diff --git a/robot/CMakeLists.txt b/robot/CMakeLists.txt
index 4c6793c..2351a18 100644
--- a/robot/CMakeLists.txt
+++ b/robot/CMakeLists.txt
@@ -63,6 +63,7 @@ add_module(log library/log OFF OFF)
 add_module(list library/list OFF OFF)
 add_module(ringbuffer library/ringbuffer OFF OFF)
 add_module(peripheral peripheral OFF ON)
+add_module(optional optional OFF OFF)
 add_module(lua lua OFF ON)
 add_module(bspMCU bspMCU OFF OFF)
 
diff --git a/robot/bspMCU/drv_interface.c b/robot/bspMCU/drv_interface.c
index 1856989..f748d83 100644
--- a/robot/bspMCU/drv_interface.c
+++ b/robot/bspMCU/drv_interface.c
@@ -222,7 +222,10 @@ void SendAll_Task(void *argument)
     }
 }
 
-void MK32_Init(void);
+WEAK void MK32_Init(void)
+{
+	return;
+}
 
 void Drv_InterfaceInit(void)
 {
diff --git a/robot/optional/CMakeLists.txt b/robot/optional/CMakeLists.txt
new file mode 100644
index 0000000..26ba9e0
--- /dev/null
+++ b/robot/optional/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.10)
+
+set(COMMON_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../library/CMakeLists.txt")
+
+if(EXISTS ${COMMON_CMAKE_PATH})
+    include(${COMMON_CMAKE_PATH})
+else()
+    message(FATAL_ERROR "Cannot find common build logic at ${COMMON_CMAKE_PATH}")
+endif()
+
+if(TARGET peripheral)
+    target_link_libraries(optional PUBLIC peripheral)
+else()
+    message(WARNING "[optional] Dependency 'peripheral' not found.")
+endif()
\ No newline at end of file
diff --git a/robot/bspMCU/msp_MK32.c b/robot/optional/msp_MK32.c
similarity index 100%
rename from robot/bspMCU/msp_MK32.c
rename to robot/optional/msp_MK32.c
diff --git a/robot/bspMCU/include/msp_MK32.h b/robot/optional/msp_MK32.h
similarity index 100%
rename from robot/bspMCU/include/msp_MK32.h
rename to robot/optional/msp_MK32.h
diff --git a/robot/optional/msp_TI5MOTOR.c b/robot/optional/msp_TI5MOTOR.c
new file mode 100644
index 0000000..200e1a0
--- /dev/null
+++ b/robot/optional/msp_TI5MOTOR.c
@@ -0,0 +1,78 @@
+/******************************************************************************
+
+                  版权所有 (C), 2018-2099, Radkil
+
+ ******************************************************************************
+  文 件 名   : msp_TI5MOTOR.c
+  版 本 号   : 初稿
+  作    者   : radkil
+  生成日期   : 2026年6月8日
+  最近修改   :
+  功能描述   : TI5电机
+  
+  修改历史   :
+  1.日    期   : 2026年6月8日
+    作    者   : radkil
+    修改内容   : 创建文件
+
+******************************************************************************/
+
+/*----------------------------------------------*
+ * 外部变量说明                                 *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 外部函数原型说明                             *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 内部函数原型说明                             *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 全局变量                                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 模块级变量                                   *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 常量定义                                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 宏定义                                       *
+ *----------------------------------------------*/
+
+//void Motor_ClearFault(uint8_t id, FDCANHandler *Ti5_Motor_Controller,
+//		int WaitTime)
+//{
+//	OneByteCommand(id, 0x0B, Ti5_Motor_Controller, WaitTime);
+//}
+//
+//void Motor_GetFaultState(uint8_t id, FDCANHandler *Ti5_Motor_Controller,
+//int WaitTime)
+//{
+//	OneByteCommand(id, 0x0A, Ti5_Motor_Controller, WaitTime); // set motor stop mode
+//
+//}
+//
+//void GetCSPByCommand(uint8_t id, FDCANHandler *Ti5_Motor_Controller,
+//		int WaitTime)
+//{
+//	OneByteCommand(id, 0x41, Ti5_Motor_Controller, WaitTime);
+//}
+//
+//void Motor_SetVelocityModeAndTargetVelocity(uint8_t id,
+//                                            int32_t targetSpeed,
+//                                            FDCANHandler *Ti5_Motor_Controller,
+//                                            int WaitTime)
+//{
+//    FiveByteCommand(id, 0x1d, targetSpeed, Ti5_Motor_Controller, WaitTime); //Motor_SetVelocityModeAndTargetVelocity
+//}
+
+void TI5MOTOR_Init(void)
+{
+    return;
+}