From ccf3719b3b3a387d26578c2efcff1b2cc34a4f1f Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 27 Jul 2023 16:23:33 +0800
Subject: [PATCH] update

---
 .cproject                            |  10 +-
 .project                             |   2 +-
 .settings/language.settings.xml      |   4 +-
 .settings/stm32cubeide.project.prefs |   4 +-
 dap.cfg                              |  43 +++++++
 robotic_core_xy dap.cfg              |  43 -------
 robotic_core_xy.ioc                  | 242 -----------------------------------
 robotic_core_xy.launch               |  96 --------------
 sdk                                  |   2 +-
 usrc/main.cpp                        | 117 ++++++-----------
 usrc/project.hpp                     | 107 +++++++++-------
 zapp.ioc                             | 242 +++++++++++++++++++++++++++++++++++
 zapp.launch                          |  96 ++++++++++++++
 13 files changed, 497 insertions(+), 511 deletions(-)
 create mode 100644 dap.cfg
 delete mode 100644 robotic_core_xy dap.cfg
 delete mode 100644 robotic_core_xy.ioc
 delete mode 100644 robotic_core_xy.launch
 create mode 100644 zapp.ioc
 create mode 100644 zapp.launch

diff --git a/.cproject b/.cproject
index 50ffba8..51b9c10 100644
--- a/.cproject
+++ b/.cproject
@@ -26,7 +26,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1449146736" 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 || Debug || true || 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 | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_HAL_DRIVER | STM32F407xx ||  || Drivers | Core/Startup | 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.2004392039" 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.1550094338" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/robotic_core_xy}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.2039995727" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/zapp}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.2039995727" 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.1267404562" 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.1574118648" 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.1426155053" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
@@ -134,7 +134,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1999660059" 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 | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_HAL_DRIVER | STM32F407xx ||  || Drivers | Core/Startup | 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.1733776023" 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.1767941885" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/robotic_core_xy}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1109588320" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/zapp}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1109588320" 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.1819027329" 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.1168918717" 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.937143612" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
@@ -207,16 +207,16 @@
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="robotic_core_xy.null.218039856" name="robotic_core_xy"/>
+		<project id="zapp.null.218039856" name="zapp"/>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
 	<storageModule moduleId="refreshScope" versionNumber="2">
 		<configuration configurationName="Debug">
-			<resource resourceType="PROJECT" workspacePath="/robotic_core_xy"/>
+			<resource resourceType="PROJECT" workspacePath="/zapp"/>
 		</configuration>
 		<configuration configurationName="Release">
-			<resource resourceType="PROJECT" workspacePath="/robotic_core_xy"/>
+			<resource resourceType="PROJECT" workspacePath="/zapp"/>
 		</configuration>
 	</storageModule>
 	<storageModule moduleId="scannerConfiguration">
diff --git a/.project b/.project
index f94bb8c..085a4d5 100644
--- a/.project
+++ b/.project
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>robotic_core_xy</name>
+	<name>zapp</name>
 	<comment></comment>
 	<projects>
