diff --git a/3rd-lib/PID-Library/LICENSE b/3rd-lib/PID-Library/LICENSE
new file mode 100644
index 0000000..4fbde9a
--- /dev/null
+++ b/3rd-lib/PID-Library/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2021 Majid Derhambakhsh
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/3rd-lib/PID-Library/README.md b/3rd-lib/PID-Library/README.md
new file mode 100644
index 0000000..78a691c
--- /dev/null
+++ b/3rd-lib/PID-Library/README.md
@@ -0,0 +1,164 @@
+![Banner](Banner.png)
+
+# PID-Library (C Version)
+PID Controller library for ARM Cortex M (STM32)
+
+> #### Download Arduino Library : [Arduino-PID-Library](https://github.com/br3ttb/Arduino-PID-Library)  
+
+## Release
+- #### Version : 1.0.0
+
+- #### Type : Embedded Software.
+
+- #### Support :  
+               - ARM STM32 series  
+
+- #### Program Language : C/C++
+
+- #### Properties :
+
+- #### Changes :  
+
+- #### Required Library/Driver :
+
+
+## Overview 
+### Initialization and de-initialization functions:
+```c++
+void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
+void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection);
+``` 
+
+### Operation functions:
+```c++
+/* ::::::::::: Computing ::::::::::: */
+uint8_t PID_Compute(PID_TypeDef *uPID);
+
+/* ::::::::::: PID Mode :::::::::::: */
+void            PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
+PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID);
+
+/* :::::::::: PID Limits ::::::::::: */
+void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
+
+/* :::::::::: PID Tunings :::::::::: */
+void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd);
+void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn);
+
+/* ::::::::: PID Direction ::::::::: */
+void          PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction);
+PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID);
+
+/* ::::::::: PID Sampling :::::::::: */
+void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
+
+/* ::::::: Get Tunings Param ::::::: */
+float PID_GetKp(PID_TypeDef *uPID);
+float PID_GetKi(PID_TypeDef *uPID);
+float PID_GetKd(PID_TypeDef *uPID);
+``` 
+
+### Macros:
+```diff  
+non   
+```
+
+## Guide
+
+#### This library can be used as follows:
+#### 1.  Add pid.h header  
+#### 2.  Create PID struct and initialize it, for example:      
+* Initializer:
+  ```c++
+  PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
+  ``` 
+* Parameters:  
+     * uPID : Pointer to pid struct 
+     * Input : The variable we're trying to control (float) 
+     * Output : The variable that will be adjusted by the pid (float) 
+     * Setpoint : The value we want to Input to maintain (float) 
+     * Kp,Ki,Kd : Tuning Parameters. these affect how the pid will change the output (float>=0) 
+     * POn : Either P_ON_E (Default) or P_ON_M. Allows Proportional on Measurement to be specified.  
+     * ControllerDirection : Either DIRECT or REVERSE. determines which direction the output will move when faced with a given error. DIRECT is most common  
+          
+          
+* Example:
+  ```c++  
+  PID_TypeDef TPID;
+
+  float Temp, PIDOut, TempSetpoint;
+
+  PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
+  ``` 
+#### 3.  Set 'mode', 'sample time' and 'output limit', for example:  
+* Functions:
+  ```c++
+  void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
+  void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
+  void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
+  ``` 
+* Parameters:  
+     * uPID : Pointer to pid struct 
+     * Mode : _PID_MODE_AUTOMATIC or _PID_MODE_MANUAL
+     * Min : Low end of the range. must be < max (float) 
+     * Max : High end of the range. must be > min (float) 
+     * NewSampleTime : How often, in milliseconds, the PID will be evaluated. (int>0)  
+          
+* Example:
+  ```c++  
+  PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
+  PID_SetSampleTime(&TPID, 500);
+  PID_SetOutputLimits(&TPID, 1, 100);
+  ``` 
+  
+#### 4.  Using Compute function, for example:  
+        
+```c++
+PID_Compute(&TPID);
+```  
+      
+## Examples  
+
+#### Example 1: PID Compute for temperature
+```c++  
+#include "main.h"
+#include "pid.h"
+
+PID_TypeDef TPID;
+
+char OutBuf[50];
+float Temp, PIDOut, TempSetpoint;
+
+int main(void)
+{
+	
+  HW_Init();
+  
+  PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
+	
+  PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
+  PID_SetSampleTime(&TPID, 500);
+  PID_SetOutputLimits(&TPID, 1, 100);
+  
+    while (1) 
+    {
+  
+      Temp = GetTemp();
+      PID_Compute(&TPID);
+      
+      sprintf(OutBuf, "Temp%3.2f : %u\n", Temp, (uint16_t)PIDOut);
+      UART_Transmit((uint8_t *)OutBuf, strlen(OutBuf));
+      
+      Delay_ms(500);
+    
+    }
+}
+   
+``` 
+
+## Tests performed:
+- [x] Run on STM32 Fx cores 
+
+## Developers: 
+- ### Majid Derhambakhsh
+
diff --git a/3rd-lib/PID-Library/pid.c b/3rd-lib/PID-Library/pid.c
new file mode 100644
index 0000000..650e38a
--- /dev/null
+++ b/3rd-lib/PID-Library/pid.c
@@ -0,0 +1,293 @@
+ /*
+------------------------------------------------------------------------------
+~ File   : pid.c
+~ Author : Majid Derhambakhsh
+~ Version: V1.0.0
+~ Created: 02/11/2021 03:43:00 AM
+~ Brief  :
+~ Support:
+		   E-Mail : Majid.do16@gmail.com (subject : Embedded Library Support)
+
+		   Github : https://github.com/Majid-Derhambakhsh
+------------------------------------------------------------------------------
+~ Description:
+
+~ Attention  :
+
+~ Changes    :
+------------------------------------------------------------------------------
+*/
+
+#include "pid.h"
+
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Functions ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* ~~~~~~~~~~~~~~~~~ Initialize ~~~~~~~~~~~~~~~~ */
+void PID_Init(PID_TypeDef *uPID)
+{
+	/* ~~~~~~~~~~ Set parameter ~~~~~~~~~~ */
+	uPID->OutputSum = *uPID->MyOutput;
+	uPID->LastInput = *uPID->MyInput;
+	
+	if (uPID->OutputSum > uPID->OutMax)
+	{
+		uPID->OutputSum = uPID->OutMax;
+	}
+	else if (uPID->OutputSum < uPID->OutMin)
+	{
+		uPID->OutputSum = uPID->OutMin;
+	}
+	
+	
+}
+
+void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection)
+{
+	/* ~~~~~~~~~~ Set parameter ~~~~~~~~~~ */
+	uPID->MyOutput   = Output;
+	uPID->MyInput    = Input;
+	uPID->MySetpoint = Setpoint;
+	uPID->InAuto     = (PIDMode_TypeDef)_FALSE;
+	
+	PID_SetOutputLimits(uPID, 0, _PID_8BIT_PWM_MAX);
+	
+	uPID->SampleTime = _PID_SAMPLE_TIME_MS_DEF; /* default Controller Sample Time is 0.1 seconds */
+	
+	PID_SetControllerDirection(uPID, ControllerDirection);
+	PID_SetTunings2(uPID, Kp, Ki, Kd, POn);
+	
+}
+
+void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection)
+{
+	PID(uPID, Input, Output, Setpoint, Kp, Ki, Kd, _PID_P_ON_E, ControllerDirection);
+}
+
+/* ~~~~~~~~~~~~~~~~~ Computing ~~~~~~~~~~~~~~~~~ */
+uint8_t PID_Compute(PID_TypeDef *uPID)
+{
+	
+	float input=0;
+	float error=0;
+	float dInput=0;
+	float output=0;
+	
+	/* ~~~~~~~~~~ Check PID mode ~~~~~~~~~~ */
+	if (!uPID->InAuto)
+	{
+		return _FALSE;
+	}
+	
+
+	/* ..... Compute all the working error variables ..... */
+	input   = *uPID->MyInput;
+	error   = *uPID->MySetpoint - input;
+	dInput  = (input - uPID->LastInput);
+	
+	uPID->OutputSum     += (uPID->Ki * error);
+	
+	/* ..... Add Proportional on Measurement, if P_ON_M is specified ..... */
+	if (!uPID->POnE)
+	{
+		uPID->OutputSum -= uPID->Kp * dInput;
+	}
+	
+	if (uPID->OutputSum > uPID->OutMax)
+	{
+		uPID->OutputSum = uPID->OutMax;
+	}
+	else if (uPID->OutputSum < uPID->OutMin)
+	{
+		uPID->OutputSum = uPID->OutMin;
+	}
+	else { }
+	
+	/* ..... Add Proportional on Error, if P_ON_E is specified ..... */
+	if (uPID->POnE)
+	{
+		output = uPID->Kp * error;
+	}
+	else
+	{
+		output = 0;
+	}
+	
+	/* ..... Compute Rest of PID Output ..... */
+	output += uPID->OutputSum - uPID->Kd * dInput;
+	
+	if (output > uPID->OutMax)
+	{
+		output = uPID->OutMax;
+	}
+	else if (output < uPID->OutMin)
+	{
+		output = uPID->OutMin;
+	}
+	else { }
+	
+	*uPID->MyOutput = output;
+	
+	/* ..... Remember some variables for next time ..... */
+	uPID->LastInput = input;
+	
+	return _TRUE;
+}
+
+/* ~~~~~~~~~~~~~~~~~ PID Mode ~~~~~~~~~~~~~~~~~~ */
+void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode)
+{
+	
+	uint8_t newAuto = (Mode == _PID_MODE_AUTOMATIC);
+	
