diff --git a/Robot_V2/Robot_V2.cproject.yml b/Robot_V2/Robot_V2.cproject.yml
index 1fd4117..c57743b 100644
--- a/Robot_V2/Robot_V2.cproject.yml
+++ b/Robot_V2/Robot_V2.cproject.yml
@@ -12,8 +12,6 @@ project:
         - file: sys/systick.h
         - file: sys/initial.cpp
         - file: sys/initial.h
-        - file: sys/flash.h
-        - file: sys/flash.cpp
         - file: sys/OTA.h
         - file: sys/OTA.cpp
         - file: sys/config.h
@@ -26,18 +24,18 @@ project:
     - component: Device:Startup
     - component: Device:GD32C10x_StdPeripherals:CAN
     - component: Device:GD32C10x_StdPeripherals:DMA
-    - component: Device:GD32C10x_StdPeripherals:EXTI
     - component: Device:GD32C10x_StdPeripherals:FMC
     - component: Device:GD32C10x_StdPeripherals:GPIO
     - component: Device:GD32C10x_StdPeripherals:MISC
     - component: Device:GD32C10x_StdPeripherals:PMU
     - component: Device:GD32C10x_StdPeripherals:RCU
-    - component: Device:GD32C10x_StdPeripherals:USART
     - component: Device:GD32C10x_libopt
     - component: Device:EVAL:GD32C10x
-    - component: Device:GD32C10x_StdPeripherals:CRC
     - component: Device:GD32C10x_StdPeripherals:FWDGT
     - component: Device:GD32C10x_StdPeripherals:DBG
+    - component: Device:GD32C10x_StdPeripherals:EXTI
+    - component: Device:GD32C10x_StdPeripherals:USART
+    - component: Device:GD32C10x_StdPeripherals:CRC
   output:
     type:
       - elf
diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp
index d454180..cb5f3b0 100644
--- a/Robot_V2/device/Can.cpp
+++ b/Robot_V2/device/Can.cpp
@@ -1,7 +1,6 @@
 #include "Can.h"
 #include "OTA.h"
 #include "config.h"
-#include "flash.h"
 #include "gd32c10x.h"
 #include "gd32c10x_can.h"
 #include "gd32c10x_dma.h"
@@ -17,7 +16,6 @@
 CAN_transmiter CAN0_transmiter; // CAN初始化
 extern BootloaderSystem sys;
 extern OTAHandler ota;
-extern FlashEEPROM flashEEP;
 
 // 添加DMA相关变量
 dma_parameter_struct dma_rx_parameter;
diff --git a/Robot_V2/device/Can.h b/Robot_V2/device/Can.h
index 51d559b..78616a9 100644
--- a/Robot_V2/device/Can.h
+++ b/Robot_V2/device/Can.h
@@ -9,7 +9,6 @@ extern "C" {
 #include "gd32c10x_can.h"
 #include "stdint.h"
 #include <stdio.h>
-#include "sys/config.h"
 
 u8 can_gpio_init(void);				 // CAN引脚初始化
 void canfd_config(void);			 // CANFD初始化
diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp
index 3ed322c..6fb8cc5 100644
--- a/Robot_V2/main.cpp
+++ b/Robot_V2/main.cpp
@@ -1,15 +1,14 @@
 #include "main.h"
 #include "Can.h"
-#include "aes128.h"
+#include "config.h"
+#include "gd32c10x.h"
 #include "initial.h"
 #include "sys/OTA.h"
-#include "sys/config.h"
 #include "sys/systick.h"
 #include <cstdio>
-
+#include <gd32c10x_fmc.h>
 
 extern CAN_transmiter CAN0_transmiter; // CAN初始化
-
 BootloaderSystem sys;
 extern OTAHandler ota;
 
@@ -17,121 +16,46 @@ void BootloaderSystem::initHardware() {
 	systick_config(); // 系统时钟初始化
 	USART0_init();	  // 调试串口初始化
 
-	rcu_periph_clock_enable(RCU_CRC); // 使能CRC外设时钟
-	crc_deinit();					  // 初始化CRC模块
+	// rcu_periph_clock_enable(RCU_CRC); // 使能CRC外设时钟
+	// 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 (!validateApplication()) {
-		printf("OTA Mode\r\n");
+	volatile u32 *flash_ptr = (volatile u32 *)n_APP_LATEST_EN_ADDR;
+	u32 app_enable = *flash_ptr;
+	flash_ptr = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
+	u32 app_check = *flash_ptr;
+	if (app_check == OTA_AVAL and
+		app_enable == OTA_AVAL) { // APP已确认且激活，直接进入
+		printf("Normal Mode\r\n");
+		// 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
+		printf("OTA Mode1\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();
+	} else { // APP无效，确认backup
+		volatile u32 *flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
+		u32 back_aval = *flash_ptr;
+		flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
+		u32 back_check = *flash_ptr;
+		if (back_check == OTA_AVAL and
+			back_aval == OTA_AVAL) { // backup已确认且激活，复制到主APP区域
+			move_app_data();		 // 恢复BACKUP
+			ota.jumpToApplication(); // 跳转到APP
+		} else { // backup无效，进入OTA模式
+			printf("OTA Mode2\r\n");
+			// OTA模式
+			while (1) {
+				CAN0_transmiter.communication_check();
+				ota.process();
+			}
+		}
 	}
 }
 int main(void) {
diff --git a/Robot_V2/sys/OTA.cpp b/Robot_V2/sys/OTA.cpp
index 334ac39..f3480e5 100644
--- a/Robot_V2/sys/OTA.cpp
+++ b/Robot_V2/sys/OTA.cpp
@@ -7,22 +7,96 @@
 #include "systick.h"
 #include <cstdio>
 #include <cstring>
-#include <flash.h>
 #include <stdint.h>
 
 extern CAN_transmiter CAN0_transmiter; // CAN初始化
-extern FlashEEPROM flashEEP;
 OTAHandler ota;
 extern "C" {
 void canfd_rx_irq_handler(void);
 }
 
