[bsp][stm32] 更新stm32f427-robomaster-a外设驱动配置

1.增加串口1,7,8配置，经实机测试无误
2.增加PWM4 CH1 -- 4, PWM12(BUZZER)配置，因条件有限，仅测试了TIM12 CH1
3.经测试,CAN通信无法正常使用，原因尚未找出，故暂时删去此配置
测试所用编译器： mdk5, IAR

14 files changed, 1118 insertions, 46 deletions

diff --git a/bsp/stm32/README.md b/bsp/stm32/README.md
index 565a8fbea3..57142a680a 100644
--- a/bsp/stm32/README.md
+++ b/bsp/stm32/README.md
@@ -21,6 +21,7 @@ STM32 系列 BSP 目前支持情况如下表所示：
 | [stm32f407-st-discovery](stm32f407-st-discovery) | ST 官方 STM32F407-discovery 开发板 |
 | [stm32f407-atk-explorer](stm32f407-atk-explorer) | 正点原子 F407 探索者开发板 |
 | [stm32f411-st-nucleo](stm32f411-st-nucleo/) | ST 官方 STM32F411-Nucleo-64 开发板 |
+| [stm32f427-robomaster-a](stm32f427-robomaster-a/) |大疆公司 RoboMaster A型开发板|
 | [stm32f429-atk-apollo](stm32f429-atk-apollo)      | 正点原子 F429 阿波罗开发板 |
 | [stm32f429-fire-challenger](stm32f429-fire-challenger/) | 野火 F429 挑战者开发板 |
 | [stm32f429-armfly-v6](stm32f429-armfly-v6) | 安富莱 F429-v6 开发板 |
diff --git a/bsp/stm32/libraries/HAL_Drivers/config/f4/dma_config.h b/bsp/stm32/libraries/HAL_Drivers/config/f4/dma_config.h
index 86a2c9380b..46411c5441 100644
--- a/bsp/stm32/libraries/HAL_Drivers/config/f4/dma_config.h
+++ b/bsp/stm32/libraries/HAL_Drivers/config/f4/dma_config.h
@@ -31,6 +31,12 @@ extern "C" {
 #define UART5_RX_DMA_INSTANCE            DMA1_Stream0
 #define UART5_RX_DMA_CHANNEL             DMA_CHANNEL_4
 #define UART5_RX_DMA_IRQ                 DMA1_Stream0_IRQn
+#elif defined(BSP_UART8_TX_USING_DMA) && !defined(UART8_TX_DMA_INSTANCE)
+#define UART8_DMA_TX_IRQHandler          DMA1_Stream0_IRQHandler
+#define UART8_TX_DMA_RCC                 RCC_AHB1ENR_DMA1EN
+#define UART8_TX_DMA_INSTANCE            DMA1_Stream0
+#define UART8_TX_DMA_CHANNEL             DMA_CHANNEL_5
+#define UART8_TX_DMA_IRQ                 DMA1_Stream0_IRQn
 #endif
 
 /* DMA1 stream1 */
@@ -40,6 +46,12 @@ extern "C" {
 #define UART3_RX_DMA_INSTANCE            DMA1_Stream1
 #define UART3_RX_DMA_CHANNEL             DMA_CHANNEL_4
 #define UART3_RX_DMA_IRQ                 DMA1_Stream1_IRQn
+#elif defined(BSP_UART7_RX_USING_DMA) && !defined(UART7_RX_DMA_INSTANCE)
+#define UART7_DMA_RX_IRQHandler          DMA1_Stream1_IRQHandler
+#define UART7_RX_DMA_RCC                 RCC_AHB1ENR_DMA1EN
+#define UART7_RX_DMA_INSTANCE            DMA1_Stream1
+#define UART7_RX_DMA_CHANNEL             DMA_CHANNEL_5
+#define UART7_RX_DMA_IRQ                 DMA1_Stream1_IRQn
 #endif
 
 /* DMA1 stream2 */
@@ -70,6 +82,12 @@ extern "C" {
 #define UART3_TX_DMA_INSTANCE            DMA1_Stream3
 #define UART3_TX_DMA_CHANNEL             DMA_CHANNEL_4
 #define UART3_TX_DMA_IRQ                 DMA1_Stream3_IRQn
+#elif defined(BSP_UART7_TX_USING_DMA) && !defined(UART7_TX_DMA_INSTANCE)
+#define UART7_DMA_RX_IRQHandler          DMA1_Stream3_IRQHandler
+#define UART7_RX_DMA_RCC                 RCC_AHB1ENR_DMA1EN
+#define UART7_RX_DMA_INSTANCE            DMA1_Stream3
+#define UART7_RX_DMA_CHANNEL             DMA_CHANNEL_5
+#define UART7_RX_DMA_IRQ                 DMA1_Stream3_IRQn
 #endif
 
 /* DMA1 stream4 */
@@ -109,6 +127,12 @@ extern "C" {
 #define UART2_TX_DMA_INSTANCE            DMA1_Stream6
 #define UART2_TX_DMA_CHANNEL             DMA_CHANNEL_4
 #define UART2_TX_DMA_IRQ                 DMA1_Stream6_IRQn
+#elif defined(BSP_UART8_RX_USING_DMA) && !defined(UART8_RX_DMA_INSTANCE)
+#define UART8_DMA_RX_IRQHandler          DMA1_Stream6_IRQHandler
+#define UART8_RX_DMA_RCC                 RCC_AHB1ENR_DMA1EN
+#define UART8_RX_DMA_INSTANCE            DMA1_Stream6
+#define UART8_RX_DMA_CHANNEL             DMA_CHANNEL_5
+#define UART8_RX_DMA_IRQ                 DMA1_Stream6_IRQn
 #endif
 
 /* DMA1 stream7 */
diff --git a/bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h b/bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h
index 1a5575de0c..14d4aa2aff 100644
--- a/bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h
+++ b/bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h
@@ -61,6 +61,17 @@ extern "C" {
 #endif /* PWM5_CONFIG */
 #endif /* BSP_USING_PWM5 */
 