+	/* ~~~~~~~~~~ Initialize the PID ~~~~~~~~~~ */
+	if (newAuto && !uPID->InAuto)
+	{
+		PID_Init(uPID);
+	}
+	
+	uPID->InAuto = (PIDMode_TypeDef)newAuto;
+	
+}
+PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID)
+{
+	return uPID->InAuto ? _PID_MODE_AUTOMATIC : _PID_MODE_MANUAL;
+}
+
+/* ~~~~~~~~~~~~~~~~ PID Limits ~~~~~~~~~~~~~~~~~ */
+void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max)
+{
+	/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
+	if (Min >= Max)
+	{
+		return;
+	}
+	
+	uPID->OutMin = Min;
+	uPID->OutMax = Max;
+	
+	/* ~~~~~~~~~~ Check PID Mode ~~~~~~~~~~ */
+	if (uPID->InAuto)
+	{
+		
+		/* ..... Check out value ..... */
+		if (*uPID->MyOutput > uPID->OutMax)
+		{
+			*uPID->MyOutput = uPID->OutMax;
+		}
+		else if (*uPID->MyOutput < uPID->OutMin)
+		{
+			*uPID->MyOutput = uPID->OutMin;
+		}
+		else { }
+		
+		/* ..... Check out value ..... */
+		if (uPID->OutputSum > uPID->OutMax)
+		{
+			uPID->OutputSum = uPID->OutMax;
+		}
+		else if (uPID->OutputSum < uPID->OutMin)
+		{
+			uPID->OutputSum = uPID->OutMin;
+		}
+		else { }
+		
+	}
+	
+}
+
+/* ~~~~~~~~~~~~~~~~ PID Tunings ~~~~~~~~~~~~~~~~ */
+void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd)
+{
+	PID_SetTunings2(uPID, Kp, Ki, Kd, uPID->POn);
+}
+void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn)
+{
+	
+	float SampleTimeInSec;
+	
+	/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
+	if (Kp < 0 || Ki < 0 || Kd < 0)
+	{
+		return;
+	}
+	
+	/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+	uPID->POn    = POn;
+	uPID->POnE   = (PIDPON_TypeDef)(POn == _PID_P_ON_E);
+
+	uPID->DispKp = Kp;
+	uPID->DispKi = Ki;
+	uPID->DispKd = Kd;
+	
+	/* ~~~~~~~~~ Calculate time ~~~~~~~~ */
+	SampleTimeInSec = ((float)uPID->SampleTime) / 1000;
+	
+	uPID->Kp = Kp;
+	uPID->Ki = Ki * SampleTimeInSec;
+	uPID->Kd = Kd / SampleTimeInSec;
+	
+	/* ~~~~~~~~ Check direction ~~~~~~~~ */
+	if (uPID->ControllerDirection == _PID_CD_REVERSE)
+	{
+		
+		uPID->Kp = (0 - uPID->Kp);
+		uPID->Ki = (0 - uPID->Ki);
+		uPID->Kd = (0 - uPID->Kd);
+		
+	}
+	
+}
+
+/* ~~~~~~~~~~~~~~~ PID Direction ~~~~~~~~~~~~~~~ */
+void PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction)
+{
+	/* ~~~~~~~~~~ Check parameters ~~~~~~~~~~ */
+	if ((uPID->InAuto) && (Direction !=uPID->ControllerDirection))
+	{
+		
+		uPID->Kp = (0 - uPID->Kp);
+		uPID->Ki = (0 - uPID->Ki);
+		uPID->Kd = (0 - uPID->Kd);
+		
+	}
+	
+	uPID->ControllerDirection = Direction;
+	
+}
+PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID)
+{
+	return uPID->ControllerDirection;
+}
+
+/* ~~~~~~~~~~~~~~~ PID Sampling ~~~~~~~~~~~~~~~~ */
+void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime)
+{
+	
+	float ratio;
+	
+	/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
+	if (NewSampleTime > 0)
+	{
+		
+		ratio = (float)NewSampleTime / (float)uPID->SampleTime;
+		
+		uPID->Ki *= ratio;
+		uPID->Kd /= ratio;
+		uPID->SampleTime = (uint32_t)NewSampleTime;
+		
+	}
+	
+}
+
+/* ~~~~~~~~~~~~~ Get Tunings Param ~~~~~~~~~~~~~ */
+float PID_GetKp(PID_TypeDef *uPID)
+{
+	return uPID->DispKp;
+}
+float PID_GetKi(PID_TypeDef *uPID)
+{
+	return uPID->DispKi;
+}
+float PID_GetKd(PID_TypeDef *uPID)
+{
+	return uPID->DispKd;
+}
diff --git a/3rd-lib/PID-Library/pid.h b/3rd-lib/PID-Library/pid.h
new file mode 100644
index 0000000..7583788
--- /dev/null
+++ b/3rd-lib/PID-Library/pid.h
@@ -0,0 +1,176 @@
+ /*
+------------------------------------------------------------------------------
+~ File   : pid.h
+~ Author : Majid Derhambakhsh
+~ Version: V1.0.0
+~ Created: 02/11/2021 03:43:00 AM
+~ Brief  :
+~ Support:
+		   E-Mail : Majid.do16@gmail.com (subject : Embedded Library Support)
+
+		   Github : https://github.com/Majid-Derhambakhsh
+------------------------------------------------------------------------------
+~ Description:
+
+~ Attention  :
+
+~ Changes    :
+------------------------------------------------------------------------------
+*/
+
+#ifndef __PID_H_
+#define __PID_H_
+
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Include ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+#include <stdint.h>
+#include <string.h>
+
+#include "zf_common_headfile.h"
+
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* ------------------------ Library ------------------------ */
+#define _PID_LIBRARY_VERSION    1.0.0
+
+/* ------------------------ Public ------------------------- */
+#define _PID_8BIT_PWM_MAX       UINT8_MAX
+#define _PID_SAMPLE_TIME_MS_DEF 100
+
+#ifndef _FALSE
+
+	#define _FALSE 0
+
+#endif
+
+#ifndef _TRUE
+
+	#define _TRUE 1
+
+#endif
+
+/* ---------------------- By compiler ---------------------- */
+#ifndef GetTime
+
+	/* ---------------------- By compiler ---------------------- */
+
+	#ifdef __CODEVISIONAVR__  /* Check compiler */
+
+		#define GetTime()   0
+
+	/* ------------------------------------------------------------------ */
+
+	#elif defined(__GNUC__)  /* Check compiler */
+
+		#define GetTime()   0
+
+	/* ------------------------------------------------------------------ */
+
+
+	#else
+	#endif /* __CODEVISIONAVR__ */
+	/* ------------------------------------------------------------------ */
+
+#endif
+
+/* --------------------------------------------------------- */
+
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Types ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* PID Mode */
+typedef enum
+{
+	
+	_PID_MODE_MANUAL    = 0,
+	_PID_MODE_AUTOMATIC = 1
+	
+}PIDMode_TypeDef;
+
+/* PID P On x */
+typedef enum
+{
+	
+	_PID_P_ON_M = 0, /* Proportional on Measurement */
+	_PID_P_ON_E = 1
+	
+}PIDPON_TypeDef;
+
+/* PID Control direction */
+typedef enum
+{
+	
+	_PID_CD_DIRECT  = 0,
+	_PID_CD_REVERSE = 1
+	
+}PIDCD_TypeDef;
+
+/* PID Structure */
+typedef struct
+{
+	
+	PIDPON_TypeDef  POnE;
+	PIDMode_TypeDef InAuto;
+
+	PIDPON_TypeDef  POn;
+	PIDCD_TypeDef   ControllerDirection;
+
+	uint32_t        LastTime;
+	uint32_t        SampleTime;
+
+	float          DispKp;
+	float          DispKi;
+	float          DispKd;
+
+	float          Kp;
+	float          Ki;
+	float          Kd;
+
+	float          *MyInput;
+	float          *MyOutput;
+	float          *MySetpoint;
+
+	float          OutputSum;
+	float          LastInput;
+
+	float          OutMin;
+	float          OutMax;
+	
+}PID_TypeDef;
+
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Variables ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Struct ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Class ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Prototype ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* :::::::::::::: Init ::::::::::::: */
+void PID_Init(PID_TypeDef *uPID);
+
+void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
+void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection);
+
+/* ::::::::::: Computing ::::::::::: */
+uint8_t PID_Compute(PID_TypeDef *uPID);
+
+/* ::::::::::: PID Mode :::::::::::: */
+void            PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
+PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID);
+
+/* :::::::::: PID Limits ::::::::::: */
+void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
+
+/* :::::::::: PID Tunings :::::::::: */
+void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd);
+void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn);
+
+/* ::::::::: PID Direction ::::::::: */
+void          PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction);
+PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID);
+
+/* ::::::::: PID Sampling :::::::::: */
+void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
+
+/* ::::::: Get Tunings Param ::::::: */
+float PID_GetKp(PID_TypeDef *uPID);
+float PID_GetKi(PID_TypeDef *uPID);
+float PID_GetKd(PID_TypeDef *uPID);
+
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ End of the program ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+
+#endif /* __PID_H_ */
diff --git a/app/by_buzzer.c b/app/by_buzzer.c
index c29e383..52188df 100644
--- a/app/by_buzzer.c
+++ b/app/by_buzzer.c
@@ -29,14 +29,14 @@ void queue_pop_element(void)
 void queue_pop_read(void)
 {
     while (queue_long != 0) {
-        pwm_init(TIM8_PWM_MAP0_CH1_C6, a[0], 5000);
+        pwm_init(BUZZER_PIN, a[0], 5000);
         queue_pop_element();
         system_delay_ms(100);
-        pwm_set_duty(TIM8_PWM_MAP0_CH1_C6, 0);
+        pwm_set_duty(BUZZER_PIN, 0);
     }
 }
 
