diff --git a/MDK-ARM/RobotMaster_allRobots.uvprojx b/MDK-ARM/RobotMaster_allRobots.uvprojx
index 976a3888d679f6e48fde91322960e68863463cd2..b05b14aa23f999131c35d74bd5843be925112c9d 100644
--- a/MDK-ARM/RobotMaster_allRobots.uvprojx
+++ b/MDK-ARM/RobotMaster_allRobots.uvprojx
@@ -16,7 +16,7 @@
<TargetCommonOption>
<Device>STM32F427IIHx</Device>
<Vendor>STMicroelectronics</Vendor>
- <PackID>Keil.STM32F4xx_DFP.2.14.0</PackID>
+ <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000,0x00030000) IRAM2(0x10000000,0x00010000) IROM(0x08000000,0x00200000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec>
@@ -339,7 +339,7 @@
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F427xx,USE_HAL_DRIVER,STM32F427xx</Define>
<Undefine></Undefine>
- <IncludePath>../Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include; ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy</IncludePath>
+ <IncludePath>../Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include; ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy</IncludePath>
</VariousControls>
</Cads>
<Aads>
diff --git a/RobotMaster_allRobots.ioc b/RobotMaster_allRobots.ioc
index 4ec884be9e2183b46bc1a95f666c43bd66de7c46..4d76fa0649667d83055994d3001bb442a1ea79ab 100644
--- a/RobotMaster_allRobots.ioc
+++ b/RobotMaster_allRobots.ioc
@@ -1,412 +1,412 @@
#MicroXplorer Configuration settings - do not modify
-ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_6
-ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag
-ADC1.NbrOfConversionFlag=1
-ADC1.Rank-0\#ChannelRegularConversion=1
+PF7.GPIOParameters=GPIO_Label
+Dma.USART6_TX.3.MemInc=DMA_MINC_ENABLE
+Dma.USART6_TX.3.PeriphInc=DMA_PINC_DISABLE
+PE11.GPIOParameters=GPIO_Label
+SPI1.VirtualType=VM_MASTER
+TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2
+PG4.Signal=GPIO_Output
+PG8.Signal=GPIO_Output
+PG8.Locked=true
+PG4.Locked=true
+RCC.PLLCLKFreq_Value=168000000
+PG6.GPIO_Label=BOARD_LED_C
+RCC.PLLQCLKFreq_Value=84000000
+PG3.GPIOParameters=GPIO_Label
+RCC.RTCFreq_Value=32000
+PA6.GPIO_Label=OLED_Analog
+PB6.GPIO_Label=ReceiverRC_TX
+PD0.Locked=true
+PG14.GPIOParameters=GPIO_Label
+SH.S_TIM1_CH1.ConfNb=1
+USART1.IPParameters=VirtualMode,BaudRate,Parity,Mode
+PG2.GPIOParameters=GPIO_Label
+PinOutPanel.RotationAngle=0
+PF6.GPIO_Label=JETSON_RX
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
+Dma.UART7_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+Dma.UART7_TX.6.Direction=DMA_MEMORY_TO_PERIPH
+PH5.Signal=GPIO_Output
+PF7.Signal=UART7_TX
+NVIC.CAN1_TX_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+SPI1.Direction=SPI_DIRECTION_1LINE
+RCC.APB2TimFreq_Value=168000000
+PB6.Signal=USART1_TX
+PB6.Mode=Asynchronous
+PH1/OSC_OUT.Signal=RCC_OSC_OUT
+SPI1.CalculateBaudRate=1.3125 MBits/s
+PD0.Signal=CAN1_RX
+Dma.UART8_TX.4.Priority=DMA_PRIORITY_LOW
+PE1.Signal=UART8_TX
+ProjectManager.ProjectBuild=false
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+PB3.Mode=Simplex_Bidirectional_Master
+PD1.GPIOParameters=GPIO_Label
+PD1.GPIO_Label=CAN1_TX
+PG14.Mode=Asynchronous
+PG1.GPIOParameters=GPIO_Label
+ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.25.2
+MxDb.Version=DB.6.0.10
+PE0.GPIOParameters=GPIO_Label
+ProjectManager.BackupPrevious=false
+TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+PG4.GPIO_Label=BOARD_LED_E
+PA8.Signal=S_TIM1_CH1
+PE1.Locked=true
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+ProjectManager.HalAssertFull=false
