diff --git a/Robot_V2/Algorithm/DengFOC.cpp b/Robot_V2/Algorithm/DengFOC.cpp
index 1788371..025d846 100644
--- a/Robot_V2/Algorithm/DengFOC.cpp
+++ b/Robot_V2/Algorithm/DengFOC.cpp
@@ -157,6 +157,9 @@ void FOC_Controlroller::shut_down() {
 }
 
 void FOC_Controlroller::resume() {
+	over_current = 0;
+	temp_error = 0;
+	voltage_error = 0;
 	is_shut_down = 0;
 	gpio_bit_set(GPIOB, GPIO_PIN_12);
 }
@@ -216,3 +219,4 @@ void FOC_Controlroller::DFOC_M0_setTorque(float Target) // 电流力矩环
 {
 	//   setTorque(current_loop_M0(Target-DFOC_M0_Current()),_electricalAngle());
 }
+
diff --git a/Robot_V2/Algorithm/DengFOC.h b/Robot_V2/Algorithm/DengFOC.h
index e35569a..25018a8 100644
--- a/Robot_V2/Algorithm/DengFOC.h
+++ b/Robot_V2/Algorithm/DengFOC.h
@@ -11,6 +11,11 @@ class FOC_Controlroller {
 	float limit_velocity = 0.0f;
 	float target_angle = 0.0f;
 	float target_velocity = 0.0f;
+	float rt_angle = 0.0f;
+	float rt_velocity = 0.0f;
+	u8 over_current = 0;
+	u8 temp_error = 0;
+	u8 voltage_error = 0;
 	u8 is_shut_down = 0;
 
 	float velocity_open_loop(float target_velocity);
@@ -18,7 +23,7 @@ class FOC_Controlroller {
 	void shut_down(void);
 	void resume(void);
 
-  private:
+  protected:
 	std::u64 last_time_us = 0;
 	std::u64 now_us = 0;
 	float shaft_angle = 0;
diff --git a/Robot_V2/Algorithm/Filter.cpp b/Robot_V2/Algorithm/Filter.cpp
index 118433f..8db95a2 100644
--- a/Robot_V2/Algorithm/Filter.cpp
+++ b/Robot_V2/Algorithm/Filter.cpp
@@ -1,5 +1,4 @@
 #include "Filter.h"
-#include "stdbool.h"
 #include <algorithm>
 #include <array>
 #include <cstring>
diff --git a/Robot_V2/device/ADC.cpp b/Robot_V2/device/ADC.cpp
index 66f7a54..c97df3b 100644
--- a/Robot_V2/device/ADC.cpp
+++ b/Robot_V2/device/ADC.cpp
@@ -1,10 +1,12 @@
 #include "adc.h"
 #include "Filter.h"
 #include "math.h"
-#include <cstdio>
 #include <cstring>
+#include "gd32c10x_eval.h"
+#include <gd32c10x_dma.h>
 #include <stdint.h>
 
+
 constexpr float ERROR_ADC_VAL = 255.0f;
 constexpr float ADC_SCALE = 3.3f / 4096.0f;
 constexpr float TEMP_FACTOR = 1000.0f / 4.3f;
@@ -21,11 +23,95 @@ constexpr float MAX_VCC = 65.0f;
 constexpr float MIN_VCC = -0.1f;
 
 u16 adc_value[6] = {0}; // 显式初始化数组元素为0
+/*!
+	\brief      configure the DMA peripheral
+	\param[in]  none
+	\param[out] none
+	\retval     none
+*/
+void dma_config(void) {
+	/* enable DMA0 clock */
+	rcu_periph_clock_enable(RCU_DMA0);
+	/* ADC_DMA_channel configuration */
+	dma_parameter_struct dma_data_parameter;
 
