diff --git a/.gitignore b/.gitignore
index f298f75..9746303 100644
--- a/.gitignore
+++ b/.gitignore
@@ -80,3 +80,5 @@ uv2csolution.log
 
 # legacy intermediate project file
 *.cprj
+tmp/
+out/
diff --git a/Robot_V2/RTE/Device/GD32C103CB/regions_GD32C103CB.h b/Robot_V2/RTE/Device/GD32C103CB/regions_GD32C103CB.h
index 89512d0..70dcf47 100644
--- a/Robot_V2/RTE/Device/GD32C103CB/regions_GD32C103CB.h
+++ b/Robot_V2/RTE/Device/GD32C103CB/regions_GD32C103CB.h
@@ -17,7 +17,7 @@
 #define __ROM0_BASE 0x08000000
 //   <o> Region size [bytes] <0x0-0xFFFFFFFF:8>
 //   <i> Defines size of memory region. Default: 0x00020000
-#define __ROM0_SIZE 0x00020000
+#define __ROM0_SIZE 0x08005000
 // </h>
 
 // <h> __ROM1 (unused)
diff --git a/Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h b/Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h
index 5734403..d865f42 100644
--- a/Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h
+++ b/Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h
@@ -1,6 +1,6 @@
 /*
  * CSOLUTION generated file: DO NOT EDIT!
- * Generated by: csolution version 2.11.0
+ * Generated by: csolution version 2.12.0+p41-gfeadfc5e
  *
  * Project: 'Robot_V2.Debug+GD32C103CB' 
  * Target:  'Debug+GD32C103CB' 
@@ -15,10 +15,10 @@
  */
 #define CMSIS_device_header "gd32c10x.h"
 
-/* GigaDevice::Device:GD32C10x_StdPeripherals:ADC@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_ADC
 /* GigaDevice::Device:GD32C10x_StdPeripherals:CAN@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_CAN
+/* GigaDevice::Device:GD32C10x_StdPeripherals:CRC@1.0.0 */
+#define RTE_DEVICE_STDPERIPHERALS_CRC
 /* GigaDevice::Device:GD32C10x_StdPeripherals:DBG@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_DBG
 /* GigaDevice::Device:GD32C10x_StdPeripherals:DMA@1.0.0 */
@@ -37,14 +37,8 @@
 #define RTE_DEVICE_STDPERIPHERALS_PMU
 /* GigaDevice::Device:GD32C10x_StdPeripherals:RCU@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_RCU
-/* GigaDevice::Device:GD32C10x_StdPeripherals:SPI_I2S@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_SPI
-/* GigaDevice::Device:GD32C10x_StdPeripherals:TIMER@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_TIMER
 /* GigaDevice::Device:GD32C10x_StdPeripherals:USART@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_USART
-/* GigaDevice::Device:GD32C10x_StdPeripherals:WWDGT@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_WWDGT
 
 
 #endif /* RTE_COMPONENTS_H */
diff --git a/Robot_V2/Robot_V2.cproject.yml b/Robot_V2/Robot_V2.cproject.yml
index 1d893f6..1fd4117 100644
--- a/Robot_V2/Robot_V2.cproject.yml
+++ b/Robot_V2/Robot_V2.cproject.yml
@@ -42,6 +42,7 @@ project:
     type:
       - elf
       - hex
+      - bin
       - map
   packs:
     - pack: ARM::CMSIS
diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp
index a34feb4..d454180 100644
--- a/Robot_V2/device/Can.cpp
+++ b/Robot_V2/device/Can.cpp
@@ -14,11 +14,6 @@
 #include <stdio.h>
 #include <stdlib.h>
 
-constexpr u16 CANX = CAN0;
-constexpr u16 DEV_CAN0_ID = 0x0000;
-constexpr u16 DEV_CAN0_MASK = 0x0000;
-constexpr u16 DEV_CAN_LOOPBACK_ID = 0x0000;
-
 CAN_transmiter CAN0_transmiter; // CAN初始化
 extern BootloaderSystem sys;
 extern OTAHandler ota;
@@ -93,9 +88,6 @@ void can_dma_init(void) {
 	// 使能DMA通道
 	dma_channel_enable(DMA0, DMA_CH4);
 	dma_channel_enable(DMA0, DMA_CH5);
-
-	// 使能CAN接收DMA
-	// can_dma_enable(CAN0, CAN_DMA_RECEIVE);
 }
 
 /*!
@@ -221,7 +213,11 @@ void CAN_transmiter::communication_check() {
 								 receive_message.rx_data,
 								 receive_message.rx_dlen);
 		} else {
+
+#if CAN_DEBUG
 			printf("Unknown CAN ID: %X\n", receive_message.rx_efid);
+			
+#endif
 		}
 		can0_receive_flag = RESET;
 	}
@@ -233,7 +229,7 @@ u8 CAN_transmiter::sendDATA_ACK(u32 packet_num, u8 *data) { // 握手的时候
 	transmit_data[1] = 0xC0;
 	// 修复原始代码中不完整的循环
 	for (int i = 2; i < 6; i++) {
-		transmit_data[i] = data[i-2];
+		transmit_data[i] = data[i - 2];
 	}
 
 	return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 6, transmit_data);
@@ -278,13 +274,18 @@ void CAN0_RX0_IRQHandler(void) {
 	if (can_interrupt_flag_get(CAN0, CAN_INT_FLAG_RFF0) != RESET) {
 		// FIFO0满中断
 		can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFF0);
+#if CAN_DEBUG
 		printf("CAN FIFO0 full\n");
+#endif
 	}
 
 	if (can_interrupt_flag_get(CAN0, CAN_INT_FLAG_RFO0) != RESET) {
 		// FIFO0溢出中断
 		can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFO0);
+#if CAN_DEBUG
 		printf("CAN FIFO0 overflow\n");
+
+#endif
 	}
 }
 
@@ -328,13 +329,18 @@ u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) {
 	u8 valid_length = length;
 	// 检查CANFD模式是否启用
 	if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) {
+#if CAN_DEBUG
 		printf("CANFD mode not enabled\r\n");
+#endif
 		return 0;
 	}
 
 	// 检查数据指针是否有效
 	if (data == nullptr) {
+#if CAN_DEBUG
 		printf("Invalid data pointer\r\n");
+
+#endif
 		return 0;
 	}
 
@@ -355,7 +361,10 @@ u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) {
 		} else if (length > 48 and length < 65) {
 			valid_length = 64;
 		} else {
+#if CAN_DEBUG
 			printf("CANFD data length error\r\n");
+
+#endif
 			return 0;
 		}
 	}
@@ -384,9 +393,13 @@ u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) {
 
 	// 检查是否成功获取mailbox
 	if (transmit_mailbox == CAN_NOMAILBOX) {
+
+#if CAN_DEBUG
 		// 没有可用的mailbox，启用发送中断以便在邮箱可用时重试
 		printf("No available mailbox for CANFD transmission, enabling TX "
 			   "interrupt\r\n");
+
+#endif
 		return 0;
 	}
 
diff --git a/Robot_V2/device/Can.h b/Robot_V2/device/Can.h
index 05d14f8..51d559b 100644
--- a/Robot_V2/device/Can.h
+++ b/Robot_V2/device/Can.h
@@ -11,36 +11,6 @@ extern "C" {
 #include <stdio.h>
 #include "sys/config.h"
 
-
-
-// 添加辅助函数用于将u16类型数据打包到u8数组中
-static inline void pack_u16_to_bytes(u8 *buffer, u16 offset, u16 value) {
-	buffer[offset] = (u8)(value & 0xFF);
-	buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
-}
-
-// 添加辅助函数用于将float类型数据打包到u8数组中
-static inline void pack_u32_to_bytes(u8 *buffer, u16 offset,
-									 u32_union_t &u32_union) {
-	buffer[offset] = u32_union.b[0];
-	buffer[offset + 1] = u32_union.b[1];
-	buffer[offset + 2] = u32_union.b[2];
-	buffer[offset + 3] = u32_union.b[3];
-}
-
-// 添加辅助函数用于从u8数组中解包short类型数据
-static inline short unpack_bytes_to_short(u8 *buffer, u16 offset) {
-	short value = (short)(buffer[offset] | (buffer[offset + 1] << 8));
-	return value;
-}
-
-// 添加辅助函数用于从u8数组中解包u16类型数据
-static inline u16 unpack_bytes_to_u16(u8 *buffer, u16 offset) {
-	u16 value = (u16)(buffer[offset] | (buffer[offset + 1] << 8));
-	return value;
-}
-
-
 u8 can_gpio_init(void);				 // CAN引脚初始化
 void canfd_config(void);			 // CANFD初始化
 void can_dma_init(void);			 // CAN DMA初始化
diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp
index af6c605..3ed322c 100644
--- a/Robot_V2/main.cpp
+++ b/Robot_V2/main.cpp
@@ -2,9 +2,12 @@
 #include "Can.h"
 #include "aes128.h"
 #include "initial.h"
+#include "sys/OTA.h"
+#include "sys/config.h"
 #include "sys/systick.h"
 #include <cstdio>
 
+
 extern CAN_transmiter CAN0_transmiter; // CAN初始化
 
 BootloaderSystem sys;
@@ -18,133 +21,122 @@ void BootloaderSystem::initHardware() {
 	crc_deinit();					  // 初始化CRC模块
 	CAN0_transmiter.init();
 }
+
+/**
+ * @brief 扫描APP地址范围内的Flash内容
+ * @param print_content 是否打印Flash内容，默认为true
+ * @param page_count 扫描的页数，默认为0表示扫描整个APP区域
+ * @retval 无
+ */
+void scanAppFlashContent(bool print_content = true, u32 page_count = 0) {
+	u32 start_addr = APP_START_ADDR;
+	u32 total_size = 0xC000;
+
+	// 如果指定了页数，则按页数计算大小
+	if (page_count > 0) {
+		total_size = page_count * FMC_PAGE_SIZE;
+	}
+
+	u32 end_addr = start_addr + total_size;
+
+#if DEBUG_OTA
+	printf("Scanning Flash from 0x%08X to 0x%08X (%d bytes)\r\n", start_addr,
+		   end_addr, total_size);
+#endif
+
+	u32 page_count_scanned = 0;
+	u32 empty_pages = 0;
+	u32 data_pages = 0;
+
+	for (u32 addr = start_addr; addr < end_addr; addr += FMC_PAGE_SIZE) {
+		bool page_empty = true;
+
+		// 检查当前页是否全为0xFF（空页）
+		for (u32 offset = 0; offset < FMC_PAGE_SIZE; offset += 4) {
+			u32 data = *(u32 *)(addr + offset);
+
+			if (data != 0xFFFFFFFF) {
+				page_empty = false;
+				break; // 找到非空数据，立即退出检查
+			}
+		}
+
+		if (page_empty) {
+			empty_pages++;
+		} else {
+			data_pages++;
+
+			// 只有在非空页面且需要打印时才输出内容
+			if (print_content) {
+				printf("Page 0x%08X: \r\n", addr);
+
+				// 打印所有内容
+				for (u32 offset = 0; offset < FMC_PAGE_SIZE;
+					 offset += 16) { // 每行打印16字节
+					// 打印地址偏移
+					printf("  +%03X: ", offset);
+
+					// 打印十六进制数据
+					for (u32 byte_idx = 0; byte_idx < 16; byte_idx++) {
+						if ((offset + byte_idx) < FMC_PAGE_SIZE) {
+							u8 data = *(__IO u8 *)(addr + offset + byte_idx);
+							printf("%02X ", data);
+						} else {
+							printf("   "); // 空白填充
+						}
+
+						// 每8字节加个小空格，便于阅读
+						if (byte_idx == 7) {
+							printf(" ");
+						}
+					}
+
+					// 打印可打印字符
+					printf("|");
+					for (u32 byte_idx = 0; byte_idx < 16; byte_idx++) {
+						if ((offset + byte_idx) < FMC_PAGE_SIZE) {
+							u8 data = *(__IO u8 *)(addr + offset + byte_idx);
+							if (data >= 32 && data <= 126) { // 可打印字符范围
+								printf("%c", data);
+							} else {
+								printf(".");
+							}
+						} else {
+							printf(" "); // 空白填充
+						}
+					}
+					printf("|\r\n");
+				}
+			}
+		}
+
+		page_count_scanned++;
+	}
+
+#if DEBUG_OTA
+	printf("Scan complete: %d pages scanned, %d empty pages, %d data pages\r\n",
+		   page_count_scanned, empty_pages, data_pages);
+#endif
+}
+
 void BootloaderSystem::run() {
 	// 检查是否触发OTA模式
-	if (1) {
+	if (!validateApplication()) {
+		printf("OTA Mode\r\n");
 		// OTA模式
 		while (1) {
 			CAN0_transmiter.communication_check();
 			ota.process();
 		}
 	} else {
+		printf("Normal Mode\r\n");
 		// 正常模式：跳转到APP
 		ota.jumpToApplication();
 	}
 }
-
-// 发送单个字节到串口 (用于调试)
-void uart_send_byte(uint8_t data) {
-	// 实际的串口发送代码
-	while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-		;
-	usart_data_transmit(USART0, data);
-}
-
-// 以十六进制格式打印数据
-// 安全的十六进制打印函数，不使用sprintf，不使用大缓冲区
-void safe_print_hex(const char *prefix, const uint8_t *data, size_t length) {
-	// 1. 先打印前缀
-	const char *p = prefix;
-	while (*p) {
-		while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-			;
-		usart_data_transmit(USART0, *p++);
-	}
-
-	while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-		;
-	usart_data_transmit(USART0, ':');
-	while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-		;
-	usart_data_transmit(USART0, ' ');
-
-	// 2. 逐字节打印数据，每16字节换行
-	for (size_t i = 0; i < length; i++) {
-		uint8_t byte = data[i];
-
-		// 打印高4位
-		uint8_t high = (byte >> 4) & 0x0F;
-		char high_char = (high < 10) ? ('0' + high) : ('A' + high - 10);
-		while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-			;
-		usart_data_transmit(USART0, high_char);
-
-		// 打印低4位
-		uint8_t low = byte & 0x0F;
-		char low_char = (low < 10) ? ('0' + low) : ('A' + low - 10);
-		while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-			;
-		usart_data_transmit(USART0, low_char);
-
-		// 打印空格
-		while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-			;
-		usart_data_transmit(USART0, ' ');
-
-		// 每16字节换行
-		if ((i + 1) % 16 == 0 && i < length - 1) {
-			// 换行
-			while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-				;
-			usart_data_transmit(USART0, '\r');
-			while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-				;
-			usart_data_transmit(USART0, '\n');
-
-			// 缩进（4个空格）
-			for (int j = 0; j < 4; j++) {
-				while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-					;
-				usart_data_transmit(USART0, ' ');
-			}
-		}
-	}
-
-	// 3. 打印换行
-	while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-		;
-	usart_data_transmit(USART0, '\r');
-	while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
-		;
-	usart_data_transmit(USART0, '\n');
-}
-
-void test_decrypt() {
-	printf("AES Encryption Verification Starting...\r\n");
-
-	// 定义48字节测试数据
-	uint8_t plaintext[48] = {
-		0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B,
-		0x0C, 0x0D, 0x0E, 0x0F, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17,
-		0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x20, 0x21, 0x22, 0x23,
-		0x24, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F};
-
-	// 定义128位密钥 (16字节)
-	uint8_t key[16] = {0x2b, 0x7e, 0x15, 0x16, 0x28, 0xae, 0xd2, 0xa6,
-					   0xab, 0xf7, 0x15, 0x88, 0x09, 0xcf, 0x4f, 0x3c};
-
-	// 创建AES上下文
-	aes128_context ctx;
-
-	// 设置密钥
-	aes128_set_key(&ctx, key);
-
-	// 打印原始数据
-	safe_print_hex("Original Data", plaintext, 48);
-
-	uint8_t ciphertext[48];
-	uint8_t decrypted[48];
-
-	// 加密
-	aes128_ecb_encrypt_48bytes(&ctx, plaintext, ciphertext);
-	safe_print_hex("Encrypted Data", ciphertext, 48);
-
-	// 解密
-	aes128_ecb_decrypt_48bytes(&ctx, ciphertext, decrypted);
-	safe_print_hex("Decrypted Data", decrypted, 48);
-}
 int main(void) {
 	sys.initHardware();
+	// scanAppFlashContent();
 	// test_decrypt();
 	sys.run();
 
