[bsp][stm32] 更新f407-robomaster-c板的bsp, 添加stm32定时器8 pwm默认配置 (#6201)

* [bsp][stm32] f407-robomaster-c板, 添加stm32定时器8pwm默认配置 * tab -> space * 取消DFS选定 Co-authored-by: Meco Man <920369182@qq.com>

[bsp][stm32] 更新f407-robomaster-c板的bsp, 添加stm32定时器8 pwm默认配置 (#6201)
* [bsp][stm32] f407-robomaster-c板, 添加stm32定时器8pwm默认配置 * tab -> space * 取消DFS选定 Co-authored-by: Meco Man <920369182@qq.com>
9673f060 · Meng · GitHub · f4f1a889 · 9673f060 · 9673f060
18 changed file
--- a/bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h
+++ b/bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h
@@ -72,6 +72,17 @@ extern "C" {
 #endif /* PWM5_CONFIG */
 #endif /* BSP_USING_PWM5 */
+#ifdef BSP_USING_PWM8
+#ifndef PWM8_CONFIG
+#define PWM8_CONFIG                             \
+    {                                           \
+       .tim_handle.Instance     = TIM8,         \
+       .name                    = "pwm8",       \
+       .channel                 = 0             \
+    }
+#endif /* PWM8_CONFIG */
+#endif /* BSP_USING_PWM8 */
 #ifdef BSP_USING_PWM9
 #ifndef PWM9_CONFIG
 #define PWM9_CONFIG                             \

--- a/bsp/stm32/stm32f407-robomaster-c/.config
+++ b/bsp/stm32/stm32f407-robomaster-c/.config
@@ -21,17 +21,20 @@ CONFIG_RT_HOOK_USING_FUNC_PTR=y
 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
+CONFIG_RT_USING_TIMER_SOFT=y
+CONFIG_RT_TIMER_THREAD_PRIO=4
+CONFIG_RT_TIMER_THREAD_STACK_SIZE=512
 #
 # kservice optimization
 #
-# CONFIG_RT_KSERVICE_USING_STDLIB is not set
+CONFIG_RT_KSERVICE_USING_STDLIB=y
+# CONFIG_RT_KSERVICE_USING_STDLIB_MEMORY is not set
 # CONFIG_RT_KSERVICE_USING_TINY_SIZE is not set
 # CONFIG_RT_USING_TINY_FFS is not set
-# CONFIG_RT_PRINTF_LONGLONG is not set
+# CONFIG_RT_KPRINTF_USING_LONGLONG is not set
 CONFIG_RT_DEBUG=y
-CONFIG_RT_DEBUG_COLOR=y
+# CONFIG_RT_DEBUG_COLOR is not set
 # CONFIG_RT_DEBUG_INIT_CONFIG is not set
 # CONFIG_RT_DEBUG_THREAD_CONFIG is not set
 # CONFIG_RT_DEBUG_SCHEDULER_CONFIG is not set
@@ -78,7 +81,7 @@ 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=0x40100
+CONFIG_RT_VER_NUM=0x40101
 CONFIG_ARCH_ARM=y
 CONFIG_RT_USING_CPU_FFS=y
 CONFIG_ARCH_ARM_CORTEX_M=y
@@ -261,6 +264,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_UCLOUD_IOT_SDK is not set
 # CONFIG_PKG_USING_JOYLINK is not set
 # CONFIG_PKG_USING_EZ_IOT_OS is not set
+# CONFIG_PKG_USING_IOTSHARP_SDK is not set
 # CONFIG_PKG_USING_NIMBLE is not set
 # CONFIG_PKG_USING_LLSYNC_SDK_ADAPTER is not set
 # CONFIG_PKG_USING_OTA_DOWNLOADER is not set
@@ -294,12 +298,14 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_HM is not set
 # CONFIG_PKG_USING_SMALL_MODBUS is not set
 # CONFIG_PKG_USING_NET_SERVER is not set
+# CONFIG_PKG_USING_ZFTP is not set
 #
 # security packages
 #
 # CONFIG_PKG_USING_MBEDTLS is not set
 # CONFIG_PKG_USING_LIBSODIUM is not set
+# CONFIG_PKG_USING_LIBHYDROGEN 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
@@ -317,6 +323,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_RAPIDJSON is not set
 # CONFIG_PKG_USING_JSMN is not set
 # CONFIG_PKG_USING_AGILE_JSMN is not set
+# CONFIG_PKG_USING_PARSON is not set
 #
 # XML: Extensible Markup Language
@@ -328,6 +335,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_JERRYSCRIPT is not set
 # CONFIG_PKG_USING_MICROPYTHON is not set
 # CONFIG_PKG_USING_PIKASCRIPT is not set
+# CONFIG_PKG_USING_RTT_RUST is not set
 #
 # multimedia packages
@@ -339,6 +347,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_LVGL is not set
 # CONFIG_PKG_USING_LITTLEVGL2RTT is not set
 # CONFIG_PKG_USING_LV_MUSIC_DEMO is not set
+# CONFIG_PKG_USING_GUI_GUIDER_DEMO is not set
 #
 # u8g2: a monochrome graphic library
@@ -414,6 +423,9 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_FDT is not set
 # CONFIG_PKG_USING_CBOX is not set
 # CONFIG_PKG_USING_SNOWFLAKE is not set
+# CONFIG_PKG_USING_HASH_MATCH is not set
+# CONFIG_PKG_USING_FIRE_PID_CURVE is not set
+# CONFIG_PKG_USING_ARMV7M_DWT_TOOL is not set
 #
 # system packages
@@ -426,14 +438,6 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_RT_KPRINTF_THREADSAFE is not set
 # CONFIG_PKG_USING_RT_VSNPRINTF_FULL is not set
-#
-# POSIX extension functions
-#
-# CONFIG_PKG_USING_POSIX_GETLINE is not set
-# CONFIG_PKG_USING_POSIX_WCWIDTH is not set
-# CONFIG_PKG_USING_POSIX_ITOA is not set
-# CONFIG_PKG_USING_POSIX_STRINGS is not set
 #
 # acceleration: Assembly language or algorithmic acceleration packages
 #
@@ -445,6 +449,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CMSIS: ARM Cortex-M Microcontroller Software Interface Standard
 #
 # CONFIG_PKG_USING_CMSIS_5 is not set
+# CONFIG_PKG_USING_CMSIS_RTOS1 is not set
 # CONFIG_PKG_USING_CMSIS_RTOS2 is not set
 #
@@ -457,9 +462,11 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_UC_COMMON is not set
 # CONFIG_PKG_USING_UC_MODBUS is not set
 # CONFIG_PKG_USING_RTDUINO is not set
+# CONFIG_PKG_USING_FREERTOS_WRAPPER is not set
 # CONFIG_PKG_USING_CAIRO is not set
 # CONFIG_PKG_USING_PIXMAN is not set
 # CONFIG_PKG_USING_PARTITION is not set
+# CONFIG_PKG_USING_PERF_COUNTER is not set
 # CONFIG_PKG_USING_FLASHDB is not set
 # CONFIG_PKG_USING_SQLITE is not set
 # CONFIG_PKG_USING_RTI is not set
@@ -487,6 +494,8 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_TINYUSB is not set
 # CONFIG_PKG_USING_CHERRYUSB is not set
 # CONFIG_PKG_USING_KMULTI_RTIMER is not set
+# CONFIG_PKG_USING_TFDB is not set
+# CONFIG_PKG_USING_QPC is not set
 #
 # peripheral libraries and drivers
@@ -495,8 +504,10 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_REALTEK_AMEBA is not set
 # CONFIG_PKG_USING_SHT2X is not set
 # CONFIG_PKG_USING_SHT3X is not set
+# CONFIG_PKG_USING_ADT74XX is not set
 # CONFIG_PKG_USING_AS7341 is not set
 # CONFIG_PKG_USING_STM32_SDIO is not set
+# CONFIG_PKG_USING_RTT_ESP_IDF is not set
 # CONFIG_PKG_USING_ICM20608 is not set
 # CONFIG_PKG_USING_BUTTON is not set
 # CONFIG_PKG_USING_PCF8574 is not set
@@ -508,6 +519,11 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_NRF5X_SDK is not set
 # CONFIG_PKG_USING_NRFX is not set
 # CONFIG_PKG_USING_WM_LIBRARIES is not set
+#
+# Kendryte SDK
+#
+# CONFIG_PKG_USING_K210_SDK is not set
 # CONFIG_PKG_USING_KENDRYTE_SDK is not set
 # CONFIG_PKG_USING_INFRARED is not set
 # CONFIG_PKG_USING_MULTI_INFRARED is not set
@@ -568,6 +584,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_MB85RS16 is not set
 # CONFIG_PKG_USING_CW2015 is not set
 # CONFIG_PKG_USING_RFM300 is not set
+# CONFIG_PKG_USING_IO_INPUT_FILTER is not set
 #
 # AI packages
@@ -641,6 +658,8 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_CONTROLLER is not set