+inline fmc_state_enum write_ADDRESS(u32 address, u32 data) {
+	fmc_unlock();
+	fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
+
+	// 确保使用对齐地址
+	fmc_state_enum fmc_status = fmc_word_program(address, data);
+
+	fmc_lock();
+	return fmc_status;
+}
+
+u8 OTA_SET(u32 addr, u32 data) {
+	fmc_state_enum fmc_status;
+	u32 temp_val[OTA_CONFIG_NUM];
+	volatile u32 *flash_ptr = (volatile u32 *)addr;
+	temp_val[0] = *flash_ptr;
+	if (temp_val[0] == data) {	// 如果相同
+		return FLASH_EEPROM_OK; // 成功
+	}
+
+	fmc_unlock();
+	// 如果不同，且要写0，直接写
+	if (data == OTA_AVAL) {
+		fmc_status = write_ADDRESS(addr, data);
+		fmc_lock();
+		if (fmc_status == FMC_READY) {
+			return FLASH_EEPROM_OK; // 成功可以直接退出
+		}
+	}
+
+	// 如果不同或写入出错，要写1，需要重置，然后再写
+	flash_ptr = (volatile u32 *)n_APP_LATEST_AVAL_ADDR;
+	temp_val[0] = *flash_ptr;
+	flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
+	temp_val[1] = *flash_ptr;
+	flash_ptr = (volatile u32 *)n_APP_LATEST_EN_ADDR;
+	temp_val[2] = *flash_ptr;
+	flash_ptr = (volatile u32 *)n_APP_BACKUP_EN_ADDR;
+	temp_val[3] = *flash_ptr;
+	flash_ptr = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
+	temp_val[4] = *flash_ptr;
+	flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
+	temp_val[5] = *flash_ptr;
+#if EEP_DEBUG
+	printf("OTA_SET\r\n");
+	printf("0x%x_0x%x_0x%x_0x%x\r\n", temp_val[0], temp_val[1], temp_val[2],
+		   temp_val[3]);
+#endif
+	fmc_status = fmc_page_erase(n_APP_LATEST_AVAL_ADDR); // 擦除页
+	if (fmc_status != FMC_READY) {
+		return FLASH_EEPROM_ERROR; // 擦除错误退出
+	}
+	for (int i = 0; i < OTA_CONFIG_NUM; i++) {
+		if (temp_val[i] == OTA_AVAL and
+			n_APP_LATEST_AVAL_ADDR + 4 * i != addr) {
+			fmc_status = write_ADDRESS(n_APP_LATEST_AVAL_ADDR + 4 * i,
+									   OTA_AVAL); // 把需要写入0的写入0
+			if (fmc_status != FMC_READY) {
+				fmc_lock();
+				return FLASH_EEPROM_ERROR; // 写入错误退出
+			}
+		}
+	}
+	fmc_lock();
+	return FLASH_EEPROM_OK;
+}
+
+/**
+ * @brief  从4字节数组中提取一个32位无符号整数
+ * @param  array: 4字节数组
+ * @retval 32位无符号整数
+ */
 static inline uint32_t extract_u32_from_4bytes(const uint8_t *array) {
 	return ((uint32_t)array[3] << 24) | ((uint32_t)array[2] << 16) |
 		   ((uint32_t)array[1] << 8) | (uint32_t)array[0];
 }
 void OTAHandler::init() {}
-
+/**
+ * @brief  OTA处理函数
+ * @param  无
+ * @retval 无
+ */
 void OTAHandler::process() {
 	if (ota_state == OTA_STATE_IDLE) {
 		ota_time = 0; // 重置计时器
@@ -43,27 +117,36 @@ void OTAHandler::process() {
 		ota_time = 0;
 		ota_state = OTA_STATE_IDLE;
 		ota_error = OTA_ERROR_TIMEOUT;
-		send_error_frame(OTA_ERROR_TIMEOUT); // 验证失败
+		volatile u32 *flash_ptr =
+			(volatile u32 *)n_APP_LATEST_CHECK_ADDR; // 如果是实际可以运行
+		u32 if_checked = *flash_ptr;
+		flash_ptr = (volatile u32 *)n_APP_LATEST_AVAL_ADDR; // 如果是实际已刷入
+		u32 if_aval = *flash_ptr;
+		send_error_frame(OTA_ERROR_TIMEOUT); // OTA超时
+		if (if_checked == OTA_AVAL and if_aval == OTA_AVAL) {
+			OTA_SET(n_APP_LATEST_AVAL_ADDR,
+					OTA_AVAL); // 实际可用，设置APP为启用
+		}
+		jumpToApplication();
 	}
 }
-
 bool validateApplication() {
-	u32 *app_vector = (u32 *)APP_START_ADDR;
+	u32 *app_vector = (u32 *)APPLATEST_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("APPLATEST_START_ADDR: 0x%08X\r\n", APPLATEST_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);
+	printf("APP Range: 0x%08X - 0x%08X\r\n", APPLATEST_START_ADDR,
+		   APPLATEST_START_ADDR + APP_MAX_SIZE);
 #endif
 
 	// 简单验证：检查栈指针是否在SRAM范围内
 	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));
+	bool reset_valid = (reset_handler >= APPLATEST_START_ADDR &&
+						reset_handler < (APPLATEST_START_ADDR + APP_MAX_SIZE));
 
 #if DEBUG_OTA
 	if (!stack_valid) {
@@ -77,6 +160,11 @@ bool validateApplication() {
 	return stack_valid && reset_valid;
 }
 
+/**
+ * @brief  跳转应用处理模块
+ * @param  无
+ * @retval 无
+ */
 void OTAHandler::jumpToApplication() {
 #if DEBUG_OTA
 	printf("try jump to app\r\n");
@@ -90,6 +178,8 @@ void OTAHandler::jumpToApplication() {
 	}
 	printf("jumping1\r\n");
 #endif
+	OTA_SET(n_APP_LATEST_AVAL_ADDR, OTA_AVAL); // 设置APP为可用
+	OTA_SET(n_APP_LATEST_EN_ADDR, OTA_AVAL);   // 设置APP为激活
 	// 1. 关闭所有中断
 	__disable_irq();
 	for (int i = 0; i < 8; i++) {
@@ -117,11 +207,11 @@ void OTAHandler::jumpToApplication() {
 	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;
+	SCB->VTOR = APPLATEST_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);
+	uint32_t msp_value = *(__IO uint32_t *)APPLATEST_START_ADDR;
+	uint32_t reset_handler = *(__IO uint32_t *)(APPLATEST_START_ADDR + 4);
 	typedef void (*AppEntryFunc)(void);
 	AppEntryFunc app_entry = (AppEntryFunc)reset_handler;
 #if DEBUG_OTA
@@ -151,8 +241,8 @@ void OTAHandler::eraseApplicationArea() {
 	__disable_irq();
 
 	fmc_state_enum fmc_status;
-	for (u32 addr = APP_START_ADDR; addr < (APP_START_ADDR + APP_MAX_SIZE);
-		 addr += FMC_PAGE_SIZE) {
+	for (u32 addr = APPLATEST_START_ADDR;
+		 addr < (APPLATEST_START_ADDR + APP_MAX_SIZE); addr += FMC_PAGE_SIZE) {
 		fmc_status = fmc_page_erase(addr);
 		if (fmc_status != FMC_READY) {
 			// 如果擦除失败，记录错误并退出
@@ -181,7 +271,7 @@ void OTAHandler::eraseApplicationArea() {
  */
 void OTAHandler::writeApplicationData(u32 offset, u8 *data, u32 size) {
 	fmc_unlock();
-	u32 write_addr = APP_START_ADDR + offset;
+	u32 write_addr = APPLATEST_START_ADDR + offset;
 
 	u32 i = 0;
 	u8 *src = data;
@@ -207,29 +297,6 @@ void OTAHandler::writeApplicationData(u32 offset, u8 *data, u32 size) {
 	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
@@ -318,7 +385,7 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) {
 			ota_state = OTA_STATE_RECEIVING_FIRMWARE;
 		} else if (len == 2 and ota_state == OTA_STATE_FINISHED) {
 #if DEBUG_OTA
-			printf("stage8:OTA_STATE_FINISHED\r\n");
+			printf("stage--:OTA_STATE_FINISHED\r\n");
 #endif
 			u8 send_data[2] = {0x0A, 0xAC}; // 确认开始传输
 			// 4. 验证成功 - 发送最终ACK
@@ -423,6 +490,12 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) {
 	}
 }
 
+/**
+ * @brief  发送错误帧
+ * @param  error: 错误码
+ * @retval 无
+ */
+
 void send_error_frame(u8 error) {
 	u8 error_frame[1] = {error};
 	CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 1, error_frame);
@@ -462,6 +535,103 @@ void getDeviceSerialNumberString(char *str) {
 	str[24] = '\0'; // 确保字符串结束
 }
 