+#ifdef BSP_USING_PWM12
+#ifndef PWM12_CONFIG
+#define PWM12_CONFIG                            \
+    {                                           \
+       .tim_handle.Instance     = TIM12,        \
+       .name                    = "pwm12",      \
+       .channel                 = 0             \
+    }
+#endif /* PWM12_CONFIG */
+#endif /* BSP_USING_PWM12 */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/bsp/stm32/libraries/HAL_Drivers/config/f4/uart_config.h b/bsp/stm32/libraries/HAL_Drivers/config/f4/uart_config.h
index 6d8655fc2e..e42b5a1a9a 100644
--- a/bsp/stm32/libraries/HAL_Drivers/config/f4/uart_config.h
+++ b/bsp/stm32/libraries/HAL_Drivers/config/f4/uart_config.h
@@ -228,6 +228,76 @@ extern "C" {
 #endif /* BSP_UART6_TX_USING_DMA */
 #endif /* BSP_USING_UART6 */
 
+#if defined(BSP_USING_UART7)
+#ifndef UART7_CONFIG
+#define UART7_CONFIG                                                \
+    {                                                               \
+        .name = "uart7",                                            \
+        .Instance = UART7,                                         \
+        .irq_type = UART7_IRQn,                                    \
+    }
+#endif /* UART7_CONFIG */
+
+#if defined(BSP_UART7_RX_USING_DMA)
+#ifndef UART7_DMA_RX_CONFIG
+#define UART7_DMA_RX_CONFIG                                        \
+    {                                                              \
+        .Instance = UART7_RX_DMA_INSTANCE,                         \
+        .channel = UART7_RX_DMA_CHANNEL,                           \
+        .dma_rcc = UART7_RX_DMA_RCC,                               \
+        .dma_irq = UART7_RX_DMA_IRQ,                               \
+    }
+#endif /* UART7_DMA_RX_CONFIG */
+#endif /* BSP_UART7_RX_USING_DMA */
+		
+#if defined(BSP_UART7_TX_USING_DMA)
+#ifndef UART7_DMA_TX_CONFIG
+#define UART7_DMA_TX_CONFIG                                        \
+    {                                                              \
+        .Instance = UART7_TX_DMA_INSTANCE,                         \
+        .channel = UART7_TX_DMA_CHANNEL,                           \
+        .dma_rcc = UART7_TX_DMA_RCC,                               \
+        .dma_irq = UART7_TX_DMA_IRQ,                               \
+    }
+#endif /* UART7_DMA_TX_CONFIG */
+#endif /* BSP_UART7_TX_USING_DMA */
+#endif /* BSP_USING_UART7 */
+
+#if defined(BSP_USING_UART8)
+#ifndef UART8_CONFIG
+#define UART8_CONFIG                                                \
+    {                                                               \
+        .name = "uart8",                                            \
+        .Instance = UART8,                                         \
+        .irq_type = UART8_IRQn,                                    \
+    }
+#endif /* UART8_CONFIG */
+
+#if defined(BSP_UART8_RX_USING_DMA)
+#ifndef UART8_DMA_RX_CONFIG
+#define UART8_DMA_RX_CONFIG                                        \
+    {                                                              \
+        .Instance = UART8_RX_DMA_INSTANCE,                         \
+        .channel = UART8_RX_DMA_CHANNEL,                           \
+        .dma_rcc = UART8_RX_DMA_RCC,                               \
+        .dma_irq = UART8_RX_DMA_IRQ,                               \
+    }
+#endif /* UART8_DMA_RX_CONFIG */
+#endif /* BSP_UART8_RX_USING_DMA */
+		
+#if defined(BSP_UART8_TX_USING_DMA)
+#ifndef UART8_DMA_TX_CONFIG
+#define UART8_DMA_TX_CONFIG                                        \
+    {                                                              \
+        .Instance = UART8_TX_DMA_INSTANCE,                         \
+        .channel = UART8_TX_DMA_CHANNEL,                           \
+        .dma_rcc = UART8_TX_DMA_RCC,                               \
+        .dma_irq = UART8_TX_DMA_IRQ,                               \
+    }
+#endif /* UART8_DMA_TX_CONFIG */
+#endif /* BSP_UART8_TX_USING_DMA */
+#endif /* BSP_USING_UART8 */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_pwm.c b/bsp/stm32/libraries/HAL_Drivers/drv_pwm.c
index 247c8f88fe..ef89018eca 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_pwm.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_pwm.c
@@ -520,6 +520,12 @@ static void pwm_get_channel(void)
 #ifdef BSP_USING_PWM9_CH4
     stm32_pwm_obj[PWM9_INDEX].channel |= 1 << 3;
 #endif
+#ifdef BSP_USING_PWM12_CH1
+    stm32_pwm_obj[PWM12_INDEX].channel |= 1 << 0;
+#endif
+#ifdef BSP_USING_PWM12_CH2
+    stm32_pwm_obj[PWM12_INDEX].channel |= 1 << 1;
+#endif
 }
 
 static int stm32_pwm_init(void)
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_usart.c b/bsp/stm32/libraries/HAL_Drivers/drv_usart.c
index caf5dfac0a..a52b497721 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_usart.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_usart.c
@@ -18,8 +18,9 @@
 #define LOG_TAG             "drv.usart"
 #include <drv_log.h>
 
