diff --git a/app/MDK-ARM/app.uvguix.29643 b/app/MDK-ARM/app.uvguix.29643
index d5d497e..0a910d1 100644
--- a/app/MDK-ARM/app.uvguix.29643
+++ b/app/MDK-ARM/app.uvguix.29643
@@ -1822,7 +1822,7 @@
         <Name>Build</Name>
         <Buttons>
           <Len>966</Len>
-          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000004001C0000000000000000000000000000000001000000010000000180D07F0000000002001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000010000000000000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA0000000000000000000000000000000000000000000000000100000001000000960000000300205000000000036170709600000000000000010003617070000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
+          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000004001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000002001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000010000000000000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA0000000000000000000000000000000000000000000000000100000001000000960000000300205000000000036170709600000000000000010003617070000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
         </Buttons>
         <OriginalItems>
           <Len>583</Len>
diff --git a/src/board/hardware.cpp b/src/board/hardware.cpp
index 0ddf531..ff0176d 100644
--- a/src/board/hardware.cpp
+++ b/src/board/hardware.cpp
@@ -38,5 +38,68 @@ void Hardware::debug_light_periodicJob() {
 /*******************************************************************************
  *                                     CAN                                     *
  *******************************************************************************/
-void Hardware::can_init() {}
-void Hardware::can_periodicJob() {}
+void Hardware::can_init() {
+  // 初始化CAN接收过滤器
+  CAN_FilterTypeDef CAN_FilterInitStructure;
+  CAN_FilterInitStructure.FilterActivation     = ENABLE;                 // 使能过滤器
+  CAN_FilterInitStructure.FilterBank           = 1;                      // 指定过滤器为1
+  CAN_FilterInitStructure.FilterMode           = CAN_FILTERMODE_IDMASK;  // 指定过滤器为标识符屏蔽位模式
+  CAN_FilterInitStructure.FilterScale          = CAN_FILTERSCALE_32BIT;  // 过滤器位宽为32位
+  CAN_FilterInitStructure.FilterFIFOAssignment = CAN_FILTER_FIFO0;       // 设定了指向过滤器的FIFO
+
+  CAN_FilterInitStructure.FilterIdHigh     = 0x0000;  // 要过滤的ID高位
+  CAN_FilterInitStructure.FilterIdLow      = 0x0000;  // 要过滤的ID低位
+  CAN_FilterInitStructure.FilterMaskIdHigh = 0x0000;  // 过滤器屏蔽标识符的高16位值
+  CAN_FilterInitStructure.FilterMaskIdLow  = 0x0000;  // 过滤器屏蔽标识符的低16位值
+  HAL_CAN_ConfigFilter(&hcan1, &CAN_FilterInitStructure);
+  // 启动CAN
+  HAL_CAN_MspInit(&hcan1);
+  HAL_CAN_Start(&hcan1);
+  can_HeaderTypedef_set();
+}
+void Hardware::can_HeaderTypedef_set() {
+  m_can.Can_Tx.StdId = 0x123;
+  m_can.Can_Tx.ExtId = 0x123;
+  m_can.Can_Tx.IDE   = 0;
+  m_can.Can_Tx.RTR   = 0;
+  m_can.Can_Tx.DLC   = 8;
+
+  m_can.Can_Rx.StdId = 0x321;
+  m_can.Can_Rx.ExtId = 0x321;
+  m_can.Can_Rx.IDE   = 0;
+  m_can.Can_Rx.RTR   = 0;
+  m_can.Can_Rx.DLC   = 8;
+}
+void Hardware::can_send(uint8_t *data, uint8_t len) {
+  {
+    static uint32_t lastprocess = 0;
+    if (sys_haspassedms(lastprocess) > 3000) {
+      lastprocess = HAL_GetTick();
+      ZLOGI(TAG, "CAN TX data: %02x %02x %02x %02x %02x %02x %02x %02x",  //
+            data[7], data[6], data[5], data[4], data[3], data[2], data[1], data[0]);
+      HAL_CAN_AddTxMessage(&hcan1, &m_can.Can_Tx, m_can.tdata, &m_can.pTxMailbox);
+    }
+  }
+}
+void Hardware::can_receive(uint8_t *data, uint8_t len) {
+  if (HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &m_can.Can_Rx, m_can.adata) == HAL_OK) {
+    ZLOGI(TAG, "CAN RX buffer: %02x %02x %02x %02x %02x %02x %02x %02x",  //
+          m_can.adata[7], m_can.adata[6], m_can.adata[5], m_can.adata[4], m_can.adata[3], m_can.adata[2], m_can.adata[1], m_can.adata[0]);
+  }
+}
+void Hardware::can_periodicJob() {
+  // 装载CAN字段
+  can_HeaderTypedef_set();
+  // 发送can消息
+  m_can.tdata[0] = 0x01;
+  m_can.tdata[1] = 0x02;
+  m_can.tdata[2] = 0x03;
+  m_can.tdata[3] = 0x04;
+  m_can.tdata[4] = 0x05;
+  m_can.tdata[5] = 0x06;
+  m_can.tdata[6] = 0x07;
+  m_can.tdata[7] = 0x08;
+  can_send(m_can.tdata, 8);
+  // 查询接收can消息，并通过UART1 打印接收到的CAN消息报文
+  can_receive(m_can.adata, 8);
+}
\ No newline at end of file
diff --git a/src/board/hardware.hpp b/src/board/hardware.hpp
index 918a75f..c7e7fd8 100644
--- a/src/board/hardware.hpp
+++ b/src/board/hardware.hpp
@@ -19,6 +19,16 @@ class Hardware {
   /* data */
 
  public:
+  struct can_res_t {
+    CAN_TxHeaderTypeDef Can_Tx;
+    CAN_RxHeaderTypeDef Can_Rx;
+    uint8_t             tdata[8];
+    uint8_t             adata[8];
+    uint32_t            pTxMailbox;
+  };
+  can_res_t m_can;
+
+ public:
   Hardware(/* args */){};
   ~Hardware(){};
 
@@ -35,6 +45,9 @@ class Hardware {
    *******************************************************************************/
   void can_init();
   void can_periodicJob();
+  void can_HeaderTypedef_set();
+  void can_send(uint8_t *data, uint8_t len);
+  void can_receive(uint8_t *data, uint8_t len);
 };
 
 }  // namespace iflytop