From 9fdbeea4efa3dba15d106343299e9a575537d3cd Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 27 Dec 2023 18:53:08 +0800
Subject: [PATCH] init

---
 .cproject                             |  10 +-
 .project                              |   2 +-
 .settings/language.settings.xml       |   4 +-
 Intelligent_winding_robot_zarm.cfg    |  44 ++++
 Intelligent_winding_robot_zarm.ioc    | 382 ++++++++++++++++++++++++++++++++++
 Intelligent_winding_robot_zarm.launch |  98 +++++++++
 a8000_cliptip_module.cfg              |  44 ----
 a8000_cliptip_module.ioc              | 382 ----------------------------------
 a8000_cliptip_module.launch           |  98 ---------
 usrc/board.h                          |  19 +-
 usrc/main.cpp                         |  98 ++++++---
 usrc/project_configs.h                |   4 +-
 12 files changed, 618 insertions(+), 567 deletions(-)
 create mode 100644 Intelligent_winding_robot_zarm.cfg
 create mode 100644 Intelligent_winding_robot_zarm.ioc
 create mode 100644 Intelligent_winding_robot_zarm.launch
 delete mode 100644 a8000_cliptip_module.cfg
 delete mode 100644 a8000_cliptip_module.ioc
 delete mode 100644 a8000_cliptip_module.launch

diff --git a/.cproject b/.cproject
index e971721..92b708c 100644
--- a/.cproject
+++ b/.cproject
@@ -30,7 +30,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.176411214" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.164943344" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.553838709" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/a8000_cliptip_module}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.764087106" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/Intelligent_winding_robot_zarm}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.764087106" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1243726437" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.1007535807" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g3" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.830905432" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
@@ -147,7 +147,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.506604305" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_HAL_DRIVER | STM32F407xx ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.540585524" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="144" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.959571701" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/a8000_cliptip_module}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.948513973" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/Intelligent_winding_robot_zarm}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.948513973" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1716174684" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.401584422" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g0" valueType="enumerated"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1470391345" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
@@ -222,7 +222,7 @@
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="a8000_cliptip_module.null.1922813466" name="a8000_cliptip_module"/>
+		<project id="Intelligent_winding_robot_zarm.null.1922813466" name="Intelligent_winding_robot_zarm"/>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
@@ -243,10 +243,10 @@
 	</storageModule>
 	<storageModule moduleId="refreshScope" versionNumber="2">
 		<configuration configurationName="Debug">
-			<resource resourceType="PROJECT" workspacePath="/a8000_cliptip_module"/>
+			<resource resourceType="PROJECT" workspacePath="/Intelligent_winding_robot_zarm"/>
 		</configuration>
 		<configuration configurationName="Release">
-			<resource resourceType="PROJECT" workspacePath="/a8000_cliptip_module"/>
+			<resource resourceType="PROJECT" workspacePath="/Intelligent_winding_robot_zarm"/>
 		</configuration>
 	</storageModule>
 </cproject>
\ No newline at end of file
diff --git a/.project b/.project
index a7e0697..3d38565 100644
--- a/.project
+++ b/.project
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>a8000_cliptip_module</name>
+	<name>Intelligent_winding_robot_zarm</name>
 	<comment></comment>
 	<projects>
 	</projects>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 48cb063..a021519 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="995385305838657757" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-636232727787099613" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1008121162799773262" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-596153906458205550" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/Intelligent_winding_robot_zarm.cfg b/Intelligent_winding_robot_zarm.cfg
new file mode 100644
index 0000000..ef37116
--- /dev/null
+++ b/Intelligent_winding_robot_zarm.cfg
@@ -0,0 +1,44 @@
+# This is an genericBoard board with a single STM32F407VETx chip
+#
+# Generated by STM32CubeIDE
+# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
+
+source [find interface/stlink-dap.cfg]
+
+
+set WORKAREASIZE 0x8000
+
+transport select "dapdirect_swd"
+
+set CHIPNAME STM32F407VETx
+set BOARDNAME genericBoard
+
+# Enable debug when in low power modes
+set ENABLE_LOW_POWER 1
+
+# Stop Watchdog counters when halt
+set STOP_WATCHDOG 1
+
+# STlink Debug clock frequency
+set CLOCK_FREQ 8000
+
+# Reset configuration
+# use hardware reset, connect under reset
+# connect_assert_srst needed if low power mode application running (WFI...)
+reset_config srst_only srst_nogate connect_assert_srst
+set CONNECT_UNDER_RESET 1
+set CORE_RESET 0
+
+# ACCESS PORT NUMBER
+set AP_NUM 0
+# GDB PORT
+set GDB_PORT 3333