-#if !defined(BSP_USING_UART1) && !defined(BSP_USING_UART2) && !defined(BSP_USING_UART3) \
-    && !defined(BSP_USING_UART4) && !defined(BSP_USING_UART5) && !defined(BSP_USING_UART6) && !defined(BSP_USING_LPUART1)
+#if !defined(BSP_USING_UART1) && !defined(BSP_USING_UART2) && !defined(BSP_USING_UART3) && \
+    !defined(BSP_USING_UART4) && !defined(BSP_USING_UART5) && !defined(BSP_USING_UART6) && \
+    !defined(BSP_USING_UART7) && !defined(BSP_USING_UART8) && !defined(BSP_USING_LPUART1)
     #error "Please define at least one BSP_USING_UARTx"
     /* this driver can be disabled at menuconfig → RT-Thread Components → Device Drivers */
 #endif
@@ -48,6 +49,12 @@ enum
 #ifdef BSP_USING_UART6
     UART6_INDEX,
 #endif
+#ifdef BSP_USING_UART7
+    UART7_INDEX,
+#endif
+#ifdef BSP_USING_UART8
+    UART8_INDEX,
+#endif
 #ifdef BSP_USING_LPUART1
     LPUART1_INDEX,
 #endif
@@ -73,6 +80,12 @@ static struct stm32_uart_config uart_config[] =
 #ifdef BSP_USING_UART6
     UART6_CONFIG,
 #endif
+#ifdef BSP_USING_UART7
+    UART7_CONFIG,
+#endif
+#ifdef BSP_USING_UART8
+    UART8_CONFIG,
+#endif
 #ifdef BSP_USING_LPUART1
     LPUART1_CONFIG,
 #endif
@@ -606,6 +619,80 @@ void UART6_DMA_TX_IRQHandler(void)
 #endif /* defined(RT_SERIAL_USING_DMA) && defined(BSP_UART6_TX_USING_DMA) */
 #endif /* BSP_USING_UART6*/
 
+#if defined(BSP_USING_UART7)
+void UART7_IRQHandler(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+
+    uart_isr(&(uart_obj[UART7_INDEX].serial));
+
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+#if defined(RT_SERIAL_USING_DMA) && defined(BSP_UART7_RX_USING_DMA)
+void UART7_DMA_RX_IRQHandler(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+
+    HAL_DMA_IRQHandler(&uart_obj[UART7_INDEX].dma_rx.handle);
+
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+#endif /* defined(RT_SERIAL_USING_DMA) && defined(BSP_UART7_RX_USING_DMA) */
+#if defined(RT_SERIAL_USING_DMA) && defined(BSP_UART7_TX_USING_DMA)
+void UART7_DMA_TX_IRQHandler(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+
+    HAL_DMA_IRQHandler(&uart_obj[UART7_INDEX].dma_tx.handle);
+
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+#endif /* defined(RT_SERIAL_USING_DMA) && defined(BSP_UART7_TX_USING_DMA) */
+#endif /* BSP_USING_UART7*/
+
+#if defined(BSP_USING_UART8)
+void UART8_IRQHandler(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+
+    uart_isr(&(uart_obj[UART8_INDEX].serial));
+
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+#if defined(RT_SERIAL_USING_DMA) && defined(BSP_UART8_RX_USING_DMA)
+void UART8_DMA_RX_IRQHandler(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+
+    HAL_DMA_IRQHandler(&uart_obj[UART8_INDEX].dma_rx.handle);
+
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+#endif /* defined(RT_SERIAL_USING_DMA) && defined(BSP_UART8_RX_USING_DMA) */
+#if defined(RT_SERIAL_USING_DMA) && defined(BSP_UART8_TX_USING_DMA)
+void UART8_DMA_TX_IRQHandler(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+
+    HAL_DMA_IRQHandler(&uart_obj[UART8_INDEX].dma_tx.handle);
+
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+#endif /* defined(RT_SERIAL_USING_DMA) && defined(BSP_UART8_TX_USING_DMA) */
+#endif /* BSP_USING_UART8*/
+
 #if defined(BSP_USING_LPUART1)
 void LPUART1_IRQHandler(void)
 {
diff --git a/bsp/stm32/stm32f427-robomaster-a/.config b/bsp/stm32/stm32f427-robomaster-a/.config
index d0a340e904..5f13d8b4d1 100644
--- a/bsp/stm32/stm32f427-robomaster-a/.config
+++ b/bsp/stm32/stm32f427-robomaster-a/.config
@@ -123,7 +123,7 @@ CONFIG_RT_SERIAL_RB_BUFSZ=64
 # CONFIG_RT_USING_I2C is not set
 CONFIG_RT_USING_PIN=y
 # CONFIG_RT_USING_ADC is not set
-# CONFIG_RT_USING_PWM is not set
+CONFIG_RT_USING_PWM=y
 # CONFIG_RT_USING_MTD_NOR is not set
 # CONFIG_RT_USING_MTD_NAND is not set
 # CONFIG_RT_USING_PM is not set
@@ -136,7 +136,7 @@ CONFIG_RT_USING_SENSOR=y
 CONFIG_RT_USING_SENSOR_CMD=y
 # CONFIG_RT_USING_TOUCH is not set
 # CONFIG_RT_USING_HWCRYPTO is not set
-# CONFIG_RT_USING_ENCODER is not set
+# CONFIG_RT_USING_PULSE_ENCODER is not set
 # CONFIG_RT_USING_INPUT_CAPTURE is not set
 # CONFIG_RT_USING_WIFI is not set
 
@@ -413,6 +413,18 @@ CONFIG_BSP_USING_UART6=y
 # CONFIG_BSP_UART6_RX_USING_DMA is not set
 CONFIG_BSP_USING_UART3=y
 # CONFIG_BSP_UART3_RX_USING_DMA is not set
+# CONFIG_BSP_USING_UART7 is not set
+# CONFIG_BSP_USING_UART8 is not set
+# CONFIG_BSP_USING_UART1 is not set
+CONFIG_BSP_USING_PWM=y
+CONFIG_BSP_USING_PWM12=y
+CONFIG_BSP_USING_PWM12_CH1=y
+CONFIG_BSP_USING_PWM4=y
+CONFIG_BSP_USING_PWM4_CH1=y
+CONFIG_BSP_USING_PWM4_CH2=y
+# CONFIG_BSP_USING_PWM4_CH3 is not set
+# CONFIG_BSP_USING_PWM4_CH4 is not set
+# CONFIG_BSP_USING_PWM5 is not set
 # CONFIG_BSP_USING_RNG is not set
 # CONFIG_BSP_USING_UDID is not set
 