 	</projects>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 4dfe58f..d6ab3cb 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<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="-893282063446892158" 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="1382728325907468114" 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-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<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="-847233803538494395" 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="1428776585815865877" 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/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
index a9f6b79..d599a44 100644
--- a/.settings/stm32cubeide.project.prefs
+++ b/.settings/stm32cubeide.project.prefs
@@ -1,3 +1,3 @@
-8DF89ED150041C4CBC7CB9A9CAA90856=763711B08F1ABC1A77FC8FA1A08B45FA
-DC22A860405A8BF2F2C095E5B6529F12=763711B08F1ABC1A77FC8FA1A08B45FA
+8DF89ED150041C4CBC7CB9A9CAA90856=F6DE5292A9642B92EC07AFF89A393D1B
+DC22A860405A8BF2F2C095E5B6529F12=D76CD03FA6D6925E54EEE32EC928F8C2
 eclipse.preferences.version=1
diff --git a/dap.cfg b/dap.cfg
new file mode 100644
index 0000000..b41d541
--- /dev/null
+++ b/dap.cfg
@@ -0,0 +1,43 @@
+# 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/cmsis-dap.cfg]
+
+
+set WORKAREASIZE 0x8000
+
+transport select "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 4000
+
+# Reset configuration
+# use hardware reset
+reset_config srst_only srst_nogate
+set CONNECT_UNDER_RESET 0
+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/robotic_core_xy dap.cfg b/robotic_core_xy dap.cfg
deleted file mode 100644
index b41d541..0000000
--- a/robotic_core_xy dap.cfg	
+++ /dev/null
@@ -1,43 +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/cmsis-dap.cfg]
-
-
-set WORKAREASIZE 0x8000
-
-transport select "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 4000
-
-# Reset configuration
-# use hardware reset
-reset_config srst_only srst_nogate
-set CONNECT_UNDER_RESET 0
-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/robotic_core_xy.ioc b/robotic_core_xy.ioc
deleted file mode 100644
index b203f1f..0000000
--- a/robotic_core_xy.ioc
+++ /dev/null
@@ -1,242 +0,0 @@
-#MicroXplorer Configuration settings - do not modify
-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
-File.Version=6
-GPIO.groupedBy=Group By Peripherals
-KeepUserPlacement=false
-Mcu.CPN=STM32F407VET6
-Mcu.Family=STM32F4
-Mcu.IP0=CAN1
-Mcu.IP1=CRC
-Mcu.IP10=TIM7
-Mcu.IP11=USART1
-Mcu.IP12=USART2
-Mcu.IP13=USART3
-Mcu.IP2=NVIC
-Mcu.IP3=RCC
-Mcu.IP4=RNG
-Mcu.IP5=SPI1
-Mcu.IP6=SYS
-Mcu.IP7=TIM1
-Mcu.IP8=TIM3
-Mcu.IP9=TIM6
-Mcu.IPNb=14
-Mcu.Name=STM32F407V(E-G)Tx
-Mcu.Package=LQFP100
-Mcu.Pin0=PH0-OSC_IN
-Mcu.Pin1=PH1-OSC_OUT
-Mcu.Pin10=PB11
-Mcu.Pin11=PC9
-Mcu.Pin12=PA9
-Mcu.Pin13=PA10
-Mcu.Pin14=PA11
-Mcu.Pin15=PA12
-Mcu.Pin16=PA13
-Mcu.Pin17=PA14
-Mcu.Pin18=VP_CRC_VS_CRC
-Mcu.Pin19=VP_RNG_VS_RNG
-Mcu.Pin2=PC0
-Mcu.Pin20=VP_SYS_VS_Systick
-Mcu.Pin21=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin22=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin23=VP_TIM6_VS_ClockSourceINT
-Mcu.Pin24=VP_TIM7_VS_ClockSourceINT
-Mcu.Pin3=PA2
-Mcu.Pin4=PA3
-Mcu.Pin5=PA5
-Mcu.Pin6=PA6
-Mcu.Pin7=PA7
-Mcu.Pin8=PC4
-Mcu.Pin9=PB10
-Mcu.PinsNb=25
-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
-NVIC.CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.CAN1_RX1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.CAN1_SCE_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.CAN1_TX_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.ForceEnableDMAVector=true
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
-NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-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.Mode=Asynchronous
-PA2.Signal=USART2_TX
-PA3.Mode=Asynchronous
-PA3.Signal=USART2_RX
-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
-PB10.Mode=Asynchronous
-PB10.Signal=USART3_TX
-PB11.Mode=Asynchronous
-PB11.Signal=USART3_RX
-PC0.Locked=true
-PC0.Signal=GPXTI0
-PC4.Locked=true
-PC4.Signal=GPXTI4
-PC9.Locked=true
-PC9.Mode=Clock-out-2
-PC9.Signal=RCC_MCO_2
