diff --git a/.mxproject b/.mxproject
index 14a0dcf..66d9b57 100644
--- a/.mxproject
+++ b/.mxproject
@@ -2,7 +2,7 @@
 LibFiles=Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_can.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h;Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h;Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h;Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h;Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h;Middlewares/Third_Party/FreeRTOS/Source/include/list.h;Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h;Middlewares/Third_Party/FreeRTOS/Source/include/portable.h;Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h;Middlewares/Third_Party/FreeRTOS/Source/include/queue.h;Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h;Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h;Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h;Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/task.h;Middlewares/Third_Party/FreeRTOS/Source/include/timers.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h;Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_can.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h;Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h;Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h;Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h;Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h;Middlewares/Third_Party/FreeRTOS/Source/include/list.h;Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h;Middlewares/Third_Party/FreeRTOS/Source/include/portable.h;Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h;Middlewares/Third_Party/FreeRTOS/Source/include/queue.h;Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h;Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h;Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h;Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/task.h;Middlewares/Third_Party/FreeRTOS/Source/include/timers.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h;Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.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=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core\Src\can.c;..\Core\Src\dma.c;..\Core\Src\usart.c;..\Core\Src\stm32f1xx_it.c;..\Core\Src\stm32f1xx_hal_msp.c;..\Core\Src\stm32f1xx_hal_timebase_tim.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;..\Middlewares/Third_Party/FreeRTOS/Source/croutine.c;..\Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;..\Middlewares/Third_Party/FreeRTOS/Source/list.c;..\Middlewares/Third_Party/FreeRTOS/Source/queue.c;..\Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;..\Middlewares/Third_Party/FreeRTOS/Source/tasks.c;..\Middlewares/Third_Party/FreeRTOS/Source/timers.c;..\Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c;..\Core\Src/system_stm32f1xx.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;..\Middlewares/Third_Party/FreeRTOS/Source/croutine.c;..\Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;..\Middlewares/Third_Party/FreeRTOS/Source/list.c;..\Middlewares/Third_Party/FreeRTOS/Source/queue.c;..\Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;..\Middlewares/Third_Party/FreeRTOS/Source/tasks.c;..\Middlewares/Third_Party/FreeRTOS/Source/timers.c;..\Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c;..\Core\Src/system_stm32f1xx.c;..\Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;;..\Middlewares/Third_Party/FreeRTOS/Source/croutine.c;..\Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;..\Middlewares/Third_Party/FreeRTOS/Source/list.c;..\Middlewares/Third_Party/FreeRTOS/Source/queue.c;..\Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;..\Middlewares/Third_Party/FreeRTOS/Source/tasks.c;..\Middlewares/Third_Party/FreeRTOS/Source/timers.c;..\Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c;
+SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core\Src\can.c;..\Core\Src\dma.c;..\Core\Src\usart.c;..\Core\Src\stm32f1xx_it.c;..\Core\Src\stm32f1xx_hal_msp.c;..\Core\Src\stm32f1xx_hal_timebase_tim.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;..\Middlewares/Third_Party/FreeRTOS/Source/croutine.c;..\Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;..\Middlewares/Third_Party/FreeRTOS/Source/list.c;..\Middlewares/Third_Party/FreeRTOS/Source/queue.c;..\Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;..\Middlewares/Third_Party/FreeRTOS/Source/tasks.c;..\Middlewares/Third_Party/FreeRTOS/Source/timers.c;..\Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c;..\Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;..\Core\Src/system_stm32f1xx.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;..\Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;..\Middlewares/Third_Party/FreeRTOS/Source/croutine.c;..\Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;..\Middlewares/Third_Party/FreeRTOS/Source/list.c;..\Middlewares/Third_Party/FreeRTOS/Source/queue.c;..\Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;..\Middlewares/Third_Party/FreeRTOS/Source/tasks.c;..\Middlewares/Third_Party/FreeRTOS/Source/timers.c;..\Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c;..\Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;..\Core\Src/system_stm32f1xx.c;;;..\Middlewares/Third_Party/FreeRTOS/Source/croutine.c;..\Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;..\Middlewares/Third_Party/FreeRTOS/Source/list.c;..\Middlewares/Third_Party/FreeRTOS/Source/queue.c;..\Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;..\Middlewares/Third_Party/FreeRTOS/Source/tasks.c;..\Middlewares/Third_Party/FreeRTOS/Source/timers.c;..\Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;..\Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c;
 HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Middlewares\Third_Party\FreeRTOS\Source\include;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM3;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc;
 CDefines=USE_HAL_DRIVER;STM32F103xB;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 880635e..1638adb 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -6,13 +6,16 @@
                 "databaseFilename": "${workspaceRoot}/.vscode/.browse.c_cpp.db",
                 "limitSymbolsToIncludedHeaders": true,
                 "path": [
-                    "C://keil_v5/ARM/ARMCC/**", //这里修改为相应的keil5文件目录      
-                    "${workspaceRoot}/**"
+                    "C://keil_v5/ARM/ARMCC/**", //这里修改为相应的keil5文件目录
+                    "${workspaceFolder}/**",
+                    "${workspaceFolder}/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"
                 ]
             },
             "includePath": [
                 "C://keil_v5/ARM/ARMCC/**", //这里修改为相应的keil5文件目
-                "${workspaceRoot}/**"
+                "${workspaceFolder}/**",
+                "${workspaceFolder}/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2",
+                "${workspaceFolder}/Middlewares/Third_Party/FreeRTOS/Source/include"
             ],
             "defines": [
                 "_DEBUG",
@@ -23,10 +26,10 @@
                 "STM32F103xB"
             ],
             // "compilerPath": "C:\\Program Files\\LLVM\\bin\\clang-format.exe",
-           // "cStandard": "c11",
-           // "cppStandard": "c++17",
+            // "cStandard": "c11",
+            // "cppStandard": "c++17",
             "intelliSenseMode": "msvc-x64"
-           // "intelliSenseMode": "clang-x64"
+            // "intelliSenseMode": "clang-x64"
         }
     ],
     "version": 4
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 3413b58..948ba6b 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,21 +1,21 @@
 {
     "workbench.colorCustomizations": {
-        "activityBar.activeBackground": "#c8ca8e",
-        "activityBar.activeBorder": "#479598",
-        "activityBar.background": "#c8ca8e",
+        "activityBar.activeBackground": "#f8bfcd",
+        "activityBar.activeBorder": "#2f9010",
+        "activityBar.background": "#f8bfcd",
         "activityBar.foreground": "#15202b",
         "activityBar.inactiveForeground": "#15202b99",
-        "activityBarBadge.background": "#479598",
+        "activityBarBadge.background": "#2f9010",
         "activityBarBadge.foreground": "#e7e7e7",
-        "statusBar.background": "#b7ba6b",
+        "statusBar.background": "#f391a9",
         "statusBar.foreground": "#15202b",
-        "statusBarItem.hoverBackground": "#a2a54d",
-        "titleBar.activeBackground": "#b7ba6b",
+        "statusBarItem.hoverBackground": "#ee6385",
+        "titleBar.activeBackground": "#f391a9",
         "titleBar.activeForeground": "#15202b",
-        "titleBar.inactiveBackground": "#b7ba6b99",
+        "titleBar.inactiveBackground": "#f391a999",
         "titleBar.inactiveForeground": "#15202b99"
     },
-    "peacock.color": "#b7ba6b",
+    "peacock.color": "#f391a9",
     "files.associations": {
         "*.dat": "makefile",
         "*.c": "c",
@@ -35,6 +35,7 @@
         "stm32f1xx_hal.h": "c",
         "node_measurement.h": "c",
         "stdarg.h": "c",
-        "insifhtica_qoar1271.h": "c"
+        "insifhtica_qoar1271.h": "c",
+        "node_proximity.h": "c"
     }
 }
\ No newline at end of file
diff --git a/App/freertos_action.c b/App/freertos_action.c
index 178eed7..0c09065 100644
--- a/App/freertos_action.c
+++ b/App/freertos_action.c
@@ -1,7 +1,7 @@
 /*
  * @Author: your name
  * @Date: 2021-06-26 15:37:21
- * @LastEditTime: 2021-07-14 16:42:56
+ * @LastEditTime: 2021-07-15 08:36:21
  * @LastEditors: Please set LastEditors
  * @Description: In User Settings Edit
  * @FilePath: \warter_rader\App\freertos_action.c
@@ -61,6 +61,7 @@ void task_uavcan_send_action(void)
     uavcan_send_data_t data = {0};
     float depth_data=0.0f;
     osStatus_t status;
+
     for(;;)
     {
         if (uavcan_send_queueHandle != NULL)
@@ -79,6 +80,7 @@ void task_default_action(void)
 {
     init_allocation();
     uint32_t last_send_node_status_tick =0; 
+    uint32_t last_send_proximity_tick =0;
     /* Infinite loop */
     for (;;)
     {
@@ -94,6 +96,23 @@ void task_default_action(void)
                 osMessageQueuePut(uavcan_send_queueHandle,&send_data,0,10);
             }
         }
+
+//        if (last_send_proximity_tick + 200 < HAL_GetTick())
+//        {
+//            last_send_proximity_tick = HAL_GetTick();
+//            if (uavcan_send_queueHandle != NULL)
+//            {
+//                uavcan_send_data_t send_data = {0};
+//                send_data.id = ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_ID;
+//                uavcan_proximity_t data = {0};
+//                data.d0 = 200;
+//                data.d45 = 300;
+//                data.d315 = 400;
+//                data.d135 = 500;
+//                memcpy(&send_data.content.node_state, &data, sizeof(uavcan_node_status_t));
+//                osMessageQueuePut(uavcan_send_queueHandle, &send_data, 0, 10);
+//            }
+//        }
         osDelay(200);
     }
 }
\ No newline at end of file
diff --git a/BSP/insifhtica_QOAR1271.c b/BSP/insifhtica_QOAR1271.c
index 37c4a74..fa43499 100644
--- a/BSP/insifhtica_QOAR1271.c
+++ b/BSP/insifhtica_QOAR1271.c
@@ -20,7 +20,7 @@ void parse_ar1271_data(usart_data_t *usart_data)
 