diff --git a/bsp/stm32/stm32f427-robomaster-a/README.md b/bsp/stm32/stm32f427-robomaster-a/README.md
index 2ef183b882..2a8ab17ca2 100644
--- a/bsp/stm32/stm32f427-robomaster-a/README.md
+++ b/bsp/stm32/stm32f427-robomaster-a/README.md
@@ -38,14 +38,14 @@ RoboMaster开发板套件是一款面向机器人DIY的开源主控套件。开�
 | **板载外设**      | **支持情况** | **备注**                              |
 | :----------------- | :----------: | :------------------------------------- |
 | SD卡              |   暂不支持   |                                       |
-| CAN               |     支持     |                                       |
+| CAN               |   暂不支持   |                                       |
 | **片上外设**      | **支持情况** | **备注**                              |
 | GPIO              |     支持     | PA0, PA1... PK15 ---> PIN: 0, 1...176 |
-| UART              |     支持     | UART3/6                               |
-| SPI               |   暂不支持   | SPI5/                                 |
+| UART              |     支持     | UART1/3/6/7/8                         |
+| SPI               |   暂不支持   | SPI5                                  |
 | I2C               |   暂不支持   |                                       |
 | SDIO              |   暂不支持   | 即将支持                              |
-| RTC               |   暂不支持   | 即将支持                              |
+| RTC               |    不支持    |                                       |
 | PWM               |   暂不支持   | 即将支持                              |
 | **扩展模块**      | **支持情况** | **备注**                              |
 | 无                |...           |  ...
diff --git a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/CubeMX_Config.ioc
index 91f42a655c..78f2d579f2 100644
--- a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/CubeMX_Config.ioc
@@ -8,37 +8,64 @@ KeepUserPlacement=true
 Mcu.Family=STM32F4
 Mcu.IP0=CAN1
 Mcu.IP1=CAN2
+Mcu.IP10=UART8
+Mcu.IP11=USART1
+Mcu.IP12=USART3
+Mcu.IP13=USART6
 Mcu.IP2=NVIC
 Mcu.IP3=RCC
 Mcu.IP4=SPI5
 Mcu.IP5=SYS
-Mcu.IP6=USART6
-Mcu.IPNb=7
+Mcu.IP6=TIM4
+Mcu.IP7=TIM5
+Mcu.IP8=TIM12
+Mcu.IP9=UART7
+Mcu.IPNb=14
 Mcu.Name=STM32F427I(G-I)Hx
 Mcu.Package=UFBGA176
-Mcu.Pin0=PG14
-Mcu.Pin1=PA14
-Mcu.Pin10=PF9
-Mcu.Pin11=PF8
-Mcu.Pin12=PE11
-Mcu.Pin13=PB12
-Mcu.Pin14=PB13
-Mcu.Pin15=PF14
-Mcu.Pin16=VP_SYS_VS_Systick
-Mcu.Pin2=PA13
-Mcu.Pin3=PD0
-Mcu.Pin4=PG9
-Mcu.Pin5=PD1
-Mcu.Pin6=PH0/OSC_IN
-Mcu.Pin7=PH1/OSC_OUT
-Mcu.Pin8=PF7
-Mcu.Pin9=PF6
-Mcu.PinsNb=17
+Mcu.Pin0=PE1
+Mcu.Pin1=PE0
+Mcu.Pin10=PI0
+Mcu.Pin11=PH0/OSC_IN
+Mcu.Pin12=PH1/OSC_OUT
+Mcu.Pin13=PF7
+Mcu.Pin14=PF6
+Mcu.Pin15=PH12
+Mcu.Pin16=PF9
+Mcu.Pin17=PF8
+Mcu.Pin18=PH11
+Mcu.Pin19=PH10
+Mcu.Pin2=PG14
+Mcu.Pin20=PD15
+Mcu.Pin21=PH6
+Mcu.Pin22=PD14
+Mcu.Pin23=PD13
+Mcu.Pin24=PD12
+Mcu.Pin25=PE8
+Mcu.Pin26=PE11
+Mcu.Pin27=PB12
+Mcu.Pin28=PB13
+Mcu.Pin29=PD9
+Mcu.Pin3=PA14
+Mcu.Pin30=PD8
+Mcu.Pin31=PF14
+Mcu.Pin32=PE7
+Mcu.Pin33=VP_SYS_VS_Systick
+Mcu.Pin34=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin35=VP_TIM5_VS_ClockSourceINT
+Mcu.Pin36=VP_TIM12_VS_ClockSourceINT
+Mcu.Pin4=PA13
+Mcu.Pin5=PB7
+Mcu.Pin6=PB6
+Mcu.Pin7=PD0
+Mcu.Pin8=PG9
+Mcu.Pin9=PD1
+Mcu.PinsNb=37
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F427IIHx
-MxCube.Version=5.2.1
-MxDb.Version=DB.5.0.21
+MxCube.Version=5.3.0
+MxDb.Version=DB.5.0.30
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
@@ -60,6 +87,11 @@ PB12.Signal=CAN2_RX
 PB13.Locked=true
 PB13.Mode=Slave
 PB13.Signal=CAN2_TX
+PB6.Mode=Asynchronous
+PB6.Signal=USART1_TX
+PB7.Locked=true
+PB7.Mode=Asynchronous
+PB7.Signal=USART1_RX
 PCC.Checker=false
 PCC.Line=STM32F427/437
 PCC.MCU=STM32F427I(G-I)Hx
@@ -73,10 +105,36 @@ PD0.Mode=Master
 PD0.Signal=CAN1_RX
 PD1.Mode=Master
 PD1.Signal=CAN1_TX
