From 85319945de4d15e84344f2befbe7c01a1e1a3804 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 25 Jul 2023 17:37:42 +0800
Subject: [PATCH] update

---
 .cproject                            | 10 ++--
 .settings/stm32cubeide.project.prefs |  4 +-
 .vscode/c_cpp_properties.json        | 92 ++++++++++++++++++++++++++++++++++++
 .vscode/settings.json                |  6 ++-
 STM32F407VETX_FLASH.ld               |  2 +-
 robotic_core_xy dap.cfg              |  9 ++--
 robotic_core_xy.ioc                  |  8 +++-
 robotic_core_xy.launch               | 12 ++---
 usrc/main.cpp                        | 16 ++++---
 9 files changed, 132 insertions(+), 27 deletions(-)
 create mode 100644 .vscode/c_cpp_properties.json

diff --git a/.cproject b/.cproject
index b96cce2..b900dfb 100644
--- a/.cproject
+++ b/.cproject
@@ -23,7 +23,8 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.727801985" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1777585211" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.417127282" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<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.1.0.5 || 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.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" 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"/>
 							<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">
@@ -97,10 +98,10 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="sdk"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="usrc"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -128,7 +129,8 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1875412025" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.2026007863" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.772961433" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<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.1.0.5 || 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.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" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" 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"/>
 							<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">
diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
index 565d7fc..a9f6b79 100644
--- a/.settings/stm32cubeide.project.prefs
+++ b/.settings/stm32cubeide.project.prefs
@@ -1,3 +1,3 @@
-8DF89ED150041C4CBC7CB9A9CAA90856=970C2B927C46598E88F13155941494D3
-DC22A860405A8BF2F2C095E5B6529F12=0CD1751AC27020CB572731DEAAEBD8E6
+8DF89ED150041C4CBC7CB9A9CAA90856=763711B08F1ABC1A77FC8FA1A08B45FA
+DC22A860405A8BF2F2C095E5B6529F12=763711B08F1ABC1A77FC8FA1A08B45FA
 eclipse.preferences.version=1
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..6a8db16
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,92 @@
+{
+    "configurations": [
+        {
+            "name": "app",
+            "includePath": [
+                "Drivers/STM32F4xx_HAL_Driver/Inc",
+                "Drivers/CMSIS/Include",
+                "./",
+                "./Core/Inc",
+                "Drivers/CMSIS/Device/ST/STM32F4xx/Include/"
+            ],
+            "defines": [
+                "USE_HAL_DRIVER",
+                "STM32F407xx",
+                "__CC_ARM",
+                "__arm__",
+                "__align(x)=",
+                "__ALIGNOF__(x)=",
+                "__alignof__(x)=",
+                "__asm(x)=",
+                "__forceinline=",
+                "__restrict=",
+                "__global_reg(n)=",
+                "__inline=",
+                "__int64=long long",
+                "__INTADDR__(expr)=0",
+                "__irq=",
+                "__packed=",
+                "__pure=",
+                "__smc(n)=",
+                "__svc(n)=",
+                "__svc_indirect(n)=",
+                "__svc_indirect_r7(n)=",
+                "__value_in_regs=",
+                "__weak=",
+                "__writeonly=",
+                "__declspec(x)=",
+                "__attribute__(x)=",
+                "__nonnull__(x)=",
+                "__register=",
+                "__breakpoint(x)=",
+                "__cdp(x,y,z)=",
+                "__clrex()=",
+                "__clz(x)=0U",
+                "__current_pc()=0U",
+                "__current_sp()=0U",
+                "__disable_fiq()=",
+                "__disable_irq()=",
+                "__dmb(x)=",
+                "__dsb(x)=",
+                "__enable_fiq()=",
+                "__enable_irq()=",
+                "__fabs(x)=0.0",
+                "__fabsf(x)=0.0f",
+                "__force_loads()=",
+                "__force_stores()=",
+                "__isb(x)=",
+                "__ldrex(x)=0U",
+                "__ldrexd(x)=0U",
+                "__ldrt(x)=0U",
+                "__memory_changed()=",
+                "__nop()=",
+                "__pld(...)=",
+                "__pli(...)=",
+                "__qadd(x,y)=0",
+                "__qdbl(x)=0",
+                "__qsub(x,y)=0",
+                "__rbit(x)=0U",
+                "__rev(x)=0U",
+                "__return_address()=0U",
+                "__ror(x,y)=0U",
+                "__schedule_barrier()=",
+                "__semihost(x,y)=0",
+                "__sev()=",
+                "__sqrt(x)=0.0",
+                "__sqrtf(x)=0.0f",
+                "__ssat(x,y)=0",
+                "__strex(x,y)=0U",
+                "__strexd(x,y)=0",
+                "__strt(x,y)=",
+                "__swp(x,y)=0U",
+                "__usat(x,y)=0U",
+                "__wfe()=",
+                "__wfi()=",
+                "__yield()=",
+                "__vfp_status(x,y)=0"
+            ],
+            "intelliSenseMode": "${default}"
+        }
+    ],
+    "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index cdd1d6e..6d51097 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -17,6 +17,10 @@
         "stm32f4xx_hal.h": "c",
         "stm32f4xx_hal_conf.h": "c",
         "marco.h": "c",
-        "stdio.h": "c"
+        "stdio.h": "c",
+        "cstdint": "c",
+        "stm32f4xx_hal_rcc.h": "c",
+        "stm32f4xx_hal_def.h": "c",
+        "stm32_hal_legacy.h": "c"
     }
 }
\ No newline at end of file
diff --git a/STM32F407VETX_FLASH.ld b/STM32F407VETX_FLASH.ld
index 0df2e70..1280f6a 100644
--- a/STM32F407VETX_FLASH.ld
+++ b/STM32F407VETX_FLASH.ld
@@ -39,7 +39,7 @@ ENTRY(Reset_Handler)
 /* Highest address of the user mode stack */
 _estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
 