+	/* ADC DMA_channel configuration */
+	dma_deinit(DMA0, DMA_CH0);
+
+	/* initialize DMA single data mode */
+	dma_data_parameter.periph_addr = (uint32_t)(&ADC_RDATA(ADC0));
+	dma_data_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
+	dma_data_parameter.memory_addr = (uint32_t)(adc_value);
+	dma_data_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
+	dma_data_parameter.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
+	dma_data_parameter.memory_width = DMA_MEMORY_WIDTH_16BIT;
+	dma_data_parameter.direction = DMA_PERIPHERAL_TO_MEMORY;
+	dma_data_parameter.number = 6;
+	dma_data_parameter.priority = DMA_PRIORITY_HIGH;
+	dma_init(DMA0, DMA_CH0, &dma_data_parameter);
+
+	dma_circulation_enable(DMA0, DMA_CH0);
+
+	/* enable DMA channel */
+	dma_channel_enable(DMA0, DMA_CH0);
+}
+
+/*!
+	\brief      configure the ADC peripheral
+	\param[in]  none
+	\param[out] none
+	\retval     none
+*/
+void adc_config(void) {
+	/* enable ADC clock */
+	rcu_periph_clock_enable(RCU_ADC0);
+	/* config ADC clock */
+	rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV4);
+
+	/* 复位ADC */
+	adc_deinit(ADC0);
+	/* ADC模式配置 */
+	adc_mode_config(ADC_MODE_FREE);
+	/* 使能ADC连续转换功能 */
+	adc_special_function_config(ADC0, ADC_CONTINUOUS_MODE, ENABLE);
+	/* 使能ADC扫描模式 */
+	adc_special_function_config(ADC0, ADC_SCAN_MODE, ENABLE);
+	/* ADC数据右对齐配置 */
+	adc_data_alignment_config(ADC0, ADC_DATAALIGN_RIGHT);
+	/* 使能ADC温度传感器和内部参考电压 */
+	adc_tempsensor_vrefint_enable();
+
+	/* 配置ADC通道长度 */
+	adc_channel_length_config(ADC0, ADC_REGULAR_CHANNEL, 6);
+	/* 配置ADC规则通道 */
+	adc_regular_channel_config(ADC0, 0, ADC_CHANNEL_16,
+							   ADC_SAMPLETIME_239POINT5);
+	adc_regular_channel_config(ADC0, 1, ADC_CHANNEL_9, ADC_SAMPLETIME_55POINT5);
+	adc_regular_channel_config(ADC0, 2, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
+	adc_regular_channel_config(ADC0, 3, ADC_CHANNEL_4, ADC_SAMPLETIME_55POINT5);
+	adc_regular_channel_config(ADC0, 4, ADC_CHANNEL_5, ADC_SAMPLETIME_55POINT5);
+	adc_regular_channel_config(ADC0, 5, ADC_CHANNEL_6, ADC_SAMPLETIME_55POINT5);
+
+	/* ADC触发配置 */
+	adc_external_trigger_source_config(ADC0, ADC_REGULAR_CHANNEL,
+									   ADC0_1_EXTTRIG_REGULAR_NONE);
+	adc_external_trigger_config(ADC0, ADC_REGULAR_CHANNEL, ENABLE);
+
+	/* 使能ADC接口 */
+	adc_enable(ADC0);
+	/* ADC校准 */
+	adc_calibration_enable(ADC0);
+	/* 使能ADC DMA功能 */
+	adc_dma_mode_enable(ADC0);
+	/* 使能ADC软件触发 */
+	adc_software_trigger_enable(ADC0, ADC_REGULAR_CHANNEL);
+}
 /**
  * @brief 采样类初始化
  */
 void sampler::init() {
+	dma_config(); // DMA采样ADC初始化
+	adc_config(); // ADC初始化
 	for (int i = 0; i < FILTER_SIZE + 1; i++) {
 		mcu_temp_samples[i] =
 			(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp
index db283da..09846ba 100644
--- a/Robot_V2/device/Can.cpp
+++ b/Robot_V2/device/Can.cpp
@@ -1,11 +1,13 @@
 #include "Can.h"
 #include "DengFOC.h"
+#include "adc.h"
+#include "ang_sensor.h"
 #include "gd32c10x.h"
 #include "gd32c10x_can.h"
+#include "gd32c10x_dma.h"
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
-#include <inttypes.h>
 #include <random>
 #include <stdint.h>
 #include <stdio.h>
@@ -21,6 +23,12 @@ extern CAN_transmiter CAN0_transmiter;
 extern FOC_Controlroller FOC;
 extern sampler sampler;
 