 # CONFIG_PKG_USING_PHASE_LOCKED_LOOP is not set
 # CONFIG_PKG_USING_MFBD is not set
+# CONFIG_PKG_USING_SLCAN2RTT is not set
+# CONFIG_PKG_USING_SOEM is not set
 CONFIG_SOC_FAMILY_STM32=y
 CONFIG_SOC_SERIES_STM32F4=y
@@ -660,6 +679,13 @@ 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_UART3 is not set
+# CONFIG_BSP_USING_UART6 is not set
+# CONFIG_BSP_USING_CAN is not set
+# CONFIG_BSP_USING_PWM is not set
+# CONFIG_BSP_USING_ADC 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

--- a/bsp/stm32/stm32f407-robomaster-c/README.md
+++ b/bsp/stm32/stm32f407-robomaster-c/README.md
@@ -24,10 +24,14 @@ Robomaster 开发板C型 是大疆创新科技有限公司推出的一款基于
 该开发板常用 **板载资源** 如下：
- MCU: STM32F407IGH6TR, 168MHz Freq, 1024KB FLASH, 192KB RAM(含64KB CCM RAM)。
+- MCU：STM32F407IGH6TR, 主频 168MHz, 1024KB FLASH, 192KB RAM(含64KB CCM RAM)
+- 常用外设
+  - 三色 LED：LED_R(PH12), LED_G(PH11), LED_B(PH11), 
+  - 按键：KEY(PA0)
+  - 电压检测：ADC_BAT(PF10)
+- 常用接口：UART 接口、CAN 总线接口、PWM 接口
 - 调试接口：SWD
- 常用外设：用户自定义 LED、按键、蜂鸣器、六轴惯性测量单元和磁力计、电压检测 ADC。
- 常用接口：5V 接口、BOOT 配置接口、micro USB 接口、可配置 I/O 接口、UART 接口、CAN 总线接口、PWM 接口、DBUS接口、数字摄像头 FPC 接口。
 开发板的用户手册：[RoboMaster 开发板 C 型用户手册.pdf](https://rm-static.djicdn.com/tem/35228/RoboMaster%20%20%E5%BC%80%E5%8F%91%E6%9D%BF%20C%20%E5%9E%8B%E7%94%A8%E6%88%B7%E6%89%8B%E5%86%8C.pdf)
@@ -43,14 +47,11 @@ Robomaster 开发板C型 是大疆创新科技有限公司推出的一款基于
 | IST8310      |   暂不支持   | 三轴磁力计                           |
 | **片上外设** | **支持情况** | **备注**                             |
 | GPIO         |     支持     | PA0, PA1... PH1 ---> PIN: 0, 1...144 |
-| UART         |     支持     | UART1,  UART3(DBUS),  UART6          |
+| UART         |     支持     | UART1(FinSH),  UART3(DBUS),  UART6          |
-| CAN          |   下阶段支持   | CAN1, CAN2                           |
+| CAN          |     支持    | CAN1, CAN2                           |
-| PWM          |   下阶段支持   |                                      |
+| PWM          |   支持   | TIM1(CH1/2/3/4), TIM4(CH3), TIM8(CH1/2/3)  |
-| SPI          |   下阶段支持   | BMI088, 用户SPI接口 |
+| SPI          |   支持   | SPI2 |
-| I2C          |   下阶段支持   | IST8310, 用户 I2C 接口 |
+| IIC          |   支持   | 模拟IIC(SDA-->PF0, SCL-->PF1) |
-| USB          |   暂不支持   |                                      |
-| **扩展模块** | **支持情况** | **备注**                             |
-| 无           |              |                                      |
 ## 使用说明
@@ -83,20 +84,20 @@ Robomaster 开发板C型 是大疆创新科技有限公司推出的一款基于
 下载程序成功之后，系统会自动运行，观察开发板上 LED 的运行效果，LED 会以蓝光进行周期性闪烁。
-此 BSP 的 FinSH 默认使用串口 1 (C板外壳上标有UART2的4Pin接口)，在终端工具里打开相应的串口（115200-8-1-N），复位设备后，可以看到 RT-Thread 的输出信息:
+此 BSP 的 FinSH 默认使用串口 1 ( C 板外壳上标有 UART2 的 4Pin 接口)，在终端工具里打开相应的串口（115200-8-1-N），复位设备后，可以看到 RT-Thread 的输出信息:
 ```bash
 \ | /
 - RT -     Thread Operating System
- / | \     4.0.4 build Jun 30 2021
+ / | \     4.1.1 build Jul 29 2022 23:31:38
- 2006 - 2021 Copyright by rt-thread team
+ 2006 - 2022 Copyright by RT-Thread team
 msh >
 ```
 > 终端工具推荐使用 [MobaXterm](https://mobaxterm.mobatek.net/) 或 [Xshell](https://www.netsarang.com/en/free-for-home-school/)，均有免费的个人版本
 ### 进阶使用
-此 BSP 默认只开启了 GPIO 和 串口 2 的功能，更多高级功能需要利用 ENV 工具对 BSP 进行配置，步骤如下：
+此 BSP 默认只开启了 GPIO 和 UART1(丝印为 UART2 4pin 接口) 的功能，更多高级功能需要利用 ENV 工具对 BSP 进行配置，步骤如下：
 1. 在 BSP 下打开 env 工具。
@@ -117,4 +118,6 @@ msh >
 维护人:
 - [crazt](https://github.com/CraztTnspt) ，邮箱：<crazt@foxmail.com>
\ No newline at end of file
+- [Meng](https://github.com/Meng2025) ，邮箱：<m@njust.edu.cn>
--- a/bsp/stm32/stm32f407-robomaster-c/applications/main.c
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/main.c
@@ -13,7 +13,7 @@
 #include <rtdevice.h>
 #include <board.h>
-/* defined the LED Blue pin: PB1 */
+/* defined the LED Blue pin: PH10 */
 #define LED_B_PIN    GET_PIN(H, 10)
 int main(void)

--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject
 [PreviousLibFiles]
-LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h;
+LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
 [PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\\Src/system_stm32f4xx.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\\Src/system_stm32f4xx.c;..\Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;;
+SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\\Src\system_stm32f4xx.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\\Src\system_stm32f4xx.c;;;
 HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc;
 CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 [PreviousGenFiles]
-HeaderPath=C:/CraztDoc/RTT/github_repo/rt-thread/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc
+HeaderPath=..\Inc
 HeaderFiles=stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
-SourcePath=C:/CraztDoc/RTT/github_repo/rt-thread/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src
+SourcePath=..\Src
 SourceFiles=stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc
 #MicroXplorer Configuration settings - do not modify
+ADC3.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_8
+ADC3.IPParameters=Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,NbrOfConversionFlag
+ADC3.NbrOfConversionFlag=1
+ADC3.Rank-1\#ChannelRegularConversion=1
+ADC3.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
+CAN1.BS1=CAN_BS1_1TQ
+CAN1.BS2=CAN_BS2_1TQ
+CAN1.CalculateBaudRate=875000
+CAN1.CalculateTimeBit=1142
+CAN1.CalculateTimeQuantum=380.95238095238096
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2
+CAN2.BS1=CAN_BS1_1TQ
+CAN2.BS2=CAN_BS2_1TQ
+CAN2.CalculateBaudRate=875000
+CAN2.CalculateTimeBit=1142
+CAN2.CalculateTimeQuantum=380.95238095238096
+CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2
 File.Version=6
 GPIO.groupedBy=
 KeepUserPlacement=false
+Mcu.CPN=STM32F407IGH6
 Mcu.Family=STM32F4
-Mcu.IP0=NVIC
+Mcu.IP0=ADC3
-Mcu.IP1=RCC
+Mcu.IP1=CAN1
-Mcu.IP2=SYS
+Mcu.IP10=USART3
-Mcu.IP3=USART1
+Mcu.IP11=USART6
-Mcu.IPNb=4
+Mcu.IP2=CAN2
+Mcu.IP3=NVIC
+Mcu.IP4=RCC
+Mcu.IP5=SYS
+Mcu.IP6=TIM1
+Mcu.IP7=TIM4
+Mcu.IP8=TIM8
+Mcu.IP9=USART1
+Mcu.IPNb=12
 Mcu.Name=STM32F407I(E-G)Hx
 Mcu.Package=UFBGA176
-Mcu.Pin0=PA14
+Mcu.Pin0=PB5
-Mcu.Pin1=PA13
+Mcu.Pin1=PG14
-Mcu.Pin2=PB7
+Mcu.Pin10=PI6
-Mcu.Pin3=PA9
+Mcu.Pin11=PG9
-Mcu.Pin4=PH0-OSC_IN
+Mcu.Pin12=PD1
-Mcu.Pin5=PH1-OSC_OUT
+Mcu.Pin13=PA9
-Mcu.Pin6=VP_SYS_VS_Systick
+Mcu.Pin14=PH0-OSC_IN
-Mcu.PinsNb=7
+Mcu.Pin15=PH1-OSC_OUT
+Mcu.Pin16=PC6
+Mcu.Pin17=PF10
+Mcu.Pin18=PD14
+Mcu.Pin19=PE13
+Mcu.Pin2=PA14
+Mcu.Pin20=PE9
+Mcu.Pin21=PE11
+Mcu.Pin22=PE14
+Mcu.Pin23=VP_SYS_VS_Systick
+Mcu.Pin24=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin25=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin26=VP_TIM8_VS_ClockSourceINT
+Mcu.Pin3=PA13
+Mcu.Pin4=PB7
+Mcu.Pin5=PB6
+Mcu.Pin6=PD0
+Mcu.Pin7=PC11
+Mcu.Pin8=PC10
+Mcu.Pin9=PI7
+Mcu.PinsNb=27
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
