diff --git a/bsp/adcs.c b/bsp/adcs.c
index e6db86c..2243bc7 100644
--- a/bsp/adcs.c
+++ b/bsp/adcs.c
@@ -2,7 +2,7 @@
  * @file adcs.c
  * @author xxx
  * @date 2023-09-04 15:59:16
- * @brief LL库ADC驱动
+ * @brief LL库ADC驱动  STM32F407
  * @copyright Copyright (c) 2023 by xxx, All Rights Reserved.
  */
 
@@ -23,7 +23,7 @@ static uint8_t adc_get_channels_count(uint32_t channnels); // 通过用户配置
  * @return {*}
  * @note TCONV(转换时间) = (采样时间 + 12.5 个周期)/(主频/ADC分频系数)
  */
-void adc_init(adcs_e num, ADC_TypeDef *adc, DMA_TypeDef *dma, uint32_t dma_channel, uint16_t adc_cct, uint32_t channels)
+void adc_init(adcs_e num, ADC_TypeDef *adc, DMA_TypeDef *dma, uint32_t dma_stream, uint32_t dma_channel, uint16_t adc_cct, uint32_t channels)
 {
     DBG_ASSERT(num < ADCS_MAX __DBG_LINE);
     DBG_ASSERT(adc != NULL __DBG_LINE);
@@ -34,6 +34,7 @@ void adc_init(adcs_e num, ADC_TypeDef *adc, DMA_TypeDef *dma, uint32_t dma_chann
     osel_memset((uint8_t *)p, 0, sizeof(adcs_t));
     p->adc = adc;
     p->dma = dma;
+    p->dma_stream = dma_stream;
     p->dma_channel = dma_channel;
     p->channels.data = channels;
     p->adc_cct = adc_cct;
@@ -49,36 +50,40 @@ void adc_init(adcs_e num, ADC_TypeDef *adc, DMA_TypeDef *dma, uint32_t dma_chann
     DBG_ASSERT(p->adc_value != NULL __DBG_LINE);
     osel_memset((uint8_t *)p->adc_value, 0, sizeof(uint16_t) * p->adc_sum);
 
-    uint32_t backup_setting_adc_dma_transfer = 0U;
-    backup_setting_adc_dma_transfer = LL_ADC_REG_GetDMATransfer(p->adc);
-    LL_ADC_REG_SetDMATransfer(p->adc, LL_ADC_REG_DMA_TRANSFER_NONE);
+    LL_DMA_SetChannelSelection(p->dma, p->dma_stream, p->dma_channel);
+    LL_DMA_ConfigTransfer(p->dma, p->dma_stream,
+                          LL_DMA_DIRECTION_PERIPH_TO_MEMORY |
+                              LL_DMA_MODE_CIRCULAR |
+                              LL_DMA_PERIPH_NOINCREMENT |
+                              LL_DMA_MEMORY_INCREMENT |
+                              LL_DMA_PDATAALIGN_HALFWORD |
+                              LL_DMA_MDATAALIGN_HALFWORD |
+                              LL_DMA_PRIORITY_HIGH);
+    LL_DMA_ConfigAddresses(p->dma, p->dma_stream,
+                           LL_ADC_DMA_GetRegAddr(p->adc, LL_ADC_DMA_REG_REGULAR_DATA),
+                           (uint32_t)p->adc_value,
+                           LL_DMA_GetDataTransferDirection(p->dma, p->dma_stream));
 
-    // ADC开始校准
-    LL_ADC_StartCalibration(p->adc, LL_ADC_SINGLE_ENDED);
-    // 等待校准完成
-    while (LL_ADC_IsCalibrationOnGoing(p->adc))
-        ;
-    LL_ADC_REG_SetDMATransfer(p->adc, backup_setting_adc_dma_transfer);
-    LL_mDelay(10);
-    LL_ADC_EnableIT_OVR(p->adc);
-    LL_ADC_Enable(p->adc);
-    LL_mDelay(10);
+    LL_DMA_SetDataLength(p->dma, p->dma_stream, p->adc_sum);
+    LL_DMA_EnableStream(p->dma, p->dma_stream);
+
+    LL_ADC_REG_SetContinuousMode(p->adc, LL_ADC_REG_CONV_CONTINUOUS);
+    LL_ADC_REG_SetDMATransfer(p->adc, LL_ADC_REG_DMA_TRANSFER_UNLIMITED);
 