diff --git a/Robot_V2/sys/OTA.cpp b/Robot_V2/sys/OTA.cpp
index 8baa39b..334ac39 100644
--- a/Robot_V2/sys/OTA.cpp
+++ b/Robot_V2/sys/OTA.cpp
@@ -47,33 +47,63 @@ void OTAHandler::process() {
 	}
 }
 
-bool OTAHandler::validateApplication() {
+bool validateApplication() {
 	u32 *app_vector = (u32 *)APP_START_ADDR;
 	u32 stack_ptr = app_vector[0];
 	u32 reset_handler = app_vector[1];
 
+#if DEBUG_OTA
+	printf("APP_START_ADDR: 0x%08X\r\n", APP_START_ADDR);
+	printf("Stack Pointer: 0x%08X\r\n", stack_ptr);
+	printf("Reset Handler: 0x%08X\r\n", reset_handler);
+	printf("APP Range: 0x%08X - 0x%08X\r\n", APP_START_ADDR,
+		   APP_START_ADDR + APP_MAX_SIZE);
+#endif
+
 	// 简单验证：检查栈指针是否在SRAM范围内
-	return (stack_ptr >= 0x20000000 && stack_ptr < 0x20008000) &&
-		   (reset_handler >= APP_START_ADDR &&
-			reset_handler < (APP_START_ADDR + APP_MAX_SIZE));
+	bool stack_valid = (stack_ptr >= 0x20000000 && stack_ptr < 0x20008000);
+	bool reset_valid = (reset_handler >= APP_START_ADDR &&
+						reset_handler < (APP_START_ADDR + APP_MAX_SIZE));
+
+#if DEBUG_OTA
+	if (!stack_valid) {
+		printf("Stack pointer validation failed!\r\n");
+	}
+	if (!reset_valid) {
+		printf("Reset handler validation failed!\r\n");
+	}
+#endif
+
+	return stack_valid && reset_valid;
 }
 
 void OTAHandler::jumpToApplication() {
-	if (!validateApplication())
+#if DEBUG_OTA
+	printf("try jump to app\r\n");
+	if (!validateApplication()) {
+		printf("app valid failed\r\n");
 		return;
-
+	} else {
+		printf("valid result:successful\r\n");
+		u8 check_data[2] = {0x0A, 0xAC};
+		CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_WAIT_ID, 2, check_data);
+	}
+	printf("jumping1\r\n");
+#endif
 	// 1. 关闭所有中断
 	__disable_irq();
 	for (int i = 0; i < 8; i++) {
 		NVIC->ICER[i] = 0xFFFFFFFF;
 	}
-
 	// 2. 重置外设（特别是CAN，防止冲突）
 	can_deinit(CAN0);
 
 	// 3. 重置系统时钟到默认状态
 	rcu_system_clock_source_config(RCU_CKSYSSRC_IRC8M);
 
+#if DEBUG_OTA
+	printf("jumping2\r\n");
+#endif
 	// 4. 关闭一些关键外设时钟
 	rcu_periph_clock_disable(RCU_GPIOA);
 	rcu_periph_clock_disable(RCU_GPIOB);
@@ -83,41 +113,130 @@ void OTAHandler::jumpToApplication() {
 	rcu_periph_clock_disable(RCU_TIMER0);
 	rcu_periph_clock_disable(RCU_DMA0);
 
-	// 5. 设置MSP并跳转
-	uint32_t msp_value = *(__IO uint32_t *)APP_START_ADDR;
-	__set_MSP(msp_value);
+#if DEBUG_OTA
+	printf("jumping3\r\n");
+#endif
+	// 5. 设置中断向量表偏移到应用程序起始地址
+	SCB->VTOR = APP_START_ADDR;
 
+	// 6. 设置MSP并跳转
+	uint32_t msp_value = *(__IO uint32_t *)APP_START_ADDR;
 	uint32_t reset_handler = *(__IO uint32_t *)(APP_START_ADDR + 4);
 	typedef void (*AppEntryFunc)(void);
 	AppEntryFunc app_entry = (AppEntryFunc)reset_handler;
-
-	// 6. 跳转
+#if DEBUG_OTA
+	printf("jumping5, MSP:0x%08X, Reset Handler:0x%08X\r\n", msp_value,
+		   reset_handler);
+#endif
+	__set_MSP(msp_value);
+	// 7. 跳转
 	app_entry();
+
+	// 如果程序执行到这里，说明跳转失败
+#if DEBUG_OTA
+	printf("Jump to application failed!\r\n");
+#endif
 }
 
+/**
+ * @brief  擦除应用程序区域
+ * @param  无
+ * @retval 无
+ */
 void OTAHandler::eraseApplicationArea() {
 	// 擦除APP区域
 	fmc_unlock();
+
+	// 擦除前禁用中断，防止中断处理程序执行期间发生Flash操作导致问题
+	__disable_irq();
+
+	fmc_state_enum fmc_status;
 	for (u32 addr = APP_START_ADDR; addr < (APP_START_ADDR + APP_MAX_SIZE);
 		 addr += FMC_PAGE_SIZE) {
-		fmc_page_erase(addr);
+		fmc_status = fmc_page_erase(addr);
+		if (fmc_status != FMC_READY) {
+			// 如果擦除失败，记录错误并退出
+#if DEBUG_OTA
+			printf("Flash erase failed at address 0x%08X, status: %d\r\n", addr,
+				   fmc_status);
+#endif
+			ota_error = OTA_ERROR_FLASH_ERROR;
+			send_error_frame(OTA_ERROR_FLASH_ERROR);
+			break;
+		}
 	}
+
+	// 重新启用中断
+	__enable_irq();
+
 	fmc_lock();
 }
 
+/**
+ * @brief  写入应用程序数据
+ * @param  offset: 写入偏移量
+ * @param  data: 数据指针
+ * @param  size: 数据大小
+ * @retval 无
+ */
 void OTAHandler::writeApplicationData(u32 offset, u8 *data, u32 size) {
 	fmc_unlock();
 	u32 write_addr = APP_START_ADDR + offset;
 
-	// 32位对齐写入
-	for (u32 i = 0; i < size; i += 4) {
+	u32 i = 0;
+	u8 *src = data;
+
+	// 32位对齐写入 - 处理完整的32位字
+	for (; i <= size - 4; i += 4) {
+		fmc_word_program(write_addr + i, *(u32 *)&src[i]);
+	}
+
+	// 处理剩余字节（如果有的话）
+	if (i < size) {
 		u32 word = 0;
-		memcpy(&word, &data[i], 4);
+		u8 *word_ptr = (u8 *)&word;
+		u32 remaining_bytes = size - i;
+
+		// 直接复制剩余字节到word变量
+		for (u32 j = 0; j < remaining_bytes; j++) {
+			word_ptr[j] = src[i + j];
+		}
+
 		fmc_word_program(write_addr + i, word);
 	}
 	fmc_lock();
 }
 
+/**
+ * @brief  验证应用程序数据
+ * @param  offset: 写入偏移量
+ * @param  data: 原始数据指针
+ * @param  size: 数据大小
+ * @retval true if verification passes, false otherwise
+ */
+bool OTAHandler::verifyApplicationData(u32 offset, u8 *data, u32 size) {
+	u32 verify_addr = APP_START_ADDR + offset;
+
+	for (u32 i = 0; i < size; i++) {
+		if (((u8 *)verify_addr)[i] != data[i]) {
+#if DEBUG_OTA
+			printf("Data verification failed at offset %d, expected 0x%02X, "
+				   "got 0x%02X\r\n",
+				   i, data[i], ((u8 *)verify_addr)[i]);
+#endif
+			return false;
+		}
+	}
+	return true;
+}
+
+/**
+ * @brief  处理OTA数据包
+ * @param  id: CAN帧ID
+ * @param  data: CAN帧数据
+ * @param  len: CAN帧数据长度
+ * @retval 无
+ */
 void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) {
 	if (id == CANFD_OTA_DATA_ID) {
 		ota_time = 0;
@@ -125,43 +244,50 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) {
 #if DEBUG_OTA
 			printf("stage8:OTA_RECEIVING_FIRMWARE\r\n");
 #endif
-			// 数据解包
-			u32 receive_session_num;
-			u32 receive_packet_num;
-			u8 receive_encrypted_data[OTA_PACKET_SIZE];
-			u32 receive_IFEND;
-			u8 receive_dataCRC32[4];
-			receive_session_num = extract_u32_from_4bytes(data);
-			receive_packet_num = extract_u32_from_4bytes(data + 4);
-			for (int i = 0; i < 48; i++) {
-				receive_encrypted_data[i] = data[i + 8];
-			}
-			receive_IFEND = extract_u32_from_4bytes(data + 56);
-			for (int i = 0; i < 4; i++) {
-				receive_dataCRC32[i] = data[i + 60];
-			}
+			// 使用安全的数据解包方式
+			u32 receive_session_num = extract_u32_from_4bytes(data);
+			u32 receive_packet_num = extract_u32_from_4bytes(data + 4);
+			u32 receive_IFEND = extract_u32_from_4bytes(data + 56);
 
-			// 解密
+			// 直接使用数据指针，避免不必要的内存复制
+			const u8 *receive_encrypted_data =
+				data + 8;							 // 加密数据从偏移8字节开始
+			const u8 *receive_dataCRC32 = data + 60; // CRC数据从偏移60字节开始
+
+			// 解密 - 使用栈上数组存储解密结果
 			u8 decrypted_data[OTA_PACKET_SIZE];
 			u8 calculated_dataCRC32[4];
 			aes128_set_key(&aes_ctx, current_K_session);
-			aes128_ecb_decrypt_48bytes(&aes_ctx, receive_encrypted_data,
+			aes128_ecb_decrypt_48bytes(&aes_ctx,
+									   const_cast<u8 *>(receive_encrypted_data),
 									   decrypted_data);
 
 			// 计算解密后CRC数据
 			calculate_crc32_with_key(current_K_session, decrypted_data,
 									 calculated_dataCRC32);
+
 			// CRC数据匹配
 			if (memcmp(receive_dataCRC32, calculated_dataCRC32, SIZE_U32) !=
 				0) {
 				ota_error = OTA_ERROR_INVALID_CRC;
 				send_error_frame(OTA_ERROR_INVALID_CRC);
-				return;
+				receive_packet_num -= 1;
+			} else {
+				// 写入Flash前验证数据
+				u32 offset = receive_packet_num * OTA_PACKET_SIZE;
+				if (offset + OTA_PACKET_SIZE <= APP_MAX_SIZE) {
+					writeApplicationData(offset, decrypted_data,
+										 OTA_PACKET_SIZE);
+				} else {
+					ota_error = OTA_ERROR_INVALID_SIZE;
+					send_error_frame(OTA_ERROR_INVALID_SIZE);
+				}
 			}
 			if (receive_IFEND == 0xFFFFFFFF) { // 接收到尾帧，发送结束信号
 				u8 pack_number[4] = {0xFF, 0xFF, 0xFF, 0xFF};
 				CAN0_transmiter.sendDATA_ACK(CANFD_OTA_ACK_ID, pack_number);
 				ota_state = OTA_STATE_FINISHED;
+				jumpToApplication();
 				return;
 			}
 			// 下一个请求
@@ -184,9 +310,9 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) {
 				send_error_frame(OTA_ERROR_INVALID_SIZE);
 				return;
 			}
-			// eraseApplicationArea();
 			u8 send_data[6] = {0xBA, 0xC0, 0x00,
 							   0x00, 0x00, 0x00}; // 确认开始传输
+			eraseApplicationArea();
 			// 发送接收包0请求
 			CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 6, send_data);
 			ota_state = OTA_STATE_RECEIVING_FIRMWARE;
diff --git a/Robot_V2/sys/OTA.h b/Robot_V2/sys/OTA.h
index a3e567e..d574b0c 100644
--- a/Robot_V2/sys/OTA.h
+++ b/Robot_V2/sys/OTA.h
@@ -22,9 +22,9 @@ class OTAHandler {
 
   private:
 	u16 ota_time;
-	bool validateApplication();
 	void eraseApplicationArea();
 	void writeApplicationData(uint32_t offset, uint8_t *data, uint32_t size);
+	bool verifyApplicationData(u32 offset, u8 *data, u32 size);
 	typedef enum {
 		OTA_STATE_IDLE = 0,
 		OTA_STATE_WAITING_RANDOM,  // 第二阶段等待随机数
@@ -36,17 +36,15 @@ class OTAHandler {
 	typedef enum {
 		OTA_ERROR_NONE = 0,
 		OTA_ERROR_TIMEOUT,
+		OTA_ERROR_FLASH_ERROR,
 		OTA_ERROR_INVALID_KEY,
 		OTA_ERROR_INVALID_PACKET,
 		OTA_ERROR_INVALID_HANDSHAKE,
 		OTA_ERROR_INVALID_CRC,
 		OTA_ERROR_INVALID_SIZE
 	} ota_error_t;
-	// 全局变量（需在安全区域存储）
-	uint8_t K_master[16] = {0x01, 0x23, 0x45, 0x67, 0x89, 0xAB,
-							0xCD, 0xEF, 0xFE, 0xDC, 0xBA, 0x98,
-							0x76, 0x54, 0x32, 0x10}; // 预置主密钥
-	uint8_t device_uid[12];							 // 从GD32 UID寄存器读取
+
+	uint8_t device_uid[12]; // 从GD32 UID寄存器读取
 	uint8_t current_K_session[16];
 	uint8_t nonce_server[16];
 