 void by_buzzer_init(void)
 {
-    pwm_init(TIM8_PWM_MAP0_CH1_C6, 2000, 0);
+    pwm_init(BUZZER_PIN, 2000, 0);
 }
diff --git a/app/by_buzzer.h b/app/by_buzzer.h
index 9bf9f9a..c410955 100644
--- a/app/by_buzzer.h
+++ b/app/by_buzzer.h
@@ -10,7 +10,7 @@
 #define BY_PRESS_LONG  2500
 #define BY_FORWARD     1500
 #define BY_BACKWARD    1800
-
+#define BUZZER_PIN TIM3_PWM_MAP0_CH2_A7
 extern void by_buzzer_init(void);
 extern void queue_init(void);
 extern void queue_add_element(int element);
diff --git a/app/by_fan_control.c b/app/by_fan_control.c
index 66d2b11..22a4463 100644
--- a/app/by_fan_control.c
+++ b/app/by_fan_control.c
@@ -1,28 +1,58 @@
 #include "by_fan_control.h"
 #include "zf_common_headfile.h"
+#define Fan_pwm_up1    TIM8_PWM_MAP0_CH1_C6
+#define Fan_pwm_up2    TIM8_PWM_MAP0_CH2_C7
+#define Fan_pwm_power1 TIM4_PWM_MAP1_CH3_D14
+#define Fan_pwm_power2 TIM4_PWM_MAP1_CH4_D15
+#define Fan_pwm_power3 TIM4_PWM_MAP1_CH2_D13
+#define Fan_pwm_power4 TIM4_PWM_MAP1_CH1_D12
+
+uint32_t myclip(uint32_t x, uint32_t low, uint32_t up)
+{
+    return (x > up ? up : x < low ? low
+                                  : x);
+}
 