         if (buffer_count == 2) //判断帧头2 应为前一句已经++ 故2
         {
-            if (c !='H')
+            if (c != 'H')
             {
                 buffer_count = 0;
             }
@@ -34,26 +34,22 @@ void parse_ar1271_data(usart_data_t *usart_data)
             {
                 if (usart_data->usart_instance == 1)
                 {
-                    // proximity_t proximity = {0};
-                    // proximity.d0 = uint16_value(buffer[2], buffer[3]);
-                    // proximity.d315 = uint16_value(buffer[4], buffer[5]);
-                    // proximity.d45 = uint16_value(buffer[16], buffer[17]);
-
                     uavcan_send_data_t msg = {0};
                     if (uavcan_send_queueHandle != NULL)
                     {
-                        msg.id = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_ID;
-                        uavcan_measurement_t m_data = {0};
-                        m_data.timestamp.usec = HAL_GetTick() * 1000;
-                        m_data.range = uint16_value(buffer[2], buffer[3]) / 1000.0f;
-                        m_data.sensor_id = RANGE_FINDER_ID;
-                        m_data.sensor_type = SENSOR_TYPE_SONAR;
-                        m_data.reading_type = READING_TYPE_VALID_RANGE;
-                        memcpy(&msg.content.measurement_msg, &m_data, sizeof(uavcan_measurement_t));
+                        msg.id = ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_ID;
+
+                        uavcan_proximity_t data = {0};
+                        data.sensor_type = SENSOR_TYPE_RADAR;
+    
+                        data.d0 = uint16_value(buffer[2], buffer[3]);
+                        data.d45 = uint16_value(buffer[4], buffer[5]);
+                        data.d315 = uint16_value(buffer[16], buffer[17]);
+                        memcpy(&msg.content.proximity, &data, sizeof(uavcan_proximity_t));
                         osMessageQueuePut(uavcan_send_queueHandle, &msg, NULL, 10U);
                     }
                 }
-                //TODO action send_data;              
+                //TODO action send_data;
             }
         }
     }
@@ -86,19 +82,20 @@ static const uint8_t crc8_table[] = {
 