+/**
+ * @brief 将0x08010500地址后0xC000大小区域内的数据搬运到0x08011000地址
+ * @param None
+ * @retval fmc_state_enum: 操作状态
+ */
+fmc_state_enum move_app_data() {
+	fmc_state_enum fmc_status = FMC_READY;
+
+	// 关闭全局中断以防止Flash操作期间的中断干扰
+	__disable_irq();
+	fmc_unlock();
+
+	// 首先擦除目标地址的Flash页面
+	uint32_t num_pages =
+		(APP_MAX_SIZE + FMC_PAGE_SIZE - 1) / FMC_PAGE_SIZE; // 向上取整
+
+	for (uint32_t i = 0; i < num_pages; i++) {
+		uint32_t page_addr = APPLATEST_START_ADDR + i * FMC_PAGE_SIZE;
+
+		// 擦除页面
+		fmc_status = fmc_page_erase(page_addr);
+		if (fmc_status != FMC_READY) {
+			fmc_lock();
+#if OTA_DEBUG
+			printf("move_app_data erase error\r\n");
+#endif
+			__enable_irq(); // 重新开启中断
+			return fmc_status;
+		}
+	}
+
+	// 复制数据 - 按字（32位）进行复制以提高效率
+	uint32_t offset = 0;
+	uint32_t write_count = 0; // 记录实际写入的字数
+	const uint32_t *src_ptr = (const uint32_t *)APPLATEST_START_ADDR;
+	uint32_t *dst_ptr = (uint32_t *)APPLATEST_START_ADDR;
+
+	// 预计算源数据的CRC，避免重复访问内存
+	crc_deinit();
+	crc_data_register_reset();
+	uint32_t src_crc = crc_block_data_calculate(
+		(uint32_t *)APPBACK_START_ADDR, APP_MAX_SIZE / 4);
+
+	while (offset < APP_MAX_SIZE) {
+		uint32_t src_data = src_ptr[offset / 4];
+
+		// 检查源地址是否为有效的Flash数据（非0xFFFFFFFF表示有数据）
+		if (src_data != 0xFFFFFFFF) {
+			// 清除之前的标志位
+			fmc_flag_clear(FMC_FLAG_END | FMC_FLAG_WPERR | FMC_FLAG_PGAERR |
+						   FMC_FLAG_PGERR);
+
+			fmc_status =
+				fmc_word_program(APPLATEST_START_ADDR + offset, src_data);
+
+			// 检查写入操作是否成功
+			if (fmc_status != FMC_READY) {
+#if OTA_DEBUG
+				printf(
+					"Flash write failed at offset 0x%08X with status: %d\r\n",
+					offset, fmc_status);
+#endif
+				fmc_lock();
+				__enable_irq(); // 重新开启中断
+				return fmc_status;
+			}
+			write_count++;
+		}
+		offset += 4;
+
+		// 每写入一定数量的数据后，喂狗一次
+		if ((offset % 4096) == 0) { // 每4KB喂狗一次
+			fwdgt_counter_reload();
+		}
+	}
+
+	fmc_lock();
+
+	// 重新开启全局中断
+	__enable_irq();
+	crc_data_register_reset(); // 确保CRC计算从初始状态开始
+
+	// 计算目标数据的CRC值
+	uint32_t dst_crc = crc_block_data_calculate(
+		(uint32_t *)APPLATEST_START_ADDR, APP_MAX_SIZE / 4);
+
+	// 比较CRC值，确保数据完整性
+	if (src_crc != dst_crc) {
+#if OTA_DEBUG
+		printf("CRC mismatch: src_crc=0x%08X, dst_crc=0x%08X\r\n", src_crc,
+			   dst_crc);
+#endif
+		return (fmc_state_enum)0xFF; // CRC校验失败
+	}
+	return fmc_status;
+}
+
 /**
  * 带密钥的CRC32校验函数
  *
diff --git a/Robot_V2/sys/OTA.h b/Robot_V2/sys/OTA.h
index d574b0c..a4ec9db 100644
--- a/Robot_V2/sys/OTA.h
+++ b/Robot_V2/sys/OTA.h
@@ -57,4 +57,6 @@ void calculate_crc32_with_key(const uint8_t *key, const uint8_t *data,
 							  u8 *output);
 void send_error_frame(uint8_t error);
 bool validateApplication();
+fmc_state_enum move_app_data();
+
 #endif
\ No newline at end of file
diff --git a/Robot_V2/sys/config.h b/Robot_V2/sys/config.h
index 703fb48..1309594 100644
--- a/Robot_V2/sys/config.h
+++ b/Robot_V2/sys/config.h
@@ -7,17 +7,33 @@
 #define CAN_DEBUG 0
 
 // Flash分区配置
-constexpr u32 BOOTLOADER_SIZE = 0x4000;		// 16KB
-constexpr u32 APP_START_ADDR = 0x08010000;	// APP起始地址 0x08004000
-constexpr u32 APP2_START_ADDR = 0x08010000; // APP2起始地址
-constexpr u32 APP_MAX_SIZE = 0xC000;		// 48KB
-constexpr u32 FMC_PAGE_SIZE = 0x400;		// 1KB
+constexpr u32 BOOTLOADER_SIZE = 0x4000;			  // 16KB
+constexpr u32 BOOTLOADER_START_ADDR = 0x08000000; // BOOT起始地址
+constexpr u32 APPLATEST_START_ADDR = 0x08011000;  // APP起始地址
+constexpr u32 APPBACK_START_ADDR = 0x08005000;	  // APPBACK起始地址
+constexpr u32 APP_MAX_SIZE = 0xC000;			  // 48KB
+constexpr u32 FMC_PAGE_SIZE = 0x400;			  // 1KB
+
+
+// BOOT 相关
+constexpr u32 OTA_CONFIG_NUM = 6;
+constexpr u32 n_APP_LATEST_AVAL_ADDR = 0x0801D000;	// 最新APP可用地址
+constexpr u32 n_APP_BACKUP_AVAL_ADDR = 0x0801D004;	// 备份APP可用地址
+constexpr u32 n_APP_LATEST_EN_ADDR = 0x0801D008;	// 最新APP激活
+constexpr u32 n_APP_BACKUP_EN_ADDR = 0x0801D00C;	// 备份APP激活
+constexpr u32 n_APP_LATEST_CHECK_ADDR = 0x0801D010; // 最新APP校验
+constexpr u32 n_APP_BACKUP_CHECK_ADDR = 0x0801D014; // 备份APP校验
+constexpr u32 OTA_NOT_AVAL = 0xFFFFFFFF;
+constexpr u32 OTA_AVAL = 0x00000000; // 全零表示可用
+constexpr u32 FLASH_EEPROM_OK = 0;
+constexpr u32 FLASH_EEPROM_ERROR = 1;
 
 // CANFD配置
 constexpr u32 CANFD_OTA_REQ_ID = 0x00000100;
 constexpr u32 CANFD_OTA_DATA_ID = 0x00000101;
 constexpr u32 CANFD_OTA_ACK_ID = 0x00000102;
 constexpr u32 CANFD_OTA_WAIT_ID = 0x00000103;
+constexpr u32 CANFD_OTA_CANCEL_ID = 0x00000000;
 
