diff --git a/bsp/st/driver/drv_dac.c b/bsp/st/driver/drv_dac.c
new file mode 100644
index 0000000..3d20add
--- /dev/null
+++ b/bsp/st/driver/drv_dac.c
@@ -0,0 +1,163 @@
+/*
+ * @copyright (c) 2023-2024, MR Development Team
+ *
+ * @license SPDX-License-Identifier: Apache-2.0
+ *
+ * @date 2024-01-22    MacRsh       First version
+ */
+
+#include "drv_dac.h"
+
+enum drv_dac_index
+{
+#ifdef MR_USING_DAC1
+    DRV_INDEX_DAC1,
+#endif /* MR_USING_DAC1 */
+#ifdef MR_USING_DAC2
+    DRV_INDEX_DAC2,
+#endif /* MR_USING_DAC2 */
+#ifdef MR_USING_DAC3
+    DRV_INDEX_DAC3,
+#endif /* MR_USING_DAC3 */
+    DRV_INDEX_DAC_MAX
+};
+
+static const char *dac_name[] =
+    {
+#ifdef MR_USING_DAC1
+        "dac1",
+#endif /* MR_USING_DAC1 */
+#ifdef MR_USING_DAC2
+        "dac2",
+#endif /* MR_USING_DAC2 */
+#ifdef MR_USING_DAC3
+        "dac3",
+#endif /* MR_USING_DAC3 */
+    };
+
+static struct drv_dac_data dac_drv_data[] =
+    {
+#ifdef MR_USING_DAC1
+        {{0}, DAC1},
+#endif /* MR_USING_DAC1 */
+#ifdef MR_USING_DAC2
+        {{0}, DAC2},
+#endif /* MR_USING_DAC2 */
+#ifdef MR_USING_DAC3
+        {{0}, DAC3},
+#endif /* MR_USING_DAC3 */
+    };
+
+static struct drv_dac_channel_data dac_channel_drv_data[] = DRV_DAC_CHANNEL_CONFIG;
+
+static struct mr_dac dac_dev[MR_ARRAY_NUM(dac_drv_data)];
+
+static struct drv_dac_channel_data *drv_dac_get_channel_data(int channel)
+{
+    if (channel >= MR_ARRAY_NUM(dac_channel_drv_data))
+    {
+        return NULL;
+    }
+    return &dac_channel_drv_data[channel];
+}
+
+static int drv_dac_configure(struct mr_dac *dac, int state)
+{
+    struct drv_dac_data *dac_data = (struct drv_dac_data *)dac->dev.drv->data;
+    dac_data->handle.Instance = dac_data->instance;
+
+    if (state == ENABLE)
+    {
+        /* Configure DAC */
+        HAL_DAC_Init(&dac_data->handle);
+    } else
+    {
+        /* Configure DAC */
+        HAL_DAC_DeInit(&dac_data->handle);
+    }
+    return MR_EOK;
+}
+
+static int drv_dac_channel_configure(struct mr_dac *dac, int channel, int state)
+{
+    struct drv_dac_data *dac_data = (struct drv_dac_data *)dac->dev.drv->data;
+    struct drv_dac_channel_data *dac_channel_data = drv_dac_get_channel_data(channel);
+    DAC_ChannelConfTypeDef sConfig = {0};
+
+    /* Check channel is valid */
+    if (dac_channel_data == NULL)
+    {
+        return MR_EINVAL;
+    }
+
+    /* Configure Channel */
+    sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
+    sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE;
+    HAL_DAC_ConfigChannel(&dac_data->handle, &sConfig, dac_channel_data->channel);
+    if (state == ENABLE)
+    {