 uint8_t crc_crc8(const uint8_t *p, uint8_t len)
 {
-	uint16_t crc = 0x0;
+    uint16_t crc = 0x0;
 
-	while (len--) {
-		const uint16_t i = (crc ^ *p++) & 0xFF;
-		crc = (crc8_table[i] ^ (crc << 8)) & 0xFF;
-	}
+    while (len--)
+    {
+        const uint16_t i = (crc ^ *p++) & 0xFF;
+        crc = (crc8_table[i] ^ (crc << 8)) & 0xFF;
+    }
 
-	return crc & 0xFF;
+    return crc & 0xFF;
 }
 
-uint16_t uint16_value(uint8_t h_byte,uint8_t l_byte)
+uint16_t uint16_value(uint8_t h_byte, uint8_t l_byte)
 {
-    return (uint16_t)(h_byte<<8)|l_byte;
+    return (uint16_t)(h_byte << 8) | l_byte;
 }
 
 void request_QOAR1271_data(void)
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 7c5b360..9840101 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -60,7 +60,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)8192)
+#define configTOTAL_HEAP_SIZE                    ((size_t)11264)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 70ee47c..cf3f376 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -52,7 +52,7 @@
 osThreadId_t DefaultTaskHandle;
 const osThreadAttr_t DefaultTask_attributes = {
   .name = "DefaultTask",
-  .stack_size = 128 * 4,
+  .stack_size = 256 * 4,
   .priority = (osPriority_t) osPriorityNormal,
 };
 /* Definitions for UavcanRevTask */
@@ -66,14 +66,14 @@ const osThreadAttr_t UavcanRevTask_attributes = {
 osThreadId_t UsartSendTaskHandle;
 const osThreadAttr_t UsartSendTask_attributes = {
   .name = "UsartSendTask",
-  .stack_size = 256 * 4,
+  .stack_size = 128 * 4,
   .priority = (osPriority_t) osPriorityBelowNormal2,
 };
 /* Definitions for UavcanSendTask */
 osThreadId_t UavcanSendTaskHandle;
 const osThreadAttr_t UavcanSendTask_attributes = {
   .name = "UavcanSendTask",
-  .stack_size = 256 * 4,
+  .stack_size = 512 * 4,
   .priority = (osPriority_t) osPriorityAboveNormal4,
 };
 /* Definitions for UsartRevTask */
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 29315bb..d32268e 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -158,7 +158,7 @@ void SystemClock_Config(void)
 
 /* USER CODE END 4 */
 
- /**
+/**
   * @brief  Period elapsed callback in non blocking mode
   * @note   This function is called  when TIM2 interrupt took place, inside
   * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
diff --git a/Core/Src/stm32f1xx_hal_timebase_tim.c b/Core/Src/stm32f1xx_hal_timebase_tim.c
index cab6203..a02236c 100644
--- a/Core/Src/stm32f1xx_hal_timebase_tim.c
+++ b/Core/Src/stm32f1xx_hal_timebase_tim.c
@@ -50,6 +50,7 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 
   /* Enable the TIM2 global Interrupt */
   HAL_NVIC_EnableIRQ(TIM2_IRQn);
+
   /* Enable TIM2 clock */
   __HAL_RCC_TIM2_CLK_ENABLE();
 
