diff --git a/bsp/stm32/stm32f407-robomaster-c/.config b/bsp/stm32/stm32f407-robomaster-c/.config
index 13a4d62a3afbb8c1dfdf24c130d90193d5d2e3ec..4d8ccbfd5d1977dc0d97ccaacd78f3eaabcb4b61 100644
--- a/bsp/stm32/stm32f407-robomaster-c/.config
+++ b/bsp/stm32/stm32f407-robomaster-c/.config
@@ -7,6 +7,7 @@
 # RT-Thread Kernel
 #
 CONFIG_RT_NAME_MAX=8
+# CONFIG_RT_USING_ARCH_DATA_TYPE is not set
 # CONFIG_RT_USING_SMP is not set
 CONFIG_RT_ALIGN_SIZE=4
 # CONFIG_RT_THREAD_PRIORITY_8 is not set
@@ -20,6 +21,12 @@ CONFIG_RT_USING_IDLE_HOOK=y
 CONFIG_RT_IDLE_HOOK_LIST_SIZE=4
 CONFIG_IDLE_THREAD_STACK_SIZE=256
 # CONFIG_RT_USING_TIMER_SOFT is not set
+
+#
+# kservice optimization
+#
+# CONFIG_RT_KSERVICE_USING_STDLIB is not set
+# CONFIG_RT_KSERVICE_USING_TINY_SIZE is not set
 CONFIG_RT_DEBUG=y
 CONFIG_RT_DEBUG_COLOR=y
 # CONFIG_RT_DEBUG_INIT_CONFIG is not set
@@ -51,6 +58,7 @@ CONFIG_RT_USING_MEMPOOL=y
 # CONFIG_RT_USING_NOHEAP is not set
 CONFIG_RT_USING_SMALL_MEM=y
 # CONFIG_RT_USING_SLAB is not set
+# CONFIG_RT_USING_USERHEAP is not set
 # CONFIG_RT_USING_MEMTRACE is not set
 CONFIG_RT_USING_HEAP=y
 
@@ -63,8 +71,9 @@ CONFIG_RT_USING_DEVICE=y
 CONFIG_RT_USING_CONSOLE=y
 CONFIG_RT_CONSOLEBUF_SIZE=128
 CONFIG_RT_CONSOLE_DEVICE_NAME="uart1"
-CONFIG_RT_VER_NUM=0x40000
+CONFIG_RT_VER_NUM=0x40004
 CONFIG_ARCH_ARM=y
+CONFIG_RT_USING_CPU_FFS=y
 CONFIG_ARCH_ARM_CORTEX_M=y
 CONFIG_ARCH_ARM_CORTEX_M4=y
 # CONFIG_ARCH_CPU_STACK_GROWS_UPWARD is not set
@@ -111,28 +120,34 @@ CONFIG_FINSH_ARG_MAX=10
 #
 CONFIG_RT_USING_DEVICE_IPC=y
 CONFIG_RT_PIPE_BUFSZ=512
+# CONFIG_RT_USING_SYSTEM_WORKQUEUE is not set
 CONFIG_RT_USING_SERIAL=y
+CONFIG_RT_USING_SERIAL_V1=y
+# CONFIG_RT_USING_SERIAL_V2 is not set
 CONFIG_RT_SERIAL_USING_DMA=y
+CONFIG_RT_SERIAL_RB_BUFSZ=64
 # CONFIG_RT_USING_CAN is not set
 # CONFIG_RT_USING_HWTIMER is not set
 # CONFIG_RT_USING_CPUTIME is not set
 # CONFIG_RT_USING_I2C is not set
+# CONFIG_RT_USING_PHY is not set
 CONFIG_RT_USING_PIN=y
 # CONFIG_RT_USING_ADC is not set
+# CONFIG_RT_USING_DAC is not set
 # CONFIG_RT_USING_PWM is not set
 # CONFIG_RT_USING_MTD_NOR is not set
 # CONFIG_RT_USING_MTD_NAND is not set
-# CONFIG_RT_USING_MTD is not set
 # CONFIG_RT_USING_PM is not set
 # CONFIG_RT_USING_RTC is not set
 # CONFIG_RT_USING_SDIO is not set
 # CONFIG_RT_USING_SPI is not set
 # CONFIG_RT_USING_WDT is not set
 # CONFIG_RT_USING_AUDIO is not set
-
-#
-# Using WiFi
-#
+# CONFIG_RT_USING_SENSOR is not set
+# CONFIG_RT_USING_TOUCH is not set
+# CONFIG_RT_USING_HWCRYPTO is not set
+# CONFIG_RT_USING_PULSE_ENCODER is not set
+# CONFIG_RT_USING_INPUT_CAPTURE is not set
 # CONFIG_RT_USING_WIFI is not set
 
 #
@@ -146,6 +161,8 @@ CONFIG_RT_USING_PIN=y
 #
 # CONFIG_RT_USING_LIBC is not set
 # CONFIG_RT_USING_PTHREADS is not set
+CONFIG_RT_LIBC_USING_TIME=y
+CONFIG_RT_LIBC_FIXED_TIMEZONE=8
 
 #
 # Network
@@ -157,14 +174,14 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_RT_USING_SAL is not set
 
 #
-# light weight TCP/IP stack
+# Network interface device
 #
-# CONFIG_RT_USING_LWIP is not set
+# CONFIG_RT_USING_NETDEV is not set
 
 #
-# Modbus master and slave stack
+# light weight TCP/IP stack
 #
-# CONFIG_RT_USING_MODBUS is not set
+# CONFIG_RT_USING_LWIP is not set
 
 #
 # AT commands
@@ -179,17 +196,16 @@ CONFIG_RT_USING_PIN=y
 #
 # Utilities
 #
-# CONFIG_RT_USING_LOGTRACE is not set
 # CONFIG_RT_USING_RYM is not set
 # CONFIG_RT_USING_ULOG is not set
 # CONFIG_RT_USING_UTEST is not set
+# CONFIG_RT_USING_RT_LINK is not set
+# CONFIG_RT_USING_LWP is not set
 
 #
-# ARM CMSIS
+# RT-Thread Utestcases
 #
-# CONFIG_RT_USING_CMSIS_OS is not set
-# CONFIG_RT_USING_RTT_CMSIS is not set
-# CONFIG_RT_USING_LWP is not set
+# CONFIG_RT_USING_UTESTCASES is not set
 
 #
 # RT-Thread online packages
@@ -198,13 +214,20 @@ CONFIG_RT_USING_PIN=y
 #
 # IoT - internet of things
 #
+# CONFIG_PKG_USING_LORAWAN_DRIVER is not set
 # CONFIG_PKG_USING_PAHOMQTT is not set
+# CONFIG_PKG_USING_UMQTT is not set
 # CONFIG_PKG_USING_WEBCLIENT is not set
 # CONFIG_PKG_USING_WEBNET is not set
 # CONFIG_PKG_USING_MONGOOSE is not set
+# CONFIG_PKG_USING_MYMQTT is not set
+# CONFIG_PKG_USING_KAWAII_MQTT is not set
+# CONFIG_PKG_USING_BC28_MQTT is not set
 # CONFIG_PKG_USING_WEBTERMINAL is not set
 # CONFIG_PKG_USING_CJSON is not set
 # CONFIG_PKG_USING_JSMN is not set
+# CONFIG_PKG_USING_LIBMODBUS is not set
+# CONFIG_PKG_USING_FREEMODBUS is not set
 # CONFIG_PKG_USING_LJSON is not set
 # CONFIG_PKG_USING_EZXML is not set
 # CONFIG_PKG_USING_NANOPB is not set
@@ -222,10 +245,14 @@ CONFIG_RT_USING_PIN=y
 # Wiced WiFi
 #
 # CONFIG_PKG_USING_WLAN_WICED is not set
+# CONFIG_PKG_USING_RW007 is not set
 # CONFIG_PKG_USING_COAP is not set
 # CONFIG_PKG_USING_NOPOLL is not set
 # CONFIG_PKG_USING_NETUTILS is not set
+# CONFIG_PKG_USING_CMUX is not set
+# CONFIG_PKG_USING_PPP_DEVICE is not set
 # CONFIG_PKG_USING_AT_DEVICE is not set
+# CONFIG_PKG_USING_ATSRV_SOCKET is not set
 # CONFIG_PKG_USING_WIZNET is not set
 