+
+
+
+
+
+# BCTM CPU variables
+
+source [find target/stm32f4x.cfg]
+
diff --git a/Intelligent_winding_robot_zarm.ioc b/Intelligent_winding_robot_zarm.ioc
new file mode 100644
index 0000000..e7a600b
--- /dev/null
+++ b/Intelligent_winding_robot_zarm.ioc
@@ -0,0 +1,382 @@
+#MicroXplorer Configuration settings - do not modify
+ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_8
+ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag
+ADC1.NbrOfConversionFlag=1
+ADC1.Rank-0\#ChannelRegularConversion=1
+ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
+ADC1.master=1
+CAD.formats=
+CAD.pinconfig=
+CAD.provider=
+CAN1.ABOM=ENABLE
+CAN1.BS1=CAN_BS1_14TQ
+CAN1.BS2=CAN_BS2_3TQ
+CAN1.CalculateBaudRate=500000
+CAN1.CalculateTimeBit=2000
+CAN1.CalculateTimeQuantum=111.11111111111111
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,SJW,Prescaler,BS1,BS2,TTCM,ABOM,NART,RFLM,TXFP
+CAN1.NART=ENABLE
+CAN1.Prescaler=4
+CAN1.RFLM=ENABLE
+CAN1.SJW=CAN_SJW_3TQ
+CAN1.TTCM=ENABLE
+CAN1.TXFP=DISABLE
+Dma.Request0=USART2_RX
+Dma.Request1=USART2_TX
+Dma.Request2=USART1_RX
+Dma.Request3=USART1_TX
+Dma.RequestsNb=4
+Dma.USART1_RX.2.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART1_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_RX.2.Instance=DMA2_Stream2
+Dma.USART1_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_RX.2.MemInc=DMA_MINC_ENABLE
+Dma.USART1_RX.2.Mode=DMA_NORMAL
+Dma.USART1_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_RX.2.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_RX.2.Priority=DMA_PRIORITY_LOW
+Dma.USART1_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART1_TX.3.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART1_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_TX.3.Instance=DMA2_Stream7
+Dma.USART1_TX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_TX.3.MemInc=DMA_MINC_ENABLE
+Dma.USART1_TX.3.Mode=DMA_NORMAL
+Dma.USART1_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_TX.3.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_TX.3.Priority=DMA_PRIORITY_LOW
+Dma.USART1_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART2_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART2_RX.0.Instance=DMA1_Stream5
+Dma.USART2_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART2_RX.0.MemInc=DMA_MINC_ENABLE
+Dma.USART2_RX.0.Mode=DMA_NORMAL
+Dma.USART2_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART2_RX.0.PeriphInc=DMA_PINC_DISABLE
+Dma.USART2_RX.0.Priority=DMA_PRIORITY_LOW
+Dma.USART2_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART2_TX.1.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART2_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART2_TX.1.Instance=DMA1_Stream6
+Dma.USART2_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART2_TX.1.MemInc=DMA_MINC_ENABLE
+Dma.USART2_TX.1.Mode=DMA_NORMAL
+Dma.USART2_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART2_TX.1.PeriphInc=DMA_PINC_DISABLE
+Dma.USART2_TX.1.Priority=DMA_PRIORITY_LOW
+Dma.USART2_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+FREERTOS.FootprintOK=true
+FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_NEWLIB_REENTRANT,configUSE_RECURSIVE_MUTEXES,configUSE_COUNTING_SEMAPHORES,configRECORD_STACK_HIGH_ADDRESS,configENABLE_FPU
+FREERTOS.Tasks01=defaultTask,-3,1024,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
+FREERTOS.configENABLE_FPU=1
+FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
+FREERTOS.configUSE_COUNTING_SEMAPHORES=1
+FREERTOS.configUSE_NEWLIB_REENTRANT=1
+FREERTOS.configUSE_RECURSIVE_MUTEXES=1
+File.Version=6
+GPIO.groupedBy=Group By Peripherals
+I2C1.I2C_Mode=I2C_Standard
+I2C1.IPParameters=I2C_Mode
+KeepUserPlacement=false
+Mcu.CPN=STM32F407VET6
+Mcu.Family=STM32F4
+Mcu.IP0=ADC1
+Mcu.IP1=CAN1
+Mcu.IP10=SYS
+Mcu.IP11=TIM1
+Mcu.IP12=TIM2
+Mcu.IP13=TIM3
+Mcu.IP14=TIM6
+Mcu.IP15=TIM7
+Mcu.IP16=UART4
+Mcu.IP17=USART1
+Mcu.IP18=USART2
+Mcu.IP19=USART3
+Mcu.IP2=CRC
+Mcu.IP3=DMA
+Mcu.IP4=FREERTOS
+Mcu.IP5=I2C1
+Mcu.IP6=NVIC
+Mcu.IP7=RCC
+Mcu.IP8=RNG
+Mcu.IP9=SPI1
+Mcu.IPNb=20
+Mcu.Name=STM32F407V(E-G)Tx
+Mcu.Package=LQFP100
+Mcu.Pin0=PH0-OSC_IN
+Mcu.Pin1=PH1-OSC_OUT
+Mcu.Pin10=PC4
+Mcu.Pin11=PB0
+Mcu.Pin12=PB1
+Mcu.Pin13=PE9
+Mcu.Pin14=PE13
+Mcu.Pin15=PB10
+Mcu.Pin16=PB11
+Mcu.Pin17=PC9
+Mcu.Pin18=PA9
+Mcu.Pin19=PA10
+Mcu.Pin2=PC0
+Mcu.Pin20=PA11
+Mcu.Pin21=PA12
+Mcu.Pin22=PA13
+Mcu.Pin23=PA14
+Mcu.Pin24=PC11
+Mcu.Pin25=PD5
+Mcu.Pin26=PD6
+Mcu.Pin27=PB6
+Mcu.Pin28=PB7
+Mcu.Pin29=VP_CRC_VS_CRC
+Mcu.Pin3=PA0-WKUP
+Mcu.Pin30=VP_FREERTOS_VS_CMSIS_V1
+Mcu.Pin31=VP_RNG_VS_RNG
+Mcu.Pin32=VP_SYS_VS_tim11
+Mcu.Pin33=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin34=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin35=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin36=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin4=PA1
+Mcu.Pin5=PA2
+Mcu.Pin6=PA3
+Mcu.Pin7=PA5
+Mcu.Pin8=PA6
+Mcu.Pin9=PA7
+Mcu.PinsNb=37
+Mcu.ThirdPartyNb=0
+Mcu.UserConstants=
+Mcu.UserName=STM32F407VETx
+MxCube.Version=6.7.0
+MxDb.Version=DB.6.0.70
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.ForceEnableDMAVector=true
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
+NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
+NVIC.SavedPendsvIrqHandlerGenerated=true
+NVIC.SavedSvcallIrqHandlerGenerated=true
+NVIC.SavedSystickIrqHandlerGenerated=true
+NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
+NVIC.TIM1_TRG_COM_TIM11_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.TIM6_DAC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.TIM7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.TimeBase=TIM1_TRG_COM_TIM11_IRQn