@@ -74,6 +75,7 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
   htim2.Init.Prescaler = uwPrescalerValue;
   htim2.Init.ClockDivision = 0;
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+
   if(HAL_TIM_Base_Init(&htim2) == HAL_OK)
   {
     /* Start the TIM time Base generation in interrupt mode */
diff --git a/MDK-ARM/WaterLidar.uvoptx b/MDK-ARM/WaterLidar.uvoptx
index 2c74176..33a59f5 100644
--- a/MDK-ARM/WaterLidar.uvoptx
+++ b/MDK-ARM/WaterLidar.uvoptx
@@ -26,7 +26,7 @@
     <ToolsetNumber>0x4</ToolsetNumber>
     <ToolsetName>ARM-ADS</ToolsetName>
     <TargetOption>
-      <CLKADS>72000000</CLKADS>
+      <CLKADS>16000000</CLKADS>
       <OPTTT>
         <gFlags>1</gFlags>
         <BeepAtEnd>1</BeepAtEnd>
@@ -148,40 +148,7 @@
           <Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(1BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL010000 -FP0($$Device:STM32F103T8$Flash\STM32F10x_128.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-          <LineNumber>33</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134232672</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\BSP\insifhtica_QOAR1271.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\WaterLidar\../BSP/insifhtica_QOAR1271.c\33</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>97</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134229822</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\BSP\insifhtica_QOAR1271.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\WaterLidar\../BSP/insifhtica_QOAR1271.c\97</Expression>
-        </Bp>
-      </Breakpoint>
+      <Breakpoint/>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -903,6 +870,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>8</GroupNumber>
+      <FileNumber>51</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\UAVCAN\node_proximity.c</PathWithFileName>
+      <FilenameWithoutPath>node_proximity.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
diff --git a/MDK-ARM/WaterLidar.uvprojx b/MDK-ARM/WaterLidar.uvprojx
index 0e28dd1..fa197e1 100644
--- a/MDK-ARM/WaterLidar.uvprojx
+++ b/MDK-ARM/WaterLidar.uvprojx
@@ -339,7 +339,7 @@
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB</Define>
               <Undefine></Undefine>
-              <IncludePath>../Core/Inc;          ../Drivers/STM32F1xx_HAL_Driver/Inc;          ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;          ../Middlewares/Third_Party/FreeRTOS/Source/include;          ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;          ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3;          ../Drivers/CMSIS/Device/ST/STM32F1xx/Include;          ../Drivers/CMSIS/Include;          ..\BSP;          ..\App;          ..\UAVCAN;          ..\UAVCAN\libcanard;          ..\UAVCAN\libcanard\drivers\stm32</IncludePath>
+              <IncludePath>../Core/Inc;              ../Drivers/STM32F1xx_HAL_Driver/Inc;              ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;              ../Middlewares/Third_Party/FreeRTOS/Source/include;              ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;              ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3;              ../Drivers/CMSIS/Device/ST/STM32F1xx/Include;              ../Drivers/CMSIS/Include;              ..\BSP;              ..\App;              ..\UAVCAN;              ..\UAVCAN\libcanard;              ..\UAVCAN\libcanard\drivers\stm32</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -872,6 +872,11 @@
               <FileType>1</FileType>
               <FilePath>..\UAVCAN\libcanard\drivers\stm32\canard_stm32.c</FilePath>
             </File>
+            <File>
+              <FileName>node_proximity.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\UAVCAN\node_proximity.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
diff --git a/MDK-ARM/WaterLidar/WaterLidar.hex b/MDK-ARM/WaterLidar/WaterLidar.hex
index c96a0eb..96d1dc9 100644
--- a/MDK-ARM/WaterLidar/WaterLidar.hex
+++ b/MDK-ARM/WaterLidar/WaterLidar.hex
@@ -1,32 +1,32 @@
 :020000040800F2
-:10000000103E00209D0100081F1E0008511C000822
-:100010001D1E00088504000885220008000000005D
+:10000000104A00209D010008971D0008C91B000828
+:10001000951D0008FD030008FD21000800000000F8
 :1000200000000000000000000000000005010008C2
-:10003000E304000800000000490100083D1E00081C
+:100030005B0400080000000049010008B51D00082D
 :10004000B7010008B7010008B7010008B7010008B0
 :10005000B7010008B7010008B7010008B7010008A0
 :10006000B7010008B7010008B7010008B701000890
-:10007000B7010008B701000895040008A1040008B2
-:10008000B7010008AD040008B7010008B701000877
-:10009000B701000889040008B7010008B70100088B
+:10007000B7010008B70100080D04000819040008C2
+:10008000B701000825040008B7010008B7010008FF
+:10009000B701000801040008B7010008B701000813
 :1000A000B7010008B7010008B7010008B701000850
-:1000B000CD1E0008B7010008B7010008B70100080D
+:1000B000451E0008B7010008B7010008B701000895
 :1000C000B7010008B7010008B7010008B701000830
-:1000D000B70100086D22000879220008B701000866