+// 添加DMA相关变量
+dma_parameter_struct dma_rx_parameter;
+dma_parameter_struct dma_tx_parameter;
+uint8_t can_rx_buffer[8]; // CAN接收缓冲区
+uint8_t can_tx_buffer[8]; // CAN发送缓冲区
+
 /*!
 	\brief      initialize CAN GPIO
 	\param[in]  none
@@ -30,20 +38,65 @@ extern sampler sampler;
 u8 can_gpio_init() {
 	/* enable CAN clock */
 	rcu_periph_clock_enable(RCU_CAN0);
-	rcu_periph_clock_enable(RCU_GPIOA);
 	rcu_periph_clock_enable(RCU_GPIOB);
 	rcu_periph_clock_enable(RCU_AF);
 
 	/* configure CAN0 GPIO */
-	gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_11);   // tx
-	gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12); // rx
-	gpio_pin_remap_config(GPIO_CAN0_FULL_REMAP, DISABLE);
+	gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_8);	  // rx
+	gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9); // tx
+	gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP, ENABLE);
 	/* enable the EN GPIO clock */
 	gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
 	gpio_bit_reset(GPIOB, GPIO_PIN_13);
 	return 0;
 }
 
+/*!
+	\brief      初始化CAN DMA
+	\param[in]  none
+	\param[out] none
+	\retval     none
+*/
+void can_dma_init(void) {
+	// 使能DMA时钟
+	rcu_periph_clock_enable(RCU_DMA0);
+
+	// 配置接收DMA
+	dma_struct_para_init(&dma_rx_parameter);
+	dma_rx_parameter.periph_addr =
+		(uint32_t)(&CAN_RFIFOMDATA0(CAN0, CAN_FIFO0)); // CAN接收数据寄存器地址
+	dma_rx_parameter.memory_addr = (uint32_t)can_rx_buffer;	   // 接收缓冲区地址
+	dma_rx_parameter.direction = DMA_PERIPHERAL_TO_MEMORY;	   // 外设到内存
+	dma_rx_parameter.memory_width = DMA_MEMORY_WIDTH_8BIT;	   // 内存宽度8位
+	dma_rx_parameter.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; // 外设宽度8位
+	dma_rx_parameter.priority = DMA_PRIORITY_HIGH;			   // 高优先级
+	dma_rx_parameter.number = 8;							   // 传输字节数
+	dma_rx_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE; // 外设地址不递增
+	dma_rx_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;  // 内存地址递增
+	dma_init(DMA0, DMA_CH4, &dma_rx_parameter);				   // 使用DMA通道4
+
+	// 配置发送DMA
+	dma_struct_para_init(&dma_tx_parameter);
+	dma_tx_parameter.periph_addr =
+		(uint32_t)(&CAN_TMI0(CAN0)); // CAN发送数据寄存器地址
+	dma_tx_parameter.memory_addr = (uint32_t)can_tx_buffer;	   // 发送缓冲区地址
+	dma_tx_parameter.direction = DMA_MEMORY_TO_PERIPHERAL;	   // 内存到外设
+	dma_tx_parameter.memory_width = DMA_MEMORY_WIDTH_8BIT;	   // 内存宽度8位
+	dma_tx_parameter.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; // 外设宽度8位
+	dma_tx_parameter.priority = DMA_PRIORITY_HIGH;			   // 高优先级
+	dma_tx_parameter.number = 8;							   // 传输字节数
+	dma_tx_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE; // 外设地址不递增
+	dma_tx_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;  // 内存地址递增
+	dma_init(DMA0, DMA_CH5, &dma_tx_parameter);				   // 使用DMA通道5
+
+	// 使能DMA通道
+	dma_channel_enable(DMA0, DMA_CH4);
+	dma_channel_enable(DMA0, DMA_CH5);
+
+	// 使能CAN接收DMA
+	// can_dma_enable(CAN0, CAN_DMA_RECEIVE);
+}
+
 /*!
 	\brief      初始化CAN0 2.0B 模式
 	\param[in]  none
@@ -52,6 +105,7 @@ u8 can_gpio_init() {
 */
 void can_config(void) {
 	can_gpio_init();
+	can_dma_init(); // 初始化DMA
 	can_parameter_struct can_parameter;
 	can_filter_parameter_struct can_filter;
 
