diff --git a/hi-dev/externed_device_sample/Makefile b/hi-dev/externed_device_sample/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..069c38593b7ec3cac1a5675ae5e47b0eba3c38d0
--- /dev/null
+++ b/hi-dev/externed_device_sample/Makefile
@@ -0,0 +1,30 @@
+export TOP_DIR=$(CURDIR)
+export SCRIPTS_DIR=$(TOP_DIR)/scripts
+export OUTPUT_DIR=$(TOP_DIR)/output
+export CROSS_COMPILE ?= aarch64-openeuler-linux-
+
+export CC=$(CROSS_COMPILE)gcc
+
+targets = $(shell find -maxdepth 1 -type d ! -name ".*" | grep -v "scripts\|output\|Licenses\|tmp\|mpp")
+
+build:
+	echo "CROSS_COMPILE:$(CROSS_COMPILE)"
+	@for dir in $(targets); do \
+		if [ -f $(TOP_DIR)/$$dir/Makefile ]; then \
+			cd $(TOP_DIR)/$$dir && $(MAKE); \
+		fi; \
+	done
+
+$(targets):
+	echo "CROSS_COMPILE:$(CROSS_COMPILE)"
+	cd $(TOP_DIR)/$@ && $(MAKE);
+
+clean:
+	@for dir in $(targets); do \
+		if [ -f $(TOP_DIR)/$$dir/Makefile ]; then \
+			cd $(TOP_DIR)/$$dir && $(MAKE) clean; \
+		fi; \
+	done
+	rm -rf $(OUTPUT_DIR)
+
+.PHONY:build clean $(targets)
diff --git a/hi-dev/externed_device_sample/README.md b/hi-dev/externed_device_sample/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..0719aa3c1d4af0266a879c4590ce32f79d6c3797
--- /dev/null
+++ b/hi-dev/externed_device_sample/README.md
@@ -0,0 +1,57 @@
+# externed_device_sample
+
+#### 介绍
+欧拉派海鸥系列驱动测试程序.其中mpp为媒体相关sample，other为非媒体相关sample。
+
+## 编译说明
+测试工程有两种编译方式。
+1）通过yocto工程构建文件系统。
+    [构建方法](https://openeuler.gitee.io/yocto-meta-openeuler/master/bsp/arm64/hieulerpi/hieulerpi.html)
+
+2）在x86的Ubuntu服务器搭建交叉编译环境进行编译。
+
+2.1）下载并安装交叉编译工具链
+```
+假设当前目录/home/xxx/
+wget http://121.36.84.172/dailybuild/EBS-openEuler-23.09/EBS-openEuler-23.09/embedded_img/aarch64/aarch64-qemu/openeuler-glibc-x86_64-openeuler-image-aarch64-qemu-aarch64-toolchain-23.09.sh
+
+注意：请使用欧拉文件系统构建配套的交叉编译工具链。
+
+mkdir toolchain
+./openeuler-glibc-x86_64-openeuler-image-aarch64-qemu-aarch64-toolchain-23.09.sh
+openEuler Embedded(openEuler Embedded Reference Distro) SDK installer version 23.09
+===================================================================================
+Enter target directory for SDK (default: /opt/openeuler/oecore-x86_64): /home/xxx/toolchain
+You are about to install the SDK to "/home/robot/hirobot_support/toolchain". Proceed [Y/n]? y
+Extracting SDK.......................done
+Setting it up...SDK has been successfully set up and is ready to be used.
+Each time you wish to use the SDK in a new shell session, you need to source the environment setup script e.g.
+ $ . /home/xxx/toolchain/environment-setup-aarch64-openeuler-linux
+```
+
+2.2）交叉工具链生效
+
+```
+cd /home/xxx/toolchain/
+. environment-setup-aarch64-openeuler-linux
+```
+
+2.3）下载本工程以及驱动需要的头文件和库并编译(编译二进制在当前目录的output目录下)
+
+```
+git clone https://gitee.com/HiEuler/externed_device_sample.git
+git clone https://gitee.com/HiEuler/hardware_driver.git
+mkdir -p externed_device_sample/mpp/out
+cp hardware_driver/drivers/lib.tar.gz externed_device_sample/mpp/out/
+cp hardware_driver/drivers/include.tar.gz externed_device_sample/mpp/out/
+cd externed_device_sample/mpp/out/
+tar -zxvf lib.tar.gz
+tar -zxvf include.tar.gz
+cd -
+cd externed_device_sample/
+make
+```
+
+#### sample使用说明
+参考每个sample的README.md
+
diff --git a/hi-dev/externed_device_sample/can/Makefile b/hi-dev/externed_device_sample/can/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..29ec32af6999bf5f414da94e6835a83f6a747442
--- /dev/null
+++ b/hi-dev/externed_device_sample/can/Makefile
@@ -0,0 +1,14 @@
+.SUFFIXES:.c .o
+CC=gcc
+SRCS=can_tof.c
+OBJS=$(SRCS:.c=.o)
+EXEC=libcan.so
+all:$(OBJS)
+	$(CC) -shared -o  $(EXEC) $(OBJS)
+.c.o:
+	$(CC) -Wall -g -fPIC -o $(@) -c $<
+clean:
+	rm -f $(OBJS)
+	rm -f core*
+
+
diff --git a/hi-dev/externed_device_sample/can/README.assets/image-20240201144537828.png b/hi-dev/externed_device_sample/can/README.assets/image-20240201144537828.png
new file mode 100644
index 0000000000000000000000000000000000000000..d620410b1a9bd74c9fdf90b6812fac085fa16f5d
Binary files /dev/null and b/hi-dev/externed_device_sample/can/README.assets/image-20240201144537828.png differ
