From 46d4bfe8efde8c214007acfe9d1e3c4e358b475f Mon Sep 17 00:00:00 2001
From: cbb <2625274797@qq.com>
Date: Sun, 26 Apr 2026 03:36:45 +0800
Subject: [PATCH] =?UTF-8?q?feat(bootloader):=20=E5=AE=9E=E7=8E=B0APP?=
 =?UTF-8?q?=E5=BB=B6=E8=BF=9F=E5=90=AF=E5=8A=A8=E6=A8=A1=E5=BC=8F=E6=94=AF?=
 =?UTF-8?q?=E6=8C=81OTA=E8=AF=B7=E6=B1=82=E6=A3=80=E6=B5=8B?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

当APP可用但未激活时，系统现在会进入延迟启动模式，在指定时间内
监听CAN总线上的OTA请求。如果在此期间收到OTA请求，则进入OTA模式；
否则超时后自动跳转到APP。

新增配置参数APP_DELAY_BOOT_TIME用于设置延迟启动时间，默认为10秒。
在延迟期间，系统持续进行CAN通信检查和OTA心跳消息发送，确保能够
及时响应OTA更新请求。

此功能增强了系统的OTA更新灵活性，允许在启动过程中动态决定
是否进行固件更新而不是强制进入OTA模式。
---
 Robot_V2/main.cpp                             |   39 +-
 Robot_V2/sys/config.h                         |    1 +
 out/Robot_V2/GD32C103CB/Release/Robot_V2.axf  |  Bin 254144 -> 256372 bytes
 .../GD32C103CB/Release/Robot_V2.axf.map       |  234 +--
 out/Robot_V2/GD32C103CB/Release/Robot_V2.hex  | 1355 +++++++++--------
 tmp/.ninja_log                                |   68 +-
 tmp/1/.ninja_deps                             |  Bin 24464 -> 26636 bytes
 tmp/1/.ninja_log                              |  123 +-
 .../G_/Robot_v2/BOOT/Robot_V2/main.o          |  Bin 14812 -> 17572 bytes
 .../G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o       |  Bin 40456 -> 40456 bytes
 .../G_/Robot_v2/BOOT/Robot_V2/sys/initial.o   |  Bin 26804 -> 26804 bytes
 11 files changed, 908 insertions(+), 912 deletions(-)

diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp
index 6c51606..2613c7b 100644
--- a/Robot_V2/main.cpp
+++ b/Robot_V2/main.cpp
@@ -34,14 +34,45 @@ void BootloaderSystem::run() {
 		// 正常模式：跳转到APP
 		ota.jumpToApplication();
 	} else if (app_check == OTA_AVAL and
-			   app_enable == OTA_NOT_AVAL) { // 手动禁用APP，进入OTA模式
+			   app_enable == OTA_NOT_AVAL) { // APP可用但未激活，延迟进入APP
 #if DEBUG_OTA
-		printf("OTA Mode1\r\n");
+		printf("Delay Boot Mode: APP available but not enabled, jumping in %d ms...\r\n", APP_DELAY_BOOT_TIME);
 #endif
-		// OTA模式
-		while (1) {
+		// 延迟启动模式：倒计时期间监听CAN，收到OTA请求则进入OTA模式
+		u32 delay_count = 0;
+		bool ota_requested = false;
+
+		while (delay_count < APP_DELAY_BOOT_TIME) {
+			// 检查CAN通信并处理接收到的消息
 			CAN0_transmiter.communication_check();
+
+			// 调用ota.process()发送心跳消息（IDAEL状态下会发送CANFD_OTA_WAIT_ID）
 			ota.process();
+
+			// 检查是否收到OTA请求
+			if (ota.isActive()) {
+				ota_requested = true;
+				break;
+			}
+
+			delay_count+=10;
+		}
+
+		if (ota_requested) {
+#if DEBUG_OTA
+			printf("OTA request received during delay, entering OTA mode...\r\n");
+#endif
+			// 收到OTA请求，进入OTA模式
+			while (1) {
+				CAN0_transmiter.communication_check();
+				ota.process();
+			}
+		} else {
+#if DEBUG_OTA
+			printf("Delay timeout, jumping to APP...\r\n");
+#endif
+			// 超时未收到OTA请求，跳转APP
+			ota.jumpToApplication();
 		}
 	} else { // APP无效，确认backup
 		volatile u32 *flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
diff --git a/Robot_V2/sys/config.h b/Robot_V2/sys/config.h
index 74c1ee8..436a37c 100644
--- a/Robot_V2/sys/config.h
+++ b/Robot_V2/sys/config.h
@@ -61,6 +61,7 @@ constexpr uint8_t K_master[16] = {0x01, 0x23, 0x45, 0x67, 0x89, 0xAB,
 								  0x76, 0x54, 0x32, 0x10}; // 预置主密钥
 // 其他
 constexpr u32 OTA_TIMEOUT = 10000;
+constexpr u32 APP_DELAY_BOOT_TIME = 10000; // APP延迟启动时间（毫秒），可配置
 constexpr u8 SIZE_U32 = sizeof(uint32_t);
 constexpr u8 SIZE_FLOAT = sizeof(float);
 #endif
\ No newline at end of file
diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf
index 1c250ff7b80ea4cb3dbccddae6eb31dd99da4187..c0f80d7de12b6cbd9c9849d1ec1ec3a7efc94f34 100644
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diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map
index ee6c25d..d337f24 100644
--- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map
+++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map
@@ -6,9 +6,9 @@ Memory Map of the image
 
   Image Entry point : 0x08000165
 
-  Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00005148, Max: 0x08006000, ABSOLUTE)
+  Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00005180, Max: 0x08006000, ABSOLUTE)
 
-    Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x00005050, Max: 0x08006000, ABSOLUTE)
+    Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x00005088, Max: 0x08006000, ABSOLUTE)
 