@@ -96,6 +150,10 @@ void can_config(void) {
 	nvic_irq_enable(CAN0_RX0_IRQn, 1, 0);
 	/* enable can receive FIFO0 not empty interrupt */
 	can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
+
+	// 使能DMA中断
+	nvic_irq_enable(DMA0_Channel4_IRQn, 1, 1);
+	dma_interrupt_enable(DMA0, DMA_CH4, DMA_INT_FTF);
 }
 
 /*!
@@ -356,6 +414,10 @@ CAN_transmiter::CAN_transmiter() {
 	can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message);
 	/* initialize receive message */
 	can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
+
+	// 初始化DMA缓冲区
+	memset(can_rx_buffer, 0, sizeof(can_rx_buffer));
+	memset(can_tx_buffer, 0, sizeof(can_tx_buffer));
 }
 
 /*!
@@ -367,7 +429,7 @@ void CAN_transmiter::update(void) {
 	mcu_temp = sampler.get_mcu_temp() * 100;
 	motor_temp = sampler.get_drv_temp() * 100;
 	Power_Voltage = sampler.get_vbus_voltage() * 1000;
-	rt_angle_union.f = 0.0f;
+	rt_angle_union.f = KHT7823_readAngle();
 	rt_velocity_union.f = 0.0f;
 	Status_code = (gpio_input_bit_get(GPIOB, GPIO_PIN_2) == SET) ? 0 : 1;
 
@@ -383,9 +445,11 @@ void CAN_transmiter::update(void) {
 
 /*!
 	\brief CAN 数据发送
+	\param id CAN ID
+	\param length 数据长度
+	\param data 数据
 */
 u8 CAN_transmiter::CAN_Send(u32 id, u8 length, u8 *data) {
-	timeout = 0xFFFF;
 	// 检查数据长度是否符合CAN规范
 	if (length > 8) {
 		printf("CAN data length exceeds maximum of 8 bytes\r\n");
@@ -408,6 +472,17 @@ u8 CAN_transmiter::CAN_Send(u32 id, u8 length, u8 *data) {
 	for (int i = 0; i < length && i < 8; i++) {
 		transmit_message.tx_data[i] = *(data + i);
 	}
+
+	// 将数据复制到DMA缓冲区
+	memcpy(can_tx_buffer, data, length);
+
+	// 配置DMA发送参数
+	dma_tx_parameter.number = length;
+	dma_init(DMA0, DMA_CH5, &dma_tx_parameter);
+
+	// 启动DMA传输
+	dma_channel_enable(DMA0, DMA_CH5);
+
 	// 自动选择空闲mailbox发送消息，不需要人为指定
 	transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
 
@@ -417,26 +492,16 @@ u8 CAN_transmiter::CAN_Send(u32 id, u8 length, u8 *data) {
 		printf("No available mailbox for CAN transmission\r\n");
 		return 0;
 	}
-
-	// 等待发送完成，使用自动选择的mailbox进行状态检查
-	while ((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) &&
-		   (0 != timeout)) {
-		timeout--;
-	}
-
-	// 超时检查
-	if (0 == timeout) {
-		printf("CAN transmission timeout for mailbox %d\r\n", transmit_mailbox);
-		return 0;
-	}
 	return 1;
 }
 
 /*!
 	\brief CANFD 数据发送
+	\param id CAN消息ID
+	\param length CAN消息长度
+	\param data CAN消息数据
 */
 u8 CAN_transmiter::CANFD_Send(u32 id, u8 length, u8 *data) {
-	timeout = 0xFFFF;
 	// 检查CANFD模式是否启用
 	if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) {
 		printf("CANFD mode not enabled\r\n");
@@ -471,6 +536,17 @@ u8 CAN_transmiter::CANFD_Send(u32 id, u8 length, u8 *data) {
 	for (int i = 0; i < length && i < 64; i++) {
 		transmit_message.tx_data[i] = *(data + i);
 	}
+
+	// 将数据复制到DMA缓冲区
+	memcpy(can_tx_buffer, data, length);
+
+	// 配置DMA发送参数
+	dma_tx_parameter.number = length;
+	dma_init(DMA0, DMA_CH5, &dma_tx_parameter);
+
+	// 启动DMA传输
+	dma_channel_enable(DMA0, DMA_CH5);
+
 	// 自动选择空闲mailbox发送消息，不需要人为指定
 	transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
 
