diff --git a/.vscode/settings.json b/.vscode/settings.json
index df4410f..ff85c6b 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -20,7 +20,8 @@
         "dji_motor.h": "c",
         "master_process.h": "c",
         "seasky_protocol.h": "c",
-        "bsp_usart.h": "c"
+        "bsp_usart.h": "c",
+        "message_center.h": "c"
     },
     "C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
 }
\ No newline at end of file
diff --git a/HAL_N_Middlewares/Src/main.c b/HAL_N_Middlewares/Src/main.c
index 35646a1..88a5292 100644
--- a/HAL_N_Middlewares/Src/main.c
+++ b/HAL_N_Middlewares/Src/main.c
@@ -44,6 +44,7 @@
 #include "master_process.h"
 #include "led_task.h"
 #include "bsp_led.h"
+#include "message_center.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -150,6 +151,16 @@ int main(void)
 	Vision_Recv_s* recv=VisionInit(&huart1);
 	Vision_Send_s send={.pitch=1,.roll=2,.yaw=3};
 	LED_init();
+
+
+	float *subsub;
+	float* sub2;
+	float test=1;
+	PublisherRegister("test",&test);
+	SubscribeEvent("test",&subsub);
+	SubscribeEvent("test",&sub2);
+	PublisherRegister("test",sub2);
+	MessageInit();
 	/* USER CODE END 2 */
 
 	/* Call init function for freertos objects (in freertos.c) */
diff --git a/Makefile b/Makefile
index f17a255..9c21a48 100644
--- a/Makefile
+++ b/Makefile
@@ -129,6 +129,7 @@ modules/referee/referee_communication.c \
 modules/remote/remote_control.c \
 modules/super_cap/super_cap.c \
 modules/can_comm/can_comm.c \
+modules/message_center/message_center.c \
 application/gimbal/gimbal.c \
 application/chassis/chassis.c \
 application/shoot/shoot.c \
@@ -224,7 +225,8 @@ C_INCLUDES =  \
 -Imodules/referee \
 -Imodules/remote \
 -Imodules/super_cap \
--Imodules/can_comm
+-Imodules/can_comm \
+-Imodules/message_center 
 
 # compile gcc flags
 ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
diff --git a/modules/message_center/message_center.c b/modules/message_center/message_center.c
new file mode 100644
index 0000000..848a221
--- /dev/null
+++ b/modules/message_center/message_center.c
@@ -0,0 +1,55 @@
+#include "message_center.h"
+#include "string.h"
+
+/* 消息初始化用 */
+static char pname[MAX_EVENT_COUNT][MAX_EVENT_NAME_LEN+1];
+static char sname[MAX_EVENT_COUNT][MAX_EVENT_NAME_LEN+1];
+static void* p_ptr[MAX_EVENT_COUNT]={NULL};
+static void** s_pptr[MAX_EVENT_COUNT]={NULL}; // 因为要修改指针,所以需要二重指针
+
+void MessageInit()
+{
+    // pub必须唯一,即消息名称不能重复,不得有多个pub发布相同消息名称
+    // 对每一个subscriber,寻找相同消息名称的publisher,可能有多个sub从相同pub获取消息
+    for (size_t i = 0; i < MAX_EVENT_COUNT; i++)
+    {
+        if(s_pptr[i]!=NULL)
+            for (size_t j = 0; j < MAX_EVENT_COUNT; j++) //遍历publisher
+            {
+                if(p_ptr[j]!=NULL) //不为空
+                    if(strcmp(&sname[i],pname[j])==0) //比较消息名是否一致
+                    {volatile size_t ss=strlen(sname[i]);
+                    volatile size_t sss=strlen(pname[j]);
+                        *s_pptr[i]=p_ptr[j]; // 将sub的指针指向pub的数据
+                        break;
+                    }
+                    
+                    
+                else //到结尾,退出
+                    while(1); //如果你卡在这里,说明没有找到消息发布者!请确认消息名称是否键入错误
+            }
+        else //说明已经遍历完所有的subs
+            break;
+    }
+}
+
+/* 传入数据地址 */
+void PublisherRegister(char* name,void* data)
+{
+    static uint8_t idx;
+    for (size_t i = 0; i < idx; i++)
+    {
+        if(strcmp(pname[i],name)==0)
+            while(1); //运行至此说明pub的消息发布名称冲突
+    }
+    strcpy(pname[idx],name);
+    p_ptr[idx++]=data;
+}
+
+/* 注意传入的是指针的地址,传参时使用&对数据指针取地址 */
+void SubscribeEvent(char* name,void** data_ptr)
+{
+    static uint8_t idx;
+    strcpy(sname[idx],name);
+    s_pptr[idx++]=data_ptr;
+}
\ No newline at end of file
diff --git a/modules/message_center/message_center.h b/modules/message_center/message_center.h
new file mode 100644
index 0000000..957646b
--- /dev/null
+++ b/modules/message_center/message_center.h
@@ -0,0 +1,51 @@
+/**
+ * @file message_center.h
+ * @author NeoZeng neozng1@hnu.edu.cn
+ * @brief 这是一个伪pubsub机制,仅对应用之间的通信进行了隔离
+ * @todo 实现基于链表-队列的pubsub机制
+ * @version 0.1
+ * @date 2022-11-30
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef PUBSUB_H
+#define PUBSUB_H
+
+#include "stdlib.h"
+#include "stdint-gcc.h"
+
+
+#define MAX_EVENT_NAME_LEN  32  //最大的事件名长度,每个事件都有字符串来命名
+#define MAX_EVENT_COUNT 12      //最多支持的事件数量
+
+
+/**
+ * @brief 在所有应用初始化结束之后调用,当作app的"回调函数"
+ * 
+ */
+void MessageInit();
+
+/**
+ * @brief 注册成为消息发布者
+ * 
+ * @param name 消息标识名,注意不要超过MAX_EVENT_NAME_LEN
+ * @param data 发布者的数据地址
+ */
+void PublisherRegister(char* name,void* data);
+
+/**
+ * @brief 订阅消息,成为消息订阅者
+ * 
+ * @param name 消息标识名
+ * @param data 保存数据的指针的地址,注意这是一个二级指针,传入的时候对数据指针取地址(&)
+ */
+void SubscribeEvent(char* name,void** data);
+
+#endif // !PUBSUB_H
+
+
+
+
+/* 以下是队列版的pubsub,TODO */
diff --git a/modules/message_center/message_center.md b/modules/message_center/message_center.md
new file mode 100644
index 0000000..e69de29