diff --git a/.vscode/settings.json b/.vscode/settings.json
index ee7f37f1a3a5b1e78079ac4ee9dca756638c9bd0..6737570d911f398a966b6dc0da2a81966bb07962 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -80,7 +80,9 @@
         "gimbal_yaw_pitch_direct.h": "c",
         "stdint.h": "c",
         "ahrs.h": "c",
-        "robot_param_penguin_mini_arm.h": "c"
+        "robot_param_penguin_mini_arm.h": "c",
+        "chassis_steering.h": "c",
+        "develop_task.h": "c"
     },
     "C_Cpp.codeAnalysis.clangTidy.enabled": true,
     "[cpp]": {
diff --git a/Src/freertos.c b/Src/freertos.c
index 91b8a41ec3a42ffc8e01c22b709a43824c0b35c3..82817647a460213150b6db95f61d11922710d72a 100644
--- a/Src/freertos.c
+++ b/Src/freertos.c
@@ -42,6 +42,7 @@
 #include "shoot_task.h"
 #include "mechanical_arm_task.h"
 #include "music_task.h"
+#include "develop_task.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -71,6 +72,10 @@ osThreadId mechanical_armTaskHandle;
 osThreadId musicTaskHandle;
 #endif
 
+#if (__DEVELOP)
+osThreadId developTaskHandle;
+#endif
+
 osThreadId imuTaskHandle;
 
 osThreadId led_RGB_flow_handle;
@@ -210,6 +215,11 @@ void MX_FREERTOS_Init(void) {
     musicTaskHandle = osThreadCreate(osThread(musicTask), NULL);
 #endif
 
+#if (__DEVELOP)
+    osThreadDef(developTask, develop_task, osPriorityNormal, 0, 256);
+    developTaskHandle = osThreadCreate(osThread(developTask), NULL);
+#endif
+
     osThreadDef(imuTask, IMU_task, osPriorityRealtime, 0, 1024);
     imuTaskHandle = osThreadCreate(osThread(imuTask), NULL);
 
diff --git a/application/assist/develop_task.c b/application/assist/develop_task.c
new file mode 100644
index 0000000000000000000000000000000000000000..a8aa5a1ded255722d0ce3785aa3f05f61231e969
--- /dev/null
+++ b/application/assist/develop_task.c
@@ -0,0 +1,15 @@
+// 开发新功能时可以使用本任务进行功能测试
+
+#include "develop_task.h"
+
+#include "cmsis_os.h"
+void develop_task(void const * pvParameters)
+{
+    // 空闲一段时间
+    vTaskDelay(10);
+
+    while (1) {
+        // code here
+        vTaskDelay(2);
+    }
+}
diff --git a/application/assist/develop_task.h b/application/assist/develop_task.h
new file mode 100644
index 0000000000000000000000000000000000000000..0a0ddacec27b282d05f602e0a86fedcf72d8d61f
--- /dev/null
+++ b/application/assist/develop_task.h
@@ -0,0 +1,4 @@
+#ifndef __DEVELOP_TASK_H
+#define __DEVELOP_TASK_H
+extern void develop_task(void const * pvParameters);
+#endif
diff --git a/application/assist/usb_task.c b/application/assist/usb_task.c
index d2ea69da85cf9d8e4c83f4d15374714594c92bc9..1df1a3229041b2eee8b13d506dd516ca5e19a0c7 100644
--- a/application/assist/usb_task.c
+++ b/application/assist/usb_task.c
@@ -379,26 +379,27 @@ static void usb_send_outputPC(uint8_t t)
     OutputPCData.header = SET_OUTPUT_PC_HEDER;
     OutputPCData.length = sizeof(OutputPCData_s);
 
