diff --git a/.github/workflows/c-cpp.yml b/.github/workflows/c-cpp.yml
index 9145b4f..77afb9c 100644
--- a/.github/workflows/c-cpp.yml
+++ b/.github/workflows/c-cpp.yml
@@ -17,4 +17,9 @@ jobs:
       
       - uses: actions/checkout@v3
       - name: make
-        run: make -j12
\ No newline at end of file
+        run: make -j12
+
+      - uses: seanmiddleditch/gha-setup-ninja@master
+      - name: ninja
+        run: cd build && cmake -G Ninja .. && ninja
+      
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..7f7fc41
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,115 @@
+cmake_minimum_required(VERSION 3.16)
+# 指定编译平台/架构与语言标准, 推荐指定Ninja为构建工具,可以加快编译速度(相比make)
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_PROCESSOR arm)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+# 指定工具链
+set(CMAKE_C_COMPILER_FORCED TRUE) # skip compiler test
+set(CMAKE_CXX_COMPILER_FORCED TRUE)
+set(CMAKE_C_COMPILER arm-none-eabi-gcc)
+set(CMAKE_ASM_COMPILER arm-none-eabi-gcc)
+set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
+set(CMAKE_OBJDUMP arm-none-eabi-objdump)
+set(SIZE arm-none-eabi-size) 
+set(CMAKE_AR arm-none-eabi-ar)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON) 
+
+# 指定工程名称和语言类型
+project(basic_framework C ASM) 
+
+# 选择构建类型
+set(CMAKE_BUILD_TYPE Debug) # Debug Release RelWithDebInfo MinSizeRel
+
+# board specific settings, arch/fpu/instruction
+set(MCU_FLAGS -mcpu=cortex-m4 -mthumb -mthumb-interwork -mfloat-abi=hard -mfpu=fpv4-sp-d16)
+set(LINKER_SCRIPT "${CMAKE_SOURCE_DIR}/STM32F407IGHx_FLASH.ld") # 指定链接脚本
+set(DSP_NAME "libCMSISDSP.a") # 指定DSP库名称
+link_directories(${CMAKE_SOURCE_DIR}/Middlewares/ST/ARM/DSP/Lib)
+
+# Generic compiler settings for optimization and basic link lib
+add_compile_options(-pipe ${MCU_FLAGS} -Wall -Werror -fmessage-length=0 # basic options
+                    -ffunction-sections -fdata-sections -fno-common # optimize options 
+                    )
+add_link_options(-pipe ${MCU_FLAGS} -T${LINKER_SCRIPT} -Wl,--no-warn-rwx-segments # close RWX warning
+                 -lm -lc -lnosys # lib options
+                 -Wl,--gc-sections -flto -specs=nano.specs -specs=nosys.specs # optimize options
+                 -Wl,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map -Wl,--cref -Wl,--print-memory-usage # map options
+                 ) # if your executable is too large , try option '-s' to strip symbols
+
+# add_compile_definitions() works for compile stage
+# while add_definitions() works for both compile and link stage
+add_definitions(
+    -DUSE_HAL_DRIVER 
+    -DSTM32F407xx 
+    -DARM_MATH_CM4 
+    ) # need -D<macro> to define macro
+
+# add inc
+# 递归包含头文件的函数
+function(include_sub_directories_recursively root_dir)
+    if (IS_DIRECTORY ${root_dir})               # 当前路径是一个目录吗，是的话就加入到包含目录
+        message("include dir: " ${root_dir})
+        include_directories(${root_dir})
+    endif()
+
+    file(GLOB ALL_SUB RELATIVE ${root_dir} ${root_dir}/*) # 获得当前目录下的所有文件，让如ALL_SUB列表中
+    foreach(sub ${ALL_SUB})
+        if (IS_DIRECTORY ${root_dir}/${sub})
+            include_sub_directories_recursively(${root_dir}/${sub}) # 对子目录递归调用，包含
+        endif()
+    endforeach()
+endfunction()