-MxCube.Version=6.1.2
+MxCube.Version=6.6.1
-MxDb.Version=DB.6.0.10
+MxDb.Version=DB.6.0.60
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
@@ -42,14 +88,48 @@ PA9.GPIOParameters=GPIO_PuPd
 PA9.GPIO_PuPd=GPIO_PULLUP
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
+PB5.Mode=CAN_Activate
+PB5.Signal=CAN2_RX
+PB6.Mode=CAN_Activate
+PB6.Signal=CAN2_TX
 PB7.GPIOParameters=GPIO_PuPd
 PB7.GPIO_PuPd=GPIO_PULLUP
 PB7.Mode=Asynchronous
 PB7.Signal=USART1_RX
+PC10.Mode=Asynchronous
+PC10.Signal=USART3_TX
+PC11.Mode=Asynchronous
+PC11.Signal=USART3_RX
+PC6.Locked=true
+PC6.Signal=S_TIM8_CH1
+PD0.Locked=true
+PD0.Mode=CAN_Activate
+PD0.Signal=CAN1_RX
+PD1.Locked=true
+PD1.Mode=CAN_Activate
+PD1.Signal=CAN1_TX
+PD14.Locked=true
+PD14.Signal=S_TIM4_CH3
+PE11.Signal=S_TIM1_CH2
+PE13.Locked=true
+PE13.Signal=S_TIM1_CH3
+PE14.Locked=true
+PE14.Signal=S_TIM1_CH4
+PE9.Locked=true
+PE9.Signal=S_TIM1_CH1
+PF10.Locked=true
+PF10.Mode=IN8
+PF10.Signal=ADC3_IN8
+PG14.Mode=Asynchronous
+PG14.Signal=USART6_TX
+PG9.Mode=Asynchronous
+PG9.Signal=USART6_RX
 PH0-OSC_IN.Mode=HSE-External-Oscillator
 PH0-OSC_IN.Signal=RCC_OSC_IN
 PH1-OSC_OUT.Mode=HSE-External-Oscillator
 PH1-OSC_OUT.Signal=RCC_OSC_OUT
+PI6.Signal=S_TIM8_CH2
+PI7.Signal=S_TIM8_CH3
 PinOutPanel.CurrentBGAView=Top
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
@@ -61,7 +141,7 @@ ProjectManager.CustomerFirmwarePackage=
 ProjectManager.DefaultFWLocation=true
 ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32F407IGHx
-ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.25.2
+ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
 ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x200
@@ -79,7 +159,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_ADC3_Init-ADC3-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM8_Init-TIM8-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_USART6_UART_Init-USART6-false-HAL-true
 RCC.48MHZClocksFreq_Value=84000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -113,8 +193,45 @@ RCC.VCOI2SOutputFreq_Value=384000000
 RCC.VCOInputFreq_Value=2000000
 RCC.VCOOutputFreq_Value=336000000
 RCC.VcooutputI2S=192000000
+SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
+SH.S_TIM1_CH1.ConfNb=1
+SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
+SH.S_TIM1_CH2.ConfNb=1
+SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
+SH.S_TIM1_CH3.ConfNb=1
+SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
+SH.S_TIM1_CH4.ConfNb=1
+SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
+SH.S_TIM4_CH3.ConfNb=1
+SH.S_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1
+SH.S_TIM8_CH1.ConfNb=1
+SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2
+SH.S_TIM8_CH2.ConfNb=1
+SH.S_TIM8_CH3.0=TIM8_CH3,PWM Generation3 CH3
+SH.S_TIM8_CH3.ConfNb=1
+TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM4.IPParameters=Channel-PWM Generation3 CH3
+TIM8.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM8.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM8.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM8.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
+USART3.IPParameters=VirtualMode
+USART3.VirtualMode=VM_ASYNC
+USART6.IPParameters=VirtualMode
+USART6.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM1_VS_ClockSourceINT.Mode=Internal
+VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
+VP_TIM4_VS_ClockSourceINT.Mode=Internal
+VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
+VP_TIM8_VS_ClockSourceINT.Mode=Internal
+VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
 board=custom
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/main.h
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/main.h
@@ -50,6 +50,8 @@ extern "C" {
 /* USER CODE END EM */
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 /* Exported functions prototypes ---------------------------------------------*/
 void Error_Handler(void);
@@ -67,5 +69,3 @@ void Error_Handler(void);
 #endif
 #endif /* __MAIN_H */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
+/* USER CODE BEGIN Header */
 /**
  ******************************************************************************
  * @file    stm32f4xx_hal_conf_template.h
@@ -8,16 +9,16 @@
  ******************************************************************************
  * @attention
  *
-  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * Copyright (c) 2017 STMicroelectronics.
-  * All rights reserved.</center></h2>
+  * All rights reserved.
  *
-  * This software component is licensed by ST under BSD 3-Clause license,
+  * This software is licensed under terms that can be found in the LICENSE file
-  * the "License"; You may not use this file except in compliance with the
+  * in the root directory of this software component.
-  * License. You may obtain a copy of the License at:
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
+/* USER CODE END Header */
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __STM32F4xx_HAL_CONF_H
@@ -36,9 +37,9 @@
  */
 #define HAL_MODULE_ENABLED
-  /* #define HAL_ADC_MODULE_ENABLED   */
+  #define HAL_ADC_MODULE_ENABLED
 /* #define HAL_CRYP_MODULE_ENABLED   */
-/* #define HAL_CAN_MODULE_ENABLED   */
+#define HAL_CAN_MODULE_ENABLED
 /* #define HAL_CRC_MODULE_ENABLED   */
 /* #define HAL_CAN_LEGACY_MODULE_ENABLED   */
 /* #define HAL_CRYP_MODULE_ENABLED   */
@@ -61,8 +62,8 @@
 /* #define HAL_SAI_MODULE_ENABLED   */
 /* #define HAL_SD_MODULE_ENABLED   */
 /* #define HAL_MMC_MODULE_ENABLED   */
-/* #define HAL_SPI_MODULE_ENABLED   */
+#define HAL_SPI_MODULE_ENABLED
-/* #define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED   */
 /* #define HAL_IRDA_MODULE_ENABLED   */
@@ -76,6 +77,7 @@
 /* #define HAL_QSPI_MODULE_ENABLED   */
 /* #define HAL_CEC_MODULE_ENABLED   */
 /* #define HAL_FMPI2C_MODULE_ENABLED   */
+/* #define HAL_FMPSMBUS_MODULE_ENABLED   */
 /* #define HAL_SPDIFRX_MODULE_ENABLED   */
 /* #define HAL_DFSDM_MODULE_ENABLED   */
 /* #define HAL_LPTIM_MODULE_ENABLED   */
@@ -94,11 +96,11 @@
  *        (when HSE is used as system clock source, directly or through the PLL).
  */
 #if !defined  (HSE_VALUE)
-  #define HSE_VALUE    ((uint32_t)12000000U) /*!< Value of the External oscillator in Hz */
+  #define HSE_VALUE    12000000U /*!< Value of the External oscillator in Hz */
 #endif /* HSE_VALUE */
 #if !defined  (HSE_STARTUP_TIMEOUT)
-  #define HSE_STARTUP_TIMEOUT    ((uint32_t)100U)   /*!< Time out for HSE start up, in ms */
+  #define HSE_STARTUP_TIMEOUT    100U   /*!< Time out for HSE start up, in ms */
 #endif /* HSE_STARTUP_TIMEOUT */
 /**
@@ -114,7 +116,7 @@
  * @brief Internal Low Speed oscillator (LSI) value.