 #
@@ -235,7 +262,36 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_GAGENT_CLOUD is not set
 # CONFIG_PKG_USING_ALI_IOTKIT is not set
 # CONFIG_PKG_USING_AZURE is not set
-# CONFIG_PKG_USING_TENCENT_IOTKIT is not set
+# CONFIG_PKG_USING_TENCENT_IOT_EXPLORER is not set
+# CONFIG_PKG_USING_JIOT-C-SDK is not set
+# CONFIG_PKG_USING_UCLOUD_IOT_SDK is not set
+# CONFIG_PKG_USING_JOYLINK is not set
+# CONFIG_PKG_USING_NIMBLE is not set
+# CONFIG_PKG_USING_OTA_DOWNLOADER is not set
+# CONFIG_PKG_USING_IPMSG is not set
+# CONFIG_PKG_USING_LSSDP is not set
+# CONFIG_PKG_USING_AIRKISS_OPEN is not set
+# CONFIG_PKG_USING_LIBRWS is not set
+# CONFIG_PKG_USING_TCPSERVER is not set
+# CONFIG_PKG_USING_PROTOBUF_C is not set
+# CONFIG_PKG_USING_DLT645 is not set
+# CONFIG_PKG_USING_QXWZ is not set
+# CONFIG_PKG_USING_SMTP_CLIENT is not set
+# CONFIG_PKG_USING_ABUP_FOTA is not set
+# CONFIG_PKG_USING_LIBCURL2RTT is not set
+# CONFIG_PKG_USING_CAPNP is not set
+# CONFIG_PKG_USING_RT_CJSON_TOOLS is not set
+# CONFIG_PKG_USING_AGILE_TELNET is not set
+# CONFIG_PKG_USING_NMEALIB is not set
+# CONFIG_PKG_USING_AGILE_JSMN is not set
+# CONFIG_PKG_USING_PDULIB is not set
+# CONFIG_PKG_USING_BTSTACK is not set
+# CONFIG_PKG_USING_LORAWAN_ED_STACK is not set
+# CONFIG_PKG_USING_WAYZ_IOTKIT is not set
+# CONFIG_PKG_USING_MAVLINK is not set
+# CONFIG_PKG_USING_RAPIDJSON is not set
+# CONFIG_PKG_USING_BSAL is not set
+# CONFIG_PKG_USING_AGILE_MODBUS is not set
 
 #
 # security packages
@@ -243,6 +299,8 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_MBEDTLS is not set
 # CONFIG_PKG_USING_libsodium is not set
 # CONFIG_PKG_USING_TINYCRYPT is not set
+# CONFIG_PKG_USING_TFM is not set
+# CONFIG_PKG_USING_YD_CRYPTO is not set
 
 #
 # language packages
@@ -256,6 +314,13 @@ CONFIG_RT_USING_PIN=y
 #
 # CONFIG_PKG_USING_OPENMV is not set
 # CONFIG_PKG_USING_MUPDF is not set
+# CONFIG_PKG_USING_STEMWIN is not set
+# CONFIG_PKG_USING_WAVPLAYER is not set
+# CONFIG_PKG_USING_TJPGD is not set
+# CONFIG_PKG_USING_PDFGEN is not set
+# CONFIG_PKG_USING_HELIX is not set
+# CONFIG_PKG_USING_AZUREGUIX is not set
+# CONFIG_PKG_USING_TOUCHGFX2RTT is not set
 
 #
 # tools packages
@@ -267,6 +332,33 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_RDB is not set
 # CONFIG_PKG_USING_QRCODE is not set
 # CONFIG_PKG_USING_ULOG_EASYFLASH is not set
+# CONFIG_PKG_USING_ULOG_FILE is not set
+# CONFIG_PKG_USING_LOGMGR is not set
+# CONFIG_PKG_USING_ADBD is not set
+# CONFIG_PKG_USING_COREMARK is not set
+# CONFIG_PKG_USING_DHRYSTONE is not set
+# CONFIG_PKG_USING_MEMORYPERF is not set
+# CONFIG_PKG_USING_NR_MICRO_SHELL is not set
+# CONFIG_PKG_USING_CHINESE_FONT_LIBRARY is not set
+# CONFIG_PKG_USING_LUNAR_CALENDAR is not set
+# CONFIG_PKG_USING_BS8116A is not set
+# CONFIG_PKG_USING_GPS_RMC is not set
+# CONFIG_PKG_USING_URLENCODE is not set
+# CONFIG_PKG_USING_UMCN is not set
+# CONFIG_PKG_USING_LWRB2RTT is not set
+# CONFIG_PKG_USING_CPU_USAGE is not set
+# CONFIG_PKG_USING_GBK2UTF8 is not set
+# CONFIG_PKG_USING_VCONSOLE is not set
+# CONFIG_PKG_USING_KDB is not set
+# CONFIG_PKG_USING_WAMR is not set
+# CONFIG_PKG_USING_MICRO_XRCE_DDS_CLIENT is not set
+# CONFIG_PKG_USING_LWLOG is not set
+# CONFIG_PKG_USING_ANV_TRACE is not set
+# CONFIG_PKG_USING_ANV_MEMLEAK is not set
+# CONFIG_PKG_USING_ANV_TESTSUIT is not set
+# CONFIG_PKG_USING_ANV_BENCH is not set
+# CONFIG_PKG_USING_DEVMEM is not set
+# CONFIG_PKG_USING_MEM_SANDBOX is not set
 
 #
 # system packages
@@ -275,30 +367,127 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_PERSIMMON is not set
 # CONFIG_PKG_USING_CAIRO is not set
 # CONFIG_PKG_USING_PIXMAN is not set
-# CONFIG_PKG_USING_LWEXT4 is not set
 # CONFIG_PKG_USING_PARTITION is not set
 # CONFIG_PKG_USING_FAL is not set
+# CONFIG_PKG_USING_FLASHDB is not set
 # CONFIG_PKG_USING_SQLITE is not set
 # CONFIG_PKG_USING_RTI is not set
 # CONFIG_PKG_USING_LITTLEVGL2RTT is not set
 # CONFIG_PKG_USING_CMSIS is not set
 # CONFIG_PKG_USING_DFS_YAFFS is not set
 # CONFIG_PKG_USING_LITTLEFS is not set
+# CONFIG_PKG_USING_DFS_JFFS2 is not set
+# CONFIG_PKG_USING_DFS_UFFS is not set
+# CONFIG_PKG_USING_LWEXT4 is not set
+# CONFIG_PKG_USING_THREAD_POOL is not set
+# CONFIG_PKG_USING_ROBOTS is not set
+# CONFIG_PKG_USING_EV is not set
+# CONFIG_PKG_USING_SYSWATCH is not set
+# CONFIG_PKG_USING_SYS_LOAD_MONITOR is not set
+# CONFIG_PKG_USING_PLCCORE is not set
+# CONFIG_PKG_USING_RAMDISK is not set
+# CONFIG_PKG_USING_MININI is not set
+# CONFIG_PKG_USING_QBOOT is not set
+
+#
+# Micrium: Micrium software products porting for RT-Thread
+#
+# CONFIG_PKG_USING_UCOSIII_WRAPPER is not set
+# CONFIG_PKG_USING_UCOSII_WRAPPER is not set
+# CONFIG_PKG_USING_UC_CRC is not set
+# CONFIG_PKG_USING_UC_CLK is not set
+# CONFIG_PKG_USING_UC_COMMON is not set
+# CONFIG_PKG_USING_UC_MODBUS is not set
+# CONFIG_PKG_USING_PPOOL is not set
+# CONFIG_PKG_USING_OPENAMP is not set
+# CONFIG_PKG_USING_RT_KPRINTF_THREADSAFE is not set
+# CONFIG_PKG_USING_RT_MEMCPY_CM is not set
+# CONFIG_PKG_USING_QFPLIB_M0_FULL is not set
+# CONFIG_PKG_USING_QFPLIB_M0_TINY is not set
+# CONFIG_PKG_USING_QFPLIB_M3 is not set
+# CONFIG_PKG_USING_LPM is not set
+# CONFIG_PKG_USING_TLSF is not set
+# CONFIG_PKG_USING_EVENT_RECORDER is not set
 