-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=robotic_core_xy.ioc
-ProjectManager.ProjectName=robotic_core_xy
-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_USART1_UART_Init-USART1-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_CRC_Init-CRC-false-HAL-true,6-MX_RNG_Init-RNG-false-HAL-true,7-MX_TIM7_Init-TIM7-false-HAL-true,8-MX_SPI1_Init-SPI1-false-HAL-true,9-MX_TIM6_Init-TIM6-false-HAL-true,10-MX_TIM1_Init-TIM1-false-HAL-true,11-MX_CAN1_Init-CAN1-false-HAL-true,12-MX_USART2_UART_Init-USART2-false-HAL-true,13-MX_USART3_UART_Init-USART3-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.GPXTI0.0=GPIO_EXTI0
-SH.GPXTI0.ConfNb=1
-SH.GPXTI4.0=GPIO_EXTI4
-SH.GPXTI4.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_128
-SPI1.CalculateBaudRate=562.5 KBits/s
-SPI1.Direction=SPI_DIRECTION_2LINES
-SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
-SPI1.Mode=SPI_MODE_MASTER
-SPI1.VirtualType=VM_MASTER
-TIM1.IPParameters=Period,Prescaler
-TIM1.Period=9999
-TIM1.Prescaler=143
-TIM3.IPParameters=Prescaler,Period
-TIM3.Period=9999
-TIM3.Prescaler=71
-TIM6.IPParameters=Prescaler
-TIM6.Prescaler=71
-TIM7.IPParameters=Prescaler
-TIM7.Prescaler=81
-USART1.IPParameters=VirtualMode
-USART1.VirtualMode=VM_ASYNC
-USART2.IPParameters=VirtualMode
-USART2.VirtualMode=VM_ASYNC
-USART3.IPParameters=VirtualMode
-USART3.VirtualMode=VM_ASYNC
-VP_CRC_VS_CRC.Mode=CRC_Activate
-VP_CRC_VS_CRC.Signal=CRC_VS_CRC
-VP_RNG_VS_RNG.Mode=RNG_Activate
-VP_RNG_VS_RNG.Signal=RNG_VS_RNG
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
-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
-isbadioc=false
diff --git a/robotic_core_xy.launch b/robotic_core_xy.launch
deleted file mode 100644
index 0027e0e..0000000
--- a/robotic_core_xy.launch
+++ /dev/null
@@ -1,96 +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/robotic_core_xy.elf&quot;,&quot;fProjectName&quot;:&quot;robotic_core_xy&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="3344"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
-    <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.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="4000000.0"/>
-    <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="hard"/>
-    <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="true"/>
-    <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}\robotic_core_xy dap.cfg"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT_CHOICE" value="provided"/>
-    <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\new\robotic_core_xy\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="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
-    <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"/>
-    <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="threadx"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="cortex_m0"/>
-    <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.openocd"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
-    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="3333"/>
-    <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"/>
-    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="false"/>
-    <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="false"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/robotic_core_xy.elf"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="robotic_core_xy"/>
-    <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.1316415929"/>
-    <booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-        <listEntry value="/robotic_core_xy"/>
-    </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/sdk b/sdk
index c081915..f28856b 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit c081915dfcdc6901b278c969f861458ee386eae0
+Subproject commit f28856b68a9c6fd2b06070a2a10c6f40dfe9896d
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 7625c57..87a0855 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -9,6 +9,7 @@
 #include "sdk/hal/zhal.hpp"
 #include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
 #include "sdk\components\tmc\ic\ztmc4361A.hpp"
+#include "sdk\components\tmc\ic\ztmc5130.hpp"
 