  */
 #if !defined  (LSI_VALUE)
- #define LSI_VALUE  ((uint32_t)32000U)       /*!< LSI Typical Value in Hz*/
+ #define LSI_VALUE  32000U       /*!< LSI Typical Value in Hz*/
 #endif /* LSI_VALUE */                      /*!< Value of the Internal Low Speed oscillator in Hz
                                             The real value may vary depending on the variations
                                             in voltage and temperature.*/
@@ -122,11 +124,11 @@
  * @brief External Low Speed oscillator (LSE) value.
  */
 #if !defined  (LSE_VALUE)
- #define LSE_VALUE  ((uint32_t)32768U)    /*!< Value of the External Low Speed oscillator in Hz */
+ #define LSE_VALUE  32768U    /*!< Value of the External Low Speed oscillator in Hz */
 #endif /* LSE_VALUE */
 #if !defined  (LSE_STARTUP_TIMEOUT)
-  #define LSE_STARTUP_TIMEOUT    ((uint32_t)5000U)   /*!< Time out for LSE start up, in ms */
+  #define LSE_STARTUP_TIMEOUT    5000U   /*!< Time out for LSE start up, in ms */
 #endif /* LSE_STARTUP_TIMEOUT */
 /**
@@ -135,7 +137,7 @@
  *        frequency, this source is inserted directly through I2S_CKIN pad.
  */
 #if !defined  (EXTERNAL_CLOCK_VALUE)
-  #define EXTERNAL_CLOCK_VALUE    ((uint32_t)12288000U) /*!< Value of the External audio frequency in Hz*/
+  #define EXTERNAL_CLOCK_VALUE    12288000U /*!< Value of the External audio frequency in Hz*/
 #endif /* EXTERNAL_CLOCK_VALUE */
 /* Tip: To avoid modifying this file each time you need to use different HSE,
@@ -145,8 +147,8 @@
 /**
  * @brief This is the HAL system configuration section
  */
-#define  VDD_VALUE            ((uint32_t)3300U) /*!< Value of VDD in mv */
+#define  VDD_VALUE		      3300U /*!< Value of VDD in mv */
-#define  TICK_INT_PRIORITY            ((uint32_t)0U)   /*!< tick interrupt priority */
+#define  TICK_INT_PRIORITY            0U   /*!< tick interrupt priority */
 #define  USE_RTOS                     0U
 #define  PREFETCH_ENABLE              1U
 #define  INSTRUCTION_CACHE_ENABLE     1U
@@ -166,6 +168,7 @@
 #define  USE_HAL_HCD_REGISTER_CALLBACKS         0U /* HCD register callback disabled       */
 #define  USE_HAL_I2C_REGISTER_CALLBACKS         0U /* I2C register callback disabled       */
 #define  USE_HAL_FMPI2C_REGISTER_CALLBACKS      0U /* FMPI2C register callback disabled    */
+#define  USE_HAL_FMPSMBUS_REGISTER_CALLBACKS    0U /* FMPSMBUS register callback disabled  */
 #define  USE_HAL_I2S_REGISTER_CALLBACKS         0U /* I2S register callback disabled       */
 #define  USE_HAL_IRDA_REGISTER_CALLBACKS        0U /* IRDA register callback disabled      */
 #define  USE_HAL_LPTIM_REGISTER_CALLBACKS       0U /* LPTIM register callback disabled     */
@@ -213,20 +216,20 @@
 /* Definition of the Ethernet driver buffers size and count */
 #define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
 #define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
-#define ETH_RXBUFNB                    ((uint32_t)4U)       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
+#define ETH_RXBUFNB                    4U       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
-#define ETH_TXBUFNB                    ((uint32_t)4U)       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
+#define ETH_TXBUFNB                    4U       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
 /* Section 2: PHY configuration section */
 /* DP83848_PHY_ADDRESS Address*/
 #define DP83848_PHY_ADDRESS           0x01U
 /* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
-#define PHY_RESET_DELAY                 ((uint32_t)0x000000FFU)
+#define PHY_RESET_DELAY                 0x000000FFU
 /* PHY Configuration delay */
-#define PHY_CONFIG_DELAY                ((uint32_t)0x00000FFFU)
+#define PHY_CONFIG_DELAY                0x00000FFFU
-#define PHY_READ_TO                     ((uint32_t)0x0000FFFFU)
+#define PHY_READ_TO                     0x0000FFFFU
-#define PHY_WRITE_TO                    ((uint32_t)0x0000FFFFU)
+#define PHY_WRITE_TO                    0x0000FFFFU
 /* Section 3: Common PHY Registers */
@@ -444,6 +447,10 @@
 #include "stm32f4xx_hal_fmpi2c.h"
 #endif /* HAL_FMPI2C_MODULE_ENABLED */
+#ifdef HAL_FMPSMBUS_MODULE_ENABLED
+ #include "stm32f4xx_hal_fmpsmbus.h"
+#endif /* HAL_FMPSMBUS_MODULE_ENABLED */
 #ifdef HAL_SPDIFRX_MODULE_ENABLED
 #include "stm32f4xx_hal_spdifrx.h"
 #endif /* HAL_SPDIFRX_MODULE_ENABLED */
@@ -482,5 +489,3 @@
 #endif
 #endif /* __STM32F4xx_HAL_CONF_H */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_it.h
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_it.h
@@ -65,5 +65,3 @@ void SysTick_Handler(void);
 #endif
 #endif /* __STM32F4xx_IT_H */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/main.c
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.c
+  * @brief          : Main program body
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2022 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+/* USER CODE END Includes */
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+/* USER CODE END PTD */
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+/* USER CODE END PD */
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+/* USER CODE END PM */
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc3;
+CAN_HandleTypeDef hcan1;
+CAN_HandleTypeDef hcan2;
+SPI_HandleTypeDef hspi2;
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim4;
+TIM_HandleTypeDef htim8;
+UART_HandleTypeDef huart1;
+UART_HandleTypeDef huart3;
+UART_HandleTypeDef huart6;
+/* USER CODE BEGIN PV */
+/* USER CODE END PV */
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_USART1_UART_Init(void);
+static void MX_ADC3_Init(void);
+static void MX_CAN1_Init(void);
+static void MX_CAN2_Init(void);
+static void MX_TIM1_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM8_Init(void);
+static void MX_USART3_UART_Init(void);
+static void MX_USART6_UART_Init(void);
+static void MX_SPI2_Init(void);
+/* USER CODE BEGIN PFP */
+/* USER CODE END PFP */
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+/* USER CODE END 0 */
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+  /* USER CODE BEGIN 1 */
+  /* USER CODE END 1 */
+  /* MCU Configuration--------------------------------------------------------*/
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+  /* USER CODE BEGIN Init */
+  /* USER CODE END Init */
+  /* Configure the system clock */
+  SystemClock_Config();
+  /* USER CODE BEGIN SysInit */
+  /* USER CODE END SysInit */
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USART1_UART_Init();
+  MX_ADC3_Init();
+  MX_CAN1_Init();
+  MX_CAN2_Init();
+  MX_TIM1_Init();
+  MX_TIM4_Init();
+  MX_TIM8_Init();
+  MX_USART3_UART_Init();
+  MX_USART6_UART_Init();
+  MX_SPI2_Init();
+  /* USER CODE BEGIN 2 */
+  /* USER CODE END 2 */
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1)
+  {
+    /* USER CODE END WHILE */
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  /** Configure the main internal regulator output voltage
+  */
+  __HAL_RCC_PWR_CLK_ENABLE();
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+  /** 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 = 6;
+  RCC_OscInitStruct.PLL.PLLN = 168;
+  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+  RCC_OscInitStruct.PLL.PLLQ = 4;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+/**
+  * @brief ADC3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC3_Init(void)
+{
+  /* USER CODE BEGIN ADC3_Init 0 */
+  /* USER CODE END ADC3_Init 0 */
+  ADC_ChannelConfTypeDef sConfig = {0};
+  /* USER CODE BEGIN ADC3_Init 1 */
+  /* USER CODE END ADC3_Init 1 */
+  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
+  */
+  hadc3.Instance = ADC3;
+  hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
+  hadc3.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc3.Init.ScanConvMode = DISABLE;
+  hadc3.Init.ContinuousConvMode = DISABLE;