 // 设备唯一ID寄存器地址 (GD32C10x系列)
 constexpr u32 DEVICE_SERIAL_ADDR_MSB = 0x1FFFF7E8; // 最高32位
@@ -33,7 +49,6 @@ typedef union {
 	u8 b[4];
 } u32_union_t;
 
-
 // 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,
diff --git a/Robot_V2/sys/flash.cpp b/Robot_V2/sys/flash.cpp
index b4d3691..c7c8f64 100644
--- a/Robot_V2/sys/flash.cpp
+++ b/Robot_V2/sys/flash.cpp
@@ -52,55 +52,4 @@ FlashEepromStatus FlashEEPROM::format() {
 	}
 	fmc_lock();
 	return FLASH_EEPROM_OK;
-}
-
-/**
- * @brief 保存CRC数据到Flash
- * @return FlashEepromStatus: 状态
- */
-FlashEepromStatus FlashEEPROM::writeCRC(u32 CRC_NUM) {
-	static u32 next_address;
-	// 遍历Flash页面寻找下一个可写入crc的位置
-	for (u32 address = EEPROM_DATA_START_ADDRESS - SIZE_U32;
-		 address > EEPROM_START_ADDRESS; address -= SIZE_U32) {
-		// 安全读取Flash数据
-		volatile u32 *flash_ptr = (volatile u32 *)address;
-		u32 data_word = *flash_ptr;
-		// 找到空位置
-		if (data_word == 0xFFFFFFFF) {
-			next_address = address;
-			break;
-		}
-		// 更新下一个可能的写入位置（如果需要格式化）
-		next_address = address - SIZE_U32;
-	}
-
-	// 如果当前CRC与现在的crc值不同，则写入
-	if (*((u32 *)next_address) != CRC_NUM) {
-		// 如果有足够空间，直接写入crc值
-		if (next_address > EEPROM_START_ADDRESS) {
-			fmc_unlock();
-			fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
-			fmc_state_enum fmc_status = fmc_word_program(next_address, CRC_NUM);
-			fmc_lock();
-#if EEPDEBUG
-			printf("CRC cmp1,0x%X_0x%x \r\n", CRC_NUM, *((u32 *)next_address));
-#endif
-
-			// 检查写入是否成功
-			if (fmc_status != FMC_READY) {
-				EEPROMStatus = fmc_status;
-				return FLASH_EEPROM_WRITE_ERROR;
-			}
-		}
-	}
-
-	// 重新读取CRC校验
-	if (CRC_NUM == *((u32 *)next_address)) {
-		EEPROMStatus = FLASH_EEPROM_OK; // 设置EEPROM状态
-		return FLASH_EEPROM_OK;
-	} else {
-		EEPROMStatus = FLASH_EEPROM_CRC_ERROR; // 设置EEPROM错误状态
-		return FLASH_EEPROM_CRC_ERROR;
-	}
 }
\ No newline at end of file
diff --git a/Robot_V2/sys/initial.cpp b/Robot_V2/sys/initial.cpp
index d4f8312..9e01ee0 100644
--- a/Robot_V2/sys/initial.cpp
+++ b/Robot_V2/sys/initial.cpp
@@ -5,6 +5,7 @@
 #include <cstdio>
 #include <stdint.h>
 #include <stdio.h>
+#include "config.h"
 
 /* retarget the C library printf function to the USART */
 u8 USART0_init() {
@@ -36,6 +37,102 @@ void unused_pin_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 = APPLATEST_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
+}
 
 // // 发送单个字节到串口 (用于调试)
 // void uart_send_byte(uint8_t data) {
diff --git a/Robot_V2/sys/systick.cpp b/Robot_V2/sys/systick.cpp
index 51f1882..f9e03a9 100644
--- a/Robot_V2/sys/systick.cpp
+++ b/Robot_V2/sys/systick.cpp
@@ -34,12 +34,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "systick.h"
 #include "Can.h"
-#include "flash.h"
 #include "gd32c10x.h"
 
 volatile static uint32_t delay;
 extern CAN_transmiter CAN0_transmiter;
-extern FlashEEPROM flashEEP;
 
 /*!
 	\brief      configure systick
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 aa33052..795ef86 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
@@ -301,10 +301,6 @@ build:
           category: sourceCpp
         - file: ../../../../Robot_V2/sys/initial.h
           category: header
-        - file: ../../../../Robot_V2/sys/flash.h
-          category: header
-        - file: ../../../../Robot_V2/sys/flash.cpp
-          category: sourceCpp
         - file: ../../../../Robot_V2/sys/OTA.h
           category: header
         - file: ../../../../Robot_V2/sys/OTA.cpp
diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf
index 0bd1d67..5f6054d 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 f9934c8..9bddffe 100644
--- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map
+++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map
@@ -6,151 +6,162 @@ Memory Map of the image
 
   Image Entry point : 0x08000165
 
-  Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00004628, Max: 0x08005000, ABSOLUTE)
+  Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00004958, Max: 0x08005000, ABSOLUTE)
 
-    Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x0000452c, Max: 0x08005000, ABSOLUTE)
+    Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x0000485c, Max: 0x08005000, ABSOLUTE)
 