@@ -58,4 +56,5 @@ void getDeviceSerialNumber(uint8_t *buffer);
 void calculate_crc32_with_key(const uint8_t *key, const uint8_t *data,
 							  u8 *output);
 void send_error_frame(uint8_t error);
+bool validateApplication();
 #endif
\ No newline at end of file
diff --git a/Robot_V2/sys/aes128.cpp b/Robot_V2/sys/aes128.cpp
index 37734e2..c70a577 100644
--- a/Robot_V2/sys/aes128.cpp
+++ b/Robot_V2/sys/aes128.cpp
@@ -52,7 +52,7 @@ const u8 inv_sbox[256] = {
 
 // 轮常量
 static const u8 rcon[10] = {0x01, 0x02, 0x04, 0x08, 0x10,
-								 0x20, 0x40, 0x80, 0x1b, 0x36};
+							0x20, 0x40, 0x80, 0x1b, 0x36};
 
 // 伽罗瓦域乘法 (xtime) - 确保正确
 static u8 xtime(u8 x) { return (x << 1) ^ (((x >> 7) & 1) * 0x1b); }
@@ -281,8 +281,7 @@ void aes128_set_key(aes128_context *ctx, const u8 *key) {
 }
 
 // 加密单个块
-void aes128_encrypt_block(aes128_context *ctx, const u8 *input,
-						  u8 *output) {
+void aes128_encrypt_block(aes128_context *ctx, const u8 *input, u8 *output) {
 	// 复制输入到状态
 	memcpy(ctx->state, input, AES_BLOCK_SIZE);
 
@@ -316,8 +315,7 @@ void aes128_ecb_encrypt_48bytes(aes128_context *ctx, const u8 *input,
 }
 
 // 解密单个块
-void aes128_decrypt_block(aes128_context *ctx, const u8 *input,
-						  u8 *output) {
+void aes128_decrypt_block(aes128_context *ctx, const u8 *input, u8 *output) {
 	// 复制输入到状态
 	memcpy(ctx->state, input, AES_BLOCK_SIZE);
 
@@ -351,8 +349,8 @@ void aes128_ecb_decrypt_48bytes(aes128_context *ctx, const u8 *input,
 }
 
 // 验证函数：加密后解密，对比原始数据
-u8 aes128_verify_encryption(aes128_context *ctx,
-								 const u8 *original_data, size_t length) {
+u8 aes128_verify_encryption(aes128_context *ctx, const u8 *original_data,
+							size_t length) {
 	u8 temp_ciphertext[48];
 	u8 temp_plaintext[48];
 	u8 result = 1; // 1表示验证成功，0表示失败
diff --git a/Robot_V2/sys/aes128.h b/Robot_V2/sys/aes128.h
index 7b558d2..2ea0368 100644
--- a/Robot_V2/sys/aes128.h
+++ b/Robot_V2/sys/aes128.h
@@ -11,9 +11,9 @@
 
 // AES 状态结构
 typedef struct {
-    u8 key[AES128_KEY_LEN];       // 128位/16字节密钥
-    u8 round_keys[11][16];       // 10轮 + 初始轮密钥
-    u8 state[AES_BLOCK_SIZE];    // 状态矩阵
+	u8 key[AES128_KEY_LEN];	  // 128位/16字节密钥
+	u8 round_keys[11][16];	  // 10轮 + 初始轮密钥
+	u8 state[AES_BLOCK_SIZE]; // 状态矩阵
 } aes128_context;
 
 // 内部函数声明（需要在头文件中声明，因为解密函数会使用）
@@ -28,10 +28,13 @@ void inv_mix_columns(u8 *state);
 // 公共函数声明
 void aes128_set_key(aes128_context *ctx, const u8 *key);
 void aes128_encrypt_block(aes128_context *ctx, const u8 *input, u8 *output);
-void aes128_ecb_encrypt_48bytes(aes128_context *ctx, const u8 *input, u8 *output);
+void aes128_ecb_encrypt_48bytes(aes128_context *ctx, const u8 *input,
+								u8 *output);
 void aes128_decrypt_block(aes128_context *ctx, const u8 *input, u8 *output);
-void aes128_ecb_decrypt_48bytes(aes128_context *ctx, const u8 *input, u8 *output);
-u8 aes128_verify_encryption(aes128_context *ctx, const u8 *original_data, size_t length);
+void aes128_ecb_decrypt_48bytes(aes128_context *ctx, const u8 *input,
+								u8 *output);
+u8 aes128_verify_encryption(aes128_context *ctx, const u8 *original_data,
+							size_t length);
 
 // 逆S盒 (用于解密)
 extern const u8 inv_sbox[256];
diff --git a/Robot_V2/sys/config.h b/Robot_V2/sys/config.h
index 25dc61e..703fb48 100644
--- a/Robot_V2/sys/config.h
+++ b/Robot_V2/sys/config.h
@@ -4,6 +4,7 @@
 
 #define EEPDEBUG 0
 #define DEBUG_OTA 0
+#define CAN_DEBUG 0
 
 // Flash分区配置
 constexpr u32 BOOTLOADER_SIZE = 0x4000;		// 16KB
@@ -25,11 +26,6 @@ constexpr u32 DEVICE_SERIAL_ADDR_LSB = 0x1FFFF7F0; // 最低32位
 
 // CANFD数据段最大64字节，我们用1字节序号 + 48字节数据 + 1字节CRC校验
 constexpr u32 OTA_PACKET_SIZE = 48;
-typedef struct {
-	u32 packet_num;			  // 包序号
-	u8 data[OTA_PACKET_SIZE]; // 48字节有效数据
-	u32 crc32;				  // 简单校验
-} canfd_ota_packet_t;
 
 // 定义一个联合体类型用于float和byte数组之间的转换
 typedef union {
@@ -37,15 +33,11 @@ typedef union {
 	u8 b[4];
 } u32_union_t;
 
-// 添加辅助函数用于从u8数组中解包float类型数据
-static inline u32_union_t unpack_bytes_to_float(u8 *buffer, u16 offset) {
-	u32_union_t u32_union;
-	u32_union.b[0] = buffer[offset];
-	u32_union.b[1] = buffer[offset + 1];
-	u32_union.b[2] = buffer[offset + 2];
-	u32_union.b[3] = buffer[offset + 3];
-	return u32_union;
-}
+
+// 全局变量（需在安全区域存储）
+constexpr uint8_t K_master[16] = {0x01, 0x23, 0x45, 0x67, 0x89, 0xAB,
+								  0xCD, 0xEF, 0xFE, 0xDC, 0xBA, 0x98,
+								  0x76, 0x54, 0x32, 0x10}; // 预置主密钥
 // 其他
 constexpr u32 OTA_TIMEOUT = 10000;
 constexpr u8 SIZE_U32 = sizeof(uint32_t);
diff --git a/Robot_V2/sys/initial.cpp b/Robot_V2/sys/initial.cpp
index 8dcb338..d4f8312 100644
--- a/Robot_V2/sys/initial.cpp
+++ b/Robot_V2/sys/initial.cpp
@@ -33,4 +33,118 @@ void unused_pin_init() {
 	gpio_bit_reset(GPIOA, GPIO_PIN_8 | GPIO_PIN_11 | GPIO_PIN_12);
 	gpio_bit_reset(GPIOB, GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_15);
 	gpio_bit_reset(GPIOC, GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15);
-}
\ No newline at end of file
+}
+
+
+
+// // 发送单个字节到串口 (用于调试)
+// void uart_send_byte(uint8_t data) {
+// 	// 实际的串口发送代码
+// 	while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 		;
+// 	usart_data_transmit(USART0, data);
+// }
+
+// // 以十六进制格式打印数据
+// // 安全的十六进制打印函数，不使用sprintf，不使用大缓冲区
+// void safe_print_hex(const char *prefix, const uint8_t *data, size_t length) {
+// 	// 1. 先打印前缀
+// 	const char *p = prefix;
+// 	while (*p) {
+// 		while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 			;
+// 		usart_data_transmit(USART0, *p++);
+// 	}
+
+// 	while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 		;
+// 	usart_data_transmit(USART0, ':');
+// 	while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 		;
+// 	usart_data_transmit(USART0, ' ');
+
+// 	// 2. 逐字节打印数据，每16字节换行
+// 	for (size_t i = 0; i < length; i++) {
+// 		uint8_t byte = data[i];
+
+// 		// 打印高4位
+// 		uint8_t high = (byte >> 4) & 0x0F;
+// 		char high_char = (high < 10) ? ('0' + high) : ('A' + high - 10);
+// 		while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 			;
+// 		usart_data_transmit(USART0, high_char);
+
+// 		// 打印低4位
+// 		uint8_t low = byte & 0x0F;
+// 		char low_char = (low < 10) ? ('0' + low) : ('A' + low - 10);
+// 		while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 			;
+// 		usart_data_transmit(USART0, low_char);
+
+// 		// 打印空格
+// 		while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 			;
+// 		usart_data_transmit(USART0, ' ');
+
+// 		// 每16字节换行
+// 		if ((i + 1) % 16 == 0 && i < length - 1) {
+// 			// 换行
+// 			while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 				;
+// 			usart_data_transmit(USART0, '\r');
+// 			while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 				;
+// 			usart_data_transmit(USART0, '\n');
+
+// 			// 缩进（4个空格）
+// 			for (int j = 0; j < 4; j++) {
+// 				while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 					;
+// 				usart_data_transmit(USART0, ' ');
+// 			}
+// 		}
+// 	}
+
+// 	// 3. 打印换行
+// 	while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 		;
+// 	usart_data_transmit(USART0, '\r');
+// 	while (RESET == usart_flag_get(USART0, USART_FLAG_TBE))
+// 		;
+// 	usart_data_transmit(USART0, '\n');
+// }
+
+// void test_decrypt() {
+// 	printf("AES Encryption Verification Starting...\r\n");
+
+// 	// 定义48字节测试数据
+// 	uint8_t plaintext[48] = {
+// 		0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B,
+// 		0x0C, 0x0D, 0x0E, 0x0F, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17,
+// 		0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x20, 0x21, 0x22, 0x23,
+// 		0x24, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F};
+
+// 	// 定义128位密钥 (16字节)
+// 	uint8_t key[16] = {0x2b, 0x7e, 0x15, 0x16, 0x28, 0xae, 0xd2, 0xa6,
+// 					   0xab, 0xf7, 0x15, 0x88, 0x09, 0xcf, 0x4f, 0x3c};
+
+// 	// 创建AES上下文
+// 	aes128_context ctx;
+
+// 	// 设置密钥
+// 	aes128_set_key(&ctx, key);
+
+// 	// 打印原始数据
+// 	safe_print_hex("Original Data", plaintext, 48);
+
+// 	uint8_t ciphertext[48];
+// 	uint8_t decrypted[48];
+
+// 	// 加密
+// 	aes128_ecb_encrypt_48bytes(&ctx, plaintext, ciphertext);
+// 	safe_print_hex("Encrypted Data", ciphertext, 48);
+
+// 	// 解密
+// 	aes128_ecb_decrypt_48bytes(&ctx, ciphertext, decrypted);
+// 	safe_print_hex("Decrypted Data", decrypted, 48);
+// }
diff --git a/Robot_V2/sys/systick.cpp b/Robot_V2/sys/systick.cpp
index 533e364..51f1882 100644
--- a/Robot_V2/sys/systick.cpp
+++ b/Robot_V2/sys/systick.cpp
@@ -57,18 +57,6 @@ void systick_config(void) {
 	/* configure the systick handler priority */
 	NVIC_SetPriority(SysTick_IRQn, 0x00U);
 }
-/*!
-	\brief      delay a time in seconds
-	\param[in]  count: count in seconds
-	\param[out] none
-	\retval     none
-*/
-void delay_1s(uint32_t count) {
-	uint32_t i;
-	for (i = 0; i < count; i++) {
-		delay_1ms(1000);
-	}
-}
 