+  hadc3.Init.DiscontinuousConvMode = DISABLE;
+  hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc3.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc3.Init.NbrOfConversion = 1;
+  hadc3.Init.DMAContinuousRequests = DISABLE;
+  hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  if (HAL_ADC_Init(&hadc3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
+  */
+  sConfig.Channel = ADC_CHANNEL_8;
+  sConfig.Rank = 1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC3_Init 2 */
+  /* USER CODE END ADC3_Init 2 */
+}
+/**
+  * @brief CAN1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_CAN1_Init(void)
+{
+  /* USER CODE BEGIN CAN1_Init 0 */
+  /* USER CODE END CAN1_Init 0 */
+  /* USER CODE BEGIN CAN1_Init 1 */
+  /* USER CODE END CAN1_Init 1 */
+  hcan1.Instance = CAN1;
+  hcan1.Init.Prescaler = 16;
+  hcan1.Init.Mode = CAN_MODE_NORMAL;
+  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
+  hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
+  hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
+  hcan1.Init.TimeTriggeredMode = DISABLE;
+  hcan1.Init.AutoBusOff = DISABLE;
+  hcan1.Init.AutoWakeUp = DISABLE;
+  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.ReceiveFifoLocked = DISABLE;
+  hcan1.Init.TransmitFifoPriority = DISABLE;
+  if (HAL_CAN_Init(&hcan1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN CAN1_Init 2 */
+  /* USER CODE END CAN1_Init 2 */
+}
+/**
+  * @brief CAN2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_CAN2_Init(void)
+{
+  /* USER CODE BEGIN CAN2_Init 0 */
+  /* USER CODE END CAN2_Init 0 */
+  /* USER CODE BEGIN CAN2_Init 1 */
+  /* USER CODE END CAN2_Init 1 */
+  hcan2.Instance = CAN2;
+  hcan2.Init.Prescaler = 16;
+  hcan2.Init.Mode = CAN_MODE_NORMAL;
+  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
+  hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
+  hcan2.Init.TimeSeg2 = CAN_BS2_1TQ;
+  hcan2.Init.TimeTriggeredMode = DISABLE;
+  hcan2.Init.AutoBusOff = DISABLE;
+  hcan2.Init.AutoWakeUp = DISABLE;
+  hcan2.Init.AutoRetransmission = DISABLE;
+  hcan2.Init.ReceiveFifoLocked = DISABLE;
+  hcan2.Init.TransmitFifoPriority = DISABLE;
+  if (HAL_CAN_Init(&hcan2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN CAN2_Init 2 */
+  /* USER CODE END CAN2_Init 2 */
+}
+/**
+  * @brief SPI2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_SPI2_Init(void)
+{
+  /* USER CODE BEGIN SPI2_Init 0 */
+  /* USER CODE END SPI2_Init 0 */
+  /* USER CODE BEGIN SPI2_Init 1 */
+  /* USER CODE END SPI2_Init 1 */
+  /* SPI2 parameter configuration*/
+  hspi2.Instance = SPI2;
+  hspi2.Init.Mode = SPI_MODE_MASTER;
+  hspi2.Init.Direction = SPI_DIRECTION_2LINES;
+  hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
+  hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
+  hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
+  hspi2.Init.NSS = SPI_NSS_SOFT;
+  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
+  hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
+  hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
+  hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+  hspi2.Init.CRCPolynomial = 10;
+  if (HAL_SPI_Init(&hspi2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN SPI2_Init 2 */
+  /* USER CODE END SPI2_Init 2 */
+}
+/**
+  * @brief TIM1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM1_Init(void)
+{
+  /* USER CODE BEGIN TIM1_Init 0 */
+  /* USER CODE END TIM1_Init 0 */
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+  /* USER CODE BEGIN TIM1_Init 1 */
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 65535;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+}
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+  /* USER CODE BEGIN TIM4_Init 0 */
+  /* USER CODE END TIM4_Init 0 */
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  /* USER CODE BEGIN TIM4_Init 1 */
+  /* USER CODE END TIM4_Init 1 */
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 0;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 65535;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+  /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
+}
+/**
+  * @brief TIM8 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM8_Init(void)
+{
+  /* USER CODE BEGIN TIM8_Init 0 */
+  /* USER CODE END TIM8_Init 0 */
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+  /* USER CODE BEGIN TIM8_Init 1 */
+  /* USER CODE END TIM8_Init 1 */
+  htim8.Instance = TIM8;
+  htim8.Init.Prescaler = 0;
+  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim8.Init.Period = 65535;
+  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim8.Init.RepetitionCounter = 0;
+  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM8_Init 2 */
+  /* USER CODE END TIM8_Init 2 */
+  HAL_TIM_MspPostInit(&htim8);
+}
+/**
+  * @brief USART1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART1_UART_Init(void)
+{
+  /* USER CODE BEGIN USART1_Init 0 */
+  /* USER CODE END USART1_Init 0 */
+  /* USER CODE BEGIN USART1_Init 1 */
+  /* USER CODE END USART1_Init 1 */
+  huart1.Instance = USART1;
+  huart1.Init.BaudRate = 115200;
+  huart1.Init.WordLength = UART_WORDLENGTH_8B;
+  huart1.Init.StopBits = UART_STOPBITS_1;
+  huart1.Init.Parity = UART_PARITY_NONE;
+  huart1.Init.Mode = UART_MODE_TX_RX;
+  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART1_Init 2 */
+  /* USER CODE END USART1_Init 2 */
+}
+/**
+  * @brief USART3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART3_UART_Init(void)
+{
+  /* USER CODE BEGIN USART3_Init 0 */
+  /* USER CODE END USART3_Init 0 */
+  /* USER CODE BEGIN USART3_Init 1 */
+  /* USER CODE END USART3_Init 1 */
+  huart3.Instance = USART3;
+  huart3.Init.BaudRate = 115200;
+  huart3.Init.WordLength = UART_WORDLENGTH_8B;
+  huart3.Init.StopBits = UART_STOPBITS_1;
+  huart3.Init.Parity = UART_PARITY_NONE;
+  huart3.Init.Mode = UART_MODE_TX_RX;
+  huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART3_Init 2 */
+  /* USER CODE END USART3_Init 2 */
+}
+/**
+  * @brief USART6 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART6_UART_Init(void)
+{
+  /* USER CODE BEGIN USART6_Init 0 */
+  /* USER CODE END USART6_Init 0 */
+  /* USER CODE BEGIN USART6_Init 1 */
+  /* USER CODE END USART6_Init 1 */
+  huart6.Instance = USART6;
+  huart6.Init.BaudRate = 115200;
+  huart6.Init.WordLength = UART_WORDLENGTH_8B;
+  huart6.Init.StopBits = UART_STOPBITS_1;
+  huart6.Init.Parity = UART_PARITY_NONE;
+  huart6.Init.Mode = UART_MODE_TX_RX;
+  huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart6.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart6) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART6_Init 2 */
+  /* USER CODE END USART6_Init 2 */
+}
+/**
+  * @brief GPIO Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_GPIO_Init(void)
+{
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOG_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOI_CLK_ENABLE();
+  __HAL_RCC_GPIOH_CLK_ENABLE();
+  __HAL_RCC_GPIOF_CLK_ENABLE();
+  __HAL_RCC_GPIOE_CLK_ENABLE();
+}
+/* USER CODE BEGIN 4 */
+/* USER CODE END 4 */
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __disable_irq();
+  while (1)
+  {
+  }
+  /* USER CODE END Error_Handler_Debug */
+}
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @retval None
+  */
+void assert_failed(uint8_t *file, uint32_t line)
+{
+  /* USER CODE BEGIN 6 */
+  /* User can add his own implementation to report the file name and line number,
+     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+  /* USER CODE END 6 */
+}
+#endif /* USE_FULL_ASSERT */
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -58,7 +58,9 @@
 /* USER CODE BEGIN 0 */
 /* USER CODE END 0 */
-/**
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+                                                            /**
  * Initializes the Global MSP.
