i2c.h"
+#include "stdint.h"
+
+#define IIC_DEVICE_CNT 2   // C板引出了I2C2和I2C3
+#define MX_IIC_SLAVE_CNT 8 // 最大从机数目,根据需要修改
+
+/* i2c 工作模式枚举 */
+typedef enum
+{
+    // 基本工作模式
+    IIC_BLOCK_MODE = 0, // 阻塞模式
+    IIC_IT_MODE,        // 中断模式
+    IIC_DMA_MODE,       // DMA模式
+
+} IIC_Work_Mode_e;
+
+/* I2C MEM工作模式枚举,这两种方法都是阻塞 */
+typedef enum
+{
+    IIC_READ_MEM = 0, // 读取从机内部的寄存器or内存
+    IIC_WRITE_MEM,    // 写入从机内部的寄存器or内存
+} IIC_Mem_Mode_e;
+
+/* Seq传输工作模式枚举,注意HOLD_ON要在IT或DMA下使用 */
+// 必须以IIC_RELEASE为最后一次传输,否则会导致总线占有权无法释放
+typedef enum
+{
+    IIC_RELEASE,     // 完成传输后释放总线占有权,这是默认的传输方式
+    IIC_HOLD_ON = 0, // 保持总线占有权不释放,只支持IT和DMA模式
+} IIC_Seq_Mode_e;
+
+/* i2c实例 */
+typedef struct iic_temp_s
+{
+    I2C_HandleTypeDef *handle; // i2c handle
+    uint8_t dev_address;       // 暂时只支持7位地址(还有一位是读写位)
+
+    IIC_Work_Mode_e work_mode;             // 工作模式
+    uint8_t *rx_buffer;                    // 接收缓冲区指针
+    uint8_t rx_len;                        // 接收长度
+    void (*callback)(struct iic_temp_s *); // 接收完成后的回调函数
+
+    void *id; // 用于标识i2c instance
+} IICInstance;
+
+/* I2C 初始化结构体配置 */
+typedef struct
+{
+    I2C_HandleTypeDef *handle;       // i2c handle
+    uint8_t dev_address;             // 暂时只支持7位地址(还有一位是读写位),注意不需要左移
+    IIC_Work_Mode_e work_mode;       // 工作模式
+    void (*callback)(IICInstance *); // 接收完成后的回调函数
+    void *id;                        // 用于标识i2c instance
+} IIC_Init_Config_s;
+
+/**
+ * @brief IIC初始化
+ *
+ * @param conf 初始化配置
+ * @return IICInstance*
+ */
+IICInstance *IICRegister(IIC_Init_Config_s *conf);
+
+/**
+ * @brief IIC设置工作模式
+ *
+ * @param iic 要设置的iic实例
+ * @param mode 工作模式
+ */
+void IICSetMode(IICInstance *iic, IIC_Work_Mode_e mode);
+
+/**
+ * @brief IIC发送数据
+ *
+ * @param iic iic实例
+ * @param data 待发送的数据首地址指针
+ * @param size 发送长度
+ * @param mode 序列传输模式
+ * @note 注意,如果发送结构体,那么该结构体在声明时务必使用#pragma pack(1)进行对齐,并在声明结束后使用#pragma pack()恢复对齐
+ *
+ */
+void IICTransmit(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e mode);
+
+/**
+ * @brief IIC接收数据
+ * 
+ * @param iic iic实例
+ * @param data 接收数据的首地址指针
+ * @param size 接收长度
+ * @param mode 序列传输模式
+ * @note 注意,如果直接将接收数据memcpy到目标结构体或通过强制类型转换进行逐字节写入,
+ *       那么该结构体在声明时务必使用#pragma pack(1)进行对齐,并在声明结束后使用#pragma pack()恢复对齐
+ */
+void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size,IIC_Seq_Mode_e mode);
+
+/**
+ * @brief IIC读取从机寄存器(内存),只支持阻塞模式,超时默认为1ms
+ *
+ * @param iic iic实例
+ * @param mem_addr 要读取的从机内存地址,目前只支持8位地址
+ * @param data 要读取或写入的数据首地址指针
+ * @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);
--- a/bsp/iic/bsp_iic.md
+++ b/bsp/iic/bsp_iic.md
--- a/bsp/log/bsp_log.c
+++ b/bsp/log/bsp_log.c
--- a/bsp/log/bsp_log.h
+++ b/bsp/log/bsp_log.h
--- a/bsp/log/bsp_log.md
+++ b/bsp/log/bsp_log.md
--- a/bsp/pwm/bsp_pwm.c
+++ b/bsp/pwm/bsp_pwm.c
--- a/bsp/pwm/bsp_pwm.h
+++ b/bsp/pwm/bsp_pwm.h
--- a/bsp/spi/bsp_spi.c
+++ b/bsp/spi/bsp_spi.c
@ -15,11 +15,16 @@ void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
 {
    for (size_t i = 0; i < idx; i++)
    {
-        if (spi_instance[i]->spi_handle == hspi && spi_instance[i]->callback)
+        // 如果是当前spi硬件发出的complete,且cs_pin为低电平(说明正在传输),则尝试调用回调函数
+        if (spi_instance[i]->spi_handle == hspi &&
+            HAL_GPIO_ReadPin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin) == GPIO_PIN_RESET)
        {
-            // 拉高片选(关闭传输),调用解析回调函数
+            if (spi_instance[i]->callback) // 回调函数不为空, 则调用回调函数
+            {
+                // 先拉高片选,结束传输
                HAL_GPIO_WritePin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin, GPIO_PIN_SET);
                spi_instance[i]->callback(spi_instance[i]);
+            }
            break;
        }
    }
@ -41,6 +46,9 @@ SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
    spi_instance[idx]->callback = conf->callback;
    spi_instance[idx]->spi_work_mode = conf->spi_work_mode;
    spi_instance[idx]->spi_handle = conf->spi_handle;
+    spi_instance[idx]->GPIO_cs = conf->GPIO_cs;
+    spi_instance[idx]->cs_pin = conf->cs_pin;
+    spi_instance[idx]->id = conf->id;
    return spi_instance[idx++];
 }