+:1000D000B7010008E5210008F1210008B701000878
 :1000E000B7010008B7010008B7010008DFF810D019
-:1000F00000F0B6F90048004743350008AFF3008030
-:10010000103E0020224B19680868B0E8F00F80F319
+:1000F00000F072F900480047BB340008AFF30080FD
+:10010000104A0020224B19680868B0E8F00F80F30D
 :100110000988BFF36F8F4FF0000080F311884EF015
 :100120000D0E70470000000006480068006880F36C
 :10013000088862B661B6BFF34F8FBFF36F8F00DFE1
 :1001400000BF00BF08ED00E0EFF30980BFF36F8F41
 :100150000F4B1A6820E9F00F106008B54FF05000FF
-:1001600080F31188BFF34F8FBFF36F8F04F054FEFD
+:1001600080F31188BFF34F8FBFF36F8F04F044FE0D
 :100170004FF0000080F31188BDE808401968086856
 :10018000B0E8F00F80F30988BFF36F8F704700BFAE
 :1001900034000020EFF305807047000006488047D8
 :1001A00006480047FEE7FEE7FEE7FEE7FEE7FEE75C
-:1001B000FEE7FEE7FEE7FEE7C91E0008ED000008C7
+:1001B000FEE7FEE7FEE7FEE7411E0008ED0000084F
 :1001C000202A04DB203A00FA02F100207047914017
 :1001D000C2F1200320FA03F3194390407047202A0C
 :1001E00004DB203A21FA02F00021704721FA02F3E1
@@ -48,1481 +48,1493 @@
 :1002E000140400D0401C50EA124001D44000491EC2
 :1002F000C2B20C0604EBD010401C4008802A02D089
 :1003000003E0002010BD20F00100002900DA0020E9
-:10031000184310BD30B480EA010202F0004530F00D
-:10032000004221F0004013D090B1C30DD40DC2F3B0
-:100330001601C0F31600E41A41F4000140F4000273
-:100340007D34914201D3641C00E04900002C02DAA4
-:1003500030BC002070474FF400000023914201D3CD
-:10036000891A034340084FEA4101F7D151B1914244
-:1003700002D14FF0004105E002D24FF0010101E04F
-:100380006FF0010103EBC450284430BC00F030B8DA
-:10039000420005D0C0F3C7525242914201DC002016
-:1003A000704700EBC1507047C10F80EAE07008440D
-:1003B000CA079623002100F024B896230022114694
-:1003C00000F01FB820F00040C20DC0F3160040F44A
-:1003D00000007F2A02DA0020014670470021962A99
-:1003E00003DCC2F19602D0407047963AFFF7E8BEB0
-:1003F0000029A8BF7047401C490008BF20F0010039
-:10040000704710B4B0FA80FC00FA0CF050EA010416
-:1004100004BF10BC704749B1CCF1200421FA04F4A8
-:1004200011FA0CF118BF012121430843A3EB0C0181
-:10043000CB1D4FEA00614FEA102042BF002010BCE4
-:10044000704700EBC35010440029A4BF10BC704794
-:10045000401C490008BF20F0010010BC704700009C
-:10046000064C074D06E0E06840F0010394E8070001
-:1004700098471034AC42F6D3FFF73CFE605E0008AC
-:10048000805E0008FEE70000014800F040B8000070
-:10049000D0000020014800F0C9BA0000C4010020CB
-:1004A000014800F0C3BA000080010020014800F0BC
-:1004B000BDBA00000802002030B590F84050012479
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-:1007C000016829D021F008010160607F01282068BC
-:1007D000016824D021F004010160D4E9020108433A
-:1007E000D4E90412114308436168491E0843216893
-:1007F000C86100206062012084F82000002070BDE4
-:1008000041F08001C0E741F04001C5E741F020011F
-:10081000CAE721F01001CFE741F00801D4E741F029
-:100820000401D9E710B586B0002100910191029131
-:1008300003910068174988422AD11748C16941F0DD
-:100840000071C161C16901F000710491816941F0D9
-:10085000040181618069114C00F0040004904FF4A0
-:10086000006000906946204600F0F0F9A014009066
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diff --git a/UAVCAN/node_proximity.c b/UAVCAN/node_proximity.c
new file mode 100644
index 0000000..e86398b
--- /dev/null
+++ b/UAVCAN/node_proximity.c
@@ -0,0 +1,227 @@
+/*
+ * UAVCAN data structure definition for libcanard.
+ *
+ * Autogenerated, do not edit.
+ *
+ * Source file: E:\000_MyProjects\UAVCAN\libcanard_zrzk_new\dsdl_compiler\zrzk\equipment\range_sensor\26110.Proximity.uavcan
+ */
+#include "node_proximity.h"
+#include "canard.h"
+
+#ifndef CANARD_INTERNAL_SATURATE
+#define CANARD_INTERNAL_SATURATE(x, max) ( ((x) > max) ? max : ( (-(x) > max) ? (-max) : (x) ) );
+#endif
+
+#ifndef CANARD_INTERNAL_SATURATE_UNSIGNED
+#define CANARD_INTERNAL_SATURATE_UNSIGNED(x, max) ( ((x) >= max) ? max : (x) );
+#endif
+
+#if defined(__GNUC__)
+# define CANARD_MAYBE_UNUSED(x) x __attribute__((unused))
+#else
+# define CANARD_MAYBE_UNUSED(x) x
+#endif
+
+/**
+  * @brief zrzk_equipment_range_sensor_Proximity_encode_internal
+  * @param source : pointer to source data struct
+  * @param msg_buf: pointer to msg storage
+  * @param offset: bit offset to msg storage
+  * @param root_item: for detecting if TAO should be used
+  * @retval returns offset
+  */
+uint32_t zrzk_equipment_range_sensor_Proximity_encode_internal(uavcan_proximity_t* source,
+  void* msg_buf,
+  uint32_t offset,
+  uint8_t CANARD_MAYBE_UNUSED(root_item))
+{
+    canardEncodeScalar(msg_buf, offset, 8, (void*)&source->sensor_id); // 255
+    offset += 8;
+
+    source->sensor_type = CANARD_INTERNAL_SATURATE_UNSIGNED(source->sensor_type, 31)
+    canardEncodeScalar(msg_buf, offset, 5, (void*)&source->sensor_type); // 31
+    offset += 5;
+
+    source->reading_type = CANARD_INTERNAL_SATURATE_UNSIGNED(source->reading_type, 7)
+    canardEncodeScalar(msg_buf, offset, 3, (void*)&source->reading_type); // 7
+    offset += 3;
+
+    canardEncodeScalar(msg_buf, offset, 16, (void*)&source->d0); // 65535
+    offset += 16;
+
+    canardEncodeScalar(msg_buf, offset, 16, (void*)&source->d45); // 65535
+    offset += 16;
+