-    char_to_uint(OutputPCData.packets[0].name, "mode_0");
-    char_to_uint(OutputPCData.packets[1].name, "mode_1");
-    char_to_uint(OutputPCData.packets[2].name, "mode_2");
-    char_to_uint(OutputPCData.packets[3].name, "p_0");
-    char_to_uint(OutputPCData.packets[4].name, "p_1");
-    char_to_uint(OutputPCData.packets[5].name, "p_2");
-    char_to_uint(OutputPCData.packets[6].name, "tor_0");
-    char_to_uint(OutputPCData.packets[7].name, "tor_1");
-    char_to_uint(OutputPCData.packets[8].name, "tor_2");
-    char_to_uint(OutputPCData.packets[9].name, "mode");
-    char_to_uint(OutputPCData.packets[10].name, "zeroseted");
-    char_to_uint(OutputPCData.packets[11].name, "fdbpos_0");
-    char_to_uint(OutputPCData.packets[12].name, "fdbpos_1");
-    char_to_uint(OutputPCData.packets[13].name, "fdbpos_2");
-    char_to_uint(OutputPCData.packets[14].name, "refpos_0");
-    char_to_uint(OutputPCData.packets[15].name, "refpos_1");
-    char_to_uint(OutputPCData.packets[16].name, "refpos_2");
-    // char_to_uint(OutputPCData.packets[17].name, "zAccel");
-    // char_to_uint(OutputPCData.packets[18].name, "o_r");
-    // char_to_uint(OutputPCData.packets[19].name, "o_p");
+    // char_to_uint(OutputPCData.packets[0].name, "mode_0");
+    // char_to_uint(OutputPCData.packets[1].name, "mode_1");
+    // char_to_uint(OutputPCData.packets[2].name, "mode_2");
+    // char_to_uint(OutputPCData.packets[3].name, "p_0");
+    // char_to_uint(OutputPCData.packets[4].name, "p_1");
+    // char_to_uint(OutputPCData.packets[5].name, "p_2");
+    // char_to_uint(OutputPCData.packets[6].name, "tor_0");
+    // char_to_uint(OutputPCData.packets[7].name, "tor_1");
+    // char_to_uint(OutputPCData.packets[8].name, "tor_2");
+    // char_to_uint(OutputPCData.packets[9].name, "mode");
+    // char_to_uint(OutputPCData.packets[10].name, "zeroseted");
+    // char_to_uint(OutputPCData.packets[11].name, "fdbpos_0");
+    // char_to_uint(OutputPCData.packets[12].name, "fdbpos_1");
+    // char_to_uint(OutputPCData.packets[13].name, "fdbpos_2");
+    // char_to_uint(OutputPCData.packets[14].name, "refpos_0");
+    // char_to_uint(OutputPCData.packets[15].name, "refpos_1");
+    // char_to_uint(OutputPCData.packets[16].name, "refpos_2");
+    char_to_uint(OutputPCData.packets[17].name, "data1");
+    char_to_uint(OutputPCData.packets[18].name, "data2");
+    char_to_uint(OutputPCData.packets[19].name, "data3");
+    char_to_uint(OutputPCData.packets[20].name, "data4");
 
     append_CRC16_check_sum((uint8_t *)&OutputPCData, sizeof(OutputPCData_s));
     memcpy(usb_tx_buf, &OutputPCData, sizeof(OutputPCData_s));
diff --git a/application/assist/usb_task.h b/application/assist/usb_task.h
index 5c777db16704779aca06fd9097cf1df0fbb26d3a..2ff6c94e24ee2db56821be992785d2a8755c099e 100644
--- a/application/assist/usb_task.h
+++ b/application/assist/usb_task.h
@@ -85,7 +85,7 @@
 #include <stdbool.h>
 
