diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..a4d00ca
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.14)
+project(imu_py LANGUAGES CXX)
+
+# 使用 C++17
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# 查找 pybind11（已通过 pip 安装）
+execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import pybind11; print(pybind11.get_cmake_dir())" OUTPUT_VARIABLE PYBIND11_CMAKE_DIR OUTPUT_STRIP_TRAILING_WHITESPACE)
+set(CMAKE_PREFIX_PATH "${PYBIND11_CMAKE_DIR}" ${CMAKE_PREFIX_PATH})
+
+include_directories(
+    ${CMAKE_CURRENT_SOURCE_DIR}/dm_imu/src
+)
+
+find_package(pybind11 REQUIRED)
+
+pybind11_add_module(imu_py
+    dm_imu/pybind_imu.cpp
+    dm_imu/src/imu_driver.cpp
+    dm_imu/src/bsp_crc.cpp)
diff --git a/dm_imu.egg-info/SOURCES.txt b/dm_imu.egg-info/SOURCES.txt
index e9e7cba..28f5492 100644
--- a/dm_imu.egg-info/SOURCES.txt
+++ b/dm_imu.egg-info/SOURCES.txt
@@ -2,6 +2,7 @@ LICENSE
 README.md
 pyproject.toml
 setup.py
+./dm_imu/__init__.py
 dm_imu/__init__.py
 dm_imu.egg-info/PKG-INFO
 dm_imu.egg-info/SOURCES.txt
diff --git a/dm_imu.egg-info/top_level.txt b/dm_imu.egg-info/top_level.txt
index a467289..09ede54 100644
--- a/dm_imu.egg-info/top_level.txt
+++ b/dm_imu.egg-info/top_level.txt
@@ -1,2 +1 @@
 dm_imu
-imu_py
diff --git a/dm_imu/__pycache__/__init__.cpython-310.pyc b/dm_imu/__pycache__/__init__.cpython-310.pyc
new file mode 100644
index 0000000..2d698e9
Binary files /dev/null and b/dm_imu/__pycache__/__init__.cpython-310.pyc differ
diff --git a/dm_imu/imu_py.cpython-310-aarch64-linux-gnu.so b/dm_imu/imu_py.cpython-310-aarch64-linux-gnu.so
new file mode 100755
index 0000000..cb3d22f
Binary files /dev/null and b/dm_imu/imu_py.cpython-310-aarch64-linux-gnu.so differ
diff --git a/imu_py.cpython-310-aarch64-linux-gnu.so b/imu_py.cpython-310-aarch64-linux-gnu.so
new file mode 100755
index 0000000..cb3d22f
Binary files /dev/null and b/imu_py.cpython-310-aarch64-linux-gnu.so differ
diff --git a/setup.py b/setup.py
index dd8d63b..c12d8ad 100644
--- a/setup.py
+++ b/setup.py
@@ -41,15 +41,17 @@ class CMakeBuild(build_ext):
         ]
 
         # 1) configure
+        old_cwd = os.getcwd()
         os.chdir(str(build_temp))
         self.spawn(["cmake", str(ext.sourcedir)] + cmake_args)
         # 2) build
         self.spawn(
             ["cmake", "--build", ".", "--config", cfg, "--", f"-j{os.cpu_count() or 1}"],
         )
+        os.chdir(old_cwd)
 
 # Path to the pybind11 C++ source directory.
-pybind_src = pathlib.Path(__file__).parent / "dm_imu"
+pybind_src = pathlib.Path(__file__).parent
 
 setup(
     name="dm_imu",
@@ -58,8 +60,9 @@ setup(
     description="DM IMU driver with pybind11",
     long_description=open("README.md", encoding="utf-8").read(),
     long_description_content_type="text/markdown",
-    packages=["dm_imu"],
-    ext_modules=[CMakeExtension("imu_py", sourcedir=str(pybind_src))],
+    packages=find_packages(where="."),
+    package_dir={"": "."},
+    ext_modules=[CMakeExtension("dm_imu.imu_py", sourcedir=str(pybind_src))],
     cmdclass={"build_ext": CMakeBuild},
     zip_safe=False,
     python_requires=">=3.8",