+NVIC.TimeBaseIP=TIM11
+NVIC.UART4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+PA0-WKUP.Mode=Asynchronous
+PA0-WKUP.Signal=UART4_TX
+PA1.Locked=true
+PA1.Signal=S_TIM2_CH2
+PA10.Mode=Asynchronous
+PA10.Signal=USART1_RX
+PA11.Locked=true
+PA11.Mode=CAN_Activate
+PA11.Signal=CAN1_RX
+PA12.Mode=CAN_Activate
+PA12.Signal=CAN1_TX
+PA13.Mode=Serial_Wire
+PA13.Signal=SYS_JTMS-SWDIO
+PA14.Mode=Serial_Wire
+PA14.Signal=SYS_JTCK-SWCLK
+PA2.Locked=true
+PA2.Signal=S_TIM2_CH3
+PA3.Locked=true
+PA3.Signal=S_TIM2_CH4
+PA5.Locked=true
+PA5.Mode=Full_Duplex_Master
+PA5.Signal=SPI1_SCK
+PA6.Locked=true
+PA6.Mode=Full_Duplex_Master
+PA6.Signal=SPI1_MISO
+PA7.Locked=true
+PA7.Mode=Full_Duplex_Master
+PA7.Signal=SPI1_MOSI
+PA9.Locked=true
+PA9.Mode=Asynchronous
+PA9.Signal=USART1_TX
+PB0.Signal=ADCx_IN8
+PB1.Signal=ADCx_IN9
+PB10.Mode=Asynchronous
+PB10.Signal=USART3_TX
+PB11.Mode=Asynchronous
+PB11.Signal=USART3_RX
+PB6.Mode=I2C
+PB6.Signal=I2C1_SCL
+PB7.Mode=I2C
+PB7.Signal=I2C1_SDA
+PC0.Locked=true
+PC0.Signal=GPXTI0
+PC11.Mode=Asynchronous
+PC11.Signal=UART4_RX
+PC4.Locked=true
+PC4.Signal=GPXTI4
+PC9.Locked=true
+PC9.Mode=Clock-out-2
+PC9.Signal=RCC_MCO_2
+PD5.Mode=Asynchronous
+PD5.Signal=USART2_TX
+PD6.Mode=Asynchronous
+PD6.Signal=USART2_RX
+PE13.Signal=S_TIM1_CH3
+PE9.Locked=true
+PE9.Signal=S_TIM1_CH1
+PH0-OSC_IN.Mode=HSE-External-Oscillator
+PH0-OSC_IN.Signal=RCC_OSC_IN
+PH1-OSC_OUT.Mode=HSE-External-Oscillator
+PH1-OSC_OUT.Signal=RCC_OSC_OUT
+PinOutPanel.RotationAngle=0
+ProjectManager.AskForMigrate=true
+ProjectManager.BackupPrevious=false
+ProjectManager.CompilerOptimize=6
+ProjectManager.ComputerToolchain=false
+ProjectManager.CoupleFile=true
+ProjectManager.CustomerFirmwarePackage=
+ProjectManager.DefaultFWLocation=true
+ProjectManager.DeletePrevious=false
+ProjectManager.DeviceId=STM32F407VETx
+ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
+ProjectManager.FreePins=true
+ProjectManager.HalAssertFull=true
+ProjectManager.HeapSize=0x2000
+ProjectManager.KeepUserCode=true
+ProjectManager.LastFirmware=true
+ProjectManager.LibraryCopy=1
+ProjectManager.MainLocation=Core/Src
+ProjectManager.NoMain=false
+ProjectManager.PreviousToolchain=STM32CubeIDE
+ProjectManager.ProjectBuild=false
+ProjectManager.ProjectFileName=Intelligent_winding_robot_zarm.ioc
+ProjectManager.ProjectName=Intelligent_winding_robot_zarm
+ProjectManager.ProjectStructure=
+ProjectManager.RegisterCallBack=
+ProjectManager.StackSize=0x1000
+ProjectManager.TargetToolchain=STM32CubeIDE
+ProjectManager.ToolChainLocation=
+ProjectManager.UAScriptAfterPath=
+ProjectManager.UAScriptBeforePath=
+ProjectManager.UnderRoot=true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_CRC_Init-CRC-false-HAL-true,7-MX_RNG_Init-RNG-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM6_Init-TIM6-false-HAL-true,11-MX_TIM1_Init-TIM1-false-HAL-true,12-MX_CAN1_Init-CAN1-false-HAL-true,13-MX_USART3_UART_Init-USART3-false-HAL-true,14-MX_I2C1_Init-I2C1-false-HAL-true,15-MX_ADC1_Init-ADC1-false-HAL-true,16-MX_TIM2_Init-TIM2-false-HAL-true,17-MX_USART2_UART_Init-USART2-false-HAL-true
+RCC.48MHZClocksFreq_Value=48000000
+RCC.AHBFreq_Value=144000000
+RCC.APB1CLKDivider=RCC_HCLK_DIV4
+RCC.APB1Freq_Value=36000000
+RCC.APB1TimFreq_Value=72000000
+RCC.APB2CLKDivider=RCC_HCLK_DIV2
+RCC.APB2Freq_Value=72000000
+RCC.APB2TimFreq_Value=144000000
+RCC.CortexFreq_Value=144000000
+RCC.EthernetFreq_Value=144000000
+RCC.FCLKCortexFreq_Value=144000000
+RCC.FamilyName=M
+RCC.HCLKFreq_Value=144000000
+RCC.HSE_VALUE=8000000
+RCC.HSI_VALUE=16000000
+RCC.I2SClocksFreq_Value=64000000
+RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SN,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,PLLSourceVirtual,RCC_MCO1Source,RCC_MCO2Source,RCC_MCODiv1,RCC_MCODiv2,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
+RCC.LSE_VALUE=32768
+RCC.LSI_VALUE=32000
+RCC.MCO1PinFreq_Value=36000000
+RCC.MCO2PinFreq_Value=16000000
+RCC.PLLCLKFreq_Value=144000000
+RCC.PLLI2SN=64
+RCC.PLLM=4
+RCC.PLLN=144
+RCC.PLLQ=6
+RCC.PLLQCLKFreq_Value=48000000
+RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
+RCC.RCC_MCO1Source=RCC_MCO1SOURCE_PLLCLK
+RCC.RCC_MCO2Source=RCC_MCO2SOURCE_PLLI2SCLK
+RCC.RCC_MCODiv1=RCC_MCODIV_4
+RCC.RCC_MCODiv2=RCC_MCODIV_4
+RCC.RTCFreq_Value=32000
+RCC.RTCHSEDivFreq_Value=4000000
+RCC.SYSCLKFreq_VALUE=144000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
+RCC.VCOI2SOutputFreq_Value=128000000
+RCC.VCOInputFreq_Value=2000000
+RCC.VCOOutputFreq_Value=288000000
+RCC.VcooutputI2S=64000000
+SH.ADCx_IN8.0=ADC1_IN8,IN8
+SH.ADCx_IN8.ConfNb=1
+SH.ADCx_IN9.0=ADC1_IN9,IN9
+SH.ADCx_IN9.ConfNb=1
+SH.GPXTI0.0=GPIO_EXTI0
+SH.GPXTI0.ConfNb=1
+SH.GPXTI4.0=GPIO_EXTI4
+SH.GPXTI4.ConfNb=1
+SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
+SH.S_TIM1_CH1.ConfNb=1
+SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
+SH.S_TIM1_CH3.ConfNb=1
+SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
+SH.S_TIM2_CH2.ConfNb=1
+SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
+SH.S_TIM2_CH3.ConfNb=1
+SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
+SH.S_TIM2_CH4.ConfNb=1
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
+SPI1.CalculateBaudRate=2.25 MBits/s
+SPI1.Direction=SPI_DIRECTION_2LINES
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
+SPI1.Mode=SPI_MODE_MASTER
+SPI1.VirtualType=VM_MASTER
+TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM1.IPParameters=Period,Prescaler,Channel-PWM Generation1 CH1,Channel-PWM Generation3 CH3
+TIM1.Period=9999
+TIM1.Prescaler=143
+TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM2.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Channel-PWM Generation2 CH2