@ -70,6 +78,9 @@ void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)

 void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
 {
+    // 用于稍后回调使用
+    spi_ins->rx_size = len;
+    spi_ins->rx_buffer = ptr_data;
    // 拉低片选,开始传输
    HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET);
    switch (spi_ins->spi_work_mode)
@ -94,6 +105,9 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)

 void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_tx, uint8_t len)
 {
+    // 用于稍后回调使用
+    spi_ins->rx_size = len;
+    spi_ins->rx_buffer = ptr_data_rx;
    // 拉低片选,开始传输
    HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET);
    switch (spi_ins->spi_work_mode)
@ -118,26 +132,12 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_

 void SPISetMode(SPIInstance *spi_ins, SPI_TXRX_MODE_e spi_mode)
 {
-    if (spi_ins->spi_work_mode != spi_mode)
-    {
-        switch (spi_ins->spi_work_mode)
-        {
-        case SPI_IT_MODE:
-        case SPI_DMA_MODE:
-            // IT和DMA处理相同,都是先终止传输,防止传输未完成直接切换导致spi死机
-            HAL_SPI_Abort_IT(spi_ins->spi_handle);
-            HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET); // 关闭后拉高片选
-            break;
-        case SPI_BLOCK_MODE:
-            // 阻塞模式仍然有可能在多线程的情况下出现传输到一半切换,因此先终止
-            HAL_SPI_Abort(spi_ins->spi_handle);
-            HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET); // 关闭后拉高片选
-            break;
-        default:
+    if (spi_mode != SPI_DMA_MODE && spi_mode != SPI_IT_MODE && spi_mode != SPI_BLOCK_MODE)
        while (1)
            ; // error mode! 请查看是否正确设置模式，或出现指针越界导致模式被异常修改的情况
-            break;
-        }
+
+    if (spi_ins->spi_work_mode != spi_mode)
+    {
        spi_ins->spi_work_mode = spi_mode;
    }
 }
--- a/bsp/spi/bsp_spi.h
+++ b/bsp/spi/bsp_spi.h
@ -20,21 +20,29 @@ typedef struct spi_ins_temp
    SPI_HandleTypeDef *spi_handle; // SPI外设handle
    GPIO_TypeDef *GPIO_cs;         // 片选信号对应的GPIO,如GPIOA,GPIOB等等
    uint16_t cs_pin;               // 片选信号对应的引脚号,GPIO_PIN_1,GPIO_PIN_2等等
+
    SPI_TXRX_MODE_e spi_work_mode;           // 传输工作模式
+    uint8_t rx_size;                         // 本次接收的数据长度
+    uint8_t *rx_buffer;                      // 本次接收的数据缓冲区
    void (*callback)(struct spi_ins_temp *); // 接收回调函数
+
+    void *id; // 模块指针
 } SPIInstance;