 #define TAG "main"
 namespace iflytop {
@@ -18,17 +19,18 @@ Main gmain;
 using namespace iflytop;
 
 IflytopCanProtocolStackProcesser m_protocolStack;
-TMC4361A                         m_motora;
-TMC4361A                         m_motorb;
-
-ZGPIO arm_sensor1_gpio;
-ZGPIO arm_sensor2_gpio;
-ZGPIO arm_sensor3_gpio;
-ZGPIO arm_sensor4_gpio;
-ZGPIO arm_sensor5_gpio;
-ZGPIO arm_sensor6_gpio;
-ZGPIO arm_sensor7_gpio;
-ZGPIO arm_sensor8_gpio;
+
+TMC5130 m_tj_motor;
+TMC5130 m_py_motor;
+
+// ZGPIO arm_sensor1_gpio;
+// ZGPIO arm_sensor2_gpio;
+// ZGPIO arm_sensor3_gpio;
+// ZGPIO arm_sensor4_gpio;
+// ZGPIO arm_sensor5_gpio;
+// ZGPIO arm_sensor6_gpio;
+// ZGPIO arm_sensor7_gpio;
+// ZGPIO arm_sensor8_gpio;
 
 ZGPIO debuglight;
 
@@ -42,43 +44,40 @@ ZGPIO tmc_motor2_nreset_io;
 ZGPIO tmc_motor2_sub_ic_enn_io;
 
 void input_sensors_init() {
-  arm_sensor1_gpio.initAsInput(ARM_SENSOR1_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
-  arm_sensor2_gpio.initAsInput(ARM_SENSOR2_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
-  arm_sensor3_gpio.initAsInput(ARM_SENSOR3_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
-  arm_sensor4_gpio.initAsInput(ARM_SENSOR4_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
-  arm_sensor5_gpio.initAsInput(ARM_SENSOR5_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
-  arm_sensor6_gpio.initAsInput(ARM_SENSOR6_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
-  arm_sensor7_gpio.initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
-  arm_sensor8_gpio.initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
+  // arm_sensor1_gpio.initAsInput(ARM_SENSOR1_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
+  // arm_sensor2_gpio.initAsInput(ARM_SENSOR2_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
+  // arm_sensor3_gpio.initAsInput(ARM_SENSOR3_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  // arm_sensor4_gpio.initAsInput(ARM_SENSOR4_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  // arm_sensor5_gpio.initAsInput(ARM_SENSOR5_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  // arm_sensor6_gpio.initAsInput(ARM_SENSOR6_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  // arm_sensor7_gpio.initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
+  // arm_sensor8_gpio.initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
 }
 uint32_t intput_sensors_get_table0() {
   uint32_t val = 0;
-  val |= arm_sensor1_gpio.getStateUint32() << 1;
-  val |= arm_sensor2_gpio.getStateUint32() << 2;
-  val |= arm_sensor3_gpio.getStateUint32() << 3;
-  val |= arm_sensor4_gpio.getStateUint32() << 4;
-  val |= arm_sensor5_gpio.getStateUint32() << 5;
-  val |= arm_sensor6_gpio.getStateUint32() << 6;
-  val |= arm_sensor7_gpio.getStateUint32() << 7;
-  val |= arm_sensor8_gpio.getStateUint32() << 8;
+  // val |= arm_sensor1_gpio.getStateUint32() << 1;
+  // val |= arm_sensor2_gpio.getStateUint32() << 2;
+  // val |= arm_sensor3_gpio.getStateUint32() << 3;
+  // val |= arm_sensor4_gpio.getStateUint32() << 4;
+  // val |= arm_sensor5_gpio.getStateUint32() << 5;
+  // val |= arm_sensor6_gpio.getStateUint32() << 6;
+  // val |= arm_sensor7_gpio.getStateUint32() << 7;
+  // val |= arm_sensor8_gpio.getStateUint32() << 8;
   return val;
 }
 
-ZGPIO *input_sensors_get_arm1_homegpio() { return &arm_sensor8_gpio; }
-ZGPIO *input_sensors_get_arm2_homegpio() { return &arm_sensor7_gpio; }
-
 icps::error_t Main::onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser *processer, icps::WriteEvent *event) { return icps::kSuccess; }
 icps::error_t Main::onHostRegisterReadEvent(IflytopCanProtocolStackProcesser *processer, icps::ReadEvent *event) { return icps::kSuccess; }
 void          Main::onHostRegisterReportEvent(IflytopCanProtocolStackProcesser *processer, icps::ReportEvent *event) {}
 
 void Main::run() {
-  iflytop_no_os_cfg_t oscfg = {
+  ZHALCORE::cfg_t oscfg = {
       .delayhtim = &DELAY_US_TIMER,
       .debuguart = &DEBUG_UART,
   };
-  iflytop_no_os_init(&oscfg);
+  ZHALCORE::getInstance()->initialize(oscfg);
 