  */
 void HAL_MspInit(void)
@@ -77,6 +79,425 @@ void HAL_MspInit(void)
  /* USER CODE END MspInit 1 */
 }
+/**
+* @brief ADC MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hadc: ADC handle pointer
+* @retval None
+*/
+void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hadc->Instance==ADC3)
+  {
+  /* USER CODE BEGIN ADC3_MspInit 0 */
+  /* USER CODE END ADC3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_ADC3_CLK_ENABLE();
+    __HAL_RCC_GPIOF_CLK_ENABLE();
+    /**ADC3 GPIO Configuration
+    PF10     ------> ADC3_IN8
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_10;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
+  /* USER CODE BEGIN ADC3_MspInit 1 */
+  /* USER CODE END ADC3_MspInit 1 */
+  }
+}
+/**
+* @brief ADC MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hadc: ADC handle pointer
+* @retval None
+*/
+void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
+{
+  if(hadc->Instance==ADC3)
+  {
+  /* USER CODE BEGIN ADC3_MspDeInit 0 */
+  /* USER CODE END ADC3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC3_CLK_DISABLE();
+    /**ADC3 GPIO Configuration
+    PF10     ------> ADC3_IN8
+    */
+    HAL_GPIO_DeInit(GPIOF, GPIO_PIN_10);
+  /* USER CODE BEGIN ADC3_MspDeInit 1 */
+  /* USER CODE END ADC3_MspDeInit 1 */
+  }
+}
+static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;
+/**
+* @brief CAN MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hcan: CAN handle pointer
+* @retval None
+*/
+void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspInit 0 */
+  /* USER CODE END CAN1_MspInit 0 */
+    /* Peripheral clock enable */
+    HAL_RCC_CAN1_CLK_ENABLED++;
+    if(HAL_RCC_CAN1_CLK_ENABLED==1){
+      __HAL_RCC_CAN1_CLK_ENABLE();
+    }
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**CAN1 GPIO Configuration
+    PD0     ------> CAN1_RX
+    PD1     ------> CAN1_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+  /* USER CODE BEGIN CAN1_MspInit 1 */
+  /* USER CODE END CAN1_MspInit 1 */
+  }
+  else if(hcan->Instance==CAN2)
+  {
+  /* USER CODE BEGIN CAN2_MspInit 0 */
+  /* USER CODE END CAN2_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_CAN2_CLK_ENABLE();
+    HAL_RCC_CAN1_CLK_ENABLED++;
+    if(HAL_RCC_CAN1_CLK_ENABLED==1){
+      __HAL_RCC_CAN1_CLK_ENABLE();
+    }
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**CAN2 GPIO Configuration
+    PB5     ------> CAN2_RX
+    PB6     ------> CAN2_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+  /* USER CODE BEGIN CAN2_MspInit 1 */
+  /* USER CODE END CAN2_MspInit 1 */
+  }
+}
+/**
+* @brief CAN MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hcan: CAN handle pointer
+* @retval None
+*/
+void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
+{
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspDeInit 0 */
+  /* USER CODE END CAN1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    HAL_RCC_CAN1_CLK_ENABLED--;
+    if(HAL_RCC_CAN1_CLK_ENABLED==0){
+      __HAL_RCC_CAN1_CLK_DISABLE();
+    }
+    /**CAN1 GPIO Configuration
+    PD0     ------> CAN1_RX
+    PD1     ------> CAN1_TX
+    */
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
+  /* USER CODE BEGIN CAN1_MspDeInit 1 */
+  /* USER CODE END CAN1_MspDeInit 1 */
+  }
+  else if(hcan->Instance==CAN2)
+  {
+  /* USER CODE BEGIN CAN2_MspDeInit 0 */
+  /* USER CODE END CAN2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_CAN2_CLK_DISABLE();
+    HAL_RCC_CAN1_CLK_ENABLED--;
+    if(HAL_RCC_CAN1_CLK_ENABLED==0){
+      __HAL_RCC_CAN1_CLK_DISABLE();
+    }
+    /**CAN2 GPIO Configuration
+    PB5     ------> CAN2_RX
+    PB6     ------> CAN2_TX
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
+  /* USER CODE BEGIN CAN2_MspDeInit 1 */
+  /* USER CODE END CAN2_MspDeInit 1 */
+  }
+}
+/**
+* @brief SPI MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hspi: SPI handle pointer
+* @retval None
+*/
+void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hspi->Instance==SPI2)
+  {
+  /* USER CODE BEGIN SPI2_MspInit 0 */
+  /* USER CODE END SPI2_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_SPI2_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**SPI2 GPIO Configuration
+    PB13     ------> SPI2_SCK
+    PB14     ------> SPI2_MISO
+    PB15     ------> SPI2_MOSI
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+  /* USER CODE BEGIN SPI2_MspInit 1 */
+  /* USER CODE END SPI2_MspInit 1 */
+  }
+}
+/**
+* @brief SPI MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hspi: SPI handle pointer
+* @retval None
+*/
+void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
+{
+  if(hspi->Instance==SPI2)
+  {
+  /* USER CODE BEGIN SPI2_MspDeInit 0 */
+  /* USER CODE END SPI2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_SPI2_CLK_DISABLE();
+    /**SPI2 GPIO Configuration
+    PB13     ------> SPI2_SCK
+    PB14     ------> SPI2_MISO
+    PB15     ------> SPI2_MOSI
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15);
+  /* USER CODE BEGIN SPI2_MspDeInit 1 */
+  /* USER CODE END SPI2_MspDeInit 1 */
+  }
+}
+/**
+* @brief TIM_Base MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspInit 0 */
+  /* USER CODE END TIM1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM1_CLK_ENABLE();
+  /* USER CODE BEGIN TIM1_MspInit 1 */
+  /* USER CODE END TIM1_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspInit 0 */
+  /* USER CODE END TIM4_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM4_CLK_ENABLE();
+  /* USER CODE BEGIN TIM4_MspInit 1 */
+  /* USER CODE END TIM4_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspInit 0 */
+  /* USER CODE END TIM8_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM8_CLK_ENABLE();
+  /* USER CODE BEGIN TIM8_MspInit 1 */
+  /* USER CODE END TIM8_MspInit 1 */
+  }
+}
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(htim->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspPostInit 0 */
+  /* USER CODE END TIM1_MspPostInit 0 */
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    /**TIM1 GPIO Configuration
+    PE13     ------> TIM1_CH3
+    PE9     ------> TIM1_CH1
+    PE11     ------> TIM1_CH2
+    PE14     ------> TIM1_CH4
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_9|GPIO_PIN_11|GPIO_PIN_14;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+  /* USER CODE BEGIN TIM1_MspPostInit 1 */
+  /* USER CODE END TIM1_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspPostInit 0 */
+  /* USER CODE END TIM4_MspPostInit 0 */
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**TIM4 GPIO Configuration
+    PD14     ------> TIM4_CH3
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_14;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+  /* USER CODE BEGIN TIM4_MspPostInit 1 */
+  /* USER CODE END TIM4_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspPostInit 0 */
+  /* USER CODE END TIM8_MspPostInit 0 */
+    __HAL_RCC_GPIOI_CLK_ENABLE();
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**TIM8 GPIO Configuration
+    PI7     ------> TIM8_CH3
+    PI6     ------> TIM8_CH2
+    PC6     ------> TIM8_CH1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+    HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
+    GPIO_InitStruct.Pin = GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+  /* USER CODE BEGIN TIM8_MspPostInit 1 */
+  /* USER CODE END TIM8_MspPostInit 1 */
+  }
+}
+/**
+* @brief TIM_Base MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspDeInit 0 */
+  /* USER CODE END TIM1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM1_CLK_DISABLE();
+  /* USER CODE BEGIN TIM1_MspDeInit 1 */
+  /* USER CODE END TIM1_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspDeInit 0 */
+  /* USER CODE END TIM4_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM4_CLK_DISABLE();
+  /* USER CODE BEGIN TIM4_MspDeInit 1 */
+  /* USER CODE END TIM4_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspDeInit 0 */
+  /* USER CODE END TIM8_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM8_CLK_DISABLE();
+  /* USER CODE BEGIN TIM8_MspDeInit 1 */
+  /* USER CODE END TIM8_MspDeInit 1 */
+  }
+}
 /**
 * @brief UART MSP Initialization
 * This function configures the hardware resources used in this example
@@ -118,6 +539,54 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
  /* USER CODE END USART1_MspInit 1 */
  }
+  else if(huart->Instance==USART3)
+  {
+  /* USER CODE BEGIN USART3_MspInit 0 */
+  /* USER CODE END USART3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_USART3_CLK_ENABLE();
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**USART3 GPIO Configuration
+    PC11     ------> USART3_RX
+    PC10     ------> USART3_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_10;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+  /* USER CODE BEGIN USART3_MspInit 1 */
+  /* USER CODE END USART3_MspInit 1 */
+  }
+  else if(huart->Instance==USART6)
+  {
+  /* USER CODE BEGIN USART6_MspInit 0 */
+  /* USER CODE END USART6_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_USART6_CLK_ENABLE();
+    __HAL_RCC_GPIOG_CLK_ENABLE();
+    /**USART6 GPIO Configuration
+    PG14     ------> USART6_TX
+    PG9     ------> USART6_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_9;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
+    HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
+  /* USER CODE BEGIN USART6_MspInit 1 */
+  /* USER CODE END USART6_MspInit 1 */
+  }
 }
@@ -149,11 +618,45 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