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
-ADC1.master=1
-CAN1.ABOM=ENABLE
-CAN1.BS1=CAN_BS1_10TQ
-CAN1.BS2=CAN_BS2_4TQ
-CAN1.CalculateBaudRate=933333
+RCC.MCO2PinFreq_Value=168000000
+CAN1.Prescaler=3
+PB9.Signal=GPIO_Output
+Mcu.Package=UFBGA176
+PG5.GPIOParameters=GPIO_Label
+VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+Dma.USART1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.UART8_TX.4.MemInc=DMA_MINC_ENABLE
+PH2.Signal=GPIO_Output
+RCC.APB2CLKDivider=RCC_HCLK_DIV2
+NVIC.DMA2_Stream2_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+PF14.Signal=GPIO_Output
+RCC.APB1TimFreq_Value=84000000
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+TIM1.Period=9999
+PB10.GPIOParameters=GPIO_Label
+NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
CAN1.CalculateTimeBit=1071.42
+ProjectManager.CustomerFirmwarePackage=
+RCC.SAI_AClocksFreq_Value=24500000
+Dma.UART7_RX.5.PeriphInc=DMA_PINC_DISABLE
CAN1.CalculateTimeQuantum=71.42857142857143
-CAN1.IPParameters=CalculateTimeQuantum,Prescaler,BS1,BS2,ABOM,CalculateTimeBit,CalculateBaudRate
-CAN1.Prescaler=3
-Dma.Request0=USART1_RX
-Dma.Request1=USART1_TX
-Dma.Request2=USART6_RX
-Dma.Request3=USART6_TX
-Dma.Request4=UART8_TX
-Dma.Request5=UART7_RX
-Dma.Request6=UART7_TX
-Dma.RequestsNb=7
-Dma.UART7_RX.5.Direction=DMA_PERIPH_TO_MEMORY
-Dma.UART7_RX.5.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.UART7_RX.5.Instance=DMA1_Stream3
Dma.UART7_RX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.UART7_RX.5.MemInc=DMA_MINC_ENABLE
-Dma.UART7_RX.5.Mode=DMA_CIRCULAR
-Dma.UART7_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.UART7_RX.5.PeriphInc=DMA_PINC_DISABLE
-Dma.UART7_RX.5.Priority=DMA_PRIORITY_LOW
-Dma.UART7_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.UART7_TX.6.Direction=DMA_MEMORY_TO_PERIPH
-Dma.UART7_TX.6.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.UART7_TX.6.Instance=DMA1_Stream1
-Dma.UART7_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.UART7_TX.6.MemInc=DMA_MINC_ENABLE
-Dma.UART7_TX.6.Mode=DMA_NORMAL
-Dma.UART7_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+PA6.GPIOParameters=GPIO_Label
+ProjectManager.ProjectFileName=RobotMaster_allRobots.ioc
+NVIC.UART8_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+ADC1.Rank-0\#ChannelRegularConversion=1
+Mcu.PinsNb=36
Dma.UART7_TX.6.PeriphInc=DMA_PINC_DISABLE
-Dma.UART7_TX.6.Priority=DMA_PRIORITY_LOW
-Dma.UART7_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+SH.ADCx_IN6.0=ADC1_IN6,IN6
+ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag
+PG5.Locked=true
+Dma.USART1_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+PG5.Signal=GPIO_Output
+PG9.Signal=USART6_RX
+PG3.Locked=true
+CAN1.IPParameters=CalculateTimeQuantum,Prescaler,BS1,BS2,ABOM,CalculateTimeBit,CalculateBaudRate
+PE1.Mode=Asynchronous
+CAN1.CalculateBaudRate=933333
+PG9.Mode=Asynchronous
+PD1.Signal=CAN1_TX
+RCC.VCOSAIOutputFreq_ValueQ=24500000
+PF14.GPIO_Label=BOARD_LED_GREEN
+NVIC.DMA2_Stream1_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+RCC.APB1CLKDivider=RCC_HCLK_DIV4
+UART8.VirtualMode=Asynchronous
Dma.UART8_TX.4.Direction=DMA_MEMORY_TO_PERIPH
-Dma.UART8_TX.4.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.UART8_TX.4.Instance=DMA1_Stream0
-Dma.UART8_TX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.UART8_TX.4.MemInc=DMA_MINC_ENABLE
-Dma.UART8_TX.4.Mode=DMA_NORMAL