+TIM3.IPParameters=Prescaler,Period
+TIM3.Period=9999
+TIM3.Prescaler=71
+TIM6.IPParameters=Prescaler
+TIM6.Prescaler=71
+TIM7.IPParameters=Prescaler
+TIM7.Prescaler=81
+UART4.IPParameters=VirtualMode
+UART4.VirtualMode=Asynchronous
+USART1.BaudRate=961200
+USART1.IPParameters=VirtualMode,BaudRate
+USART1.VirtualMode=VM_ASYNC
+USART2.BaudRate=9600
+USART2.IPParameters=VirtualMode,BaudRate
+USART2.VirtualMode=VM_ASYNC
+USART3.BaudRate=9600
+USART3.IPParameters=VirtualMode,BaudRate
+USART3.VirtualMode=VM_ASYNC
+VP_CRC_VS_CRC.Mode=CRC_Activate
+VP_CRC_VS_CRC.Signal=CRC_VS_CRC
+VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
+VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
+VP_RNG_VS_RNG.Mode=RNG_Activate
+VP_RNG_VS_RNG.Signal=RNG_VS_RNG
+VP_SYS_VS_tim11.Mode=TIM11
+VP_SYS_VS_tim11.Signal=SYS_VS_tim11
+VP_TIM1_VS_ClockSourceINT.Mode=Internal
+VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
+VP_TIM3_VS_ClockSourceINT.Mode=Internal
+VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
+VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
+VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
+board=custom
+rtos.0.ip=FREERTOS
+isbadioc=false
diff --git a/Intelligent_winding_robot_zarm.launch b/Intelligent_winding_robot_zarm.launch
new file mode 100644
index 0000000..281c803
--- /dev/null
+++ b/Intelligent_winding_robot_zarm.launch
@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.cubeprog_external_loaders" value="[]"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_certif_path" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_check_enable" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_key_path" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value="debug_non_secure_L3"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/Intelligent_winding_robot_zarm.elf&quot;,&quot;fProjectName&quot;:&quot;Intelligent_winding_robot_zarm&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
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+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_ALLOW_HALT" value="false"/>
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+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE" value="Swd"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE_FREQUENCY" value="8000000.0"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_LOW_POWER_MODE_ALLOWED" value="true"/>
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+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_STOP_WATCHDOG_THEN_HALTED_ALLOWED" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_GENERATOR_OPTION" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_NAME" value="&quot;${stm32cubeide_openocd_path}\openocd.exe&quot;"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_OTHER_OPTIONS" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_RESTART_CONFIGURATIONS" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset halt&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset init&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}\Intelligent_winding_robot_zarm Debug.cfg"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT_CHOICE" value="automated"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocdenable_rtos" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
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+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
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+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="system_reset"/>
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+    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
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+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.stlink"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
+    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
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+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
+    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
+    <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
+    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/Intelligent_winding_robot_zarm.elf"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="Intelligent_winding_robot_zarm"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1853947771"/>
+    <booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
+    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
+        <listEntry value="/Intelligent_winding_robot_zarm"/>
+    </listAttribute>
+    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
+        <listEntry value="4"/>
+    </listAttribute>
+    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
+    <stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
+</launchConfiguration>
diff --git a/a8000_cliptip_module.cfg b/a8000_cliptip_module.cfg
deleted file mode 100644
index ef37116..0000000
--- a/a8000_cliptip_module.cfg
+++ /dev/null
@@ -1,44 +0,0 @@
-# This is an genericBoard board with a single STM32F407VETx chip
-#
-# Generated by STM32CubeIDE
-# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
-
-source [find interface/stlink-dap.cfg]
-
-
-set WORKAREASIZE 0x8000
-
-transport select "dapdirect_swd"
-
-set CHIPNAME STM32F407VETx
-set BOARDNAME genericBoard
-
-# Enable debug when in low power modes
-set ENABLE_LOW_POWER 1
-
-# Stop Watchdog counters when halt
-set STOP_WATCHDOG 1
-
-# STlink Debug clock frequency
-set CLOCK_FREQ 8000
-
-# Reset configuration
-# use hardware reset, connect under reset
-# connect_assert_srst needed if low power mode application running (WFI...)
