diff --git a/bsp/stm32/stm32f427-robomaster-a/.config b/bsp/stm32/stm32f427-robomaster-a/.config
index 78c1ac3b5f..4999e50cd6 100644
--- a/bsp/stm32/stm32f427-robomaster-a/.config
+++ b/bsp/stm32/stm32f427-robomaster-a/.config
@@ -115,7 +115,7 @@ CONFIG_RT_USING_DEVICE_IPC=y
 CONFIG_RT_PIPE_BUFSZ=512
 # CONFIG_RT_USING_SYSTEM_WORKQUEUE is not set
 CONFIG_RT_USING_SERIAL=y
-CONFIG_RT_SERIAL_USING_DMA=y
+# CONFIG_RT_SERIAL_USING_DMA is not set
 CONFIG_RT_SERIAL_RB_BUFSZ=64
 # CONFIG_RT_USING_CAN is not set
 # CONFIG_RT_USING_HWTIMER is not set
@@ -123,7 +123,7 @@ CONFIG_RT_SERIAL_RB_BUFSZ=64
 # CONFIG_RT_USING_I2C is not set
 CONFIG_RT_USING_PIN=y
 # CONFIG_RT_USING_ADC is not set
-CONFIG_RT_USING_PWM=y
+# CONFIG_RT_USING_PWM is not set
 # CONFIG_RT_USING_MTD_NOR is not set
 # CONFIG_RT_USING_MTD_NAND is not set
 # CONFIG_RT_USING_PM is not set
@@ -132,8 +132,7 @@ CONFIG_RT_USING_PWM=y
 # CONFIG_RT_USING_SPI is not set
 # CONFIG_RT_USING_WDT is not set
 # CONFIG_RT_USING_AUDIO is not set
-CONFIG_RT_USING_SENSOR=y
-CONFIG_RT_USING_SENSOR_CMD=y
+# CONFIG_RT_USING_SENSOR is not set
 # CONFIG_RT_USING_TOUCH is not set
 # CONFIG_RT_USING_HWCRYPTO is not set
 # CONFIG_RT_USING_PULSE_ENCODER is not set
@@ -307,34 +306,7 @@ CONFIG_RT_LIBC_USING_TIME=y
 #
 # peripheral libraries and drivers
 #
-CONFIG_PKG_USING_SENSORS_DRIVERS=y
-# CONFIG_PKG_USING_LSM6DSL is not set
-# CONFIG_PKG_USING_LPS22HB is not set
-# CONFIG_PKG_USING_HTS221 is not set
-# CONFIG_PKG_USING_LSM303AGR is not set
-# CONFIG_PKG_USING_BME280 is not set
-# CONFIG_PKG_USING_BMA400 is not set
-# CONFIG_PKG_USING_BMI160_BMX160 is not set
-# CONFIG_PKG_USING_SPL0601 is not set
-# CONFIG_PKG_USING_MS5611 is not set
-# CONFIG_PKG_USING_DA270 is not set
-# CONFIG_PKG_USING_DF220 is not set
-# CONFIG_PKG_USING_HSHCAL001 is not set
-# CONFIG_PKG_USING_BH1750 is not set
-CONFIG_PKG_USING_MPU6XXX=y
-CONFIG_PKG_MPU6XXX_PATH="/packages/peripherals/sensors/mpu6xxx"
-# CONFIG_PKG_USING_MPU6XXX_V001 is not set
-# CONFIG_PKG_USING_MPU6XXX_V100 is not set
-CONFIG_PKG_USING_MPU6XXX_LATEST_VERSION=y
-CONFIG_PKG_MPU6XXX_VER="latest"
-CONFIG_PKG_USING_MPU6XXX_ACCE=y
-CONFIG_PKG_USING_MPU6XXX_GYRO=y
-CONFIG_PKG_USING_MPU6XXX_MAG=y
-# CONFIG_PKG_USING_AHT10 is not set
-# CONFIG_PKG_USING_AP3216C is not set
-# CONFIG_PKG_USING_TSL4531 is not set
-# CONFIG_PKG_USING_DS18B20 is not set
-# CONFIG_PKG_USING_DHT11 is not set
+# CONFIG_PKG_USING_SENSORS_DRIVERS is not set
 # CONFIG_PKG_USING_REALTEK_AMEBA is not set
 # CONFIG_PKG_USING_SHT2X is not set
 # CONFIG_PKG_USING_STM32_SDIO is not set
@@ -410,21 +382,11 @@ CONFIG_SOC_STM32F427II=y
 CONFIG_BSP_USING_GPIO=y
 CONFIG_BSP_USING_UART=y
 CONFIG_BSP_USING_UART6=y
-# CONFIG_BSP_UART6_RX_USING_DMA is not set
-CONFIG_BSP_USING_UART3=y
-# CONFIG_BSP_UART3_RX_USING_DMA is not set
+# CONFIG_BSP_USING_UART3 is not set
 # CONFIG_BSP_USING_UART7 is not set
 # CONFIG_BSP_USING_UART8 is not set
 # CONFIG_BSP_USING_UART1 is not set
-CONFIG_BSP_USING_PWM=y
-CONFIG_BSP_USING_PWM12=y
-CONFIG_BSP_USING_PWM12_CH1=y
-CONFIG_BSP_USING_PWM4=y
-CONFIG_BSP_USING_PWM4_CH1=y
-CONFIG_BSP_USING_PWM4_CH2=y
-# CONFIG_BSP_USING_PWM4_CH3 is not set
-# CONFIG_BSP_USING_PWM4_CH4 is not set
-# CONFIG_BSP_USING_PWM5 is not set
+# CONFIG_BSP_USING_PWM is not set
 # CONFIG_BSP_USING_RNG is not set
 # CONFIG_BSP_USING_UDID is not set
 