+include_sub_directories_recursively(${CMAKE_SOURCE_DIR}/Drivers)
+include_sub_directories_recursively(${CMAKE_SOURCE_DIR}/Middlewares)
+include_sub_directories_recursively(${CMAKE_SOURCE_DIR}/bsp)
+include_sub_directories_recursively(${CMAKE_SOURCE_DIR}/modules)
+include_sub_directories_recursively(${CMAKE_SOURCE_DIR}/application)
+include_sub_directories_recursively(${CMAKE_SOURCE_DIR}/Inc)
+
+# add source, only surfix .c
+file(GLOB_RECURSE SOURCES
+    "Drivers/*.c"
+    "Src/*.c"
+    "Middlewares/*.c"
+    "bsp/*.c"
+    "modules/*.c"
+    "application/*.c"
+)
+
+# 汇编文件路径
+# ENABLE_LANGUAGE(ASM)
+set(ASM_SOURCES
+    startup_stm32f407xx.s
+    Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_ASM_ARMv7M.s
+    )
+set_source_files_properties(${ASM_SOURCES} PROPERTIES COMPILE_FLAGS "-x assembler-with-cpp")
+
+# Build types
+if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release")
+    message(STATUS "Maximum optimization for speed")
+    add_compile_options(-Ofast)
+elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
+    message(STATUS "Maximum optimization for speed, debug info included")
+    add_compile_options(-Ofast -g)
+elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
+    message(STATUS "Maximum optimization for size")
+    add_compile_options(-Os)
+else ()
+    message(STATUS "Minimal optimization, debug info included")
+    add_compile_options(-Og -g -gdwarf-2)
+    add_definitions(-DESC_DEBUG) # ESC Debug
+endif ()
+
+# build binary and hex file
+add_executable(${PROJECT_NAME}.elf  ${SOURCES} ${ASM_SOURCES} ${LINKER_SCRIPT})
+target_link_libraries(${PROJECT_NAME}.elf ${DSP_NAME} m) # link DSP lib and math lib
+
+add_custom_command(
+    TARGET ${PROJECT_NAME}.elf POST_BUILD
+    COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${PROJECT_NAME}.elf> ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex
+    COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${PROJECT_NAME}.elf> ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin
+    COMMENT "Building hex & bin file..."
+    COMMENT "EXCUTABLE SIZE:"
+    COMMAND ${SIZE} ${PROJECT_NAME}.elf
+  )
\ No newline at end of file
diff --git a/bsp/can/bsp_can.c b/bsp/can/bsp_can.c
index 52d09e6..9e32a13 100644
--- a/bsp/can/bsp_can.c
+++ b/bsp/can/bsp_can.c
@@ -106,7 +106,7 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
 uint8_t CANTransmit(CANInstance *_instance, float timeout)
 {
     static uint32_t busy_count;
-    static float wait_time;
+    static volatile float wait_time __attribute__((unused)); // for cancel warning
     float dwt_start = DWT_GetTimeline_ms();
     while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲
     {
diff --git a/modules/BMI088/bmi088.c b/modules/BMI088/bmi088.c
index ffd8bc6..04ffbdc 100644
--- a/modules/BMI088/bmi088.c
+++ b/modules/BMI088/bmi088.c
@@ -188,31 +188,31 @@ static uint8_t BMI088GyroInit(BMI088Instance *bmi088)
  */
 static void BMI088AccSPIFinishCallback(SPIInstance *spi)
 {
-    static BMI088Instance *bmi088;
-    bmi088 = (BMI088Instance *)(spi->id);
+    // static BMI088Instance *bmi088;
+    // bmi088 = (BMI088Instance *)(spi->id);
     // 若第一次读取加速度,则在这里启动温度读取
     // 如果使用异步姿态更新,此处唤醒量测更新的任务
 }
 