diff --git a/hi-dev/externed_device_sample/can/README.assets/image-20240201144951481.png b/hi-dev/externed_device_sample/can/README.assets/image-20240201144951481.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0e82370d746631c4784a1b09f3236fde118b731
Binary files /dev/null and b/hi-dev/externed_device_sample/can/README.assets/image-20240201144951481.png differ
diff --git a/hi-dev/externed_device_sample/can/README.md b/hi-dev/externed_device_sample/can/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..7c2374a689b1e645789beb534880a8578531401c
--- /dev/null
+++ b/hi-dev/externed_device_sample/can/README.md
@@ -0,0 +1,50 @@
+# CAN
+
+## 一 例程简介
+
+CAN例程为tof距离数据接收
+
+## 二 测试环境说明
+
+### 1)硬件准备
+
+- 欧拉派
+- TOF
+
+### 2）软件环境
+
+无
+
+### 三 硬件连接
+
+如图所示为CAN信号的接线端子，CAN H L信号的顺序为左L 右H
+
+![image-20240201144537828](./README.assets/image-20240201144537828.png)
+
+与TOF的连接如图所示，TOF的H线和欧拉派的CAN_H对应，TOF的L线和欧拉派的CAN_L对应，TOF的GND连接在欧拉派40Pin排针的GND上，TOF的5v供电连接在欧拉派40pin排针的5V上
+
+![image-20240201144951481](./README.assets/image-20240201144951481.png)
+
+## 四 例程运行说明
+
+在开始测试前需要将can网卡节点开启，在欧拉派的终端上执行如下命令
+
+```c
+ip link set can0 type can bitrate 500000
+ip link set can0 up
+```
+
+__TOF数据接收测试__
+
+使用 can_tof命令进行接收测试，在欧拉派的终端上执行
+
+```C
+./can_tof
+```
+
+应用开启后持续接收TOF发送的距离数据并打印到欧拉派终端，使用ctrl+c结束接收
+
+
+
+
+
diff --git a/hi-dev/externed_device_sample/can/can_api.py b/hi-dev/externed_device_sample/can/can_api.py
new file mode 100644
index 0000000000000000000000000000000000000000..385b7420d909cc385f09898bc691040d4acc21dd
--- /dev/null
+++ b/hi-dev/externed_device_sample/can/can_api.py
@@ -0,0 +1,23 @@
+import ctypes
+
+# 加载库
+lib = ctypes.CDLL('./libcan.so')
+
+# 设置函数的返回类型和参数类型
+lib.can_init.restype = ctypes.c_int
+lib.tof_start.argtypes = [ctypes.c_int]
+lib.tof_start.restype = ctypes.c_int
+lib.tof_get.argtypes = [ctypes.c_int]
+lib.tof_get.restype = ctypes.c_int
+
+# 使用C函数
+s = lib.can_init()
+if s < 0:
+    print("Failed to initialize CAN")
+else:
+    print("CAN initialized successfully")
+    # 调用tof_start和tof_get
+    if lib.tof_start(s) == 1:
+        print("tof_start successful")
+    if lib.tof_get(s) == 1:
+        print("tof_get successful")
diff --git a/hi-dev/externed_device_sample/can/can_tof.c b/hi-dev/externed_device_sample/can/can_tof.c
new file mode 100644
index 0000000000000000000000000000000000000000..c0091a50096fede57c20a6ec51b3f9b61b8706af
--- /dev/null
+++ b/hi-dev/externed_device_sample/can/can_tof.c
@@ -0,0 +1,98 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <stdint.h>
+#include<time.h>
+
+int can_init()
+{
+    int s;
+    struct ifreq ifr;
+    struct sockaddr_can addr;
+    // 创建套接字
+    if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+        perror("Error while opening socket");
+        return -1;
+    }
+    // 设置CAN接口名称
+    strcpy(ifr.ifr_name, "can0");
+    ioctl(s, SIOCGIFINDEX, &ifr);
+    // 绑定套接字到CAN接口
+    addr.can_family = AF_CAN;
+    addr.can_ifindex = ifr.ifr_ifindex;
+    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+        perror("Error in socket bind");
+        return -2;
+    }
+    return s;
+}
+
+int tof_start(int s)
+{
+    struct can_frame frame;
+    // 准备CAN帧
+    frame.can_id = 0x402;  // 11-bit identifier
+    frame.can_dlc = 8;     // Data length code
+    frame.data[0] = 0xFF;
+    frame.data[1] = 0xFF;
+    frame.data[2] = 0xFF;
+    frame.data[3] = 0x01;
+    frame.data[4] = 0xFF;
+    frame.data[5] = 0xFF;
+    frame.data[6] = 0xFF;
+    frame.data[7] = 0xFF;
+    // 发送CAN帧
+    if (write(s, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) {
+        printf("send can_frame fail\n");
+        perror("Error in socket write");
+        return -3;
+    }
+    return 1;
+}
+
+int tof_get(int s)
+{
+     struct can_frame frame;
+     uint32_t data;
+    // read CAN帧
+
+    //fflush(s);
+    printf("read data start !\n");
+      if (read(s, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) {
+        perror("Error in socket read");
+        return -4;
+    }
+
+    if((frame.can_id&0x1FFFFFFF) != 513)
+    {
+        return 0;
+    }
+    
+    data = (uint32_t)(frame.data[0] << 8 | frame.data[1] << 16 | frame.data[2] << 24)/ 256;
+    float result = data /1000.0f;
+    printf("juli is %f\n",result);
+
+    return 1;
+}
+/*
+void main()
+{
+    int s = -1;
