diff --git a/Makefile b/Makefile
index 7271da0..4f243aa 100644
--- a/Makefile
+++ b/Makefile
@@ -102,8 +102,11 @@ HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/
 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/bsp_temperature.c \
 bsp/bsp_led.c \
+bsp/bsp_spi.c \
+bsp/bsp_iic.c \
 bsp/bsp_can.c \
 bsp/bsp_buzzer.c \
 bsp/bsp_usart.c \
diff --git a/basic_framework.ioc b/basic_framework.ioc
index 38cc33d..1bd1e36 100644
--- a/basic_framework.ioc
+++ b/basic_framework.ioc
@@ -21,12 +21,82 @@ 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.RequestsNb=5
+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
@@ -185,8 +255,12 @@ 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_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.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_Stream2_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
@@ -197,6 +271,8 @@ NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:fa
 NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+NVIC.SPI1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
 NVIC.SavedPendsvIrqHandlerGenerated=true
 NVIC.SavedSvcallIrqHandlerGenerated=true
diff --git a/bsp/bsp_can.c b/bsp/bsp_can.c
index 71a16c4..4549afe 100644
--- a/bsp/bsp_can.c
+++ b/bsp/bsp_can.c
@@ -1,6 +1,7 @@
 #include "bsp_can.h"
 #include "main.h"
 #include "memory.h"
+#include "stdlib.h"
 
 /* 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
diff --git a/bsp/bsp_iic.c b/bsp/bsp_iic.c
index e69de29..805ffed 100644
--- a/bsp/bsp_iic.c
+++ b/bsp/bsp_iic.c
@@ -0,0 +1,4 @@
+#include "bsp_iic.h"
+#include "memory.h"
+#include "stdlib.h"
+
diff --git a/bsp/bsp_iic.h b/bsp/bsp_iic.h
index e69de29..aafc249 100644
--- a/bsp/bsp_iic.h
+++ b/bsp/bsp_iic.h
@@ -0,0 +1,11 @@
+#include "i2c.h"
+#include "stdint.h"
+
+#define IIC_DEVICE_CNT ()
+
+typedef struct
+{
+    I2C_HandleTypeDef* handle;
+
+};
+
diff --git a/bsp/bsp_pwm.c b/bsp/bsp_pwm.c
new file mode 100644
index 0000000..e69de29
diff --git a/bsp/bsp_pwm.h b/bsp/bsp_pwm.h
new file mode 100644
index 0000000..e69de29
diff --git a/bsp/bsp_spi.c b/bsp/bsp_spi.c
index e69de29..184a89c 100644
--- a/bsp/bsp_spi.c
+++ b/bsp/bsp_spi.c
@@ -0,0 +1,143 @@
+#include "bsp_spi.h"
+#include "memory.h"
+#include "stdlib.h"
+
+/* 所有的spi instance保存于此,用于callback时判断中断来源*/
+static SPIInstance *spi_instance[SPI_DEVICE_CNT] = {NULL};
+static uint8_t idx = 0; // 配合中断以及初始化
+
+/**
+ * @brief 当SPI接收完成,将会调用此回调函数,可以进行协议解析或其他必须的数据处理等
+ *
+ * @param hspi spi handle
+ */
+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)
+        {
+            // 拉高片选(关闭传输),调用解析回调函数
+            HAL_GPIO_WritePin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin, GPIO_PIN_SET);
+            spi_instance[i]->callback(spi_instance[i]);
+            break;
+        }
+    }
+}
+
+/**
+ * @brief 和RxCpltCallback共用解析即可,这里只是形式上封装一下,不用重复写
+ *
+ * @param hspi spi handle
+ */
+void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi)
+{
+    HAL_SPI_RxCpltCallback(hspi);
+}
+
+SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
+{
+    spi_instance[idx] = (SPIInstance *)malloc(sizeof(SPIInstance));
+    spi_instance[idx]->callback = conf->callback;
+    spi_instance[idx]->spi_work_mode = conf->spi_work_mode;
+    spi_instance[idx]->spi_handle = conf->spi_handle;
+    return spi_instance[idx++];
+}
+
+void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
+{
+    // 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)
+    {
+    case SPI_DMA_MODE:
+        HAL_SPI_Transmit_DMA(spi_ins->spi_handle, ptr_data, len);
+        break;
+    case SPI_IT_MODE:
+        HAL_SPI_Transmit_IT(spi_ins->spi_handle, ptr_data, len);
+        break;
+    case SPI_BLOCK_MODE:
+        HAL_SPI_Transmit(spi_ins->spi_handle, ptr_data, len, 10);
+        // 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
+        HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
+        break;
+    default:
+        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;
+    }
+}
+
+void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
+{
+    // 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)
+    {
+    case SPI_DMA_MODE:
+        HAL_SPI_Receive_DMA(spi_ins->spi_handle, ptr_data, len);
+        break;
+    case SPI_IT_MODE:
+        HAL_SPI_Receive_IT(spi_ins->spi_handle, ptr_data, len);
+        break;
+    case SPI_BLOCK_MODE:
+        HAL_SPI_Receive(spi_ins->spi_handle, ptr_data, len, 10);
+        // 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
+        HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
+        break;
+    default:
+        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;
+    }
+}
+
+void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_tx, uint8_t len)
+{
+    // 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)
+    {
+    case SPI_DMA_MODE:
+        HAL_SPI_TransmitReceive_DMA(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len);
+        break;
+    case SPI_IT_MODE:
+        HAL_SPI_TransmitReceive_IT(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len);
+        break;
+    case SPI_BLOCK_MODE:
+        HAL_SPI_TransmitReceive(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len, 10);
+        // 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
+        HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
+        break;
+    default:
+        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;
+    }
+}
+
+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:
+            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;
+        }
+        spi_ins->spi_work_mode = spi_mode;
+    }
+}
diff --git a/bsp/bsp_spi.h b/bsp/bsp_spi.h
index f289901..c428333 100644
--- a/bsp/bsp_spi.h
+++ b/bsp/bsp_spi.h
@@ -1,4 +1,82 @@
-
-#include "stdint.h"
 #include "spi.h"
+#include "stdint.h"
+#include "gpio.h"
 
