diff --git a/stm32basic.hpp b/stm32basic.hpp
index 9f6aac6..014df34 100644
--- a/stm32basic.hpp
+++ b/stm32basic.hpp
@@ -3,4 +3,6 @@
 #include "mutex.hpp"
 #include "zadc.hpp"
 #include "zspi.hpp"
-#include "zgpio.hpp"
\ No newline at end of file
+#include "zgpio.hpp"
+#include "ticket.hpp"
+#include "zqueue.hpp"
\ No newline at end of file
diff --git a/ticket.cpp b/ticket.cpp
new file mode 100644
index 0000000..8e1eca7
--- /dev/null
+++ b/ticket.cpp
@@ -0,0 +1,20 @@
+#include "ticket.hpp"
+
+#include "cmsis_os.h"
+#include "cmsis_version.h"
+extern "C" {
+uint32_t zos_get_tick(void) { return osKernelSysTick(); }
+uint32_t zos_haspassedms2(uint32_t lastticket, uint32_t nowticket) {
+  if (nowticket >= lastticket) {
+    return nowticket - lastticket;
+  }
+  return UINT32_MAX - lastticket + nowticket;
+}
+uint32_t zos_haspassedms(uint32_t ticket) {
+  uint32_t nowticket = zos_get_tick();
+  if (nowticket >= ticket) {
+    return nowticket - ticket;
+  }
+  return UINT32_MAX - ticket + nowticket;
+}
+}
diff --git a/ticket.hpp b/ticket.hpp
new file mode 100644
index 0000000..9ad99d6
--- /dev/null
+++ b/ticket.hpp
@@ -0,0 +1,8 @@
+#pragma once
+#include <stdint.h>
+
+extern "C" {
+uint32_t zos_get_tick(void);
+uint32_t zos_haspassedms(uint32_t ticket);
+uint32_t zos_haspassedms2(uint32_t lastticket, uint32_t nowticket);
+}
\ No newline at end of file
diff --git a/zqueue.cpp b/zqueue.cpp
new file mode 100644
index 0000000..8b52292
--- /dev/null
+++ b/zqueue.cpp
@@ -0,0 +1,5 @@
+#include "zqueue.hpp"
+
+#include "basic/zlog.h"
+using namespace iflytop;
+#define TAG "ZQueue"
diff --git a/zqueue.hpp b/zqueue.hpp
new file mode 100644
index 0000000..b6c676d
--- /dev/null
+++ b/zqueue.hpp
@@ -0,0 +1,42 @@
+#pragma once
+#include "cmsis_os.h"
+#include "basic/zlog.h"
+namespace iflytop {
+template <typename T>
+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) {
+    xQueue = xQueueCreate(num, eachsize);
+    ZASSERT(xQueue);
+  }
+  void clear() { xQueueReset(xQueue); }
+
+  bool send(T *data, int32_t overtime) { return _send((uint8_t *)data, sizeof(T), overtime); }
+  bool receive(T *data, int32_t overtime) { return _receive((uint8_t *)data, overtime); }
+
+  bool isFull() {
+    BaseType_t xStatus = xQueueIsQueueFullFromISR(xQueue);
+    return xStatus == pdTRUE;
+  }
+  bool isEmpty() {
+    BaseType_t xStatus = xQueueIsQueueEmptyFromISR(xQueue);
+    return xStatus == pdTRUE;
+  }
+
+ private:
+  bool _send(uint8_t *data, int32_t len, int32_t overtime) {
+    BaseType_t xStatus = xQueueSend(xQueue, data, overtime);
+    return xStatus == pdPASS;
+  }
+  bool _receive(uint8_t *data, int32_t overtime) {
+    BaseType_t xStatus = xQueueReceive(xQueue, data, overtime);
+    return xStatus == pdPASS;
+  }
+};
+
+}  // namespace iflytop