 #
 # peripheral libraries and drivers
 #
+# CONFIG_PKG_USING_SENSORS_DRIVERS is not set
 # CONFIG_PKG_USING_REALTEK_AMEBA is not set
 # CONFIG_PKG_USING_SHT2X is not set
-# CONFIG_PKG_USING_AHT10 is not set
-# CONFIG_PKG_USING_AP3216C is not set
+# CONFIG_PKG_USING_SHT3X is not set
+# CONFIG_PKG_USING_AS7341 is not set
 # CONFIG_PKG_USING_STM32_SDIO is not set
 # CONFIG_PKG_USING_ICM20608 is not set
 # CONFIG_PKG_USING_U8G2 is not set
 # CONFIG_PKG_USING_BUTTON is not set
-# CONFIG_PKG_USING_MPU6XXX is not set
 # CONFIG_PKG_USING_PCF8574 is not set
+# CONFIG_PKG_USING_SX12XX is not set
+# CONFIG_PKG_USING_SIGNAL_LED is not set
+# CONFIG_PKG_USING_LEDBLINK is not set
+# CONFIG_PKG_USING_LITTLED is not set
+# CONFIG_PKG_USING_LKDGUI is not set
+# CONFIG_PKG_USING_NRF5X_SDK is not set
+# CONFIG_PKG_USING_NRFX is not set
+# CONFIG_PKG_USING_WM_LIBRARIES is not set
 # CONFIG_PKG_USING_KENDRYTE_SDK is not set
+# CONFIG_PKG_USING_INFRARED is not set
+# CONFIG_PKG_USING_ROSSERIAL is not set
+# CONFIG_PKG_USING_AGILE_BUTTON is not set
+# CONFIG_PKG_USING_AGILE_LED is not set
+# CONFIG_PKG_USING_AT24CXX is not set
+# CONFIG_PKG_USING_MOTIONDRIVER2RTT is not set
+# CONFIG_PKG_USING_AD7746 is not set
+# CONFIG_PKG_USING_PCA9685 is not set
+# CONFIG_PKG_USING_I2C_TOOLS is not set
+# CONFIG_PKG_USING_NRF24L01 is not set
+# CONFIG_PKG_USING_TOUCH_DRIVERS is not set
+# CONFIG_PKG_USING_MAX17048 is not set
+# CONFIG_PKG_USING_RPLIDAR is not set
+# CONFIG_PKG_USING_AS608 is not set
+# CONFIG_PKG_USING_RC522 is not set
+# CONFIG_PKG_USING_WS2812B is not set
+# CONFIG_PKG_USING_EMBARC_BSP is not set
+# CONFIG_PKG_USING_EXTERN_RTC_DRIVERS is not set
+# CONFIG_PKG_USING_MULTI_RTIMER is not set
+# CONFIG_PKG_USING_MAX7219 is not set
+# CONFIG_PKG_USING_BEEP is not set
+# CONFIG_PKG_USING_EASYBLINK is not set
+# CONFIG_PKG_USING_PMS_SERIES is not set
+# CONFIG_PKG_USING_CAN_YMODEM is not set
+# CONFIG_PKG_USING_LORA_RADIO_DRIVER is not set
+# CONFIG_PKG_USING_QLED is not set
+# CONFIG_PKG_USING_PAJ7620 is not set
+# CONFIG_PKG_USING_AGILE_CONSOLE is not set
+# CONFIG_PKG_USING_LD3320 is not set
+# CONFIG_PKG_USING_WK2124 is not set
+# CONFIG_PKG_USING_LY68L6400 is not set
+# CONFIG_PKG_USING_DM9051 is not set
+# CONFIG_PKG_USING_SSD1306 is not set
+# CONFIG_PKG_USING_QKEY is not set
+# CONFIG_PKG_USING_RS485 is not set
+# CONFIG_PKG_USING_NES is not set
+# CONFIG_PKG_USING_VIRTUAL_SENSOR is not set
+# CONFIG_PKG_USING_VDEVICE is not set
+# CONFIG_PKG_USING_SGM706 is not set
+# CONFIG_PKG_USING_STM32WB55_SDK is not set
+# CONFIG_PKG_USING_RDA58XX is not set
+# CONFIG_PKG_USING_LIBNFC is not set
+# CONFIG_PKG_USING_MFOC is not set
+# CONFIG_PKG_USING_TMC51XX is not set
+
+#
+# AI packages
+#
+# CONFIG_PKG_USING_LIBANN is not set
+# CONFIG_PKG_USING_NNOM is not set
+# CONFIG_PKG_USING_ONNX_BACKEND is not set
+# CONFIG_PKG_USING_ONNX_PARSER is not set
+# CONFIG_PKG_USING_TENSORFLOWLITEMICRO is not set
+# CONFIG_PKG_USING_ELAPACK is not set
+# CONFIG_PKG_USING_ULAPACK is not set
+# CONFIG_PKG_USING_QUEST is not set
+# CONFIG_PKG_USING_NAXOS is not set
 
 #
 # miscellaneous packages
@@ -308,12 +497,17 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_FASTLZ is not set
 # CONFIG_PKG_USING_MINILZO is not set
 # CONFIG_PKG_USING_QUICKLZ is not set
+# CONFIG_PKG_USING_LZMA is not set
 # CONFIG_PKG_USING_MULTIBUTTON is not set
+# CONFIG_PKG_USING_FLEXIBLE_BUTTON is not set
 # CONFIG_PKG_USING_CANFESTIVAL is not set
 # CONFIG_PKG_USING_ZLIB is not set
 # CONFIG_PKG_USING_DSTR is not set
 # CONFIG_PKG_USING_TINYFRAME is not set
 # CONFIG_PKG_USING_KENDRYTE_DEMO is not set
+# CONFIG_PKG_USING_DIGITALCTRL is not set
+# CONFIG_PKG_USING_UPACKER is not set
+# CONFIG_PKG_USING_UPARAM is not set
 
 #
 # samples: kernel and components samples
@@ -324,13 +518,32 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_PERIPHERAL_SAMPLES is not set
 # CONFIG_PKG_USING_HELLO is not set
 # CONFIG_PKG_USING_VI is not set
+# CONFIG_PKG_USING_KI is not set
+# CONFIG_PKG_USING_ARMv7M_DWT is not set
+# CONFIG_PKG_USING_VT100 is not set
+# CONFIG_PKG_USING_UKAL is not set
+# CONFIG_PKG_USING_CRCLIB is not set
+
+#
+# entertainment: terminal games and other interesting software packages
+#
+# CONFIG_PKG_USING_THREES is not set
+# CONFIG_PKG_USING_2048 is not set
+# CONFIG_PKG_USING_SNAKE is not set
+# CONFIG_PKG_USING_TETRIS is not set
+# CONFIG_PKG_USING_DONUT is not set
+# CONFIG_PKG_USING_ACLOCK is not set
+# CONFIG_PKG_USING_LWGPS is not set
+# CONFIG_PKG_USING_STATE_MACHINE is not set
+# CONFIG_PKG_USING_MCURSES is not set
+# CONFIG_PKG_USING_COWSAY is not set
 CONFIG_SOC_FAMILY_STM32=y
 CONFIG_SOC_SERIES_STM32F4=y
 