     Base Addr    Size         Type   Attr      Idx    E Section Name        Object
 
@@ -68,121 +68,121 @@ Memory Map of the image
     0x08002b58   0x00000042   Code   RO          165    .text._ZN14CAN_transmiter19communication_checkEv  Can.o
     0x08002b9a   0x00000002   PAD
     0x08002b9c   0x00000040   Code   RO          163    .text._ZN14CAN_transmiter4initEv  Can.o
-    0x08002bdc   0x00000086   Code   RO            6    .text._ZN16BootloaderSystem3runEv  main.o
-    0x08002c62   0x00000002   PAD
-    0x08002c64   0x00000074   Code   RO          993    .text._ZSt11__terminatePFvvE  libcppabi_wx.l(cxa_handlers.cpp.o)
-    0x08002cd8   0x00000030   Code   RO          984    .text._ZSt9terminatev  libcppabi_wx.l(cxa_handlers.cpp.o)
-    0x08002d08   0x0000000a   Code   RO          979    .text.__clang_call_terminate  libcppabi_wx.l(cxa_exception.cpp.o)
-    0x08002d12   0x00000002   PAD
-    0x08002d14   0x0000006c   Code   RO          927    .text.__cxa_begin_catch  libcppabi_wx.l(cxa_exception.cpp.o)
-    0x08002d80   0x0000000a   Code   RO         1348    .text.__cxa_get_globals  libcppabi_wx.l(cxa_exception_storage.cpp.o)
-    0x08002d8a   0x0000000a   Code   RO         1350    .text.__cxa_get_globals_fast  libcppabi_wx.l(cxa_exception_storage.cpp.o)
-    0x08002d94   0x00000026   Code   RO          233    .text.can_deinit    gd32c10x_can.o
-    0x08002dba   0x00000002   PAD
-    0x08002dbc   0x00000114   Code   RO          239    .text.can_fd_init   gd32c10x_can.o
-    0x08002ed0   0x000000b2   Code   RO          241    .text.can_filter_init  gd32c10x_can.o
-    0x08002f82   0x00000002   PAD
-    0x08002f84   0x00000176   Code   RO          237    .text.can_init      gd32c10x_can.o
-    0x080030fa   0x00000002   PAD
-    0x080030fc   0x00000008   Code   RO          283    .text.can_interrupt_enable  gd32c10x_can.o
-    0x08003104   0x00000016   Code   RO          293    .text.can_interrupt_flag_clear  gd32c10x_can.o
-    0x0800311a   0x00000002   PAD
-    0x0800311c   0x00000066   Code   RO          291    .text.can_interrupt_flag_get  gd32c10x_can.o
-    0x08003182   0x00000002   PAD
-    0x08003184   0x000001f4   Code   RO          267    .text.can_message_receive  gd32c10x_can.o
-    0x08003378   0x000001f0   Code   RO          261    .text.can_message_transmit  gd32c10x_can.o
-    0x08003568   0x00000072   Code   RO          235    .text.can_struct_para_init  gd32c10x_can.o
-    0x080035da   0x00000002   PAD
-    0x080035dc   0x000001b0   Code   RO          161    .text.canfd_config  Can.o
-    0x0800378c   0x00000238   Code   RO           99    .text.check_sleep   initial.o
-    0x080039c4   0x00000066   Code   RO          319    .text.crc_block_data_calculate  gd32c10x_crc.o
-    0x08003a2a   0x00000002   PAD
-    0x08003a2c   0x00000012   Code   RO          309    .text.crc_data_register_reset  gd32c10x_crc.o
-    0x08003a3e   0x00000002   PAD
-    0x08003a40   0x00000018   Code   RO          307    .text.crc_deinit    gd32c10x_crc.o
-    0x08003a58   0x00000024   Code   RO           66    .text.delay_1ms     systick.o
-    0x08003a7c   0x00000028   Code   RO           64    .text.delay_1us     systick.o
-    0x08003aa4   0x00000018   Code   RO           68    .text.delay_decrement  systick.o
-    0x08003abc   0x00000024   Code   RO          371    .text.dma_channel_enable  gd32c10x_dma.o
-    0x08003ae0   0x00000074   Code   RO          361    .text.dma_init      gd32c10x_dma.o
-    0x08003b54   0x00000022   Code   RO          407    .text.dma_interrupt_enable  gd32c10x_dma.o
-    0x08003b76   0x00000002   PAD
-    0x08003b78   0x0000000e   Code   RO          405    .text.dma_interrupt_flag_clear  gd32c10x_dma.o
-    0x08003b86   0x00000002   PAD
-    0x08003b88   0x0000003a   Code   RO          403    .text.dma_interrupt_flag_get  gd32c10x_dma.o
-    0x08003bc2   0x00000002   PAD
-    0x08003bc4   0x0000001a   Code   RO          359    .text.dma_struct_para_init  gd32c10x_dma.o
-    0x08003bde   0x00000002   PAD
-    0x08003be0   0x00000096   Code   RO           93    .text.enter_deep_sleep  initial.o
-    0x08003c76   0x00000002   PAD
-    0x08003c78   0x00000090   Code   RO          424    .text.exti_init     gd32c10x_exti.o
-    0x08003d08   0x00000012   Code   RO          428    .text.exti_interrupt_disable  gd32c10x_exti.o
