diff --git a/server/src/Peripherals/CameraClient.cs b/server/src/Peripherals/CameraClient.cs
index dc63b4a..89bfc9b 100644
--- a/server/src/Peripherals/CameraClient.cs
+++ b/server/src/Peripherals/CameraClient.cs
@@ -35,6 +35,25 @@ class Camera
         this.timeout = timeout;
     }
 
+    public async ValueTask<Result<bool>> Init()
+    {
+        var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.timeout);
+        var ret = await i2c.WriteData(0x78, new byte[] { 0x08, 0x30, 0x02 }, Peripherals.I2cClient.I2cProtocol.I2c);
+        if (!ret.IsSuccessful)
+        {
+            logger.Error($"I2C write failed during camera initialization for {this.address}:{this.port}, error: {ret.Error}");
+            return new(ret.Error);
+        }
+
+        if (!ret.Value)
+        {
+            logger.Error($"I2C write returned unsuccessful result during camera initialization for {this.address}:{this.port}");
+            return false;
+        }
+
+        return true;
+    }
+
     /// <summary>
     /// 读取一帧图像数据
     /// </summary>
@@ -47,7 +66,7 @@ class Camera
         logger.Trace($"Clear up udp server {this.address} receive data");
 
         // 使用UDPClientPool读取图像帧数据
-        var result = await UDPClientPool.ReadAddrBytes(
+        var result = await UDPClientPool.ReadAddr4Bytes(
             this.ep,
             2, // taskID
             CameraAddr.Base,
diff --git a/server/src/Peripherals/I2cClient.cs b/server/src/Peripherals/I2cClient.cs
new file mode 100644
index 0000000..50fd083
--- /dev/null
+++ b/server/src/Peripherals/I2cClient.cs
@@ -0,0 +1,269 @@
+using System.Net;
+using DotNext;
+
+namespace Peripherals.I2cClient;
+
+static class I2cAddr
+{
+
+    const UInt32 Base = 0x6000_0000;
+
+    /// <summary> 
+    /// 0x0000_0000: 
+    /// [7:0] 本次传输的i2c地址(最高位总为0);
+    /// [8] 1为读，0为写;
+    /// [16] 1为SCCB协议，0为I2C协议;
+    /// [24] 1为开启本次传输，自动置零
+    /// </summary>
+    public const UInt32 BaseConfig = Base + 0x0000_0000;
+
+    /// <summary> 
+    /// 0x0000_0001:
+    /// [15:0] 本次传输的数据量（以字节为单位，0为传1个字节）;
+    /// [31:16] 若本次传输为读的DUMMY数据量（字节为单位，0为传1个字节）
+    /// </summary>
+    public const UInt32 TranConfig = Base + 0x0000_0001;
+
+    /// <summary> 
+    /// 0x0000_0002: [0] cmd_done; [8] cmd_error;
+    /// </summary>
+    public const UInt32 Flag = Base + 0x0000_0002;
+
+    /// <summary> 
+    /// 0x0000_0003: FIFO写入口，仅低8位有效，只写
+    /// </summary>
+    public const UInt32 Write = Base + 0x0000_0003;
+
+    /// <summary> 
+    /// 0x0000_0004: FIFO读出口，仅低8位有效，只读
+    /// </summary>
+    public const UInt32 Read = Base + 0x0000_0003;
+
+    /// <summary> 
+    /// 0x0000_0005: [0] FIFO写入口清空；[8] FIFO读出口清空；
+    /// </summary>
+    public const UInt32 Clear = Base + 0x0000_0003;
+}
+
+/// <summary> 
+/// [TODO:Enum]
+/// </summary>
+public enum I2cProtocol
+{
+    /// <summary> 
+    /// [TODO:Enum]
+    /// </summary>
+    I2c = 0,
+
+    /// <summary> 
+    /// [TODO:Enum]
+    /// </summary>
+    SCCB = 1
+}
+
+/// <summary>
+/// [TODO:description]
+/// </summary>
+public class I2c
+{
+    private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
+
+    readonly int timeout = 2000;
+
+    readonly int port;
+    readonly string address;
+    private IPEndPoint ep;
+
+    /// <summary>
+    /// [TODO:description]
+    /// </summary>
+    /// <param name="address">[TODO:parameter]</param>
+    /// <param name="port">[TODO:parameter]</param>
+    /// <param name="timeout">[TODO:parameter]</param>
+    /// <returns>[TODO:return]</returns>
+    public I2c(string address, int port, int timeout = 2000)
+    {
+        if (timeout < 0)
+            throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
+        this.address = address;
+        this.port = port;
+        this.ep = new IPEndPoint(IPAddress.Parse(address), port);
+        this.timeout = timeout;
+    }
+
+    /// <summary>
+    /// 向指定I2C设备写入数据
+    /// </summary>
+    /// <param name="devAddr">I2C设备地址</param>