-reset_config srst_only srst_nogate connect_assert_srst
-set CONNECT_UNDER_RESET 1
-set CORE_RESET 0
-
-# ACCESS PORT NUMBER
-set AP_NUM 0
-# GDB PORT
-set GDB_PORT 3333
-
-
-
-
-
-# BCTM CPU variables
-
-source [find target/stm32f4x.cfg]
-
diff --git a/a8000_cliptip_module.ioc b/a8000_cliptip_module.ioc
deleted file mode 100644
index 2397f94..0000000
--- a/a8000_cliptip_module.ioc
+++ /dev/null
@@ -1,382 +0,0 @@
-#MicroXplorer Configuration settings - do not modify
-ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_8
-ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag
-ADC1.NbrOfConversionFlag=1
-ADC1.Rank-0\#ChannelRegularConversion=1
-ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
-ADC1.master=1
-CAD.formats=
-CAD.pinconfig=
-CAD.provider=
-CAN1.ABOM=ENABLE
-CAN1.BS1=CAN_BS1_14TQ
-CAN1.BS2=CAN_BS2_3TQ
-CAN1.CalculateBaudRate=500000
-CAN1.CalculateTimeBit=2000
-CAN1.CalculateTimeQuantum=111.11111111111111
-CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,SJW,Prescaler,BS1,BS2,TTCM,ABOM,NART,RFLM,TXFP
-CAN1.NART=ENABLE
-CAN1.Prescaler=4
-CAN1.RFLM=ENABLE
-CAN1.SJW=CAN_SJW_3TQ
-CAN1.TTCM=ENABLE
-CAN1.TXFP=DISABLE
-Dma.Request0=USART2_RX
-Dma.Request1=USART2_TX
-Dma.Request2=USART1_RX
-Dma.Request3=USART1_TX
-Dma.RequestsNb=4
-Dma.USART1_RX.2.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART1_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART1_RX.2.Instance=DMA2_Stream2
-Dma.USART1_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART1_RX.2.MemInc=DMA_MINC_ENABLE
-Dma.USART1_RX.2.Mode=DMA_NORMAL
-Dma.USART1_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART1_RX.2.PeriphInc=DMA_PINC_DISABLE
-Dma.USART1_RX.2.Priority=DMA_PRIORITY_LOW
-Dma.USART1_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART1_TX.3.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART1_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART1_TX.3.Instance=DMA2_Stream7
-Dma.USART1_TX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART1_TX.3.MemInc=DMA_MINC_ENABLE
-Dma.USART1_TX.3.Mode=DMA_NORMAL
-Dma.USART1_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART1_TX.3.PeriphInc=DMA_PINC_DISABLE
-Dma.USART1_TX.3.Priority=DMA_PRIORITY_LOW
-Dma.USART1_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART2_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART2_RX.0.Instance=DMA1_Stream5
-Dma.USART2_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART2_RX.0.MemInc=DMA_MINC_ENABLE
-Dma.USART2_RX.0.Mode=DMA_NORMAL
-Dma.USART2_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART2_RX.0.PeriphInc=DMA_PINC_DISABLE
-Dma.USART2_RX.0.Priority=DMA_PRIORITY_LOW
-Dma.USART2_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART2_TX.1.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART2_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART2_TX.1.Instance=DMA1_Stream6
-Dma.USART2_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART2_TX.1.MemInc=DMA_MINC_ENABLE
-Dma.USART2_TX.1.Mode=DMA_NORMAL
-Dma.USART2_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART2_TX.1.PeriphInc=DMA_PINC_DISABLE
-Dma.USART2_TX.1.Priority=DMA_PRIORITY_LOW
-Dma.USART2_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-FREERTOS.FootprintOK=true
-FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_NEWLIB_REENTRANT,configUSE_RECURSIVE_MUTEXES,configUSE_COUNTING_SEMAPHORES,configRECORD_STACK_HIGH_ADDRESS,configENABLE_FPU
-FREERTOS.Tasks01=defaultTask,-3,1024,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
-FREERTOS.configENABLE_FPU=1
-FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
-FREERTOS.configUSE_COUNTING_SEMAPHORES=1
-FREERTOS.configUSE_NEWLIB_REENTRANT=1
-FREERTOS.configUSE_RECURSIVE_MUTEXES=1
-File.Version=6
-GPIO.groupedBy=Group By Peripherals
-I2C1.I2C_Mode=I2C_Standard
-I2C1.IPParameters=I2C_Mode
-KeepUserPlacement=false
-Mcu.CPN=STM32F407VET6
-Mcu.Family=STM32F4
-Mcu.IP0=ADC1
-Mcu.IP1=CAN1
-Mcu.IP10=SYS
-Mcu.IP11=TIM1
-Mcu.IP12=TIM2
-Mcu.IP13=TIM3
-Mcu.IP14=TIM6
-Mcu.IP15=TIM7
-Mcu.IP16=UART4
-Mcu.IP17=USART1
-Mcu.IP18=USART2
-Mcu.IP19=USART3
-Mcu.IP2=CRC
-Mcu.IP3=DMA
-Mcu.IP4=FREERTOS
-Mcu.IP5=I2C1
-Mcu.IP6=NVIC
-Mcu.IP7=RCC
-Mcu.IP8=RNG
-Mcu.IP9=SPI1
-Mcu.IPNb=20
-Mcu.Name=STM32F407V(E-G)Tx
-Mcu.Package=LQFP100
-Mcu.Pin0=PH0-OSC_IN
-Mcu.Pin1=PH1-OSC_OUT
-Mcu.Pin10=PC4
-Mcu.Pin11=PB0
-Mcu.Pin12=PB1
-Mcu.Pin13=PE9
-Mcu.Pin14=PE13
-Mcu.Pin15=PB10
-Mcu.Pin16=PB11
-Mcu.Pin17=PC9
-Mcu.Pin18=PA9
-Mcu.Pin19=PA10
-Mcu.Pin2=PC0
-Mcu.Pin20=PA11
-Mcu.Pin21=PA12
-Mcu.Pin22=PA13
-Mcu.Pin23=PA14
-Mcu.Pin24=PC11
-Mcu.Pin25=PD5
-Mcu.Pin26=PD6
-Mcu.Pin27=PB6
-Mcu.Pin28=PB7
-Mcu.Pin29=VP_CRC_VS_CRC
-Mcu.Pin3=PA0-WKUP
-Mcu.Pin30=VP_FREERTOS_VS_CMSIS_V1
-Mcu.Pin31=VP_RNG_VS_RNG
-Mcu.Pin32=VP_SYS_VS_tim11
-Mcu.Pin33=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin34=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin35=VP_TIM6_VS_ClockSourceINT
-Mcu.Pin36=VP_TIM7_VS_ClockSourceINT
-Mcu.Pin4=PA1
-Mcu.Pin5=PA2
-Mcu.Pin6=PA3
-Mcu.Pin7=PA5
-Mcu.Pin8=PA6
-Mcu.Pin9=PA7
-Mcu.PinsNb=37
-Mcu.ThirdPartyNb=0
-Mcu.UserConstants=
-Mcu.UserName=STM32F407VETx
-MxCube.Version=6.7.0
-MxDb.Version=DB.6.0.70
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN1_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.ForceEnableDMAVector=true
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
-NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
-NVIC.SavedPendsvIrqHandlerGenerated=true
-NVIC.SavedSvcallIrqHandlerGenerated=true
-NVIC.SavedSystickIrqHandlerGenerated=true
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
-NVIC.TIM1_TRG_COM_TIM11_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
-NVIC.TIM6_DAC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.TIM7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.TimeBase=TIM1_TRG_COM_TIM11_IRQn
-NVIC.TimeBaseIP=TIM11
