diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_soft_i2c.c b/bsp/stm32/libraries/HAL_Drivers/drv_soft_i2c.c
index 5f8e300d0808b4a35ae3d51b40fa0494c567eff3..81ea714cf0b7b253aece85d8b2006cf6605c9f22 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_soft_i2c.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_soft_i2c.c
@@ -18,7 +18,7 @@
 #define LOG_TAG              "drv.i2c"
 #include <drv_log.h>
 
-#if !defined(BSP_USING_I2C1) && !defined(BSP_USING_I2C2) && !defined(BSP_USING_I2C3)
+#if !defined(BSP_USING_I2C1) && !defined(BSP_USING_I2C2) && !defined(BSP_USING_I2C3) && !defined(BSP_USING_I2C4) 
 #error "Please define at least one BSP_USING_I2Cx"
 /* this driver can be disabled at menuconfig → RT-Thread Components → Device Drivers */
 #endif
@@ -32,7 +32,10 @@ static const struct stm32_soft_i2c_config soft_i2c_config[] =
     I2C2_BUS_CONFIG,
 #endif
 #ifdef BSP_USING_I2C3
-    I2C2_BUS_CONFIG,
+    I2C3_BUS_CONFIG,
+#endif
+#ifdef BSP_USING_I2C4
+    I2C4_BUS_CONFIG,
 #endif
 };
 
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_soft_i2c.h b/bsp/stm32/libraries/HAL_Drivers/drv_soft_i2c.h
index dc4238f3d06e8871561d9f28343e9be053b7a086..4ded66505c91b7f4ec764f6ad76a1398ecbac6f9 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_soft_i2c.h
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_soft_i2c.h
@@ -56,6 +56,15 @@ struct stm32_i2c
     }
 #endif
 
+#ifdef BSP_USING_I2C4
+#define I2C4_BUS_CONFIG                                  \
+    {                                                    \
+        .scl = BSP_I2C4_SCL_PIN,                         \
+        .sda = BSP_I2C4_SDA_PIN,                         \
+        .bus_name = "i2c4",                              \
+    }
+#endif
+
 int rt_hw_i2c_init(void);
 
 #endif
diff --git a/bsp/stm32/stm32f767-fire-challenger/README.md b/bsp/stm32/stm32f767-fire-challenger/README.md
index eaf4afa7b0e42f987abdd802c9959b98df8fa033..f3c85d7172447ce304f763918ef1a2ed6b592755 100644
--- a/bsp/stm32/stm32f767-fire-challenger/README.md
+++ b/bsp/stm32/stm32f767-fire-challenger/README.md
@@ -41,13 +41,14 @@
 | :----------------- | :----------: | :------------------------------------- |
 | USB 转串口        |     支持     |                                       |
 | RS232         |     支持     | 与以太网有引脚冲突                    |
-| QSPI Flash        |   暂不支持    |                                       |
-| 电位器             |   暂不支持     |     使用 ADC1                         |
-| 以太网            |   暂不支持    |                                       |
-| MPU6050六轴传感器 |   暂不支持     |                   |
+| QSPI Flash        |   支持    |                                       |
+| 电位器             |   支持     |     使用 ADC1                      |
+| 以太网            |   暂不支持    |           移植中                     |
+| MPU6050六轴传感器 |   暂不支持     |        移植中      |
 | SDRAM             |     支持     |                                       |
-| SD卡              |   暂不支持   |                                       |
-| CAN               |   暂不支持   |                                       |
+| SD卡              |   即将支持   |                           |
+| CAN               |   即将支持   |                               |
+| EMW1062 | 暂不支持 | |
 | **片上外设**      | **支持情况** | **备注**                              |
 | GPIO              |     支持     | PA0, PA1... PK15 ---> PIN: 0, 1...176 |
 | UART              |     支持     | UART1/x/x                             |
diff --git a/bsp/stm32/stm32f767-fire-challenger/board/Kconfig b/bsp/stm32/stm32f767-fire-challenger/board/Kconfig
index fd7bf670793f78a0fb27d301db10727ed78bfdca..5ee1fe6b77d60203b3dc30c56dd4b0b327c61eaf 100644
--- a/bsp/stm32/stm32f767-fire-challenger/board/Kconfig
+++ b/bsp/stm32/stm32f767-fire-challenger/board/Kconfig
@@ -22,12 +22,18 @@ menu "Onboard Peripheral Drivers"
         default n
 
     config BSP_USING_QSPI_FLASH
-        bool "Enable QSPI FLASH (W25Q128 spi5)"
-        select BSP_USING_SPI5
+        bool "Enable QSPI FLASH"
+        select BSP_USING_QSPI
         select RT_USING_SFUD
-        select RT_SFUD_USING_SFDP
+        select RT_SFUD_USING_QSPI
         default n
-         
+
+    config BSP_USING_MPU6050
+        bool "Enable MPU6050 (i2c4)"
+        select BSP_USING_I2C4
+        select PKG_USING_MPU6XXX
+        default n
+
 endmenu
 
 menu "On-chip Peripheral Drivers"
@@ -79,6 +85,12 @@ menu "On-chip Peripheral Drivers"
         bool "Enable SPI DMA support"
         default n
 
+    config BSP_USING_QSPI
+        bool "Enable QSPI BUS"
+        select RT_USING_QSPI
+        select RT_USING_SPI
+        default n
+        
     menuconfig BSP_USING_ADC
         bool "Enable ADC"
         default n
@@ -115,6 +127,58 @@ menu "On-chip Peripheral Drivers"
                 default 23
         endif
 
+    menuconfig BSP_USING_I2C2
+        bool "Enable I2C2 BUS (software simulation)"
+        default n
+        select RT_USING_I2C
+        select RT_USING_I2C_BITOPS
+        select RT_USING_PIN
+        if BSP_USING_I2C2
+            config BSP_I2C2_SCL_PIN
+                int "i2c2 scl pin number"
+                range 1 176
+                default 47
+            config BSP_I2C2_SDA_PIN
+                int "I2C2 sda pin number"
+                range 1 176
+                default 48
+        endif
+
+    menuconfig BSP_USING_I2C3
+        bool "Enable I2C3 BUS (software simulation)"
+        default n
+        select RT_USING_I2C
+        select RT_USING_I2C_BITOPS
+        select RT_USING_PIN
+        if BSP_USING_I2C3
+            config BSP_I2C3_SCL_PIN
+                int "i2c3 scl pin number"
+                range 1 176
+                default 92
+            config BSP_I2C3_SDA_PIN
+                int "I2C3 sda pin number"
+                range 1 176
+                default 93
+        endif
+
+    menuconfig BSP_USING_I2C4
+        bool "Enable I2C4 BUS (software simulation)"
+        default n
+        select RT_USING_I2C
+        select RT_USING_I2C_BITOPS
+        select RT_USING_PIN
+        if BSP_USING_I2C4
+            comment "Notice: PD12 --> 60; PD13 --> 61" 
+            config BSP_I2C4_SCL_PIN
+                int "i2c4 scl pin number"
+                range 1 176
+                default 60
+            config BSP_I2C4_SDA_PIN
+                int "I2C4 sda pin number"
+                range 1 176
+                default 61
+        endif
+
     config BSP_USING_ONCHIP_RTC
         bool "Enable RTC"
         select RT_USING_RTC