-Dma.UART8_TX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.UART8_TX.4.PeriphInc=DMA_PINC_DISABLE
-Dma.UART8_TX.4.Priority=DMA_PRIORITY_LOW
-Dma.UART8_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.UART7_RX.5.Instance=DMA1_Stream3
+Dma.USART6_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+PH4.Locked=true
Dma.USART1_RX.0.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART1_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART1_RX.0.Instance=DMA2_Stream2
-Dma.USART1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART1_RX.0.MemInc=DMA_MINC_ENABLE
-Dma.USART1_RX.0.Mode=DMA_CIRCULAR
-Dma.USART1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+PA9.Signal=S_TIM1_CH2
+Dma.UART7_RX.5.FIFOMode=DMA_FIFOMODE_DISABLE
+TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+PB9.Locked=true
+Dma.UART7_TX.6.MemInc=DMA_MINC_ENABLE
+NVIC.DMA2_Stream6_IRQn=true\:0\:0\:false\:false\:true\:false\:true
Dma.USART1_RX.0.PeriphInc=DMA_PINC_DISABLE
-Dma.USART1_RX.0.Priority=DMA_PRIORITY_LOW
-Dma.USART1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART1_TX.1.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART1_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART1_TX.1.Instance=DMA2_Stream7
-Dma.USART1_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART1_TX.1.MemInc=DMA_MINC_ENABLE
-Dma.USART1_TX.1.Mode=DMA_NORMAL
-Dma.USART1_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART1_TX.1.PeriphInc=DMA_PINC_DISABLE
-Dma.USART1_TX.1.Priority=DMA_PRIORITY_LOW
-Dma.USART1_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART6_RX.2.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART6_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART6_RX.2.Instance=DMA2_Stream1
-Dma.USART6_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART6_RX.2.MemInc=DMA_MINC_ENABLE
-Dma.USART6_RX.2.Mode=DMA_CIRCULAR
-Dma.USART6_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART6_RX.2.PeriphInc=DMA_PINC_DISABLE
-Dma.USART6_RX.2.Priority=DMA_PRIORITY_LOW
-Dma.USART6_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+PB10.Signal=GPIO_Output
+PG6.GPIOParameters=GPIO_Label
Dma.USART6_TX.3.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART6_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART6_TX.3.Instance=DMA2_Stream6
-Dma.USART6_TX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART6_TX.3.MemInc=DMA_MINC_ENABLE
-Dma.USART6_TX.3.Mode=DMA_NORMAL
-Dma.USART6_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART6_TX.3.PeriphInc=DMA_PINC_DISABLE
-Dma.USART6_TX.3.Priority=DMA_PRIORITY_LOW
-Dma.USART6_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-File.Version=6
-GPIO.groupedBy=Group By Peripherals
-KeepUserPlacement=false
-Mcu.Family=STM32F4
-Mcu.IP0=ADC1
-Mcu.IP1=CAN1
-Mcu.IP10=USART1
-Mcu.IP11=USART6
-Mcu.IP2=DMA
-Mcu.IP3=NVIC
-Mcu.IP4=RCC
-Mcu.IP5=SPI1
-Mcu.IP6=SYS
-Mcu.IP7=TIM1
-Mcu.IP8=UART7
-Mcu.IP9=UART8
-Mcu.IPNb=12
-Mcu.Name=STM32F427I(G-I)Hx
-Mcu.Package=UFBGA176
-Mcu.Pin0=PE1
-Mcu.Pin1=PE0
-Mcu.Pin10=PG9
-Mcu.Pin11=PD1
-Mcu.Pin12=PA9
-Mcu.Pin13=PH2
-Mcu.Pin14=PA8
-Mcu.Pin15=PH0/OSC_IN
-Mcu.Pin16=PH3
-Mcu.Pin17=PH1/OSC_OUT
-Mcu.Pin18=PH4
-Mcu.Pin19=PG8
-Mcu.Pin2=PG14
-Mcu.Pin20=PH5
-Mcu.Pin21=PG7
-Mcu.Pin22=PG6
-Mcu.Pin23=PF7
-Mcu.Pin24=PF6
-Mcu.Pin25=PG5
+Dma.USART1_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+PE1.GPIO_Label=DEBUG_TX
+ProjectManager.LastFirmware=true
+PD1.Mode=CAN_Activate
