From 6d25269d9156d8fcbb3963621e03618fc5439aa6 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 3 Feb 2024 21:31:48 +0800
Subject: [PATCH] update

---
 .cproject                       |  10 ++--
 .project                        |   2 +-
 .settings/language.settings.xml |   4 +-
 sdk                             |   2 +-
 usrc/cmdline_version.cpp        | 103 +++++++++++++++++++++++++++++++++++++++-
 usrc/main.cpp                   |   2 +-
 usrc/project_configs.h          |   4 +-
 zcancmder_debug_board.ioc       |   4 +-
 zcancmder_debug_board.launch    |  12 ++---
 9 files changed, 122 insertions(+), 21 deletions(-)

diff --git a/.cproject b/.cproject
index a94d3ed..496ed70 100644
--- a/.cproject
+++ b/.cproject
@@ -29,7 +29,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.1033151657" 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.runtimelibrary_cpp.584576254" name="Runtime library" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_cpp" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_cpp.value.standard_c_standard_cpp" valueType="enumerated"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.488425717" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/zcancmder_debug_board}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1708127142" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/graphite_digester_zancmder_debug_board}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1708127142" 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.2063489662" 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.684982648" 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.651785909" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
@@ -141,7 +141,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1362099555" 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 || STM32F407ZGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F ||  ||  || USE_HAL_DRIVER | STM32F407xx ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407ZGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1903330877" 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.1554547639" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/zcancmder_debug_board}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1369125200" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/graphite_digester_zancmder_debug_board}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1369125200" 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.1650882513" 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.1057841186" 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.1430438533" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
@@ -216,7 +216,7 @@
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="zcancmder_debug_board.null.1351159792" name="zcancmder_debug_board"/>
+		<project id="graphite_digester_zancmder_debug_board.null.1351159792" name="graphite_digester_zancmder_debug_board"/>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
@@ -237,10 +237,10 @@
 	</storageModule>
 	<storageModule moduleId="refreshScope" versionNumber="2">
 		<configuration configurationName="Debug">
-			<resource resourceType="PROJECT" workspacePath="/zcancmder_debug_board"/>
+			<resource resourceType="PROJECT" workspacePath="/graphite_digester_zancmder_debug_board"/>
 		</configuration>
 		<configuration configurationName="Release">
-			<resource resourceType="PROJECT" workspacePath="/zcancmder_debug_board"/>
+			<resource resourceType="PROJECT" workspacePath="/graphite_digester_zancmder_debug_board"/>
 		</configuration>
 	</storageModule>
 </cproject>
\ No newline at end of file
diff --git a/.project b/.project
index 79a842e..58b6965 100644
--- a/.project
+++ b/.project
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>zcancmder_debug_board</name>
+	<name>graphite_digester_zancmder_debug_board</name>
 	<comment></comment>
 	<projects>
 	</projects>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 7cbbd13..ecbf44d 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="-576468025556834738" 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="-354346224488128297" 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="-638487411779901448" 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="-381469415379267199" 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/sdk b/sdk
index a5aad9a..2b38f18 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit a5aad9a6baff180b9df97ecf2044280fc6af0a3e
+Subproject commit 2b38f182db4aa01a12d2c1e81caf3858782d65f6
diff --git a/usrc/cmdline_version.cpp b/usrc/cmdline_version.cpp
index 1c0f791..45e2980 100644
--- a/usrc/cmdline_version.cpp
+++ b/usrc/cmdline_version.cpp
@@ -9,6 +9,7 @@
 //
 #include "sdk\components\flash\znvs.hpp"
 //
+#include "global.hpp"
 #include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
 #include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
 #include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
@@ -25,7 +26,6 @@
 #include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
 #include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
 #include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
-#include "global.hpp"
 // #include "M3078CodeScanner"
 