 static void BMI088GyroSPIFinishCallback(SPIInstance *spi)
 {
-    static BMI088Instance *bmi088;
-    bmi088 = (BMI088Instance *)(spi->id);
+    // static BMI088Instance *bmi088;
+    // bmi088 = (BMI088Instance *)(spi->id);
     // 若不是异步,啥也不做;否则启动姿态的预测步(propagation)
 }
 
 static void BMI088AccINTCallback(GPIOInstance *gpio)
 {
-    static BMI088Instance *bmi088;
-    bmi088 = (BMI088Instance *)(gpio->id);
+    // static BMI088Instance *bmi088;
+    // bmi088 = (BMI088Instance *)(gpio->id);
     // 启动加速度计数据读取(和温度读取,如果有必要),并转换为实际值
     // 读取完毕会调用BMI088AccSPIFinishCallback
 }
 
 static void BMI088GyroINTCallback(GPIOInstance *gpio)
 {
-    static BMI088Instance *bmi088;
-    bmi088 = (BMI088Instance *)(gpio->id);
+    // static BMI088Instance *bmi088;
+    // bmi088 = (BMI088Instance *)(gpio->id);
     // 启动陀螺仪数据读取,并转换为实际值
     // 读取完毕会调用BMI088GyroSPIFinishCallback
 }
@@ -258,6 +258,7 @@ uint8_t BMI088Acquire(BMI088Instance *bmi088, BMI088_Data_t *data_store)
     // 如果数据还没准备好,则返回空数据?或者返回上一次的数据?或者返回错误码? @todo
     if (bmi088->update_flag.imu_ready == 0)
         return 0;
+    return 1;
 }
 
 /* pre calibrate parameter to go here */
@@ -286,7 +287,6 @@ void BMI088CalibrateIMU(BMI088Instance *_bmi088)
         // 一次性参数用完就丢,不用static
         float startTime;                     // 开始标定时间,用于确定是否超时
         uint16_t CaliTimes = 6000;           // 标定次数(6s)
-        uint8_t buf[6] = {0};                // buffer
         float gyroMax[3], gyroMin[3];        // 保存标定过程中读取到的数据最大值判断是否满足标定环境
         float gNormTemp, gNormMax, gNormMin; // 同上,计算矢量范数(模长)
         float gyroDiff[3], gNormDiff;        // 每个轴的最大角速度跨度及其模长
diff --git a/modules/alarm/buzzer.c b/modules/alarm/buzzer.c
index 02f80f1..3051ee4 100644
--- a/modules/alarm/buzzer.c
+++ b/modules/alarm/buzzer.c
@@ -4,7 +4,7 @@
 #include "string.h"
 
 static PWMInstance *buzzer;
-static uint8_t idx;
+// static uint8_t idx;
 static BuzzzerInstance *buzzer_list[BUZZER_DEVICE_CNT] = {0};
 
 /**
@@ -84,6 +84,8 @@ void BuzzerTask()
             case OCTAVE_7:
                 PWMSetPeriod(buzzer, (float)1 / SiFreq);
                 break;
+            default:
+                break;
             }
             break;
         }
diff --git a/modules/can_comm/can_comm.c b/modules/can_comm/can_comm.c
index 415a67d..bb39c59 100644
--- a/modules/can_comm/can_comm.c
+++ b/modules/can_comm/can_comm.c
@@ -95,7 +95,7 @@ CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config)
     ins->can_ins = CANRegister(&comm_config->can_config);
 
     Daemon_Init_Config_s daemon_config = {
-        .callback = NULL,
+        .callback = CANCommLostCallback,
         .owner_id = (void *)ins,
         .reload_count = comm_config->daemon_count,
     };
diff --git a/modules/imu/BMI088driver.c b/modules/imu/BMI088driver.c
index 97a92bd..e681428 100644
--- a/modules/imu/BMI088driver.c
+++ b/modules/imu/BMI088driver.c
@@ -18,8 +18,6 @@ float gyroDiff[3], gNormDiff;
 uint8_t caliOffset = 1;
 int16_t caliCount = 0;
 