 /* rx data resolve callback*/
 typedef void (*spi_rx_callback)(SPIInstance *);

-/* SPI初始化配置,其实和SPIIstance一模一样,为了代码风格统一因此再次定义 */
+/* SPI初始化配置,其实基本和SPIIstance一模一样,为了代码风格统一因此再次定义 */
 typedef struct
 {
    SPI_HandleTypeDef *spi_handle; // SPI外设handle
    GPIO_TypeDef *GPIO_cs;         // 片选信号对应的GPIO,如GPIOA,GPIOB等等
    uint16_t cs_pin;               // 片选信号对应的引脚号,GPIO_PIN_1,GPIO_PIN_2等等
+
    SPI_TXRX_MODE_e spi_work_mode; // 传输工作模式
+
    spi_rx_callback callback; // 接收回调函数
+    void *id;                 // 模块指针
 } SPI_Init_Config_s;

 /**
@ -78,5 +86,8 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_
 *
 * @param spi_ins spi实例指针
 * @param spi_mode 工作模式,包括阻塞模式(block),中断模式(IT),DMA模式.详见SPI_TXRX_MODE_e的定义
+ * @param force_set_flag 强制设置标志,当该标志为1时,强制停止当前spi的收发,并切换到新的工作模式;
+ *                       当该标志为0时,如果当前spi正在收发,则不会切换工作模式,等待传输完成后切换.
+ * @todo HAL已经提供了防止重入的机制,因此强制设置标志可以去掉,也不需要再判断spi是否正在收发
 */
 void SPISetMode(SPIInstance *spi_ins, SPI_TXRX_MODE_e spi_mode);
--- a/bsp/usart/bsp_usart.c
+++ b/bsp/usart/bsp_usart.c
--- a/bsp/usart/bsp_usart.h
+++ b/bsp/usart/bsp_usart.h
--- a/bsp/usart/bsp_usart.md
+++ b/bsp/usart/bsp_usart.md
--- a/modules/BMI088/bmi088.c
+++ b/modules/BMI088/bmi088.c
@ -0,0 +1,5 @@
+#include "bmi088.h"
+#include "bmi088_regNdef.h"
+#include "stdlib.h"
+#include "memory.h"
+
--- a/modules/BMI088/bmi088.h
+++ b/modules/BMI088/bmi088.h
@ -0,0 +1,17 @@
+#include "bsp_spi.h"
+
+/* BMI088实例结构体定义 */
+typedef struct
+{
+    SPIInstance *spi_gyro; 
+    SPIInstance *spi_acc;
+
+
+} BMI088Instance;
+
+/* BMI088初始化配置 */
+typedef struct
+{
+
+}BMI088_Init_Config_s;
+
--- a/modules/BMI088/bmi088_regNdef.h
+++ b/modules/BMI088/bmi088_regNdef.h
@ -0,0 +1,234 @@
+#ifndef BMI088REG_H
+#define BMI088REG_H
+
+/*------- BMI088寄存器地址和内容-------*/
+
+#define BMI088_ACC_CHIP_ID 0x00 // the register is  " Who am I "
+#define BMI088_ACC_CHIP_ID_VALUE 0x1E
+
+#define BMI088_ACC_ERR_REG 0x02
+#define BMI088_ACCEL_CONGIF_ERROR_SHFITS 0x2
+#define BMI088_ACCEL_CONGIF_ERROR (1 << BMI088_ACCEL_CONGIF_ERROR_SHFITS)
+#define BMI088_FATAL_ERROR_SHFITS 0x0
+#define BMI088_FATAL_ERROR (1 << BMI088_FATAL_ERROR)
+
+#define BMI088_ACC_STATUS 0x03
+#define BMI088_ACCEL_DRDY_SHFITS 0x7
+#define BMI088_ACCEL_DRDY (1 << BMI088_ACCEL_DRDY_SHFITS)
+
+#define BMI088_ACCEL_XOUT_L 0x12
+#define BMI088_ACCEL_XOUT_M 0x13
+#define BMI088_ACCEL_YOUT_L 0x14
+#define BMI088_ACCEL_YOUT_M 0x15
+#define BMI088_ACCEL_ZOUT_L 0x16
+#define BMI088_ACCEL_ZOUT_M 0x17
+
+#define BMI088_SENSORTIME_DATA_L 0x18
+#define BMI088_SENSORTIME_DATA_M 0x19
+#define BMI088_SENSORTIME_DATA_H 0x1A
+
+#define BMI088_ACC_INT_STAT_1 0x1D
+#define BMI088_ACCEL_DRDY_INTERRUPT_SHFITS 0x7