@@ -480,19 +556,6 @@ u8 CAN_transmiter::CANFD_Send(u32 id, u8 length, u8 *data) {
 		printf("No available mailbox for CANFD transmission\r\n");
 		return 0;
 	}
-
-	// 等待发送完成，使用自动选择的mailbox进行状态检查
-	while ((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) &&
-		   (0 != timeout)) {
-		timeout--;
-	}
-
-	// 超时检查
-	if (0 == timeout) {
-		printf("CANFD transmission timeout for mailbox %d\r\n",
-			   transmit_mailbox);
-		return 0;
-	}
 	return 1;
 }
 
@@ -628,6 +691,13 @@ void CAN0_RX0_IRQHandler(void) {
 		// 清除中断标志
 		can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFL0);
 
+		// 使用DMA读取接收到的数据
+		dma_channel_disable(DMA0, DMA_CH4);
+		dma_rx_parameter.number =
+			can_receive_message_length_get(CAN0, CAN_FIFO0);
+		dma_init(DMA0, DMA_CH4, &dma_rx_parameter);
+		dma_channel_enable(DMA0, DMA_CH4);
+
 		// 读取接收到的数据
 		can_message_receive(CAN0, CAN_FIFO0, &CAN0_transmiter.receive_message);
 
@@ -648,3 +718,37 @@ void CAN0_RX0_IRQHandler(void) {
 		printf("CAN FIFO0 overflow\n");
 	}
 }
+
+/**
+ * @brief  DMA通道4中断服务程序(CAN接收DMA)
+ * @retval 无
+ */
+void DMA0_Channel4_IRQHandler(void) {
+	if (dma_interrupt_flag_get(DMA0, DMA_CH4, DMA_INT_FLAG_FTF)) {
+		// 清除DMA传输完成中断标志
+		dma_interrupt_flag_clear(DMA0, DMA_CH4, DMA_INT_FLAG_G);
+
+		// 将DMA缓冲区的数据复制到接收消息结构体
+		for (int i = 0; i < CAN0_transmiter.receive_message.rx_dlen && i < 8;
+			 i++) {
+			CAN0_transmiter.receive_message.rx_data[i] = can_rx_buffer[i];
+		}
+
+		// 接收标志位置1
+		CAN0_transmiter.can0_receive_flag = SET;
+	}
+}
+
+/**
+ * @brief  DMA通道5中断服务程序(CAN/CANFD发送DMA)
+ * @retval 无
+ */
+void DMA0_Channel5_IRQHandler(void) {
+	if (dma_interrupt_flag_get(DMA0, DMA_CH5, DMA_INT_FLAG_FTF)) {
+		// 清除DMA传输完成中断标志
+		dma_interrupt_flag_clear(DMA0, DMA_CH5, DMA_INT_FLAG_G);
+
+		// 发送完成标志位置1
+		CAN0_transmiter.can0_send_flag = RESET;
+	}
+}
diff --git a/Robot_V2/device/Can.h b/Robot_V2/device/Can.h
index 73ca165..75a628c 100644
--- a/Robot_V2/device/Can.h
+++ b/Robot_V2/device/Can.h
@@ -6,7 +6,6 @@
 extern "C" {
 #endif
 
-#include "adc.h"
 #include "gd32c10x_can.h"
 #include "stdint.h"
 #include <stdio.h>
@@ -57,7 +56,10 @@ static inline float_union_t unpack_bytes_to_float(u8 *buffer, u16 offset) {
 u8 can_gpio_init(void);	// CAN引脚初始化
 void can_config(void);	// CAN初始化
 void canfd_config(void);// CANFD初始化
+void can_dma_init(void); // CAN DMA初始化
 void CAN0_RX0_IRQHandler(void);// CAN接收中断处理函数
+void DMA0_Channel4_IRQHandler(void); // DMA通道4中断处理函数(CAN接收)
+void DMA0_Channel5_IRQHandler(void); // DMA通道5中断处理函数(CAN发送)
 
 void can_loopback_init(void);
 void can_loopback_test(void);
@@ -113,4 +115,4 @@ class CAN_transmiter {
 }
 #endif
 