+/* 根据开发板引出的spi引脚以及CubeMX中的初始化配置设定 */
+#define SPI_DEVICE_CNT 2       // C型开发板引出两路spi,分别连接BMI088/作为扩展IO在8pin牛角座引出
+#define MX_SPI_BUS_SLAVE_CNT 4 // 单个spi总线上挂载的从机数目
+
+/* spi transmit recv mode enumerate*/
+typedef enum
+{
+    SPI_BLOCK_MODE = 0, // 默认使用阻塞模式
+    SPI_IT_MODE,
+    SPI_DMA_MODE,
+} SPI_TXRX_MODE_e;
+
+/* SPI实例结构体定义 */
+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
+    void (*callback)(struct spi_ins_temp *); // 接收回调函数
+} 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 */
+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
+} SPI_Init_Config_s;
+
+/**
+ * @brief 注册一个spi instance
+ *
+ * @param conf 传入spi配置
+ * @return SPIInstance* 返回一个spi实例指针,之后通过该指针操作spi外设
+ */
+SPIInstance *SPIRegister(SPI_Init_Config_s *conf);
+
+/**
+ * @brief 通过spi向对应从机发送数据
+ *
+ * @param spi_ins spi实例指针
+ * @param ptr_data 要发送的数据
+ * @param len 待发送的数据长度
+ */
+void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len);
+
+/**
+ * @brief 通过spi从从机获取数据
+ *
+ * @param spi_ins spi实例指针
+ * @param ptr_data 接受数据buffer的首地址
+ * @param len 待接收的长度
+ */
+void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len);
+
+/**
+ * @brief 通过spi利用移位寄存器同时收发数据
+ *
+ * @param spi_ins spi实例指针
+ * @param ptr_data_rx 接收数据地址
+ * @param ptr_data_tx 发送数据地址
+ * @param len 接收&发送的长度
+ */
+void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_tx, uint8_t len);
+
+/**
+ * @brief 设定spi收发的工作模式
+ *
+ * @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
+ */
+void SPISetMode(SPIInstance *spi_ins, SPI_TXRX_MODE_e spi_mode);
diff --git a/modules/imu/BMI088driver.c b/modules/imu/BMI088driver.c
index 787a304..db2d2eb 100644
--- a/modules/imu/BMI088driver.c
+++ b/modules/imu/BMI088driver.c
@@ -317,7 +317,7 @@ uint8_t bmi088_gyro_init(void)
 
 void BMI088_Read(IMU_Data_t *bmi088)
 {
-    static uint8_t buf[8] = {0, 0, 0, 0, 0, 0};
+    static uint8_t buf[8] = {0};
     static int16_t bmi088_raw_temp;
     static float dt = 1.0;
     static uint8_t first_read_flag = 0;