+#define BMI088_ACCEL_DRDY_INTERRUPT (1 << BMI088_ACCEL_DRDY_INTERRUPT_SHFITS)
+
+#define BMI088_TEMP_M 0x22
+
+#define BMI088_TEMP_L 0x23
+
+#define BMI088_ACC_CONF 0x40
+#define BMI088_ACC_CONF_MUST_Set 0x80
+#define BMI088_ACC_BWP_SHFITS 0x4
+#define BMI088_ACC_OSR4 (0x0 << BMI088_ACC_BWP_SHFITS)
+#define BMI088_ACC_OSR2 (0x1 << BMI088_ACC_BWP_SHFITS)
+#define BMI088_ACC_NORMAL (0x2 << BMI088_ACC_BWP_SHFITS)
+
+#define BMI088_ACC_ODR_SHFITS 0x0
+#define BMI088_ACC_12_5_HZ (0x5 << BMI088_ACC_ODR_SHFITS)
+#define BMI088_ACC_25_HZ (0x6 << BMI088_ACC_ODR_SHFITS)
+#define BMI088_ACC_50_HZ (0x7 << BMI088_ACC_ODR_SHFITS)
+#define BMI088_ACC_100_HZ (0x8 << BMI088_ACC_ODR_SHFITS)
+#define BMI088_ACC_200_HZ (0x9 << BMI088_ACC_ODR_SHFITS)
+#define BMI088_ACC_400_HZ (0xA << BMI088_ACC_ODR_SHFITS)
+#define BMI088_ACC_800_HZ (0xB << BMI088_ACC_ODR_SHFITS)
+#define BMI088_ACC_1600_HZ (0xC << BMI088_ACC_ODR_SHFITS)
+
+#define BMI088_ACC_RANGE 0x41
+
+#define BMI088_ACC_RANGE_SHFITS 0x0
+#define BMI088_ACC_RANGE_3G (0x0 << BMI088_ACC_RANGE_SHFITS)
+#define BMI088_ACC_RANGE_6G (0x1 << BMI088_ACC_RANGE_SHFITS)
+#define BMI088_ACC_RANGE_12G (0x2 << BMI088_ACC_RANGE_SHFITS)
+#define BMI088_ACC_RANGE_24G (0x3 << BMI088_ACC_RANGE_SHFITS)
+
+#define BMI088_INT1_IO_CTRL 0x53
+#define BMI088_ACC_INT1_IO_ENABLE_SHFITS 0x3
+#define BMI088_ACC_INT1_IO_ENABLE (0x1 << BMI088_ACC_INT1_IO_ENABLE_SHFITS)
+#define BMI088_ACC_INT1_GPIO_MODE_SHFITS 0x2
+#define BMI088_ACC_INT1_GPIO_PP (0x0 << BMI088_ACC_INT1_GPIO_MODE_SHFITS)
+#define BMI088_ACC_INT1_GPIO_OD (0x1 << BMI088_ACC_INT1_GPIO_MODE_SHFITS)
+#define BMI088_ACC_INT1_GPIO_LVL_SHFITS 0x1
+#define BMI088_ACC_INT1_GPIO_LOW (0x0 << BMI088_ACC_INT1_GPIO_LVL_SHFITS)
+#define BMI088_ACC_INT1_GPIO_HIGH (0x1 << BMI088_ACC_INT1_GPIO_LVL_SHFITS)
+
+#define BMI088_INT2_IO_CTRL 0x54
+#define BMI088_ACC_INT2_IO_ENABLE_SHFITS 0x3
+#define BMI088_ACC_INT2_IO_ENABLE (0x1 << BMI088_ACC_INT2_IO_ENABLE_SHFITS)
+#define BMI088_ACC_INT2_GPIO_MODE_SHFITS 0x2
+#define BMI088_ACC_INT2_GPIO_PP (0x0 << BMI088_ACC_INT2_GPIO_MODE_SHFITS)
+#define BMI088_ACC_INT2_GPIO_OD (0x1 << BMI088_ACC_INT2_GPIO_MODE_SHFITS)
+#define BMI088_ACC_INT2_GPIO_LVL_SHFITS 0x1
+#define BMI088_ACC_INT2_GPIO_LOW (0x0 << BMI088_ACC_INT2_GPIO_LVL_SHFITS)
+#define BMI088_ACC_INT2_GPIO_HIGH (0x1 << BMI088_ACC_INT2_GPIO_LVL_SHFITS)
+
+#define BMI088_INT_MAP_DATA 0x58
+#define BMI088_ACC_INT2_DRDY_INTERRUPT_SHFITS 0x6
+#define BMI088_ACC_INT2_DRDY_INTERRUPT (0x1 << BMI088_ACC_INT2_DRDY_INTERRUPT_SHFITS)
+#define BMI088_ACC_INT1_DRDY_INTERRUPT_SHFITS 0x2
+#define BMI088_ACC_INT1_DRDY_INTERRUPT (0x1 << BMI088_ACC_INT1_DRDY_INTERRUPT_SHFITS)
+
+#define BMI088_ACC_SELF_TEST 0x6D
+#define BMI088_ACC_SELF_TEST_OFF 0x00