+Dma.UART8_TX.4.PeriphInc=DMA_PINC_DISABLE
+USART1.Mode=MODE_TX_RX
+Mcu.Pin35=VP_SYS_VS_Systick
+SPI1.Mode=SPI_MODE_MASTER
+PG7.GPIO_Label=BOARD_LED_B
+Dma.UART8_TX.4.FIFOMode=DMA_FIFOMODE_DISABLE
+Mcu.Pin30=PA6
+RCC.EthernetFreq_Value=168000000
+Mcu.Pin33=PF14
+Dma.UART7_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Mcu.Pin34=PB10
+Mcu.Pin31=PE11
+Mcu.Pin32=PA7
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+PA13.Mode=Serial_Wire
+PG14.GPIO_Label=RefereeSystem_Tx
+ProjectManager.FreePins=false
Mcu.Pin26=PG4
Mcu.Pin27=PG3
+RCC.RTCHSEDivFreq_Value=6000000
+Mcu.Pin24=PF6
+ProjectManager.UnderRoot=false
+Mcu.Pin25=PG5
Mcu.Pin28=PG2
Mcu.Pin29=PG1
-Mcu.Pin3=PB3
-Mcu.Pin30=PA6
-Mcu.Pin31=PE11
-Mcu.Pin32=PA7
-Mcu.Pin33=PF14
-Mcu.Pin34=PB10
-Mcu.Pin35=VP_SYS_VS_Systick
-Mcu.Pin4=PA14
-Mcu.Pin5=PA13
+Mcu.Pin22=PG6
+Mcu.Pin23=PF7
+Mcu.Pin20=PH5
+ADC1.master=1
+Mcu.Pin21=PG7
+NVIC.ForceEnableDMAVector=true
+Dma.USART1_TX.1.Mode=DMA_NORMAL
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+USART1.VirtualMode=VM_ASYNC
+ProjectManager.CompilerOptimize=6
+Dma.UART8_TX.4.Instance=DMA1_Stream0
+ProjectManager.HeapSize=0x200
+Mcu.Pin15=PH0/OSC_IN
+Dma.UART7_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+Mcu.Pin16=PH3
+PH5.Locked=true
+Mcu.Pin13=PH2
+UART7.IPParameters=VirtualMode,BaudRate
+Mcu.Pin14=PA8
+Mcu.Pin19=PG8
+PF6.Mode=Asynchronous
+UART7.BaudRate=230400
+ProjectManager.ComputerToolchain=false
+Mcu.Pin17=PH1/OSC_OUT
+Mcu.Pin18=PH4
+NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+Mcu.Pin11=PD1
+Mcu.Pin12=PA9
+PD0.GPIOParameters=GPIO_Label
+Mcu.Pin10=PG9
+PG3.GPIO_Label=BOARD_LED_F
+Dma.USART6_RX.2.PeriphInc=DMA_PINC_DISABLE
+PD1.Locked=true
+PA7.GPIOParameters=GPIO_Label
+PH2.GPIO_Label=BOARD_POWER1_CTRL
+PG7.GPIOParameters=GPIO_Label
+NVIC.CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+Mcu.Family=STM32F4
+ProjectManager.MainLocation=Src
+RCC.CortexFreq_Value=168000000
+PG6.Signal=GPIO_Output
+PG9.GPIOParameters=GPIO_Label
+ProjectManager.KeepUserCode=true
+Mcu.UserName=STM32F427IIHx
+Dma.USART1_TX.1.MemInc=DMA_MINC_ENABLE
+UART8.IPParameters=VirtualMode
+PG2.Signal=GPIO_Output
+PE11.GPIO_Label=BOARD_LED_RED
+USART1.BaudRate=100000
+Dma.USART6_RX.2.Direction=DMA_PERIPH_TO_MEMORY
+PG6.Locked=true
+PG2.Locked=true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART6_UART_Init-USART6-false-HAL-true,8-MX_CAN1_Init-CAN1-false-HAL-true,9-MX_UART8_Init-UART8-false-HAL-true,10-MX_TIM1_Init-TIM1-false-HAL-true,11-MX_UART7_Init-UART7-false-HAL-true
+PD0.GPIO_Label=CAN1_RX
+TIM1.Pulse-PWM\ Generation1\ CH1=1000
+PH5.GPIO_Label=BOARD_POWER4_CTRL
+PG5.GPIO_Label=BOARD_LED_D
+Dma.UART7_TX.6.Instance=DMA1_Stream1
+Dma.USART6_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
+PH5.GPIOParameters=GPIO_Label
+ProjectManager.StackSize=0x400
+Dma.USART6_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+RCC.SAI_BClocksFreq_Value=24500000
+Mcu.IP4=RCC
+RCC.FCLKCortexFreq_Value=168000000
+Mcu.IP5=SPI1
+Mcu.IP2=DMA
+Mcu.IP3=NVIC
+Mcu.IP0=ADC1
+Mcu.IP1=CAN1
+PH4.GPIOParameters=GPIO_Label
+TIM1.Prescaler=167
+Mcu.UserConstants=
+PH3.Locked=true
+Dma.USART6_TX.3.Priority=DMA_PRIORITY_LOW
+Mcu.ThirdPartyNb=0
+PH0/OSC_IN.Mode=HSE-External-Oscillator
+RCC.HCLKFreq_Value=168000000
+Mcu.IPNb=12
+RCC.I2SClocksFreq_Value=192000000
+ProjectManager.PreviousToolchain=
+RCC.VcooutputI2S=192000000
+PG8.GPIOParameters=GPIO_Label
+Dma.USART6_RX.2.Instance=DMA2_Stream1