 #define PRESET_SELF_COLOR 1
-#define PC_PACKET_NUM 20
+#define PC_PACKET_NUM 22
 
 typedef struct {
     uint8_t vision;
diff --git a/application/mechanical_arm/mechanical_arm_penguin_mini.c b/application/mechanical_arm/mechanical_arm_penguin_mini.c
index c22213b5fffa32f65c5795db22214d705ae7e48d..73a63275104b415e643b3484ba5205e607926ed9 100644
--- a/application/mechanical_arm/mechanical_arm_penguin_mini.c
+++ b/application/mechanical_arm/mechanical_arm_penguin_mini.c
@@ -294,6 +294,11 @@ void MechanicalArmObserver(void)
     OutputPCData.packets[14].data = MECHANICAL_ARM.ref.pos[0];
     OutputPCData.packets[15].data = MECHANICAL_ARM.ref.pos[1];
     OutputPCData.packets[16].data = MECHANICAL_ARM.ref.pos[2];
+
+    OutputPCData.packets[17].data = GetOtherBoardDataUint16(1, 0);
+    OutputPCData.packets[18].data = GetOtherBoardDataUint16(1, 1);
+    OutputPCData.packets[19].data = GetOtherBoardDataUint16(1, 2);
+    OutputPCData.packets[20].data = GetOtherBoardDataUint16(1, 3);
 }
 