     if (BIT_IS_SET(channels, INVREF))
     {
         // 使能VREFINT
         LL_ADC_SetCommonPathInternalCh(__LL_ADC_COMMON_INSTANCE(p->adc), LL_ADC_PATH_INTERNAL_VREFINT);
     }
-
-    LL_DMA_SetDataLength(p->dma, p->dma_channel, p->adc_sum);
-    LL_DMA_SetPeriphAddress(p->dma, p->dma_channel, LL_ADC_DMA_GetRegAddr(p->adc, LL_ADC_DMA_REG_REGULAR_DATA));
-    LL_DMA_SetMemoryAddress(p->dma, p->dma_channel, (uint32_t)p->adc_value);
-    LL_DMA_EnableChannel(p->dma, p->dma_channel);
-
-    if (backup_setting_adc_dma_transfer == LL_ADC_REG_DMA_TRANSFER_UNLIMITED)
+    if (BIT_IS_SET(channels, INTEMP))
     {
-        LL_ADC_REG_StartConversion(p->adc); // 开始转换
+        LL_ADC_SetCommonPathInternalCh(__LL_ADC_COMMON_INSTANCE(p->adc), LL_ADC_PATH_INTERNAL_TEMPSENSOR);
     }
+
+    LL_mDelay(10);
+    // 启动 ADC 转换
+    LL_ADC_Enable(p->adc);
+    LL_ADC_REG_StartConversionSWStart(p->adc);
 }
 
 /**
@@ -91,18 +96,7 @@ void adc_init(adcs_e num, ADC_TypeDef *adc, DMA_TypeDef *dma, uint32_t dma_chann
 void start_sample(adcs_e num)
 {
     DBG_ASSERT(num < ADCS_MAX __DBG_LINE);
-    adcs_t *p = &adcs[num];
-    LL_DMA_SetDataLength(p->dma, p->dma_channel, p->adc_sum);
-    LL_DMA_SetPeriphAddress(p->dma, p->dma_channel, LL_ADC_DMA_GetRegAddr(p->adc, LL_ADC_DMA_REG_REGULAR_DATA));
-    LL_DMA_SetMemoryAddress(p->dma, p->dma_channel, (uint32_t)p->adc_value);
-    LL_DMA_EnableChannel(p->dma, p->dma_channel);
-
-    LL_ADC_ClearFlag_OVR(p->adc);
-    LL_ADC_ClearFlag_EOC(p->adc);
-    LL_ADC_REG_StartConversion(p->adc); // 开始转换
-
-    // ADC开始校准
-    LL_ADC_StartCalibration(p->adc, LL_ADC_SINGLE_ENDED);
+    // adcs_t *p = &adcs[num];
 }
 
 /**
@@ -115,14 +109,7 @@ void start_sample(adcs_e num)
 void stop_sample(adcs_e num)
 {
     DBG_ASSERT(num < ADCS_MAX __DBG_LINE);
-    adcs_t *p = &adcs[num];
-
-    LL_ADC_REG_StopConversion(p->adc);
-    while (LL_ADC_REG_IsConversionOngoing(p->adc) != 0)
-        ;
-    LL_DMA_DisableChannel(p->dma, p->dma_channel);
-    DMA_CLEAR_FLAG_TC_CHANNEL(p->dma, p->dma_channel);
-    DMA_CLEAR_FLAG_TE_CHANNEL(p->dma, p->dma_channel);
+    // adcs_t *p = &adcs[num];
 }
 
 /**
@@ -147,8 +134,6 @@ void adc_dinit(adcs_e num)
 {
     DBG_ASSERT(num < ADCS_MAX __DBG_LINE);
     adcs_t *p = &adcs[num];
-    LL_ADC_REG_StopConversion(p->adc);
-    LL_DMA_DisableChannel(p->dma, p->dma_channel);
     LL_ADC_Disable(p->adc);
     if (p->adc_value != NULL)
     {
@@ -190,7 +175,7 @@ uint16_t adc_result_median_average(adcs_e num, uint8_t chan)
 
     if (p->adc_cct <= 2)
         return 0; // 如果adc_cct小于等于2，直接返回0
-    p->median_average_ticks.uticks = sys_get_tick();
+
     uint16_t adc_temp[p->adc_cct];
     uint32_t adc_sum = 0;
     uint16_t count = p->adc_cct >> 2; // 使用位移操作计算n的值
@@ -212,13 +197,6 @@ uint16_t adc_result_median_average(adcs_e num, uint8_t chan)
 