+        HAL_DAC_SetValue(&dac_data->handle, dac_channel_data->channel, DAC_ALIGN_12B_R, 0);
+        HAL_DAC_Start(&dac_data->handle, dac_channel_data->channel);
+    } else
+    {
+        HAL_DAC_Stop(&dac_data->handle, dac_channel_data->channel);
+    }
+    return MR_EOK;
+}
+
+static void drv_dac_write(struct mr_dac *dac, int channel, uint32_t data)
+{
+    struct drv_dac_data *dac_data = (struct drv_dac_data *)dac->dev.drv->data;
+    struct drv_dac_channel_data *dac_channel_data = drv_dac_get_channel_data(channel);
+
+    /* Check channel is valid */
+    if (dac_channel_data == NULL)
+    {
+        return;
+    }
+
+    /* Write data */
+    HAL_DAC_SetValue(&dac_data->handle, dac_channel_data->channel, DAC_ALIGN_12B_R, (data & 0xFFF));
+}
+
+static struct mr_dac_ops dac_drv_ops =
+    {
+        drv_dac_configure,
+        drv_dac_channel_configure,
+        drv_dac_write,
+    };
+
+static struct mr_drv dac_drv[] =
+    {
+#ifdef MR_USING_DAC1
+        {
+            Mr_Drv_Type_DAC,
+            &dac_drv_ops,
+            &dac_drv_data[DRV_INDEX_DAC1],
+        },
+#endif /* MR_USING_DAC1 */
+#ifdef MR_USING_DAC2
+        {
+            Mr_Drv_Type_DAC,
+            &dac_drv_ops,
+            &dac_drv_data[DRV_INDEX_DAC2],
+        }
+#endif /* MR_USING_DAC2 */
+#ifdef MR_USING_DAC3
+        {
+            Mr_Drv_Type_DAC,
+            &dac_drv_ops,
+            &dac_drv_data[DRV_INDEX_DAC3],
+        }
+#endif /* MR_USING_DAC3 */
+    };
+
+int drv_dac_init(void)
+{
+    for (size_t i = 0; i < MR_ARRAY_NUM(dac_dev); i++)
+    {
+        mr_dac_register(&dac_dev[i], dac_name[i], &dac_drv[i]);
+    }
+    return MR_EOK;
+}
+MR_INIT_DRV_EXPORT(drv_dac_init);
diff --git a/bsp/st/driver/drv_dac.h b/bsp/st/driver/drv_dac.h
new file mode 100644
index 0000000..8710d27
--- /dev/null
+++ b/bsp/st/driver/drv_dac.h
@@ -0,0 +1,30 @@
+/*
+ * @copyright (c) 2023-2024, MR Development Team
+ *
+ * @license SPDX-License-Identifier: Apache-2.0
+ *
+ * @date 2024-01-22    MacRsh       First version
+ */
+
+#ifndef _DRV_DAC_H_
+#define _DRV_DAC_H_
+
+#include "include/device/mr_dac.h"
+#include "mr_board.h"
+
+#ifdef MR_USING_DAC
+
+struct drv_dac_data
+{
+    DAC_HandleTypeDef handle;
+    DAC_TypeDef *instance;
+};
+
+struct drv_dac_channel_data
+{
+    uint32_t channel;
+};
+
+#endif /* MR_USING_DAC */
+
+#endif /* _DRV_DAC_H_ */
diff --git a/bsp/st/stm32f103/driver/Kconfig b/bsp/st/stm32f103/driver/Kconfig
index 340beac..4340fea 100644
--- a/bsp/st/stm32f103/driver/Kconfig
+++ b/bsp/st/stm32f103/driver/Kconfig
@@ -14,6 +14,12 @@ menu "Driver configure"
             default n
     endmenu
 