-    0x08003d1a   0x00000002   PAD
-    0x08003d1c   0x00000010   Code   RO          426    .text.exti_interrupt_enable  gd32c10x_exti.o
-    0x08003d2c   0x0000000c   Code   RO          444    .text.exti_interrupt_flag_clear  gd32c10x_exti.o
-    0x08003d38   0x00000012   Code   RO          442    .text.exti_interrupt_flag_get  gd32c10x_exti.o
-    0x08003d4a   0x00000002   PAD
-    0x08003d4c   0x0000000c   Code   RO          515    .text.fmc_flag_clear  gd32c10x_fmc.o
-    0x08003d58   0x00000012   Code   RO          477    .text.fmc_lock      gd32c10x_fmc.o
-    0x08003d6a   0x00000002   PAD
-    0x08003d6c   0x00000166   Code   RO          481    .text.fmc_page_erase  gd32c10x_fmc.o
-    0x08003ed2   0x00000002   PAD
-    0x08003ed4   0x00000026   Code   RO          475    .text.fmc_unlock    gd32c10x_fmc.o
-    0x08003efa   0x00000002   PAD
-    0x08003efc   0x000001aa   Code   RO          487    .text.fmc_word_program  gd32c10x_fmc.o
-    0x080040a6   0x00000002   PAD
-    0x080040a8   0x0000002c   Code   RO           86    .text.fputc         initial.o
-    0x080040d4   0x00000098   Code   RO          216    .text.gd_eval_com_init  gd32c10x_eval.o
-    0x0800416c   0x00000004   Code   RO          571    .text.gpio_bit_reset  gd32c10x_gpio.o
-    0x08004170   0x00000048   Code   RO          587    .text.gpio_exti_source_select  gd32c10x_gpio.o
-    0x080041b8   0x000002c0   Code   RO          567    .text.gpio_init     gd32c10x_gpio.o
-    0x08004478   0x00000080   Code   RO          585    .text.gpio_pin_remap_config  gd32c10x_gpio.o
-    0x080044f8   0x00000022   Code   RO            8    .text.main          main.o
-    0x0800451a   0x00000002   PAD
-    0x0800451c   0x00000060   Code   RO          614    .text.nvic_irq_enable  gd32c10x_misc.o
-    0x0800457c   0x0000001c   Code   RO          618    .text.nvic_vector_table_set  gd32c10x_misc.o
-    0x08004598   0x000000c6   Code   RO          647    .text.pmu_to_deepsleepmode  gd32c10x_pmu.o
-    0x0800465e   0x00000002   PAD
-    0x08004660   0x00000012   Code   RO          736    .text.rcu_all_reset_flag_clear  gd32c10x_rcu.o
-    0x08004672   0x00000002   PAD
-    0x08004674   0x0000010c   Code   RO          764    .text.rcu_clock_freq_get  gd32c10x_rcu.o
-    0x08004780   0x00000010   Code   RO          762    .text.rcu_deepsleep_voltage_set  gd32c10x_rcu.o
-    0x08004790   0x00000020   Code   RO          684    .text.rcu_periph_clock_disable  gd32c10x_rcu.o
-    0x080047b0   0x0000001e   Code   RO          682    .text.rcu_periph_clock_enable  gd32c10x_rcu.o
-    0x080047ce   0x00000002   PAD
-    0x080047d0   0x00000020   Code   RO          692    .text.rcu_periph_reset_disable  gd32c10x_rcu.o
-    0x080047f0   0x0000001e   Code   RO          690    .text.rcu_periph_reset_enable  gd32c10x_rcu.o
-    0x0800480e   0x00000002   PAD
-    0x08004810   0x00000014   Code   RO          698    .text.rcu_system_clock_source_config  gd32c10x_rcu.o
-    0x08004824   0x00000002   Code   RO           91    .text.scanAppFlashContent  initial.o
-    0x08004826   0x00000002   PAD
-    0x08004828   0x00000020   Code   RO           70    .text.system_soft_reset  systick.o
-    0x08004848   0x00000048   Code   RO           62    .text.systick_config  systick.o
-    0x08004890   0x00000006   Code   RO         1333    .text.unlikely.abort_message  libcppabi_wx.l(abort_message.cpp.o)
-    0x08004896   0x00000002   PAD
-    0x08004898   0x0000006a   Code   RO          780    .text.usart_baudrate_set  gd32c10x_usart.o
-    0x08004902   0x00000002   PAD
-    0x08004904   0x00000008   Code   RO          806    .text.usart_data_transmit  gd32c10x_usart.o
-    0x0800490c   0x0000007a   Code   RO          778    .text.usart_deinit  gd32c10x_usart.o
-    0x08004986   0x00000002   PAD
-    0x08004988   0x0000000a   Code   RO          788    .text.usart_enable  gd32c10x_usart.o
-    0x08004992   0x00000002   PAD
-    0x08004994   0x00000010   Code   RO          868    .text.usart_flag_get  gd32c10x_usart.o
-    0x080049a4   0x00000014   Code   RO          794    .text.usart_receive_config  gd32c10x_usart.o
-    0x080049b8   0x00000014   Code   RO          792    .text.usart_transmit_config  gd32c10x_usart.o
-    0x080049cc   0x0000000e   Code   RO         1925    i.__scatterload_copy  mc_w.l(handlers.o)