     // 计算平均值，确保不会除以0
     uint16_t res = adc_sum / (p->adc_cct - (count << 1));
-
-    p->median_average_ticks.ticks_current = sys_get_tick() - p->median_average_ticks.uticks;
-    if (p->median_average_ticks.ticks_current > p->median_average_ticks.ticks_max)
-    {
-        p->median_average_ticks.ticks_max = p->median_average_ticks.ticks_current;
-    }
-
     return res;
 }
 
@@ -236,8 +214,6 @@ uint16_t adc_result_median(adcs_e num, uint8_t chan)
     adcs_t *p = &adcs[num];
     DBG_ASSERT(p != NULL __DBG_LINE);
 
-    p->median_ticks.uticks = sys_get_tick();
-
     uint16_t adc_temp[p->adc_cct];
     // 减少重复计算，计算基础偏移量
     uint16_t *adc_values = (uint16_t *)p->adc_value + chan;
@@ -247,12 +223,6 @@ uint16_t adc_result_median(adcs_e num, uint8_t chan)
     }
     insertion_sort(adc_temp, p->adc_cct);
     res = adc_temp[p->adc_cct >> 1];
-
-    p->median_ticks.ticks_current = sys_get_tick() - p->median_ticks.uticks;
-    if (p->median_ticks.ticks_current > p->median_ticks.ticks_max)
-    {
-        p->median_ticks.ticks_max = p->median_ticks.ticks_current;
-    }
     return res;
 }
 
@@ -271,8 +241,6 @@ uint16_t adc_result_average(adcs_e num, uint8_t chan)
     adcs_t *p = &adcs[num];
     DBG_ASSERT(p != NULL __DBG_LINE);
 
-    p->average_ticks.uticks = sys_get_tick();
-
     // 减少重复计算，计算基础偏移量
     uint16_t *adc_values = (uint16_t *)p->adc_value + chan;
     for (uint16_t i = 0; i < p->adc_cct; ++i, adc_values += p->adc_chans_count)
@@ -281,12 +249,6 @@ uint16_t adc_result_average(adcs_e num, uint8_t chan)
     }
     res = adc_sum / p->adc_cct;
 
-    p->average_ticks.ticks_current = sys_get_tick() - p->average_ticks.uticks;
-    if (p->average_ticks.ticks_current > p->average_ticks.ticks_max)
-    {
-        p->average_ticks.ticks_max = p->average_ticks.ticks_current;
-    }
-
     return res;
 }
 
@@ -336,10 +298,6 @@ void adc_dma_callback(adcs_e num)
     if (LL_DMA_IsActiveFlag_TC1(p->dma) != 0)
     {
         LL_DMA_ClearFlag_TC1(p->dma);
-        // 停止ADC转换
-        LL_ADC_REG_StopConversion(p->adc);
-        // 关闭ADC,可以不关闭但是校准无法清除
-        // LL_ADC_Disable(p->adc);
     }
     // 检查DMA1的传输错误标志是否为1，如果是，则清除该标志
     if (LL_DMA_IsActiveFlag_TE1(p->dma) != 0)
@@ -361,17 +319,7 @@ void adc_env_callback(adcs_e num)
     if (LL_ADC_IsActiveFlag_OVR(p->adc) != 0)
     {
         p->ovr_count++;
-        LL_ADC_REG_StopConversion(p->adc);
-        LL_DMA_DisableChannel(p->dma, p->dma_channel);
-
-        LL_DMA_SetDataLength(p->dma, p->dma_channel, p->adc_sum);
-        LL_DMA_SetPeriphAddress(p->dma, p->dma_channel, LL_ADC_DMA_GetRegAddr(p->adc, LL_ADC_DMA_REG_REGULAR_DATA));
-        LL_DMA_SetMemoryAddress(p->dma, p->dma_channel, (uint32_t)p->adc_value);
-        LL_DMA_EnableChannel(p->dma, p->dma_channel);
-
         LL_ADC_ClearFlag_OVR(p->adc);
-        LL_ADC_ClearFlag_EOC(p->adc);
-        LL_ADC_REG_StartConversion(p->adc); // 开始转换
     }
 }
 
diff --git a/bsp/adcs.h b/bsp/adcs.h
index a873a66..ede7800 100644
--- a/bsp/adcs.h
+++ b/bsp/adcs.h
@@ -17,9 +17,6 @@
 