+    s =can_init();
+    while(1)
+    {
+        tof_start(s);
+        usleep(5*1000); 
+        tof_get(s);
+        usleep(20*1000);
+    }
+
+
+}
+*/
diff --git a/hi-dev/externed_device_sample/can/can_tof.h b/hi-dev/externed_device_sample/can/can_tof.h
new file mode 100644
index 0000000000000000000000000000000000000000..274d49e8a424f54e782b133f6a2f7916d23b9e5e
--- /dev/null
+++ b/hi-dev/externed_device_sample/can/can_tof.h
@@ -0,0 +1,8 @@
+#ifndef _CAN_TOF_H
+#define _CAN_TOF_H
+
+int can_init
+int tof_start(int)
+int tof_get(int)
+
+#endif
diff --git a/hi-dev/externed_device_sample/i2c/Makefile b/hi-dev/externed_device_sample/i2c/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f02c262bba1c30b04b46e47bc948a9171e9edbf6
--- /dev/null
+++ b/hi-dev/externed_device_sample/i2c/Makefile
@@ -0,0 +1,14 @@
+.SUFFIXES:.c .o
+CC=gcc
+SRCS=oled.c
+OBJS=$(SRCS:.c=.o)
+EXEC=liboled.so
+all:$(OBJS)
+	$(CC) -shared -o  $(EXEC) $(OBJS)
+.c.o:
+	$(CC) -Wall -g -fPIC -o $(@) -c $<
+clean:
+	rm -f $(OBJS)
+	rm -f core*
+
+
diff --git a/hi-dev/externed_device_sample/i2c/README.assets/image-20240218141238648.png b/hi-dev/externed_device_sample/i2c/README.assets/image-20240218141238648.png
new file mode 100644
index 0000000000000000000000000000000000000000..a68a667718a877213dc8ff50e81d9948394a49b7
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diff --git a/hi-dev/externed_device_sample/i2c/README.assets/image-20240218141258226.png b/hi-dev/externed_device_sample/i2c/README.assets/image-20240218141258226.png
new file mode 100644
index 0000000000000000000000000000000000000000..c241687396b9c7e5700d11132db2f90a554ae355
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diff --git a/hi-dev/externed_device_sample/i2c/README.assets/image-20240218141448094.png b/hi-dev/externed_device_sample/i2c/README.assets/image-20240218141448094.png
new file mode 100644
index 0000000000000000000000000000000000000000..19139e49d8e1bde1c5751f86931279dacfcfca04
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diff --git a/hi-dev/externed_device_sample/i2c/README.assets/image-20240219135411148.png b/hi-dev/externed_device_sample/i2c/README.assets/image-20240219135411148.png
new file mode 100644
index 0000000000000000000000000000000000000000..aed17cfa0d24750b6957ca9b2f94e56f8cebf8a9
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diff --git a/hi-dev/externed_device_sample/i2c/README.assets/image-20240219143146815.png b/hi-dev/externed_device_sample/i2c/README.assets/image-20240219143146815.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e0eec2de7182eea7742ce026eb3c51e26abc47f
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diff --git a/hi-dev/externed_device_sample/i2c/README.md b/hi-dev/externed_device_sample/i2c/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..85378295f99fcf7f95546c899d4467a850debd8e
--- /dev/null
+++ b/hi-dev/externed_device_sample/i2c/README.md
@@ -0,0 +1,48 @@
+# I2C
+
+## 一 例程简介
+
+i2c例程为oled显示屏例程
+
+## 二 测试环境说明
+
+### 1）硬件准备
+
+- 欧拉派
+- 拓展板
+- oled显示屏
+
+### 2）软件环境
+
+无
+
+## 三 硬件连接
+
+如图所示为oled显示屏连接欧拉派拓展板
+
+![image-20240219143146815](./README.assets/image-20240219143146815.png)
+
+![image-20240218141258226](./README.assets/image-20240218141258226.png)
+
+## 四 例程运行说明
+
+在开始测试前需检查oled驱动节点是否存在
+
+```c
+ls /dev/oled*
+```
+
+__oled显示屏显示ETH0网卡IP__
+
+```c
+ifconfig eth0 | grep -oP 'inet addr:\K\S+' | awk '{print $1}' >> "/dev/oled-0"
+```
+
+__oled显示屏显示易百纳鲸鱼logo__
+
+```c
+./oled "/dev/oled-0" 1
+```
+
+![image-20240219135411148](./README.assets/image-20240219135411148.png)
+
diff --git a/hi-dev/externed_device_sample/i2c/i2c_oled.h b/hi-dev/externed_device_sample/i2c/i2c_oled.h
new file mode 100644
index 0000000000000000000000000000000000000000..fee534ee6159e2e9500d0f0a8055a312013df91b
--- /dev/null
+++ b/hi-dev/externed_device_sample/i2c/i2c_oled.h
@@ -0,0 +1,19 @@
+#ifndef __I2C_OLED_H__
+#define __I2C_OLED_H__
+
+#include <linux/ioctl.h>
+
+#define OLED_MAGIC 'G'
+
+struct oled_frame
+{
+    unsigned char data[128*8];
+};
+
+#define OLED_CMD_FRAME _IOW(OLED_MAGIC,0,struct oled_frame)
+#define OLED_CMD_CLEAR _IOW(OLED_MAGIC,1,unsigned char)
+#define OLED_CMD_POWER _IOW(OLED_MAGIC,2,unsigned char)