diff --git a/bsp/stm32/stm32f427-robomaster-a/board/Kconfig b/bsp/stm32/stm32f427-robomaster-a/board/Kconfig
index ae3b2d3f0e..10e68bac11 100644
--- a/bsp/stm32/stm32f427-robomaster-a/board/Kconfig
+++ b/bsp/stm32/stm32f427-robomaster-a/board/Kconfig
@@ -3,6 +3,8 @@ menu "Hardware Drivers Config"
 config SOC_STM32F427II
     bool
     select SOC_SERIES_STM32F4
+    select RT_USING_COMPONENTS_INIT
+    select RT_USING_USER_MAIN
     default y
 
 menu "Onboard Peripheral Drivers"
diff --git a/bsp/stm32/stm32f427-robomaster-a/rtconfig.h b/bsp/stm32/stm32f427-robomaster-a/rtconfig.h
index e8f092dc99..d0094838cf 100644
--- a/bsp/stm32/stm32f427-robomaster-a/rtconfig.h
+++ b/bsp/stm32/stm32f427-robomaster-a/rtconfig.h
@@ -79,11 +79,8 @@
 #define RT_USING_DEVICE_IPC
 #define RT_PIPE_BUFSZ 512
 #define RT_USING_SERIAL
-#define RT_SERIAL_USING_DMA
 #define RT_SERIAL_RB_BUFSZ 64
 #define RT_USING_PIN
-#define RT_USING_SENSOR
-#define RT_USING_SENSOR_CMD
 
 /* Using USB */
 
@@ -145,12 +142,6 @@
 
 /* peripheral libraries and drivers */
 
-#define PKG_USING_SENSORS_DRIVERS
-#define PKG_USING_MPU6XXX
-#define PKG_USING_MPU6XXX_LATEST_VERSION
-#define PKG_USING_MPU6XXX_ACCE
-#define PKG_USING_MPU6XXX_GYRO
-#define PKG_USING_MPU6XXX_MAG
 
 /* miscellaneous packages */
 
@@ -171,7 +162,6 @@
 #define BSP_USING_GPIO
 #define BSP_USING_UART
 #define BSP_USING_UART6
-#define BSP_USING_UART3
 
 /* Board extended module Drivers */