Mcu.Pin6=PB9
Mcu.Pin7=PB7
Mcu.Pin8=PB6
Mcu.Pin9=PD0
-Mcu.PinsNb=36
-Mcu.ThirdPartyNb=0
-Mcu.UserConstants=
-Mcu.UserName=STM32F427IIHx
-MxCube.Version=6.1.1
-MxDb.Version=DB.6.0.10
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:true\:true
-NVIC.CAN1_TX_IRQn=true\:0\:0\:false\:false\:true\:true\:true
-NVIC.DMA1_Stream0_IRQn=true\:0\:0\:false\:false\:true\:false\:true
-NVIC.DMA1_Stream1_IRQn=true\:0\:0\:false\:false\:true\:false\:true
-NVIC.DMA1_Stream3_IRQn=true\:0\:0\:false\:false\:true\:false\:true
-NVIC.DMA2_Stream1_IRQn=true\:0\:0\:false\:false\:true\:false\:true
-NVIC.DMA2_Stream2_IRQn=true\:0\:0\:false\:false\:true\:false\:true
-NVIC.DMA2_Stream6_IRQn=true\:0\:0\:false\:false\:true\:false\:true
-NVIC.DMA2_Stream7_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+RCC.VCOSAIOutputFreq_Value=98000000
+Dma.UART7_RX.5.MemInc=DMA_MINC_ENABLE
+RCC.AHBFreq_Value=168000000
+Dma.USART1_RX.0.Priority=DMA_PRIORITY_LOW
+Mcu.Pin0=PE1
+Mcu.Pin1=PE0
+GPIO.groupedBy=Group By Peripherals
+Mcu.Pin2=PG14
+Mcu.Pin3=PB3
+Mcu.Pin4=PA14
+Mcu.Pin5=PA13
+ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_6
+RCC.HSE_VALUE=12000000
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.ForceEnableDMAVector=true
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+Mcu.IP10=USART1
NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
-NVIC.UART7_IRQn=true\:0\:0\:false\:false\:true\:true\:true
-NVIC.UART8_IRQn=true\:0\:0\:false\:false\:true\:true\:true
-NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
-NVIC.USART6_IRQn=true\:0\:0\:false\:false\:true\:true\:true
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-PA13.Mode=Serial_Wire
-PA13.Signal=SYS_JTMS-SWDIO
+Mcu.IP11=USART6
+Dma.USART6_RX.2.Priority=DMA_PRIORITY_LOW
+PF7.GPIO_Label=JETSON_TX
+RCC.VCOInputFreq_Value=2000000
PA14.Mode=Serial_Wire
-PA14.Signal=SYS_JTCK-SWCLK
-PA6.GPIOParameters=GPIO_Label
-PA6.GPIO_Label=OLED_Analog
-PA6.Locked=true
-PA6.Signal=ADCx_IN6
-PA7.GPIOParameters=GPIO_Label
-PA7.GPIO_Label=OLED_MOSI
-PA7.Locked=true
-PA7.Mode=Simplex_Bidirectional_Master
-PA7.Signal=SPI1_MOSI
-PA8.Signal=S_TIM1_CH1
-PA9.Signal=S_TIM1_CH2
-PB10.GPIOParameters=GPIO_Label
-PB10.GPIO_Label=OLED_RST
-PB10.Locked=true
-PB10.Signal=GPIO_Output
+File.Version=6
PB3.GPIOParameters=GPIO_Label
-PB3.GPIO_Label=OLED_SCK
-PB3.Locked=true
-PB3.Mode=Simplex_Bidirectional_Master
-PB3.Signal=SPI1_SCK
+PH3.GPIOParameters=GPIO_Label
+PB7.Signal=USART1_RX
+SH.ADCx_IN6.ConfNb=1
+Dma.USART1_RX.0.MemInc=DMA_MINC_ENABLE
+PH1/OSC_OUT.Mode=HSE-External-Oscillator
+Dma.RequestsNb=7
PB6.GPIOParameters=GPIO_Label
-PB6.GPIO_Label=ReceiverRC_TX
-PB6.Mode=Asynchronous
-PB6.Signal=USART1_TX
-PB7.GPIOParameters=GPIO_Label
+Dma.USART1_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+ProjectManager.ProjectName=RobotMaster_allRobots
+Dma.UART7_TX.6.Priority=DMA_PRIORITY_LOW
+Dma.UART7_TX.6.Mode=DMA_NORMAL
PB7.GPIO_Label=ReceiverRC_RX
-PB7.Mode=Asynchronous
-PB7.Signal=USART1_RX
-PB9.GPIOParameters=GPIO_Label
-PB9.GPIO_Label=OLED_DC
-PB9.Locked=true
-PB9.Signal=GPIO_Output
-PD0.GPIOParameters=GPIO_Label
-PD0.GPIO_Label=CAN1_RX
-PD0.Locked=true
-PD0.Mode=CAN_Activate
-PD0.Signal=CAN1_RX
-PD1.GPIOParameters=GPIO_Label
-PD1.GPIO_Label=CAN1_TX
-PD1.Locked=true
-PD1.Mode=CAN_Activate
-PD1.Signal=CAN1_TX
-PE0.GPIOParameters=GPIO_Label
+PA6.Signal=ADCx_IN6
+NVIC.DMA2_Stream7_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+PA7.Locked=true