 void by_pwm_init(void)
 {
-    pwm_init(TIM4_PWM_MAP1_CH1_D12, 10000, 0); // 浮力风扇左
-    pwm_init(TIM4_PWM_MAP1_CH2_D13, 10000, 0); // 浮力风扇右
+    pwm_init(Fan_pwm_up1, 50, 500); // 浮力风扇左
+    pwm_init(Fan_pwm_up2, 50, 500); // 浮力风扇右
 
-    pwm_init(TIM4_PWM_MAP1_CH3_D14, 10000, 0); // 动力风扇左
-    pwm_init(TIM4_PWM_MAP1_CH4_D15, 10000, 0); // 动力风扇右
+    pwm_init(Fan_pwm_power1, 50, 500); // 动力风扇左1
+    pwm_init(Fan_pwm_power2, 50, 500); // 动力风扇右1
+    pwm_init(Fan_pwm_power3, 50, 500); // 动力风扇左2
+    pwm_init(Fan_pwm_power4, 50, 500); // 动力风扇右2
+    // system_delay_ms(3000);
+    // // pwm_init(Fan_pwm_power1, 50, 1000); // 动力风扇左1
+    // // pwm_init(Fan_pwm_power2, 50, 1000); // 动力风扇右1
+    // // pwm_init(Fan_pwm_power3, 50, 1000); // 动力风扇左2
+    // // pwm_init(Fan_pwm_power4, 50, 1000); // 动力风扇右2
+    // // system_delay_ms(5000);
+    //  pwm_set_duty(Fan_pwm_power1, 600);
+    // pwm_set_duty(Fan_pwm_power2, 600);
+    // pwm_set_duty(Fan_pwm_power3, 600);
+    // pwm_set_duty(Fan_pwm_power4, 600);
+    // while(1);
 }
 
-void by_pwm_update_duty(uint32_t update_pwm_duty)
+void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
 {
-    if (4000UL < update_pwm_duty) {
-        update_pwm_duty = 4000UL;
-    }
-    pwm_set_duty(TIM4_PWM_MAP1_CH1_D12, update_pwm_duty);
-    pwm_set_duty(TIM4_PWM_MAP1_CH2_D13, update_pwm_duty);
-    // pwm_set_duty(TIM4_PWM_MAP1_CH3_D14, update_pwm_duty);
-    // pwm_set_duty(TIM4_PWM_MAP1_CH4_D15, update_pwm_duty);
+    update_pwm_duty1=myclip(update_pwm_duty1, 500, 900);
+    update_pwm_duty2=myclip(update_pwm_duty2, 500, 900);
+    pwm_set_duty(Fan_pwm_up1, update_pwm_duty1);
+    pwm_set_duty(Fan_pwm_up2, update_pwm_duty2);
 }
 