 /*!
 	\brief      delay a time in milliseconds
@@ -79,8 +67,6 @@ void delay_1s(uint32_t count) {
 void delay_1ms(uint32_t count) {
 	delay = count;
 	while (0U != delay) {
-		fwdgt_counter_reload();
-		fwdgt_counter_reload();
 	}
 }
 
diff --git a/out/Robot_V2+GD32C103CB.cbuild-run.yml b/out/Robot_V2+GD32C103CB.cbuild-run.yml
index 87e74c8..8d6d3e2 100644
--- a/out/Robot_V2+GD32C103CB.cbuild-run.yml
+++ b/out/Robot_V2+GD32C103CB.cbuild-run.yml
@@ -15,6 +15,10 @@ cbuild-run:
       info: generate by Robot_V2.Release+GD32C103CB
       type: hex
       load: image
+    - file: Robot_V2/GD32C103CB/Release/Robot_V2.bin
+      info: generate by Robot_V2.Release+GD32C103CB
+      type: bin
+      load: none
   system-resources:
     memory:
       - name: IROM1
diff --git a/out/Robot_V2/GD32C103CB/Debug/Robot_V2.Debug+GD32C103CB.cbuild.yml b/out/Robot_V2/GD32C103CB/Debug/Robot_V2.Debug+GD32C103CB.cbuild.yml
index ac0ddca..6cebc78 100644
--- a/out/Robot_V2/GD32C103CB/Debug/Robot_V2.Debug+GD32C103CB.cbuild.yml
+++ b/out/Robot_V2/GD32C103CB/Debug/Robot_V2.Debug+GD32C103CB.cbuild.yml
@@ -1,5 +1,5 @@
 build:
-  generated-by: csolution version 2.12.0
+  generated-by: csolution version 2.12.0+p41-gfeadfc5e
   solution: ../../../../Robot_V2.csolution.yml
   project: ../../../../Robot_V2/Robot_V2.cproject.yml
   context: Robot_V2.Debug+GD32C103CB
@@ -74,6 +74,8 @@ build:
     outdir: .
     rtedir: ../../../../Robot_V2/RTE
   output:
+    - type: bin
+      file: Robot_V2.bin
     - type: elf
       file: Robot_V2.axf
     - type: hex
@@ -104,18 +106,6 @@ build:
           category: source
           attr: config
           version: 1.0.0
-    - component: GigaDevice::Device:GD32C10x_StdPeripherals:ADC@1.0.0
-      condition: GD32C10x STDPERIPHERALS RCU
-      from-pack: GigaDevice::GD32C10x_DFP@1.0.1
-      selected-by: Device:GD32C10x_StdPeripherals:ADC
-      files:
-        - file: ${CMSIS_PACK_ROOT}/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc/gd32c10x_adc.h
-          category: header
-          version: 1.0.0
-        - file: ../../../../Robot_V2/RTE/Device/GD32C103CB/gd32c10x_adc.c
-          category: source
-          attr: config
-          version: 1.0.0
     - component: GigaDevice::Device:GD32C10x_StdPeripherals:CAN@1.0.0
       condition: GD32C10x STDPERIPHERALS RCU
       from-pack: GigaDevice::GD32C10x_DFP@1.0.1
@@ -128,6 +118,18 @@ build:
           category: source
           attr: config
           version: 1.0.0
+    - component: GigaDevice::Device:GD32C10x_StdPeripherals:CRC@1.0.0
+      condition: GD32C10x STDPERIPHERALS RCU
+      from-pack: GigaDevice::GD32C10x_DFP@1.0.1
+      selected-by: Device:GD32C10x_StdPeripherals:CRC
+      files:
+        - file: ${CMSIS_PACK_ROOT}/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc/gd32c10x_crc.h
+          category: header
+          version: 1.0.0
+        - file: ../../../../Robot_V2/RTE/Device/GD32C103CB/gd32c10x_crc.c
+          category: source
+          attr: config
+          version: 1.0.0
     - component: GigaDevice::Device:GD32C10x_StdPeripherals:DBG@1.0.0
       condition: GD32C10x STDPERIPHERALS RCU
       from-pack: GigaDevice::GD32C10x_DFP@1.0.1
@@ -236,30 +238,6 @@ build:
           category: source
           attr: config
           version: 1.0.0
-    - component: GigaDevice::Device:GD32C10x_StdPeripherals:SPI_I2S@1.0.0
-      condition: GD32C10x STDPERIPHERALS RCU
-      from-pack: GigaDevice::GD32C10x_DFP@1.0.1
-      selected-by: Device:GD32C10x_StdPeripherals:SPI_I2S
-      files:
-        - file: ${CMSIS_PACK_ROOT}/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc/gd32c10x_spi.h
-          category: header
-          version: 1.0.0
-        - file: ../../../../Robot_V2/RTE/Device/GD32C103CB/gd32c10x_spi.c
-          category: source
-          attr: config
-          version: 1.0.0
-    - component: GigaDevice::Device:GD32C10x_StdPeripherals:TIMER@1.0.0
-      condition: GD32C10x STDPERIPHERALS RCU
-      from-pack: GigaDevice::GD32C10x_DFP@1.0.1
-      selected-by: Device:GD32C10x_StdPeripherals:TIMER
-      files:
-        - file: ${CMSIS_PACK_ROOT}/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc/gd32c10x_timer.h
-          category: header
-          version: 1.0.0
-        - file: ../../../../Robot_V2/RTE/Device/GD32C103CB/gd32c10x_timer.c
-          category: source
-          attr: config
-          version: 1.0.0
     - component: GigaDevice::Device:GD32C10x_StdPeripherals:USART@1.0.0
       condition: GD32C10x STDPERIPHERALS RCU
       from-pack: GigaDevice::GD32C10x_DFP@1.0.1
@@ -272,18 +250,6 @@ build:
           category: source
           attr: config
           version: 1.0.0
-    - component: GigaDevice::Device:GD32C10x_StdPeripherals:WWDGT@1.0.0
-      condition: GD32C10x STDPERIPHERALS RCU
-      from-pack: GigaDevice::GD32C10x_DFP@1.0.1
-      selected-by: Device:GD32C10x_StdPeripherals:WWDGT
-      files:
-        - file: ${CMSIS_PACK_ROOT}/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc/gd32c10x_wwdgt.h
-          category: header
-          version: 1.0.0
-        - file: ../../../../Robot_V2/RTE/Device/GD32C103CB/gd32c10x_wwdgt.c
-          category: source
-          attr: config
-          version: 1.0.0
     - component: GigaDevice::Device:GD32C10x_libopt@1.0.0
       condition: GD32C10x CMSIS
       from-pack: GigaDevice::GD32C10x_DFP@1.0.1
@@ -321,6 +287,10 @@ build:
           category: header
         - file: ../../../../Robot_V2/main.cpp
           category: sourceCpp
+        - file: ../../../../Robot_V2/sys/aes128.h
+          category: header
+        - file: ../../../../Robot_V2/sys/aes128.cpp
+          category: sourceCpp
     - group: sys
       files:
         - file: ../../../../Robot_V2/sys/systick.cpp
@@ -331,48 +301,22 @@ build:
           category: sourceCpp
         - file: ../../../../Robot_V2/sys/initial.h
           category: header
-        - file: ../../../../Robot_V2/sys/health.h
+        - file: ../../../../Robot_V2/sys/flash.h
           category: header
-        - file: ../../../../Robot_V2/sys/health.cpp
+        - file: ../../../../Robot_V2/sys/flash.cpp
           category: sourceCpp
+        - file: ../../../../Robot_V2/sys/OTA.h
+          category: header
+        - file: ../../../../Robot_V2/sys/OTA.cpp
+          category: sourceCpp
+        - file: ../../../../Robot_V2/sys/config.h
+          category: header
     - group: device
       files:
         - file: ../../../../Robot_V2/device/Can.cpp
           category: sourceCpp
         - file: ../../../../Robot_V2/device/Can.h
           category: header
-        - file: ../../../../Robot_V2/device/ang_sensor.cpp
-          category: sourceCpp
-        - file: ../../../../Robot_V2/device/ang_sensor.h
-          category: header
-        - file: ../../../../Robot_V2/device/ADC.cpp
-          category: sourceCpp
-        - file: ../../../../Robot_V2/device/adc.h
-          category: header
-        - file: ../../../../Robot_V2/device/Timer.cpp
-          category: sourceCpp
-        - file: ../../../../Robot_V2/device/Timer.h
-          category: header
-        - file: ../../../../Robot_V2/device/test.cpp
-          category: sourceCpp
-        - file: ../../../../Robot_V2/device/motor.cpp
-          category: sourceCpp
-        - file: ../../../../Robot_V2/device/motor.h
-          category: header
-    - group: Algorithm
-      files:
-        - file: ../../../../Robot_V2/Algorithm/Filter.cpp
-          category: sourceCpp
-        - file: ../../../../Robot_V2/Algorithm/Filter.h
-          category: header
-        - file: ../../../../Robot_V2/Algorithm/DengFOC.cpp
-          category: sourceCpp
-        - file: ../../../../Robot_V2/Algorithm/DengFOC.h
-          category: header
-        - file: ../../../../Robot_V2/Algorithm/pid.cpp
-          category: sourceCpp
-        - file: ../../../../Robot_V2/pid.h
-          category: header
   constructed-files:
     - file: ../../../../Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h
       category: header
@@ -387,8 +331,8 @@ build:
         - pack: GigaDevice::GD32C10x_DFP@1.0.1
       components:
         - component: GigaDevice::Device:EVAL:GD32C10x@1.0.0
-        - component: GigaDevice::Device:GD32C10x_StdPeripherals:ADC@1.0.0
         - component: GigaDevice::Device:GD32C10x_StdPeripherals:CAN@1.0.0
+        - component: GigaDevice::Device:GD32C10x_StdPeripherals:CRC@1.0.0
         - component: GigaDevice::Device:GD32C10x_StdPeripherals:DBG@1.0.0
         - component: GigaDevice::Device:GD32C10x_StdPeripherals:DMA@1.0.0
         - component: GigaDevice::Device:GD32C10x_StdPeripherals:EXTI@1.0.0
@@ -398,9 +342,6 @@ build:
         - component: GigaDevice::Device:GD32C10x_StdPeripherals:MISC@1.0.0
         - component: GigaDevice::Device:GD32C10x_StdPeripherals:PMU@1.0.0
         - component: GigaDevice::Device:GD32C10x_StdPeripherals:RCU@1.0.0
-        - component: GigaDevice::Device:GD32C10x_StdPeripherals:SPI_I2S@1.0.0
-        - component: GigaDevice::Device:GD32C10x_StdPeripherals:TIMER@1.0.0
         - component: GigaDevice::Device:GD32C10x_StdPeripherals:USART@1.0.0
-        - component: GigaDevice::Device:GD32C10x_StdPeripherals:WWDGT@1.0.0
         - component: GigaDevice::Device:GD32C10x_libopt@1.0.0
         - component: GigaDevice::Device:Startup@1.0.0
diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.Release+GD32C103CB.cbuild.yml b/out/Robot_V2/GD32C103CB/Release/Robot_V2.Release+GD32C103CB.cbuild.yml
index 76d6816..aa33052 100644
--- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.Release+GD32C103CB.cbuild.yml
+++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.Release+GD32C103CB.cbuild.yml
@@ -74,6 +74,8 @@ build:
     outdir: .
     rtedir: ../../../../Robot_V2/RTE
   output:
+    - type: bin
+      file: Robot_V2.bin
     - type: elf
       file: Robot_V2.axf
     - type: hex
diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf
index c0f571c..0bd1d67 100644
Binary files a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf and b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf differ
diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map
index 99a24fc..f9934c8 100644
--- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map
+++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map
@@ -6,147 +6,151 @@ Memory Map of the image
 
   Image Entry point : 0x08000165
 
-  Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00004800, Max: 0x00020000, ABSOLUTE, COMPRESSED[0x00004610])
+  Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00004628, Max: 0x08005000, ABSOLUTE)
 
-    Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x000045ec, Max: 0x00020000, ABSOLUTE)
+    Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x0000452c, Max: 0x08005000, ABSOLUTE)
 