  /* USER CODE END USART1_MspDeInit 1 */
  }
+  else if(huart->Instance==USART3)
+  {
+  /* USER CODE BEGIN USART3_MspDeInit 0 */
+  /* USER CODE END USART3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART3_CLK_DISABLE();
+    /**USART3 GPIO Configuration
+    PC11     ------> USART3_RX
+    PC10     ------> USART3_TX
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_11|GPIO_PIN_10);
+  /* USER CODE BEGIN USART3_MspDeInit 1 */
+  /* USER CODE END USART3_MspDeInit 1 */
+  }
+  else if(huart->Instance==USART6)
+  {
+  /* USER CODE BEGIN USART6_MspDeInit 0 */
+  /* USER CODE END USART6_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART6_CLK_DISABLE();
+    /**USART6 GPIO Configuration
+    PG14     ------> USART6_TX
+    PG9     ------> USART6_RX
+    */
+    HAL_GPIO_DeInit(GPIOG, GPIO_PIN_14|GPIO_PIN_9);
+  /* USER CODE BEGIN USART6_MspDeInit 1 */
+  /* USER CODE END USART6_MspDeInit 1 */
+  }
 }
 /* USER CODE BEGIN 1 */
 /* USER CODE END 1 */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_it.c
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_it.c
@@ -202,4 +202,3 @@ void SysTick_Handler(void)
 /* USER CODE BEGIN 1 */
 /* USER CODE END 1 */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/system_stm32f4xx.c
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/system_stm32f4xx.c
--- a/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
+++ b/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
@@ -24,15 +24,142 @@ menu "On-chip Peripheral Drivers"
        select RT_USING_SERIAL
        if BSP_USING_UART
            config BSP_USING_UART1
-                bool "Enable UART1"
+                bool "Enable UART1 (FinSH , symbol UART2 on board)"
                default y
            config BSP_UART1_RX_USING_DMA
                bool "Enable UART1 RX DMA"
                depends on BSP_USING_UART1 && RT_SERIAL_USING_DMA
                default n
+            config BSP_USING_UART3
+                bool "Enable UART3 (DBUS)"
+                default n
+            config BSP_UART3_RX_USING_DMA
+                bool "Enable UART3 RX DMA"
+                depends on BSP_USING_UART3 && RT_SERIAL_USING_DMA
+                default n
+            config BSP_USING_UART6
+                bool "Enable UART6"
+                default n
+            config BSP_UART6_RX_USING_DMA
+                bool "Enable UART6 RX DMA"
+                depends on BSP_USING_UART6 && RT_SERIAL_USING_DMA
+                default n
+        endif
+    menuconfig BSP_USING_CAN
+        bool "Enable CAN"
+        default n
+        select RT_USING_CAN
+        if BSP_USING_CAN
+            config BSP_USING_CAN1
+                bool "using CAN1 (2pin)"
+                default n
+            config BSP_USING_CAN2
+                bool "using CAN2 (4pin)"
+                default n
+        endif
+    menuconfig BSP_USING_PWM
+        bool "Enable PWM"
+        default n
+        select RT_USING_PWM
+        if BSP_USING_PWM
+            menuconfig BSP_USING_PWM1
+                bool "Enable timer1 output PWM"
+                default n
+                if BSP_USING_PWM1
+                    config BSP_USING_PWM1_CH1
+                        bool "Enable PWM1 channel1"
+                        default n
+                    config BSP_USING_PWM1_CH2
+                        bool "Enable PWM1 channel2"
+                        default n
+                    config BSP_USING_PWM1_CH3
+                        bool "Enable PWM1 channel3"
+                        default n
+                    config BSP_USING_PWM1_CH4
+                        bool "Enable PWM1 channel4"
+                        default n
+                endif
+            menuconfig BSP_USING_PWM4
+                bool "Enable timer4 output PWM"
+                default n
+                if BSP_USING_PWM4
+                    config BSP_USING_PWM4_CH3
+                        bool "Enable PWM4 channel3 (buzzer)"
+                        default n
+                endif
+            menuconfig BSP_USING_PWM8
+                bool "Enable timer8 output PWM"
+                default n
+                if BSP_USING_PWM8
+                    config BSP_USING_PWM8_CH1
+                        bool "Enable PWM8 channel1"
+                        default n
+                    config BSP_USING_PWM8_CH2
+                        bool "Enable PWM8 channel2"
+                        default n
+                    config BSP_USING_PWM8_CH3
+                        bool "Enable PWM8 channel3"
+                        default n
+                endif
        endif
+    menuconfig BSP_USING_ADC
+        bool "Enable ADC"
+        default n
+        select RT_USING_ADC
+        if BSP_USING_ADC
+            config BSP_USING_ADC3
+                bool "Enable ADC3"
+                default n
+        endif
+    menuconfig BSP_USING_SPI
+        bool "Enable SPI BUS"
+        default n
+        select RT_USING_SPI
+        if BSP_USING_SPI
+            config BSP_USING_SPI2
+                bool "Enable SPI2 BUS"
+                default n  
+            config BSP_SPI2_TX_USING_DMA
+                bool "Enable SPI2 TX DMA"
+                depends on BSP_USING_SPI2
+                default n
+            config BSP_SPI2_RX_USING_DMA
+                bool "Enable SPI2 RX DMA"
+                depends on BSP_USING_SPI2
+                select BSP_SPI2_TX_USING_DMA
+                default n
+        endif
+    menuconfig BSP_USING_I2C1
+        bool "Enable I2C1 BUS (software simulation)"
+        default n
+        select RT_USING_I2C
+        select RT_USING_I2C_BITOPS
+        select RT_USING_PIN
+        if BSP_USING_I2C1
+            config BSP_I2C1_SCL_PIN
+                int "i2c1 scl pin number"
+                default 81
+            config BSP_I2C1_SDA_PIN
+                int "I2C1 sda pin number"
+                default 80
+        endif
    source "../libraries/HAL_Drivers/Kconfig"    
 endmenu

--- a/bsp/stm32/stm32f407-robomaster-c/project.uvoptx
+++ b/bsp/stm32/stm32f407-robomaster-c/project.uvoptx
--- a/bsp/stm32/stm32f407-robomaster-c/project.uvproj
+++ b/bsp/stm32/stm32f407-robomaster-c/project.uvproj
@@ -357,9 +357,9 @@
            <useXO>0</useXO>
            <VariousControls>
              <MiscControls />
-              <Define>USE_HAL_DRIVER, STM32F407xx, __RTTHREAD__, RT_USING_ARM_LIBC, __CLK_TCK=RT_TICK_PER_SECOND</Define>
+              <Define>RT_USING_LIBC, USE_HAL_DRIVER, STM32F407xx, __CLK_TCK=RT_TICK_PER_SECOND, __STDC_LIMIT_MACROS, __RTTHREAD__, RT_USING_ARM_LIBC</Define>
              <Undefine />
-              <IncludePath>applications;.;..\..\..\components\libc\compilers\common;..\..\..\components\libc\compilers\common\extension;..\..\..\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;..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Inc;..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Include;..\libraries\STM32F4xx_HAL\CMSIS\Include;..\..\..\components\libc\posix\io\poll;..\..\..\components\libc\posix\io\stdio;..\..\..\components\libc\posix\ipc</IncludePath>
+              <IncludePath>applications;.;..\..\..\components\libc\compilers\common\include;..\..\..\components\libc\compilers\common\extension;..\..\..\components\libc\compilers\common\extension\fcntl\octal;..\..\..\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;..\libraries\HAL_Drivers\CMSIS\Include;..\..\..\components\dfs\include;..\..\..\components\finsh;.;..\..\..\include;..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Inc;..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Include;..\..\..\components\libc\posix\io\poll;..\..\..\components\libc\posix\io\stdio;..\..\..\components\libc\posix\ipc</IncludePath>
            </VariousControls>
          </Cads>
          <Aads>
@@ -427,16 +427,44 @@
          </Files>
          <Files>
            <File>
-              <FileName>time.c</FileName>
+              <FileName>cctype.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\components\libc\compilers\common\time.c</FilePath>
+              <FilePath>..\..\..\components\libc\compilers\common\cctype.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>stdlib.c</FileName>
+              <FileName>cstdio.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\components\libc\compilers\common\stdlib.c</FilePath>
+              <FilePath>..\..\..\components\libc\compilers\common\cstdio.c</FilePath>
+            </File>
+          </Files>
+          <Files>
+            <File>
+              <FileName>cstdlib.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\..\..\components\libc\compilers\common\cstdlib.c</FilePath>
+            </File>
+          </Files>
+          <Files>
+            <File>
+              <FileName>cstring.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\..\..\components\libc\compilers\common\cstring.c</FilePath>
+            </File>
+          </Files>
+          <Files>
+            <File>
+              <FileName>ctime.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\..\..\components\libc\compilers\common\ctime.c</FilePath>
+            </File>
+          </Files>
+          <Files>
+            <File>
+              <FileName>cwchar.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\..\..\components\libc\compilers\common\cwchar.c</FilePath>
            </File>
          </Files>
        </Group>
@@ -444,23 +472,23 @@
          <GroupName>CPU</GroupName>
          <Files>
            <File>