-static uint32_t offset_cal_DWT_Count = 0;
-
 IMU_Data_t BMI088;
 
 #if defined(BMI088_USE_SPI)
@@ -333,17 +331,7 @@ void BMI088_Read(IMU_Data_t *bmi088)
 {
     static uint8_t buf[8] = {0};
     static int16_t bmi088_raw_temp;
-    static float dt = 1.0;
-    static uint8_t first_read_flag = 0;
-    if (!first_read_flag)
-    {
-        first_read_flag = 1;
-        DWT_GetDeltaT(&offset_cal_DWT_Count);
-    }
-    else
-    {
-        dt = DWT_GetDeltaT(&offset_cal_DWT_Count) * 1000.0;
-    }
+
     BMI088_accel_read_muli_reg(BMI088_ACCEL_XOUT_L, buf, 6);
 
     bmi088_raw_temp = (int16_t)((buf[1]) << 8) | buf[0];
diff --git a/modules/ist8310/ist8310.c b/modules/ist8310/ist8310.c
index 8f22733..64abee2 100644
--- a/modules/ist8310/ist8310.c
+++ b/modules/ist8310/ist8310.c
@@ -1,7 +1,8 @@
 #include "bsp_dwt.h"
 #include "ist8310.h"
-#include "memory.h"
-#include "stdlib.h"
+#include "bsp_log.h"
+#include <memory.h>
+#include <stdlib.h>
 
 // 一般这个模块只有一个实例,所以直接保存在这里,实际上不保存也可以,application可以自己保存
 static IST8310Instance *ist8310_instance = NULL; // 用于存储IST8310实例的指针
@@ -91,7 +92,7 @@ IST8310Instance *IST8310Init(IST8310_Init_Config_s *config)
         IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &check_who_i_am, 1, IIC_READ_MEM, 1); // 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,会返回对应的错误码
+                LOGERROR("[ist8310] init error, code %d", ist8310_write_reg_data_error[i][2]); // 掉线/写入失败/未知错误,会返回对应的错误码
     }
 
     ist8310_instance = ist; // 保存ist8310实例的指针
diff --git a/modules/led/led.c b/modules/led/led.c
index 5b48f1e..276d86f 100644
--- a/modules/led/led.c
+++ b/modules/led/led.c
@@ -36,11 +36,11 @@ void LEDSwitch(LEDInstance *_led, uint8_t led_switch)
 
 void LEDShow(uint32_t aRGB)
 {
-    static uint8_t alpha;
-    static uint16_t red, green, blue;
+    // static uint8_t alpha;
+    // static uint16_t red, green, blue;
 
-    alpha = (aRGB & 0xFF000000) >> 24;
-    red = ((aRGB & 0x00FF0000) >> 16) * alpha;
-    green = ((aRGB & 0x0000FF00) >> 8) * alpha;
-    blue = ((aRGB & 0x000000FF) >> 0) * alpha;
+    // alpha = (aRGB & 0xFF000000) >> 24;
+    // red = ((aRGB & 0x00FF0000) >> 16) * alpha;
+    // green = ((aRGB & 0x0000FF00) >> 8) * alpha;
+    // blue = ((aRGB & 0x000000FF) >> 0) * alpha;
 }
diff --git a/modules/motor/LKmotor/LK9025.c b/modules/motor/LKmotor/LK9025.c
index 103faac..c9fadbc 100644
--- a/modules/motor/LKmotor/LK9025.c
+++ b/modules/motor/LKmotor/LK9025.c
@@ -80,7 +80,7 @@ LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config)
     lkmotor_instance[idx++] = motor;
 
     Daemon_Init_Config_s daemon_config = {
-        .callback = NULL,
+        .callback = LKMotorLostCallback,
         .owner_id = motor,
         .reload_count = 5, // 50ms
     };