-#endif
+#endif
\ No newline at end of file
diff --git a/Robot_V2/device/Timer.cpp b/Robot_V2/device/Timer.cpp
index 0022769..ff9ec0c 100644
--- a/Robot_V2/device/Timer.cpp
+++ b/Robot_V2/device/Timer.cpp
@@ -1,7 +1,6 @@
 #include "Timer.h"
 #include "Can.h"
 #include "DengFOC.h"
-#include "ang_sensor.h"
 #include "Timer.h"
 #include "adc.h"
 #include "gd32c10x.h"
@@ -9,8 +8,6 @@
 #include "gd32c10x_misc.h"
 #include "gd32c10x_rcu.h"
 #include "gd32c10x_timer.h"
-#include "systick.h"
-#include <cstdio>
 #include <stdbool.h>
 #include <stdint.h>
 #include <stdio.h>
@@ -176,40 +173,43 @@ void TIMER2_IRQHandler(void) {
 		// 每100us执行一次的操作
 		sampler.update_current();
 
-		// 每1ms执行的代码 (100us * 10 = 1ms)
 		if (total_us100_counter >= 10) {
+			// 每1ms执行的代码
 			total_us100_counter = 0; // 重置计数器
 
 			// 设置CAN发送标志
 			CAN0_transmiter.can0_send_flag = SET;
 
+			if (sampler.get_current('U') > 2000 ||
+				sampler.get_current('V') > 2000 ||
+				sampler.get_current('W') > 2000) {
+				FOC.over_current++;
+			} else {
+				FOC.over_current = 0;
+			}
+
 			// 更新各种传感器数据
 			sampler.update_mcu_temp();
 			sampler.update_drv_temp();
 			sampler.update_vbus_voltage();
 
-			// 每10ms执行的代码 (1ms * 10 = 10ms)
+			// 停机判断及冷却
+			if (FOC.over_current > 10) {
+				FOC.is_shut_down = 10;
+			}
+
 			static u8 ms10_counter = 0;
 			ms10_counter++;
 			if (ms10_counter >= 10) {
 				ms10_counter = 0;
 				// 可以添加每10ms执行的代码
 
-				// 每100ms执行的代码 (10ms * 10 = 100ms)
 				static u8 ms100_counter = 0;
 				ms100_counter++;
 				if (ms100_counter >= 10) {
 					ms100_counter = 0;
 					// 可以添加每100ms执行的代码
-					// if (sampler.get_current('U') > 1.0 ||
-					// 	sampler.get_current('V') > 1.0 ||
-					// 	sampler.get_current('W') > 1.0) {
-					// 	if (FOC.is_shut_down == 0) {
-					// 		FOC.shut_down();
-					// 	}
-					// }
 
-					// 每1s执行的代码 (100ms * 10 = 1s)
 					static u8 sec_counter = 0;
 					sec_counter++;
 					if (sec_counter >= 10) {
@@ -233,6 +233,7 @@ void TIMER3_IRQHandler(void) {
 		timer_interrupt_flag_clear(TIMER3, TIMER_INT_UP);
 		static u8 count = 0;
 		count++;
+
 		if (FOC.is_shut_down > 0)
 			FOC.is_shut_down--;
 		else
diff --git a/Robot_V2/device/ang_sensor.cpp b/Robot_V2/device/ang_sensor.cpp
index 363ebf4..a5cba00 100644
--- a/Robot_V2/device/ang_sensor.cpp
+++ b/Robot_V2/device/ang_sensor.cpp
@@ -1,10 +1,6 @@
 #include "ang_sensor.h"
-#include "core_cmInstr.h"
 #include "gd32c10x_gpio.h"
 #include "gd32c10x_spi.h"
-#include "stdbool.h"
-#include "systick.h"
-#include <cstdio>
 