+
+
+
+#endif // !__I2C_OLED_H__
diff --git a/hi-dev/externed_device_sample/i2c/oled.c b/hi-dev/externed_device_sample/i2c/oled.c
new file mode 100644
index 0000000000000000000000000000000000000000..0d0af1623afe8f089ea46523009ff1f10905360f
--- /dev/null
+++ b/hi-dev/externed_device_sample/i2c/oled.c
@@ -0,0 +1,111 @@
+#include "i2c_oled.h"
+#include <unistd.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <string.h>
+
+const unsigned char gImage_ebaina[] = {
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+0XC0,0XC0,0XC0,0XC0,0XC0,0XC0,0XC0,0XC0,0XC0,0XC0,0XC0,0XC0,0XC0,0XC0,0XC0,0XC0,
+0XC0,0XC0,0XC0,0XC0,0X80,0X80,0X00,0X01,0X01,0X03,0X07,0X0F,0X1F,0X7F,0XFF,0XFF,
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+0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,0XFF,
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+};
+
+
+
+enum ARGS{
+    ARGS_SELF,
+    ARGS_DEV,
+    ARGS_TYPE,
+    ARGS_DATA
+};
+/*
+int main(int argc,char*args[])
+{
+    uint8_t data;
+    int type;
+
+    sscanf(args[ARGS_TYPE],"%d",&type);
+
+    int fd = open(args[ARGS_DEV],O_WRONLY);
+    if(fd<0)
+        return -1;
+    
+    if(type==0){
+        sscanf(args[ARGS_DATA],"0x%x",&data);
+        if(ioctl(fd,OLED_CMD_CLEAR,&data) == -1){
+            perror("ioctl failed");
+        }
+    }
+    else if(type==1){
+        if(ioctl(fd,OLED_CMD_FRAME,gImage_ebaina) == -1){
+            perror("image:ioctl failed");
+        }
+    }
+
+    close(fd);
+    return 0;
+}
+*/
diff --git a/hi-dev/externed_device_sample/i2c/oled.py b/hi-dev/externed_device_sample/i2c/oled.py
new file mode 100644
index 0000000000000000000000000000000000000000..df68dd17ded85309a0a142d20a59436b9d189521
--- /dev/null
+++ b/hi-dev/externed_device_sample/i2c/oled.py
@@ -0,0 +1,70 @@
+import ctypes
+
+# 加载libc库
+libc = ctypes.CDLL('libc.so.6')
+
+# 加载共享库
+liboled = ctypes.CDLL('./liboled.so')
+
+# 定义ioctl函数的参数和返回类型
+libc.ioctl.argtypes = [ctypes.c_int, ctypes.c_ulong, ctypes.c_void_p]
+libc.ioctl.restype = ctypes.c_int
+
+# 定义open函数的参数和返回类型
+liboled.open.argtypes = [ctypes.c_char_p, ctypes.c_int]
+liboled.open.restype = ctypes.c_int
+
+# 定义close函数的参数和返回类型
+liboled.close.argtypes = [ctypes.c_int]
+liboled.close.restype = ctypes.c_int
+
+# 定义sscanf函数的参数和返回类型
+liboled.sscanf.argtypes = [ctypes.c_char_p, ctypes.c_char_p, ctypes.c_void_p]
+liboled.sscanf.restype = ctypes.c_int
+
+# 定义OLED_CMD_CLEAR和OLED_CMD_FRAME常量
+OLED_CMD_CLEAR = 0x100
+OLED_CMD_FRAME = 0x101
+
+def oled_clear(device, data):
+    # 打开设备
+    fd = liboled.open(device.encode('utf-8'), 1)
+    if fd < 0:
+        raise Exception("Failed to open device")
+
+    # 将data转换为C类型
+    c_data = ctypes.c_uint8(data)
+
+    # 调用ioctl函数
+    result = libc.ioctl(fd, OLED_CMD_CLEAR, ctypes.byref(c_data))
+    if result == -1:
+        liboled.close(fd)
+        raise Exception("ioctl failed")
+
+    # 关闭设备
+    liboled.close(fd)
+
+def oled_display_image(device):
+    # 打开设备
+    fd = liboled.open(device.encode('utf-8'), 1)
+    if fd < 0:
+        raise Exception("Failed to open device")
+
+    # 调用ioctl函数
+    result = libc.ioctl(fd, OLED_CMD_FRAME, gImage_ebaina)
+    if result == -1:
+        liboled.close(fd)
+        raise Exception("ioctl failed")
+
+    # 关闭设备
+    liboled.close(fd)
+
+if __name__ == "__main__":
+    device = "/dev/oled"  # 假设设备路径为/dev/oled
+    data = 0x00  # 假设要清除的数据为0x00
+
+    try:
+        oled_clear(device, data)
+        oled_display_image(device)
+    except Exception as e:
+        print(f"Error: {e}")z
diff --git a/hi-dev/externed_device_sample/pwm/Makefile b/hi-dev/externed_device_sample/pwm/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..1942eeafe25e300d48ddf0755f58458d47155c98
--- /dev/null
+++ b/hi-dev/externed_device_sample/pwm/Makefile
@@ -0,0 +1,14 @@
+.SUFFIXES:.c .o
+CC=gcc
+SRCS=pwm.c
+OBJS=$(SRCS:.c=.o)
+EXEC=libpwm.so
+all:$(OBJS)
+	$(CC) -shared -o  $(EXEC) $(OBJS)
+.c.o:
+	$(CC) -Wall -g -fPIC -o $(@) -c $<
+clean:
+	rm -f $(OBJS)
+	rm -f core*
+
+
diff --git a/hi-dev/externed_device_sample/pwm/README.assets/image-20240202143734396.png b/hi-dev/externed_device_sample/pwm/README.assets/image-20240202143734396.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d5d3db5b57ef62e6c32b5d2421eae22fd913a04