     Base Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x08000000   0x00000150   Data   RO          899    RESET               startup_gd32c10x.o
-    0x08000150   0x00000000   Code   RO         1063  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
-    0x08000150   0x00000004   Code   RO         1488    .ARM.Collect$$$$00000003  mc_w.l(entry4.o)
-    0x08000154   0x00000004   Code   RO         1491    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
-    0x08000158   0x00000000   Code   RO         1493    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
-    0x08000158   0x00000000   Code   RO         1495    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
-    0x08000158   0x00000008   Code   RO         1496    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
-    0x08000160   0x00000000   Code   RO         1498    .ARM.Collect$$$$0000000D  mc_w.l(entry10a.o)
-    0x08000160   0x00000000   Code   RO         1500    .ARM.Collect$$$$0000000F  mc_w.l(entry11a.o)
-    0x08000160   0x00000004   Code   RO         1489    .ARM.Collect$$$$00002714  mc_w.l(entry4.o)
-    0x08000164   0x0000002c   Code   RO          900  * .text               startup_gd32c10x.o
-    0x08000190   0x00000024   Code   RO         1070    .text               mc_w.l(memcpya.o)
-    0x080001b4   0x00000024   Code   RO         1072    .text               mc_w.l(memseta.o)
-    0x080001d8   0x0000001a   Code   RO         1074    .text               mc_w.l(memcmp.o)
-    0x080001f2   0x00000062   Code   RO         1514    .text               mc_w.l(uldiv.o)
-    0x08000254   0x00000002   Code   RO         1516    .text               mc_w.l(abort.o)
-    0x08000256   0x00000002   PAD
-    0x08000258   0x00000030   Code   RO         1843    .text               mc_w.l(init.o)
-    0x08000288   0x0000001e   Code   RO         1845    .text               mc_w.l(llshl.o)
-    0x080002a6   0x00000020   Code   RO         1847    .text               mc_w.l(llushr.o)
-    0x080002c6   0x0000003a   Code   RO         1938    .text               mc_w.l(__dczerorl.o)
-    0x08000300   0x000000cc   Code   RO          186    .text.CAN0_RX0_IRQHandler  Can.o
-    0x080003cc   0x0000004a   Code   RO          188    .text.DMA0_Channel4_IRQHandler  Can.o
-    0x08000416   0x00000002   PAD
-    0x08000418   0x00000026   Code   RO          190    .text.DMA0_Channel5_IRQHandler  Can.o
-    0x0800043e   0x00000002   PAD
-    0x08000440   0x00000342   Code   RO          906    .text.SystemInit    system_gd32c10x.o
-    0x08000782   0x00000002   PAD
-    0x08000784   0x00000012   Code   RO           91    .text.USART0_init   initial.o
-    0x08000796   0x00000002   PAD
-    0x08000798   0x00000198   Code   RO           36    .text._Z11mix_columnsPh  aes128.o
-    0x08000930   0x00000238   Code   RO           44    .text._Z14aes128_set_keyP14aes128_contextPKh  aes128.o
-    0x08000b68   0x000008e2   Code   RO           42    .text._Z15inv_mix_columnsPh  aes128.o
-    0x0800144a   0x00000002   PAD
-    0x0800144c   0x000003c8   Code   RO           50    .text._Z20aes128_decrypt_blockP14aes128_contextPKhPh  aes128.o
-    0x08001814   0x000003e6   Code   RO           46    .text._Z20aes128_encrypt_blockP14aes128_contextPKhPh  aes128.o
-    0x08001bfa   0x00000002   PAD
-    0x08001bfc   0x00000210   Code   RO          149    .text._Z24calculate_crc32_with_keyPKhS0_Ph  OTA.o
-    0x08001e0c   0x0000002c   Code   RO           52    .text._Z26aes128_ecb_decrypt_48bytesP14aes128_contextPKhPh  aes128.o
-    0x08001e38   0x00000410   Code   RO          147    .text._ZN10OTAHandler16handleOTAMessageEjPhh  OTA.o
-    0x08002248   0x00000078   Code   RO          135    .text._ZN10OTAHandler7processEv  OTA.o
-    0x080022c0   0x00000028   Code   RO          929    .text._ZN10__cxxabiv121__isOurExceptionClassEPK21_Unwind_Control_Block  libcppabi_wx.l(cxa_exception.cpp.o)
-    0x080022e8   0x00000060   Code   RO          957    .text._ZN10__cxxabiv1L22__cxa_end_cleanup_implEv  libcppabi_wx.l(cxa_exception.cpp.o)
-    0x08002348   0x0000009e   Code   RO          180    .text._ZN14CAN_transmiter12sendDATA_ACKEjPh  Can.o
-    0x080023e6   0x00000002   PAD
-    0x080023e8   0x00000178   Code   RO          182    .text._ZN14CAN_transmiter15CANFD_AsyncSendEjhPh  Can.o
-    0x08002560   0x00000064   Code   RO          178    .text._ZN14CAN_transmiter19communication_checkEv  Can.o
-    0x080025c4   0x00000038   Code   RO          176    .text._ZN14CAN_transmiter4initEv  Can.o
-    0x080025fc   0x00000074   Code   RO         1000    .text._ZSt11__terminatePFvvE  libcppabi_wx.l(cxa_handlers.cpp.o)
-    0x08002670   0x00000030   Code   RO          991    .text._ZSt9terminatev  libcppabi_wx.l(cxa_handlers.cpp.o)
-    0x080026a0   0x0000000a   Code   RO          986    .text.__clang_call_terminate  libcppabi_wx.l(cxa_exception.cpp.o)
-    0x080026aa   0x00000002   PAD
-    0x080026ac   0x0000006c   Code   RO          934    .text.__cxa_begin_catch  libcppabi_wx.l(cxa_exception.cpp.o)
-    0x08002718   0x0000000a   Code   RO         1355    .text.__cxa_get_globals  libcppabi_wx.l(cxa_exception_storage.cpp.o)
-    0x08002722   0x0000000a   Code   RO         1357    .text.__cxa_get_globals_fast  libcppabi_wx.l(cxa_exception_storage.cpp.o)
-    0x0800272c   0x00000026   Code   RO          240    .text.can_deinit    gd32c10x_can.o
-    0x08002752   0x00000002   PAD
-    0x08002754   0x00000114   Code   RO          246    .text.can_fd_init   gd32c10x_can.o
-    0x08002868   0x000000b2   Code   RO          248    .text.can_filter_init  gd32c10x_can.o
-    0x0800291a   0x00000002   PAD
-    0x0800291c   0x00000176   Code   RO          244    .text.can_init      gd32c10x_can.o
-    0x08002a92   0x00000002   PAD
-    0x08002a94   0x00000008   Code   RO          290    .text.can_interrupt_enable  gd32c10x_can.o
-    0x08002a9c   0x00000016   Code   RO          300    .text.can_interrupt_flag_clear  gd32c10x_can.o
-    0x08002ab2   0x00000002   PAD
-    0x08002ab4   0x00000066   Code   RO          298    .text.can_interrupt_flag_get  gd32c10x_can.o
-    0x08002b1a   0x00000002   PAD
-    0x08002b1c   0x000001f4   Code   RO          274    .text.can_message_receive  gd32c10x_can.o
-    0x08002d10   0x000001f0   Code   RO          268    .text.can_message_transmit  gd32c10x_can.o
-    0x08002f00   0x00000018   Code   RO          278    .text.can_receive_message_length_get  gd32c10x_can.o
-    0x08002f18   0x00000072   Code   RO          242    .text.can_struct_para_init  gd32c10x_can.o
-    0x08002f8a   0x00000002   PAD
-    0x08002f8c   0x000001b0   Code   RO          174    .text.canfd_config  Can.o
-    0x0800313c   0x00000018   Code   RO          314    .text.crc_deinit    gd32c10x_crc.o
-    0x08003154   0x00000022   Code   RO           73    .text.delay_1ms     systick.o
-    0x08003176   0x00000002   PAD
-    0x08003178   0x00000018   Code   RO           75    .text.delay_decrement  systick.o
-    0x08003190   0x00000024   Code   RO          380    .text.dma_channel_disable  gd32c10x_dma.o
-    0x080031b4   0x00000024   Code   RO          378    .text.dma_channel_enable  gd32c10x_dma.o
-    0x080031d8   0x00000074   Code   RO          368    .text.dma_init      gd32c10x_dma.o
-    0x0800324c   0x00000022   Code   RO          414    .text.dma_interrupt_enable  gd32c10x_dma.o
-    0x0800326e   0x00000002   PAD
-    0x08003270   0x0000000e   Code   RO          412    .text.dma_interrupt_flag_clear  gd32c10x_dma.o
-    0x0800327e   0x00000002   PAD
-    0x08003280   0x0000003a   Code   RO          410    .text.dma_interrupt_flag_get  gd32c10x_dma.o
-    0x080032ba   0x00000002   PAD
-    0x080032bc   0x0000001a   Code   RO          366    .text.dma_struct_para_init  gd32c10x_dma.o
-    0x080032d6   0x00000002   PAD
-    0x080032d8   0x0000002c   Code   RO           93    .text.fputc         initial.o
-    0x08003304   0x00000010   Code   RO          553    .text.fwdgt_counter_reload  gd32c10x_fwdgt.o
-    0x08003314   0x00000098   Code   RO          223    .text.gd_eval_com_init  gd32c10x_eval.o
-    0x080033ac   0x00000004   Code   RO          578    .text.gpio_bit_reset  gd32c10x_gpio.o
-    0x080033b0   0x000002c0   Code   RO          574    .text.gpio_init     gd32c10x_gpio.o
-    0x08003670   0x00000080   Code   RO          592    .text.gpio_pin_remap_config  gd32c10x_gpio.o
-    0x080036f0   0x0000003a   Code   RO           14    .text.main          main.o
-    0x0800372a   0x00000002   PAD
-    0x0800372c   0x00000060   Code   RO          621    .text.nvic_irq_enable  gd32c10x_misc.o
-    0x0800378c   0x0000001c   Code   RO          625    .text.nvic_vector_table_set  gd32c10x_misc.o
-    0x080037a8   0x0000010c   Code   RO          771    .text.rcu_clock_freq_get  gd32c10x_rcu.o
-    0x080038b4   0x0000001e   Code   RO          689    .text.rcu_periph_clock_enable  gd32c10x_rcu.o
-    0x080038d2   0x00000002   PAD
-    0x080038d4   0x00000020   Code   RO          699    .text.rcu_periph_reset_disable  gd32c10x_rcu.o
-    0x080038f4   0x0000001e   Code   RO          697    .text.rcu_periph_reset_enable  gd32c10x_rcu.o
-    0x08003912   0x00000002   PAD
-    0x08003914   0x00000048   Code   RO           69    .text.systick_config  systick.o
-    0x0800395c   0x00000006   Code   RO         1340    .text.unlikely.abort_message  libcppabi_wx.l(abort_message.cpp.o)
-    0x08003962   0x00000002   PAD
-    0x08003964   0x0000006a   Code   RO          787    .text.usart_baudrate_set  gd32c10x_usart.o
-    0x080039ce   0x00000002   PAD
-    0x080039d0   0x00000008   Code   RO          813    .text.usart_data_transmit  gd32c10x_usart.o
-    0x080039d8   0x0000007a   Code   RO          785    .text.usart_deinit  gd32c10x_usart.o
-    0x08003a52   0x00000002   PAD
-    0x08003a54   0x0000000a   Code   RO          795    .text.usart_enable  gd32c10x_usart.o
-    0x08003a5e   0x00000002   PAD
-    0x08003a60   0x00000010   Code   RO          875    .text.usart_flag_get  gd32c10x_usart.o
-    0x08003a70   0x00000014   Code   RO          801    .text.usart_receive_config  gd32c10x_usart.o
-    0x08003a84   0x00000014   Code   RO          799    .text.usart_transmit_config  gd32c10x_usart.o
-    0x08003a98   0x00000020   Code   RO         1285    i.__0printf$8       mc_w.l(printf8.o)
-    0x08003ab8   0x0000000e   Code   RO         1932    i.__scatterload_copy  mc_w.l(handlers.o)
-    0x08003ac6   0x00000002   Code   RO         1933    i.__scatterload_null  mc_w.l(handlers.o)
-    0x08003ac8   0x0000000e   Code   RO         1934    i.__scatterload_zeroinit  mc_w.l(handlers.o)
-    0x08003ad6   0x00000002   PAD
-    0x08003ad8   0x00000410   Code   RO         1292    i._printf_core      mc_w.l(printf8.o)
-    0x08003ee8   0x00000024   Code   RO         1293    i._printf_post_padding  mc_w.l(printf8.o)
-    0x08003f0c   0x0000002e   Code   RO         1294    i._printf_pre_padding  mc_w.l(printf8.o)
-    0x08003f3a   0x00000002   PAD
-    0x08003f3c   0x00000024   Code   RO         1066    i.puts              mc_w.l(puts.o)
-    0x08003f60   0x00000100   Data   RO           57    .rodata._ZL4sbox    aes128.o
-    0x08004060   0x00000400   Data   RO          158    .rodata._ZZ24calculate_crc32_with_keyPKhS0_PhE9crc_table  OTA.o
-    0x08004460   0x00000008   Data   RO          773    .rodata.cst8        gd32c10x_rcu.o
-    0x08004468   0x00000007   Data   RO          302    .rodata.g_can_fdlength_table  gd32c10x_can.o
-    0x0800446f   0x00000100   Data   RO           56    .rodata.inv_sbox    aes128.o
-    0x0800456f   0x0000005c   Data   RO          199    .rodata.str1.1      Can.o
-    0x080045cb   0x00000001   PAD
-    0x080045cc   0x00000020   Data   RO         1931    Region$$Table       anon$$obj.o
+    0x08000000   0x00000150   Data   RO          895    RESET               startup_gd32c10x.o
+    0x08000150   0x00000000   Code   RO         1059  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
+    0x08000150   0x00000004   Code   RO         1486    .ARM.Collect$$$$00000003  mc_w.l(entry4.o)
+    0x08000154   0x00000004   Code   RO         1489    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
+    0x08000158   0x00000000   Code   RO         1491    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
+    0x08000158   0x00000000   Code   RO         1493    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
+    0x08000158   0x00000008   Code   RO         1494    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
+    0x08000160   0x00000000   Code   RO         1496    .ARM.Collect$$$$0000000D  mc_w.l(entry10a.o)
+    0x08000160   0x00000000   Code   RO         1498    .ARM.Collect$$$$0000000F  mc_w.l(entry11a.o)
+    0x08000160   0x00000004   Code   RO         1487    .ARM.Collect$$$$00002714  mc_w.l(entry4.o)
+    0x08000164   0x0000002c   Code   RO          896  * .text               startup_gd32c10x.o
+    0x08000190   0x00000024   Code   RO         1068    .text               mc_w.l(memcpya.o)
+    0x080001b4   0x00000024   Code   RO         1070    .text               mc_w.l(memseta.o)
+    0x080001d8   0x0000001a   Code   RO         1072    .text               mc_w.l(memcmp.o)
+    0x080001f2   0x00000002   Code   RO         1514    .text               mc_w.l(abort.o)
+    0x080001f4   0x00000030   Code   RO         1841    .text               mc_w.l(init.o)
+    0x08000224   0x0000009c   Code   RO          183    .text.CAN0_RX0_IRQHandler  Can.o
+    0x080002c0   0x0000004a   Code   RO          185    .text.DMA0_Channel4_IRQHandler  Can.o
+    0x0800030a   0x00000002   PAD
+    0x0800030c   0x00000026   Code   RO          187    .text.DMA0_Channel5_IRQHandler  Can.o
+    0x08000332   0x00000002   PAD
+    0x08000334   0x00000342   Code   RO          902    .text.SystemInit    system_gd32c10x.o
+    0x08000676   0x00000002   PAD
+    0x08000678   0x00000012   Code   RO           85    .text.USART0_init   initial.o
+    0x0800068a   0x00000002   PAD
+    0x0800068c   0x00000198   Code   RO           32    .text._Z11mix_columnsPh  aes128.o
+    0x08000824   0x00000238   Code   RO           40    .text._Z14aes128_set_keyP14aes128_contextPKh  aes128.o
+    0x08000a5c   0x000008e2   Code   RO           38    .text._Z15inv_mix_columnsPh  aes128.o
+    0x0800133e   0x00000002   PAD
+    0x08001340   0x00000030   Code   RO          133    .text._Z19validateApplicationv  OTA.o
+    0x08001370   0x000003c8   Code   RO           46    .text._Z20aes128_decrypt_blockP14aes128_contextPKhPh  aes128.o
+    0x08001738   0x000003e6   Code   RO           42    .text._Z20aes128_encrypt_blockP14aes128_contextPKhPh  aes128.o
+    0x08001b1e   0x00000002   PAD
+    0x08001b20   0x00000210   Code   RO          145    .text._Z24calculate_crc32_with_keyPKhS0_Ph  OTA.o
+    0x08001d30   0x0000002c   Code   RO           48    .text._Z26aes128_ecb_decrypt_48bytesP14aes128_contextPKhPh  aes128.o
+    0x08001d5c   0x000004a8   Code   RO          143    .text._ZN10OTAHandler16handleOTAMessageEjPhh  OTA.o
+    0x08002204   0x00000088   Code   RO          135    .text._ZN10OTAHandler17jumpToApplicationEv  OTA.o
+    0x0800228c   0x0000005a   Code   RO          139    .text._ZN10OTAHandler20writeApplicationDataEjPhj  OTA.o
+    0x080022e6   0x00000002   PAD
+    0x080022e8   0x00000078   Code   RO          129    .text._ZN10OTAHandler7processEv  OTA.o
+    0x08002360   0x00000028   Code   RO          925    .text._ZN10__cxxabiv121__isOurExceptionClassEPK21_Unwind_Control_Block  libcppabi_wx.l(cxa_exception.cpp.o)
+    0x08002388   0x00000060   Code   RO          953    .text._ZN10__cxxabiv1L22__cxa_end_cleanup_implEv  libcppabi_wx.l(cxa_exception.cpp.o)
+    0x080023e8   0x0000008c   Code   RO          177    .text._ZN14CAN_transmiter12sendDATA_ACKEjPh  Can.o
+    0x08002474   0x0000014e   Code   RO          179    .text._ZN14CAN_transmiter15CANFD_AsyncSendEjhPh  Can.o
+    0x080025c2   0x00000002   PAD
+    0x080025c4   0x0000004e   Code   RO          175    .text._ZN14CAN_transmiter19communication_checkEv  Can.o
+    0x08002612   0x00000002   PAD
+    0x08002614   0x00000038   Code   RO          173    .text._ZN14CAN_transmiter4initEv  Can.o
+    0x0800264c   0x00000074   Code   RO          996    .text._ZSt11__terminatePFvvE  libcppabi_wx.l(cxa_handlers.cpp.o)
+    0x080026c0   0x00000030   Code   RO          987    .text._ZSt9terminatev  libcppabi_wx.l(cxa_handlers.cpp.o)
+    0x080026f0   0x0000000a   Code   RO          982    .text.__clang_call_terminate  libcppabi_wx.l(cxa_exception.cpp.o)
+    0x080026fa   0x00000002   PAD
+    0x080026fc   0x0000006c   Code   RO          930    .text.__cxa_begin_catch  libcppabi_wx.l(cxa_exception.cpp.o)
+    0x08002768   0x0000000a   Code   RO         1353    .text.__cxa_get_globals  libcppabi_wx.l(cxa_exception_storage.cpp.o)
+    0x08002772   0x0000000a   Code   RO         1355    .text.__cxa_get_globals_fast  libcppabi_wx.l(cxa_exception_storage.cpp.o)
+    0x0800277c   0x00000026   Code   RO          236    .text.can_deinit    gd32c10x_can.o
+    0x080027a2   0x00000002   PAD
+    0x080027a4   0x00000114   Code   RO          242    .text.can_fd_init   gd32c10x_can.o
+    0x080028b8   0x000000b2   Code   RO          244    .text.can_filter_init  gd32c10x_can.o
+    0x0800296a   0x00000002   PAD
+    0x0800296c   0x00000176   Code   RO          240    .text.can_init      gd32c10x_can.o
+    0x08002ae2   0x00000002   PAD
+    0x08002ae4   0x00000008   Code   RO          286    .text.can_interrupt_enable  gd32c10x_can.o
+    0x08002aec   0x00000016   Code   RO          296    .text.can_interrupt_flag_clear  gd32c10x_can.o
+    0x08002b02   0x00000002   PAD
+    0x08002b04   0x00000066   Code   RO          294    .text.can_interrupt_flag_get  gd32c10x_can.o
+    0x08002b6a   0x00000002   PAD
+    0x08002b6c   0x000001f4   Code   RO          270    .text.can_message_receive  gd32c10x_can.o
+    0x08002d60   0x000001f0   Code   RO          264    .text.can_message_transmit  gd32c10x_can.o
+    0x08002f50   0x00000018   Code   RO          274    .text.can_receive_message_length_get  gd32c10x_can.o
+    0x08002f68   0x00000072   Code   RO          238    .text.can_struct_para_init  gd32c10x_can.o
+    0x08002fda   0x00000002   PAD
+    0x08002fdc   0x000001b0   Code   RO          171    .text.canfd_config  Can.o
+    0x0800318c   0x00000018   Code   RO          310    .text.crc_deinit    gd32c10x_crc.o
+    0x080031a4   0x00000024   Code   RO           67    .text.delay_1ms     systick.o
+    0x080031c8   0x00000018   Code   RO           69    .text.delay_decrement  systick.o
+    0x080031e0   0x00000024   Code   RO          376    .text.dma_channel_disable  gd32c10x_dma.o
+    0x08003204   0x00000024   Code   RO          374    .text.dma_channel_enable  gd32c10x_dma.o
+    0x08003228   0x00000074   Code   RO          364    .text.dma_init      gd32c10x_dma.o
+    0x0800329c   0x00000022   Code   RO          410    .text.dma_interrupt_enable  gd32c10x_dma.o
+    0x080032be   0x00000002   PAD
+    0x080032c0   0x0000000e   Code   RO          408    .text.dma_interrupt_flag_clear  gd32c10x_dma.o
+    0x080032ce   0x00000002   PAD
+    0x080032d0   0x0000003a   Code   RO          406    .text.dma_interrupt_flag_get  gd32c10x_dma.o
+    0x0800330a   0x00000002   PAD
+    0x0800330c   0x0000001a   Code   RO          362    .text.dma_struct_para_init  gd32c10x_dma.o
+    0x08003326   0x00000002   PAD
+    0x08003328   0x00000012   Code   RO          480    .text.fmc_lock      gd32c10x_fmc.o
+    0x0800333a   0x00000002   PAD
+    0x0800333c   0x00000166   Code   RO          484    .text.fmc_page_erase  gd32c10x_fmc.o
+    0x080034a2   0x00000002   PAD
+    0x080034a4   0x00000026   Code   RO          478    .text.fmc_unlock    gd32c10x_fmc.o
+    0x080034ca   0x00000002   PAD
+    0x080034cc   0x000001aa   Code   RO          490    .text.fmc_word_program  gd32c10x_fmc.o
+    0x08003676   0x00000002   PAD
+    0x08003678   0x0000002c   Code   RO           87    .text.fputc         initial.o
+    0x080036a4   0x00000098   Code   RO          219    .text.gd_eval_com_init  gd32c10x_eval.o
+    0x0800373c   0x00000004   Code   RO          574    .text.gpio_bit_reset  gd32c10x_gpio.o
+    0x08003740   0x000002c0   Code   RO          570    .text.gpio_init     gd32c10x_gpio.o
+    0x08003a00   0x00000080   Code   RO          588    .text.gpio_pin_remap_config  gd32c10x_gpio.o
+    0x08003a80   0x0000006e   Code   RO           10    .text.main          main.o
+    0x08003aee   0x00000002   PAD
+    0x08003af0   0x00000060   Code   RO          617    .text.nvic_irq_enable  gd32c10x_misc.o
+    0x08003b50   0x0000001c   Code   RO          621    .text.nvic_vector_table_set  gd32c10x_misc.o
+    0x08003b6c   0x0000010c   Code   RO          767    .text.rcu_clock_freq_get  gd32c10x_rcu.o
+    0x08003c78   0x00000020   Code   RO          687    .text.rcu_periph_clock_disable  gd32c10x_rcu.o
+    0x08003c98   0x0000001e   Code   RO          685    .text.rcu_periph_clock_enable  gd32c10x_rcu.o
+    0x08003cb6   0x00000002   PAD
+    0x08003cb8   0x00000020   Code   RO          695    .text.rcu_periph_reset_disable  gd32c10x_rcu.o
+    0x08003cd8   0x0000001e   Code   RO          693    .text.rcu_periph_reset_enable  gd32c10x_rcu.o
+    0x08003cf6   0x00000002   PAD
+    0x08003cf8   0x00000014   Code   RO          701    .text.rcu_system_clock_source_config  gd32c10x_rcu.o
+    0x08003d0c   0x00000048   Code   RO           65    .text.systick_config  systick.o
+    0x08003d54   0x00000006   Code   RO         1338    .text.unlikely.abort_message  libcppabi_wx.l(abort_message.cpp.o)
+    0x08003d5a   0x00000002   PAD
+    0x08003d5c   0x0000006a   Code   RO          783    .text.usart_baudrate_set  gd32c10x_usart.o
+    0x08003dc6   0x00000002   PAD
+    0x08003dc8   0x00000008   Code   RO          809    .text.usart_data_transmit  gd32c10x_usart.o
+    0x08003dd0   0x0000007a   Code   RO          781    .text.usart_deinit  gd32c10x_usart.o
+    0x08003e4a   0x00000002   PAD
+    0x08003e4c   0x0000000a   Code   RO          791    .text.usart_enable  gd32c10x_usart.o
+    0x08003e56   0x00000002   PAD
+    0x08003e58   0x00000010   Code   RO          871    .text.usart_flag_get  gd32c10x_usart.o
+    0x08003e68   0x00000014   Code   RO          797    .text.usart_receive_config  gd32c10x_usart.o
+    0x08003e7c   0x00000014   Code   RO          795    .text.usart_transmit_config  gd32c10x_usart.o
+    0x08003e90   0x0000000e   Code   RO         1930    i.__scatterload_copy  mc_w.l(handlers.o)
+    0x08003e9e   0x00000002   Code   RO         1931    i.__scatterload_null  mc_w.l(handlers.o)
+    0x08003ea0   0x0000000e   Code   RO         1932    i.__scatterload_zeroinit  mc_w.l(handlers.o)
+    0x08003eae   0x00000002   PAD
+    0x08003eb0   0x00000024   Code   RO         1062    i.puts              mc_w.l(puts.o)
+    0x08003ed4   0x00000100   Data   RO           53    .rodata._ZL4sbox    aes128.o
+    0x08003fd4   0x00000010   Data   RO          153    .rodata._ZL8K_master  OTA.o
+    0x08003fe4   0x00000400   Data   RO          155    .rodata._ZZ24calculate_crc32_with_keyPKhS0_PhE9crc_table  OTA.o
+    0x080043e4   0x00000008   Data   RO          769    .rodata.cst8        gd32c10x_rcu.o
+    0x080043ec   0x00000007   Data   RO          298    .rodata.g_can_fdlength_table  gd32c10x_can.o
+    0x080043f3   0x00000100   Data   RO           52    .rodata.inv_sbox    aes128.o
+    0x080044f3   0x00000017   Data   RO           13    .rodata.str1.1      main.o
+    0x0800450a   0x00000002   PAD
+    0x0800450c   0x00000020   Data   RO         1929    Region$$Table       anon$$obj.o
 
