diff --git a/src/main/build/debug_pin.c b/src/main/build/debug_pin.c
index c3017a00f0..d590d64fb6 100644
--- a/src/main/build/debug_pin.c
+++ b/src/main/build/debug_pin.c
@@ -28,7 +28,11 @@
 #include "debug_pin.h"
 
 typedef struct dbgPinState_s {
+#if defined(AT32F43x)
+	gpio_type * gpio;
+#else
     GPIO_TypeDef *gpio;
+#endif
     uint32_t setBSRR;
     uint32_t resetBSRR;
 } dbgPinState_t;
@@ -73,6 +77,8 @@ void dbgPinHi(int index)
     if (dbgPinState->gpio) {
 #if defined(STM32F7) || defined(STM32H7)
         dbgPinState->gpio->BSRR = dbgPinState->setBSRR;
+#elif defined(AT32F43x)
+        dbgPinState->gpio->scr = dbgPinState->setBSRR;
 #else
         dbgPinState->gpio->BSRRL = dbgPinState->setBSRR;
 #endif
@@ -93,7 +99,9 @@ void dbgPinLo(int index)
 
     if (dbgPinState->gpio) {
 #if defined(STM32F7) || defined(STM32H7)
-        dbgPinState->gpio->BSRR = dbgPinState->resetBSRR;
+    	dbgPinState->gpio->BSRR = dbgPinState->resetBSRR;
+#elif defined(AT32F43x)
+        dbgPinState->gpio->scr = dbgPinState->resetBSRR;
 #else
         dbgPinState->gpio->BSRRL = dbgPinState->resetBSRR;
 #endif
diff --git a/src/main/drivers/bus_i2c_atbsp.c b/src/main/drivers/bus_i2c_atbsp.c
index 40145ef258..af98cf4174 100644
--- a/src/main/drivers/bus_i2c_atbsp.c
+++ b/src/main/drivers/bus_i2c_atbsp.c
@@ -37,7 +37,8 @@
 #include "drivers/bus_i2c.h"
 #include "drivers/bus_i2c_impl.h"
 
-#define I2C_TIMEOUT                      0xff
+//#define I2C_TIMEOUT                      0x3FFFFF
+#define I2C_TIMEOUT                      0x8700 //about 120 us at 288 mhz
 
 #ifdef USE_I2C_DEVICE_1
 void I2C1_ERR_IRQHandler(void)
@@ -119,9 +120,32 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data)
     i2c_status_type status;
 
     if (reg_ == 0xFF)
-        status = i2c_master_transmit(pHandle ,addr_ << 1 , &data, 1, I2C_TIMEOUT); // addr_ << 1
+    {
+		status = i2c_master_transmit(pHandle ,addr_ << 1 , &data, 1, I2C_TIMEOUT); // addr_ << 1
+
+		if(status !=  I2C_OK)
+		{
+		  /* wait for the stop flag to be set  */
+		  i2c_wait_flag(pHandle, I2C_STOPF_FLAG, I2C_EVENT_CHECK_NONE, I2C_TIMEOUT);
+
+		  /* clear stop flag */
+		i2c_flag_clear(pHandle->i2cx, I2C_STOPF_FLAG);
+		}
+    }
+
     else
+    {
         status = i2c_memory_write(pHandle ,I2C_MEM_ADDR_WIDIH_8,addr_ << 1 , reg_, &data, 1, I2C_TIMEOUT_US); // addr_ << 1
+
+        if(status !=  I2C_OK)
+        {
+          /* wait for the stop flag to be set  */
+          i2c_wait_flag(pHandle, I2C_STOPF_FLAG, I2C_EVENT_CHECK_NONE, I2C_TIMEOUT);
+
+          /* clear stop flag */
+      	i2c_flag_clear(pHandle->i2cx, I2C_STOPF_FLAG);
+        }
+    }
     if (status != I2C_OK)
         return i2cHandleHardwareFailure(device);
 
@@ -145,6 +169,19 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
     //i2c_memory_write_int(i2c_handle_type* hi2c, uint16_t address, uint16_t mem_address, uint8_t* pdata, uint16_t size, uint32_t timeout)
     status = i2c_memory_write_int(pHandle ,I2C_MEM_ADDR_WIDIH_8,addr_ << 1, reg_,data, len_,I2C_TIMEOUT);
 
+    if(status !=  I2C_OK)
+    {
+      /* wait for the stop flag to be set  */
+      i2c_wait_flag(pHandle, I2C_STOPF_FLAG, I2C_EVENT_CHECK_NONE, I2C_TIMEOUT);
+
+      /* clear stop flag */
+    	i2c_flag_clear(pHandle->i2cx, I2C_STOPF_FLAG);
+    }
+    else
+    {
+      /* wait for the communication to end */
+    }
+
     if (status == I2C_ERR_STEP_1) {//BUSY
         return false;
     }
@@ -180,9 +217,33 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t
     i2c_status_type status;
 