-void by_pwm_power_duty(uint32_t power_pwm_duty_l, uint32_t power_pwm_duty_r)
+void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1, uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2)
 {
-    pwm_set_duty(TIM4_PWM_MAP1_CH3_D14, power_pwm_duty_l);
-    pwm_set_duty(TIM4_PWM_MAP1_CH4_D15, power_pwm_duty_r);
+
+    power_pwm_duty_l1=myclip(power_pwm_duty_l1, 500, 900);
+    power_pwm_duty_r1=myclip(power_pwm_duty_r1, 500, 900);
+    power_pwm_duty_l2=myclip(power_pwm_duty_l2, 500, 900);
+    power_pwm_duty_r2=myclip(power_pwm_duty_r2, 500, 900);
+
+    pwm_set_duty(Fan_pwm_power1, power_pwm_duty_l1);
+    pwm_set_duty(Fan_pwm_power2, power_pwm_duty_r1);
+    pwm_set_duty(Fan_pwm_power3, power_pwm_duty_l2);
+    pwm_set_duty(Fan_pwm_power4, power_pwm_duty_r2);
 }
diff --git a/app/by_fan_control.h b/app/by_fan_control.h
index 2ae6049..d06fd22 100644
--- a/app/by_fan_control.h
+++ b/app/by_fan_control.h
@@ -5,7 +5,7 @@
 #include "ch32v30x.h"
 
 extern void by_pwm_init(void);
-extern void by_pwm_update_duty(uint32_t update_pwm_duty);
-extern void by_pwm_power_duty(uint32_t power_pwm_duty_l, uint32_t power_pwm_duty_r);
+void by_pwm_update_duty(uint32_t update_pwm_duty1,uint32_t update_pwm_duty2);
+void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1,uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2);
 
 #endif
\ No newline at end of file
diff --git a/app/by_imu.c b/app/by_imu.c
index bad29e9..5a0e864 100644
--- a/app/by_imu.c
+++ b/app/by_imu.c
@@ -14,8 +14,8 @@ gyro_param_t GyroOffset;
 
 bool GyroOffset_init = 0;
 
-float param_Kp = 0.17;  // 加速度计的收敛速率比例增益 0.17
-float param_Ki = 0.004; // 陀螺仪收敛速率的积分增益 0.004
+float param_Kp = 0.17f;  // 加速度计的收敛速率比例增益 0.17
+float param_Ki = 0.004f; // 陀螺仪收敛速率的积分增益 0.004
 
 float fast_sqrt(float x)
 {
@@ -170,9 +170,9 @@ void ICM_getEulerianAngles(void)
     float q3 = Q_info.q3;
 
     // 四元数计算欧拉角
-    eulerAngle.pitch = asin(-2 * q1 * q3 + 2 * q0 * q2) * 180 / M_PI;                                 // pitch
-    eulerAngle.roll  = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2 * q2 + 1) * 180 / M_PI; // roll
-    eulerAngle.yaw   = atan2(2 * q1 * q2 + 2 * q0 * q3, -2 * q2 * q2 - 2 * q3 * q3 + 1) * 180 / M_PI; // yaw
+    eulerAngle.pitch = asinf(-2 * q1 * q3 + 2 * q0 * q2) * 180.0f / M_PI;                                 // pitch
+    eulerAngle.roll  = atan2f(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2 * q2 + 1) * 180.0f / M_PI; // roll
+    eulerAngle.yaw   = atan2f(2 * q1 * q2 + 2 * q0 * q3, -2 * q2 * q2 - 2 * q3 * q3 + 1) * 180.0f / M_PI; // yaw
 
     /*   姿态限制*/
     if (eulerAngle.roll > 90 || eulerAngle.roll < -90) {
@@ -184,9 +184,9 @@ void ICM_getEulerianAngles(void)
         }
     }
 
-    if (eulerAngle.yaw > 360) {
-        eulerAngle.yaw -= 360;
-    } else if (eulerAngle.yaw < 0) {
-        eulerAngle.yaw += 360;
+    if (eulerAngle.yaw > 180) {
+        eulerAngle.yaw -= 180;
+    } else if (eulerAngle.yaw < -180) {
+        eulerAngle.yaw += 180;
     }
 }
diff --git a/app/isr.c b/app/isr.c
index 9c47092..0b2cf6b 100644
--- a/app/isr.c
+++ b/app/isr.c
@@ -38,6 +38,7 @@
 #include "by_imu.h"
 #include "jj_blueteeth.h"
 #include "by_buzzer.h"
+#include "jj_motion.h"
 
 void NMI_Handler(void) __attribute__((interrupt()));
 void HardFault_Handler(void) __attribute__((interrupt()));
@@ -92,8 +93,8 @@ void USART1_IRQHandler(void)
 void USART2_IRQHandler(void)
 {
     if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) {
-       uart_query_byte(UART_2,&bt_buffer);
-         bt_rx_flag=true;
+        uart_query_byte(UART_2, &bt_buffer);
+        bt_rx_flag = true;
         USART_ClearITPendingBit(USART2, USART_IT_RXNE);
     }
 }
@@ -272,6 +273,8 @@ void TIM1_UP_IRQHandler(void)
 {
     if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
         TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
+
+        sport_motion2(bt_fly);
     }
 }
 