+PD12.Locked=true
+PD12.Signal=S_TIM4_CH1
+PD13.Locked=true
+PD13.Signal=S_TIM4_CH2
+PD14.Locked=true
+PD14.Signal=S_TIM4_CH3
+PD15.Locked=true
+PD15.Signal=S_TIM4_CH4
+PD8.Locked=true
+PD8.Mode=Asynchronous
+PD8.Signal=USART3_TX
+PD9.Locked=true
+PD9.Mode=Asynchronous
+PD9.Signal=USART3_RX
+PE0.Locked=true
+PE0.Mode=Asynchronous
+PE0.Signal=UART8_RX
+PE1.Locked=true
+PE1.Mode=Asynchronous
+PE1.Signal=UART8_TX
 PE11.GPIOParameters=GPIO_Label
 PE11.GPIO_Label=LED_RED
 PE11.Locked=true
 PE11.Signal=GPIO_Output
+PE7.Locked=true
+PE7.Mode=Asynchronous
+PE7.Signal=UART7_RX
+PE8.Locked=true
+PE8.Mode=Asynchronous
+PE8.Signal=UART7_TX
 PF14.GPIOParameters=GPIO_Label
 PF14.GPIO_Label=LED_GREEN
 PF14.Locked=true
@@ -97,6 +155,15 @@ PH0/OSC_IN.Mode=HSE-External-Oscillator
 PH0/OSC_IN.Signal=RCC_OSC_IN
 PH1/OSC_OUT.Mode=HSE-External-Oscillator
 PH1/OSC_OUT.Signal=RCC_OSC_OUT
+PH10.Locked=true
+PH10.Signal=S_TIM5_CH1
+PH11.Locked=true
+PH11.Signal=S_TIM5_CH2
+PH12.Locked=true
+PH12.Signal=S_TIM5_CH3
+PH6.Signal=S_TIM12_CH1
+PI0.Locked=true
+PI0.Signal=S_TIM5_CH4
 PinOutPanel.CurrentBGAView=Top
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
@@ -164,14 +231,58 @@ RCC.VCOSAIOutputFreq_Value=98000000
 RCC.VCOSAIOutputFreq_ValueQ=24500000
 RCC.VcooutputI2S=192000000
 RCC.VcooutputI2SQ=192000000
+SH.S_TIM12_CH1.0=TIM12_CH1,PWM Generation1 CH1
+SH.S_TIM12_CH1.ConfNb=1
+SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
+SH.S_TIM4_CH1.ConfNb=1
+SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
+SH.S_TIM4_CH2.ConfNb=1
+SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
+SH.S_TIM4_CH3.ConfNb=1
+SH.S_TIM4_CH4.0=TIM4_CH4,PWM Generation4 CH4
+SH.S_TIM4_CH4.ConfNb=1
+SH.S_TIM5_CH1.0=TIM5_CH1,PWM Generation1 CH1
+SH.S_TIM5_CH1.ConfNb=1
+SH.S_TIM5_CH2.0=TIM5_CH2,PWM Generation2 CH2
+SH.S_TIM5_CH2.ConfNb=1
+SH.S_TIM5_CH3.0=TIM5_CH3,PWM Generation3 CH3
+SH.S_TIM5_CH3.ConfNb=1
+SH.S_TIM5_CH4.0=TIM5_CH4,PWM Generation4 CH4
+SH.S_TIM5_CH4.ConfNb=1
 SPI5.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_128
 SPI5.CalculateBaudRate=656.25 KBits/s
 SPI5.Direction=SPI_DIRECTION_2LINES
 SPI5.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
 SPI5.Mode=SPI_MODE_MASTER
 SPI5.VirtualType=VM_MASTER
+TIM12.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM12.IPParameters=Channel-PWM Generation1 CH1
+TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM4.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM5.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM5.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM5.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM5.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM5.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+UART7.IPParameters=VirtualMode
+UART7.VirtualMode=Asynchronous
+UART8.IPParameters=VirtualMode
+UART8.VirtualMode=Asynchronous
+USART1.IPParameters=VirtualMode
+USART1.VirtualMode=VM_ASYNC
+USART3.IPParameters=VirtualMode
+USART3.VirtualMode=VM_ASYNC
 USART6.IPParameters=VirtualMode
 USART6.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM12_VS_ClockSourceINT.Mode=Internal
+VP_TIM12_VS_ClockSourceINT.Signal=TIM12_VS_ClockSourceINT
+VP_TIM4_VS_ClockSourceINT.Mode=Internal
+VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
+VP_TIM5_VS_ClockSourceINT.Mode=Internal
+VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
 board=Imu
diff --git a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/main.h b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/main.h
index 3270857a00..2cb0603ef0 100644
--- a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/main.h
+++ b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/main.h
@@ -70,6 +70,8 @@ extern "C" {
 