 #
 # Hardware Drivers Config
 #
-CONFIG_SOC_STM32F407ZG=y
+CONFIG_SOC_STM32F407IG=y
 
 #
 # Onboard Peripheral Drivers
@@ -343,8 +556,8 @@ CONFIG_BSP_USING_GPIO=y
 CONFIG_BSP_USING_UART=y
 CONFIG_BSP_USING_UART1=y
 # CONFIG_BSP_UART1_RX_USING_DMA is not set
-# CONFIG_BSP_USING_SPI is not set
-# CONFIG_BSP_USING_I2C1 is not set
+# CONFIG_BSP_USING_RNG is not set
+# CONFIG_BSP_USING_UDID is not set
 
 #
 # Board extended module Drivers
diff --git a/bsp/stm32/stm32f407-robomaster-c/applications/main.c b/bsp/stm32/stm32f407-robomaster-c/applications/main.c
index 487ddf44f6f8fa5365f1819c4c14d54707e848ef..5a7535a144aeebf18d4fa64ded22cce5f151fd22 100644
--- a/bsp/stm32/stm32f407-robomaster-c/applications/main.c
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/main.c
@@ -6,26 +6,27 @@
  * Change Logs:
  * Date           Author       Notes
  * 2018-11-06     SummerGift   first version
+ * 2021-06-30     crazt        modify for robomaster C board
  */
 
 #include <rtthread.h>
 #include <rtdevice.h>
 #include <board.h>
 
-/* defined the LED0 pin: PB1 */
-#define LED0_PIN    GET_PIN(B, 1)
+/* defined the LED Blue pin: PB1 */
+#define LED_B_PIN    GET_PIN(H, 10)
 
 int main(void)
 {
     int count = 1;
     /* set LED0 pin mode to output */
-    rt_pin_mode(LED0_PIN, PIN_MODE_OUTPUT);
+    rt_pin_mode(LED_B_PIN, PIN_MODE_OUTPUT);
 
     while (count++)
     {
-        rt_pin_write(LED0_PIN, PIN_HIGH);
+        rt_pin_write(LED_B_PIN, PIN_HIGH);
         rt_thread_mdelay(500);
-        rt_pin_write(LED0_PIN, PIN_LOW);
+        rt_pin_write(LED_B_PIN, PIN_LOW);
         rt_thread_mdelay(500);
     }
 
diff --git a/bsp/stm32/stm32f407-robomaster-c/board/Kconfig b/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
index 24a15a4e3e6bb6877f2ee365e270991a7c9e325e..cf0200cbaa4bbfdc5f7c24f3ebc8e8bfa9b3b8bd 100644
--- a/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
+++ b/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
@@ -1,6 +1,6 @@
 menu "Hardware Drivers Config"
 
-config SOC_STM32F407ZG
+config SOC_STM32F407IG
     bool
     select SOC_SERIES_STM32F4
     select RT_USING_COMPONENTS_INIT
diff --git a/bsp/stm32/stm32f407-robomaster-c/board/board.c b/bsp/stm32/stm32f407-robomaster-c/board/board.c
index ef1f24cbb586f1f4c788c3226ead50c546ac6647..6a7a775832565c5a305062829ad19eca867e1627 100644
--- a/bsp/stm32/stm32f407-robomaster-c/board/board.c
+++ b/bsp/stm32/stm32f407-robomaster-c/board/board.c
@@ -6,6 +6,7 @@
  * Change Logs:
  * Date           Author       Notes
  * 2018-11-06     SummerGift   first version
+ * 2021-06-30     crazt        modify for robomaster C board
  */
 
 #include "board.h"
@@ -15,17 +16,18 @@ void SystemClock_Config(void)
   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
-  /**Configure the main internal regulator output voltage 
+  /** Configure the main internal regulator output voltage
   */
   __HAL_RCC_PWR_CLK_ENABLE();
   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
-  /**Initializes the CPU, AHB and APB busses clocks 
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
   */
   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-  RCC_OscInitStruct.PLL.PLLM = 4;
+  RCC_OscInitStruct.PLL.PLLM = 6;
   RCC_OscInitStruct.PLL.PLLN = 168;
   RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
   RCC_OscInitStruct.PLL.PLLQ = 4;
@@ -33,7 +35,7 @@ void SystemClock_Config(void)
   {
     Error_Handler();
   }
-  /**Initializes the CPU, AHB and APB busses clocks 
+  /** Initializes the CPU, AHB and APB buses clocks
   */
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
diff --git a/bsp/stm32/stm32f407-robomaster-c/board/board.h b/bsp/stm32/stm32f407-robomaster-c/board/board.h
index 514155b823a24d280f112a91e9aff45bfdd3eb4a..3a25989bc2990d568485eea04cd0285650847e15 100644
--- a/bsp/stm32/stm32f407-robomaster-c/board/board.h
+++ b/bsp/stm32/stm32f407-robomaster-c/board/board.h
@@ -6,6 +6,7 @@
  * Change Logs:
  * Date           Author       Notes
  * 2018-11-5      SummerGift   first version
+ * 2021-06-30     crazt        modify for robomaster C board
  */
 
 #ifndef __BOARD_H__
diff --git a/bsp/stm32/stm32f407-robomaster-c/project.uvoptx b/bsp/stm32/stm32f407-robomaster-c/project.uvoptx
index f8c4606a9e4424cfeeee1520b76ba79b32dbd73f..01c3739c9d37ac418c85d1546939d4f8332bf1c3 100644
--- a/bsp/stm32/stm32f407-robomaster-c/project.uvoptx
+++ b/bsp/stm32/stm32f407-robomaster-c/project.uvoptx
@@ -73,7 +73,7 @@
         <LExpSel>0</LExpSel>
       </OPTXL>
       <OPTFL>
-        <tvExp>0</tvExp>
+        <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
         <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>4</nTsel>
+        <nTsel>6</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,18 +114,23 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>Segger\JL2CM3.dll</pMon>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
           <Number>0</Number>
-          <Key>JL2CM3</Key>
-          <Name>-U30000299 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(4) -TO18 -TC10000000 -TP21 -TDS8001 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407ZGTx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U0674FF504955857567053730 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>UL2CM3</Key>
-          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407ZGTx$CMSIS\Flash\STM32F4xx_1024.FLM))</Name>
+          <Name>UL2CM3(-S0 -C0 -P0 ) -FN1 -FC1000 -FD20000000 -FF0STM32F4xx_1024 -FL0100000 -FS08000000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>JL2CM3</Key>
+          <Name>-U30000299 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(4) -TO18 -TC10000000 -TP21 -TDS8001 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
@@ -173,6 +178,7 @@
       <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -181,11 +187,727 @@
   </Target>
 