 /*-------------------- Reference --------------------*/
diff --git a/application/robot_cmd/CAN_communication.c b/application/robot_cmd/CAN_communication.c
new file mode 100644
index 0000000000000000000000000000000000000000..563a6f2945e5e22781dc31deee61cf8ef6ab8dc8
--- /dev/null
+++ b/application/robot_cmd/CAN_communication.c
@@ -0,0 +1,124 @@
+/**
+  ****************************(C) COPYRIGHT 2024 Polarbear****************************
+  * @file       CAN_communication.c/h
+  * @brief      CAN通信部分
+  * @history
+  *  Version    Date            Author          Modification
+  *  V1.0.0     May-27-2024     Penguin         1. done
+  *
+  @verbatim
+  ==============================================================================
+板间通信时stdid的内容如下
+data_type + (data_id << 4) + target_id
+
+bit 0-3: target_id
+bit 4-7: data_id
+bit 8-11: data_type
+
+  ==============================================================================
+  @endverbatim
+  ****************************(C) COPYRIGHT 2024 Polarbear****************************
+  */
+#include "CAN_communication.h"
+
+#include "bsp_can.h"
+
+static CanCtrlData_s CAN_CTRL_DATA = {
+    .tx_header.IDE = CAN_ID_STD,
+    .tx_header.RTR = CAN_RTR_DATA,
+    .tx_header.DLC = 8,
+};
+
+/*-------------------- Private functions --------------------*/
+// 板间通信
+
+/**
+ * @brief          发送自定义数据
+ * @param[in]      hcan CAN句柄
+ * @param[in]      data_id 数据包ID
+ * @param[in]      target_id 目标板ID
+ * @param[in]      data 包含8个字节的数据的指针
+ * @retval         none
+ */
+static void SendData(hcan_t * hcan, uint16_t data_id, uint16_t target_id, uint8_t * data)
+{
+    CAN_CTRL_DATA.hcan = hcan;
+
+    CAN_CTRL_DATA.tx_header.StdId = BOARD_DATA_ANY + (data_id << 4) + target_id;
+
+    for (size_t i = 0; i < 8; i++) {
+        CAN_CTRL_DATA.tx_data[i] = data[i];
+    }
+
+    CAN_SendTxMessage(&CAN_CTRL_DATA);
+}
+
+/**
+ * @brief          发送uint16数据
+ * @param[in]      hcan CAN句柄
+ * @param[in]      data_id 数据包ID
+ * @param[in]      target_id 目标板ID
+ * @param[in]      data_1 数据1
+ * @param[in]      data_2 数据2
+ * @param[in]      data_3 数据3
+ * @param[in]      data_4 数据4
+ * @retval         none
+ */
+static void Uint16SendData(
+    hcan_t * hcan, uint16_t data_id, uint16_t target_id, uint16_t data_1, uint16_t data_2,
+    uint16_t data_3, uint16_t data_4)
+{
+    CAN_CTRL_DATA.hcan = hcan;
+
+    CAN_CTRL_DATA.tx_header.StdId = BOARD_DATA_UINT16 + (data_id << 4) + target_id;
+
+    CAN_CTRL_DATA.tx_data[0] = data_1 >> 8;
+    CAN_CTRL_DATA.tx_data[1] = data_1;
+    CAN_CTRL_DATA.tx_data[2] = data_2 >> 8;
+    CAN_CTRL_DATA.tx_data[3] = data_2;
+    CAN_CTRL_DATA.tx_data[4] = data_3 >> 8;
+    CAN_CTRL_DATA.tx_data[5] = data_3;
+    CAN_CTRL_DATA.tx_data[6] = data_4 >> 8;
+    CAN_CTRL_DATA.tx_data[7] = data_4;
+
+    CAN_SendTxMessage(&CAN_CTRL_DATA);
+}
+
+/*-------------------- Public functions --------------------*/
+
+/**
+ * @brief          CAN发送数据到目标板
+ * @param[in]      can can口
+ * @param[in]      data_id 数据包ID
+ * @param[in]      target_id 目标板ID
+ * @param[in]      data  包含8个字节的数据的指针
+ * @retval         none
+ */
+void CanSendDataToBoard(uint8_t can, uint16_t data_id, uint16_t target_id, uint8_t * data)
+{
+    if (can == 1)
+        SendData(&hcan1, data_id, target_id, data);
+    else if (can == 2)
+        SendData(&hcan2, data_id, target_id, data);
+}
+
+/**
+ * @brief          CAN发送uint16数据到目标板
+ * @param[in]      can can口
+ * @param[in]      data_id 数据包ID
+ * @param[in]      target_id 目标板ID
+ * @param[in]      data_1 数据1
+ * @param[in]      data_2 数据2
+ * @param[in]      data_3 数据3
+ * @param[in]      data_4 数据4
+ * @retval         none
+ */
+void CanSendUint16DataToBoard(
+    uint8_t can, uint16_t data_id, uint16_t target_id, uint16_t data_1, uint16_t data_2,
+    uint16_t data_3, uint16_t data_4)
+{
+    if (can == 1)
+        Uint16SendData(&hcan1, data_id, target_id, data_1, data_2, data_3, data_4);
+    else if (can == 2)
+        Uint16SendData(&hcan2, data_id, target_id, data_1, data_2, data_3, data_4);
+}
diff --git a/application/robot_cmd/CAN_communication.h b/application/robot_cmd/CAN_communication.h
index 827cf1a67f2aabaafbed36de819f86d4fc271402..7d818554f836c4e3531e23e968776a0af40847b2 100644
--- a/application/robot_cmd/CAN_communication.h
+++ b/application/robot_cmd/CAN_communication.h
@@ -1,10 +1,39 @@
+/**
+  ****************************(C) COPYRIGHT 2024 Polarbear****************************
+  * @file       CAN_communication.c/h
+  * @brief      CAN通信部分
+  * @history
+  *  Version    Date            Author          Modification
+  *  V1.0.0     May-27-2024     Penguin         1. done
+  *
+  @verbatim
+  ==============================================================================
+板间通信时stdid的内容如下
+data_type + (data_id << 4) + target_id
+
+bit 0-3: target_id
+bit 4-7: data_id
+bit 8-11: data_type
+
+  ==============================================================================
+  @endverbatim
+  ****************************(C) COPYRIGHT 2024 Polarbear****************************
+  */
+
 #ifndef CAN_COMMUNICATION_H
 #define CAN_COMMUNICATION_H
 
-#include "CAN_cmd_dji.h"
 #include "CAN_cmd_cybergear.h"
 #include "CAN_cmd_damiao.h"
+#include "CAN_cmd_dji.h"
 #include "CAN_cmd_lingkong.h"
 #include "CAN_receive.h"
 