-NVIC.UART4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-PA0-WKUP.Mode=Asynchronous
-PA0-WKUP.Signal=UART4_TX
-PA1.Locked=true
-PA1.Signal=S_TIM2_CH2
-PA10.Mode=Asynchronous
-PA10.Signal=USART1_RX
-PA11.Locked=true
-PA11.Mode=CAN_Activate
-PA11.Signal=CAN1_RX
-PA12.Mode=CAN_Activate
-PA12.Signal=CAN1_TX
-PA13.Mode=Serial_Wire
-PA13.Signal=SYS_JTMS-SWDIO
-PA14.Mode=Serial_Wire
-PA14.Signal=SYS_JTCK-SWCLK
-PA2.Locked=true
-PA2.Signal=S_TIM2_CH3
-PA3.Locked=true
-PA3.Signal=S_TIM2_CH4
-PA5.Locked=true
-PA5.Mode=Full_Duplex_Master
-PA5.Signal=SPI1_SCK
-PA6.Locked=true
-PA6.Mode=Full_Duplex_Master
-PA6.Signal=SPI1_MISO
-PA7.Locked=true
-PA7.Mode=Full_Duplex_Master
-PA7.Signal=SPI1_MOSI
-PA9.Locked=true
-PA9.Mode=Asynchronous
-PA9.Signal=USART1_TX
-PB0.Signal=ADCx_IN8
-PB1.Signal=ADCx_IN9
-PB10.Mode=Asynchronous
-PB10.Signal=USART3_TX
-PB11.Mode=Asynchronous
-PB11.Signal=USART3_RX
-PB6.Mode=I2C
-PB6.Signal=I2C1_SCL
-PB7.Mode=I2C
-PB7.Signal=I2C1_SDA
-PC0.Locked=true
-PC0.Signal=GPXTI0
-PC11.Mode=Asynchronous
-PC11.Signal=UART4_RX
-PC4.Locked=true
-PC4.Signal=GPXTI4
-PC9.Locked=true
-PC9.Mode=Clock-out-2
-PC9.Signal=RCC_MCO_2
-PD5.Mode=Asynchronous
-PD5.Signal=USART2_TX
-PD6.Mode=Asynchronous
-PD6.Signal=USART2_RX
-PE13.Signal=S_TIM1_CH3
-PE9.Locked=true
-PE9.Signal=S_TIM1_CH1
-PH0-OSC_IN.Mode=HSE-External-Oscillator
-PH0-OSC_IN.Signal=RCC_OSC_IN
-PH1-OSC_OUT.Mode=HSE-External-Oscillator
-PH1-OSC_OUT.Signal=RCC_OSC_OUT
-PinOutPanel.RotationAngle=0
-ProjectManager.AskForMigrate=true
-ProjectManager.BackupPrevious=false
-ProjectManager.CompilerOptimize=6
-ProjectManager.ComputerToolchain=false
-ProjectManager.CoupleFile=true
-ProjectManager.CustomerFirmwarePackage=
-ProjectManager.DefaultFWLocation=true
-ProjectManager.DeletePrevious=false
-ProjectManager.DeviceId=STM32F407VETx
-ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
-ProjectManager.FreePins=true
-ProjectManager.HalAssertFull=true
-ProjectManager.HeapSize=0x2000
-ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=true
-ProjectManager.LibraryCopy=1
-ProjectManager.MainLocation=Core/Src
-ProjectManager.NoMain=false
-ProjectManager.PreviousToolchain=STM32CubeIDE
-ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=a8000_cliptip_module.ioc
-ProjectManager.ProjectName=a8000_cliptip_module
-ProjectManager.ProjectStructure=
-ProjectManager.RegisterCallBack=
-ProjectManager.StackSize=0x1000
-ProjectManager.TargetToolchain=STM32CubeIDE
-ProjectManager.ToolChainLocation=
-ProjectManager.UAScriptAfterPath=
-ProjectManager.UAScriptBeforePath=
-ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_CRC_Init-CRC-false-HAL-true,7-MX_RNG_Init-RNG-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM6_Init-TIM6-false-HAL-true,11-MX_TIM1_Init-TIM1-false-HAL-true,12-MX_CAN1_Init-CAN1-false-HAL-true,13-MX_USART3_UART_Init-USART3-false-HAL-true,14-MX_I2C1_Init-I2C1-false-HAL-true,15-MX_ADC1_Init-ADC1-false-HAL-true,16-MX_TIM2_Init-TIM2-false-HAL-true,17-MX_USART2_UART_Init-USART2-false-HAL-true
-RCC.48MHZClocksFreq_Value=48000000
-RCC.AHBFreq_Value=144000000
-RCC.APB1CLKDivider=RCC_HCLK_DIV4
-RCC.APB1Freq_Value=36000000
-RCC.APB1TimFreq_Value=72000000
-RCC.APB2CLKDivider=RCC_HCLK_DIV2
-RCC.APB2Freq_Value=72000000
-RCC.APB2TimFreq_Value=144000000
-RCC.CortexFreq_Value=144000000
-RCC.EthernetFreq_Value=144000000
-RCC.FCLKCortexFreq_Value=144000000
-RCC.FamilyName=M
-RCC.HCLKFreq_Value=144000000
-RCC.HSE_VALUE=8000000
-RCC.HSI_VALUE=16000000
-RCC.I2SClocksFreq_Value=64000000
-RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SN,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,PLLSourceVirtual,RCC_MCO1Source,RCC_MCO2Source,RCC_MCODiv1,RCC_MCODiv2,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
-RCC.LSE_VALUE=32768
-RCC.LSI_VALUE=32000
-RCC.MCO1PinFreq_Value=36000000
-RCC.MCO2PinFreq_Value=16000000
-RCC.PLLCLKFreq_Value=144000000
-RCC.PLLI2SN=64
-RCC.PLLM=4
-RCC.PLLN=144
-RCC.PLLQ=6
-RCC.PLLQCLKFreq_Value=48000000
-RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
-RCC.RCC_MCO1Source=RCC_MCO1SOURCE_PLLCLK
-RCC.RCC_MCO2Source=RCC_MCO2SOURCE_PLLI2SCLK
-RCC.RCC_MCODiv1=RCC_MCODIV_4
-RCC.RCC_MCODiv2=RCC_MCODIV_4
-RCC.RTCFreq_Value=32000
-RCC.RTCHSEDivFreq_Value=4000000
-RCC.SYSCLKFreq_VALUE=144000000
-RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.VCOI2SOutputFreq_Value=128000000
-RCC.VCOInputFreq_Value=2000000
-RCC.VCOOutputFreq_Value=288000000
-RCC.VcooutputI2S=64000000
-SH.ADCx_IN8.0=ADC1_IN8,IN8
-SH.ADCx_IN8.ConfNb=1
-SH.ADCx_IN9.0=ADC1_IN9,IN9
-SH.ADCx_IN9.ConfNb=1
-SH.GPXTI0.0=GPIO_EXTI0
-SH.GPXTI0.ConfNb=1
-SH.GPXTI4.0=GPIO_EXTI4
-SH.GPXTI4.ConfNb=1
-SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
-SH.S_TIM1_CH1.ConfNb=1
-SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
-SH.S_TIM1_CH3.ConfNb=1
-SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
-SH.S_TIM2_CH2.ConfNb=1
-SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
-SH.S_TIM2_CH3.ConfNb=1
-SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
-SH.S_TIM2_CH4.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
-SPI1.CalculateBaudRate=2.25 MBits/s
-SPI1.Direction=SPI_DIRECTION_2LINES
-SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
-SPI1.Mode=SPI_MODE_MASTER
-SPI1.VirtualType=VM_MASTER
-TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
-TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
-TIM1.IPParameters=Period,Prescaler,Channel-PWM Generation1 CH1,Channel-PWM Generation3 CH3
-TIM1.Period=9999
-TIM1.Prescaler=143
-TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
-TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
-TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM2.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Channel-PWM Generation2 CH2
-TIM3.IPParameters=Prescaler,Period
-TIM3.Period=9999
-TIM3.Prescaler=71
-TIM6.IPParameters=Prescaler
-TIM6.Prescaler=71
-TIM7.IPParameters=Prescaler
-TIM7.Prescaler=81