 #define SPI_CS_ENABLE() gpio_bit_reset(GPIOA, GPIO_PIN_15)
 #define SPI_CS_DISABLE() gpio_bit_set(GPIOA, GPIO_PIN_15)
diff --git a/Robot_V2/device/test.cpp b/Robot_V2/device/test.cpp
index a8b44a6..9ce9a99 100644
--- a/Robot_V2/device/test.cpp
+++ b/Robot_V2/device/test.cpp
@@ -1,13 +1,4 @@
-#include "Can.h"
-#include "Filter.h"
-#include "Timer.h"
 #include "adc.h"
-#include "core_cm4.h"
-#include "initial.h"
-#include "main.h"
-#include "sys/initial.h"
-#include "systick.h"
-#include <cinttypes>
 #include <cstdio>
 
 constexpr int status_print = 0;
@@ -19,7 +10,7 @@ void test_1111() {
 	if (status_print) {
 		/* value print */
 		printf(" the temperature data is %2.2f degrees Celsius\r\n",
-			  sampler.get_mcu_temp());
+			   sampler.get_mcu_temp());
 		printf(" the drv_temperature data is %2.2f degrees Celsius\r\n",
 			   sampler.get_drv_temp());
 		printf(" the U current data is %2.2f mA\r\n", sampler.get_current('U'));
diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp
index 3bbb0b8..c7543e9 100644
--- a/Robot_V2/main.cpp
+++ b/Robot_V2/main.cpp
@@ -1,28 +1,22 @@
 #include "main.h"
 #include "Can.h"
 #include "DengFOC.h"
-#include "Filter.h"
 #include "Timer.h"
 #include "adc.h"
 #include "core_cm4.h"
-#include "core_cm4.h"
 #include "ang_sensor.h"
-#include "gd32c10x_gpio.h"
 #include "initial.h"
 #include "systick.h"
-#include <cstdio>
 
 // 全局变量定义
-CAN_transmiter CAN0_transmiter;
-FOC_Controlroller FOC;
-sampler sampler;
+CAN_transmiter CAN0_transmiter;  //CAN初始化
+FOC_Controlroller FOC;			// FOC控制初始化
+sampler sampler;				// 采样器初始化
 
 int main(void) {
 	systick_config();  // 系统时钟初始化
 	USART0_init();	   // 调试串口初始化
 	User_timer_init(); // Timer初始化
-	adc_config();	   // ADC初始化
-	dma_config();	   // DMA采样ADC初始化
 	sampler.init();		// 采样器初始化
 	driver_init();	   // 电机驱动初始化
 
@@ -32,7 +26,6 @@ int main(void) {
 	
 	while (1) {
 		/* clear the FWDGT reset flag */
-		// std::printf("1\n");
 		// delay_1ms(100);
 		fwdgt_counter_reload();
 		CAN0_transmiter.communication_check();
diff --git a/Robot_V2/sys/initial.cpp b/Robot_V2/sys/initial.cpp
index f76fc7d..94a6e49 100644
--- a/Robot_V2/sys/initial.cpp
+++ b/Robot_V2/sys/initial.cpp
@@ -1,96 +1,7 @@
 #include "initial.h"
-#include "gd32c10x_timer.h"
-#include "systick.h"
-#include <stdint.h>
 #include "Timer.h"
+#include <stdint.h>
 