-    0x080049da   0x00000002   Code   RO         1926    i.__scatterload_null  mc_w.l(handlers.o)
-    0x080049dc   0x0000000e   Code   RO         1927    i.__scatterload_zeroinit  mc_w.l(handlers.o)
-    0x080049ea   0x00000002   PAD
-    0x080049ec   0x00000024   Code   RO         1059    i.puts              mc_w.l(puts.o)
-    0x08004a10   0x00000100   Data   RO           50    .rodata._ZL4sbox    aes128.o
-    0x08004b10   0x00000010   Data   RO          143    .rodata._ZL8K_master  OTA.o
-    0x08004b20   0x00000400   Data   RO          145    .rodata._ZZ24calculate_crc32_with_keyPKhS0_PhE9crc_table  OTA.o
-    0x08004f20   0x00000008   Data   RO          766    .rodata.cst8        gd32c10x_rcu.o
-    0x08004f28   0x00000007   Data   RO          295    .rodata.g_can_fdlength_table  gd32c10x_can.o
-    0x08004f2f   0x00000100   Data   RO           49    .rodata.inv_sbox    aes128.o
-    0x0800502f   0x00000001   PAD
-    0x08005030   0x00000020   Data   RO         1924    Region$$Table       anon$$obj.o
+    0x08002bdc   0x000000be   Code   RO            6    .text._ZN16BootloaderSystem3runEv  main.o
+    0x08002c9a   0x00000002   PAD
+    0x08002c9c   0x00000074   Code   RO          993    .text._ZSt11__terminatePFvvE  libcppabi_wx.l(cxa_handlers.cpp.o)
+    0x08002d10   0x00000030   Code   RO          984    .text._ZSt9terminatev  libcppabi_wx.l(cxa_handlers.cpp.o)
+    0x08002d40   0x0000000a   Code   RO          979    .text.__clang_call_terminate  libcppabi_wx.l(cxa_exception.cpp.o)
+    0x08002d4a   0x00000002   PAD
+    0x08002d4c   0x0000006c   Code   RO          927    .text.__cxa_begin_catch  libcppabi_wx.l(cxa_exception.cpp.o)
+    0x08002db8   0x0000000a   Code   RO         1348    .text.__cxa_get_globals  libcppabi_wx.l(cxa_exception_storage.cpp.o)
+    0x08002dc2   0x0000000a   Code   RO         1350    .text.__cxa_get_globals_fast  libcppabi_wx.l(cxa_exception_storage.cpp.o)
+    0x08002dcc   0x00000026   Code   RO          233    .text.can_deinit    gd32c10x_can.o
+    0x08002df2   0x00000002   PAD
+    0x08002df4   0x00000114   Code   RO          239    .text.can_fd_init   gd32c10x_can.o
+    0x08002f08   0x000000b2   Code   RO          241    .text.can_filter_init  gd32c10x_can.o
+    0x08002fba   0x00000002   PAD
+    0x08002fbc   0x00000176   Code   RO          237    .text.can_init      gd32c10x_can.o
+    0x08003132   0x00000002   PAD
+    0x08003134   0x00000008   Code   RO          283    .text.can_interrupt_enable  gd32c10x_can.o
+    0x0800313c   0x00000016   Code   RO          293    .text.can_interrupt_flag_clear  gd32c10x_can.o
+    0x08003152   0x00000002   PAD
+    0x08003154   0x00000066   Code   RO          291    .text.can_interrupt_flag_get  gd32c10x_can.o
+    0x080031ba   0x00000002   PAD
+    0x080031bc   0x000001f4   Code   RO          267    .text.can_message_receive  gd32c10x_can.o
+    0x080033b0   0x000001f0   Code   RO          261    .text.can_message_transmit  gd32c10x_can.o
+    0x080035a0   0x00000072   Code   RO          235    .text.can_struct_para_init  gd32c10x_can.o
+    0x08003612   0x00000002   PAD
+    0x08003614   0x000001b0   Code   RO          161    .text.canfd_config  Can.o
+    0x080037c4   0x00000238   Code   RO           99    .text.check_sleep   initial.o
+    0x080039fc   0x00000066   Code   RO          319    .text.crc_block_data_calculate  gd32c10x_crc.o
+    0x08003a62   0x00000002   PAD
+    0x08003a64   0x00000012   Code   RO          309    .text.crc_data_register_reset  gd32c10x_crc.o
+    0x08003a76   0x00000002   PAD
+    0x08003a78   0x00000018   Code   RO          307    .text.crc_deinit    gd32c10x_crc.o
+    0x08003a90   0x00000024   Code   RO           66    .text.delay_1ms     systick.o
+    0x08003ab4   0x00000028   Code   RO           64    .text.delay_1us     systick.o
+    0x08003adc   0x00000018   Code   RO           68    .text.delay_decrement  systick.o
+    0x08003af4   0x00000024   Code   RO          371    .text.dma_channel_enable  gd32c10x_dma.o
+    0x08003b18   0x00000074   Code   RO          361    .text.dma_init      gd32c10x_dma.o
+    0x08003b8c   0x00000022   Code   RO          407    .text.dma_interrupt_enable  gd32c10x_dma.o
+    0x08003bae   0x00000002   PAD
