diff --git a/bsp/stm32/stm32f407-robomaster-c/README.md b/bsp/stm32/stm32f407-robomaster-c/README.md
index 07230ecb4f6444573cbe54dc8aac3ce709adc318..3997ec57db81c51b30cab97e8118a34621c2923e 100644
--- a/bsp/stm32/stm32f407-robomaster-c/README.md
+++ b/bsp/stm32/stm32f407-robomaster-c/README.md
@@ -49,7 +49,7 @@ Robomaster 开发板C型 是大疆创新科技有限公司推出的一款基于
 | GPIO         |     支持     | PA0, PA1... PH1 ---> PIN: 0, 1...144 |
 | UART         |     支持     | UART1(FinSH),  UART3(DBUS),  UART6          |
 | CAN          |     支持    | CAN1, CAN2                           |
-| PWM          |   支持   | TIM1(CH1/2/3/4), TIM4(CH3), TIM8(CH1/2/3)  |
+| PWM          |   支持   | TIM1(CH1/2/3/4), TIM4(CH3), TIM5(CH1/2/3), TIM8(CH1/2/3) |
 | SPI          |   支持   | SPI2 |
 | IIC          |   支持   | 模拟IIC(SDA-->PF0, SCL-->PF1) |
 
diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc
index e749fed20c1596eb58c0136169a885eb0f9332dc..00ed83e40c2459843fea0b2d1f9c142905817590 100644
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc
@@ -10,9 +10,6 @@ ADC3.IPParameters=Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConv
 ADC3.NbrOfConversionFlag=1
 ADC3.Rank-1\#ChannelRegularConversion=1
 ADC3.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
-CAD.formats=
-CAD.pinconfig=
-CAD.provider=
 CAN1.BS1=CAN_BS1_1TQ
 CAN1.BS2=CAN_BS2_1TQ
 CAN1.CalculateBaudRate=875000
@@ -32,10 +29,11 @@ Mcu.CPN=STM32F407IGH6
 Mcu.Family=STM32F4
 Mcu.IP0=ADC1
 Mcu.IP1=ADC3
-Mcu.IP10=TIM8
-Mcu.IP11=USART1
-Mcu.IP12=USART3
-Mcu.IP13=USART6
+Mcu.IP10=TIM5
+Mcu.IP11=TIM8
+Mcu.IP12=USART1
+Mcu.IP13=USART3
+Mcu.IP14=USART6
 Mcu.IP2=CAN1
 Mcu.IP3=CAN2
 Mcu.IP4=I2C2
@@ -44,7 +42,7 @@ Mcu.IP6=RCC
 Mcu.IP7=SYS
 Mcu.IP8=TIM1
 Mcu.IP9=TIM4
-Mcu.IPNb=14
+Mcu.IPNb=15
 Mcu.Name=STM32F407I(E-G)Hx
 Mcu.Package=UFBGA176
 Mcu.Pin0=PB5
@@ -58,27 +56,31 @@ Mcu.Pin15=PH0-OSC_IN
 Mcu.Pin16=PH1-OSC_OUT
 Mcu.Pin17=PF1
 Mcu.Pin18=PC6
-Mcu.Pin19=PF10
+Mcu.Pin19=PH12
 Mcu.Pin2=PA14
-Mcu.Pin20=PD14
-Mcu.Pin21=PE13
-Mcu.Pin22=PE9
-Mcu.Pin23=PE11
-Mcu.Pin24=PE14
-Mcu.Pin25=VP_ADC1_TempSens_Input
-Mcu.Pin26=VP_ADC1_Vref_Input
-Mcu.Pin27=VP_SYS_VS_Systick
-Mcu.Pin28=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin29=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin20=PF10
+Mcu.Pin21=PH11
+Mcu.Pin22=PH10
+Mcu.Pin23=PD14
+Mcu.Pin24=PE13
+Mcu.Pin25=PE9
+Mcu.Pin26=PE11
+Mcu.Pin27=PE14
+Mcu.Pin28=VP_ADC1_TempSens_Input
+Mcu.Pin29=VP_ADC1_Vref_Input
 Mcu.Pin3=PA13
-Mcu.Pin30=VP_TIM8_VS_ClockSourceINT
+Mcu.Pin30=VP_SYS_VS_Systick
+Mcu.Pin31=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin32=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin33=VP_TIM5_VS_ClockSourceINT
+Mcu.Pin34=VP_TIM8_VS_ClockSourceINT
 Mcu.Pin4=PB7
 Mcu.Pin5=PB6
 Mcu.Pin6=PD0
 Mcu.Pin7=PC11
 Mcu.Pin8=PC10
 Mcu.Pin9=PI7
-Mcu.PinsNb=31
+Mcu.PinsNb=35
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
@@ -147,6 +149,9 @@ PH0-OSC_IN.Mode=HSE-External-Oscillator
 PH0-OSC_IN.Signal=RCC_OSC_IN
 PH1-OSC_OUT.Mode=HSE-External-Oscillator
 PH1-OSC_OUT.Signal=RCC_OSC_OUT
+PH10.Signal=S_TIM5_CH1
+PH11.Signal=S_TIM5_CH2
+PH12.Signal=S_TIM5_CH3
 PI6.Signal=S_TIM8_CH2
 PI7.Signal=S_TIM8_CH3
 PinOutPanel.CurrentBGAView=Top
@@ -178,7 +183,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_ADC3_Init-ADC3-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM8_Init-TIM8-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_USART6_UART_Init-USART6-false-HAL-true,12-MX_ADC1_Init-ADC1-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_ADC3_Init-ADC3-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM8_Init-TIM8-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_USART6_UART_Init-USART6-false-HAL-true,12-MX_ADC1_Init-ADC1-false-HAL-true,13-MX_I2C2_Init-I2C2-false-HAL-true,14-MX_TIM5_Init-TIM5-false-HAL-true
 RCC.48MHZClocksFreq_Value=84000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -222,6 +227,12 @@ SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
 SH.S_TIM1_CH4.ConfNb=1
 SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
 SH.S_TIM4_CH3.ConfNb=1
+SH.S_TIM5_CH1.0=TIM5_CH1,PWM Generation1 CH1
+SH.S_TIM5_CH1.ConfNb=1
+SH.S_TIM5_CH2.0=TIM5_CH2,PWM Generation2 CH2
+SH.S_TIM5_CH2.ConfNb=1
+SH.S_TIM5_CH3.0=TIM5_CH3,PWM Generation3 CH3
+SH.S_TIM5_CH3.ConfNb=1
 SH.S_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1
 SH.S_TIM8_CH1.ConfNb=1
 SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2