+
+extern void CanSendDataToBoard(uint8_t can, uint16_t data_id, uint16_t target_id, uint8_t * data);
+
+extern void CanSendUint16DataToBoard(
+    uint8_t can, uint16_t data_id, uint16_t target_id, uint16_t data_1, uint16_t data_2,
+    uint16_t data_3, uint16_t data_4);
+
 #endif  // CAN_COMMUNICATION_H
diff --git a/application/robot_cmd/CAN_receive.c b/application/robot_cmd/CAN_receive.c
index 084b648f0b7879336eadc0b18f0b2b5970436443..dc11a1bca7af4edd88c70c923cf10587421a856f 100644
--- a/application/robot_cmd/CAN_receive.c
+++ b/application/robot_cmd/CAN_receive.c
@@ -11,10 +11,12 @@
   *  V2.0.0     Mar-27-2024     Penguin         1. 添加CAN发送函数和新的电机控制函数，解码中将CAN1 CAN2分开。
   *  V2.1.0     Mar-20-2024     Penguin         1. 添加DM电机的适配
   *  V2.2.0     May-22-2024     Penguin         1. 添加LK电机的适配
+  *  V2.3.0     May-22-2024     Penguin         1. 添加板间通信数据解码
   *
   @verbatim
   ==============================================================================
-
+    dm电机设置：
+    为了配合本框架，请在使用上位机进行设置时，将dm电机的master id 设置为 slave id + 0x50
   ==============================================================================
   @endverbatim
   ****************************(C) COPYRIGHT 2024 Polarbear****************************
@@ -22,14 +24,16 @@
 
 #include "CAN_receive.h"
 
-#include <string.h>
-
 #include "bsp_can.h"
 #include "cmsis_os.h"
 #include "detect_task.h"
+#include "robot_param.h"
+#include "string.h"
 #include "usb_task.h"
 #include "user_lib.h"
 
+#define DATA_NUM 10
+
 // 接收数据
 static DjiMotorMeasure_t CAN1_DJI_MEASURE[11];
 static DjiMotorMeasure_t CAN2_DJI_MEASURE[11];
@@ -42,6 +46,10 @@ static DmMeasure_s CAN2_DM_MEASURE[DM_NUM];
 
 static LkMeasure_s CAN1_LK_MEASURE[LK_NUM];
 static LkMeasure_s CAN2_LK_MEASURE[LK_NUM];
+
+static uint8_t OTHER_BOARD_DATA_ANY[DATA_NUM][8];
+static uint16_t OTHER_BOARD_DATA_UINT16[DATA_NUM][4];
+
 /*-------------------- Decode --------------------*/
 