+    canardEncodeScalar(msg_buf, offset, 16, (void*)&source->d90); // 65535
+    offset += 16;
+
+    canardEncodeScalar(msg_buf, offset, 16, (void*)&source->d135); // 65535
+    offset += 16;
+
+    canardEncodeScalar(msg_buf, offset, 16, (void*)&source->d180); // 65535
+    offset += 16;
+
+    canardEncodeScalar(msg_buf, offset, 16, (void*)&source->d225); // 65535
+    offset += 16;
+
+    canardEncodeScalar(msg_buf, offset, 16, (void*)&source->d270); // 65535
+    offset += 16;
+
+    canardEncodeScalar(msg_buf, offset, 16, (void*)&source->d315); // 65535
+    offset += 16;
+
+    return offset;
+}
+
+/**
+  * @brief zrzk_equipment_range_sensor_Proximity_encode
+  * @param source : Pointer to source data struct
+  * @param msg_buf: Pointer to msg storage
+  * @retval returns message length as bytes
+  */
+uint32_t zrzk_equipment_range_sensor_Proximity_encode(uavcan_proximity_t* source, void* msg_buf)
+{
+    uint32_t offset = 0;
+
+    offset = zrzk_equipment_range_sensor_Proximity_encode_internal(source, msg_buf, offset, 1);
+
+    return (offset + 7 ) / 8;
+}
+
+/**
+  * @brief zrzk_equipment_range_sensor_Proximity_decode_internal
+  * @param transfer: Pointer to CanardRxTransfer transfer
+  * @param payload_len: Payload message length
+  * @param dest: Pointer to destination struct
+  * @param dyn_arr_buf: NULL or Pointer to memory storage to be used for dynamic arrays
+  *                     uavcan_proximity_t dyn memory will point to dyn_arr_buf memory.
+  *                     NULL will ignore dynamic arrays decoding.
+  * @param offset: Call with 0, bit offset to msg storage
+  * @retval offset or ERROR value if < 0
+  */
+int32_t zrzk_equipment_range_sensor_Proximity_decode_internal(
+  const CanardRxTransfer* transfer,
+  uint16_t CANARD_MAYBE_UNUSED(payload_len),
+  uavcan_proximity_t* dest,
+  uint8_t** CANARD_MAYBE_UNUSED(dyn_arr_buf),
+  int32_t offset)
+{
+    int32_t ret = 0;
+
+    ret = canardDecodeScalar(transfer, (uint32_t)offset, 8, false, (void*)&dest->sensor_id);
+    if (ret != 8)
+    {
+        goto zrzk_equipment_range_sensor_Proximity_error_exit;
+    }
+    offset += 8;
+
+    ret = canardDecodeScalar(transfer, (uint32_t)offset, 5, false, (void*)&dest->sensor_type);
+    if (ret != 5)
+    {
+        goto zrzk_equipment_range_sensor_Proximity_error_exit;
+    }
+    offset += 5;
+
+    ret = canardDecodeScalar(transfer, (uint32_t)offset, 3, false, (void*)&dest->reading_type);
+    if (ret != 3)
+    {
+        goto zrzk_equipment_range_sensor_Proximity_error_exit;
+    }
+    offset += 3;
+
+    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&dest->d0);
+    if (ret != 16)
+    {
+        goto zrzk_equipment_range_sensor_Proximity_error_exit;
+    }
+    offset += 16;
+
+    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&dest->d45);
+    if (ret != 16)
+    {
+        goto zrzk_equipment_range_sensor_Proximity_error_exit;
+    }
+    offset += 16;
+
+    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&dest->d90);
+    if (ret != 16)
+    {
+        goto zrzk_equipment_range_sensor_Proximity_error_exit;
+    }
+    offset += 16;
+
+    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&dest->d135);
+    if (ret != 16)
+    {
+        goto zrzk_equipment_range_sensor_Proximity_error_exit;
+    }
+    offset += 16;
+
+    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&dest->d180);
+    if (ret != 16)
+    {
+        goto zrzk_equipment_range_sensor_Proximity_error_exit;
+    }
+    offset += 16;
+
+    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&dest->d225);
+    if (ret != 16)
+    {
+        goto zrzk_equipment_range_sensor_Proximity_error_exit;
+    }
+    offset += 16;
+
+    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&dest->d270);
+    if (ret != 16)
+    {
+        goto zrzk_equipment_range_sensor_Proximity_error_exit;
+    }
+    offset += 16;
+
+    ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&dest->d315);
+    if (ret != 16)
+    {
+        goto zrzk_equipment_range_sensor_Proximity_error_exit;
+    }
+    offset += 16;
+    return offset;
+
+zrzk_equipment_range_sensor_Proximity_error_exit:
+    if (ret < 0)
+    {
+        return ret;
+    }
+    else
+    {
+        return -CANARD_ERROR_INTERNAL;
+    }
+}
+
+/**
+  * @brief zrzk_equipment_range_sensor_Proximity_decode
+  * @param transfer: Pointer to CanardRxTransfer transfer
+  * @param payload_len: Payload message length
+  * @param dest: Pointer to destination struct
+  * @param dyn_arr_buf: NULL or Pointer to memory storage to be used for dynamic arrays
+  *                     uavcan_proximity_t dyn memory will point to dyn_arr_buf memory.
+  *                     NULL will ignore dynamic arrays decoding.
+  * @retval offset or ERROR value if < 0
+  */
+int32_t zrzk_equipment_range_sensor_Proximity_decode(const CanardRxTransfer* transfer,
+  uint16_t payload_len,
+  uavcan_proximity_t* dest,
+  uint8_t** dyn_arr_buf)
+{
+    const int32_t offset = 0;