     Base Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x08000000   0x00000150   Data   RO          895    RESET               startup_gd32c10x.o
-    0x08000150   0x00000000   Code   RO         1059  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
-    0x08000150   0x00000004   Code   RO         1486    .ARM.Collect$$$$00000003  mc_w.l(entry4.o)
-    0x08000154   0x00000004   Code   RO         1489    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
-    0x08000158   0x00000000   Code   RO         1491    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
-    0x08000158   0x00000000   Code   RO         1493    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
-    0x08000158   0x00000008   Code   RO         1494    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
-    0x08000160   0x00000000   Code   RO         1496    .ARM.Collect$$$$0000000D  mc_w.l(entry10a.o)
-    0x08000160   0x00000000   Code   RO         1498    .ARM.Collect$$$$0000000F  mc_w.l(entry11a.o)
-    0x08000160   0x00000004   Code   RO         1487    .ARM.Collect$$$$00002714  mc_w.l(entry4.o)
-    0x08000164   0x0000002c   Code   RO          896  * .text               startup_gd32c10x.o
-    0x08000190   0x00000024   Code   RO         1068    .text               mc_w.l(memcpya.o)
-    0x080001b4   0x00000024   Code   RO         1070    .text               mc_w.l(memseta.o)
-    0x080001d8   0x0000001a   Code   RO         1072    .text               mc_w.l(memcmp.o)
-    0x080001f2   0x00000002   Code   RO         1514    .text               mc_w.l(abort.o)
-    0x080001f4   0x00000030   Code   RO         1841    .text               mc_w.l(init.o)
-    0x08000224   0x0000009c   Code   RO          183    .text.CAN0_RX0_IRQHandler  Can.o
-    0x080002c0   0x0000004a   Code   RO          185    .text.DMA0_Channel4_IRQHandler  Can.o
+    0x08000000   0x00000150   Data   RO          875    RESET               startup_gd32c10x.o
+    0x08000150   0x00000000   Code   RO         1039  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
+    0x08000150   0x00000004   Code   RO         1466    .ARM.Collect$$$$00000003  mc_w.l(entry4.o)
+    0x08000154   0x00000004   Code   RO         1469    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
+    0x08000158   0x00000000   Code   RO         1471    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
+    0x08000158   0x00000000   Code   RO         1473    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
+    0x08000158   0x00000008   Code   RO         1474    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
+    0x08000160   0x00000000   Code   RO         1476    .ARM.Collect$$$$0000000D  mc_w.l(entry10a.o)
+    0x08000160   0x00000000   Code   RO         1478    .ARM.Collect$$$$0000000F  mc_w.l(entry11a.o)
+    0x08000160   0x00000004   Code   RO         1467    .ARM.Collect$$$$00002714  mc_w.l(entry4.o)
+    0x08000164   0x0000002c   Code   RO          876  * .text               startup_gd32c10x.o
+    0x08000190   0x00000024   Code   RO         1048    .text               mc_w.l(memcpya.o)
+    0x080001b4   0x00000024   Code   RO         1050    .text               mc_w.l(memseta.o)
+    0x080001d8   0x0000001a   Code   RO         1052    .text               mc_w.l(memcmp.o)
+    0x080001f2   0x00000002   Code   RO         1494    .text               mc_w.l(abort.o)
+    0x080001f4   0x00000030   Code   RO         1821    .text               mc_w.l(init.o)
+    0x08000224   0x0000009c   Code   RO          163    .text.CAN0_RX0_IRQHandler  Can.o
+    0x080002c0   0x0000004a   Code   RO          165    .text.DMA0_Channel4_IRQHandler  Can.o
     0x0800030a   0x00000002   PAD
-    0x0800030c   0x00000026   Code   RO          187    .text.DMA0_Channel5_IRQHandler  Can.o
+    0x0800030c   0x00000026   Code   RO          167    .text.DMA0_Channel5_IRQHandler  Can.o
     0x08000332   0x00000002   PAD
-    0x08000334   0x00000342   Code   RO          902    .text.SystemInit    system_gd32c10x.o
+    0x08000334   0x00000342   Code   RO          882    .text.SystemInit    system_gd32c10x.o
     0x08000676   0x00000002   PAD
-    0x08000678   0x00000012   Code   RO           85    .text.USART0_init   initial.o
+    0x08000678   0x00000012   Code   RO           82    .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
+    0x0800068c   0x00000198   Code   RO           29    .text._Z11mix_columnsPh  aes128.o
+    0x08000824   0x000000ba   Code   RO          129    .text._Z13move_app_datav  OTA.o
+    0x080008de   0x00000002   PAD
+    0x080008e0   0x00000238   Code   RO           37    .text._Z14aes128_set_keyP14aes128_contextPKh  aes128.o
+    0x08000b18   0x000008e2   Code   RO           35    .text._Z15inv_mix_columnsPh  aes128.o
+    0x080013fa   0x00000002   PAD
+    0x080013fc   0x000003c8   Code   RO           43    .text._Z20aes128_decrypt_blockP14aes128_contextPKhPh  aes128.o
+    0x080017c4   0x000003e6   Code   RO           39    .text._Z20aes128_encrypt_blockP14aes128_contextPKhPh  aes128.o
+    0x08001baa   0x00000002   PAD
+    0x08001bac   0x00000210   Code   RO          123    .text._Z24calculate_crc32_with_keyPKhS0_Ph  OTA.o
+    0x08001dbc   0x0000002c   Code   RO           45    .text._Z26aes128_ecb_decrypt_48bytesP14aes128_contextPKhPh  aes128.o
+    0x08001de8   0x00000182   Code   RO          105    .text._Z7OTA_SETjj  OTA.o
+    0x08001f6a   0x00000002   PAD
+    0x08001f6c   0x000004a8   Code   RO          121    .text._ZN10OTAHandler16handleOTAMessageEjPhh  OTA.o
+    0x08002414   0x000000a2   Code   RO          113    .text._ZN10OTAHandler17jumpToApplicationEv  OTA.o
+    0x080024b6   0x00000002   PAD
+    0x080024b8   0x0000005a   Code   RO          119    .text._ZN10OTAHandler20writeApplicationDataEjPhj  OTA.o
+    0x08002512   0x00000002   PAD
+    0x08002514   0x00000096   Code   RO          109    .text._ZN10OTAHandler7processEv  OTA.o
+    0x080025aa   0x00000028   Code   RO          905    .text._ZN10__cxxabiv121__isOurExceptionClassEPK21_Unwind_Control_Block  libcppabi_wx.l(cxa_exception.cpp.o)
+    0x080025d2   0x00000060   Code   RO          933    .text._ZN10__cxxabiv1L22__cxa_end_cleanup_implEv  libcppabi_wx.l(cxa_exception.cpp.o)
+    0x08002632   0x00000002   PAD
+    0x08002634   0x0000008c   Code   RO          157    .text._ZN14CAN_transmiter12sendDATA_ACKEjPh  Can.o
+    0x080026c0   0x0000014e   Code   RO          159    .text._ZN14CAN_transmiter15CANFD_AsyncSendEjhPh  Can.o
+    0x0800280e   0x00000002   PAD
+    0x08002810   0x0000004e   Code   RO          155    .text._ZN14CAN_transmiter19communication_checkEv  Can.o
+    0x0800285e   0x00000002   PAD
+    0x08002860   0x00000038   Code   RO          153    .text._ZN14CAN_transmiter4initEv  Can.o
+    0x08002898   0x000000b4   Code   RO            6    .text._ZN16BootloaderSystem3runEv  main.o
+    0x0800294c   0x00000074   Code   RO          976    .text._ZSt11__terminatePFvvE  libcppabi_wx.l(cxa_handlers.cpp.o)
+    0x080029c0   0x00000030   Code   RO          967    .text._ZSt9terminatev  libcppabi_wx.l(cxa_handlers.cpp.o)
+    0x080029f0   0x0000000a   Code   RO          962    .text.__clang_call_terminate  libcppabi_wx.l(cxa_exception.cpp.o)
+    0x080029fa   0x00000002   PAD
+    0x080029fc   0x0000006c   Code   RO          910    .text.__cxa_begin_catch  libcppabi_wx.l(cxa_exception.cpp.o)