+TIM1.Pulse-PWM\ Generation2\ CH2=1000
+USART6.VirtualMode=VM_ASYNC
+ProjectManager.ToolChainLocation=
+RCC.LSI_VALUE=32000
+Dma.UART7_TX.6.FIFOMode=DMA_FIFOMODE_DISABLE
PE0.GPIO_Label=DEBUG_RX
-PE0.Locked=true
-PE0.Mode=Asynchronous
-PE0.Signal=UART8_RX
-PE1.GPIOParameters=GPIO_Label
-PE1.GPIO_Label=DEBUG_TX
-PE1.Locked=true
-PE1.Mode=Asynchronous
-PE1.Signal=UART8_TX
-PE11.GPIOParameters=GPIO_Label
-PE11.GPIO_Label=BOARD_LED_RED
-PE11.Locked=true
-PE11.Signal=GPIO_Output
-PF14.GPIOParameters=GPIO_Label
-PF14.GPIO_Label=BOARD_LED_GREEN
-PF14.Locked=true
-PF14.Signal=GPIO_Output
-PF6.GPIOParameters=GPIO_Label
-PF6.GPIO_Label=JETSON_RX
-PF6.Mode=Asynchronous
-PF6.Signal=UART7_RX
-PF7.GPIOParameters=GPIO_Label
-PF7.GPIO_Label=JETSON_TX
-PF7.Mode=Asynchronous
-PF7.Signal=UART7_TX
-PG1.GPIOParameters=GPIO_Label
-PG1.GPIO_Label=BOARD_LED_H
-PG1.Locked=true
-PG1.Signal=GPIO_Output
-PG14.GPIOParameters=GPIO_Label
-PG14.GPIO_Label=RefereeSystem_Tx
-PG14.Mode=Asynchronous
-PG14.Signal=USART6_TX
-PG2.GPIOParameters=GPIO_Label
+Dma.UART8_TX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+PH3.GPIO_Label=BOARD_POWER2_CTRL
+Dma.USART1_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART6_TX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.Request2=USART6_RX
+Dma.Request1=USART1_TX
+Dma.Request4=UART8_TX
+Dma.Request3=USART6_TX
+Dma.Request6=UART7_TX
+Dma.USART1_RX.0.Mode=DMA_CIRCULAR
+Dma.Request5=UART7_RX
+Dma.USART1_TX.1.Priority=DMA_PRIORITY_LOW
+NVIC.DMA1_Stream0_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+Dma.Request0=USART1_RX
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
+Dma.USART1_RX.0.Instance=DMA2_Stream2
+PB3.Locked=true
PG2.GPIO_Label=BOARD_LED_G
-PG2.Locked=true
-PG2.Signal=GPIO_Output
-PG3.GPIOParameters=GPIO_Label
-PG3.GPIO_Label=BOARD_LED_F
-PG3.Locked=true
-PG3.Signal=GPIO_Output
-PG4.GPIOParameters=GPIO_Label
-PG4.GPIO_Label=BOARD_LED_E
-PG4.Locked=true
-PG4.Signal=GPIO_Output
-PG5.GPIOParameters=GPIO_Label
-PG5.GPIO_Label=BOARD_LED_D
-PG5.Locked=true
-PG5.Signal=GPIO_Output
-PG6.GPIOParameters=GPIO_Label
-PG6.GPIO_Label=BOARD_LED_C
-PG6.Locked=true
-PG6.Signal=GPIO_Output
-PG7.GPIOParameters=GPIO_Label
-PG7.GPIO_Label=BOARD_LED_B
+Dma.USART1_TX.1.Direction=DMA_MEMORY_TO_PERIPH
+PB3.GPIO_Label=OLED_SCK
+RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
+Dma.USART1_TX.1.Instance=DMA2_Stream7
PG7.Locked=true
PG7.Signal=GPIO_Output
-PG8.GPIOParameters=GPIO_Label
+PA7.Mode=Simplex_Bidirectional_Master
+Dma.USART1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+PB9.GPIO_Label=OLED_DC
+ProjectManager.NoMain=false
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
+PG3.Signal=GPIO_Output
+USART6.IPParameters=VirtualMode
+PG1.Signal=GPIO_Output
+PG1.Locked=true
+Dma.UART7_RX.5.Priority=DMA_PRIORITY_LOW
+ProjectManager.DefaultFWLocation=true
+NVIC.DMA1_Stream1_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+ProjectManager.DeletePrevious=true
+UART7.VirtualMode=Asynchronous
+PB10.Locked=true
+Dma.USART6_TX.3.Mode=DMA_NORMAL
+PinOutPanel.CurrentBGAView=Top
+RCC.FamilyName=M
+NVIC.USART6_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+PB9.GPIOParameters=GPIO_Label
PG8.GPIO_Label=BOARD_LED_A
-PG8.Locked=true
-PG8.Signal=GPIO_Output
-PG9.GPIOParameters=GPIO_Label
-PG9.GPIO_Label=RefereeSystem_Rx
-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
+PA13.Signal=SYS_JTMS-SWDIO
+PF7.Mode=Asynchronous
