diff --git a/sdk.hpp b/sdk.hpp
index 143a53e..1382447 100644
--- a/sdk.hpp
+++ b/sdk.hpp
@@ -9,4 +9,5 @@ extern "C" {
 #include "ticket.hpp"
 #include "critical_context.hpp"
 #include "zthread.hpp"
+#include "zqueue.hpp"
 void sdkinit();
\ No newline at end of file
diff --git a/stm32/critical.c b/stm32/critical.c
index a174fc5..a971f47 100644
--- a/stm32/critical.c
+++ b/stm32/critical.c
@@ -1,15 +1,6 @@
+#include "FreeRTOS.h"
 #include "main.h"
 static uint8_t g_port_exit_critical_count;
 
-void stm32_critical_enter(void) {
-  if (g_port_exit_critical_count == 0) {
-    __disable_irq();
-  }
-  g_port_exit_critical_count++;
-}
-void stm32_critical_exit(void) {
-  g_port_exit_critical_count--;
-  if (g_port_exit_critical_count == 0) {
-    __enable_irq();
-  }
-}
+void stm32_critical_enter(void) { vPortEnterCritical(); }
+void stm32_critical_exit(void) { vPortExitCritical(); }
diff --git a/zqueue.cpp b/zqueue.cpp
new file mode 100644
index 0000000..caffb21
--- /dev/null
+++ b/zqueue.cpp
@@ -0,0 +1,46 @@
+#include "zqueue.hpp"
+
+#include "logger.h"
+using namespace iflytop;
+#define TAG "ZQueue"
+void ZQueue::initialize(int32_t num, int32_t eachsize) {  //
+  xQueue = xQueueCreate(num, eachsize);
+  ZASSERT(xQueue);
+}
+void ZQueue::clear() { xQueueReset(xQueue); }
+
+bool ZQueue::send(uint8_t *data, size_t len, int32_t overtime) {
+  BaseType_t xStatus;
+  xStatus = xQueueSend(xQueue, data, overtime);
+  if (xStatus == pdPASS) {
+    return true;
+  } else {
+    return false;
+  }
+}
+bool ZQueue::receive(uint8_t *data, size_t *len, int32_t overtime) {
+  BaseType_t xStatus;
+  xStatus = xQueueReceive(xQueue, data, overtime);
+  if (xStatus == pdPASS) {
+    return true;
+  } else {
+    return false;
+  }
+}
+
+bool ZQueue::isFull() {
+  BaseType_t xStatus = xQueueIsQueueFullFromISR(xQueue);
+  if (xStatus == pdTRUE) {
+    return true;
+  } else {
+    return false;
+  }
+}
+bool ZQueue::isEmpty() {
+  BaseType_t xStatus = xQueueIsQueueEmptyFromISR(xQueue);
+  if (xStatus == pdTRUE) {
+    return true;
+  } else {
+    return false;
+  }
+}
\ No newline at end of file
diff --git a/zqueue.hpp b/zqueue.hpp
new file mode 100644
index 0000000..7b81318
--- /dev/null
+++ b/zqueue.hpp
@@ -0,0 +1,20 @@
+#pragma ocne
+#include "cmsis_os.h"
+namespace iflytop {
+class ZQueue {
+ private:
+  int32_t       m_num      = 0;
+  int32_t       m_eachsize = 0;
+  QueueHandle_t xQueue;
+
+ public:
+  void initialize(int32_t num, int32_t eachsize);
+  void clear();
+  bool send(uint8_t *data, size_t len, int32_t overtime);
+  bool receive(uint8_t *data, size_t *len, int32_t overtime);
+
+  bool isFull();
+  bool isEmpty();
+};
+
+}  // namespace iflytop