-  ZLOGI(TAG, "robotic_core_xy:%s", VERSION);
+  ZLOGI(TAG, "zapp:%s", VERSION);
   printf("int32_t %d int %d longint %d\n", sizeof(int32_t), sizeof(int), sizeof(long int));
 
   debuglight.initAsOutput(DEBUG_LIGHT_GPIO, ZGPIO::kMode_nopull, false, false);
@@ -93,43 +92,20 @@ void Main::run() {
   /*******************************************************************************
    *                                 电机初始化                                  *
    *******************************************************************************/
-  tmc_motor1_spi_select1_io.initAsOutput(TMC_MOTOR1_SPI_SELECT1_IO, ZGPIO::kMode_nopull, false, true);
-  tmc_motor1_nfreeze_io.initAsOutput(TMC_MOTOR1_nFREEZE_IO, ZGPIO::kMode_nopull, false, true);
-  tmc_motor1_nreset_io.initAsOutput(TMC_MOTOR1_nRESET_IO, ZGPIO::kMode_nopull, false, true);
-  tmc_motor1_sub_ic_enn_io.initAsOutput(TMC_MOTOR1_SUB_IC_ENN_IO, ZGPIO::kMode_nopull, false, true);
-  tmc_motor2_spi_select1_io.initAsOutput(TMC_MOTOR2_SPI_SELECT1_IO, ZGPIO::kMode_nopull, false, true);
-  tmc_motor2_nfreeze_io.initAsOutput(TMC_MOTOR2_nFREEZE_IO, ZGPIO::kMode_nopull, false, true);
-  tmc_motor2_nreset_io.initAsOutput(TMC_MOTOR2_nRESET_IO, ZGPIO::kMode_nopull, false, true);
-  tmc_motor2_sub_ic_enn_io.initAsOutput(TMC_MOTOR2_SUB_IC_ENN_IO, ZGPIO::kMode_nopull, false, true);
-
   {
-    TMC4361A::cfg_t motora_cfg = {.spi               = &TMC_MOTOR_SPI,
-                                  .csgpio            = &tmc_motor1_spi_select1_io,
-                                  .resetPin          = &tmc_motor1_nreset_io,
-                                  .fREEZEPin         = &tmc_motor1_nfreeze_io,
-                                  .ennPin            = NULL,
-                                  .driverIC_ennPin   = &tmc_motor1_sub_ic_enn_io,
-                                  .driverIC_resetPin = NULL};
-
-    m_motora.initialize(&motora_cfg);
-    int32_t ic4361Version = m_motora.readICVersion();
-    int32_t ic2160Version = m_motora.readSubICVersion();
-    ZLOGI(TAG, "m_motora:TMC4361Version:%lx  TMC2160VERSION:%lx", ic4361Version, ic2160Version);
+    TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR0_ENN, .csn_pin = MOTOR0_CSN};
+
+    m_py_motor.initialize(&cfg);
+    int32_t chipv = m_py_motor.readChipVERSION();
+    ZLOGI(TAG, "m_py_motor:%lx", chipv);
   }
 
   {
-    TMC4361A::cfg_t motorb_cfg = {.spi               = &TMC_MOTOR_SPI,
-                                  .csgpio            = &tmc_motor2_spi_select1_io,
-                                  .resetPin          = &tmc_motor2_nreset_io,
-                                  .fREEZEPin         = &tmc_motor2_nfreeze_io,
-                                  .ennPin            = NULL,
-                                  .driverIC_ennPin   = &tmc_motor2_sub_ic_enn_io,
-                                  .driverIC_resetPin = NULL};
-
-    m_motorb.initialize(&motorb_cfg);
-    int32_t ic4361Version = m_motorb.readICVersion();
-    int32_t ic2160Version = m_motorb.readSubICVersion();
-    ZLOGI(TAG, "m_motorb:TMC4361Version:%lx  TMC2160VERSION:%lx", ic4361Version, ic2160Version);
+    TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR1_ENN, .csn_pin = MOTOR1_CSN};
+
+    m_tj_motor.initialize(&cfg);
+    int32_t chipv = m_tj_motor.readChipVERSION();
+    ZLOGI(TAG, "m_tj_motor:%lx", chipv);
   }
 