+    0x08002a68   0x0000000a   Code   RO         1333    .text.__cxa_get_globals  libcppabi_wx.l(cxa_exception_storage.cpp.o)
+    0x08002a72   0x0000000a   Code   RO         1335    .text.__cxa_get_globals_fast  libcppabi_wx.l(cxa_exception_storage.cpp.o)
+    0x08002a7c   0x00000026   Code   RO          216    .text.can_deinit    gd32c10x_can.o
+    0x08002aa2   0x00000002   PAD
+    0x08002aa4   0x00000114   Code   RO          222    .text.can_fd_init   gd32c10x_can.o
+    0x08002bb8   0x000000b2   Code   RO          224    .text.can_filter_init  gd32c10x_can.o
+    0x08002c6a   0x00000002   PAD
+    0x08002c6c   0x00000176   Code   RO          220    .text.can_init      gd32c10x_can.o
+    0x08002de2   0x00000002   PAD
+    0x08002de4   0x00000008   Code   RO          266    .text.can_interrupt_enable  gd32c10x_can.o
+    0x08002dec   0x00000016   Code   RO          276    .text.can_interrupt_flag_clear  gd32c10x_can.o
+    0x08002e02   0x00000002   PAD
+    0x08002e04   0x00000066   Code   RO          274    .text.can_interrupt_flag_get  gd32c10x_can.o
+    0x08002e6a   0x00000002   PAD
+    0x08002e6c   0x000001f4   Code   RO          250    .text.can_message_receive  gd32c10x_can.o
+    0x08003060   0x000001f0   Code   RO          244    .text.can_message_transmit  gd32c10x_can.o
+    0x08003250   0x00000018   Code   RO          254    .text.can_receive_message_length_get  gd32c10x_can.o
+    0x08003268   0x00000072   Code   RO          218    .text.can_struct_para_init  gd32c10x_can.o
+    0x080032da   0x00000002   PAD
+    0x080032dc   0x000001b0   Code   RO          151    .text.canfd_config  Can.o
+    0x0800348c   0x00000066   Code   RO          302    .text.crc_block_data_calculate  gd32c10x_crc.o
+    0x080034f2   0x00000002   PAD
+    0x080034f4   0x00000012   Code   RO          292    .text.crc_data_register_reset  gd32c10x_crc.o
+    0x08003506   0x00000002   PAD
+    0x08003508   0x00000018   Code   RO          290    .text.crc_deinit    gd32c10x_crc.o
+    0x08003520   0x00000024   Code   RO           64    .text.delay_1ms     systick.o
+    0x08003544   0x00000018   Code   RO           66    .text.delay_decrement  systick.o
+    0x0800355c   0x00000024   Code   RO          356    .text.dma_channel_disable  gd32c10x_dma.o
+    0x08003580   0x00000024   Code   RO          354    .text.dma_channel_enable  gd32c10x_dma.o
+    0x080035a4   0x00000074   Code   RO          344    .text.dma_init      gd32c10x_dma.o
+    0x08003618   0x00000022   Code   RO          390    .text.dma_interrupt_enable  gd32c10x_dma.o
+    0x0800363a   0x00000002   PAD
+    0x0800363c   0x0000000e   Code   RO          388    .text.dma_interrupt_flag_clear  gd32c10x_dma.o
+    0x0800364a   0x00000002   PAD
+    0x0800364c   0x0000003a   Code   RO          386    .text.dma_interrupt_flag_get  gd32c10x_dma.o
+    0x08003686   0x00000002   PAD
+    0x08003688   0x0000001a   Code   RO          342    .text.dma_struct_para_init  gd32c10x_dma.o
+    0x080036a2   0x00000002   PAD
+    0x080036a4   0x0000000c   Code   RO          498    .text.fmc_flag_clear  gd32c10x_fmc.o
+    0x080036b0   0x00000012   Code   RO          460    .text.fmc_lock      gd32c10x_fmc.o
+    0x080036c2   0x00000002   PAD
+    0x080036c4   0x00000166   Code   RO          464    .text.fmc_page_erase  gd32c10x_fmc.o
+    0x0800382a   0x00000002   PAD
+    0x0800382c   0x00000026   Code   RO          458    .text.fmc_unlock    gd32c10x_fmc.o
+    0x08003852   0x00000002   PAD
+    0x08003854   0x000001aa   Code   RO          470    .text.fmc_word_program  gd32c10x_fmc.o
+    0x080039fe   0x00000002   PAD
+    0x08003a00   0x0000002c   Code   RO           84    .text.fputc         initial.o
+    0x08003a2c   0x00000010   Code   RO          529    .text.fwdgt_counter_reload  gd32c10x_fwdgt.o
+    0x08003a3c   0x00000098   Code   RO          199    .text.gd_eval_com_init  gd32c10x_eval.o
+    0x08003ad4   0x00000004   Code   RO          554    .text.gpio_bit_reset  gd32c10x_gpio.o
+    0x08003ad8   0x000002c0   Code   RO          550    .text.gpio_init     gd32c10x_gpio.o
+    0x08003d98   0x00000080   Code   RO          568    .text.gpio_pin_remap_config  gd32c10x_gpio.o
+    0x08003e18   0x0000001e   Code   RO            8    .text.main          main.o
+    0x08003e36   0x00000002   PAD
+    0x08003e38   0x00000060   Code   RO          597    .text.nvic_irq_enable  gd32c10x_misc.o
+    0x08003e98   0x0000001c   Code   RO          601    .text.nvic_vector_table_set  gd32c10x_misc.o
+    0x08003eb4   0x0000010c   Code   RO          747    .text.rcu_clock_freq_get  gd32c10x_rcu.o
+    0x08003fc0   0x00000020   Code   RO          667    .text.rcu_periph_clock_disable  gd32c10x_rcu.o
+    0x08003fe0   0x0000001e   Code   RO          665    .text.rcu_periph_clock_enable  gd32c10x_rcu.o
+    0x08003ffe   0x00000002   PAD
+    0x08004000   0x00000020   Code   RO          675    .text.rcu_periph_reset_disable  gd32c10x_rcu.o
+    0x08004020   0x0000001e   Code   RO          673    .text.rcu_periph_reset_enable  gd32c10x_rcu.o
+    0x0800403e   0x00000002   PAD
+    0x08004040   0x00000014   Code   RO          681    .text.rcu_system_clock_source_config  gd32c10x_rcu.o
+    0x08004054   0x00000048   Code   RO           62    .text.systick_config  systick.o
+    0x0800409c   0x00000006   Code   RO         1318    .text.unlikely.abort_message  libcppabi_wx.l(abort_message.cpp.o)
+    0x080040a2   0x00000002   PAD
+    0x080040a4   0x0000006a   Code   RO          763    .text.usart_baudrate_set  gd32c10x_usart.o
+    0x0800410e   0x00000002   PAD
+    0x08004110   0x00000008   Code   RO          789    .text.usart_data_transmit  gd32c10x_usart.o
+    0x08004118   0x0000007a   Code   RO          761    .text.usart_deinit  gd32c10x_usart.o
+    0x08004192   0x00000002   PAD
+    0x08004194   0x0000000a   Code   RO          771    .text.usart_enable  gd32c10x_usart.o
+    0x0800419e   0x00000002   PAD
+    0x080041a0   0x00000010   Code   RO          851    .text.usart_flag_get  gd32c10x_usart.o
+    0x080041b0   0x00000014   Code   RO          777    .text.usart_receive_config  gd32c10x_usart.o
+    0x080041c4   0x00000014   Code   RO          775    .text.usart_transmit_config  gd32c10x_usart.o
+    0x080041d8   0x0000000e   Code   RO         1910    i.__scatterload_copy  mc_w.l(handlers.o)
+    0x080041e6   0x00000002   Code   RO         1911    i.__scatterload_null  mc_w.l(handlers.o)
+    0x080041e8   0x0000000e   Code   RO         1912    i.__scatterload_zeroinit  mc_w.l(handlers.o)
+    0x080041f6   0x00000002   PAD
+    0x080041f8   0x00000024   Code   RO         1042    i.puts              mc_w.l(puts.o)
+    0x0800421c   0x00000100   Data   RO           50    .rodata._ZL4sbox    aes128.o
+    0x0800431c   0x00000010   Data   RO          133    .rodata._ZL8K_master  OTA.o
+    0x0800432c   0x00000400   Data   RO          135    .rodata._ZZ24calculate_crc32_with_keyPKhS0_PhE9crc_table  OTA.o
+    0x0800472c   0x00000008   Data   RO          749    .rodata.cst8        gd32c10x_rcu.o
+    0x08004734   0x00000007   Data   RO          278    .rodata.g_can_fdlength_table  gd32c10x_can.o
+    0x0800473b   0x00000100   Data   RO           49    .rodata.inv_sbox    aes128.o
+    0x0800483b   0x00000001   PAD
+    0x0800483c   0x00000020   Data   RO         1909    Region$$Table       anon$$obj.o
 