 #define TAG "main"
@@ -79,6 +79,107 @@ void cmdline_version_main() {
   }
 
   ZLOGI(TAG, "board init ok...");
+  osDelay(3000);
+
+  // 11  加热转盘
+  // 12  开盖1
+  // 21  主机械臂升降
+  // 22  主机械臂夹取
+  // 31  主机械臂旋转
+  // 41  加液机械臂旋转
+  // 51  加液转盘
+  // 61  加酸蠕动泵1
+  // 70  IO板
+
+  // 加热转盘
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_shaft, 0);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_one_circle_pulse, 10000);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_one_circle_pulse_denominator, 30);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_default_velocity, 150);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_default_acc, 25);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_default_dec, 10);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_stepmotor_ihold, 0);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_stepmotor_irun, 31);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_stepmotor_iholddelay, 100);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_run_to_zero_speed, 120);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_run_to_zero_dec, 25);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_look_zero_edge_speed, 25);
+  // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_look_zero_edge_dec, 50);
+  // g_zModuleDeviceManager.module_active_cfg(11);
+
+  // // 盖盖舵机
+  // g_zModuleDeviceManager.module_set_reg(12, kreg_motor_default_velocity, 150);
+  // g_zModuleDeviceManager.module_set_reg(12, kreg_motor_default_torque, 1000);
+  // g_zModuleDeviceManager.module_active_cfg(12);
+
+  // // 升降
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_shaft, 0);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_one_circle_pulse, 1000);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_one_circle_pulse_denominator, 1);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_default_velocity, 150);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_default_acc, 25);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_default_dec, 10);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_stepmotor_ihold, 0);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_stepmotor_irun, 31);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_stepmotor_iholddelay, 100);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_run_to_zero_speed, 120);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_run_to_zero_dec, 25);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_look_zero_edge_speed, 25);
+  // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_look_zero_edge_dec, 50);
+  // g_zModuleDeviceManager.module_active_cfg(21);
+
+
+  // // 夹爪舵机
+  // g_zModuleDeviceManager.module_set_reg(22, kreg_motor_default_velocity, 800);
+  // g_zModuleDeviceManager.module_set_reg(22, kreg_motor_default_torque, 330);
+  // g_zModuleDeviceManager.module_active_cfg(22);
+
+  // // 加液体泵
+  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_shaft, 0);
+  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_one_circle_pulse, 10000);
+  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_one_circle_pulse_denominator, 1);
+  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_default_velocity, 50);
+  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_default_acc, 300);
+  // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_default_dec, 300);
+  // g_zModuleDeviceManager.module_set_reg(61, kreg_stepmotor_ihold, 0);
+  // g_zModuleDeviceManager.module_set_reg(61, kreg_stepmotor_irun, 4);
+  // g_zModuleDeviceManager.module_set_reg(61, kreg_stepmotor_iholddelay, 100);
+  // g_zModuleDeviceManager.module_active_cfg(61);
+
+  // 加热转盘
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_shaft, 0);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_one_circle_pulse, 1000);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_one_circle_pulse_denominator, 18);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_default_velocity, 50);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_default_acc, 300);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_default_dec, 300);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_stepmotor_ihold, 1);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_stepmotor_irun, 4);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_stepmotor_iholddelay, 100);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_run_to_zero_max_d, 36000);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_look_zero_edge_max_d, 360);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_run_to_zero_speed, 50);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_run_to_zero_dec, 300);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_look_zero_edge_speed, 50);
+  // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_look_zero_edge_dec, 600);
+  // g_zModuleDeviceManager.module_active_cfg(41);
+
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_shaft, 0);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_one_circle_pulse, 3600);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_one_circle_pulse_denominator, 18);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_default_velocity, 100);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_default_acc, 300);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_default_dec, 300);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_stepmotor_ihold, 1);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_stepmotor_irun, 8);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_stepmotor_iholddelay, 100);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_run_to_zero_max_d, 36000);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_look_zero_edge_max_d, 360);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_run_to_zero_speed, 50);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_run_to_zero_dec, 300);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_look_zero_edge_speed, 50);
+  // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_look_zero_edge_dec, 600);
+  // g_zModuleDeviceManager.module_active_cfg(51);
 
   while (true) {
     OSDefaultSchduler::getInstance()->loop();
diff --git a/usrc/main.cpp b/usrc/main.cpp
index e7f910f..7df6685 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -18,7 +18,7 @@ void StartDefaultTask(void const* argument) { umain(); }
 }
 
 void umain() {
-  g_Key0.initAsInput(KEY0, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, false);
+  g_Key0.initAsInput(KEY1, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, false);
   g_StateLight1.initAsOutput(STATE_LIGHT_GPIO, ZGPIO::kMode_pullup, false, false);
 
   if (g_Key0.getState()) {
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 741754f..279c4d8 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -2,12 +2,12 @@
 
 #define PC_VERSION           "v1.0.0"
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
-#define PC_PROJECT_NAME      "zcancmder_debug_board"
+#define PC_PROJECT_NAME      "graphite_digester_zancmder_debug_board"
 #define PC_IFLYTOP_ENABLE_OS 1
 
 #define PC_DEBUG_UART             huart1
 #define PC_DEBUG_UART_DMA_HANDLER hdma_usart1_rx
-#define PC_DEBUG_UART_RX_BUF_SIZE 1024
+#define PC_DEBUG_UART_RX_BUF_SIZE 5000
 #define PC_DEBUG_LIGHT_GPIO       PF10
 
 #define PC_SYS_DELAY_US_TIMER          htim6  // US延时定时器
diff --git a/zcancmder_debug_board.ioc b/zcancmder_debug_board.ioc
index f958b88..358f696 100644
--- a/zcancmder_debug_board.ioc
+++ b/zcancmder_debug_board.ioc
@@ -220,8 +220,8 @@ ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
 ProjectManager.PreviousToolchain=
 ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=zcancmder_debug_board.ioc
-ProjectManager.ProjectName=zcancmder_debug_board
+ProjectManager.ProjectFileName=graphite_digester_zancmder_debug_board.ioc
+ProjectManager.ProjectName=graphite_digester_zancmder_debug_board
 ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x1000
diff --git a/zcancmder_debug_board.launch b/zcancmder_debug_board.launch
index 48f2121..7fd6a91 100644
--- a/zcancmder_debug_board.launch
+++ b/zcancmder_debug_board.launch
@@ -12,7 +12,7 @@
     <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/zcancmder_debug_board.elf&quot;,&quot;fProjectName&quot;:&quot;zcancmder_debug_board&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/graphite_digester_zancmder_debug_board.elf&quot;,&quot;fProjectName&quot;:&quot;graphite_digester_zancmder_debug_board&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"/>
@@ -32,11 +32,11 @@
     <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\p_Intelligent_winding_robot\zcancmder_debug_board\Debug\st-link_gdbserver_log.txt"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="D:\workspace\p_Intelligent_winding_robot\graphite_digester_zancmder_debug_board\Debug\st-link_gdbserver_log.txt"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
     <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="connect_under_reset"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value="001D003E3431511731343632"/>
     <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"/>
@@ -67,13 +67,13 @@
     <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/zcancmder_debug_board.elf"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="zcancmder_debug_board"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/graphite_digester_zancmder_debug_board.elf"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="graphite_digester_zancmder_debug_board"/>
     <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.487550817"/>
     <booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-        <listEntry value="/zcancmder_debug_board"/>
+        <listEntry value="/graphite_digester_zancmder_debug_board"/>
     </listAttribute>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
         <listEntry value="4"/>