Binary files /dev/null and b/hi-dev/externed_device_sample/pwm/README.assets/image-20240202143734396.png differ
diff --git a/hi-dev/externed_device_sample/pwm/README.assets/image-20240202143911653.png b/hi-dev/externed_device_sample/pwm/README.assets/image-20240202143911653.png
new file mode 100644
index 0000000000000000000000000000000000000000..9994fad5d3d0d1c301a773d8b65b90b36cf7ac80
Binary files /dev/null and b/hi-dev/externed_device_sample/pwm/README.assets/image-20240202143911653.png differ
diff --git a/hi-dev/externed_device_sample/pwm/README.assets/image-20240219133157350.png b/hi-dev/externed_device_sample/pwm/README.assets/image-20240219133157350.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a15a89be4aa48d9644594aab6407c273970a120
Binary files /dev/null and b/hi-dev/externed_device_sample/pwm/README.assets/image-20240219133157350.png differ
diff --git a/hi-dev/externed_device_sample/pwm/README.md b/hi-dev/externed_device_sample/pwm/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..d52943b9d448e708af5e602c2f75de5cfbf1fc62
--- /dev/null
+++ b/hi-dev/externed_device_sample/pwm/README.md
@@ -0,0 +1,65 @@
+# PWM
+
+## 一、例程简介
+
+PWM例程可控制PWM引脚占空比，并可自由开启关闭PWM引脚输出
+
+## 二、测试环境说明
+
+### 1）硬件准备
+
+- 欧拉派
+- 拓展板
+- 舵机
+
+### 2）软件环境
+
+无
+
+## 三、硬件连接
+
+如图所示为欧拉派与拓展板连接方式
+
+![image-20240202143911653](./README.assets/image-20240202143911653.png)
+
+下图为舵机与拓展板连接图
+
+![image-20240219133157350](./README.assets/image-20240219133157350.png)
+
+## 四、例程运行说明
+
+进入欧拉派的终端,执行pwm程序
+
+```c
+PWM_help:
+./pwm <1> <2> <3> <4>
+<1> be open or close to enable/disable PWM
+<2> be 1 or 15 to chose PWM0_1 or PWM0_15
+<3> be value for period
+<3> be value for duty_cycle
+```
+
+#### 1）示例一 开启舵机
+
+将舵机与拓展板连接，并执行如下指令
+
+```c
+./pwm open 1 20000000 2500000 
+```
+
+舵机开始转动
+
+#### 2）示例二 关闭舵机
+
+```c
+./pwm close 1 
+```
+
+舵机停止转动
+
+​	
+
+
+
+
+
diff --git a/hi-dev/externed_device_sample/pwm/pwm.c b/hi-dev/externed_device_sample/pwm/pwm.c
new file mode 100644
index 0000000000000000000000000000000000000000..ebb1446e358ce854791e2ff290a0d268fc04f623
--- /dev/null
+++ b/hi-dev/externed_device_sample/pwm/pwm.c
@@ -0,0 +1,181 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <string.h>
+#include "pwm.h"
+
+void export_pwm(int num) {
+    int export_fd = open(PWM_EXPORT_PATH, O_WRONLY);
+    if (export_fd == -1) {
+        perror("Error opening export");
+        exit(EXIT_FAILURE);
+    }
+
+    // if (write(export_fd, "1", 2) == -1) {
+    //     perror("Error exporting PWM");
+    //     close(export_fd);
+    //     exit(EXIT_FAILURE);
+    // }
+    
+    dprintf (export_fd, "%d", num);
+
+    close(export_fd);
+}
+
+void unexport_pwm(int num) {
+    int unexport_fd = open(PWM_UNEXPORT_PATH, O_WRONLY);
+    if (unexport_fd == -1) {
+        perror("Error opening unexport");
+        exit(EXIT_FAILURE);
+    }
+
+    // if (write(unexport_fd, "1", 2) == -1) {
+    //     perror("Error unexporting PWM");
+    //     close(unexport_fd);
+    //     exit(EXIT_FAILURE);
+    // }
+    disable_pwm(num);
+    dprintf (unexport_fd, "%d", num);
+
+    close(unexport_fd);
+}
+
+void set_pwm_period(int num, int period) {
+    int period_fd;
+    switch (num) {
+        case 1:
+            period_fd = open(PWM1_PERIOD_PATH, O_WRONLY);
+            break;
+        case 15:
+            period_fd = open(PWM15_PERIOD_PATH, O_WRONLY);
+            break;
+        default:
+            period_fd = open(PWM1_PERIOD_PATH, O_WRONLY);
+    }
+    
+    
+    if (period_fd == -1) {
+        perror("Error opening period");
+        exit(EXIT_FAILURE);
+    }
+
+    dprintf(period_fd, "%d", period);
+
+    close(period_fd);
+}
+
+void set_pwm_duty_cycle(int num, int duty_cycle) {
+    int duty_cycle_fd;
+    switch (num) {
+        case 1:
+            duty_cycle_fd = open(PWM1_DUTY_CYCLE_PATH, O_WRONLY);
+            break;
+        case 15:
+            duty_cycle_fd = open(PWM15_DUTY_CYCLE_PATH, O_WRONLY);
+            break;
+        default:
+            duty_cycle_fd = open(PWM1_DUTY_CYCLE_PATH, O_WRONLY);
+    }
+    
+    if (duty_cycle_fd == -1) {
+        perror("Error opening duty cycle");