 /**
@@ -108,7 +116,7 @@ void LkFdbData(LkMeasure_s * lk_measure, uint8_t * rx_data)
  */
 static void DecodeStdIdData(hcan_t * CAN, CAN_RxHeaderTypeDef * rx_header, uint8_t rx_data[8])
 {
-    switch (rx_header->StdId) {
+    switch (rx_header->StdId) {  //电机解码
         case DJI_M1_ID:
         case DJI_M2_ID:
         case DJI_M3_ID:
@@ -129,7 +137,7 @@ static void DecodeStdIdData(hcan_t * CAN, CAN_RxHeaderTypeDef * rx_header, uint8
             {
                 DjiFdbData(&CAN2_DJI_MEASURE[i], rx_data);
             }
-            break;
+            return;
         }
         case DM_M1_ID:
         case DM_M2_ID:
@@ -146,7 +154,8 @@ static void DecodeStdIdData(hcan_t * CAN, CAN_RxHeaderTypeDef * rx_header, uint8
             {
                 DmFdbData(&CAN2_DM_MEASURE[i], rx_data);
             }
-        } break;
+            return;
+        }
         case LK_M1_ID:
         case LK_M2_ID:
         case LK_M3_ID:
@@ -160,11 +169,29 @@ static void DecodeStdIdData(hcan_t * CAN, CAN_RxHeaderTypeDef * rx_header, uint8
             {
                 LkFdbData(&CAN2_LK_MEASURE[i], rx_data);
             }
-        } break;
+            return;
+        }
         default: {
             break;
         }
     }
+
+    //板间通信数据解码
+    // clang-format off
+    uint16_t data_type =  rx_header->StdId & 0xF00;
+    uint16_t data_id   = (rx_header->StdId & 0x0F0) >> 4;
+    uint16_t target_id =  rx_header->StdId & 0x00F;
+    // clang-format on
+    if (target_id != __SELF_BOARD_ID) return;
+
+    if (data_type == BOARD_DATA_UINT16) {
+        OTHER_BOARD_DATA_UINT16[data_id][0] = (rx_data[0] << 8) | rx_data[1];
+        OTHER_BOARD_DATA_UINT16[data_id][1] = (rx_data[2] << 8) | rx_data[3];
+        OTHER_BOARD_DATA_UINT16[data_id][2] = (rx_data[4] << 8) | rx_data[5];
+        OTHER_BOARD_DATA_UINT16[data_id][3] = (rx_data[6] << 8) | rx_data[7];
+    } else if (data_type == BOARD_DATA_ANY) {
+        memcpy(OTHER_BOARD_DATA_ANY[data_id], rx_data, 8);
+    }
 }
 
 /**
@@ -268,7 +295,7 @@ const DjiMotorMeasure_t * GetDjiMotorMeasurePoint(uint8_t can, uint8_t i)
 static void GetDjiFdbData(Motor_s * p_motor, const DjiMotorMeasure_t * p_dji_motor_measure)
 {
     p_motor->fdb.vel = p_dji_motor_measure->speed_rpm * RPM_TO_OMEGA * p_motor->reduction_ratio *
-                     p_motor->direction;
+                       p_motor->direction;
     p_motor->fdb.pos = p_dji_motor_measure->ecd * 2 * M_PI / 8192 - M_PI;
     p_motor->fdb.temp = p_dji_motor_measure->temperate;
     p_motor->fdb.curr = p_dji_motor_measure->given_current;
@@ -332,12 +359,10 @@ static void GetDmFdbData(Motor_s * motor, const DmMeasure_s * dm_measure)
  */
 static void GetLkFdbData(Motor_s * motor, const LkMeasure_s * lk_measure)
 {
-    // clang-format off
-    motor->fdb.pos     = uint_to_float(lk_measure->encoder, -M_PI, M_PI, 16);
-    motor->fdb.vel       = lk_measure->speed * DEGREE_TO_RAD;
+    motor->fdb.pos = uint_to_float(lk_measure->encoder, -M_PI, M_PI, 16);
+    motor->fdb.vel = lk_measure->speed * DEGREE_TO_RAD;
     motor->fdb.curr = lk_measure->iq * MF_CONTROL_TO_CURRENT;
     motor->fdb.temp = lk_measure->temprature;
-    // clang-format on
 