 /* USER CODE END EM */
 
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+
 /* Exported functions prototypes ---------------------------------------------*/
 void Error_Handler(void);
 
diff --git a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
index 13fc970d86..8cf0bc8bf0 100644
--- a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
+++ b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
@@ -61,7 +61,7 @@
 /* #define HAL_SD_MODULE_ENABLED   */
 /* #define HAL_MMC_MODULE_ENABLED   */
 #define HAL_SPI_MODULE_ENABLED
-/* #define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED   */
 /* #define HAL_IRDA_MODULE_ENABLED   */
diff --git a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/main.c
index 2d54ce416d..f2575455b3 100644
--- a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/main.c
@@ -67,6 +67,14 @@ CAN_HandleTypeDef hcan2;
 
 SPI_HandleTypeDef hspi5;
 
+TIM_HandleTypeDef htim4;
+TIM_HandleTypeDef htim5;
+TIM_HandleTypeDef htim12;
+
+UART_HandleTypeDef huart7;
+UART_HandleTypeDef huart8;
+UART_HandleTypeDef huart1;
+UART_HandleTypeDef huart3;
 UART_HandleTypeDef huart6;
 
 /* USER CODE BEGIN PV */
@@ -80,6 +88,13 @@ static void MX_SPI5_Init(void);
 static void MX_USART6_UART_Init(void);
 static void MX_CAN1_Init(void);
 static void MX_CAN2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM5_Init(void);
+static void MX_TIM12_Init(void);
+static void MX_UART7_Init(void);
+static void MX_UART8_Init(void);
+static void MX_USART1_UART_Init(void);
+static void MX_USART3_UART_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -122,6 +137,13 @@ int main(void)
   MX_USART6_UART_Init();
   MX_CAN1_Init();
   MX_CAN2_Init();
+  MX_TIM4_Init();
+  MX_TIM5_Init();
+  MX_TIM12_Init();
+  MX_UART7_Init();
+  MX_UART8_Init();
+  MX_USART1_UART_Init();
+  MX_USART3_UART_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -292,6 +314,332 @@ static void MX_SPI5_Init(void)
 }
 
 /**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM4_Init 1 */
+
+  /* USER CODE END TIM4_Init 1 */
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 0;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 0;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+
+  /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+
+/**
+  * @brief TIM5 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM5_Init(void)
+{
+
+  /* USER CODE BEGIN TIM5_Init 0 */
+
+  /* USER CODE END TIM5_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM5_Init 1 */
+
+  /* USER CODE END TIM5_Init 1 */
+  htim5.Instance = TIM5;
+  htim5.Init.Prescaler = 0;
+  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim5.Init.Period = 0;
+  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM5_Init 2 */
+
+  /* USER CODE END TIM5_Init 2 */
+  HAL_TIM_MspPostInit(&htim5);
+
+}
+
+/**
+  * @brief TIM12 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM12_Init(void)
+{
+
+  /* USER CODE BEGIN TIM12_Init 0 */
+
+  /* USER CODE END TIM12_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM12_Init 1 */
+
+  /* USER CODE END TIM12_Init 1 */
+  htim12.Instance = TIM12;
+  htim12.Init.Prescaler = 0;
+  htim12.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim12.Init.Period = 0;
+  htim12.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim12.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim12) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim12, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim12) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim12, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM12_Init 2 */
+
+  /* USER CODE END TIM12_Init 2 */
+  HAL_TIM_MspPostInit(&htim12);
+
+}
+
+/**
+  * @brief UART7 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_UART7_Init(void)
+{
+
+  /* USER CODE BEGIN UART7_Init 0 */
+
+  /* USER CODE END UART7_Init 0 */
+
+  /* USER CODE BEGIN UART7_Init 1 */
+
+  /* USER CODE END UART7_Init 1 */
+  huart7.Instance = UART7;
+  huart7.Init.BaudRate = 115200;
+  huart7.Init.WordLength = UART_WORDLENGTH_8B;
+  huart7.Init.StopBits = UART_STOPBITS_1;
+  huart7.Init.Parity = UART_PARITY_NONE;
+  huart7.Init.Mode = UART_MODE_TX_RX;
+  huart7.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart7.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart7) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN UART7_Init 2 */
+
+  /* USER CODE END UART7_Init 2 */
+
+}
+
+/**
+  * @brief UART8 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_UART8_Init(void)
+{
+
+  /* USER CODE BEGIN UART8_Init 0 */
+
+  /* USER CODE END UART8_Init 0 */
+
+  /* USER CODE BEGIN UART8_Init 1 */
+
+  /* USER CODE END UART8_Init 1 */
+  huart8.Instance = UART8;
+  huart8.Init.BaudRate = 115200;
+  huart8.Init.WordLength = UART_WORDLENGTH_8B;
+  huart8.Init.StopBits = UART_STOPBITS_1;
+  huart8.Init.Parity = UART_PARITY_NONE;
+  huart8.Init.Mode = UART_MODE_TX_RX;
+  huart8.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart8.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN UART8_Init 2 */
+
+  /* USER CODE END UART8_Init 2 */
+
+}
+
+/**
+  * @brief USART1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART1_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART1_Init 0 */
+
+  /* USER CODE END USART1_Init 0 */
+
+  /* USER CODE BEGIN USART1_Init 1 */
+
+  /* USER CODE END USART1_Init 1 */
+  huart1.Instance = USART1;
+  huart1.Init.BaudRate = 115200;
+  huart1.Init.WordLength = UART_WORDLENGTH_8B;
+  huart1.Init.StopBits = UART_STOPBITS_1;
+  huart1.Init.Parity = UART_PARITY_NONE;
+  huart1.Init.Mode = UART_MODE_TX_RX;
+  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART1_Init 2 */
+
+  /* USER CODE END USART1_Init 2 */
+
+}
+
+/**
+  * @brief USART3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART3_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART3_Init 0 */
+
+  /* USER CODE END USART3_Init 0 */
+
+  /* USER CODE BEGIN USART3_Init 1 */
+
+  /* USER CODE END USART3_Init 1 */
+  huart3.Instance = USART3;
+  huart3.Init.BaudRate = 115200;
+  huart3.Init.WordLength = UART_WORDLENGTH_8B;
+  huart3.Init.StopBits = UART_STOPBITS_1;
+  huart3.Init.Parity = UART_PARITY_NONE;
+  huart3.Init.Mode = UART_MODE_TX_RX;
+  huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART3_Init 2 */
+
+  /* USER CODE END USART3_Init 2 */
+
+}
+
+/**
   * @brief USART6 Initialization Function
   * @param None
   * @retval None
@@ -334,13 +682,14 @@ static void MX_GPIO_Init(void)
   GPIO_InitTypeDef GPIO_InitStruct = {0};
 
   /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOE_CLK_ENABLE();
   __HAL_RCC_GPIOG_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
   __HAL_RCC_GPIOD_CLK_ENABLE();
+  __HAL_RCC_GPIOI_CLK_ENABLE();
   __HAL_RCC_GPIOH_CLK_ENABLE();
   __HAL_RCC_GPIOF_CLK_ENABLE();
-  __HAL_RCC_GPIOE_CLK_ENABLE();
-  __HAL_RCC_GPIOB_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6|LED_GREEN_Pin, GPIO_PIN_RESET);
diff --git a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
index 5d80144ae7..2871a66949 100644
--- a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -78,7 +78,9 @@
 /* USER CODE BEGIN 0 */
 