diff --git a/app/jj_blueteeth.c b/app/jj_blueteeth.c
index dcacd40..7e47f67 100644
--- a/app/jj_blueteeth.c
+++ b/app/jj_blueteeth.c
@@ -1,12 +1,23 @@
 #include "jj_blueteeth.h"
+#include "jj_motion.h"
+#include "by_fan_control.h"
 bool bt_rx_flag = false;
-uint8 bt_buffer;//接收字符存入
+uint8 bt_buffer; // 接收字符存入
+float bt_angle       = 0.0f;
+uint32_t bt_run_flag = 0;
+uint8_t bt_flow_flag = 0;
+uint32_t bt_fly      = 0;
+uint32_t bt_flow     = 0;
 enum bt_order {
     Start_work = 0x01,
     Turn_Left  = 0x02,
     Turn_Right = 0x03,
     Speed_up   = 0x04,
     Speed_down = 0x05,
+    Stop_fly   = 0x06,
+    Flow_on    = 0x08,
+    Flow_up    = 0x09,
+    Flow_down  = 0x10,
 };
 /**
  * @brief  蓝牙初始化
@@ -15,7 +26,7 @@ enum bt_order {
 void jj_bt_init()
 {
     uart_init(UART_2, 115200, UART2_MAP1_TX_D5, UART2_MAP1_RX_D6);
- //   uart_tx_interrupt(UART_2, 1);
+    //   uart_tx_interrupt(UART_2, 1);
     uart_rx_interrupt(UART_2, ENABLE);
 }
 /**
@@ -26,24 +37,56 @@ void jj_bt_run()
     if (bt_rx_flag) {
         switch (bt_buffer) {
             case Start_work:
-                printf("1\r\n");
+                bt_angle = 0.0f;
                 break;
             case Turn_Left:
-                printf("2\r\n");
+                bt_angle = 10.0f;
                 break;
             case Turn_Right:
-                printf("3\r\n");
+                bt_angle = -10.0f;
                 break;
             case Speed_down:
-                printf("5\r\n");
+                bt_fly -= 10;
                 break;
             case Speed_up:
-                printf("4\r\n");
+                bt_fly += 10;
+                break;
+            case Stop_fly:
+                bt_run_flag = !bt_run_flag;
+                break;
+            case Flow_on:
+                bt_flow_flag = !bt_flow_flag;
+                break;
+            case Flow_up:
+                bt_flow += 20;
+                break;
+            case Flow_down:
+                bt_flow -= 20;
                 break;
             default:
                 break;
         }
-        uart_write_byte(UART_2,bt_buffer);
+
+        if (bt_flow_flag == 0) {
+            bt_flow = 0;
+        }
+        by_pwm_update_duty(bt_flow + 500, bt_flow + 500);
         bt_rx_flag = false;
     }
+}
+
+void bt_printf(const char *format, ...)
+{
+    char sbuf[40];
+    va_list args;
+    va_start(args, format);
+    vsnprintf(sbuf, 40, format, args);
+    va_end(args);
+
+    for (uint16_t i = 0; i < strlen(sbuf); i++) {
+        while (USART_GetFlagStatus((USART_TypeDef *)uart_index[UART_2], USART_FLAG_TC) == RESET)
+            ;
+        USART_SendData((USART_TypeDef *)uart_index[UART_2], sbuf[i]);
+    }
+
 }
\ No newline at end of file
diff --git a/app/jj_blueteeth.h b/app/jj_blueteeth.h
index f648434..24d79af 100644
--- a/app/jj_blueteeth.h
+++ b/app/jj_blueteeth.h
@@ -1,10 +1,13 @@
 #ifndef _JJ_BLUETEETH_H_
 #define _JJ_BLUETEETH_H_
-#include "zf_common_headfile.h"
+#include "stdio.h"
 #include "zf_driver_uart.h"
 extern bool bt_rx_flag;
-extern uint8 bt_buffer;
+extern uint8_t bt_buffer;
+extern uint32_t bt_fly;
+extern uint32_t bt_run_flag;
+extern float bt_angle;
 void jj_bt_init();
 void jj_bt_run();
-
+void bt_printf(const char *format, ...);
 #endif
\ No newline at end of file
diff --git a/app/jj_motion.c b/app/jj_motion.c
new file mode 100644
index 0000000..3dbdb66
--- /dev/null
+++ b/app/jj_motion.c
@@ -0,0 +1,60 @@
+#include "jj_motion.h"
+#include "by_fan_control.h"
+#include "by_imu.h"
+#include "../3rd-lib/PID-Library/pid.h"
+#include "jj_blueteeth.h"
+#include "gl_common.h"
+PID_TypeDef angle_pid;
+PID_TypeDef gyro_z_pid;
+PID_TypeDef img_x_pid;
+float an_Kp = 8.0f;
+float an_Ki = 0.0f;
+float an_Kd = 2.0f;
+float im_Kp = 1.0f;
+float im_Ki = 0.0f;
+float im_Kd = 0.0f;
+float set_x = 0.0f;
+float img_x = 40.0f;
+float yaw0  = 0;
+float out_M = 0;
+float out_yaw;
+uint32_t cnt1 = 0;
+/**
+ * @brief
+ *
+ * @param fy y轴的加速度
+ */
+void sport_motion2(uint32_t fy)
+{
+    cnt1++;
+    yaw0 = imu660ra_gyro_z;
+    if (cnt1 >= 50) {
+        PID_Compute(&angle_pid);
+        cnt1 = 0;
+    }
+    PID_Compute(&gyro_z_pid);
+    if (bt_run_flag == 1) {
+        by_pwm_power_duty((int32_t)(500 + fy + out_M), (int32_t)(500 + fy - out_M),
+                          (int32_t)(500 + fy + out_M), (int32_t)(500 + fy - out_M));
+    } else {
+        by_pwm_power_duty(500, 500, 500, 500);
+    }
+}
+/**
+ * @brief 结构体初始化
+ *
+ */
+void sport_pid_init()
+{
+
+    PID(&angle_pid, &bt_angle, &out_yaw, &set_x, im_Kp, im_Ki, im_Kd, 0, 0);
+    PID(&gyro_z_pid, &yaw0, &out_M, &out_yaw, an_Kp, an_Ki, an_Kd, 1, 1);
+    PID_Init(&angle_pid);
+    PID_Init(&gyro_z_pid);
+
+    PID_SetOutputLimits(&angle_pid, -500.0f, 500.0f);
+    PID_SetOutputLimits(&gyro_z_pid, -400.0f, 400.0f);
+
+    PID_SetMode(&gyro_z_pid, 1);
+    PID_SetMode(&angle_pid, 1);
+}
diff --git a/app/jj_motion.h b/app/jj_motion.h
new file mode 100644
index 0000000..2b4b1c2
--- /dev/null
+++ b/app/jj_motion.h
@@ -0,0 +1,18 @@
+#ifndef _JJ_MOTION_H_
+#define _JJ_MOTION_H_
+#include "ch32v30x.h"
+#include "../3rd-lib/PID-Library/pid.h"
+extern PID_TypeDef angle_pid;
+extern PID_TypeDef gyro_z_pid;
+extern float an_Kp;
+extern float an_Ki;
+extern float an_Kd;
+extern float im_Kp;
+extern float im_Ki;
+extern float im_Kd;
+extern float out_M;
+extern float out_yaw;
+extern float yaw0;
+void sport_pid_init();
+void sport_motion2(uint32_t fy);
+#endif
\ No newline at end of file
diff --git a/app/jj_param.c b/app/jj_param.c
index a085a96..a2a9b94 100644
--- a/app/jj_param.c
+++ b/app/jj_param.c
@@ -1,32 +1,25 @@
 #include "jj_param.h"
 #include "./page/page_ui_widget.h"
 #include "./page/page.h"
-
+#include "zf_common_headfile.h"
+#include "jj_motion.h"
 PARAM_INFO Param_Data[DATA_NUM];
 soft_iic_info_struct eeprom_param;
 TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
 
