diff --git a/components/iflytop_can_slave_modules/io_control_service.cpp b/components/iflytop_can_slave_modules/io_control_service.cpp
index e5dbc78..a0a0a7e 100644
--- a/components/iflytop_can_slave_modules/io_control_service.cpp
+++ b/components/iflytop_can_slave_modules/io_control_service.cpp
@@ -1,4 +1,5 @@
 #include "io_control_service.hpp"
+#ifdef HAL_CAN_MODULE_ENABLED
 using namespace iflytop;
 void IOControlService::initialize(IflytopCanProtocolStackProcesser* protocol_processer, int32_t regStartOff, write_io_cb_t write_io_cb,
                                   read_io_cb_t read_io_cb) {
@@ -101,4 +102,5 @@ uint32_t IOControlService::readgpiotable0() {
   return val;
 }
 
-// uint32_t IOControlService::readgpiotable1() {}
\ No newline at end of file
+// uint32_t IOControlService::readgpiotable1() {}
+#endif
\ No newline at end of file
diff --git a/components/iflytop_can_slave_v1/iflytop_can_slave.hpp b/components/iflytop_can_slave_v1/iflytop_can_slave.hpp
index 65a851a..9afca77 100644
--- a/components/iflytop_can_slave_v1/iflytop_can_slave.hpp
+++ b/components/iflytop_can_slave_v1/iflytop_can_slave.hpp
@@ -4,6 +4,8 @@
 
 #pragma once
 #include "iflytop_can_slave_protocol.hpp"
+#ifdef HAL_CAN_MODULE_ENABLED
+
 /**
  * @brief
  *
@@ -239,4 +241,5 @@ class ICPSUtils {
   static int32_t mutiValToRegVal(int8_t var1, int8_t var2, int8_t var3, int8_t var4) { return (var4 << 24) | (var3 << 16) | (var2 << 8) | (var1 & 0xFF); }
 };
 
-}  // namespace iflytop
\ No newline at end of file
+}  // namespace iflytop
+#endif
\ No newline at end of file
diff --git a/components/tmc/ic/ztmc4361A.cpp b/components/tmc/ic/ztmc4361A.cpp
index b7d7d51..f2cbc53 100644
--- a/components/tmc/ic/ztmc4361A.cpp
+++ b/components/tmc/ic/ztmc4361A.cpp
@@ -1,6 +1,8 @@
 #if 1
 #include "ztmc4361A.hpp"
 
+#ifdef HAL_SPI_MODULE_ENABLED
+
 #include <stdarg.h>
 
 #include "../basic/basic.hpp"
@@ -361,3 +363,5 @@ void TMC4361A::driverIC_setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t ihol
 
 #endif
 #endif
+
+#endif
\ No newline at end of file
diff --git a/components/tmc/ic/ztmc4361A.hpp b/components/tmc/ic/ztmc4361A.hpp
index 4c07eca..2d5424e 100644
--- a/components/tmc/ic/ztmc4361A.hpp
+++ b/components/tmc/ic/ztmc4361A.hpp
@@ -13,6 +13,8 @@ extern "C" {
 #include "TMC2160\TMC2160.h"
 #include "TMC4361A\TMC4361A.h"
 }
+#ifdef HAL_SPI_MODULE_ENABLED
+
 namespace iflytop {
 #define TMC4361A_LISTENER_MAX 5
 class TMC4361A : public IStepperMotor {
@@ -153,3 +155,4 @@ class TMC4361A : public IStepperMotor {
 }  // namespace iflytop
 
 #endif
+#endif
\ No newline at end of file
diff --git a/components/tmc/ic/ztmc5130.cpp b/components/tmc/ic/ztmc5130.cpp
index 411247c..e149e56 100644
--- a/components/tmc/ic/ztmc5130.cpp
+++ b/components/tmc/ic/ztmc5130.cpp
@@ -1,4 +1,6 @@
 #include "ztmc5130.hpp"
+#ifdef HAL_SPI_MODULE_ENABLED
+
 using namespace iflytop;
 
 /**
@@ -192,3 +194,4 @@ int32_t TMC5130::readInt(uint8_t address) {
 
   return ((uint32_t)data[1] << 24) | ((uint32_t)data[2] << 16) | (data[3] << 8) | data[4];
 }
+#endif
\ No newline at end of file
diff --git a/components/tmc/ic/ztmc5130.hpp b/components/tmc/ic/ztmc5130.hpp
index 39fb5d0..41a1d50 100644
--- a/components/tmc/ic/ztmc5130.hpp
+++ b/components/tmc/ic/ztmc5130.hpp
@@ -9,6 +9,7 @@
 extern "C" {
 #include "TMC5130\TMC5130.h"
 }
+#ifdef HAL_SPI_MODULE_ENABLED
 namespace iflytop {
 #define TMC5130_LISTENER_MAX 5
 /**
@@ -138,4 +139,5 @@ class TMC5130 : public IStepperMotor {
  private:
   uint32_t haspassedms(uint32_t now, uint32_t last);
 };
-}  // namespace iflytop
\ No newline at end of file
+}  // namespace iflytop
+#endif
\ No newline at end of file
diff --git a/hal/zcan.cpp b/hal/zcan.cpp
index 9785967..be121c5 100644
--- a/hal/zcan.cpp
+++ b/hal/zcan.cpp
@@ -1,8 +1,8 @@
 #include "zcan.hpp"
+#ifdef HAL_CAN_MODULE_ENABLED
 
 extern "C" {
 
-#ifdef HAL_CAN_MODULE_ENABLED
 void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
   for (int i = 0; i < iflytop::ZCanIRQDispatcher::instance().m_listenerNum; i++) {
     iflytop::ZCanIRQDispatcher::instance().m_listener[i]->STM32_HAL_onCAN_TxMailbox0Complete(hcan);