 
     Execution Region RW_NOINIT (Base: 0x20000000, Size: 0x00000000, Max: 0x00007200, ABSOLUTE, UNINIT)
@@ -162,22 +173,22 @@ Memory Map of the image
 
     Base Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    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)
+    0x20000000   0x00000004   Data   RW         1480    .data               mc_w.l(stdout.o)
+    0x20000004   0x000000e8   Data   RW          171    .data.CAN0_transmiter  Can.o
+    0x200000ec   0x00000004   Data   RW          888    .data.SystemCoreClock  system_gd32c10x.o
+    0x200000f0   0x00000004   Data   RW         1328    .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
+    0x200000f8   0x00000004   Zero   RW           70    .bss._ZL5delay      systick.o
+    0x200000fc   0x0000000c   Zero   RW         1337    .bss._ZN10__cxxabiv1L10eh_globalsE  libcppabi_wx.l(cxa_exception_storage.cpp.o)
+    0x20000108   0x00000001   Zero   RW          132    .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
+    0x20000110   0x00000008   Zero   RW          174    .bss.can_rx_buffer  Can.o
+    0x20000118   0x00000008   Zero   RW          175    .bss.can_tx_buffer  Can.o
+    0x20000120   0x0000001c   Zero   RW          172    .bss.dma_rx_parameter  Can.o
+    0x2000013c   0x0000001c   Zero   RW          173    .bss.dma_tx_parameter  Can.o
+    0x20000158   0x0000010c   Zero   RW          131    .bss.ota            OTA.o
     0x20000264   0x00000004   PAD
-    0x20000268   0x00000800   Zero   RW          893    STACK               startup_gd32c10x.o
+    0x20000268   0x00000800   Zero   RW          873    STACK               startup_gd32c10x.o
 
 
     Execution Region ARM_LIB_HEAP (Base: 0x20000a68, Size: 0x00000c00, Max: 0x00000c00, ABSOLUTE)
diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex
index 508d611..a222a30 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
-:10015000DFF80CD000F04EF800480047813A000864
+:10015000DFF80CD000F04EF800480047193E0008C8
 :10016000008000200748804707480047FEE7FEE779
 :10017000FEE7FEE7FEE7FEE7FEE7FEE7034800478F
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+:10018000FEE700003503000851010008453500086E
 :1001900040EA01039B0703D009E008C9121F08C009
 :1001A000042AFAD203E011F8013B00F8013B521E89
 :1001B000F9D27047D2B201E000F8012B491EFBD200
@@ -32,25 +32,25 @@
 :1001E00000E05B1C934203D2E05CCD5C401BF8D086
 :1001F00030BD70471CB5094800900948019005467C
 :10020000009C06E0E06840F0010394E8070098478E
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+:1002A000A5FD20464CF2031102F0ACFD002808BF6A
+:1002B000B0BD20464CF20311BDE8B04002F096BD3F
+:1002C00010B50024C4F2020420460421022203F0E7
+:1002D000BDF9002808BF10BD20460421012203F00B
+:1002E000ADF940F20400C2F2000090F89E205AB12D
 :1002F00040F21011082A28BF08229F30C2F20001E4
 :10030000BDE81040FFF744BF10BD000010B5002449
-:10031000C4F2020420460521022202F0D9FF00287F
-:1003200008BF10BD204605210222BDE8104002F0A2
-:10033000C7BF000082B04EF68851CEF200010A68B5
+:10031000C4F2020420460521022203F097F90028C6
+:1003200008BF10BD204605210222BDE8104003F0A1
+:1003300085B9000082B04EF68851CEF200010A68FD
 :1003400041F2000042F47002C4F202000A60016847
 :1003500041F0010101600168890709D4016889073A
 :100360005CBF01685FEA817102D401688907F2D538
@@ -102,8 +102,8 @@
 :1006400003010191019941F0020101910199416079
 :100650004168090709D4416809075CBF41685FEA3E
 :10066000017102D441680907F2D54FF00060002102
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 :1006900090F900E090F9013090F902104FF01B0C36
 :1006A0000CEADE1490F9032084EA4E0481EA030682
 :1006B0000CEAD315664085EA4305564086EA0508EC
@@ -129,998 +129,1049 @@
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diff --git a/out/Robot_V2/GD32C103CB/Release/compile_commands.json b/out/Robot_V2/GD32C103CB/Release/compile_commands.json
index c877a98..7d4c21b 100644
--- a/out/Robot_V2/GD32C103CB/Release/compile_commands.json
+++ b/out/Robot_V2/GD32C103CB/Release/compile_commands.json
@@ -23,12 +23,6 @@
   "file": "G:\\Robot_v2\\BOOT\\Robot_V2\\sys\\initial.cpp",
   "output": "CMakeFiles\\Group_sys.dir\\G_\\Robot_v2\\BOOT\\Robot_V2\\sys\\initial.o"
 },
-{
-  "directory": "G:/Robot_v2/BOOT/tmp/1",
-  "command": "c:\\Users\\cbb\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.24.0\\bin\\armclang.exe --target=arm-arm-none-eabi -DGD32C10x -D_RTE_ -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 --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -fshort-enums -fshort-wchar -D__MICROLIB -Wno-register -gdwarf-5 -Wno-macro-redefined -Wno-pragma-pack -Wno-parentheses-equality -Wno-license-management -O2 -o CMakeFiles\\Group_sys.dir\\G_\\Robot_v2\\BOOT\\Robot_V2\\sys\\flash.o -c G:\\Robot_v2\\BOOT\\Robot_V2\\sys\\flash.cpp",
-  "file": "G:\\Robot_v2\\BOOT\\Robot_V2\\sys\\flash.cpp",
-  "output": "CMakeFiles\\Group_sys.dir\\G_\\Robot_v2\\BOOT\\Robot_V2\\sys\\flash.o"
-},
 {
   "directory": "G:/Robot_v2/BOOT/tmp/1",
   "command": "c:\\Users\\cbb\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.24.0\\bin\\armclang.exe --target=arm-arm-none-eabi -DGD32C10x -D_RTE_ -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 --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -fshort-enums -fshort-wchar -D__MICROLIB -Wno-register -gdwarf-5 -Wno-macro-redefined -Wno-pragma-pack -Wno-parentheses-equality -Wno-license-management -O2 -o CMakeFiles\\Group_sys.dir\\G_\\Robot_v2\\BOOT\\Robot_V2\\sys\\OTA.o -c G:\\Robot_v2\\BOOT\\Robot_V2\\sys\\OTA.cpp",
diff --git a/tmp/.ninja_log b/tmp/.ninja_log
index d8fe5cb..b67724a 100644
--- a/tmp/.ninja_log
+++ b/tmp/.ninja_log
@@ -1,45 +1,45 @@
 # ninja log v6
 12	125	7890673259697152	Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-mkdir	33f68be7a9762efe
-12	125	7890673259697152	G:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-mkdir	33f68be7a9762efe
 126	232	7890673260750506	Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-download	8d5ce3c00fc16ca4
+12	125	7890673259697152	G:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-mkdir	33f68be7a9762efe
 126	232	7890673260750506	G:/Robot_v2/BOOT/tmp/Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-download	8d5ce3c00fc16ca4
 241	348	7890673261917071	Robot_V2.Release+GD32C103CB/src/Robot_V2.Release+GD32C103CB-stamp/Robot_V2.Release+GD32C103CB-update	3ae75db438d97fbf
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diff --git a/tmp/1/.ninja_deps b/tmp/1/.ninja_deps
index efcaf92..2c52121 100644
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diff --git a/tmp/1/.ninja_log b/tmp/1/.ninja_log
index b71f08d..3cdac83 100644
--- a/tmp/1/.ninja_log
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 # Link the executable G:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.axf
 