+Dma.UART7_RX.5.Mode=DMA_CIRCULAR
+SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
+PH4.Signal=GPIO_Output
+CAN1.BS2=CAN_BS2_4TQ
+PF6.Signal=UART7_RX
+CAN1.BS1=CAN_BS1_10TQ
+ProjectManager.TargetToolchain=MDK-ARM V5.27
+PB10.GPIO_Label=OLED_RST
+Dma.USART6_RX.2.MemInc=DMA_MINC_ENABLE
+PB7.GPIOParameters=GPIO_Label
+USART1.Parity=PARITY_EVEN
+RCC.VcooutputI2SQ=192000000
+Dma.USART6_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+ProjectManager.RegisterCallBack=
+PE0.Locked=true
+Dma.USART1_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
PH2.GPIOParameters=GPIO_Label
-PH2.GPIO_Label=BOARD_POWER1_CTRL
-PH2.Locked=true
-PH2.Signal=GPIO_Output
-PH3.GPIOParameters=GPIO_Label
-PH3.GPIO_Label=BOARD_POWER2_CTRL
-PH3.Locked=true
-PH3.Signal=GPIO_Output
-PH4.GPIOParameters=GPIO_Label
+PE11.Signal=GPIO_Output
+RCC.LSE_VALUE=32768
+SH.S_TIM1_CH2.ConfNb=1
+CAN1.ABOM=ENABLE
+RCC.VCOI2SOutputFreq_Value=384000000
+PG9.GPIO_Label=RefereeSystem_Rx
+PG14.Signal=USART6_TX
+board=custom
+RCC.VCOOutputFreq_Value=336000000
+PG1.GPIO_Label=BOARD_LED_H
+PF14.GPIOParameters=GPIO_Label
+Dma.USART6_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART6_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
PH4.GPIO_Label=BOARD_POWER3_CTRL
-PH4.Locked=true
-PH4.Signal=GPIO_Output
-PH5.GPIOParameters=GPIO_Label
-PH5.GPIO_Label=BOARD_POWER4_CTRL
-PH5.Locked=true
-PH5.Signal=GPIO_Output
-PinOutPanel.CurrentBGAView=Top
-PinOutPanel.RotationAngle=0
+Dma.USART6_RX.2.Mode=DMA_CIRCULAR
+PH0/OSC_IN.Signal=RCC_OSC_IN
+RCC.APB2Freq_Value=84000000
+MxCube.Version=6.1.1
+PG4.GPIOParameters=GPIO_Label
+SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
+Dma.UART8_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+VP_SYS_VS_Systick.Mode=SysTick
+Dma.USART1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+PF14.Locked=true
+RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SAI_AClocksFreq_Value,SAI_BClocksFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAIOutputFreq_Value,VCOSAIOutputFreq_ValueQ,VcooutputI2S,VcooutputI2SQ
+PE11.Locked=true
ProjectManager.AskForMigrate=true
-ProjectManager.BackupPrevious=false
-ProjectManager.CompilerOptimize=6
-ProjectManager.ComputerToolchain=false
+PE0.Signal=UART8_RX
+Mcu.Name=STM32F427I(G-I)Hx
+PD0.Mode=CAN_Activate
+Mcu.IP8=UART7
+Mcu.IP9=UART8
+Dma.UART8_TX.4.Mode=DMA_NORMAL
+Mcu.IP6=SYS
+Mcu.IP7=TIM1
ProjectManager.CoupleFile=true
-ProjectManager.CustomerFirmwarePackage=
-ProjectManager.DefaultFWLocation=true
-ProjectManager.DeletePrevious=true
-ProjectManager.DeviceId=STM32F427IIHx
-ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.25.2
-ProjectManager.FreePins=false
-ProjectManager.HalAssertFull=false
-ProjectManager.HeapSize=0x200
-ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=true
-ProjectManager.LibraryCopy=1
-ProjectManager.MainLocation=Src
-ProjectManager.NoMain=false
-ProjectManager.PreviousToolchain=
-ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=RobotMaster_allRobots.ioc
-ProjectManager.ProjectName=RobotMaster_allRobots
-ProjectManager.RegisterCallBack=
-ProjectManager.StackSize=0x400
-ProjectManager.TargetToolchain=MDK-ARM V5.27
-ProjectManager.ToolChainLocation=
-ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART6_UART_Init-USART6-false-HAL-true,8-MX_CAN1_Init-CAN1-false-HAL-true,9-MX_UART8_Init-UART8-false-HAL-true,10-MX_TIM1_Init-TIM1-false-HAL-true,11-MX_UART7_Init-UART7-false-HAL-true