+        exit(EXIT_FAILURE);
+    }
+
+    dprintf(duty_cycle_fd, "%d", duty_cycle);
+
+    close(duty_cycle_fd);
+}
+
+void enable_pwm(int num) {
+    int enable_fd;
+    switch (num) {
+        case 1:
+            enable_fd = open(PWM1_ENABLE_PATH, O_WRONLY);
+            break;
+        case 15:
+            enable_fd = open(PWM15_ENABLE_PATH, O_WRONLY);
+            break;
+        default:
+            enable_fd = open(PWM1_ENABLE_PATH, O_WRONLY);
+    }
+
+    if (enable_fd == -1) {
+        perror("Error opening enable");
+        exit(EXIT_FAILURE);
+    }
+
+    if (write(enable_fd, "1", 2) == -1) {
+        perror("Error enabling PWM");
+        close(enable_fd);
+        exit(EXIT_FAILURE);
+    }
+
+    close(enable_fd);
+}
+
+void disable_pwm(int num) {
+    int enable_fd;
+    switch (num) {
+        case 1:
+            enable_fd = open(PWM1_ENABLE_PATH, O_WRONLY);
+            break;
+        case 15:
+            enable_fd = open(PWM15_ENABLE_PATH, O_WRONLY);
+            break;
+        default:
+            enable_fd = open(PWM1_ENABLE_PATH, O_WRONLY);
+    }
+
+    if (enable_fd == -1) {
+        perror("Error opening enable");
+        exit(EXIT_FAILURE);
+    }
+
+    if (write(enable_fd, "0", 2) == -1) {
+        perror("Error disabling PWM");
+        close(enable_fd);
+        exit(EXIT_FAILURE);
+    }
+
+    close(enable_fd);
+}
+
+void help () {
+    printf ("==========Usage of Demo_pwm==========\n");
+    printf ("./Demo_pwm to see this help\n");
+    printf ("./Demo_pwm <1> <2> <3> <4>\n");
+    printf ("<1> be open or close to enable/disable PWM\n");
+    printf ("<2> be 1 or 15 to chose PWM0_1 or PWM0_15\n");
+    printf ("<3> be value for period\n");
+    printf ("<3> be value for duty_cycle\n");
+    printf ("example:./Demo_pwm open 1 50000 25000\n");
+    printf ("example:./Demo_pwm close 1\n");
+}
+/*
+int main(int argc, char** argv) {
+
+    if ((argc == 3) && !strcmp(argv[1], "close")) {
+        int num = atoi (argv[2]);
+        unexport_pwm(num);
+        return 0;
+    }
+    else if ((argc == 5) && !strcmp(argv[1], "open")) {
+        int num = atoi (argv[2]);
+        int period = atoi (argv[3]);
+        int duty_cycle = atoi (argv[4]);
+        export_pwm(num);
+        set_pwm_period(num, period);
+        set_pwm_duty_cycle(num, duty_cycle);
+        enable_pwm(num);
+    }
+    else {
+        help ();        
+    }
+    
+
+    return 0;
+}
+*/
diff --git a/hi-dev/externed_device_sample/pwm/pwm.h b/hi-dev/externed_device_sample/pwm/pwm.h
new file mode 100644
index 0000000000000000000000000000000000000000..85d00ae451cb18cad0f33e9b16459acc1115bbaf
--- /dev/null
+++ b/hi-dev/externed_device_sample/pwm/pwm.h
@@ -0,0 +1,24 @@
+#ifndef _PWM_H
+#define _PWM_H
+
+#define PWM_CHIP_PATH "/sys/class/pwm/pwmchip0/"
+#define PWM_EXPORT_PATH PWM_CHIP_PATH "export"
+#define PWM_UNEXPORT_PATH PWM_CHIP_PATH "unexport"
+
+#define PWM1_PERIOD_PATH PWM_CHIP_PATH "pwm1/period"
+#define PWM1_DUTY_CYCLE_PATH PWM_CHIP_PATH "pwm1/duty_cycle"
+#define PWM1_ENABLE_PATH PWM_CHIP_PATH "pwm1/enable"
+
+#define PWM15_PERIOD_PATH PWM_CHIP_PATH "pwm15/period"
+#define PWM15_DUTY_CYCLE_PATH PWM_CHIP_PATH "pwm15/duty_cycle"
+#define PWM15_ENABLE_PATH PWM_CHIP_PATH "pwm15/enable"
+
+void enable_pwm(int);
+void disable_pwm(int);
+void set_pwm_duty_cycle(int, int);
+void set_pwm_period(int, int);
+void unexport_pwm(int);
+void export_pwm(int);
+void help();
+
+#endif
diff --git a/hi-dev/externed_device_sample/pwm/pwm_api.py b/hi-dev/externed_device_sample/pwm/pwm_api.py
new file mode 100644
index 0000000000000000000000000000000000000000..f9c05a11e84500dd15eb2fae65820d030fa463a4
--- /dev/null
+++ b/hi-dev/externed_device_sample/pwm/pwm_api.py
@@ -0,0 +1,58 @@
+import ctypes
+
+# 加载动态链接库
+lib = ctypes.CDLL('./libpwm.so')
+
+# 定义函数参数和返回值类型
+lib.export_pwm.argtypes = [ctypes.c_int]
+lib.export_pwm.restype = None
+
+lib.unexport_pwm.argtypes = [ctypes.c_int]
+lib.unexport_pwm.restype = None
+
+lib.set_pwm_period.argtypes = [ctypes.c_int, ctypes.c_int]
+lib.set_pwm_period.restype = None
+
+lib.set_pwm_duty_cycle.argtypes = [ctypes.c_int, ctypes.c_int]
+lib.set_pwm_duty_cycle.restype = None