+    /// <param name="data">要写入的数据</param>
+    /// <param name="proto">I2C协议类型</param>
+    /// <returns>操作结果，成功返回true，否则返回异常信息</returns>
+    public async ValueTask<Result<bool>> WriteData(UInt32 devAddr, byte[] data, I2cProtocol proto)
+    {
+        if (data.Length > 0x0000_FFFF)
+        {
+            logger.Error($"Data length {data.Length} exceeds maximum allowed 0x0000_FFFF");
+            return new(new ArgumentException($"Data length {data.Length} exceeds maximum allowed 0x0000_FFFF"));
+        }
+
+        // 清除UDP服务器接收缓冲区
+        await MsgBus.UDPServer.ClearUDPData(this.address, 2);
+
+        logger.Trace($"Clear up udp server {this.address} receive data");
+
+        // 写入数据到I2C FIFO写入口
+        {
+            var ret = await UDPClientPool.WriteAddr(this.ep, 2, I2cAddr.Write, data);
+            if (!ret.IsSuccessful)
+            {
+                logger.Error($"Failed to write data to I2C FIFO: {ret.Error}");
+                return new(ret.Error);
+            }
+
+            if (!ret.Value)
+            {
+                logger.Error("WriteAddr to I2C FIFO returned false");
+                return new(new Exception("Failed to write data to I2C FIFO"));
+            }
+        }
+
+        // 配置本次传输数据量
+        {
+            var ret = await UDPClientPool.WriteAddr(this.ep, 2, I2cAddr.TranConfig, ((uint)(data.Length - 1)));
+            if (!ret.IsSuccessful)
+            {
+                logger.Error($"Failed to configure transfer length: {ret.Error}");
+                return new(ret.Error);
+            }
+
+            if (!ret.Value)
+            {
+                logger.Error("WriteAddr to TranConfig returned false");
+                return new(new Exception("Failed to configure transfer length"));
+            }
+        }
+
+        // 配置I2C地址、协议及启动传输
+        {
+            var ret = await UDPClientPool.WriteAddr(
+                this.ep, 2, I2cAddr.BaseConfig, (devAddr << 1) | (((uint)proto) << 16) | (1 << 24));
+            if (!ret.IsSuccessful)
+            {
+                logger.Error($"Failed to configure I2C address/protocol/start: {ret.Error}");
+                return new(ret.Error);
+            }
+
+            if (!ret.Value)
+            {
+                logger.Error("WriteAddr to BaseConfig returned false");
+                return new(new Exception("Failed to configure I2C address/protocol/start"));
+            }
+        }
+
+        // 等待I2C命令完成
+        {
+            var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 2, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF);
+            if (!ret.IsSuccessful)
+            {
+                logger.Error($"Failed to wait for I2C command completion: {ret.Error}");
+                return new(ret.Error);
+            }
+
+            if (!ret.Value)
+            {
+                logger.Error("ReadAddrWithWait for I2C command completion returned false");
+                return new(new Exception("I2C command did not complete successfully"));
+            }
+        }
+
+        return true;
+    }
+
+    /// <summary>
+    /// 从指定I2C设备读取数据
+    /// </summary>
+    /// <param name="devAddr">I2C设备地址</param>
+    /// <param name="length">要读取的数据长度</param>
+    /// <param name="proto">I2C协议类型</param>
+    /// <returns>操作结果，成功返回读取到的数据，否则返回异常信息</returns>
+    public async ValueTask<Result<byte[]>> ReadData(UInt32 devAddr, int length, I2cProtocol proto)
+    {
+        if (length <= 0 || length > 0x0000_FFFF)
+        {
+            logger.Error($"Read length {length} is invalid or exceeds maximum allowed 0x0000_FFFF");
+            return new(new ArgumentException($"Read length {length} is invalid or exceeds maximum allowed 0x0000_FFFF"));
+        }
+
+        // 清除UDP服务器接收缓冲区
+        await MsgBus.UDPServer.ClearUDPData(this.address, 2);
+
+        logger.Trace($"Clear up udp server {this.address} receive data");
+
+        // 配置本次传输数据量
+        {
+            var ret = await UDPClientPool.WriteAddr(this.ep, 2, I2cAddr.TranConfig, ((uint)(length - 1)));