     uint32_t now = HAL_GetTick();
     if (now - lk_measure->last_fdb_time > MOTOR_STABLE_RUNNING_TIME) {
@@ -391,3 +416,14 @@ void GetMotorMeasure(Motor_s * p_motor)
             break;
     }
 }
+
+/**
+ * @brief 获取板间通信数据
+ * @param data_id 数据ID
+ * @param data_offset 数据位置偏移
+ * @return none
+ */
+uint16_t GetOtherBoardDataUint16(uint8_t data_id, uint8_t data_offset)
+{
+    return OTHER_BOARD_DATA_UINT16[data_id][data_offset];
+}
diff --git a/application/robot_cmd/CAN_receive.h b/application/robot_cmd/CAN_receive.h
index 5c4d20dbcbdad37c96c35354025c328a63efc17b..cb5a52e25b7dc491b9124b979092d57331bff2da 100644
--- a/application/robot_cmd/CAN_receive.h
+++ b/application/robot_cmd/CAN_receive.h
@@ -11,10 +11,12 @@
   *  V2.0.0     Mar-27-2024     Penguin         1. 添加CAN发送函数和新的电机控制函数，解码中将CAN1 CAN2分开。
   *  V2.1.0     Mar-20-2024     Penguin         1. 添加DM电机的适配
   *  V2.2.0     May-22-2024     Penguin         1. 添加LK电机的适配
+  *  V2.3.0     May-22-2024     Penguin         1. 添加板间通信数据解码
   *
   @verbatim
   ==============================================================================
-
+    dm电机设置：
+    为了配合本框架，请在使用上位机进行设置时，将dm电机的master id 设置为 slave id + 0x50
   ==============================================================================
   @endverbatim
   ****************************(C) COPYRIGHT 2024 Polarbear****************************
@@ -71,4 +73,6 @@ extern CybergearModeState_e GetCybergearModeState(Motor_s * p_motor);
 
 extern void GetMotorMeasure(Motor_s * p_motor);
 
+extern uint16_t GetOtherBoardDataUint16(uint8_t data_id, uint8_t data_offset);
+
 #endif
diff --git a/application/robot_param.h b/application/robot_param.h
index 882bcb16acb01436b790a4c4a9406163cf45c51b..91b74c2ad27c56c1037409090b602c7fdde0ce91 100644
--- a/application/robot_param.h
+++ b/application/robot_param.h
@@ -25,9 +25,11 @@
 #include "robot_param_penguin_mini_arm.h"
 
 // 选择机器人的各种类型
+#define __DEVELOP 0                // 开发模式
 #define __DEBUG 0                  // 调试模式
 #define __TUNING 0                 // 调参模式
 #define __MUSIC_ON 0               // 开启音乐
 #define __TUNING_MODE TUNING_NONE  // 调参模式
+#define __SELF_BOARD_ID 2          // 本板ID
 
 #endif /* ROBOT_PARAM_H */
diff --git a/bsp/boards/bsp_can.h b/bsp/boards/bsp_can.h
index 13b29f039874d1b336973974ca2a1a55446d1269..52bd538b1b75be62498a0f80b78e5d9872c91ec2 100644
--- a/bsp/boards/bsp_can.h
+++ b/bsp/boards/bsp_can.h
@@ -3,6 +3,11 @@
 #include "struct_typedef.h"
 #include "stm32f4xx_hal.h"
 
+// clang-format off
+#define BOARD_DATA_ANY     ((uint16_t)0x500)
+#define BOARD_DATA_UINT16  ((uint16_t)0x600)
+// clang-format on
+
 typedef CAN_HandleTypeDef hcan_t;
 
 typedef struct __CanCtrlData
diff --git "a/doc/\346\263\250\346\204\217\344\272\213\351\241\271.md" "b/doc/\346\263\250\346\204\217\344\272\213\351\241\271.md"
index 95f1ba84de462dbfbced2f7f0e3e58f378a299b2..91ae62e14dd528acd0dd40d89e1a1a28cfbe7194 100644
--- "a/doc/\346\263\250\346\204\217\344\272\213\351\241\271.md"
+++ "b/doc/\346\263\250\346\204\217\344\272\213\351\241\271.md"
@@ -5,7 +5,7 @@
 本本项目采取Google的开源代码风格
 
 ### 编译要求
-最终编译结果要做到 `0-error,0-warning` ，若审核时将对代码进行完全编译，若发现有 error 或 warning，我们将会提醒。
+最终编译结果要做到 `0-error,0-warning` ，本项目启用了 `--diag_error=warning` 在编译时将 `warning` 视作 `error`。
 
 ## 硬件上的
 **达妙电机设置零点时先失能！！！！**
\ No newline at end of file