+#define BMI088_ACC_SELF_TEST_POSITIVE_SIGNAL 0x0D
+#define BMI088_ACC_SELF_TEST_NEGATIVE_SIGNAL 0x09
+
+#define BMI088_ACC_PWR_CONF 0x7C
+#define BMI088_ACC_PWR_SUSPEND_MODE 0x03
+#define BMI088_ACC_PWR_ACTIVE_MODE 0x00
+
+#define BMI088_ACC_PWR_CTRL 0x7D
+#define BMI088_ACC_ENABLE_ACC_OFF 0x00
+#define BMI088_ACC_ENABLE_ACC_ON 0x04
+
+#define BMI088_ACC_SOFTRESET 0x7E
+#define BMI088_ACC_SOFTRESET_VALUE 0xB6
+
+#define BMI088_GYRO_CHIP_ID 0x00
+#define BMI088_GYRO_CHIP_ID_VALUE 0x0F
+
+#define BMI088_GYRO_X_L 0x02
+#define BMI088_GYRO_X_H 0x03
+#define BMI088_GYRO_Y_L 0x04
+#define BMI088_GYRO_Y_H 0x05
+#define BMI088_GYRO_Z_L 0x06
+#define BMI088_GYRO_Z_H 0x07
+
+#define BMI088_GYRO_INT_STAT_1 0x0A
+#define BMI088_GYRO_DYDR_SHFITS 0x7
+#define BMI088_GYRO_DYDR (0x1 << BMI088_GYRO_DYDR_SHFITS)
+
+#define BMI088_GYRO_RANGE 0x0F
+#define BMI088_GYRO_RANGE_SHFITS 0x0
+#define BMI088_GYRO_2000 (0x0 << BMI088_GYRO_RANGE_SHFITS)
+#define BMI088_GYRO_1000 (0x1 << BMI088_GYRO_RANGE_SHFITS)
+#define BMI088_GYRO_500 (0x2 << BMI088_GYRO_RANGE_SHFITS)
+#define BMI088_GYRO_250 (0x3 << BMI088_GYRO_RANGE_SHFITS)
+#define BMI088_GYRO_125 (0x4 << BMI088_GYRO_RANGE_SHFITS)
+
+#define BMI088_GYRO_BANDWIDTH 0x10
+// the first num means Output data  rate, the second num means bandwidth
+#define BMI088_GYRO_BANDWIDTH_MUST_Set 0x80
+#define BMI088_GYRO_2000_532_HZ 0x00
+#define BMI088_GYRO_2000_230_HZ 0x01
+#define BMI088_GYRO_1000_116_HZ 0x02
+#define BMI088_GYRO_400_47_HZ 0x03
+#define BMI088_GYRO_200_23_HZ 0x04
+#define BMI088_GYRO_100_12_HZ 0x05
+#define BMI088_GYRO_200_64_HZ 0x06
+#define BMI088_GYRO_100_32_HZ 0x07
+
+#define BMI088_GYRO_LPM1 0x11
+#define BMI088_GYRO_NORMAL_MODE 0x00
+#define BMI088_GYRO_SUSPEND_MODE 0x80
+#define BMI088_GYRO_DEEP_SUSPEND_MODE 0x20
+
+#define BMI088_GYRO_SOFTRESET 0x14
+#define BMI088_GYRO_SOFTRESET_VALUE 0xB6
+
+#define BMI088_GYRO_CTRL 0x15
+#define BMI088_DRDY_OFF 0x00
+#define BMI088_DRDY_ON 0x80
+
+#define BMI088_GYRO_INT3_INT4_IO_CONF 0x16
+#define BMI088_GYRO_INT4_GPIO_MODE_SHFITS 0x3
+#define BMI088_GYRO_INT4_GPIO_PP (0x0 << BMI088_GYRO_INT4_GPIO_MODE_SHFITS)
+#define BMI088_GYRO_INT4_GPIO_OD (0x1 << BMI088_GYRO_INT4_GPIO_MODE_SHFITS)
+#define BMI088_GYRO_INT4_GPIO_LVL_SHFITS 0x2
+#define BMI088_GYRO_INT4_GPIO_LOW (0x0 << BMI088_GYRO_INT4_GPIO_LVL_SHFITS)
+#define BMI088_GYRO_INT4_GPIO_HIGH (0x1 << BMI088_GYRO_INT4_GPIO_LVL_SHFITS)
+#define BMI088_GYRO_INT3_GPIO_MODE_SHFITS 0x1
+#define BMI088_GYRO_INT3_GPIO_PP (0x0 << BMI088_GYRO_INT3_GPIO_MODE_SHFITS)
+#define BMI088_GYRO_INT3_GPIO_OD (0x1 << BMI088_GYRO_INT3_GPIO_MODE_SHFITS)
+#define BMI088_GYRO_INT3_GPIO_LVL_SHFITS 0x0
+#define BMI088_GYRO_INT3_GPIO_LOW (0x0 << BMI088_GYRO_INT3_GPIO_LVL_SHFITS)