+    menu "DAC"
+        config MR_USING_DAC1
+            bool "Enable DAC1 driver"
+            default n
+    endmenu
+
     menu "PWM"
         config MR_USING_PWM1
             bool "Enable PWM1 driver"
diff --git a/bsp/st/stm32f103/driver/mr_board.h b/bsp/st/stm32f103/driver/mr_board.h
index a5b9209..d0734ad 100644
--- a/bsp/st/stm32f103/driver/mr_board.h
+++ b/bsp/st/stm32f103/driver/mr_board.h
@@ -15,26 +15,33 @@ extern "C" {
 
 #include "stm32f1xx.h"
 
-#define DRV_ADC_CHANNEL_CONFIG \
-    {                          \
-        {ADC_CHANNEL_0},       \
-        {ADC_CHANNEL_1},       \
-        {ADC_CHANNEL_2},       \
-        {ADC_CHANNEL_3},       \
-        {ADC_CHANNEL_4},       \
-        {ADC_CHANNEL_5},       \
-        {ADC_CHANNEL_6},       \
-        {ADC_CHANNEL_7},       \
-        {ADC_CHANNEL_8},       \
-        {ADC_CHANNEL_9},       \
-        {ADC_CHANNEL_10},      \
-        {ADC_CHANNEL_11},      \
-        {ADC_CHANNEL_12},      \
-        {ADC_CHANNEL_13},      \
-        {ADC_CHANNEL_14},      \
-        {ADC_CHANNEL_15},      \
-        {ADC_CHANNEL_16},      \
-        {ADC_CHANNEL_17},      \
+#define DRV_ADC_CHANNEL_CONFIG          \
+    {                                   \
+        {ADC_CHANNEL_0},                \
+        {ADC_CHANNEL_1},                \
+        {ADC_CHANNEL_2},                \
+        {ADC_CHANNEL_3},                \
+        {ADC_CHANNEL_4},                \
+        {ADC_CHANNEL_5},                \
+        {ADC_CHANNEL_6},                \
+        {ADC_CHANNEL_7},                \
+        {ADC_CHANNEL_8},                \
+        {ADC_CHANNEL_9},                \
+        {ADC_CHANNEL_10},               \
+        {ADC_CHANNEL_11},               \
+        {ADC_CHANNEL_12},               \
+        {ADC_CHANNEL_13},               \
+        {ADC_CHANNEL_14},               \
+        {ADC_CHANNEL_15},               \
+        {ADC_CHANNEL_16},               \
+        {ADC_CHANNEL_17},               \
+    }
+
+#define DRV_DAC_CHANNEL_CONFIG          \
+    {                                   \
+        {NULL},                         \
+        {DAC_CHANNEL_1},                \
+        {DAC_CHANNEL_2},                \
     }
 
 #define DRV_PIN_IRQ_MAP_CONFIG          \
diff --git a/bsp/st/stm32f407/driver/Kconfig b/bsp/st/stm32f407/driver/Kconfig
index 5eb0dcd..551a736 100644
--- a/bsp/st/stm32f407/driver/Kconfig
+++ b/bsp/st/stm32f407/driver/Kconfig
@@ -14,6 +14,12 @@ menu "Driver configure"
             default n
     endmenu
 
+    menu "DAC"
+        config MR_USING_DAC1
+            bool "Enable DAC1 driver"
+            default n
+    endmenu
+
     menu "PWM"
         config MR_USING_PWM1
             bool "Enable PWM1 driver"
diff --git a/bsp/st/stm32f407/driver/mr_board.h b/bsp/st/stm32f407/driver/mr_board.h
index f941fb6..34c6101 100644
--- a/bsp/st/stm32f407/driver/mr_board.h
+++ b/bsp/st/stm32f407/driver/mr_board.h
@@ -15,26 +15,33 @@ extern "C" {
 
 #include "stm32f4xx.h"
 