 /* USER CODE END 0 */
-/**
+                        
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+                                                            /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
@@ -288,6 +290,175 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
 }
 
 /**
+* @brief TIM_Base MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspInit 0 */
+
+  /* USER CODE END TIM4_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM4_CLK_ENABLE();
+  /* USER CODE BEGIN TIM4_MspInit 1 */
+
+  /* USER CODE END TIM4_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspInit 0 */
+
+  /* USER CODE END TIM5_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM5_CLK_ENABLE();
+  /* USER CODE BEGIN TIM5_MspInit 1 */
+
+  /* USER CODE END TIM5_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM12)
+  {
+  /* USER CODE BEGIN TIM12_MspInit 0 */
+
+  /* USER CODE END TIM12_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM12_CLK_ENABLE();
+  /* USER CODE BEGIN TIM12_MspInit 1 */
+
+  /* USER CODE END TIM12_MspInit 1 */
+  }
+
+}
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(htim->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspPostInit 0 */
+
+  /* USER CODE END TIM4_MspPostInit 0 */
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**TIM4 GPIO Configuration    
+    PD15     ------> TIM4_CH4
+    PD14     ------> TIM4_CH3
+    PD13     ------> TIM4_CH2
+    PD12     ------> TIM4_CH1 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_15|GPIO_PIN_14|GPIO_PIN_13|GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM4_MspPostInit 1 */
+
+  /* USER CODE END TIM4_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspPostInit 0 */
+
+  /* USER CODE END TIM5_MspPostInit 0 */
+  
+    __HAL_RCC_GPIOI_CLK_ENABLE();
+    __HAL_RCC_GPIOH_CLK_ENABLE();
+    /**TIM5 GPIO Configuration    
+    PI0     ------> TIM5_CH4
+    PH12     ------> TIM5_CH3
+    PH11     ------> TIM5_CH2
+    PH10     ------> TIM5_CH1 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_0;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
+    HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_11|GPIO_PIN_10;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
+    HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM5_MspPostInit 1 */
+
+  /* USER CODE END TIM5_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM12)
+  {
+  /* USER CODE BEGIN TIM12_MspPostInit 0 */
+
+  /* USER CODE END TIM12_MspPostInit 0 */
+  
+    __HAL_RCC_GPIOH_CLK_ENABLE();
+    /**TIM12 GPIO Configuration    
+    PH6     ------> TIM12_CH1 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF9_TIM12;
+    HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM12_MspPostInit 1 */
+
+  /* USER CODE END TIM12_MspPostInit 1 */
+  }
+
+}
+/**
+* @brief TIM_Base MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspDeInit 0 */
+
+  /* USER CODE END TIM4_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM4_CLK_DISABLE();
+  /* USER CODE BEGIN TIM4_MspDeInit 1 */
+
+  /* USER CODE END TIM4_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspDeInit 0 */
+
+  /* USER CODE END TIM5_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM5_CLK_DISABLE();
+  /* USER CODE BEGIN TIM5_MspDeInit 1 */
+
+  /* USER CODE END TIM5_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM12)
+  {
+  /* USER CODE BEGIN TIM12_MspDeInit 0 */
+
+  /* USER CODE END TIM12_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM12_CLK_DISABLE();
+  /* USER CODE BEGIN TIM12_MspDeInit 1 */
+
+  /* USER CODE END TIM12_MspDeInit 1 */
+  }
+
+}
+
+/**
 * @brief UART MSP Initialization
 * This function configures the hardware resources used in this example
 * @param huart: UART handle pointer
@@ -296,7 +467,103 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
 void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(huart->Instance==USART6)
+  if(huart->Instance==UART7)
+  {
+  /* USER CODE BEGIN UART7_MspInit 0 */
+
+  /* USER CODE END UART7_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_UART7_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    /**UART7 GPIO Configuration    
+    PE8     ------> UART7_TX
+    PE7     ------> UART7_RX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_7;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF8_UART7;
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN UART7_MspInit 1 */
+
+  /* USER CODE END UART7_MspInit 1 */
+  }
+  else if(huart->Instance==UART8)
+  {
+  /* USER CODE BEGIN UART8_MspInit 0 */
+
+  /* USER CODE END UART8_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_UART8_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    /**UART8 GPIO Configuration    
+    PE1     ------> UART8_TX
+    PE0     ------> UART8_RX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_0;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF8_UART8;
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN UART8_MspInit 1 */
+
+  /* USER CODE END UART8_MspInit 1 */
+  }
+  else if(huart->Instance==USART1)
+  {
+  /* USER CODE BEGIN USART1_MspInit 0 */
+
+  /* USER CODE END USART1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_USART1_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**USART1 GPIO Configuration    
+    PB7     ------> USART1_RX
+    PB6     ------> USART1_TX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN USART1_MspInit 1 */
+
+  /* USER CODE END USART1_MspInit 1 */
+  }
+  else if(huart->Instance==USART3)
+  {
+  /* USER CODE BEGIN USART3_MspInit 0 */
+
+  /* USER CODE END USART3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_USART3_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**USART3 GPIO Configuration    
+    PD9     ------> USART3_RX
+    PD8     ------> USART3_TX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_8;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN USART3_MspInit 1 */
+
+  /* USER CODE END USART3_MspInit 1 */
+  }
+  else if(huart->Instance==USART6)
   {
   /* USER CODE BEGIN USART6_MspInit 0 */
 