   /*******************************************************************************
@@ -162,15 +138,6 @@ void Main::run() {
     m_protocolStack.activeReg(REG_GPIO_INPUT0, icps::kwr, 0);
   }
 
-  m_motora.setIHOLD_IRUN(1, 12, 0);  // 小臂
-  m_motora.setMotorShaft(0);
-
-  m_motorb.setIHOLD_IRUN(1, 12, 0);  // 小臂
-  m_motorb.setMotorShaft(0);
-
-  m_motora.rotate(1200000);
-  m_motorb.rotate(1200000);
-
   while (1) {
     ZHALCORE::getInstance()->loop();
   }
diff --git a/usrc/project.hpp b/usrc/project.hpp
index 770283c..cabe275 100644
--- a/usrc/project.hpp
+++ b/usrc/project.hpp
@@ -1,64 +1,83 @@
 #pragma once
 
-#define VERSION "v2.0"
+#define VERSION "v1.0"
 // 设备ID
-#define DEVICE_ID (128 + 3)
+#define DEVICE_ID (128 + 5)
 // 调试串口
 #define DEBUG_UART huart1
 // 调试指示灯
-#define DEBUG_LIGHT_GPIO PE2
-
+#define DEBUG_LIGHT_GPIO PE8
 // 微秒延迟定时器，注意该延时定时器需要按照以下文档进行配置
 // http://192.168.1.3:3000/zwikipedia/iflytop_wikipedia/src/branch/master/doc/stm32cubemx_us_timer.md
-#define DELAY_US_TIMER htim6
-
-// 电机通道编号
-#define TMC_MOTOR_SPI hspi1
-
-// MOTOR1
-#define TMC_MOTOR1_CHANNEL        1
-#define TMC_MOTOR1_SPI_SELECT1_IO PA4
-#define TMC_MOTOR1_nFREEZE_IO     PC2
-#define TMC_MOTOR1_nRESET_IO      PB3
-#define TMC_MOTOR1_SUB_IC_ENN_IO  PC3
-#define TMC_MOTOR1_ENN_IO  // unused
+#define DELAY_US_TIMER  htim6
+#define MICROSWITCH_NUM 6
+//
+/*******************************************************************************
+ *                                主从485通讯                                  *
+ *******************************************************************************/
+#define MASTER_SLAVE_485_UART huart2
+/*******************************************************************************
+ *                              反应盒扫码传感器                                *
+ *******************************************************************************/
+#define REACTION_BOX_SWEEP_SENSOR_UART huart3
+/*******************************************************************************
+ *                                    MOTOR                                    *
+ *******************************************************************************/
+/**
+ *
+ *
+ */
+#define MOTOR_SPI hspi1
 
-// MOTOR2
-#define TMC_MOTOR2_CHANNEL        2
-#define TMC_MOTOR2_SPI_SELECT1_IO PA8
-#define TMC_MOTOR2_nFREEZE_IO     PC6
-#define TMC_MOTOR2_nRESET_IO      PB2
-#define TMC_MOTOR2_SUB_IC_ENN_IO  PC7
-#define TMC_MOTOR2_ENN_IO  // unused
+#define TMC5130_MOTOR_NUM 2
+#define MOTOR_CH(n)       (n)
+// FYBJ_PY
+#define MOTOR0_CSN PA4  // 平移电机片选信号
+#define MOTOR0_ENN PE14
+// FYBJ_TJ_DRV
+#define MOTOR1_CSN PC4  // 添加电机片选信号
+#define MOTOR1_ENN PE13
 
 /*******************************************************************************
- *                                 MotorConfig                                 *
+ *                                  REG LIST                                   *
  *******************************************************************************/
 
-#define MOTOR_REDUCTION_RATIO1 50
-#define MOTOR_REDUCTION_RATIO2 50
+#define DEVICE_BASIC_CONTROLLER_ADD_BASE 0
+
+#define GPIO_INPUT_ADD_BASE 1000  // GPIO输入
+#define REG_GPIO_INPUT0     (GPIO_INPUT_ADD_BASE + 0)
+
+#define REG_PY_MOTOR_CTRL_ADD_BASE       10000  // 控制 入料电机控制
+#define REG_TJ_MOTOR_CTRL_ADD_BASE       10100  // 控制 转移电机控制
+#define REG_ID_CARD_READER_CTRL_ADD_BASE 20000  // 控制 串口扫码器
+#define REG_LARSER_SCANNER_CTRL_ADD_BASE 30000  // 控制 单点激光扫码器
+
 