 #ifndef __ADCS_H__
 #define __ADCS_H__
-
-#include "lib.h"
-#include "main.h"
 #include "sys.h"
 
 #define ADC_CHANNEL_MAX 18 ///< Maximum number of ADC channels
@@ -85,6 +82,7 @@ typedef struct
 {
     ADC_TypeDef *adc;         ///< ADC peripheral
     DMA_TypeDef *dma;         ///< DMA peripheral
+    uint32_t dma_stream;      ///< DMA stream
     uint32_t dma_channel;     ///< DMA channel
     adcs_channels_u channels; ///< ADC channels
     uint32_t ovr_count;       ///< ADC overflow count
@@ -94,9 +92,6 @@ typedef struct
     uint16_t adc_sum;         ///< Channel acquisition count
     __IO uint16_t *adc_value; ///< Address to store ADC conversion results
 
-    utime_ticks_t median_average_ticks; ///< Median average filtering ticks
-    utime_ticks_t median_ticks;         ///< Median filtering ticks
-    utime_ticks_t average_ticks;        ///< Average filtering ticks
 } adcs_t;
 
 /**
@@ -111,7 +106,7 @@ typedef struct
  * @param adc_cct The ADC continuous conversion mode.
  * @param channels The number of ADC channels to be converted.
  */
-extern void adc_init(adcs_e num, ADC_TypeDef *adc, DMA_TypeDef *dma, uint32_t dma_channel, uint16_t adc_cct, uint32_t channels);
+extern void adc_init(adcs_e num, ADC_TypeDef *adc, DMA_TypeDef *dma, uint32_t dma_stream, uint32_t dma_channel, uint16_t adc_cct, uint32_t channels);
 
 /**
  * @brief Starts the ADC conversion.
diff --git a/bsp/bsp.h b/bsp/bsp.h
index bbc7929..f37170a 100644
--- a/bsp/bsp.h
+++ b/bsp/bsp.h
@@ -29,4 +29,5 @@ typedef void (*pvd_irq_handle_cb)(void);
 extern void pvd_configuration(uint32_t pwr_level, pvd_irq_handle_cb call); ///< Configures the Programmable Voltage Detector (PVD) module
 extern void pvd_irq_handle(void);                                          ///< Handles the PVD interrupt
 extern void disable_debug_interface(void);                                 ///< Disables the debug interface
-#endif                                                                     ///< __BSP_H__
+
+#endif ///< __BSP_H__
diff --git a/delay.c b/delay.c
index 2e6bfdf..bbb5c7d 100644
--- a/delay.c
+++ b/delay.c
@@ -10,6 +10,12 @@
 
 #include "delay.h"
 
+#if USE_OS == 1
+#include "os.h"
+// 确保包含了 vPortSetupTimerInterrupt 函数的声明
+extern void vPortSetupTimerInterrupt(void);
+#endif
+
 // static uint16_t g_fac_ms = 0; // ms延时倍乘数,在os下,代表每个节拍的ms数
 static uint32_t g_fac_us = 0; /* us延时倍乘数 */
 