 
     Execution Region RW_NOINIT (Base: 0x20000000, Size: 0x00000000, Max: 0x00007200, ABSOLUTE, UNINIT)
@@ -154,31 +158,33 @@ Memory Map of the image
     **** No section assigned to this execution region ****
 
 
-    Execution Region RW_RAM0 (Base: 0x20000000, Size: 0x00000a70, Max: 0x00007200, ABSOLUTE, COMPRESSED[0x00000020])
+    Execution Region RW_RAM0 (Base: 0x20000000, Size: 0x00000a68, Max: 0x00007200, ABSOLUTE)
 
     Base Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x20000000   0x00000004   Data   RW         1502    .data               mc_w.l(stdout.o)
-    0x20000004   0x000000e8   Data   RW          194    .data.CAN0_transmiter  Can.o
-    0x200000ec   0x00000004   Data   RW          912    .data.SystemCoreClock  system_gd32c10x.o
-    0x200000f0   0x00000004   Data   RW         1350    .data.__cxa_terminate_handler  libcppabi_wx.l(cxa_default_handlers.cpp.o)
-    0x200000f4   0x0000011c   Data   RW          155    .data.ota           OTA.o
-    0x20000210   0x00000004   Zero   RW           79    .bss._ZL5delay      systick.o
-    0x20000214   0x0000000c   Zero   RW         1359    .bss._ZN10__cxxabiv1L10eh_globalsE  libcppabi_wx.l(cxa_exception_storage.cpp.o)
-    0x20000220   0x00000001   Zero   RW          156    .bss._ZZN10OTAHandler7processEvE4zero  OTA.o
-    0x20000221   0x00000007   PAD
-    0x20000228   0x00000008   Zero   RW          197    .bss.can_rx_buffer  Can.o
-    0x20000230   0x00000008   Zero   RW          198    .bss.can_tx_buffer  Can.o
-    0x20000238   0x0000001c   Zero   RW          195    .bss.dma_rx_parameter  Can.o
-    0x20000254   0x0000001c   Zero   RW          196    .bss.dma_tx_parameter  Can.o
-    0x20000270   0x00000800   Zero   RW          897    STACK               startup_gd32c10x.o
+    0x20000000   0x00000004   Data   RW         1500    .data               mc_w.l(stdout.o)
+    0x20000004   0x000000e8   Data   RW          191    .data.CAN0_transmiter  Can.o
+    0x200000ec   0x00000004   Data   RW          908    .data.SystemCoreClock  system_gd32c10x.o
+    0x200000f0   0x00000004   Data   RW         1348    .data.__cxa_terminate_handler  libcppabi_wx.l(cxa_default_handlers.cpp.o)
+    0x200000f4   0x00000004   PAD
+    0x200000f8   0x00000004   Zero   RW           73    .bss._ZL5delay      systick.o
+    0x200000fc   0x0000000c   Zero   RW         1357    .bss._ZN10__cxxabiv1L10eh_globalsE  libcppabi_wx.l(cxa_exception_storage.cpp.o)
+    0x20000108   0x00000001   Zero   RW          152    .bss._ZZN10OTAHandler7processEvE4zero  OTA.o
+    0x20000109   0x00000007   PAD
+    0x20000110   0x00000008   Zero   RW          194    .bss.can_rx_buffer  Can.o
+    0x20000118   0x00000008   Zero   RW          195    .bss.can_tx_buffer  Can.o
+    0x20000120   0x0000001c   Zero   RW          192    .bss.dma_rx_parameter  Can.o
+    0x2000013c   0x0000001c   Zero   RW          193    .bss.dma_tx_parameter  Can.o
+    0x20000158   0x0000010c   Zero   RW          151    .bss.ota            OTA.o
+    0x20000264   0x00000004   PAD
+    0x20000268   0x00000800   Zero   RW          893    STACK               startup_gd32c10x.o
 