+    int32_t ret = 0;
+
+    // Clear the destination struct
+    for (uint32_t c = 0; c < sizeof(uavcan_proximity_t); c++)
+    {
+        ((uint8_t*)dest)[c] = 0x00;
+    }
+
+    ret = zrzk_equipment_range_sensor_Proximity_decode_internal(transfer, payload_len, dest, dyn_arr_buf, offset);
+
+    return ret;
+}
diff --git a/UAVCAN/node_proximity.h b/UAVCAN/node_proximity.h
new file mode 100644
index 0000000..f8fe885
--- /dev/null
+++ b/UAVCAN/node_proximity.h
@@ -0,0 +1,106 @@
+/*
+ * UAVCAN data structure definition for libcanard.
+ *
+ * Autogenerated, do not edit.
+ *
+ * Source file: E:\000_MyProjects\UAVCAN\libcanard_zrzk_new\dsdl_compiler\zrzk\equipment\range_sensor\26110.Proximity.uavcan
+ */
+
+#ifndef __ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY
+#define __ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY
+
+#include <stdint.h>
+#include "canard.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/******************************* Source text **********************************
+uint8 sensor_id
+
+uint5 SENSOR_TYPE_UNDEFINED = 0
+uint5 SENSOR_TYPE_SONAR     = 1
+uint5 SENSOR_TYPE_LIDAR     = 2
+uint5 SENSOR_TYPE_RADAR     = 3
+uint5 sensor_type
+
+uint3 READING_TYPE_UNDEFINED   = 0   # Range is unknown
+uint3 READING_TYPE_VALID_RANGE = 1   # Range field contains valid distance
+uint3 READING_TYPE_TOO_CLOSE   = 2   # Range field contains min range for the sensor
+uint3 READING_TYPE_TOO_FAR     = 3   # Range field contains max range for the sensor
+uint3 reading_type
+
+uint16 d0                 # Meters distance_cm
+uint16 d45
+uint16 d90
+uint16 d135
+uint16 d180
+uint16 d225
+uint16 d270
+uint16 d315
+******************************************************************************/
+
+/********************* DSDL signature source definition ***********************
+zrzk.equipment.range_sensor.Proximity
+saturated uint8 sensor_id
+saturated uint5 sensor_type
+saturated uint3 reading_type
+saturated uint16 d0
+saturated uint16 d45
+saturated uint16 d90
+saturated uint16 d135
+saturated uint16 d180
+saturated uint16 d225
+saturated uint16 d270
+saturated uint16 d315
+******************************************************************************/
+
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_ID           26110
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_NAME         "zrzk.equipment.range_sensor.Proximity"
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_SIGNATURE    (0x92066602E96C261ULL)
+
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_MAX_SIZE     ((144 + 7)/8)
+
+// Constants
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_SENSOR_TYPE_UNDEFINED           0 // 0
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_SENSOR_TYPE_SONAR               1 // 1
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_SENSOR_TYPE_LIDAR               2 // 2
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_SENSOR_TYPE_RADAR               3 // 3
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_READING_TYPE_UNDEFINED          0 // 0
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_READING_TYPE_VALID_RANGE          1 // 1
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_READING_TYPE_TOO_CLOSE          2 // 2
+#define ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_READING_TYPE_TOO_FAR            3 // 3
+
+typedef struct
+{
+    uint16_t   d0;                            // bit len 16
+    uint16_t   d45;                           // bit len 16
+    uint16_t   d90;                           // bit len 16
+    uint16_t   d135;                          // bit len 16
+    uint16_t   d180;                          // bit len 16
+    uint16_t   d225;                          // bit len 16
+    uint16_t   d270;                          // bit len 16
+    uint16_t   d315;                          // bit len 16
+    uint8_t    sensor_id;                     // bit len 8
+    uint8_t    sensor_type;                   // bit len 5
+    uint8_t    reading_type;                  // bit len 3  
+} uavcan_proximity_t;
+
+extern
+uint32_t zrzk_equipment_range_sensor_Proximity_encode(uavcan_proximity_t* source, void* msg_buf);
+
+extern
+int32_t zrzk_equipment_range_sensor_Proximity_decode(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_proximity_t* dest, uint8_t** dyn_arr_buf);
+
+extern
+uint32_t zrzk_equipment_range_sensor_Proximity_encode_internal(uavcan_proximity_t* source, void* msg_buf, uint32_t offset, uint8_t root_item);
+
+extern
+int32_t zrzk_equipment_range_sensor_Proximity_decode_internal(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_proximity_t* dest, uint8_t** dyn_arr_buf, int32_t offset);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+#endif // __ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY
diff --git a/UAVCAN/uavcan.c b/UAVCAN/uavcan.c
index 18fd5bd..5b88a3c 100644
--- a/UAVCAN/uavcan.c
+++ b/UAVCAN/uavcan.c
@@ -187,7 +187,7 @@ static void handle_canard_get_node_info(CanardRxTransfer *transfer)
 