   <Group>
-    <GroupName>Source Group 1</GroupName>
+    <GroupName>Applications</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>1</GroupNumber>
+      <FileNumber>1</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>applications\main.c</PathWithFileName>
+      <FilenameWithoutPath>main.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
+  <Group>
+    <GroupName>CPU</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>2</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\libcpu\arm\common\div0.c</PathWithFileName>
+      <FilenameWithoutPath>div0.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>3</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\libcpu\arm\common\backtrace.c</PathWithFileName>
+      <FilenameWithoutPath>backtrace.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>4</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\libcpu\arm\common\showmem.c</PathWithFileName>
+      <FilenameWithoutPath>showmem.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>5</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\libcpu\arm\cortex-m4\cpuport.c</PathWithFileName>
+      <FilenameWithoutPath>cpuport.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>6</FileNumber>
+      <FileType>2</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\libcpu\arm\cortex-m4\context_rvds.S</PathWithFileName>
+      <FilenameWithoutPath>context_rvds.S</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
+  <Group>
+    <GroupName>DeviceDrivers</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>7</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\drivers\misc\pin.c</PathWithFileName>
+      <FilenameWithoutPath>pin.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>8</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\drivers\serial\serial.c</PathWithFileName>
+      <FilenameWithoutPath>serial.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>9</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\drivers\src\dataqueue.c</PathWithFileName>
+      <FilenameWithoutPath>dataqueue.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>10</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\drivers\src\pipe.c</PathWithFileName>
+      <FilenameWithoutPath>pipe.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
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+      <FileNumber>11</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\drivers\src\workqueue.c</PathWithFileName>
+      <FilenameWithoutPath>workqueue.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>12</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\drivers\src\waitqueue.c</PathWithFileName>
+      <FilenameWithoutPath>waitqueue.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>13</FileNumber>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\drivers\src\ringbuffer.c</PathWithFileName>
+      <FilenameWithoutPath>ringbuffer.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>14</FileNumber>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\drivers\src\completion.c</PathWithFileName>
+      <FilenameWithoutPath>completion.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
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+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\drivers\src\ringblk_buf.c</PathWithFileName>
+      <FilenameWithoutPath>ringblk_buf.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
+  <Group>
+    <GroupName>Drivers</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>16</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>board\CubeMX_Config\Src\stm32f4xx_hal_msp.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_msp.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
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+      <FileNumber>17</FileNumber>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f407xx.s</PathWithFileName>
+      <FilenameWithoutPath>startup_stm32f407xx.s</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>18</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>board\board.c</PathWithFileName>
+      <FilenameWithoutPath>board.c</FilenameWithoutPath>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
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+      <FilenameWithoutPath>drv_gpio.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>20</FileNumber>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\libraries\HAL_Drivers\drv_usart.c</PathWithFileName>
+      <FilenameWithoutPath>drv_usart.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\libraries\HAL_Drivers\drv_common.c</PathWithFileName>
+      <FilenameWithoutPath>drv_common.c</FilenameWithoutPath>
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+
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+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\finsh\shell.c</PathWithFileName>
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+      <FileNumber>23</FileNumber>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\finsh\msh.c</PathWithFileName>
+      <FilenameWithoutPath>msh.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>24</FileNumber>
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+      <tvExp>0</tvExp>
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+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\..\components\finsh\cmd.c</PathWithFileName>
+      <FilenameWithoutPath>cmd.c</FilenameWithoutPath>
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+  </Group>
+
+  <Group>
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+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
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+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
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+      <bShared>0</bShared>
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+      <GroupNumber>6</GroupNumber>
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+      <tvExp>0</tvExp>
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+      <FilenameWithoutPath>irq.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
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+      <bDave2>0</bDave2>
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+      <FilenameWithoutPath>timer.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
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+      <PathWithFileName>..\..\..\src\mempool.c</PathWithFileName>
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+      <PathWithFileName>..\..\..\src\scheduler.c</PathWithFileName>
+      <FilenameWithoutPath>scheduler.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
+  <Group>
+    <GroupName>libc</GroupName>
+    <tvExp>0</tvExp>
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+    <cbSel>0</cbSel>
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+      <FilenameWithoutPath>time.c</FilenameWithoutPath>
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+  </Group>
+
+  <Group>
+    <GroupName>Libraries</GroupName>
     <tvExp>0</tvExp>
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     <cbSel>0</cbSel>
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+      <tvExpOptDlg>0</tvExpOptDlg>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_uart.c</FilenameWithoutPath>
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+    <File>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cryp_ex.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_cryp_ex.c</FilenameWithoutPath>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_pwr_ex.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_rng.c</FilenameWithoutPath>
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+    <File>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_dma.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
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+    <File>
+      <GroupNumber>8</GroupNumber>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>8</GroupNumber>
+      <FileNumber>45</FileNumber>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_rcc_ex.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
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+      <bDave2>0</bDave2>
+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_usart.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cec.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_cec.c</FilenameWithoutPath>
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+    <File>
+      <GroupNumber>8</GroupNumber>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_rcc.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_dma_ex.c</FilenameWithoutPath>
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+      <bShared>0</bShared>
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+    <File>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_pwr.c</FilenameWithoutPath>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c</PathWithFileName>
+      <FilenameWithoutPath>system_stm32f4xx.c</FilenameWithoutPath>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cryp.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_cryp.c</FilenameWithoutPath>
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+      <PathWithFileName>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_gpio.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
 </ProjectOpt>
diff --git a/bsp/stm32/stm32f407-robomaster-c/project.uvprojx b/bsp/stm32/stm32f407-robomaster-c/project.uvprojx
index 88c46860e7bdd719a42551186ac488af83952541..0fd6eafce158309cbdfedf9d2860aa568fe12664 100644
--- a/bsp/stm32/stm32f407-robomaster-c/project.uvprojx
+++ b/bsp/stm32/stm32f407-robomaster-c/project.uvprojx
@@ -1,7 +1,10 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no" ?>
 <Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
+
   <SchemaVersion>2.1</SchemaVersion>
+
   <Header>### uVision Project, (C) Keil Software</Header>
+
   <Targets>
     <Target>
       <TargetName>rt-thread</TargetName>
@@ -11,33 +14,33 @@
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
-          <Device>STM32F407ZGTx</Device>
+          <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.11.0</PackID>
-          <PackURL>http://www.keil.com/pack</PackURL>
-          <Cpu>IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) IROM(0x08000000,0x100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
-          <FlashUtilSpec />
-          <StartupFile />
-          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407ZGTx$CMSIS\Flash\STM32F4xx_1024.FLM))</FlashDriverDll>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
+          <Cpu>IRAM(0x20000000,0x00020000) IRAM2(0x10000000,0x00010000) IROM(0x08000000,0x00100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))</FlashDriverDll>
           <DeviceId>0</DeviceId>
-          <RegisterFile>$$Device:STM32F407ZGTx$Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h</RegisterFile>
-          <MemoryEnv />
-          <Cmp />
-          <Asm />
-          <Linker />
-          <OHString />
-          <InfinionOptionDll />
-          <SLE66CMisc />
-          <SLE66AMisc />
-          <SLE66LinkerMisc />
-          <SFDFile>$$Device:STM32F407ZGTx$CMSIS\SVD\STM32F40x.svd</SFDFile>
+          <RegisterFile>$$Device:STM32F407IGHx$Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:STM32F407IGHx$CMSIS\SVD\STM32F40x.svd</SFDFile>
           <bCustSvd>0</bCustSvd>
           <UseEnv>0</UseEnv>
-          <BinPath />
-          <IncludePath />
-          <LibPath />
-          <RegisterFilePath />
-          <DBRegisterFilePath />
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
           <TargetStatus>
             <Error>0</Error>
             <ExitCodeStop>0</ExitCodeStop>
@@ -59,8 +62,8 @@
           <BeforeCompile>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopU1X>0</nStopU1X>
@@ -69,8 +72,8 @@
           <BeforeMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopB1X>0</nStopB1X>
@@ -80,14 +83,14 @@
             <RunUserProg1>1</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
             <UserProg1Name>fromelf --bin !L --output rtthread.bin</UserProg1Name>
-            <UserProg2Name />
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
           <SelectedForBatchBuild>0</SelectedForBatchBuild>
-          <SVCSIdString />
+          <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
           <UseCPPCompiler>0</UseCPPCompiler>
@@ -101,8 +104,8 @@