+#define BMI088_GYRO_INT3_GPIO_HIGH (0x1 << BMI088_GYRO_INT3_GPIO_LVL_SHFITS)
+
+#define BMI088_GYRO_INT3_INT4_IO_MAP 0x18
+
+#define BMI088_GYRO_DRDY_IO_OFF 0x00
+#define BMI088_GYRO_DRDY_IO_INT3 0x01
+#define BMI088_GYRO_DRDY_IO_INT4 0x80
+#define BMI088_GYRO_DRDY_IO_BOTH (BMI088_GYRO_DRDY_IO_INT3 | BMI088_GYRO_DRDY_IO_INT4)
+
+#define BMI088_GYRO_SELF_TEST 0x3C
+#define BMI088_GYRO_RATE_OK_SHFITS 0x4
+#define BMI088_GYRO_RATE_OK (0x1 << BMI088_GYRO_RATE_OK_SHFITS)
+#define BMI088_GYRO_BIST_FAIL_SHFITS 0x2
+#define BMI088_GYRO_BIST_FAIL (0x1 << BMI088_GYRO_BIST_FAIL_SHFITS)
+#define BMI088_GYRO_BIST_RDY_SHFITS 0x1
+#define BMI088_GYRO_BIST_RDY (0x1 << BMI088_GYRO_BIST_RDY_SHFITS)
+#define BMI088_GYRO_TRIG_BIST_SHFITS 0x0
+#define BMI088_GYRO_TRIG_BIST (0x1 << BMI088_GYRO_TRIG_BIST_SHFITS)
+
+/* -------BMI088 配置和传感器灵敏度换算系数等------- */
+
+#define BMI088_TEMP_FACTOR 0.125f
+#define BMI088_TEMP_OFFSET 23.0f
+
+#define BMI088_WRITE_ACCEL_REG_NUM 6
+#define BMI088_WRITE_GYRO_REG_NUM 6
+
+#define BMI088_GYRO_DATA_READY_BIT 0
+#define BMI088_ACCEL_DATA_READY_BIT 1
+#define BMI088_ACCEL_TEMP_DATA_READY_BIT 2
+
+#define BMI088_LONG_DELAY_TIME 80
+#define BMI088_COM_WAIT_SENSOR_TIME 150
+
+#define BMI088_ACCEL_IIC_ADDRESSE (0x18 << 1)
+#define BMI088_GYRO_IIC_ADDRESSE (0x68 << 1)
+
+#define BMI088_ACCEL_3G_SEN 0.0008974358974f
+#define BMI088_ACCEL_6G_SEN 0.00179443359375f
+#define BMI088_ACCEL_12G_SEN 0.0035888671875f
+#define BMI088_ACCEL_24G_SEN 0.007177734375f
+
+#define BMI088_GYRO_2000_SEN 0.00106526443603169529841533860381f
+#define BMI088_GYRO_1000_SEN 0.00053263221801584764920766930190693f
+#define BMI088_GYRO_500_SEN 0.00026631610900792382460383465095346f
+#define BMI088_GYRO_250_SEN 0.00013315805450396191230191732547673f
+#define BMI088_GYRO_125_SEN 0.000066579027251980956150958662738366f
+
+/* BMI088错误码枚举 */
+enum
+{
+    BMI088_NO_ERROR = 0x00,
+    BMI088_ACC_PWR_CTRL_ERROR = 0x01,
+    BMI088_ACC_PWR_CONF_ERROR = 0x02,
+    BMI088_ACC_CONF_ERROR = 0x03,
+    BMI088_ACC_SELF_TEST_ERROR = 0x04,
+    BMI088_ACC_RANGE_ERROR = 0x05,
+    BMI088_INT1_IO_CTRL_ERROR = 0x06,
+    BMI088_INT_MAP_DATA_ERROR = 0x07,
+    BMI088_GYRO_RANGE_ERROR = 0x08,
+    BMI088_GYRO_BANDWIDTH_ERROR = 0x09,
+    BMI088_GYRO_LPM1_ERROR = 0x0A,
+    BMI088_GYRO_CTRL_ERROR = 0x0B,
+    BMI088_GYRO_INT3_INT4_IO_CONF_ERROR = 0x0C,
+    BMI088_GYRO_INT3_INT4_IO_MAP_ERROR = 0x0D,
+
+    BMI088_SELF_TEST_ACCEL_ERROR = 0x80,
+    BMI088_SELF_TEST_GYRO_ERROR = 0x40,
+    BMI088_NO_SENSOR = 0xFF,
+};
+
+#endif
--- a/modules/imu/BMI088driver.c
+++ b/modules/imu/BMI088driver.c
@ -393,7 +393,6 @@ static void BMI088_read_muli_reg(uint8_t reg, uint8_t *buf, uint8_t len)