 
-    Execution Region ARM_LIB_HEAP (Base: 0x20000a70, Size: 0x00000c00, Max: 0x00000c00, ABSOLUTE)
+    Execution Region ARM_LIB_HEAP (Base: 0x20000a68, Size: 0x00000c00, Max: 0x00000c00, ABSOLUTE)
 
     Base Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x20000a70   0x00000c00   Zero   RW            1    ARM_LIB_HEAP.bss    anon$$obj.o
+    0x20000a68   0x00000c00   Zero   RW            1    ARM_LIB_HEAP.bss    anon$$obj.o
 
 
     Execution Region ARM_LIB_STACK (Base: 0x20007e00, Size: 0x00000200, Max: 0x00000200, ABSOLUTE)
diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex
index efe3c77..508d611 100644
--- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex
+++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex
@@ -1,14 +1,14 @@
 :020000040800F2
-:10000000700A0020650100086D0100086F010008FA
+:10000000680A0020650100086D0100086F01000802
 :10001000710100087301000875010008000000006C
 :100020000000000000000000000000007701000850
 :1000300079010008000000007B0100087D01000834
 :100040008101000881010008810100088101000888
 :100050008101000881010008810100088101000878
 :100060008101000881010008810100088101000868
-:10007000810100088101000881010008CD0300080A
-:1000800019040008810100088101000881010008AD
-:1000900001030008810100088101000881010008B6
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diff --git a/tmp/.ninja_log b/tmp/.ninja_log
index 320a8b3..d8fe5cb 100644
--- a/tmp/.ninja_log
+++ b/tmp/.ninja_log
@@ -1,43 +1,45 @@
 # ninja log v6
-8	116	7883668895297817	Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-mkdir	33f68be7a9762efe
-8	116	7883668895297817	G:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-mkdir	33f68be7a9762efe
-116	214	7883668896330337	Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-download	8d5ce3c00fc16ca4
-116	214	7883668896330337	G:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-download	8d5ce3c00fc16ca4
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diff --git a/tmp/1/.ninja_deps b/tmp/1/.ninja_deps
index 04f684e..efcaf92 100644
Binary files a/tmp/1/.ninja_deps and b/tmp/1/.ninja_deps differ
diff --git a/tmp/1/.ninja_log b/tmp/1/.ninja_log
index 9497338..b71f08d 100644
--- a/tmp/1/.ninja_log
+++ b/tmp/1/.ninja_log
@@ -1,86 +1,77 @@
 # ninja log v6
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+        ignore line: [[1/2] c:\\Users\\cbb\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.24.0\\bin\\armclang.exe --target=arm-arm-none-eabi   --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard    -v -MD -MT CMakeFiles/cmTC_e81a8.dir/CMakeCCompilerABI.o -MF CMakeFiles\\cmTC_e81a8.dir\\CMakeCCompilerABI.o.d -o CMakeFiles/cmTC_e81a8.dir/CMakeCCompilerABI.o -c C:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/CMakeCCompilerABI.c]
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         ignore line: [Tool: armclang [5f371800]]
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+        ignore line: [ "C:\\\\Users\\\\cbb\\\\.vcpkg\\\\artifacts\\\\2139c4c6\\\\compilers.arm.armclang\\\\6.24.0\\\\bin\\\\armclang.exe" -cc1 -triple thumbv7em-arm-none-eabihf -emit-obj -disable-free -clear-ast-before-backend -disable-llvm-verifier -discard-value-names -main-file-name CMakeCCompilerABI.c -mrelocation-model static -mframe-pointer=none -menable-no-infs -menable-no-nans -fmath-errno -fno-signed-zeros -fdenormal-fp-math=preserve-sign preserve-sign -ffp-contract=on -fno-rounding-math -ffinite-math-only -mconstructor-aliases -target-cpu cortex-m4 -target-feature -vfp2 -target-feature +vfp2sp -target-feature -vfp3 -target-feature -vfp3d16 -target-feature +vfp3d16sp -target-feature -vfp3sp -target-feature +fp16 -target-feature -vfp4 -target-feature -vfp4d16 -target-feature +vfp4d16sp -target-feature -vfp4sp -target-feature -fp-armv8 -target-feature -fp-armv8d16 -target-feature -fp-armv8d16sp -target-feature -fp-armv8sp -target-feature -fullfp16 -target-feature -fp64 -target-feature -d32 -target-feature -neon -target-feature -sha2 -target-feature -aes -target-feature -fp16fml -target-abi aapcs -mfloat-abi hard -debugger-tuning=gdb -fforce-dwarf-frame "-fdebug-compilation-dir=G:\\\\Robot_v2\\\\BOOT\\\\tmp\\\\1\\\\CMakeFiles\\\\CMakeScratch\\\\TryCompile-peotkb" -v -ffunction-sections -fdata-sections "-fcoverage-compilation-dir=G:\\\\Robot_v2\\\\BOOT\\\\tmp\\\\1\\\\CMakeFiles\\\\CMakeScratch\\\\TryCompile-peotkb" -resource-dir "C:\\\\Users\\\\cbb\\\\.vcpkg\\\\artifacts\\\\2139c4c6\\\\compilers.arm.armclang\\\\6.24.0\\\\lib\\\\clang\\\\20" -dependency-file "CMakeFiles\\\\cmTC_e81a8.dir\\\\CMakeCCompilerABI.o.d" -MT CMakeFiles/cmTC_e81a8.dir/CMakeCCompilerABI.o -sys-header-deps -internal-isystem "C:\\\\Users\\\\cbb\\\\.vcpkg\\\\artifacts\\\\2139c4c6\\\\compilers.arm.armclang\\\\6.24.0\\\\bin\\\\..\\\\include" -nobuiltininc -ferror-limit 19 -fvisibility=hidden -fno-signed-char -fgnuc-version=4.2.1 -fskip-odr-check-in-gmf -fsuppress-licensing -aggressive-jump-threading -o CMakeFiles/cmTC_e81a8.dir/CMakeCCompilerABI.o -x c C:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/CMakeCCompilerABI.c\x0d]
         ignore line: [Arm Compiler for Embedded 6.24 -cc1 default target aarch64-arm-none-eabi\x0d]
         ignore line: [#include "..." search starts here:\x0d]
         ignore line: [#include <...> search starts here:\x0d]
         ignore line: [ C:\\Users\\cbb\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.24.0\\bin\\..\\include\x0d]
         ignore line: [End of search list.\x0d]
-        ignore line: [[2/2] C:\\WINDOWS\\system32\\cmd.exe /C "cd . && c:\\Users\\cbb\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.24.0\\bin\\armar.exe --create -cr libcmTC_3c741.a  CMakeFiles/cmTC_3c741.dir/CMakeCCompilerABI.o && cd ."]
+        ignore line: [[2/2] C:\\WINDOWS\\system32\\cmd.exe /C "cd . && c:\\Users\\cbb\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.24.0\\bin\\armar.exe --create -cr libcmTC_e81a8.a  CMakeFiles/cmTC_e81a8.dir/CMakeCCompilerABI.o && cd ."]
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diff --git a/tmp/1/CMakeFiles/Group_Source_Files.dir/G_/Robot_v2/BOOT/Robot_V2/main.o b/tmp/1/CMakeFiles/Group_Source_Files.dir/G_/Robot_v2/BOOT/Robot_V2/main.o
index 49dce89..5aedae7 100644
Binary files a/tmp/1/CMakeFiles/Group_Source_Files.dir/G_/Robot_v2/BOOT/Robot_V2/main.o and b/tmp/1/CMakeFiles/Group_Source_Files.dir/G_/Robot_v2/BOOT/Robot_V2/main.o differ
diff --git a/tmp/1/CMakeFiles/Group_device.dir/G_/Robot_v2/BOOT/Robot_V2/device/Can.o b/tmp/1/CMakeFiles/Group_device.dir/G_/Robot_v2/BOOT/Robot_V2/device/Can.o
index 147f176..d223730 100644
Binary files a/tmp/1/CMakeFiles/Group_device.dir/G_/Robot_v2/BOOT/Robot_V2/device/Can.o and b/tmp/1/CMakeFiles/Group_device.dir/G_/Robot_v2/BOOT/Robot_V2/device/Can.o differ
diff --git a/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o b/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o
index 8aaa7c7..c531366 100644
Binary files a/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o and b/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o differ
diff --git a/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/flash.o b/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/flash.o
index d9a2bf7..7bbecbf 100644
Binary files a/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/flash.o and b/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/flash.o differ
diff --git a/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/systick.o b/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/systick.o
index 20c6e0e..f30908c 100644
Binary files a/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/systick.o and b/tmp/1/CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/systick.o differ
diff --git a/tmp/1/CMakeFiles/feature_tests.bin b/tmp/1/CMakeFiles/feature_tests.bin
index a6fd627..fc97584 100644
Binary files a/tmp/1/CMakeFiles/feature_tests.bin and b/tmp/1/CMakeFiles/feature_tests.bin differ
diff --git a/tmp/1/ac6_linker_script.sct b/tmp/1/ac6_linker_script.sct
index 252b79e..a319fb9 100644
--- a/tmp/1/ac6_linker_script.sct
+++ b/tmp/1/ac6_linker_script.sct
@@ -8,9 +8,9 @@
 # 2 "<built-in>" 2
 # 1 "G:/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/ac6_linker_script.sct.src" 2
 # 32 "G:/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/ac6_linker_script.sct.src"
-LR_ROM0 0x08000000 0x00020000 {
+LR_ROM0 0x08000000 0x08005000 {
 
-  ER_ROM0 0x08000000 0x00020000 {
+  ER_ROM0 0x08000000 0x08005000 {
     *.o (RESET, +First)
     *(InRoot$$Sections)
     *(+RO +XO)
diff --git a/tmp/1/build.ninja b/tmp/1/build.ninja
index 9578975..e6a1e34 100644
--- a/tmp/1/build.ninja
+++ b/tmp/1/build.ninja
@@ -62,11 +62,12 @@ build G$:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf ac6_linker_
   FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard
   LINK_FLAGS = --cpu=Cortex-M4 --scatter=G:/Robot_v2/BOOT/tmp/1/ac6_linker_script.sct --map --list G:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map --library_type=microlib --entry=Reset_Handler --info=summarysizes --summary_stderr --diag_suppress=L6314W
   OBJECT_DIR = CMakeFiles\Robot_V2.Release+GD32C103CB.dir
-  POST_BUILD = C:\WINDOWS\system32\cmd.exe /C "cd /D G:\Robot_v2\BOOT\tmp\1 && c:\Users\cbb\.vcpkg\artifacts\2139c4c6\compilers.arm.armclang\6.24.0\bin\\fromelf.exe --i32combined --output G:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex G:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf"
+  POST_BUILD = C:\WINDOWS\system32\cmd.exe /C "cd /D G:\Robot_v2\BOOT\tmp\1 && c:\Users\cbb\.vcpkg\artifacts\2139c4c6\compilers.arm.armclang\6.24.0\bin\fromelf.exe --bin --output G:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.bin G:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf && cd /D G:\Robot_v2\BOOT\tmp\1 && c:\Users\cbb\.vcpkg\artifacts\2139c4c6\compilers.arm.armclang\6.24.0\bin\fromelf.exe --i32combined --output G:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex G:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf"
   PRE_LINK = C:\WINDOWS\system32\cmd.exe /C "cd /D G:\Robot_v2\BOOT\tmp\1 && c:\Users\cbb\.vcpkg\artifacts\2139c4c6\compilers.arm.armclang\6.24.0\bin\\armclang.exe -E --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -xc -include G:/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/regions_GD32C103CB.h G:/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/ac6_linker_script.sct.src -o G:/Robot_v2/BOOT/tmp/1/ac6_linker_script.sct && cd G:\Robot_v2\BOOT\tmp\1"
   RESTAT = 1
+  TARGET_COMPILE_PDB = CMakeFiles\Robot_V2.Release+GD32C103CB.dir\
   TARGET_FILE = G:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf
-  TARGET_PDB = Robot_V2.axf.dbg
+  TARGET_PDB = G:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.pdb
 
 # =============================================================================
 # Object build statements for OBJECT_LIBRARY target Group_Source_Files
@@ -84,6 +85,8 @@ build CMakeFiles/Group_Source_Files.dir/G_/Robot_v2/BOOT/Robot_V2/main.o: CXX_CO
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include/libcxx -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\Group_Source_Files.dir
   OBJECT_FILE_DIR = CMakeFiles\Group_Source_Files.dir\G_\Robot_v2\BOOT\Robot_V2
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Source_Files.dir\
+  TARGET_PDB = ""
 
 build CMakeFiles/Group_Source_Files.dir/G_/Robot_v2/BOOT/Robot_V2/sys/aes128.o: CXX_COMPILER__Group_Source_Files_unscanned_ G$:/Robot_v2/BOOT/Robot_V2/sys/aes128.cpp || cmake_object_order_depends_target_Group_Source_Files
   DEFINES = -DGD32C10x -D_RTE_
@@ -92,6 +95,8 @@ build CMakeFiles/Group_Source_Files.dir/G_/Robot_v2/BOOT/Robot_V2/sys/aes128.o:
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include/libcxx -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\Group_Source_Files.dir
   OBJECT_FILE_DIR = CMakeFiles\Group_Source_Files.dir\G_\Robot_v2\BOOT\Robot_V2\sys
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Source_Files.dir\
+  TARGET_PDB = ""
 
 
 