+
+lib.enable_pwm.argtypes = [ctypes.c_int]
+lib.enable_pwm.restype = None
+
+lib.disable_pwm.argtypes = [ctypes.c_int]
+lib.disable_pwm.restype = None
+
+lib.help.argtypes = []
+lib.help.restype = None
+
+# 封装成Python函数
+def export_pwm(num):
+    lib.export_pwm(num)
+
+def unexport_pwm(num):
+    lib.unexport_pwm(num)
+
+def set_pwm_period(num, period):
+    lib.set_pwm_period(num, period)
+
+def set_pwm_duty_cycle(num, duty_cycle):
+    lib.set_pwm_duty_cycle(num, duty_cycle)
+
+def enable_pwm(num):
+    lib.enable_pwm(num)
+
+def disable_pwm(num):
+    lib.disable_pwm(num)
+
+def help():
+    lib.help()
+
+# 测试封装后的函数
+if __name__ == "__main__":
+    help()
+    export_pwm(1)
+    set_pwm_period(1, 50000)
+    set_pwm_duty_cycle(1, 25000)
+    enable_pwm(1)
+    disable_pwm(1)
+    unexport_pwm(1)
diff --git a/hi-dev/externed_device_sample/uart/Makefile b/hi-dev/externed_device_sample/uart/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..63cec949f503f666bef2dbe820b05d8c0f36fed5
--- /dev/null
+++ b/hi-dev/externed_device_sample/uart/Makefile
@@ -0,0 +1,14 @@
+.SUFFIXES:.c .o
+CC=gcc
+SRCS=uart_senddata.c
+OBJS=$(SRCS:.c=.o)
+EXEC=libsenddata.so
+all:$(OBJS)
+	$(CC) -shared -o  $(EXEC) $(OBJS)
+.c.o:
+	$(CC) -Wall -g -fPIC -o $(@) -c $<
+clean:
+	rm -f $(OBJS)
+	rm -f core*
+
+
diff --git a/hi-dev/externed_device_sample/uart/README.assets/image-20240130163038462.png b/hi-dev/externed_device_sample/uart/README.assets/image-20240130163038462.png
new file mode 100644
index 0000000000000000000000000000000000000000..d441cc25368c034509100b66030df55e2f7bd044
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diff --git a/hi-dev/externed_device_sample/uart/README.assets/image-20240130164201797.png b/hi-dev/externed_device_sample/uart/README.assets/image-20240130164201797.png
new file mode 100644
index 0000000000000000000000000000000000000000..a20691a34ab0313e46ce644b96ac4f2b86ca5ce8
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diff --git a/hi-dev/externed_device_sample/uart/README.md b/hi-dev/externed_device_sample/uart/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..5bdc27775347a810ff84c0cb8d650ba9028106d9
--- /dev/null
+++ b/hi-dev/externed_device_sample/uart/README.md
@@ -0,0 +1,47 @@
+# UART
+
+## 一、例程简介
+uart例程主要基于EulerPi上面的uart4串口按照约定的格式进行发送数据
+
+## 二、测试环境说明
+
+### 1) 硬件准备
+
+- 欧拉派
+- 串口调试小板
+
+### 2) 软件环境
+
+- MabaXterm
+- SSCOM
+
+## 三、硬件连接
+
+如图所示为uart4的硬件连接图，pin6脚为GND、pin8脚为TXD、pin10脚为RXD，对应连接串口小板的GND、RXD、TXD，即两端的TXD和RXD交叉连接。
+
+<img src="./README.assets/image-20240130163038462.png" alt="image-20240130163038462" style="zoom:50%;" />
+
+
+## 四、例程运行说明
+
+在开始测试前先将串口小板接到PC端，并在PC端打开串口调试工具。
+更改uart4复用关系：
+
+```shell
+bspmm 0x0102F0134 0x1201
+bspmm 0x0102F0138 0x1201
+```
+
+### 1) 发送测试
+
+首先将uart_senddata可执行文件挂载到板端，使用`uart_senddata`命令进行发送测试，在欧拉派的终端执行，通过uart4发送`HiEuler`
+
+```shell
+./uart_senddata /dev/ttyAMA4 9600 "HiEuler"
+```
+运行成功后，即可在串口调试工具看到相关消息，如下图所示：
+
+<img src="./README.assets/image-20240130164201797.png" alt="image-20240130164201797" style="zoom:50%;" />
+
+
+
diff --git a/hi-dev/externed_device_sample/uart/uart.h b/hi-dev/externed_device_sample/uart/uart.h
new file mode 100644
index 0000000000000000000000000000000000000000..186b658eff6e891e490cbb3fea0465559b48aa6f
--- /dev/null
+++ b/hi-dev/externed_device_sample/uart/uart.h
@@ -0,0 +1,6 @@
+#ifndef _UART_H
+#define _UART_H
+
+void send_data(int, const char);
+
+#endif
diff --git a/hi-dev/externed_device_sample/uart/uart_api.py b/hi-dev/externed_device_sample/uart/uart_api.py
new file mode 100644
index 0000000000000000000000000000000000000000..d56aa6f1d01a8bbc255b48da5b3d787639920799
--- /dev/null
+++ b/hi-dev/externed_device_sample/uart/uart_api.py
@@ -0,0 +1,20 @@
+import ctypes
+
+# 加载共享库
+libsenddata = ctypes.CDLL('./libsenddata.so')
+
+# 定义send_data函数的参数和返回类型
+libsenddata.send_data.argtypes = [ctypes.c_int, ctypes.c_char_p]
+libsenddata.send_data.restype = None
+
+def send_data_to_serial(fd, data):
+    # 将Python字符串转换为C字符串
+    c_data = data.encode('utf-8')
+    # 调用C函数
+    libsenddata.send_data(fd, c_data)
+
+if __name__ == "__main__":
+    # 示例：假设串口文件描述符为1，发送数据为"Hello, Serial!"
+    fd = 1
+    data = "Hello, Serial!"