+    0x08003bb0   0x0000000e   Code   RO          405    .text.dma_interrupt_flag_clear  gd32c10x_dma.o
+    0x08003bbe   0x00000002   PAD
+    0x08003bc0   0x0000003a   Code   RO          403    .text.dma_interrupt_flag_get  gd32c10x_dma.o
+    0x08003bfa   0x00000002   PAD
+    0x08003bfc   0x0000001a   Code   RO          359    .text.dma_struct_para_init  gd32c10x_dma.o
+    0x08003c16   0x00000002   PAD
+    0x08003c18   0x00000096   Code   RO           93    .text.enter_deep_sleep  initial.o
+    0x08003cae   0x00000002   PAD
+    0x08003cb0   0x00000090   Code   RO          424    .text.exti_init     gd32c10x_exti.o
+    0x08003d40   0x00000012   Code   RO          428    .text.exti_interrupt_disable  gd32c10x_exti.o
+    0x08003d52   0x00000002   PAD
+    0x08003d54   0x00000010   Code   RO          426    .text.exti_interrupt_enable  gd32c10x_exti.o
+    0x08003d64   0x0000000c   Code   RO          444    .text.exti_interrupt_flag_clear  gd32c10x_exti.o
+    0x08003d70   0x00000012   Code   RO          442    .text.exti_interrupt_flag_get  gd32c10x_exti.o
+    0x08003d82   0x00000002   PAD
+    0x08003d84   0x0000000c   Code   RO          515    .text.fmc_flag_clear  gd32c10x_fmc.o
+    0x08003d90   0x00000012   Code   RO          477    .text.fmc_lock      gd32c10x_fmc.o
+    0x08003da2   0x00000002   PAD
+    0x08003da4   0x00000166   Code   RO          481    .text.fmc_page_erase  gd32c10x_fmc.o
+    0x08003f0a   0x00000002   PAD
+    0x08003f0c   0x00000026   Code   RO          475    .text.fmc_unlock    gd32c10x_fmc.o
+    0x08003f32   0x00000002   PAD
+    0x08003f34   0x000001aa   Code   RO          487    .text.fmc_word_program  gd32c10x_fmc.o
+    0x080040de   0x00000002   PAD
+    0x080040e0   0x0000002c   Code   RO           86    .text.fputc         initial.o
+    0x0800410c   0x00000098   Code   RO          216    .text.gd_eval_com_init  gd32c10x_eval.o
+    0x080041a4   0x00000004   Code   RO          571    .text.gpio_bit_reset  gd32c10x_gpio.o
+    0x080041a8   0x00000048   Code   RO          587    .text.gpio_exti_source_select  gd32c10x_gpio.o
+    0x080041f0   0x000002c0   Code   RO          567    .text.gpio_init     gd32c10x_gpio.o
+    0x080044b0   0x00000080   Code   RO          585    .text.gpio_pin_remap_config  gd32c10x_gpio.o
+    0x08004530   0x00000022   Code   RO            8    .text.main          main.o
+    0x08004552   0x00000002   PAD
+    0x08004554   0x00000060   Code   RO          614    .text.nvic_irq_enable  gd32c10x_misc.o
+    0x080045b4   0x0000001c   Code   RO          618    .text.nvic_vector_table_set  gd32c10x_misc.o
+    0x080045d0   0x000000c6   Code   RO          647    .text.pmu_to_deepsleepmode  gd32c10x_pmu.o
+    0x08004696   0x00000002   PAD
+    0x08004698   0x00000012   Code   RO          736    .text.rcu_all_reset_flag_clear  gd32c10x_rcu.o
+    0x080046aa   0x00000002   PAD
+    0x080046ac   0x0000010c   Code   RO          764    .text.rcu_clock_freq_get  gd32c10x_rcu.o
+    0x080047b8   0x00000010   Code   RO          762    .text.rcu_deepsleep_voltage_set  gd32c10x_rcu.o
+    0x080047c8   0x00000020   Code   RO          684    .text.rcu_periph_clock_disable  gd32c10x_rcu.o
+    0x080047e8   0x0000001e   Code   RO          682    .text.rcu_periph_clock_enable  gd32c10x_rcu.o
+    0x08004806   0x00000002   PAD
+    0x08004808   0x00000020   Code   RO          692    .text.rcu_periph_reset_disable  gd32c10x_rcu.o
+    0x08004828   0x0000001e   Code   RO          690    .text.rcu_periph_reset_enable  gd32c10x_rcu.o
+    0x08004846   0x00000002   PAD
+    0x08004848   0x00000014   Code   RO          698    .text.rcu_system_clock_source_config  gd32c10x_rcu.o
+    0x0800485c   0x00000002   Code   RO           91    .text.scanAppFlashContent  initial.o
+    0x0800485e   0x00000002   PAD
+    0x08004860   0x00000020   Code   RO           70    .text.system_soft_reset  systick.o
+    0x08004880   0x00000048   Code   RO           62    .text.systick_config  systick.o
+    0x080048c8   0x00000006   Code   RO         1333    .text.unlikely.abort_message  libcppabi_wx.l(abort_message.cpp.o)
+    0x080048ce   0x00000002   PAD
+    0x080048d0   0x0000006a   Code   RO          780    .text.usart_baudrate_set  gd32c10x_usart.o
+    0x0800493a   0x00000002   PAD