@@ -44,6 +50,49 @@ void delay_init(uint16_t sysclk)
 #endif
 }
 
+#if USE_OS == 1
+void delay_us(uint32_t nus)
+{
+    uint32_t ticks;
+    uint32_t told, tnow, reload, tcnt = 0;
+
+    if ((0x0001 & (SysTick->CTRL)) == 0)
+    {
+        // 定时器未工作，初始化定时器
+        vPortSetupTimerInterrupt();
+    }
+
+    reload = SysTick->LOAD; // 获取重装载寄存器值
+    ticks = nus * g_fac_us; // 计算延时所需的SysTick计数
+
+    vTaskSuspendAll();   // 阻止OS调度，防止打断us延时
+    told = SysTick->VAL; // 获取当前数值寄存器值（开始时数值）
+
+    while (1)
+    {
+        tnow = SysTick->VAL; // 获取当前数值寄存器值
+        if (tnow != told)
+        { // 当前值不等于开始值说明已在计数
+            if (tnow < told)
+            {
+                tcnt += told - tnow; // 计数值 = 开始值 - 当前值
+            }
+            else
+            {
+                tcnt += reload - tnow + told; // 计数值 = 重装载值 - 当前值 + 开始值
+            }
+            told = tnow; // 更新开始值
+            if (tcnt >= ticks)
+            {
+                break; // 时间超过/等于要延迟的时间,则退出
+            }
+        }
+    }
+
+    xTaskResumeAll(); // 恢复OS调度
+}
+
+#else
 /**
  * @brief       延时nus
  * @param       nus: 要延时的us数.
@@ -79,6 +128,7 @@ void delay_us(uint32_t nus)
         }
     }
 }
+#endif
 
 /**
  * @brief 对指定的硬件定时器进行微秒级延时
diff --git a/delay.h b/delay.h
index b08b27d..299241f 100644
--- a/delay.h
+++ b/delay.h
@@ -14,6 +14,8 @@
 #include "sys.h"
 #include "tims.h"
 
+#define USE_OS 0
+
 void delay_init(uint16_t sysclk);                           /* 初始化延迟函数 */
 void delay_ms(uint16_t nms);                                /* 延时nms */
 void delay_us(uint32_t nus);                                /* 延时nus */
diff --git a/freertos/os.h b/freertos/os.h
index 105c4b3..fce74b6 100644
--- a/freertos/os.h
+++ b/freertos/os.h
@@ -1,7 +1,34 @@
 #ifndef __OS_H__
 #define __OS_H__
-
+#include "FreeRTOSConfig.h"
 #include "FreeRTOS.h"
 #include "task.h"
+#include "semphr.h"
+
+typedef struct
+{
+    uint32_t free_heap_size;      ///< 空闲堆大小
+    uint32_t min_free_heap_size;  ///< 最小空闲堆大小
+    uint32_t min_free_stack_size; ///< 最小空闲栈大小
+} os_t;
+
+static inline void os_read(os_t *os)
+{
+    os->free_heap_size = xPortGetFreeHeapSize();
+    os->min_free_heap_size = xPortGetMinimumEverFreeHeapSize();
+    os->min_free_stack_size = uxTaskGetStackHighWaterMark(NULL);
+}
+
+// 禁止任务抢占
+static inline void os_task_preemption_disable(void)
+{
+    taskENTER_CRITICAL();
+}
+
+// 允许任务抢占
+static inline void os_task_preemption_enable(void)
+{
+    taskEXIT_CRITICAL();
+}
 
 #endif // __OS_H__
diff --git a/freertos/readme.md b/freertos/readme.md
index 23c8ad7..241f625 100644
--- a/freertos/readme.md
+++ b/freertos/readme.md
@@ -1,3 +1,33 @@
-# 移植
+## 移植
 
 https://blog.csdn.net/ctt15703065585/article/details/139291183
+
+## 创建任务
+
+```c
+static TaskHandle_t xxx_task_handle = NULL; // 定义任务句柄
+static void xxx_task(void *pvParameters)
+{
+    for (;;)
+    {
+        vTaskDelay(1000);
+    }
+}
+
+void task_init()
+{
+    // 创建任务
+    xTaskCreate((TaskFunction_t)xxx_task,
+                (const char *)"xxx_task",
+                (uint16_t)configMINIMAL_STACK_SIZE,
+                (void *)NULL,
+                (UBaseType_t)1,
+                (TaskHandle_t *)&xxx_task_handle);
+}
+```
+
+## 信号量
+
+```c
+
+```
diff --git a/lib/src/debug.c b/lib/src/debug.c
index bfbfc07..5a76429 100644
--- a/lib/src/debug.c
+++ b/lib/src/debug.c
@@ -26,7 +26,6 @@ BOOL DBG_ASSERT(uint8_t cond _DBG_LINE_)
 #else
 #include "board.h"
 #include "sys.h"
-
 BOOL DBG_ASSERT(uint8_t cond _DBG_LINE_)
 {
     do