+    send_data_to_serial(fd, data)
diff --git a/hi-dev/externed_device_sample/uart/uart_senddata.c b/hi-dev/externed_device_sample/uart/uart_senddata.c
new file mode 100644
index 0000000000000000000000000000000000000000..96e9c65984183b5af5aa6159d2f90711027c9259
--- /dev/null
+++ b/hi-dev/externed_device_sample/uart/uart_senddata.c
@@ -0,0 +1,82 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <termios.h>
+#include "uart.h"
+
+void send_data(int fd, const char *data) {
+    int bytes_written = write(fd, data, strlen(data));
+    if (bytes_written == -1) {
+        perror("Error occurred while writing data to the serial port");
+    } else {
+        printf("Write %d bytes of data success : %s\n", bytes_written, data);
+    }
+}
+/*
+int main(int argc, char *argv[]) {
+    if (argc != 4) {
+        fprintf(stderr, "Usage: %s <serial port device path> <baud rate> <data to send>\n", argv[0]);
+        return 1;
+    }
+
+    const char *serial_port = argv[1];
+    int speed = atoi(argv[2]);
+    const char *data_to_send = argv[3];
+
+    int fd = open(serial_port, O_RDWR | O_NOCTTY);
+    if (fd == -1) {
+        perror("Open serial port fail\n");
+        return 1;
+    }
+
+    struct termios options;
+    if(tcgetattr(fd, &options) != 0) {
+        perror("Error from tcgetattr");
+        close(fd);
+        return -1;
+    }
+    int baud_rate = B9600;
+    switch(speed)
+    {
+        case 9600:
+            baud_rate = B9600;
+            break;
+        case 115200:
+            baud_rate = B115200;
+            break;
+        default:
+            break;
+    }
+
+    // Set baud rate
+    cfsetispeed(&options, baud_rate);
+    cfsetospeed(&options, baud_rate);
+
+    // Set serial port parameters
+    options.c_cflag |= (CLOCAL | CREAD);
+    options.c_cflag &= ~PARENB;
+    options.c_cflag &= ~CSTOPB;
+    options.c_cflag &= ~CSIZE;
+    options.c_cflag |= CS8;
+
+    options.c_iflag &= ~(INPCK | ISTRIP);
+    options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+    options.c_oflag &= ~OPOST;
+
+    tcflush(fd, TCIFLUSH);
+    // Apply settings
+    if (tcsetattr(fd, TCSANOW, &options) != 0) {
+        perror("Error from tcsetattr");
+        close(fd);
+        return -1;
+    }
+
+    send_data(fd, data_to_send);
+    
+    close(fd);
+
+    return 0;
+}
+*/
diff --git "a/hi-dev/\351\241\271\347\233\256\347\273\223\351\241\271\346\212\245\345\221\212.md" "b/hi-dev/\351\241\271\347\233\256\347\273\223\351\241\271\346\212\245\345\221\212.md"
new file mode 100644
index 0000000000000000000000000000000000000000..5cb4cb4b26039f5459a744cb261a54137b45f692
--- /dev/null
+++ "b/hi-dev/\351\241\271\347\233\256\347\273\223\351\241\271\346\212\245\345\221\212.md"
@@ -0,0 +1,54 @@
+# 项目结项报告
+
+## 项目信息
+
+- **项目名称**：海鸥派扩展驱动开发与Python API接口封装
+- **方案描述**：本项目旨在基于openEuler Embedded操作系统开发海鸥派硬件的扩展驱动，并为其提供Python API接口封装，以便于在Python环境中方便地进行硬件操作和数据交换。
+- 时间规划
+  - **启动日期**：2024年6月30日
+  - **结项日期**：2024年9月30日
+
+## 项目总结
+
+已完成工作：
+
+1. **环境搭建**：
+   - 成功在openEuler Embedded操作系统上搭建开发环境。
+   - 配置了交叉编译工具链，确保可以在目标硬件上编译驱动程序。
+2. **驱动开发**：
+   - 完成了海鸥派硬件的基本驱动开发，包括GPIO、I2C、SPI等接口。
+   - 实现了硬件的初始化、配置和数据交换功能。
+3. **Python API接口封装**：
+   - 使用Python的`ctypes`库封装了C语言编写的驱动接口。
+   - 提供了一套简洁的Python API，使得在Python中操作硬件变得简单直观。
+4. **测试与验证**：
+   - 对开发的驱动和API进行了单元测试和集成测试。
+   - 在多种场景下验证了驱动的稳定性和API的易用性。
+5. **文档编写**：
+   - 编写了详细的开发文档，包括设计说明、API使用指南和测试报告。
+   - 准备了用户手册，指导用户如何安装和使用开发的驱动及API。
+
+## 遇到的问题及解决方案：
+
+1. **兼容性问题**：
+   - **问题**：在某些硬件配置上，驱动程序出现了兼容性问题。
+   - **解决方案**：通过修改驱动代码，增加了硬件检测和自动适配功能。
+2. **性能瓶颈**：
+   - **问题**：在高频率数据交换时，驱动程序出现了性能瓶颈。
+   - **解决方案**：优化了数据处理流程，减少了不必要的内存拷贝和上下文切换。
+3. **Python封装难题**：
+   - **问题**：在将C语言驱动接口封装为Python API时，遇到了类型转换和内存管理的问题。
+   - **解决方案**：利用`ctypes`库的特性，实现了精确的类型映射和自动的内存管理。
+
+## 后续工作安排：
+
+1. **性能优化**：
+   - 进一步优化驱动程序，提高数据处理速度和系统响应时间。
+2. **功能扩展**：
+   - 根据用户反馈，增加更多硬件操作功能。
+3. **社区支持**：
+   - 在openEuler社区发布项目，收集用户反馈，提供技术支持。
+4. **维护更新**：
+   - 定期更新驱动程序和API，修复已知问题，适应新的硬件发展。
+5. **市场推广**：
+   - 准备市场推广材料，向潜在用户介绍本项目的优势和应用场景。
\ No newline at end of file