           <AssembleAssemblyFile>0</AssembleAssemblyFile>
           <PublicsOnly>0</PublicsOnly>
           <StopOnExitCode>3</StopOnExitCode>
-          <CustomArgument />
-          <IncludeLibraryModules />
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
           <ComprImg>1</ComprImg>
         </CommonProperty>
         <DllOption>
@@ -135,11 +138,11 @@
           </Flash1>
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2CM3.DLL</Flash2>
-          <Flash3>"" ()</Flash3>
-          <Flash4 />
-          <pFcarmOut />
-          <pFcarmGrp />
-          <pFcArmRoot />
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
           <FcArmLst>0</FcArmLst>
         </Utilities>
         <TargetArmAds>
@@ -172,7 +175,7 @@
             <RvctClst>0</RvctClst>
             <GenPPlst>0</GenPPlst>
             <AdsCpuType>"Cortex-M4"</AdsCpuType>
-            <RvctDeviceName />
+            <RvctDeviceName></RvctDeviceName>
             <mOS>0</mOS>
             <uocRom>0</uocRom>
             <uocRam>0</uocRam>
@@ -181,6 +184,7 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -205,8 +209,8 @@
             <Ra1Chk>0</Ra1Chk>
             <Ra2Chk>0</Ra2Chk>
             <Ra3Chk>0</Ra3Chk>
-            <Im1Chk>0</Im1Chk>
-            <Im2Chk>1</Im2Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
             <OnChipMemories>
               <Ocm1>
                 <Type>0</Type>
@@ -304,7 +308,7 @@
                 <Size>0x10000</Size>
               </OCR_RVCT10>
             </OnChipMemories>
-            <RvctStartVector />
+            <RvctStartVector></RvctStartVector>
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
@@ -331,10 +335,10 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls />
-              <Define>USE_HAL_DRIVER, STM32F407xx</Define>
-              <Undefine />
-              <IncludePath>applications;.;board;board\CubeMX_Config\Inc;..\libraries\HAL_Drivers;..\libraries\HAL_Drivers\config;..\..\..\include;..\..\..\libcpu\arm\cortex-m4;..\..\..\libcpu\arm\common;..\..\..\components\drivers\include;..\..\..\components\drivers\include;..\..\..\components\drivers\include;..\..\..\components\finsh;..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Inc;..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Include;..\libraries\STM32F4xx_HAL\CMSIS\Include</IncludePath>
+              <MiscControls></MiscControls>
+              <Define>USE_HAL_DRIVER, STM32F407xx, __RTTHREAD__, __CLK_TCK=RT_TICK_PER_SECOND</Define>
+              <Undefine></Undefine>
+              <IncludePath>applications;.;..\..\..\libcpu\arm\common;..\..\..\libcpu\arm\cortex-m4;..\..\..\components\drivers\include;..\..\..\components\drivers\include;..\..\..\components\drivers\include;board;board\CubeMX_Config\Inc;..\libraries\HAL_Drivers;..\libraries\HAL_Drivers\config;..\..\..\components\finsh;.;..\..\..\include;..\..\..\components\libc\compilers\common;..\..\..\components\libc\compilers\common\none-gcc;..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Inc;..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Include;..\libraries\STM32F4xx_HAL\CMSIS\Include;..\..\..\examples\utest\testcases\kernel</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -349,10 +353,10 @@
             <useXO>0</useXO>
             <uClangAs>0</uClangAs>
             <VariousControls>
-              <MiscControls />
-              <Define />
-              <Undefine />
-              <IncludePath />
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
             </VariousControls>
           </Aads>
           <LDads>
@@ -364,13 +368,13 @@
             <useFile>0</useFile>
             <TextAddressRange>0x08000000</TextAddressRange>
             <DataAddressRange>0x20000000</DataAddressRange>
-            <pXoBase />
+            <pXoBase></pXoBase>
             <ScatterFile>.\board\linker_scripts\link.sct</ScatterFile>
-            <IncludeLibs />
-            <IncludeLibsPath />
-            <Misc> --keep *.o(.rti_fn.*)   --keep *.o(FSymTab)</Misc>
-            <LinkerInputFile />
-            <DisabledWarnings />
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
           </LDads>
         </TargetArmAds>
       </TargetOption>
@@ -386,785 +390,318 @@
           </Files>
         </Group>
         <Group>
-          <GroupName>Drivers</GroupName>
-          <Files>
-            <File>
-              <FileName>board.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>board\board.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_msp.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>board\CubeMX_Config\Src\stm32f4xx_hal_msp.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>startup_stm32f407xx.s</FileName>
-              <FileType>2</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f407xx.s</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>drv_gpio.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\HAL_Drivers\drv_gpio.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>drv_usart.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\HAL_Drivers\drv_usart.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>drv_common.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\HAL_Drivers\drv_common.c</FilePath>
-            </File>
-          </Files>
-        </Group>
-        <Group>
-          <GroupName>Kernel</GroupName>
-          <Files>
-            <File>
-              <FileName>clock.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\clock.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>components.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\components.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>device.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\device.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>idle.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\idle.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>ipc.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\ipc.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>irq.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\irq.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>kservice.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\kservice.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>mem.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\mem.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>mempool.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\mempool.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>object.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\object.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>scheduler.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\scheduler.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>signal.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\signal.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>thread.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\thread.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>timer.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\src\timer.c</FilePath>
-            </File>
-          </Files>
-        </Group>
-        <Group>
-          <GroupName>CORTEX-M4</GroupName>
-          <Files>
-            <File>
-              <FileName>cpuport.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\libcpu\arm\cortex-m4\cpuport.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>context_rvds.S</FileName>
-              <FileType>2</FileType>
-              <FilePath>..\..\..\libcpu\arm\cortex-m4\context_rvds.S</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>backtrace.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\libcpu\arm\common\backtrace.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>div0.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\libcpu\arm\common\div0.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>showmem.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\libcpu\arm\common\showmem.c</FilePath>
-            </File>
-          </Files>
-        </Group>
-        <Group>
-          <GroupName>DeviceDrivers</GroupName>
-          <Files>
-            <File>
-              <FileName>pin.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\misc\pin.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>serial.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\serial\serial.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>completion.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\src\completion.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>dataqueue.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\src\dataqueue.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>pipe.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\src\pipe.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>ringblk_buf.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\src\ringblk_buf.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>ringbuffer.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\src\ringbuffer.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>waitqueue.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\src\waitqueue.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>workqueue.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\src\workqueue.c</FilePath>
-            </File>
-          </Files>
-        </Group>
-        <Group>
-          <GroupName>finsh</GroupName>
-          <Files>
-            <File>
-              <FileName>shell.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\finsh\shell.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>symbol.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\finsh\symbol.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>cmd.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\finsh\cmd.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>msh.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\finsh\msh.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>msh_cmd.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\finsh\msh_cmd.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>msh_file.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\..\..\components\finsh\msh_file.c</FilePath>
-            </File>
-          </Files>
-        </Group>
-        <Group>
-          <GroupName>STM32_HAL</GroupName>
-          <Files>
-            <File>
-              <FileName>system_stm32f4xx.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_adc.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_adc_ex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_can.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_cec.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cec.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_cortex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_crc.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_cryp.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cryp.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_cryp_ex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cryp_ex.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_dac.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dac.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_dac_ex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dac_ex.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_dcmi.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dcmi.c</FilePath>
-            </File>
-          </Files>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_dcmi_ex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dcmi_ex.c</FilePath>
-            </File>
-          </Files>
+          <GroupName>CPU</GroupName>
           <Files>
             <File>
-              <FileName>stm32f4xx_hal_dfsdm.c</FileName>
+              <FileName>div0.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dfsdm.c</FilePath>
+              <FilePath>..\..\..\libcpu\arm\common\div0.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_dma.c</FileName>
+              <FileName>backtrace.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c</FilePath>
+              <FilePath>..\..\..\libcpu\arm\common\backtrace.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_dma2d.c</FileName>
+              <FileName>showmem.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma2d.c</FilePath>
+              <FilePath>..\..\..\libcpu\arm\common\showmem.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_dma_ex.c</FileName>