-float data0 = 10.0f;
-float data1 = 10.0f;
-float data2 = 15;
-float data3 = 100.01f;
-float data4 = 1.04f;
-float data5 = 4.0f;
-float data6 = 5.1f;
 void jj_param_eeprom_init()
 {
     soft_iic_init(&eeprom_param, K24C02_DEV_ADDR, K24C02_SOFT_IIC_DELAY, K24C02_SCL_PIN, K24C02_SDA_PIN); // eeprom初始化
-    PARAM_REG(DATA0, &data0, EFLOAT, 1, "m0_p"); // 注冊
-    PARAM_REG(DATA1, &data1, EFLOAT, 1, "m1_p"); // 注冊
-    PARAM_REG(DATA2, &data2, EFLOAT, 1, "m1_i"); // 注冊
-    PARAM_REG(DATA3, &data3, EFLOAT, 1, "m1_d"); // 注冊
-    PARAM_REG(DATA4, &data4, EFLOAT, 1, "m2_p"); // 注冊
-    PARAM_REG(DATA5, &data5, EFLOAT, 1, "m2_i"); // 注冊
-    PARAM_REG(DATA6, &data6, EFLOAT, 1, "m2_d"); // 注冊
+    PARAM_REG(angle_Kp, &an_Kp, EFLOAT, 1, "an_P");                                                       // 注冊
+    PARAM_REG(angle_Ki, &an_Ki, EFLOAT, 1, "an_I");                                                       // 注冊
+    PARAM_REG(angle_Kd, &an_Kd, EFLOAT, 1, "an_D");                                                       // 注冊
+    PARAM_REG(imgax_Kp, &im_Kp, EFLOAT, 1, "im_P");                                                       // 注冊
+    PARAM_REG(imgax_Ki, &im_Ki, EFLOAT, 1, "im_I");                                                       // 注冊
+    PARAM_REG(imgax_Kd, &im_Kd, EFLOAT, 1, "im_D");                                                       // 注冊
 
-    for (uint8 i = 0; i < DATA_IN_FLASH_NUM ; i++) {
+    for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
 
-        soft_iic_read_8bit_registers(&eeprom_param, 4*i, (uint8 *)&iic_buffer[i], 4);
+        soft_iic_read_8bit_registers(&eeprom_param, 4 * i, (uint8 *)&iic_buffer[i], 4);
         switch (Param_Data[i].type) {
             case EFLOAT:
                 *((float *)(Param_Data[i].p_data)) =
@@ -43,7 +36,7 @@ void jj_param_eeprom_init()
             default:
                 break;
         }
-         system_delay_ms(10);
+        system_delay_ms(10);
     }
 }
 /**
@@ -66,7 +59,7 @@ void jj_param_update()
             default:
                 break;
         }
-        soft_iic_write_8bit_registers(&eeprom_param, 4*i , (uint8 *)&iic_buffer[i], 4);
-         system_delay_ms(10);
+        soft_iic_write_8bit_registers(&eeprom_param, 4 * i, (uint8 *)&iic_buffer[i], 4);
+        system_delay_ms(10);
     }
 }
diff --git a/app/jj_param.h b/app/jj_param.h
index 4eb36ba..2c93828 100644
--- a/app/jj_param.h
+++ b/app/jj_param.h
@@ -1,7 +1,9 @@
 #ifndef _JJ_PARAM_H_
 #define _JJ_PARAM_H_
 