-#define SCARA_L2 (2385)  // 0.1mm
-#define SCARA_L1 (2150)  // 0.1mm
 /*******************************************************************************
- *                                  REG LIST                                   *
+ *                                    GPIO                                     *
  *******************************************************************************/
-// https://iflytop1.feishu.cn/docx/ZBsddjrL1oHAiYx8DdmcccEBnPf
+#define BEEP        PA1   // 蜂鸣器
+#define FAN1_FB_INT PA15  // 帕尔贴风机反馈
 
-#define DEVICE_BASIC_CTRL_ADD_BASE 0
-#define GPIO_INPUT_ADD_BASE        1000   // GPIO输入
-#define REG_SCARA_CTRL_ADD_BASE    11200  // 机械臂控制基地址
-#define REG_BARCODE_CTRL_ADD_BASE  20000  // 扫码器控制基地址
+#define HOT_CTR PB1
 
-#define REG_GPIO_INPUT0 (GPIO_INPUT_ADD_BASE + 0)
+#define FAN0_POWER PC8  // 外部风机电源
+#define FAN1_POWER PC9  // 帕尔贴风机
 
-#define ARM_SENSOR1_GPIO PD0
-#define ARM_SENSOR2_GPIO PD1
-#define ARM_SENSOR3_GPIO PD2
-#define ARM_SENSOR4_GPIO PD3
-#define ARM_SENSOR5_GPIO PD4
-#define ARM_SENSOR6_GPIO PD5
-#define ARM_SENSOR7_GPIO PD6
-#define ARM_SENSOR8_GPIO PD7
+#define FYBH_READ1    PD0
+#define FYBH_READ2    PD1
+#define FYBH_READ3    PD2
+#define FYBH_READ4    PD3
+#define FYBH_READ5    PD4
+#define FYBH_READ6    PD5
+#define FYBJL_SENSOR8 PD7   // 开门霍尔
+#define FYBJL_SENSOR7 PD8   // 卡板光电1
+#define FYBJL_SENSOR6 PD9   // 预留光电
+#define FYBJL_SENSOR5 PD10  // 推杆限位光电
+#define FYBJL_SENSOR4 PD11  // 推杆原点光电
+#define FYBJL_SENSOR3 PD12  // 平移计步光电（预留）
+#define FYBJL_SENSOR2 PD13  // 平移限位光电
+#define FYBJL_SENSOR1 PD14  // 平移原点光电
+#define FYBJL_SENSOR0 PD15  // 黑白扫码
 