+    0x0800493c   0x00000008   Code   RO          806    .text.usart_data_transmit  gd32c10x_usart.o
+    0x08004944   0x0000007a   Code   RO          778    .text.usart_deinit  gd32c10x_usart.o
+    0x080049be   0x00000002   PAD
+    0x080049c0   0x0000000a   Code   RO          788    .text.usart_enable  gd32c10x_usart.o
+    0x080049ca   0x00000002   PAD
+    0x080049cc   0x00000010   Code   RO          868    .text.usart_flag_get  gd32c10x_usart.o
+    0x080049dc   0x00000014   Code   RO          794    .text.usart_receive_config  gd32c10x_usart.o
+    0x080049f0   0x00000014   Code   RO          792    .text.usart_transmit_config  gd32c10x_usart.o
+    0x08004a04   0x0000000e   Code   RO         1925    i.__scatterload_copy  mc_w.l(handlers.o)
+    0x08004a12   0x00000002   Code   RO         1926    i.__scatterload_null  mc_w.l(handlers.o)
+    0x08004a14   0x0000000e   Code   RO         1927    i.__scatterload_zeroinit  mc_w.l(handlers.o)
+    0x08004a22   0x00000002   PAD
+    0x08004a24   0x00000024   Code   RO         1059    i.puts              mc_w.l(puts.o)
+    0x08004a48   0x00000100   Data   RO           50    .rodata._ZL4sbox    aes128.o
+    0x08004b48   0x00000010   Data   RO          143    .rodata._ZL8K_master  OTA.o
+    0x08004b58   0x00000400   Data   RO          145    .rodata._ZZ24calculate_crc32_with_keyPKhS0_PhE9crc_table  OTA.o
+    0x08004f58   0x00000008   Data   RO          766    .rodata.cst8        gd32c10x_rcu.o
+    0x08004f60   0x00000007   Data   RO          295    .rodata.g_can_fdlength_table  gd32c10x_can.o
+    0x08004f67   0x00000100   Data   RO           49    .rodata.inv_sbox    aes128.o
+    0x08005067   0x00000001   PAD
+    0x08005068   0x00000020   Data   RO         1924    Region$$Table       anon$$obj.o
 
 
     Execution Region RW_NOINIT (Base: 0x20000000, Size: 0x00000000, Max: 0x00007200, ABSOLUTE, UNINIT)
diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex
index 2554add..254b3e8 100644
--- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex
+++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex
@@ -20,10 +20,10 @@
 :1001200081010008810100088101000881010008A7
 :1001300081010008000000000000000081010008AB
 :100140008101000881010008810100088101000887
-:10015000DFF80CD000F04EF800480047F9440008E2
+:10015000DFF80CD000F04EF80048004731450008A9
 :10016000008000200748804707480047FEE7FEE779
 :10017000FEE7FEE7FEE7FEE7FEE7FEE7034800478F
-:10018000FEE700009104000851010008A53A0008AC
+:10018000FEE700009104000851010008DD3A000874
 :1001900040EA01039B0703D009E008C9121F08C009
 :1001A000042AFAD203E011F8013B00F8013B521E89
 :1001B000F9D27047D2B201E000F8012B491EFBD200
@@ -32,27 +32,27 @@
 :1001E00000E05B1C934203D2E05CCD5C401BF8D086
 :1001F00030BD70471CB5094800900948019005467C
 :10020000009C06E0E06840F0010394E8070098478E
-:100210001034AC42F6D3FFF79FFF000030500008C7
-:1002200050500008B0B594B046F20044C4F2000447
-:1002300020464CF2810102F071FF00B320464CF2DF
-:10024000810102F05FFF6A462046002102F09AFF1A
+:100210001034AC42F6D3FFF79FFF0000685000088F
+:1002200088500008B0B594B046F20044C4F200040F
+:1002300020464CF2810102F08DFF00B320464CF2C3
+:10024000810102F07BFF6A462046002102F0B6FFE2
 :100250000198A0F58071042900D380B940F204050B
 :10026000C2F2000505F1940069465022FFF790FFA5
 :1002700095F8E400FF281CBF013085F8E400204613
-:100280004CF2C20102F04AFF20B120464CF2C201FA
-:1002900002F038FF20464CF2031102F03FFF20B17C
-:1002A00020464CF2031102F02DFF14B0B0BD000047
+:100280004CF2C20102F066FF20B120464CF2C201DE
+:1002900002F054FF20464CF2031102F05BFF20B144
+:1002A00020464CF2031102F049FF14B0B0BD00002B
 :1002B00010B50024C4F2020420460421022203F0F7
-:1002C00063FC002808BF10BD20460421012203F072
-:1002D00053FC40F20400C2F2000090F89E205AB194
+:1002C0007FFC002808BF10BD20460421012203F056
+:1002D0006FFC40F20400C2F2000090F89E205AB178
 :1002E00040F25031402A28BF40229F30C2F2000124
 :1002F000BDE81040FFF74CBF10BD000010B5002452
-:10030000C4F2020420460521022203F03DFC00282D
+:10030000C4F2020420460521022203F059FC002811
 :1003100008BF10BD204605210222BDE8104003F0B1
-:100320002BBC00002DE9F0414FF4807003F004FD78
+:1003200047BC00002DE9F0414FF4807003F020FD40
 :10033000002808BFBDE8F0814EF2E0774EF2FF36AC
 :100340004EF208084FF48070C0F60107C0F60106AF
-:10035000C0F6010803F0EAFC4FF4807003F0D4FC0F
+:10035000C0F6010803F006FD4FF4807003F0F0FCD6
 :1003600040460021002401F0EDFD4FF64042CFF65B