@@ -235,6 +246,11 @@ TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
 TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM4.IPParameters=Channel-PWM Generation3 CH3
+TIM5.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM5.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM5.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM5.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Period
+TIM5.Period=65535
 TIM8.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM8.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM8.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
@@ -255,6 +271,8 @@ VP_TIM1_VS_ClockSourceINT.Mode=Internal
 VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
 VP_TIM4_VS_ClockSourceINT.Mode=Internal
 VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
+VP_TIM5_VS_ClockSourceINT.Mode=Internal
+VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
 VP_TIM8_VS_ClockSourceINT.Mode=Internal
 VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
 board=custom
diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
index d06a87501a71eaa1c5f6d77a7f45489e89fe95cd..5a28d291ec16ffdd33c72fa9596ee96f84281efc 100644
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -60,7 +60,7 @@
 /* USER CODE END 0 */
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-                                                            /**
+                                                                                /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
@@ -382,6 +382,17 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 
   /* USER CODE END TIM4_MspInit 1 */
   }
+  else if(htim_base->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspInit 0 */
+
+  /* USER CODE END TIM5_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM5_CLK_ENABLE();
+  /* USER CODE BEGIN TIM5_MspInit 1 */
+
+  /* USER CODE END TIM5_MspInit 1 */
+  }
   else if(htim_base->Instance==TIM8)
   {
   /* USER CODE BEGIN TIM8_MspInit 0 */
@@ -443,6 +454,29 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 
   /* USER CODE END TIM4_MspPostInit 1 */
   }
+  else if(htim->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspPostInit 0 */
+
+  /* USER CODE END TIM5_MspPostInit 0 */
+
+    __HAL_RCC_GPIOH_CLK_ENABLE();
+    /**TIM5 GPIO Configuration
+    PH12     ------> TIM5_CH3
+    PH11     ------> TIM5_CH2
+    PH10     ------> TIM5_CH1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_11|GPIO_PIN_10;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
+    HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM5_MspPostInit 1 */
+
+  /* USER CODE END TIM5_MspPostInit 1 */
+  }
   else if(htim->Instance==TIM8)
   {
   /* USER CODE BEGIN TIM8_MspPostInit 0 */
@@ -506,6 +540,17 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 
   /* USER CODE END TIM4_MspDeInit 1 */
   }
+  else if(htim_base->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspDeInit 0 */
+
+  /* USER CODE END TIM5_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM5_CLK_DISABLE();
+  /* USER CODE BEGIN TIM5_MspDeInit 1 */
+
+  /* USER CODE END TIM5_MspDeInit 1 */
+  }
   else if(htim_base->Instance==TIM8)
   {
   /* USER CODE BEGIN TIM8_MspDeInit 0 */
diff --git a/bsp/stm32/stm32f407-robomaster-c/board/Kconfig b/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
index 9bb8f1ed90b74bf1e957b5d4706bc6e45b1f3da7..25d4ade3111a7404e10899bdc15cfa84778465d9 100644
--- a/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
+++ b/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
@@ -119,6 +119,21 @@ menu "On-chip Peripheral Drivers"
                         default n
                 endif
 
+            menuconfig BSP_USING_PWM5
+                bool "Enable timer5 output PWM"
+                default n
+                if BSP_USING_PWM5
+                    config BSP_USING_PWM5_CH1
+                        bool "Enable PWM5 channel1(LED_B)"
+                        default n
+                    config BSP_USING_PWM5_CH2
+                        bool "Enable PWM5 channel2(LED_G)"
+                        default n
+                    config BSP_USING_PWM5_CH3
+                        bool "Enable PWM5 channel3(LED_R)"
+                        default n
+                endif
+                
             menuconfig BSP_USING_PWM8
                 bool "Enable timer8 output PWM"
                 default n