-#define CODE_SCANER_UART huart3
\ No newline at end of file
+#define COLD_CTR PE10
\ No newline at end of file
diff --git a/zapp.ioc b/zapp.ioc
new file mode 100644
index 0000000..bdf150b
--- /dev/null
+++ b/zapp.ioc
@@ -0,0 +1,242 @@
+#MicroXplorer Configuration settings - do not modify
+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
+File.Version=6
+GPIO.groupedBy=Group By Peripherals
+KeepUserPlacement=false
+Mcu.CPN=STM32F407VET6
+Mcu.Family=STM32F4
+Mcu.IP0=CAN1
+Mcu.IP1=CRC
+Mcu.IP10=TIM7
+Mcu.IP11=USART1
+Mcu.IP12=USART2
+Mcu.IP13=USART3
+Mcu.IP2=NVIC
+Mcu.IP3=RCC
+Mcu.IP4=RNG
+Mcu.IP5=SPI1
+Mcu.IP6=SYS
+Mcu.IP7=TIM1
+Mcu.IP8=TIM3
+Mcu.IP9=TIM6
+Mcu.IPNb=14
+Mcu.Name=STM32F407V(E-G)Tx
+Mcu.Package=LQFP100
+Mcu.Pin0=PH0-OSC_IN
+Mcu.Pin1=PH1-OSC_OUT
+Mcu.Pin10=PB11
+Mcu.Pin11=PC9
+Mcu.Pin12=PA9
+Mcu.Pin13=PA10
+Mcu.Pin14=PA11
+Mcu.Pin15=PA12
+Mcu.Pin16=PA13
+Mcu.Pin17=PA14
+Mcu.Pin18=VP_CRC_VS_CRC
+Mcu.Pin19=VP_RNG_VS_RNG
+Mcu.Pin2=PC0
+Mcu.Pin20=VP_SYS_VS_Systick
+Mcu.Pin21=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin22=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin23=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin24=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin3=PA2
+Mcu.Pin4=PA3
+Mcu.Pin5=PA5
+Mcu.Pin6=PA6
+Mcu.Pin7=PA7
+Mcu.Pin8=PC4
+Mcu.Pin9=PB10
+Mcu.PinsNb=25
+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
+NVIC.CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.CAN1_RX1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.CAN1_SCE_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.CAN1_TX_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.ForceEnableDMAVector=true
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
+NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+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.Mode=Asynchronous
+PA2.Signal=USART2_TX
+PA3.Mode=Asynchronous
+PA3.Signal=USART2_RX
+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
+PB10.Mode=Asynchronous
+PB10.Signal=USART3_TX
+PB11.Mode=Asynchronous
+PB11.Signal=USART3_RX
+PC0.Locked=true
+PC0.Signal=GPXTI0
+PC4.Locked=true
+PC4.Signal=GPXTI4
+PC9.Locked=true
+PC9.Mode=Clock-out-2
+PC9.Signal=RCC_MCO_2
+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=zapp.ioc
+ProjectManager.ProjectName=zapp
+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_USART1_UART_Init-USART1-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_CRC_Init-CRC-false-HAL-true,6-MX_RNG_Init-RNG-false-HAL-true,7-MX_TIM7_Init-TIM7-false-HAL-true,8-MX_SPI1_Init-SPI1-false-HAL-true,9-MX_TIM6_Init-TIM6-false-HAL-true,10-MX_TIM1_Init-TIM1-false-HAL-true,11-MX_CAN1_Init-CAN1-false-HAL-true,12-MX_USART2_UART_Init-USART2-false-HAL-true,13-MX_USART3_UART_Init-USART3-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.GPXTI0.0=GPIO_EXTI0
+SH.GPXTI0.ConfNb=1
+SH.GPXTI4.0=GPIO_EXTI4
+SH.GPXTI4.ConfNb=1
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_128
+SPI1.CalculateBaudRate=562.5 KBits/s
+SPI1.Direction=SPI_DIRECTION_2LINES
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
+SPI1.Mode=SPI_MODE_MASTER
+SPI1.VirtualType=VM_MASTER
+TIM1.IPParameters=Period,Prescaler
+TIM1.Period=9999
+TIM1.Prescaler=143
+TIM3.IPParameters=Prescaler,Period
+TIM3.Period=9999
+TIM3.Prescaler=71
+TIM6.IPParameters=Prescaler
+TIM6.Prescaler=71
+TIM7.IPParameters=Prescaler
+TIM7.Prescaler=81
+USART1.IPParameters=VirtualMode
+USART1.VirtualMode=VM_ASYNC
+USART2.IPParameters=VirtualMode
+USART2.VirtualMode=VM_ASYNC
+USART3.IPParameters=VirtualMode
+USART3.VirtualMode=VM_ASYNC
+VP_CRC_VS_CRC.Mode=CRC_Activate
+VP_CRC_VS_CRC.Signal=CRC_VS_CRC
+VP_RNG_VS_RNG.Mode=RNG_Activate
+VP_RNG_VS_RNG.Signal=RNG_VS_RNG
+VP_SYS_VS_Systick.Mode=SysTick
+VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+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
+isbadioc=false
diff --git a/zapp.launch b/zapp.launch
new file mode 100644
index 0000000..9e1624d
--- /dev/null
+++ b/zapp.launch
@@ -0,0 +1,96 @@
+<?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=""/>
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