-UART4.IPParameters=VirtualMode
-UART4.VirtualMode=Asynchronous
-USART1.BaudRate=961200
-USART1.IPParameters=VirtualMode,BaudRate
-USART1.VirtualMode=VM_ASYNC
-USART2.BaudRate=9600
-USART2.IPParameters=VirtualMode,BaudRate
-USART2.VirtualMode=VM_ASYNC
-USART3.BaudRate=9600
-USART3.IPParameters=VirtualMode,BaudRate
-USART3.VirtualMode=VM_ASYNC
-VP_CRC_VS_CRC.Mode=CRC_Activate
-VP_CRC_VS_CRC.Signal=CRC_VS_CRC
-VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
-VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
-VP_RNG_VS_RNG.Mode=RNG_Activate
-VP_RNG_VS_RNG.Signal=RNG_VS_RNG
-VP_SYS_VS_tim11.Mode=TIM11
-VP_SYS_VS_tim11.Signal=SYS_VS_tim11
-VP_TIM1_VS_ClockSourceINT.Mode=Internal
-VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
-VP_TIM3_VS_ClockSourceINT.Mode=Internal
-VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
-VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
-VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
-VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer
-VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
-board=custom
-rtos.0.ip=FREERTOS
-isbadioc=false
diff --git a/a8000_cliptip_module.launch b/a8000_cliptip_module.launch
deleted file mode 100644
index 558eaa2..0000000
--- a/a8000_cliptip_module.launch
+++ /dev/null
@@ -1,98 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.cubeprog_external_loaders" value="[]"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_certif_path" value=""/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_check_enable" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_key_path" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value="debug_non_secure_L3"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
-    <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/a8000_cliptip_module.elf&quot;,&quot;fProjectName&quot;:&quot;a8000_cliptip_module&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="144000000"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_ALLOW_HALT" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_SIGNAL_HALT" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_DEVICE_SHAREABLE_ALLOWED" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE" value="Swd"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE_FREQUENCY" value="8000000.0"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_LOW_POWER_MODE_ALLOWED" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_RESET_MODE" value="connect_under_reset"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_STOP_WATCHDOG_THEN_HALTED_ALLOWED" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_GENERATOR_OPTION" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_NAME" value="&quot;${stm32cubeide_openocd_path}\openocd.exe&quot;"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_OTHER_OPTIONS" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_RESTART_CONFIGURATIONS" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset halt&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset init&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}\a8000_cliptip_module Debug.cfg"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT_CHOICE" value="automated"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocdenable_rtos" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="D:\workspace\project_boditech_vidas_a8000_v2\a8000_cliptip_module\Debug\st-link_gdbserver_log.txt"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="disable"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="system_reset"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value="0046002C3132510838363431"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="freertos"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="ARM_CM0"/>
-    <intAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyPort" value="60000"/>
-    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.stlink"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
-    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
-    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
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-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
-    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
-    <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/a8000_cliptip_module.elf"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="a8000_cliptip_module"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1853947771"/>
-    <booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-        <listEntry value="/a8000_cliptip_module"/>
-    </listAttribute>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
-        <listEntry value="4"/>
-    </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
-    <stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
-</launchConfiguration>
diff --git a/usrc/board.h b/usrc/board.h
index 9f7093b..ea6eb85 100644
--- a/usrc/board.h
+++ b/usrc/board.h
@@ -1,11 +1,20 @@
 #pragma once
+#define TMC_MOTOR_SPI hspi1
+#define TMC_DIAG1     PB0
+#define TMC_DIAG0     PB1
 
-// MOTOR1
-#define TMC_MOTOR_SPI          hspi1
-#define TMC5130_MOTOR_NUM      1
+// MOTOR0
 #define MOTOR0_CSN             PA4
-#define MOTOR0_ENN             PD0
+#define MOTOR0_ENN             PE3
+#define MOTOR0_SPI_MODE_SELECT PinNull
+#define MOTOR0_REFL            PD13
+#define MOTOR0_REFR            PD14
+
+// MOTOR1
+#define MOTOR1_CSN             PA8
+#define MOTOR1_ENN             PE6
 #define MOTOR1_SPI_MODE_SELECT PinNull
+#define MOTOR1_REFL            PD11
+#define MOTOR1_REFR            PD12
 
 #define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK"
-
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 56430e0..f07f931 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -41,7 +41,7 @@ static void initsubmodule() {