@@ -334,7 +601,79 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 */
 void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 {
-  if(huart->Instance==USART6)
+  if(huart->Instance==UART7)
+  {
+  /* USER CODE BEGIN UART7_MspDeInit 0 */
+
+  /* USER CODE END UART7_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_UART7_CLK_DISABLE();
+  
+    /**UART7 GPIO Configuration    
+    PE8     ------> UART7_TX
+    PE7     ------> UART7_RX 
+    */
+    HAL_GPIO_DeInit(GPIOE, GPIO_PIN_8|GPIO_PIN_7);
+
+  /* USER CODE BEGIN UART7_MspDeInit 1 */
+
+  /* USER CODE END UART7_MspDeInit 1 */
+  }
+  else if(huart->Instance==UART8)
+  {
+  /* USER CODE BEGIN UART8_MspDeInit 0 */
+
+  /* USER CODE END UART8_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_UART8_CLK_DISABLE();
+  
+    /**UART8 GPIO Configuration    
+    PE1     ------> UART8_TX
+    PE0     ------> UART8_RX 
+    */
+    HAL_GPIO_DeInit(GPIOE, GPIO_PIN_1|GPIO_PIN_0);
+
+  /* USER CODE BEGIN UART8_MspDeInit 1 */
+
+  /* USER CODE END UART8_MspDeInit 1 */
+  }
+  else if(huart->Instance==USART1)
+  {
+  /* USER CODE BEGIN USART1_MspDeInit 0 */
+
+  /* USER CODE END USART1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART1_CLK_DISABLE();
+  
+    /**USART1 GPIO Configuration    
+    PB7     ------> USART1_RX
+    PB6     ------> USART1_TX 
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_7|GPIO_PIN_6);
+
+  /* USER CODE BEGIN USART1_MspDeInit 1 */
+
+  /* USER CODE END USART1_MspDeInit 1 */
+  }
+  else if(huart->Instance==USART3)
+  {
+  /* USER CODE BEGIN USART3_MspDeInit 0 */
+
+  /* USER CODE END USART3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART3_CLK_DISABLE();
+  
+    /**USART3 GPIO Configuration    
+    PD9     ------> USART3_RX
+    PD8     ------> USART3_TX 
+    */
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_9|GPIO_PIN_8);
+
+  /* USER CODE BEGIN USART3_MspDeInit 1 */
+
+  /* USER CODE END USART3_MspDeInit 1 */
+  }
+  else if(huart->Instance==USART6)
   {
   /* USER CODE BEGIN USART6_MspDeInit 0 */
 
diff --git a/bsp/stm32/stm32f427-robomaster-a/board/Kconfig b/bsp/stm32/stm32f427-robomaster-a/board/Kconfig
index 42745922e0..ae3b2d3f0e 100644
--- a/bsp/stm32/stm32f427-robomaster-a/board/Kconfig
+++ b/bsp/stm32/stm32f427-robomaster-a/board/Kconfig
@@ -23,7 +23,6 @@ menu "On-chip Peripheral Drivers"
             config BSP_USING_UART6
                 bool "Enable UART6 (debug usart)"
                 default y
-
             config BSP_UART6_RX_USING_DMA
                 bool "Enable UART6 RX DMA"
                 depends on BSP_USING_UART6 && RT_SERIAL_USING_DMA
@@ -32,24 +31,85 @@ menu "On-chip Peripheral Drivers"
             config BSP_USING_UART3
                 bool "Enable UART3"
                 default n
-
             config BSP_UART3_RX_USING_DMA
                 bool "Enable UART3 RX DMA"
                 depends on BSP_USING_UART3 && RT_SERIAL_USING_DMA
                 default n
+
+            config BSP_USING_UART7
+                bool "Enable UART7"
+                default n
+            config BSP_UART7_RX_USING_DMA
+                bool "Enable UART7 RX DMA"
+                depends on BSP_USING_UART7 && RT_SERIAL_USING_DMA
+                default n
+
+            config BSP_USING_UART8
+                bool "Enable UART8"
+                default n
+            config BSP_UART8_RX_USING_DMA
+                bool "Enable UART8 RX DMA"
+                depends on BSP_USING_UART8 && RT_SERIAL_USING_DMA
+                default n
+
+            config BSP_USING_UART1
+                bool "Enable UART1 (DBUS)"
+                default n
+            config BSP_UART1_RX_USING_DMA
+                bool "Enable UART1 RX DMA"
+                depends on BSP_USING_UART1 && RT_SERIAL_USING_DMA
+                default n
         endif
 
-        menuconfig BSP_USING_CAN
-        bool "Enable CAN"
+    menuconfig BSP_USING_PWM
+        bool "Enable pwm"
         default n
-        select RT_USING_CAN
-        if BSP_USING_CAN
-            config BSP_USING_CAN1
-                bool "using CAN1"
+        select RT_USING_PWM
+        if BSP_USING_PWM
+            menuconfig BSP_USING_PWM12
+                bool "Enable timer12 output pwm"
                 default n
-            config BSP_USING_CAN2
-                bool "using CAN2"
+                if BSP_USING_PWM12
+                    config BSP_USING_PWM12_CH1
+                        bool "Enable PWM12 channel1(buzzer) "
+                        default n
+                endif
+
+            menuconfig BSP_USING_PWM4
+                bool "Enable timer4 output pwm"
+                default n
+                if BSP_USING_PWM4
+                    config BSP_USING_PWM4_CH1
+                        bool "Enable PWM4 channel1"
+                        default n
+                    config BSP_USING_PWM4_CH2
+                        bool "Enable PWM4 channel2"
+                        default n
+                    config BSP_USING_PWM4_CH3
+                        bool "Enable PWM4 channel3"
+                        default n
+                    config BSP_USING_PWM4_CH4
+                        bool "Enable PWM4 channel4"
+                        default n
+                endif
+
+            menuconfig BSP_USING_PWM5
+                bool "Enable timer5 output pwm"
                 default n
+                if BSP_USING_PWM5
+                    config BSP_USING_PWM5_CH1
+                        bool "Enable PWM5 channel1"
+                        default n
+                    config BSP_USING_PWM5_CH2
+                        bool "Enable PWM5 channel2"
+                        default n
+                    config BSP_USING_PWM5_CH3
+                        bool "Enable PWM5 channel3"
+                        default n
+                    config BSP_USING_PWM5_CH4
+                        bool "Enable PWM5 channel4"
+                        default n
+                endif
         endif
 
     source "../libraries/HAL_Drivers/Kconfig"