-#include "zf_common_headfile.h"
+#include "stdio.h"
+#include "ch32v30x.h"
+#include "zf_driver_soft_iic.h"
 /**
  * @brief 注册需调参数
  * 
@@ -13,15 +15,12 @@
     Param_Data[_data_tag_].text   = _text_;
 typedef enum {
     DATA_HEAD = -1,
-    DATA0,
-    DATA1,
-    DATA2,
-    DATA3,
-    DATA4,
-   
-    //
-    DATA5,
-    DATA6,
+    angle_Kp,
+    angle_Ki,
+    angle_Kd,
+    imgax_Kp,
+    imgax_Ki,
+    imgax_Kd,
     DATA_IN_FLASH_NUM,
     DATA_NUM,
 } data_tag_t;
@@ -36,23 +35,22 @@ typedef enum {
 }ENUM_TYPE;
 
 typedef union{
-    uint32 u32;
-    int32 s32;
+    uint32_t u32;
+    int32_t s32;
     float f32;
-    uint8 u8;
+    uint8_t u8;
 }TYPE_UNION;
 
 typedef struct {
     void *p_data;
     ENUM_TYPE type;
-    uint8 cmd;
+    uint8_t cmd;
     char *text;
 }PARAM_INFO;
 
 extern soft_iic_info_struct eeprom_param;
 extern PARAM_INFO Param_Data[DATA_NUM];
 extern TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
-extern float data1;
 void jj_param_eeprom_init();
 void jj_param_update();
 void jj_param_show();
diff --git a/app/main.c b/app/main.c
index 80dc0d3..04267e7 100644
--- a/app/main.c
+++ b/app/main.c
@@ -29,31 +29,34 @@
 #include "jj_param.h"
 #include "./page/page_ui_widget.h"
 #include "by_buzzer.h"
-
+#include "jj_motion.h"
+#include "by_imu.h"
 int main(void)
 {
 
     clock_init(SYSTEM_CLOCK_120M);
     system_delay_init();
     debug_init();
-    // mt9v03x_init();
+    mt9v03x_init();
     ips200_init(IPS200_TYPE_SPI);
     by_gpio_init();
     by_exit_init();
     by_pwm_init();
     jj_bt_init();
     by_buzzer_init();
-    // while (imu660ra_init())
-    //     ;
+    while (imu660ra_init())
+        ;
     jj_param_eeprom_init();
     Page_Init();
-
+    sport_pid_init();
+    pit_ms_init(TIM6_PIT, 2);
+    pit_ms_init(TIM1_PIT, 2);
+    // gyroOffset_init();
     while (1) {
-
         Page_Run();
         jj_bt_run();
         queue_pop_read();
-
+        bt_printf("hello:%f,%f\n",out_M,out_yaw);
         if (mt9v03x_finish_flag) {
             // 该操作消耗大概 1970 个 tick，折合约 110us
             memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
@@ -69,4 +72,6 @@ int main(void)
             MidLineTrack();
         }
     }
-}
\ No newline at end of file
+}
+
+
diff --git a/app/page/page_param.c b/app/page/page_param.c
index 814b6a8..5478906 100644
--- a/app/page/page_param.c
+++ b/app/page/page_param.c
@@ -1,10 +1,12 @@
 #include "jj_param.h"
 #include "page_ui_widget.h"
+#include "jj_motion.h"
 #include "page.h"
 #define LINE_HEAD 0
 #define LINE_END  DATA_NUM - 2
 static char Text[]        = "RealTime Param";
 int event_flag            = 0;
+int32_t index_power       = 0;
 static int8_t Curser      = LINE_HEAD; // 定义光标位置
 static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
 void jj_param_show();
@@ -29,6 +31,8 @@ static void Setup()
         else if (Param_Data[i].type == EFLOAT)
             ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5);
     }
+    ips200_show_int(50, (DATA_NUM-1)* 18 + 2, index_power, 5);
+    
 }
 
 /**
@@ -70,6 +74,7 @@ static void Event(page_event event)
             return;
         } else if (page_event_press_long == event) {
             jj_param_update();
+            sport_pid_init();
             Page_Shift(page_menu);
             return;
         }
@@ -78,11 +83,11 @@ static void Event(page_event event)
         } else if (Curser > LINE_END) {
             Curser = LINE_HEAD;
         }
-       Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+        Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
     } else if (1 == event_flag) {
         if (page_event_forward == event) {
             if (Param_Data[Curser].type == EFLOAT) {
-                *((float *)(Param_Data[Curser].p_data)) += 0.01f;
+                *((float *)(Param_Data[Curser].p_data)) += powf(10.0f,(float)index_power);
             } else if (Param_Data[Curser].type == EINT32) {
                 *((int32 *)(Param_Data[Curser].p_data)) += 1;
             } else if (Param_Data[Curser].type == EUINT32) {
@@ -90,14 +95,18 @@ static void Event(page_event event)
             }
         } else if (page_event_backward == event) {
             if (Param_Data[Curser].type == EFLOAT) {
-                *((float *)(Param_Data[Curser].p_data)) -= 0.01f;
+                *((float *)(Param_Data[Curser].p_data)) -=powf(10.0f,(float)index_power);
             } else if (Param_Data[Curser].type == EINT32) {
                 *((int32 *)(Param_Data[Curser].p_data)) -= 1;
             } else if (Param_Data[Curser].type == EUINT32) {
                 *((uint32 *)(Param_Data[Curser].p_data)) -= 1;
             }
         } else if (page_event_press_short == event) {
-
+            index_power++;
+            if (index_power > 2) {
+                index_power = -2;
+            }
+            ips200_show_int(50, (DATA_NUM-1)* 18 + 2, index_power, 5);
         } else if (page_event_press_long == event) {
             event_flag = 0;
             Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
diff --git a/libraries/zf_device/zf_device_imu660ra.h b/libraries/zf_device/zf_device_imu660ra.h
index f886038..b3f22b4 100644
--- a/libraries/zf_device/zf_device_imu660ra.h
+++ b/libraries/zf_device/zf_device_imu660ra.h
@@ -62,8 +62,8 @@
 #if IMU660RA_USE_SOFT_IIC         // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
 //====================================================软件 IIC 驱动====================================================
 #define IMU660RA_SOFT_IIC_DELAY (10)  // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
-#define IMU660RA_SCL_PIN        (B3) // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚
-#define IMU660RA_SDA_PIN        (B5) // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚
+#define IMU660RA_SCL_PIN        (E7) // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚
+#define IMU660RA_SDA_PIN        (E8) // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚
 //====================================================软件 IIC 驱动====================================================
 #else