                     .spi             = &TMC_MOTOR_SPI,          //
                     .csgpio          = MOTOR0_CSN,              //
                     .ennPin          = MOTOR0_ENN,              //
-                    .spi_mode_select = MOTOR1_SPI_MODE_SELECT,  //
+                    .spi_mode_select = MOTOR0_SPI_MODE_SELECT,  //
     };
     g_motor.initialize(&cfg);
     ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion());
@@ -52,10 +52,8 @@ static void initsubmodule() {
     g_motor.setIHOLD_IRUN(0, 8, 10);
 
     static ZGPIO input[10];
-    input[0].initAsInput(PD2 /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-    input[1].initAsInput(PD1 /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-    input[2].initAsInput(PD3 /*DIAG0*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-    input[3].initAsInput(PD4 /*DIAG1*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+    input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+    input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
 
     I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
     StepMotorCtrlModule::create_default_cfg(smcm_cfg);
@@ -74,34 +72,78 @@ static void initsubmodule() {
   }
 
   {
-    static PipetteModule    g_pipetteModule;
-    PipetteModule::config_t cfg = {
-        .limit_ul = 30,
+    static TMC5130             g_motor;
+    static StepMotorCtrlModule g_stepMotorCtrlModule;
+    TMC5130::cfg_t             cfg = {
+                    .spi             = &TMC_MOTOR_SPI,          //
+                    .csgpio          = MOTOR1_CSN,              //
+                    .ennPin          = MOTOR1_ENN,              //
+                    .spi_mode_select = MOTOR1_SPI_MODE_SELECT,  //
     };
+    g_motor.initialize(&cfg);
+    ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion());
 
-    PipetteModule::hardward_config_t hardwarecfg = {
-        .uart    = &huart2,
-        .hdma_rx = &hdma_usart2_rx,
-        .hdma_tx = &hdma_usart2_tx,
-    };
-    g_pipetteModule.initialize(initer.get_module_id(2), &cfg, &hardwarecfg);
-    initer.register_module(&g_pipetteModule);
+    g_motor.setMotorShaft(false);
+    g_motor.setAcceleration(100);
+    g_motor.setDeceleration(100);
+    g_motor.setIHOLD_IRUN(0, 8, 10);
+
+    static ZGPIO input[10];
+    input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+    input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+
+    I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
+    StepMotorCtrlModule::create_default_cfg(smcm_cfg);
+    smcm_cfg.base_param.distance_scale             = 80;
+    smcm_cfg.base_param.distance_scale_denominator = 1;
+    smcm_cfg.base_param.ihold                      = 1;
+    smcm_cfg.base_param.irun                       = 8;
+    smcm_cfg.base_param.x_shaft                    = false;
+    smcm_cfg.base_param.maxspeed                   = 500;
+    smcm_cfg.base_param.run_to_zero_speed          = 100;
+    smcm_cfg.base_param.max_x                      = 0;
+    smcm_cfg.base_param.min_x                      = 0;
+
+    g_stepMotorCtrlModule.initialize(initer.get_module_id(2), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
+    initer.register_module(&g_stepMotorCtrlModule);
   }
 
   {
-    //
-    static M3078CodeScanner                    codescanner;
-    static M3078CodeScanner::hardware_config_t cfg = {
-        .uart    = &huart4,
-        .hdma_rx = nullptr,
-        .hdma_tx = nullptr,
-
-        .codeReadOkPin = PinNull,
-        .rstPin        = PinNull,
-        .triggerPin    = PD15,
-    };
-    codescanner.initialize(initer.get_module_id(3), &cfg);
-    initer.register_module(&codescanner);
+    {
+      {
+        /*******************************************************************************
+         *                                 试管夹舵机                                  *
+         *******************************************************************************/
+        static FeiTeServoMotor     feiteservomotor_bus;  // 飞特舵机总线
+        static MiniRobotCtrlModule mini_servo;
+
+        // 飞特舵机总线
+        ZASSERT(huart2.Init.BaudRate == 115200);
+        feiteservomotor_bus.initialize(&huart2, &hdma_usart2_rx, &hdma_usart2_tx);
+
+        static MiniRobotCtrlModule::flash_config_t cfg = {0};
+        cfg.default_torque                             = 100;
+        mini_servo.initialize(initer.get_module_id(3), &feiteservomotor_bus, 1, &cfg);
+        initer.register_module(&mini_servo);
+      }
+
+      // {
+      //   // 115200
+      //   /*******************************************************************************
+      //    *******************************************************************************/
+      //   static FeiTeServoMotor     feiteservomotor_bus;  // 飞特舵机总线
+      //   static MiniRobotCtrlModule mini_servo;
+
+      //   // 飞特舵机总线
+      //   ZASSERT(huart3.Init.BaudRate == 115200);
+      //   feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);
+
+      //   static MiniRobotCtrlModule::flash_config_t cfg = {0};
+      //   cfg.default_torque                             = 330;
+      //   mini_servo.initialize(initer.get_module_id(4), &feiteservomotor_bus, 2, &cfg);
+      //   initer.register_module(&mini_servo);
+      // }
+    }
   }
 }
 
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 1808110..7718615 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,7 +1,7 @@
 #pragma once
 #define PC_VERSION           "v1.0.1"
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
-#define PC_PROJECT_NAME      "a8000_cliptip_module"
+#define PC_PROJECT_NAME      "Intelligent_winding_robot_zarm"
 #define PC_IFLYTOP_ENABLE_OS 1
 
 #define PC_DEBUG_UART             huart1
@@ -18,4 +18,4 @@
 #define PC_NVS_ENABLE              1
 #define PC_NVS_CONFIG_FLASH_SECTOR 8
 
-#define BOARD_ID 8
+#define BOARD_ID 3