+              <FileName>cpuport.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c</FilePath>
+              <FilePath>..\..\..\libcpu\arm\cortex-m4\cpuport.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_dsi.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dsi.c</FilePath>
+              <FileName>context_rvds.S</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\..\..\libcpu\arm\cortex-m4\context_rvds.S</FilePath>
             </File>
           </Files>
+        </Group>
+        <Group>
+          <GroupName>DeviceDrivers</GroupName>
           <Files>
             <File>
-              <FileName>stm32f4xx_hal_eth.c</FileName>
+              <FileName>pin.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_eth.c</FilePath>
+              <FilePath>..\..\..\components\drivers\misc\pin.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_flash.c</FileName>
+              <FileName>serial.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c</FilePath>
+              <FilePath>..\..\..\components\drivers\serial\serial.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_flash_ex.c</FileName>
+              <FileName>dataqueue.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c</FilePath>
+              <FilePath>..\..\..\components\drivers\src\dataqueue.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_flash_ramfunc.c</FileName>
+              <FileName>pipe.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c</FilePath>
+              <FilePath>..\..\..\components\drivers\src\pipe.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_fmpi2c.c</FileName>
+              <FileName>workqueue.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_fmpi2c.c</FilePath>
+              <FilePath>..\..\..\components\drivers\src\workqueue.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_fmpi2c_ex.c</FileName>
+              <FileName>waitqueue.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_fmpi2c_ex.c</FilePath>
+              <FilePath>..\..\..\components\drivers\src\waitqueue.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_gpio.c</FileName>
+              <FileName>ringbuffer.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c</FilePath>
+              <FilePath>..\..\..\components\drivers\src\ringbuffer.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_hash.c</FileName>
+              <FileName>completion.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_hash.c</FilePath>
+              <FilePath>..\..\..\components\drivers\src\completion.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_hash_ex.c</FileName>
+              <FileName>ringblk_buf.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_hash_ex.c</FilePath>
+              <FilePath>..\..\..\components\drivers\src\ringblk_buf.c</FilePath>
             </File>
           </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers</GroupName>
           <Files>
             <File>
-              <FileName>stm32f4xx_hal_hcd.c</FileName>
+              <FileName>stm32f4xx_hal_msp.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_hcd.c</FilePath>
+              <FilePath>board\CubeMX_Config\Src\stm32f4xx_hal_msp.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_i2c.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c</FilePath>
+              <FileName>startup_stm32f407xx.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f407xx.s</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_i2c_ex.c</FileName>
+              <FileName>board.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c</FilePath>
+              <FilePath>board\board.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_i2s.c</FileName>
+              <FileName>drv_gpio.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2s.c</FilePath>
+              <FilePath>..\libraries\HAL_Drivers\drv_gpio.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_i2s_ex.c</FileName>
+              <FileName>drv_usart.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2s_ex.c</FilePath>
+              <FilePath>..\libraries\HAL_Drivers\drv_usart.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_irda.c</FileName>
+              <FileName>drv_common.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_irda.c</FilePath>
+              <FilePath>..\libraries\HAL_Drivers\drv_common.c</FilePath>
             </File>
           </Files>
+        </Group>
+        <Group>
+          <GroupName>finsh</GroupName>
           <Files>
             <File>
-              <FileName>stm32f4xx_hal_iwdg.c</FileName>
+              <FileName>shell.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_iwdg.c</FilePath>
+              <FilePath>..\..\..\components\finsh\shell.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_lptim.c</FileName>
+              <FileName>msh.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_lptim.c</FilePath>
+              <FilePath>..\..\..\components\finsh\msh.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_ltdc.c</FileName>
+              <FileName>cmd.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_ltdc.c</FilePath>
+              <FilePath>..\..\..\components\finsh\cmd.c</FilePath>
             </File>
           </Files>
+        </Group>
+        <Group>
+          <GroupName>Kernel</GroupName>
           <Files>
             <File>
-              <FileName>stm32f4xx_hal_ltdc_ex.c</FileName>
+              <FileName>object.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_ltdc_ex.c</FilePath>
+              <FilePath>..\..\..\src\object.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_nand.c</FileName>
+              <FileName>ipc.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_nand.c</FilePath>
+              <FilePath>..\..\..\src\ipc.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_nor.c</FileName>
+              <FileName>kservice.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_nor.c</FilePath>
+              <FilePath>..\..\..\src\kservice.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_pccard.c</FileName>
+              <FileName>clock.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pccard.c</FilePath>
+              <FilePath>..\..\..\src\clock.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_pcd.c</FileName>
+              <FileName>irq.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c</FilePath>
+              <FilePath>..\..\..\src\irq.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_pcd_ex.c</FileName>
+              <FileName>timer.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c</FilePath>
+              <FilePath>..\..\..\src\timer.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_pwr.c</FileName>
+              <FileName>idle.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c</FilePath>
+              <FilePath>..\..\..\src\idle.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_pwr_ex.c</FileName>
+              <FileName>thread.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c</FilePath>
+              <FilePath>..\..\..\src\thread.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_qspi.c</FileName>
+              <FileName>device.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_qspi.c</FilePath>
+              <FilePath>..\..\..\src\device.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_rcc.c</FileName>
+              <FileName>mem.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c</FilePath>
+              <FilePath>..\..\..\src\mem.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_rcc_ex.c</FileName>
+              <FileName>components.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c</FilePath>
+              <FilePath>..\..\..\src\components.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_rng.c</FileName>
+              <FileName>mempool.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c</FilePath>
+              <FilePath>..\..\..\src\mempool.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_rtc.c</FileName>
+              <FileName>scheduler.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c</FilePath>
+              <FilePath>..\..\..\src\scheduler.c</FilePath>
             </File>
           </Files>
+        </Group>
+        <Group>
+          <GroupName>libc</GroupName>
           <Files>
             <File>
-              <FileName>stm32f4xx_hal_rtc_ex.c</FileName>
+              <FileName>time.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c</FilePath>
+              <FilePath>..\..\..\components\libc\compilers\common\time.c</FilePath>
             </File>
           </Files>
+        </Group>
+        <Group>
+          <GroupName>Libraries</GroupName>
           <Files>
             <File>
-              <FileName>stm32f4xx_hal_sai.c</FileName>
+              <FileName>stm32f4xx_hal_uart.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sai.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_sai_ex.c</FileName>
+              <FileName>stm32f4xx_hal_cryp_ex.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sai_ex.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cryp_ex.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_sd.c</FileName>
+              <FileName>stm32f4xx_hal_pwr_ex.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sd.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_sdram.c</FileName>
+              <FileName>stm32f4xx_hal_rng.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sdram.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_smartcard.c</FileName>
+              <FileName>stm32f4xx_hal_dma.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_smartcard.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_spdifrx.c</FileName>
+              <FileName>stm32f4xx_hal.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spdifrx.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_spi.c</FileName>
+              <FileName>stm32f4xx_hal_rcc_ex.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_sram.c</FileName>
+              <FileName>stm32f4xx_hal_usart.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sram.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_tim.c</FileName>
+              <FileName>stm32f4xx_hal_cec.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cec.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_tim_ex.c</FileName>
+              <FileName>stm32f4xx_hal_rcc.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_uart.c</FileName>
+              <FileName>stm32f4xx_hal_dma_ex.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_usart.c</FileName>
+              <FileName>stm32f4xx_hal_pwr.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_hal_wwdg.c</FileName>
+              <FileName>system_stm32f4xx.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_wwdg.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_ll_fmc.c</FileName>
+              <FileName>stm32f4xx_hal_crc.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_fmc.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_ll_fsmc.c</FileName>
+              <FileName>stm32f4xx_hal_cortex.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_fsmc.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_ll_sdmmc.c</FileName>
+              <FileName>stm32f4xx_hal_cryp.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_sdmmc.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cryp.c</FilePath>
             </File>
-          </Files>
-          <Files>
             <File>
-              <FileName>stm32f4xx_ll_usb.c</FileName>
+              <FileName>stm32f4xx_hal_gpio.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c</FilePath>
+              <FilePath>..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c</FilePath>
             </File>
           </Files>
         </Group>
       </Groups>
     </Target>
   </Targets>
+
   <RTE>
-    <apis />
-    <components />
-    <files />
+    <apis/>
+    <components/>
+    <files/>
   </RTE>
+
 </Project>
diff --git a/bsp/stm32/stm32f407-robomaster-c/rtconfig.h b/bsp/stm32/stm32f407-robomaster-c/rtconfig.h
index 7d83eb4f99373b1c92420a4f79e319fd6bf83ad4..78104e6805b381e1e7b675d75b4f8f2d68983007 100644
--- a/bsp/stm32/stm32f407-robomaster-c/rtconfig.h
+++ b/bsp/stm32/stm32f407-robomaster-c/rtconfig.h
@@ -16,6 +16,9 @@
 #define RT_USING_IDLE_HOOK
 #define RT_IDLE_HOOK_LIST_SIZE 4
 #define IDLE_THREAD_STACK_SIZE 256
+
+/* kservice optimization */
+
 #define RT_DEBUG
 #define RT_DEBUG_COLOR
 