 :10037000FF72E519E869411C40D1A869411C3FD1D1
 :100380006869411C3ED12869411C3DD1E868411C87
@@ -67,11 +67,11 @@
 :1004100008350EE004350CE0043D0AE0083D08E034
 :100420000C3D06E0103D04E0143D02E0183D00E004
 :100430001C3D0121B9B1B0F1113F14D107F11C00ED
-:1004400085420BD103F046FD701C03F08FFC18B100
-:10045000BDE8F04103F080BC08F57D75043503E08C
-:10046000203D0029E7D170B103F034FD1C2003F0DA
-:100470006DFC2846002103F041FD03F06DFCBDE852
-:10048000F04104F0D1B9BDE8F04104F0CDB900006D
+:1004400085420BD103F062FD701C03F0ABFC18B1C8
+:10045000BDE8F04103F09CBC08F57D75043503E070
+:10046000203D0029E7D170B103F050FD1C2003F0BE
+:1004700089FC2846002103F05DFD03F089FCBDE8FE
+:10048000F04104F0EDB9BDE8F04104F0E9B9000035
 :1004900082B04EF68851CEF200010A6841F20000A7
 :1004A00042F47002C4F202000A60016841F00101E6
 :1004B00001600168890709D4016889075CBF016888
@@ -124,8 +124,8 @@
 :1007A000019941F0020101910199416041680907F5
 :1007B00009D4416809075CBF41685FEA017102D44E
 :1007C00041680907F2D54FF00060002102B003F044
-:1007D000D5BE000080B543F60000C4F2010003F06E
-:1007E00079FC012080BD00002DE9F04190F900E086
+:1007D000F1BE000080B543F60000C4F2010003F052
+:1007E00095FC012080BD00002DE9F04190F900E06A
 :1007F00090F9013090F902104FF01B0C0CEADE1456
 :1008000090F9032084EA4E0481EA03060CEAD3152A
 :10081000664085EA4305564086EA050881EA0E06E9
@@ -152,16 +152,16 @@
 :10096000594086EA4706624081EA080165407240C4
 :10097000714080F80CE045738273C173BDE8F0816B
 :100980002DE9F04742F2000401200021C0F60104E5
-:10099000002503F047FF72B603F09CFA281903F014
-:1009A000E5F988BB05F58065B5F5404FF6D103F054
-:1009B00047F803F03BF8A4F540404FF4405103F0F2
-:1009C00001F844F2040A80466FF00307CFF6FF7A7D
+:10099000002503F063FF72B603F0B8FA281903F0DC
+:1009A00001FA88BB05F58065B5F5404FF6D103F037
+:1009B00063F803F057F8A4F540404FF4405103F0BA
+:1009C0001DF844F2040A80466FF00307CFF6FF7A61
 :1009D0004BF6FC7903E000BF04374F451BD2E51905
-:1009E00055F80A60701CF7D03C2003F0AFF9281DC1
-:1009F000314603F083FA0028EED0044603F0ACF948
-:100A0000E0B262B6BDE8F087044603F0A5F9E0B2B3
-:100A100062B6BDE8F08703F09FF962B603F006F80E
-:100A200020464FF4405102F0CDFFB8EB000018BF54
+:1009E00055F80A60701CF7D03C2003F0CBF9281DA5
+:1009F000314603F09FFA0028EED0044603F0C8F910
+:100A0000E0B262B6BDE8F087044603F0C1F9E0B297
+:100A100062B6BDE8F08703F0BBF962B603F022F8D6
+:100A200020464FF4405102F0E9FFB8EB000018BF38
 :100A30004FF0FF30C0B2BDE8F08700002DE9F04F65
 :100A400094B00E684A68CB688F68C3608760426064
 :100A500006600F684A688B68C968076142618361F4
@@ -169,7 +169,7 @@
 :100A700090F81B900F91D1B21391417D009012918B
 :100A8000817D0C91C17D0B91D9B21191417E0D9167
 :100A9000817E0E9174A14A1E002100BF009808912A
-:100AA0004718797FBD7F12F8020F44F6102BC0F66D
+:100AA0004718797FBD7F12F8020F44F6482BC0F635
 :100AB000000B0291FB7F09921BF8011012F8016CE8
 :100AC000109A1BF805400395079051401BF80350FE
 :100AD00084EA0A0297F81CA00A98714068401BF843
@@ -181,7 +181,7 @@
 :100B3000264084EA050089EA080487F827405440E3
 :100B4000029A354687F82390CDF8289085EA020965
 :100B5000039D10900F9687F8296087F82A008BEA8A
-:100B60000A0680EA050A049844F61022604087F8D5
+:100B60000A0680EA050A049844F64822604087F89D
 :100B7000201087F828B087F82B4087F82C6087F87A
 :100B80002D9087F82EA087F82F0005460E905FFA6B
 :100B900089F0C0F600021194105C079C60405FFA77
@@ -353,7 +353,7 @@
 :1015F000010017F8051CFA7AB87282EA010017F8A0
 :10160000041C3A7BF87282EA010017F8031C7A7B0B
 :10161000387382EA010017F8021CBA7B787382EAF9
-:10162000010017F8011CFA7B44F62F78B87382EAA0
+:10162000010017F8011CFA7B44F66778B87382EA68
 :1016300001000024C0F600080297F87396F8C03045
 :1016400096F8CD0018F8031096F8CA2086F8C01056
 :1016500018F8000096F8C13086F8C100079018F815
@@ -416,7 +416,7 @@
 :1019E000069199F80EA019F8A21C08908CEA020042
 :1019F00099F80F5019F8A12C8AEA010A0499554068
 :101A0000CAB20399F446C9B25FFA8BFE5FFA80FB53
-:101A10000027CDF8089000BF44F61029C0F6000951
+:101A10000027CDF8089000BF44F64829C0F6000919
 :101A200019F80220059886F8C02019F8002019F846
 :101A3000040019F80110039019F80C0086F8C4107E
 :101A40000497D046AA4607990C9F19F80E500B9C94
@@ -444,7 +444,7 @@
 :101BA00086F8CCB095F82D0096F8CD3080EA030089
 :101BB00086F8CD00069095F82E0096F8CE3083EA90
 :101BC000000A86F8CEA095F82F0096F8CF3083EA69
-:101BD000000586F8CF507FF41FAF44F61020C0F602
+:101BD000000586F8CF507FF41FAF44F64820C0F6CA
 :101BE000000010F80290059A10F80180875C025DF1
 :101BF0000799059210F80C20089B0492425C0C99FE