-extern u16 adc_value[7];
-
-/*!
-	\brief      configure the DMA peripheral
-	\param[in]  none
-	\param[out] none
-	\retval     none
-*/
-void dma_config(void) {
-	/* enable DMA0 clock */
-	rcu_periph_clock_enable(RCU_DMA0);
-	/* ADC_DMA_channel configuration */
-	dma_parameter_struct dma_data_parameter;
-
-	/* ADC DMA_channel configuration */
-	dma_deinit(DMA0, DMA_CH0);
-
-	/* initialize DMA single data mode */
-	dma_data_parameter.periph_addr = (uint32_t)(&ADC_RDATA(ADC0));
-	dma_data_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
-	dma_data_parameter.memory_addr = (uint32_t)(adc_value);
-	dma_data_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
-	dma_data_parameter.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
-	dma_data_parameter.memory_width = DMA_MEMORY_WIDTH_16BIT;
-	dma_data_parameter.direction = DMA_PERIPHERAL_TO_MEMORY;
-	dma_data_parameter.number = 6;
-	dma_data_parameter.priority = DMA_PRIORITY_HIGH;
-	dma_init(DMA0, DMA_CH0, &dma_data_parameter);
-
-	dma_circulation_enable(DMA0, DMA_CH0);
-
-	/* enable DMA channel */
-	dma_channel_enable(DMA0, DMA_CH0);
-}
-
-/*!
-	\brief      configure the ADC peripheral
-	\param[in]  none
-	\param[out] none
-	\retval     none
-*/
-void adc_config(void) {
-	/* enable ADC clock */
-	rcu_periph_clock_enable(RCU_ADC0);
-	/* config ADC clock */
-	rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV4);
-
-	/* 复位ADC */
-	adc_deinit(ADC0);
-	/* ADC模式配置 */
-	adc_mode_config(ADC_MODE_FREE);
-	/* 使能ADC连续转换功能 */
-	adc_special_function_config(ADC0, ADC_CONTINUOUS_MODE, ENABLE);
-	/* 使能ADC扫描模式 */
-	adc_special_function_config(ADC0, ADC_SCAN_MODE, ENABLE);
-	/* ADC数据右对齐配置 */
-	adc_data_alignment_config(ADC0, ADC_DATAALIGN_RIGHT);
-	/* 使能ADC温度传感器和内部参考电压 */
-	adc_tempsensor_vrefint_enable();
-
-	/* 配置ADC通道长度 */
-	adc_channel_length_config(ADC0, ADC_REGULAR_CHANNEL, 6);
-	/* 配置ADC规则通道 */
-	adc_regular_channel_config(ADC0, 0, ADC_CHANNEL_16,
-							   ADC_SAMPLETIME_239POINT5);
-	adc_regular_channel_config(ADC0, 1, ADC_CHANNEL_9, ADC_SAMPLETIME_55POINT5);
-	adc_regular_channel_config(ADC0, 2, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
-	adc_regular_channel_config(ADC0, 3, ADC_CHANNEL_4, ADC_SAMPLETIME_55POINT5);
-	adc_regular_channel_config(ADC0, 4, ADC_CHANNEL_5, ADC_SAMPLETIME_55POINT5);
-	adc_regular_channel_config(ADC0, 5, ADC_CHANNEL_6, ADC_SAMPLETIME_55POINT5);
-
-	/* ADC触发配置 */
-	adc_external_trigger_source_config(ADC0, ADC_REGULAR_CHANNEL,
-									   ADC0_1_EXTTRIG_REGULAR_NONE);
-	adc_external_trigger_config(ADC0, ADC_REGULAR_CHANNEL, ENABLE);
-
-	/* 使能ADC接口 */
-	adc_enable(ADC0);
-	/* ADC校准 */
-	adc_calibration_enable(ADC0);
-
-	/* 使能ADC DMA功能 */
-	adc_dma_mode_enable(ADC0);
-
-	/* 使能ADC软件触发 */
-	adc_software_trigger_enable(ADC0, ADC_REGULAR_CHANNEL);
-}
 
 void GPIO_config(void) {
 	// 使能GPIOB时钟
@@ -126,7 +37,6 @@ void driver_init(void) {
 	timer1_gpio_config();
 	timer1_pwm_config();
 	TIMER3_config();
-	
 }
 
 int fputc(int ch, FILE *f) throw() {
diff --git a/Robot_V2/sys/initial.h b/Robot_V2/sys/initial.h
index e5d4687..902e240 100644
--- a/Robot_V2/sys/initial.h
+++ b/Robot_V2/sys/initial.h
@@ -4,15 +4,11 @@
 #ifdef __cplusplus
 extern "C" {
 #endif
-#include "gd32c10x.h"
 #include "stdint.h"
 #include <stdio.h>
 #include "gd32c10x_eval.h"
 
 void rcu_config(void);
-void adc_config(void);
-void dma_config(void);
-
 static volatile uint32_t timer_delay_count = 0; // volatile 很重要！
 int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现