@@ -39,8 +42,9 @@
 #define RT_USING_CONSOLE
 #define RT_CONSOLEBUF_SIZE 128
 #define RT_CONSOLE_DEVICE_NAME "uart1"
-#define RT_VER_NUM 0x40000
+#define RT_VER_NUM 0x40004
 #define ARCH_ARM
+#define RT_USING_CPU_FFS
 #define ARCH_ARM_CORTEX_M
 #define ARCH_ARM_CORTEX_M4
 
@@ -78,27 +82,28 @@
 #define RT_USING_DEVICE_IPC
 #define RT_PIPE_BUFSZ 512
 #define RT_USING_SERIAL
+#define RT_USING_SERIAL_V1
 #define RT_SERIAL_USING_DMA
+#define RT_SERIAL_RB_BUFSZ 64
 #define RT_USING_PIN
 
-/* Using WiFi */
-
-
 /* Using USB */
 
 
 /* POSIX layer and C standard library */
 
+#define RT_LIBC_USING_TIME
+#define RT_LIBC_FIXED_TIMEZONE 8
 
 /* Network */
 
 /* Socket abstraction layer */
 
 
-/* light weight TCP/IP stack */
+/* Network interface device */
 
 
-/* Modbus master and slave stack */
+/* light weight TCP/IP stack */
 
 
 /* AT commands */
@@ -110,7 +115,7 @@
 /* Utilities */
 
 
-/* ARM CMSIS */
+/* RT-Thread Utestcases */
 
 
 /* RT-Thread online packages */
@@ -144,20 +149,29 @@
 /* system packages */
 
 
+/* Micrium: Micrium software products porting for RT-Thread */
+
+
 /* peripheral libraries and drivers */
 
 
+/* AI packages */
+
+
 /* miscellaneous packages */
 
 
 /* samples: kernel and components samples */
 
+
+/* entertainment: terminal games and other interesting software packages */
+
 #define SOC_FAMILY_STM32
 #define SOC_SERIES_STM32F4
 
 /* Hardware Drivers Config */
 
-#define SOC_STM32F407ZG
+#define SOC_STM32F407IG
 
 /* Onboard Peripheral Drivers */
 
diff --git a/bsp/stm32/stm32f407-robomaster-c/template.uvoptx b/bsp/stm32/stm32f407-robomaster-c/template.uvoptx
index f8c4606a9e4424cfeeee1520b76ba79b32dbd73f..ab07607d4adaaf2fc0a669a9322bcb13e5d382fb 100644
--- a/bsp/stm32/stm32f407-robomaster-c/template.uvoptx
+++ b/bsp/stm32/stm32f407-robomaster-c/template.uvoptx
@@ -73,7 +73,7 @@
         <LExpSel>0</LExpSel>
       </OPTXL>
       <OPTFL>
-        <tvExp>0</tvExp>
+        <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
         <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>4</nTsel>
+        <nTsel>6</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,18 +114,23 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>Segger\JL2CM3.dll</pMon>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
           <Number>0</Number>
-          <Key>JL2CM3</Key>
-          <Name>-U30000299 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(4) -TO18 -TC10000000 -TP21 -TDS8001 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407ZGTx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U0674FF504955857567053730 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>UL2CM3</Key>
-          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407ZGTx$CMSIS\Flash\STM32F4xx_1024.FLM))</Name>
+          <Name>UL2CM3(-S0 -C0 -P0 ) -FN1 -FC1000 -FD20000000 -FF0STM32F4xx_1024 -FL0100000 -FS08000000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>JL2CM3</Key>
+          <Name>-U30000299 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(4) -TO18 -TC10000000 -TP21 -TDS8001 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
@@ -173,6 +178,7 @@
       <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
diff --git a/bsp/stm32/stm32f407-robomaster-c/template.uvprojx b/bsp/stm32/stm32f407-robomaster-c/template.uvprojx
index 66fe3140e717511caa09818983d6e61c6a8ea52c..90f76b3093fa4f24ca636d522646194f87cca577 100644
--- a/bsp/stm32/stm32f407-robomaster-c/template.uvprojx
+++ b/bsp/stm32/stm32f407-robomaster-c/template.uvprojx
@@ -14,16 +14,16 @@
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
-          <Device>STM32F407ZGTx</Device>
+          <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.13.0</PackID>
-          <PackURL>http://www.keil.com/pack</PackURL>
-          <Cpu>IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) IROM(0x08000000,0x100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
+          <Cpu>IRAM(0x20000000,0x00020000) IRAM2(0x10000000,0x00010000) IROM(0x08000000,0x00100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
-          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407ZGTx$CMSIS\Flash\STM32F4xx_1024.FLM))</FlashDriverDll>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))</FlashDriverDll>
           <DeviceId>0</DeviceId>
-          <RegisterFile>$$Device:STM32F407ZGTx$Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h</RegisterFile>
+          <RegisterFile>$$Device:STM32F407IGHx$Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h</RegisterFile>
           <MemoryEnv></MemoryEnv>
           <Cmp></Cmp>
           <Asm></Asm>
@@ -33,7 +33,7 @@
           <SLE66CMisc></SLE66CMisc>
           <SLE66AMisc></SLE66AMisc>
           <SLE66LinkerMisc></SLE66LinkerMisc>
-          <SFDFile>$$Device:STM32F407ZGTx$CMSIS\SVD\STM32F40x.svd</SFDFile>
+          <SFDFile>$$Device:STM32F407IGHx$CMSIS\SVD\STM32F40x.svd</SFDFile>
           <bCustSvd>0</bCustSvd>
           <UseEnv>0</UseEnv>
           <BinPath></BinPath>
@@ -138,7 +138,7 @@
           </Flash1>
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2CM3.DLL</Flash2>
-          <Flash3>"" ()</Flash3>
+          <Flash3></Flash3>
           <Flash4></Flash4>
           <pFcarmOut></pFcarmOut>
           <pFcarmGrp></pFcarmGrp>
@@ -184,6 +184,7 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -208,8 +209,8 @@
             <Ra1Chk>0</Ra1Chk>
             <Ra2Chk>0</Ra2Chk>
             <Ra3Chk>0</Ra3Chk>
-            <Im1Chk>0</Im1Chk>
-            <Im2Chk>1</Im2Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
             <OnChipMemories>
               <Ocm1>
                 <Type>0</Type>