-_Min_Heap_Size = 0x400; /* required amount of heap */
+_Min_Heap_Size = 0x2000; /* required amount of heap */
 _Min_Stack_Size = 0x1000; /* required amount of stack */
 
 /* Memories definition */
diff --git a/robotic_core_xy dap.cfg b/robotic_core_xy dap.cfg
index 7166ee8..b41d541 100644
--- a/robotic_core_xy dap.cfg	
+++ b/robotic_core_xy dap.cfg	
@@ -20,13 +20,12 @@ set ENABLE_LOW_POWER 1
 set STOP_WATCHDOG 1
 
 # STlink Debug clock frequency
-set CLOCK_FREQ 8000
+set CLOCK_FREQ 4000
 
 # 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
+# use hardware reset
+reset_config srst_only srst_nogate
+set CONNECT_UNDER_RESET 0
 set CORE_RESET 0
 
 # ACCESS PORT NUMBER
diff --git a/robotic_core_xy.ioc b/robotic_core_xy.ioc
index 1793da7..3bd9f99 100644
--- a/robotic_core_xy.ioc
+++ b/robotic_core_xy.ioc
@@ -139,9 +139,9 @@ ProjectManager.DeviceId=STM32F407VETx
 ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
 ProjectManager.FreePins=true
 ProjectManager.HalAssertFull=true
-ProjectManager.HeapSize=0x400
+ProjectManager.HeapSize=0x2000
 ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=false
+ProjectManager.LastFirmware=true
 ProjectManager.LibraryCopy=1
 ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
@@ -149,10 +149,13 @@ 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
@@ -236,3 +239,4 @@ 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
index aea2d51..0027e0e 100644
--- a/robotic_core_xy.launch
+++ b/robotic_core_xy.launch
@@ -28,11 +28,11 @@
     <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"/>
+    <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="connect_under_reset"/>
+    <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="false"/>
+    <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}]}"/>
@@ -70,15 +70,15 @@
     <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="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="1"/>
+    <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"/>
+    <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"/>
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 366dca6..2353eab 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -5,22 +5,26 @@
 
 #include "main.h"
 #include "project.hpp"
-#include "sdk\chip\iflytop_no_os.h"
-#include "usart.h"
+//
+#include "sdk/hal/zhal.hpp"
 namespace iflytop {
 Main gmain;
 };
 
 using namespace iflytop;
 void Main::run() {
-  // for (size_t i = 0; i < 100; i++) {
-  //   uint8_t c = '1';
-  //   HAL_UART_Transmit(&DEBUG_UART, &c, 1, 100);
-  // }
   iflytop_no_os_cfg_t cfg = {
       .delayhtim = &DELAY_US_TIMER,
       .debuguart = &DEBUG_UART,
   };
   iflytop_no_os_init(&cfg);
   printf("Hello World!\r\n");
+
+  DEBUG_LIGHT_GPIO.initAsOutput(true);
+
+  ZHAL_CORE_REG(300, { DEBUG_LIGHT_GPIO.toggleState(); });
+
+  while (1) {
+    ZHALCORE::getInstance()->loop();
+  }
 }