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+build G$:/Robot_v2/BOOT/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf ac6_linker_script.sct | ${cmake_ninja_workdir}ac6_linker_script.sct: CXX_EXECUTABLE_LINKER__Robot_V2.2eRelease.2bGD32C103CB_ CMakeFiles/Group_Source_Files.dir/G_/Robot_v2/BOOT/Robot_V2/main.o CMakeFiles/Group_Source_Files.dir/G_/Robot_v2/BOOT/Robot_V2/sys/aes128.o CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/systick.o CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/initial.o CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o CMakeFiles/Group_device.dir/G_/Robot_v2/BOOT/Robot_V2/device/Can.o CMakeFiles/GigaDevice_Device_EVAL_GD32C10x_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_eval.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_CAN_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_can.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_CRC_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_crc.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_DBG_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_dbg.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_DMA_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_dma.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_EXTI_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_exti.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_FMC_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_fmc.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_FWDGT_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_fwdgt.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_GPIO_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_gpio.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_MISC_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_misc.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_PMU_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_pmu.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_RCU_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_rcu.o CMakeFiles/GigaDevice_Device_GD32C10x_StdPeripherals_USART_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_usart.o CMakeFiles/GigaDevice_Device_Startup_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/startup_gd32c10x.o CMakeFiles/GigaDevice_Device_Startup_1_0_0.dir/G_/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/system_gd32c10x.o | G$:/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/ac6_linker_script.sct.src G$:/Robot_v2/BOOT/Robot_V2/RTE/Device/GD32C103CB/regions_GD32C103CB.h || GigaDevice_Device_EVAL_GD32C10x_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_CAN_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_CRC_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_DBG_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_DMA_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_EXTI_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_FMC_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_FWDGT_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_GPIO_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_MISC_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_PMU_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_RCU_1_0_0 GigaDevice_Device_GD32C10x_StdPeripherals_USART_1_0_0 GigaDevice_Device_Startup_1_0_0 Group_Source_Files Group_device Group_sys
   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 --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"
+  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 = G:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release\Robot_V2.pdb
+  TARGET_PDB = Robot_V2.axf.dbg
 
 # =============================================================================
 # Object build statements for OBJECT_LIBRARY target Group_Source_Files
@@ -85,8 +84,6 @@ 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_
@@ -95,8 +92,6 @@ 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 = ""
 
 
 
@@ -121,8 +116,6 @@ 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$:/Robot_v2/BOOT/Robot_V2/sys/initial.cpp || cmake_object_order_depends_target_Group_sys
   DEFINES = -DGD32C10x -D_RTE_
@@ -131,18 +124,6 @@ build CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/initial.o: CXX_COMP
   INCLUDES = -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB -IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include/libcxx -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include
   OBJECT_DIR = CMakeFiles\Group_sys.dir
   OBJECT_FILE_DIR = CMakeFiles\Group_sys.dir\G_\Robot_v2\BOOT\Robot_V2\sys
-  TARGET_COMPILE_PDB = CMakeFiles\Group_sys.dir\
-  TARGET_PDB = ""
-
-build CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/flash.o: CXX_COMPILER__Group_sys_unscanned_ G$:/Robot_v2/BOOT/Robot_V2/sys/flash.cpp || cmake_object_order_depends_target_Group_sys
-  DEFINES = -DGD32C10x -D_RTE_
-  DEP_FILE = CMakeFiles\Group_sys.dir\G_\Robot_v2\BOOT\Robot_V2\sys\flash.o.d
-  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -fshort-enums -fshort-wchar -D__MICROLIB -Wno-register -gdwarf-5 -Wno-macro-redefined -Wno-pragma-pack -Wno-parentheses-equality -Wno-license-management -O2
-  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_
@@ -151,15 +132,13 @@ 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 = ""
 
 
 
 #############################################
 # Object library Group_sys
 
-build Group_sys: phony CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/systick.o CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/initial.o CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/flash.o CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o
+build Group_sys: phony CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/systick.o CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/initial.o CMakeFiles/Group_sys.dir/G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o
 
 # =============================================================================
 # Object build statements for OBJECT_LIBRARY target Group_device
@@ -177,8 +156,6 @@ 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 = ""
 
 
 
@@ -203,8 +180,6 @@ 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 = ""
 
 
 
@@ -229,8 +204,6 @@ 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 = ""
 
 
 
@@ -255,8 +228,6 @@ 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 = ""
 
 
 
@@ -281,8 +252,6 @@ 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 = ""
 
 
 
@@ -307,8 +276,6 @@ 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 = ""
 
 
 
@@ -333,8 +300,6 @@ 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 = ""
 
 
 
@@ -359,8 +324,6 @@ 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 = ""
 
 
 
@@ -385,8 +348,6 @@ 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 = ""
 
 
 
@@ -411,8 +372,6 @@ 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 = ""
 
 
 
@@ -437,8 +396,6 @@ 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 = ""
 
 
 
@@ -463,8 +420,6 @@ 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 = ""
 
 
 
@@ -489,8 +444,6 @@ 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 = ""
 
 
 
@@ -515,8 +468,6 @@ 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 = ""
 
 
 
@@ -540,8 +491,6 @@ 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_
@@ -550,8 +499,6 @@ 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 = ""
 
 
 
@@ -615,14 +562,14 @@ 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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 #############################################
diff --git a/tmp/1/compile_commands.json b/tmp/1/compile_commands.json
index c877a98..7d4c21b 100644
--- a/tmp/1/compile_commands.json
+++ b/tmp/1/compile_commands.json
@@ -23,12 +23,6 @@
   "file": "G:\\Robot_v2\\BOOT\\Robot_V2\\sys\\initial.cpp",
   "output": "CMakeFiles\\Group_sys.dir\\G_\\Robot_v2\\BOOT\\Robot_V2\\sys\\initial.o"
 },
-{
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-  "file": "G:\\Robot_v2\\BOOT\\Robot_V2\\sys\\flash.cpp",
-  "output": "CMakeFiles\\Group_sys.dir\\G_\\Robot_v2\\BOOT\\Robot_V2\\sys\\flash.o"
-},
 {
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diff --git a/tmp/Robot_V2.Release+GD32C103CB/groups.cmake b/tmp/Robot_V2.Release+GD32C103CB/groups.cmake
index b8d6618..39c8dea 100644
--- a/tmp/Robot_V2.Release+GD32C103CB/groups.cmake
+++ b/tmp/Robot_V2.Release+GD32C103CB/groups.cmake
@@ -28,7 +28,6 @@ target_link_libraries(Group_Source_Files PUBLIC
 add_library(Group_sys OBJECT
   "${SOLUTION_ROOT}/Robot_V2/sys/systick.cpp"
   "${SOLUTION_ROOT}/Robot_V2/sys/initial.cpp"
-  "${SOLUTION_ROOT}/Robot_V2/sys/flash.cpp"
   "${SOLUTION_ROOT}/Robot_V2/sys/OTA.cpp"
 )
 target_include_directories(Group_sys PUBLIC