    while (len != 0)
    {
-
        *buf = BMI088_read_write_byte(0x55);
        buf++;
        len--;
--- a/modules/motor/motor_def.h
+++ b/modules/motor/motor_def.h
@ -13,7 +13,7 @@
 #define MOTOR_DEF_H

 #include "controller.h"
-#include <stdint.h>
+#include "stdint.h"

 #define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x)))

--- a/modules/motor/motor_task.c
+++ b/modules/motor/motor_task.c
@ -1,12 +1,25 @@
 #include "motor_task.h"
+#include "LK9025.h"
+#include "HT04.h"
+#include "dji_motor.h"
+#include "step_motor.h"
+#include "servo_motor.h"


 void MotorControlTask()
 {
+    // static uint8_t cnt = 0; 设定任务频率
+    // if(cnt%5==0) //200hz
+    // if(cnt%10==0) //100hz
+    
    DJIMotorControl();

    //LKMotorControl();

    //HTMotorControl();
+
+    //ServeoMotorControl();
+
+    //StepMotorControl();
 }

--- a/modules/motor/motor_task.h
+++ b/modules/motor/motor_task.h
@ -11,14 +11,10 @@
 #ifndef MOTOR_TASK_H
 #define MOTOR_TASK_H

-#include "LK9025.h"
-#include "HT04.h"
-#include "dji_motor.h"

-// 舵机控制任务的频率设定为20Hz或更低
-// 开关式的舵机控制不应该放在该函数中
 /**
- * @brief 
+ * @brief 电机控制闭环任务,在RTOS中应该设定为1Khz运行
+ *        舵机控制任务的频率设定为20Hz或更低
 * 
 */
 void MotorControlTask();