-              <FileName>div0.c</FileName>
+              <FileName>backtrace.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\libcpu\arm\common\div0.c</FilePath>
+              <FilePath>..\..\..\libcpu\arm\common\backtrace.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>showmem.c</FileName>
+              <FileName>div0.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\libcpu\arm\common\showmem.c</FilePath>
+              <FilePath>..\..\..\libcpu\arm\common\div0.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>backtrace.c</FileName>
+              <FileName>showmem.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\libcpu\arm\common\backtrace.c</FilePath>
+              <FilePath>..\..\..\libcpu\arm\common\showmem.c</FilePath>
            </File>
          </Files>
          <Files>
@@ -482,9 +510,9 @@
          <GroupName>DeviceDrivers</GroupName>
          <Files>
            <File>
-              <FileName>waitqueue.c</FileName>
+              <FileName>completion.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\ipc\waitqueue.c</FilePath>
+              <FilePath>..\..\..\components\drivers\ipc\completion.c</FilePath>
            </File>
          </Files>
          <Files>
@@ -496,37 +524,37 @@
          </Files>
          <Files>
            <File>
-              <FileName>ringblk_buf.c</FileName>
+              <FileName>pipe.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\ipc\ringblk_buf.c</FilePath>
+              <FilePath>..\..\..\components\drivers\ipc\pipe.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>completion.c</FileName>
+              <FileName>ringblk_buf.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\ipc\completion.c</FilePath>
+              <FilePath>..\..\..\components\drivers\ipc\ringblk_buf.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>pipe.c</FileName>
+              <FileName>ringbuffer.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\ipc\pipe.c</FilePath>
+              <FilePath>..\..\..\components\drivers\ipc\ringbuffer.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>workqueue.c</FileName>
+              <FileName>waitqueue.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\ipc\workqueue.c</FilePath>
+              <FilePath>..\..\..\components\drivers\ipc\waitqueue.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>ringbuffer.c</FileName>
+              <FileName>workqueue.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\components\drivers\ipc\ringbuffer.c</FilePath>
+              <FilePath>..\..\..\components\drivers\ipc\workqueue.c</FilePath>
            </File>
          </Files>
          <Files>
@@ -546,6 +574,13 @@
        </Group>
        <Group>
          <GroupName>Drivers</GroupName>
+          <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>stm32f4xx_hal_msp.c</FileName>
@@ -555,16 +590,16 @@
          </Files>
          <Files>
            <File>
-              <FileName>startup_stm32f407xx.s</FileName>
+              <FileName>board.c</FileName>
-              <FileType>2</FileType>
+              <FileType>1</FileType>
-              <FilePath>..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f407xx.s</FilePath>
+              <FilePath>board\board.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>board.c</FileName>
+              <FileName>drv_common.c</FileName>
              <FileType>1</FileType>
-              <FilePath>board\board.c</FilePath>
+              <FilePath>..\libraries\HAL_Drivers\drv_common.c</FilePath>
            </File>
          </Files>
          <Files>
@@ -581,11 +616,35 @@
              <FilePath>..\libraries\HAL_Drivers\drv_usart.c</FilePath>
            </File>
          </Files>
+        </Group>
+        <Group>
+          <GroupName>Filesystem</GroupName>
          <Files>
            <File>
-              <FileName>drv_common.c</FileName>
+              <FileName>dfs_posix.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\libraries\HAL_Drivers\drv_common.c</FilePath>
+              <FilePath>..\..\..\components\dfs\src\dfs_posix.c</FilePath>
+            </File>
+          </Files>
+          <Files>
+            <File>
+              <FileName>dfs_fs.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\..\..\components\dfs\src\dfs_fs.c</FilePath>
+            </File>
+          </Files>
+          <Files>
+            <File>
+              <FileName>dfs.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\..\..\components\dfs\src\dfs.c</FilePath>
+            </File>
+          </Files>
+          <Files>
+            <File>
+              <FileName>dfs_file.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\..\..\components\dfs\src\dfs_file.c</FilePath>
            </File>
          </Files>
        </Group>
@@ -605,6 +664,13 @@
              <FilePath>..\..\..\components\finsh\msh.c</FilePath>
            </File>
          </Files>
+          <Files>
+            <File>
+              <FileName>msh_parse.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\..\..\components\finsh\msh_parse.c</FilePath>
+            </File>
+          </Files>
          <Files>
            <File>
              <FileName>cmd.c</FileName>
@@ -612,98 +678,105 @@
              <FilePath>..\..\..\components\finsh\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>Kernel</GroupName>
          <Files>
            <File>
-              <FileName>ipc.c</FileName>
+              <FileName>clock.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\ipc.c</FilePath>
+              <FilePath>..\..\..\src\clock.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>irq.c</FileName>
+              <FileName>components.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\irq.c</FilePath>
+              <FilePath>..\..\..\src\components.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>thread.c</FileName>
+              <FileName>device.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\thread.c</FilePath>
+              <FilePath>..\..\..\src\device.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>kservice.c</FileName>
+              <FileName>idle.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\kservice.c</FilePath>
+              <FilePath>..\..\..\src\idle.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>device.c</FileName>
+              <FileName>ipc.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\device.c</FilePath>
+              <FilePath>..\..\..\src\ipc.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>object.c</FileName>
+              <FileName>irq.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\object.c</FilePath>
+              <FilePath>..\..\..\src\irq.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>timer.c</FileName>
+              <FileName>kservice.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\timer.c</FilePath>
+              <FilePath>..\..\..\src\kservice.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>clock.c</FileName>
+              <FileName>mem.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\clock.c</FilePath>
+              <FilePath>..\..\..\src\mem.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>idle.c</FileName>
+              <FileName>mempool.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\idle.c</FilePath>
+              <FilePath>..\..\..\src\mempool.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>scheduler.c</FileName>
+              <FileName>object.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\scheduler.c</FilePath>
+              <FilePath>..\..\..\src\object.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>mempool.c</FileName>
+              <FileName>scheduler.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\mempool.c</FilePath>
+              <FilePath>..\..\..\src\scheduler.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>components.c</FileName>
+              <FileName>thread.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\components.c</FilePath>
+              <FilePath>..\..\..\src\thread.c</FilePath>
            </File>
          </Files>
          <Files>
            <File>
-              <FileName>mem.c</FileName>
+              <FileName>timer.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\..\..\src\mem.c</FilePath>
+              <FilePath>..\..\..\src\timer.c</FilePath>
            </File>
          </Files>
        </Group>

--- a/bsp/stm32/stm32f407-robomaster-c/project.uvprojx
+++ b/bsp/stm32/stm32f407-robomaster-c/project.uvprojx
--- a/bsp/stm32/stm32f407-robomaster-c/rtconfig.h
+++ b/bsp/stm32/stm32f407-robomaster-c/rtconfig.h
@@ -17,11 +17,14 @@
 #define RT_USING_IDLE_HOOK
 #define RT_IDLE_HOOK_LIST_SIZE 4
 #define IDLE_THREAD_STACK_SIZE 256
+#define RT_USING_TIMER_SOFT
+#define RT_TIMER_THREAD_PRIO 4
+#define RT_TIMER_THREAD_STACK_SIZE 512
 /* kservice optimization */
+#define RT_KSERVICE_USING_STDLIB
 #define RT_DEBUG
-#define RT_DEBUG_COLOR
 /* Inter-Thread communication */
@@ -44,7 +47,7 @@
 #define RT_USING_CONSOLE
 #define RT_CONSOLEBUF_SIZE 128
 #define RT_CONSOLE_DEVICE_NAME "uart1"
-#define RT_VER_NUM 0x40100
+#define RT_VER_NUM 0x40101
 #define ARCH_ARM
 #define RT_USING_CPU_FFS
 #define ARCH_ARM_CORTEX_M
@@ -150,9 +153,6 @@
 /* enhanced kernel services */
-/* POSIX extension functions */
 /* acceleration: Assembly language or algorithmic acceleration packages */
@@ -165,6 +165,9 @@
 /* peripheral libraries and drivers */
+/* Kendryte SDK */
 /* AI packages */