-#define DRV_ADC_CHANNEL_CONFIG \
-    {                          \
-        {ADC_CHANNEL_0},       \
-        {ADC_CHANNEL_1},       \
-        {ADC_CHANNEL_2},       \
-        {ADC_CHANNEL_3},       \
-        {ADC_CHANNEL_4},       \
-        {ADC_CHANNEL_5},       \
-        {ADC_CHANNEL_6},       \
-        {ADC_CHANNEL_7},       \
-        {ADC_CHANNEL_8},       \
-        {ADC_CHANNEL_9},       \
-        {ADC_CHANNEL_10},      \
-        {ADC_CHANNEL_11},      \
-        {ADC_CHANNEL_12},      \
-        {ADC_CHANNEL_13},      \
-        {ADC_CHANNEL_14},      \
-        {ADC_CHANNEL_15},      \
-        {ADC_CHANNEL_16},      \
-        {ADC_CHANNEL_17},      \
+#define DRV_ADC_CHANNEL_CONFIG          \
+    {                                   \
+        {ADC_CHANNEL_0},                \
+        {ADC_CHANNEL_1},                \
+        {ADC_CHANNEL_2},                \
+        {ADC_CHANNEL_3},                \
+        {ADC_CHANNEL_4},                \
+        {ADC_CHANNEL_5},                \
+        {ADC_CHANNEL_6},                \
+        {ADC_CHANNEL_7},                \
+        {ADC_CHANNEL_8},                \
+        {ADC_CHANNEL_9},                \
+        {ADC_CHANNEL_10},               \
+        {ADC_CHANNEL_11},               \
+        {ADC_CHANNEL_12},               \
+        {ADC_CHANNEL_13},               \
+        {ADC_CHANNEL_14},               \
+        {ADC_CHANNEL_15},               \
+        {ADC_CHANNEL_16},               \
+        {ADC_CHANNEL_17},               \
+    }
+
+#define DRV_DAC_CHANNEL_CONFIG          \
+    {                                   \
+        {NULL},                         \
+        {DAC_CHANNEL_1},                \
+        {DAC_CHANNEL_2},                \
     }
 
 #define DRV_PIN_IRQ_MAP_CONFIG          \
diff --git a/bsp/st/stm32f411/driver/mr_board.h b/bsp/st/stm32f411/driver/mr_board.h
index f772561..9779922 100644
--- a/bsp/st/stm32f411/driver/mr_board.h
+++ b/bsp/st/stm32f411/driver/mr_board.h
@@ -15,26 +15,26 @@ extern "C" {
 
 #include "stm32f4xx.h"
 
-#define DRV_ADC_CHANNEL_CONFIG \
-    {                          \
-        {ADC_CHANNEL_0},       \
-        {ADC_CHANNEL_1},       \
-        {ADC_CHANNEL_2},       \
-        {ADC_CHANNEL_3},       \
-        {ADC_CHANNEL_4},       \
-        {ADC_CHANNEL_5},       \
-        {ADC_CHANNEL_6},       \
-        {ADC_CHANNEL_7},       \
-        {ADC_CHANNEL_8},       \
-        {ADC_CHANNEL_9},       \
-        {ADC_CHANNEL_10},      \
-        {ADC_CHANNEL_11},      \
-        {ADC_CHANNEL_12},      \
-        {ADC_CHANNEL_13},      \
-        {ADC_CHANNEL_14},      \
-        {ADC_CHANNEL_15},      \
-        {ADC_CHANNEL_16},      \
-        {ADC_CHANNEL_17},      \
+#define DRV_ADC_CHANNEL_CONFIG          \
+    {                                   \
+        {ADC_CHANNEL_0},                \
+        {ADC_CHANNEL_1},                \
+        {ADC_CHANNEL_2},                \
+        {ADC_CHANNEL_3},                \
+        {ADC_CHANNEL_4},                \
+        {ADC_CHANNEL_5},                \
+        {ADC_CHANNEL_6},                \
+        {ADC_CHANNEL_7},                \
+        {ADC_CHANNEL_8},                \
+        {ADC_CHANNEL_9},                \
+        {ADC_CHANNEL_10},               \
+        {ADC_CHANNEL_11},               \
+        {ADC_CHANNEL_12},               \
+        {ADC_CHANNEL_13},               \
+        {ADC_CHANNEL_14},               \
+        {ADC_CHANNEL_15},               \
+        {ADC_CHANNEL_16},               \
+        {ADC_CHANNEL_17},               \
     }
 
 #define DRV_PIN_IRQ_MAP_CONFIG          \