     if (reg_ == 0xFF)//任意地址
+    {
     	status = i2c_master_receive(pHandle ,addr_ << 1 , buf, len, I2C_TIMEOUT);
+
+        if(status !=  I2C_OK)
+        {
+          /* wait for the stop flag to be set  */
+          i2c_wait_flag(pHandle, I2C_STOPF_FLAG, I2C_EVENT_CHECK_NONE, I2C_TIMEOUT);
+
+          /* clear stop flag */
+         i2c_flag_clear(pHandle->i2cx, I2C_STOPF_FLAG);
+        }
+    }
+
     else
-        status = i2c_memory_read(pHandle,I2C_MEM_ADDR_WIDIH_8, addr_ << 1, reg_, buf, len, I2C_TIMEOUT);
+    {
+      status = i2c_memory_read(pHandle,I2C_MEM_ADDR_WIDIH_8, addr_ << 1, reg_, buf, len, I2C_TIMEOUT);
+
+      if(status !=  I2C_OK)
+      {
+        /* wait for the stop flag to be set  */
+        i2c_wait_flag(pHandle, I2C_STOPF_FLAG, I2C_EVENT_CHECK_NONE, I2C_TIMEOUT);
+
+        /* clear stop flag */
+    	i2c_flag_clear(pHandle->i2cx, I2C_STOPF_FLAG);
+      }
+    }
+
 
     if (status != I2C_OK) {
         return i2cHandleHardwareFailure(device);
@@ -215,6 +276,21 @@ bool i2cReadBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, u
 
     status = i2c_memory_read_int(pHandle,I2C_MEM_ADDR_WIDIH_8, addr_ << 1, reg_,buf, len,I2C_TIMEOUT);
 
+    if(status !=  I2C_OK)
+    {
+      /* wait for the stop flag to be set  */
+      i2c_wait_flag(pHandle, I2C_STOPF_FLAG, I2C_EVENT_CHECK_NONE, I2C_TIMEOUT);
+
+      /* clear stop flag */
+      i2c_flag_clear(pHandle->i2cx, I2C_STOPF_FLAG);
+    }
+    else
+    {
+      /* wait for the communication to end */
+      i2c_wait_end(pHandle->i2cx, I2C_TIMEOUT);
+    }
+
+
     if (status == I2C_ERR_STEP_1) {//busy
         return false;
     }
diff --git a/src/main/drivers/bus_i2c_atbsp_init.c b/src/main/drivers/bus_i2c_atbsp_init.c
index 047bc46e4f..8c013bcf24 100644
--- a/src/main/drivers/bus_i2c_atbsp_init.c
+++ b/src/main/drivers/bus_i2c_atbsp_init.c
@@ -173,7 +173,7 @@ void i2cInit(I2CDevice device)
 //    HAL_I2C_Init(pHandle);
     i2c_reset( pHandle->i2cx);
     /* config i2c */
-    i2c_init( pHandle->i2cx, 0, I2Cx_CLKCTRL);
+    i2c_init( pHandle->i2cx, 0x0f, I2Cx_CLKCTRL);
 
     i2c_own_address1_set( pHandle->i2cx, I2C_ADDRESS_MODE_7BIT, 0x0);
 
diff --git a/src/main/target/AT32F437DEV/target.c b/src/main/target/AT32F437DEV/target.c
index 51ae26cee0..4bc45630ca 100644
--- a/src/main/target/AT32F437DEV/target.c
+++ b/src/main/target/AT32F437DEV/target.c
@@ -27,6 +27,8 @@
  #include "drivers/timer.h"
  #include "drivers/timer_def.h"
 
+#include "build/debug_pin.h"
+
  const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
  	DEF_TIM(TMR2, CH3, PB10, TIM_USE_ANY |TIM_USE_LED, 0,13,0), // PWM1 - OUT1 MCO1 DMA1 CH2
 	DEF_TIM(TMR2, CH4, PB11,  TIM_USE_ANY |TIM_USE_BEEPER, 0,12,0), // PWM2 - OUT1 DMA1 CH6
@@ -41,3 +43,10 @@
  	DEF_TIM(TMR4, CH4, PB9,  TIM_USE_MOTOR,  0,3,0), // motor4 DMA2 CH4
 
  };
+
+
+ dbgPin_t dbgPins[DEBUG_PIN_COUNT] = {
+     { .tag = IO_TAG(PE0) },
+	 { .tag = IO_TAG(PE1) },
+	 { .tag = IO_TAG(PE2) },
+ };
diff --git a/src/main/target/AT32F437DEV/target.h b/src/main/target/AT32F437DEV/target.h
index 45f2039f21..bc80dcd3da 100644
--- a/src/main/target/AT32F437DEV/target.h
+++ b/src/main/target/AT32F437DEV/target.h
@@ -38,6 +38,10 @@
  * PA10 OTG1
  */
 
+//debug
+#define USE_DEBUG_PIN
+#define DEBUG_PIN_COUNT         3
+
 //buttons
 #define USE_BUTTONS
 #define BUTTON_A_PIN            PD2
@@ -235,7 +239,7 @@
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         0xffff
-#define TARGET_IO_PORTE         BIT(2)
+#define TARGET_IO_PORTE         0xffff
 
 #define USABLE_TIMER_CHANNEL_COUNT 28
 #define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(20) )