@@ -116,6 +121,8 @@ build CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/systick.o: CXX_COMP
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include/libcxx -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\Group_sys.dir
   OBJECT_FILE_DIR = CMakeFiles\Group_sys.dir\G_\Robot_v2\BOOT\Robot_V2\sys
+  TARGET_COMPILE_PDB = CMakeFiles\Group_sys.dir\
+  TARGET_PDB = ""
 
 build CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/initial.o: CXX_COMPILER__Group_sys_unscanned_ G$:/Robot_v2/BOOT/Robot_V2/sys/initial.cpp || cmake_object_order_depends_target_Group_sys
   DEFINES = -DGD32C10x -D_RTE_
@@ -124,6 +131,8 @@ build CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/initial.o: CXX_COMP
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include/libcxx -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\Group_sys.dir
   OBJECT_FILE_DIR = CMakeFiles\Group_sys.dir\G_\Robot_v2\BOOT\Robot_V2\sys
+  TARGET_COMPILE_PDB = CMakeFiles\Group_sys.dir\
+  TARGET_PDB = ""
 
 build CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/flash.o: CXX_COMPILER__Group_sys_unscanned_ G$:/Robot_v2/BOOT/Robot_V2/sys/flash.cpp || cmake_object_order_depends_target_Group_sys
   DEFINES = -DGD32C10x -D_RTE_
@@ -132,6 +141,8 @@ build CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/flash.o: CXX_COMPIL
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include/libcxx -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\Group_sys.dir
   OBJECT_FILE_DIR = CMakeFiles\Group_sys.dir\G_\Robot_v2\BOOT\Robot_V2\sys
+  TARGET_COMPILE_PDB = CMakeFiles\Group_sys.dir\
+  TARGET_PDB = ""
 
 build CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o: CXX_COMPILER__Group_sys_unscanned_ G$:/Robot_v2/BOOT/Robot_V2/sys/OTA.cpp || cmake_object_order_depends_target_Group_sys
   DEFINES = -DGD32C10x -D_RTE_
@@ -140,6 +151,8 @@ build CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o: CXX_COMPILER
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include/libcxx -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\Group_sys.dir
   OBJECT_FILE_DIR = CMakeFiles\Group_sys.dir\G_\Robot_v2\BOOT\Robot_V2\sys
+  TARGET_COMPILE_PDB = CMakeFiles\Group_sys.dir\
+  TARGET_PDB = ""
 
 
 
@@ -164,6 +177,8 @@ build CMakeFiles/Group_device.dir/G_/Robot_v2/BOOT/Robot_V2/device/Can.o: CXX_CO
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include/libcxx -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\Group_device.dir
   OBJECT_FILE_DIR = CMakeFiles\Group_device.dir\G_\Robot_v2\BOOT\Robot_V2\device
+  TARGET_COMPILE_PDB = CMakeFiles\Group_device.dir\
+  TARGET_PDB = ""
 
 
 
@@ -188,6 +203,8 @@ build CMakeFiles/GigaDevice_Device_EVAL_GD32C10x_1_0_0.dir/G_/Robot_v2/BOOT/Robo
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_EVAL_GD32C10x_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_EVAL_GD32C10x_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_EVAL_GD32C10x_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -212,6 +229,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_CAN_1_0_0.dir/G_/Robo
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_CAN_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_CAN_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_CAN_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -236,6 +255,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_CRC_1_0_0.dir/G_/Robo
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_CRC_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_CRC_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_CRC_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -260,6 +281,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_DBG_1_0_0.dir/G_/Robo
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_DBG_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_DBG_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_DBG_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -284,6 +307,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_DMA_1_0_0.dir/G_/Robo
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_DMA_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_DMA_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_DMA_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -308,6 +333,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_EXTI_1_0_0.dir/G_/Rob
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_EXTI_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_EXTI_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_EXTI_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -332,6 +359,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_FMC_1_0_0.dir/G_/Robo
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_FMC_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_FMC_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_FMC_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -356,6 +385,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_FWDGT_1_0_0.dir/G_/Ro
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_FWDGT_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_FWDGT_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_FWDGT_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -380,6 +411,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_GPIO_1_0_0.dir/G_/Rob
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_GPIO_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_GPIO_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_GPIO_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -404,6 +437,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_MISC_1_0_0.dir/G_/Rob
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_MISC_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_MISC_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_MISC_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -428,6 +463,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_PMU_1_0_0.dir/G_/Robo
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_PMU_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_PMU_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_PMU_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -452,6 +489,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_RCU_1_0_0.dir/G_/Robo
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_RCU_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_RCU_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_RCU_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -476,6 +515,8 @@ build CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_USART_1_0_0.dir/G_/Ro
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_USART_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_USART_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_GD32C10x_StdPeripherals_USART_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -499,6 +540,8 @@ build CMakeFiles/GigaDevice_Device_Startup_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/R
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_Startup_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_Startup_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_Startup_1_0_0.dir\
+  TARGET_PDB = ""
 
 build CMakeFiles/GigaDevice_Device_Startup_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/system_gd32c10x.o: C_COMPILER__GigaDevice_Device_Startup_1_0_0_unscanned_ G$:/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/system_gd32c10x.c || cmake_object_order_depends_target_GigaDevice_Device_Startup_1_0_0
   DEFINES = -DGD32C10x -D_RTE_
@@ -507,6 +550,8 @@ build CMakeFiles/GigaDevice_Device_Startup_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/R
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\GigaDevice_Device_Startup_1_0_0.dir
   OBJECT_FILE_DIR = CMakeFiles\GigaDevice_Device_Startup_1_0_0.dir\G_\Robot_v2\BOOT\Robot_V2\RTE\Device\GD32C103CB
+  TARGET_COMPILE_PDB = CMakeFiles\GigaDevice_Device_Startup_1_0_0.dir\
+  TARGET_PDB = ""
 
 
 
@@ -570,14 +615,14 @@ build all: phony G$:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf
 #############################################
 # Re-run CMake if any of its inputs changed.
 
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 #############################################
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C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Compiler/TinyCC-C-DetermineCompiler.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Compiler/VisualAge-C-DetermineCompiler.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Compiler/VisualAge-CXX-DetermineCompiler.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Compiler/Watcom-DetermineCompiler.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Compiler/XL-C-DetermineCompiler.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Compiler/XL-CXX-DetermineCompiler.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Compiler/XLClang-C-DetermineCompiler.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Compiler/XLClang-CXX-DetermineCompiler.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Compiler/zOS-C-DetermineCompiler.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Compiler/zOS-CXX-DetermineCompiler.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Internal/CMakeASMLinkerInformation.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Internal/CMakeCLinkerInformation.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Internal/CMakeCXXLinkerInformation.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Internal/CMakeCommonLinkerInformation.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Internal/CMakeDetermineLinkerId.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Internal/FeatureTesting.cmake C$:/Users/cbb/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.31.5/share/cmake-3.31/Modules/Platform/Generic.cmake C$:/Users/cbb/.vscode/extensions/arm.cmsis-csolution-1.64.1-win32-x64/tools/cmsis-toolbox/etc/AC6.6.16.2.cmake CMakeCache.txt CMakeFiles/3.31.5/CMakeASMCompiler.cmake CMakeFiles/3.31.5/CMakeCCompiler.cmake CMakeFiles/3.31.5/CMakeCXXCompiler.cmake CMakeFiles/3.31.5/CMakeSystem.cmake G$:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/CMakeLists.txt G$:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/components.cmake G$:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/groups.cmake G$:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/toolchain.cmake G$:/Robot_v2/BOOT/tmp/roots.cmake: phony
 
 
 #############################################
diff --git a/tmp/CMakeLists.txt b/tmp/CMakeLists.txt
index 249795f..cdf7beb 100644
--- a/tmp/CMakeLists.txt
+++ b/tmp/CMakeLists.txt
@@ -18,6 +18,7 @@ set(DIRS
 )
 
 set(OUTPUTS_1
+  "${SOLUTION_ROOT}/out/Robot_V2/GD32C103CB/Release/Robot_V2.bin"
   "${SOLUTION_ROOT}/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf"
   "${SOLUTION_ROOT}/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex"
   "${SOLUTION_ROOT}/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map"
diff --git a/tmp/Robot_V2.Release+GD32C103CB/CMakeLists.txt b/tmp/Robot_V2.Release+GD32C103CB/CMakeLists.txt
index b884615..434b775 100644
--- a/tmp/Robot_V2.Release+GD32C103CB/CMakeLists.txt
+++ b/tmp/Robot_V2.Release+GD32C103CB/CMakeLists.txt
@@ -7,6 +7,7 @@ set(CONTEXT Robot_V2.Release+GD32C103CB)
 set(TARGET ${CONTEXT})
 set(OUT_DIR "${SOLUTION_ROOT}/out/Robot_V2/GD32C103CB/Release")
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(BIN_FILE "Robot_V2.bin")
 set(HEX_FILE "Robot_V2.hex")
 set(LD_MAP_FILE "Robot_V2.axf.map")
 set(LD_SCRIPT "${SOLUTION_ROOT}/Robot_V2/RTE/Device/GD32C103CB/ac6_linker_script.sct.src")
@@ -161,5 +162,8 @@ set_target_properties(${CONTEXT} PROPERTIES LINK_DEPENDS "${LD_DEPS}")
 # Linker script pre-processing
 add_custom_command(TARGET ${CONTEXT} PRE_LINK COMMAND ${CPP} ARGS ${CPP_ARGS_LD_SCRIPT} BYPRODUCTS ${LD_SCRIPT_PP})
 
+# Bin Conversion
+ add_custom_command(TARGET ${CONTEXT} POST_BUILD COMMAND ${CMAKE_OBJCOPY} ${ELF2BIN})
+
 # Hex Conversion
  add_custom_command(TARGET ${CONTEXT} POST_BUILD COMMAND ${CMAKE_OBJCOPY} ${ELF2HEX})
diff --git a/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-configure-out.log b/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-configure-out.log
index a5021b1..72097db 100644
--- a/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-configure-out.log
+++ b/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-configure-out.log
@@ -12,6 +12,6 @@
 -- Check for working C compiler: c:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/bin/armclang.exe - skipped
 -- Detecting C compile features
 -- Detecting C compile features - done
--- Configuring done (8.5s)
+-- Configuring done (11.0s)
 -- Generating done (0.1s)
 -- Build files have been written to: G:/Robot_v2/BOOT/tmp/1
diff --git a/tmp/build.ninja b/tmp/build.ninja
index 546fc8f..a9d9caa 100644
--- a/tmp/build.ninja
+++ b/tmp/build.ninja
@@ -45,13 +45,13 @@ build database: phony Robot_V2.Release+GD32C103CB-database
 #############################################
 # Utility command for Robot_V2.Release+GD32C103CB
 
-build Robot_V2.Release+GD32C103CB: phony CMakeFiles\Robot_V2.Release+GD32C103CB CMakeFiles\Robot_V2.Release+GD32C103CB-complete Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-done Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-build G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.hex G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf.map Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-configure Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-database Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-download Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-executes Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-install Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-mkdir Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-patch Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-test Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-update Robot_V2.Release+GD32C103CB-build Robot_V2.Release+GD32C103CB-configure Robot_V2.Release+GD32C103CB-database Robot_V2.Release+GD32C103CB-executes
+build Robot_V2.Release+GD32C103CB: phony CMakeFiles\Robot_V2.Release+GD32C103CB CMakeFiles\Robot_V2.Release+GD32C103CB-complete Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-done Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-build G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.bin G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.hex G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf.map Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-configure Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-database Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-download Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-executes Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-install Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-mkdir Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-patch Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-test Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-update Robot_V2.Release+GD32C103CB-build Robot_V2.Release+GD32C103CB-configure Robot_V2.Release+GD32C103CB-database Robot_V2.Release+GD32C103CB-executes
 
 
 #############################################
 # Utility command for Robot_V2.Release+GD32C103CB-build
 
-build Robot_V2.Release+GD32C103CB-build: phony CMakeFiles\Robot_V2.Release+GD32C103CB-build Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-build G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.hex G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf.map Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-configure Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-patch Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-update Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-download Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-mkdir Robot_V2.Release+GD32C103CB-configure
+build Robot_V2.Release+GD32C103CB-build: phony CMakeFiles\Robot_V2.Release+GD32C103CB-build Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-build G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.bin G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.hex G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf.map Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-configure Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-patch Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-update Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-download Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-mkdir Robot_V2.Release+GD32C103CB-configure
 
 
 #############################################
@@ -63,7 +63,7 @@ build Robot_V2.Release+GD32C103CB-configure: phony CMakeFiles\Robot_V2.Release+G
 #############################################
 # Utility command for Robot_V2.Release+GD32C103CB-executes
 
-build Robot_V2.Release+GD32C103CB-executes: phony CMakeFiles\Robot_V2.Release+GD32C103CB-executes Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-executes Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-build G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.hex G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf.map Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-configure Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-patch Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-update Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-download Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-mkdir Robot_V2.Release+GD32C103CB-build
+build Robot_V2.Release+GD32C103CB-executes: phony CMakeFiles\Robot_V2.Release+GD32C103CB-executes Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-executes Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-build G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.bin G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.hex G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf.map Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-configure Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-patch Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-update Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-download Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-mkdir Robot_V2.Release+GD32C103CB-build
 
 
 #############################################
@@ -114,7 +114,7 @@ build CMakeFiles\Robot_V2.Release+GD32C103CB-complete Robot_V2.Release+GD32C103C
 #############################################
 # Custom command for Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-build
 
-build Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-build G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.hex G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf.map | ${cmake_ninja_workdir}Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-build: CUSTOM_COMMAND Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-configure || Robot_V2.Release+GD32C103CB-configure
+build Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-build G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.bin G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.hex G$:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf.map | ${cmake_ninja_workdir}Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-build: CUSTOM_COMMAND Robot_V2.Release+GD32C103CB\src\Robot_V2.Release+GD32C103CB-stamp\Robot_V2.Release+GD32C103CB-configure || Robot_V2.Release+GD32C103CB-configure
   COMMAND = C:\WINDOWS\system32\cmd.exe /C "cd /D G:\Robot_v2\BOOT\tmp\1 && C:\Users\cbb\.vcpkg\artifacts\2139c4c6\tools.kitware.cmake\3.31.5\bin\cmake.exe -E echo "Building CMake target 'Robot_V2.Release+GD32C103CB'" && C:\Users\cbb\.vcpkg\artifacts\2139c4c6\tools.kitware.cmake\3.31.5\bin\cmake.exe --build G:/Robot_v2/BOOT/tmp/1"
   DESC = Performing build step for 'Robot_V2.Release+GD32C103CB'
   pool = console