+            if (!ret.IsSuccessful)
+            {
+                logger.Error($"Failed to configure transfer length: {ret.Error}");
+                return new(ret.Error);
+            }
+
+            if (!ret.Value)
+            {
+                logger.Error("WriteAddr to TranConfig returned false");
+                return new(new Exception("Failed to configure transfer length"));
+            }
+        }
+
+        // 配置I2C地址、协议及启动传输（读操作）
+        {
+            var ret = await UDPClientPool.WriteAddr(
+                this.ep, 2, I2cAddr.BaseConfig, (devAddr << 1) | (1 << 8) | (((uint)proto) << 16) | (1 << 24));
+            if (!ret.IsSuccessful)
+            {
+                logger.Error($"Failed to configure I2C address/protocol/start: {ret.Error}");
+                return new(ret.Error);
+            }
+
+            if (!ret.Value)
+            {
+                logger.Error("WriteAddr to BaseConfig returned false");
+                return new(new Exception("Failed to configure I2C address/protocol/start"));
+            }
+        }
+
+        // 等待I2C命令完成
+        {
+            var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 2, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF);
+            if (!ret.IsSuccessful)
+            {
+                logger.Error($"Failed to wait for I2C command completion: {ret.Error}");
+                return new(ret.Error);
+            }
+
+            if (!ret.Value)
+            {
+                logger.Error("ReadAddrWithWait for I2C command completion returned false");
+                return new(new Exception("I2C command did not complete successfully"));
+            }
+        }
+
+        // 读取数据
+        {
+            var ret = await UDPClientPool.ReadAddr(this.ep, 2, I2cAddr.Read, length);
+            if (!ret.IsSuccessful)
+            {
+                logger.Error($"Failed to read data from I2C FIFO: {ret.Error}");
+                return new(ret.Error);
+            }
+
+            if (ret.Value.Options.Data == null || ret.Value.Options.Data.Length != length)
+            {
+                logger.Error($"ReadAddr returned unexpected data length: {ret.Value.Options.Data?.Length ?? 0}");
+                return new(new Exception("Failed to read expected amount of data from I2C FIFO"));
+            }
+
+            return ret.Value.Options.Data;
+        }
+    }
+}
diff --git a/server/src/Peripherals/JtagClient.cs b/server/src/Peripherals/JtagClient.cs
index 14217b0..813455e 100644
--- a/server/src/Peripherals/JtagClient.cs
+++ b/server/src/Peripherals/JtagClient.cs
@@ -2,6 +2,7 @@ using System.Collections;
 using System.Net;
 using DotNext;
 using Newtonsoft.Json;
+using server;
 using WebProtocol;
 
 namespace Peripherals.JtagClient;
diff --git a/server/src/Peripherals/OscilloscopeClient.cs b/server/src/Peripherals/OscilloscopeClient.cs
new file mode 100644
index 0000000..3eeff22
--- /dev/null
+++ b/server/src/Peripherals/OscilloscopeClient.cs
@@ -0,0 +1,36 @@
+using System.Net;
+using DotNext;
+
+namespace Peripherals.OscilloscopeClient;
+
+static class OscilloscopeAddr
+{
+    public const UInt32 Base = 0x0000_0000;
+}
+
+class Oscilloscope
+{
+    private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
+
+    readonly int timeout = 2000;
+
+    readonly int port;
+    readonly string address;
+    private IPEndPoint ep;
+
+    /// <summary>
+    /// 初始化示波器客户端
+    /// </summary>
+    /// <param name="address">示波器设备IP地址</param>
+    /// <param name="port">示波器设备端口</param>
+    /// <param name="timeout">超时时间（毫秒）</param>
+    public Oscilloscope(string address, int port, int timeout = 2000)
+    {
+        if (timeout < 0)
+            throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
+        this.address = address;
+        this.port = port;
+        this.ep = new IPEndPoint(IPAddress.Parse(address), port);
+        this.timeout = timeout;
+    }
+}