RCC.48MHZClocksFreq_Value=84000000
-RCC.AHBFreq_Value=168000000
-RCC.APB1CLKDivider=RCC_HCLK_DIV4
-RCC.APB1Freq_Value=42000000
-RCC.APB1TimFreq_Value=84000000
-RCC.APB2CLKDivider=RCC_HCLK_DIV2
-RCC.APB2Freq_Value=84000000
-RCC.APB2TimFreq_Value=168000000
-RCC.CortexFreq_Value=168000000
-RCC.EthernetFreq_Value=168000000
-RCC.FCLKCortexFreq_Value=168000000
-RCC.FamilyName=M
-RCC.HCLKFreq_Value=168000000
-RCC.HSE_VALUE=12000000
+PB3.Signal=SPI1_SCK
+RCC.SYSCLKFreq_VALUE=168000000
+PA7.GPIO_Label=OLED_MOSI
+KeepUserPlacement=false
+Dma.UART8_TX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
+PB7.Mode=Asynchronous
+Dma.UART7_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+PA14.Signal=SYS_JTCK-SWCLK
+Dma.USART1_TX.1.PeriphInc=DMA_PINC_DISABLE
+PF6.GPIOParameters=GPIO_Label
+Dma.USART6_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART6_TX.3.Instance=DMA2_Stream6
RCC.HSI_VALUE=16000000
-RCC.I2SClocksFreq_Value=192000000
-RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SAI_AClocksFreq_Value,SAI_BClocksFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAIOutputFreq_Value,VCOSAIOutputFreq_ValueQ,VcooutputI2S,VcooutputI2SQ
-RCC.LSE_VALUE=32768
-RCC.LSI_VALUE=32000
-RCC.MCO2PinFreq_Value=168000000
-RCC.PLLCLKFreq_Value=168000000
+PH2.Locked=true
+ADC1.NbrOfConversionFlag=1
+PH3.Signal=GPIO_Output
+Dma.UART7_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
RCC.PLLM=6
RCC.PLLN=168
-RCC.PLLQCLKFreq_Value=84000000
-RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
-RCC.RTCFreq_Value=32000
-RCC.RTCHSEDivFreq_Value=6000000
-RCC.SAI_AClocksFreq_Value=24500000
-RCC.SAI_BClocksFreq_Value=24500000
-RCC.SYSCLKFreq_VALUE=168000000
-RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.VCOI2SOutputFreq_Value=384000000
-RCC.VCOInputFreq_Value=2000000
-RCC.VCOOutputFreq_Value=336000000
-RCC.VCOSAIOutputFreq_Value=98000000
-RCC.VCOSAIOutputFreq_ValueQ=24500000
-RCC.VcooutputI2S=192000000
-RCC.VcooutputI2SQ=192000000
-SH.ADCx_IN6.0=ADC1_IN6,IN6
-SH.ADCx_IN6.ConfNb=1
-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
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
-SPI1.CalculateBaudRate=1.3125 MBits/s
-SPI1.Direction=SPI_DIRECTION_1LINE
-SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
-SPI1.Mode=SPI_MODE_MASTER
-SPI1.VirtualType=VM_MASTER
-TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
-TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
-TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2
-TIM1.Period=9999
-TIM1.Prescaler=167
-TIM1.Pulse-PWM\ Generation1\ CH1=1000
-TIM1.Pulse-PWM\ Generation2\ CH2=1000
-UART7.BaudRate=230400
-UART7.IPParameters=VirtualMode,BaudRate
-UART7.VirtualMode=Asynchronous
-UART8.IPParameters=VirtualMode
-UART8.VirtualMode=Asynchronous
-USART1.BaudRate=100000
-USART1.IPParameters=VirtualMode,BaudRate,Parity,Mode
-USART1.Mode=MODE_TX_RX
-USART1.Parity=PARITY_EVEN
-USART1.VirtualMode=VM_ASYNC
-USART6.IPParameters=VirtualMode
-USART6.VirtualMode=VM_ASYNC
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
-board=custom
+NVIC.DMA1_Stream3_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+Dma.UART7_RX.5.Direction=DMA_PERIPH_TO_MEMORY
+RCC.APB1Freq_Value=42000000
+ProjectManager.DeviceId=STM32F427IIHx
+PE0.Mode=Asynchronous
+ProjectManager.LibraryCopy=1
+PE1.GPIOParameters=GPIO_Label
+PA7.Signal=SPI1_MOSI
+NVIC.UART7_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+PA6.Locked=true