 :101C0000C35C415C96F8B1400C910B990B93415C1D
@@ -463,7 +463,7 @@
 :101CD00081EA070096F8BE1086F8CD000C984840BF
 :101CE00096F8BF1086F8CE000B984840596886F8E1
 :101CF000CF00516018681060D868D0609868906014
-:101D00000DB0BDE8F08F0000F0B5037844F6203E3A
+:101D00000DB0BDE8F08F0000F0B5037844F6583E02
 :101D100083F0FF03C0F6000E5EF8233090F801C098
 :101D20006FF07F4463408CEA0304E4B25EF8244021
 :101D300090F802C084EA13238CEA0304E4B25EF84C
@@ -500,26 +500,26 @@
 :101F2000FFF71AFB05F1100104F110023046FFF72C
 :101F300013FB05F1200104F120023046BDE870409A
 :101F4000FFF70ABB2DE9F04F81B0044600688842D4
-:101F500003D1002001B0BDE8F08F69B901F0BAFFEC
-:101F60001C2001F0F3FE2046002101F0C7FF0546CA
-:101F700001F0F2FE002DECD04EF20005C0F6010596
+:101F500003D1002001B0BDE8F08F69B901F0D6FFD0
+:101F60001C2001F00FFF2046002101F0E3FF054691
+:101F700001F00EFF002DECD04EF20005C0F6010579
 :101F80002F686E68D5F808B0D5F80CA0D5F8109079
-:101F9000D5F81480284601F0E9FE18B1012001B0FF
-:101FA000BDE8F08FAC420FD0781C0AD001F092FF50
-:101FB0001C2001F0CBFE2846394601F09FFF01F0BE
-:101FC000CBFE281D844210D0701C0AD001F082FF85
-:101FD0001C2001F0BBFE281D314601F08FFF01F0EF
-:101FE000BBFE05F10800844212D01BF101000BD0AA
-:101FF00001F070FF1C2001F0A9FE05F10800594610
-:1020000001F07CFF01F0A8FE05F10C00844216D01F
-:102010001AF101000BD001F05DFF1C2001F096FECB
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+:101FA000BDE8F08FAC420FD0781C0AD001F0AEFF34
+:101FB0001C2001F0E7FE2846394601F0BBFF01F086
+:101FC000E7FE281D844210D0701C0AD001F09EFF4D
+:101FD0001C2001F0D7FE281D314601F0ABFF01F0B7
+:101FE000D7FE05F10800844212D01BF101000BD08E
+:101FF00001F08CFF1C2001F0C5FE05F108005946D8
+:1020000001F098FF01F0C4FE05F10C00844216D0E7
+:102010001AF101000BD001F079FF1C2001F0B2FE93
+:1020200005F10C00514601F085FF01F0B1FE05F10C
 :102030001000844203D118F101001AD189E719F187
-:1020400001000BD001F046FF1C2001F07FFE05F1DE
-:102050001000494601F052FF01F07EFE05F1140028
+:1020400001000BD001F062FF1C2001F09BFE05F1A6
+:102050001000494601F06EFF01F09AFE05F11400F0
 :1020600084424FF000003FF475AF18F101013FF4D6
-:1020700071AF01F02FFF1C2001F068FE05F1140084
-:10208000414601F03BFF01F067FE62E72DE9F04FAA
+:1020700071AF01F04BFF1C2001F084FE05F114004C
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 :1020900097B040F20117B94200F0A680B1F5807FF9
 :1020A00009D0002940F01C810021A0F85511C16021
 :1020B00017B0BDE8F08F0021C1601178002908BF7A
@@ -533,7 +533,7 @@
 :1021300080F87710517880F87610117804F8751FC0
 :102140004FF2F071C1F6FF7144F81C1C4FF2EC71B4
 :10215000C1F6FF7144F8181C4FF2E871C1F6FF7127
-:1021600044F8141C04F1100544F61031C0F60001C7
+:1021600044F8141C04F1100544F64831C0F600018F
 :102170002846FEF763FC06AE284621463246FFF7A6
 :10218000CFFB02AA28463146FFF7CAFB059A02ABED
 :102190000BCB12920FAA0BC254F81C0C54F8181C4B
@@ -590,64 +590,64 @@
 :1024C000F08F4FF0FF30029040F20400C2F20000A3
 :1024D00002AA4FF4817100F0DBF9052088F855015C
 :1024E00000F004F817B0BDE8F08F000010B501F05F
-:1024F000F1FC42F20004C0F6010404F54040002162
+:1024F0000DFD42F20004C0F6010404F54040002145
 :10250000FFF720FD4EF20800C0F601000021FFF7A2
-:1025100019FD01F021FC4EF28010CEF200004FF0C8
+:1025100019FD01F03DFC4EF28010CEF200004FF0AC
 :10252000FF31016041608160C16001614161816191
-:10253000C16146F20040C4F2000000F02BFC002014
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-:1025700002F00EF94FF4A06002F00AF94EF608508E
+:10253000C16146F20040C4F2000000F047FC0020F8
+:1025400002F082F940F2026002F03EF940F20360CC
+:1025500002F03AF940F2046002F036F940F20E60FF
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+:1025700002F02AF94FF4A06002F026F94EF6085056
 :10258000CEF2000004602068646880F3088802F0DE
-:1025900067F82046BDE810400047000070B582B0E3
-:1025A00041F600450446C0F6010501F093FC4EF2E9
+:1025900083F82046BDE810400047000070B582B0C7
+:1025A00041F600450446C0F6010501F0AFFC4EF2CD
 :1025B0000806C0F6010606F108004FF0FF31FFF7EC
 :1025C000C1FC30464FF0FF31FFF7BCFC05F544403D
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diff --git a/tmp/1/.ninja_deps b/tmp/1/.ninja_deps
index 41803bc778e9bd4e0af3a95dfa41ad466f69057a..f210175a0e34aa59ed15a355be4ea833ad2c9a17 100644
GIT binary patch
delta 147
zcmbQRpRwlx<Aw?GyjK_)8oU@77<3hih07-|^g2CxLj(uwv2)9+swY46xy`z+dL58;
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delta 9
QcmeCVz&K$)<Aw?G02V3)O#lD@

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