 void uavcan_init(void)
 {
-    set_unique_id("zrzk.proximity.1");
+    set_unique_id("com.zr3d.proxi");
     CanardSTM32CANTimings timings;
     int result = canardSTM32ComputeCANTimings(HAL_RCC_GetPCLK1Freq(), 1000000, &timings);
     if (result)
@@ -220,7 +220,7 @@ void uavcan_init(void)
 
 void uavcan_init_with_cubemx(void)
 {
-    set_unique_id("zrzk.proximity.1");
+    set_unique_id("com.zr3d.proxi");
 
     initCanOnlyFilter();
 
@@ -242,7 +242,7 @@ void uavcan_init_with_cubemx(void)
 
 void init_allocation(void)
 {
-    set_unique_id("zrzk.flow.depth");
+    set_unique_id("com.zr3d.proxi");
 
    initCanOnlyFilter();
 
@@ -570,8 +570,6 @@ void publish_log_message( uavcan_log_level_t log_level, const char *source, cons
       );
 }
 
-
-
 void send_uavcan_data(uavcan_send_data_t *send_data)
 {
     switch (send_data->id)
@@ -591,6 +589,9 @@ void send_uavcan_data(uavcan_send_data_t *send_data)
     case UAVCAN_NODE_STATUS_DATA_TYPE_ID:
         publish_node_status();
         break;
+    case ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_ID:
+        publish_proximity(&send_data->content.proximity);
+        break;
     default:
         break;
     }
@@ -621,7 +622,7 @@ void publish_device_temperature(uavcan_equipment_device_Temperature *data)
 {
     uint8_t buffer[UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_MAX_SIZE] = {0};
     uint32_t len = uavcan_equipment_device_Temperature_encode(data, &buffer);
-    if (len == UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_MAX_SIZE)
+    if (len > 0)
     {
         canardBroadcast(
             &g_canard,
@@ -633,3 +634,20 @@ void publish_device_temperature(uavcan_equipment_device_Temperature *data)
             len);
     }
 }
+
+void publish_proximity(uavcan_proximity_t *msg)
+{
+    uint8_t buffer[ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_MAX_SIZE] = {0};
+    uint32_t len = zrzk_equipment_range_sensor_Proximity_encode(msg, &buffer);
+    if (len > 0)
+    {
+        canardBroadcast(
+            &g_canard,
+            ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_SIGNATURE,
+            ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_ID,
+            &transfer_id,
+            CANARD_TRANSFER_PRIORITY_HIGH,
+            buffer,
+            len);
+    }
+}
diff --git a/UAVCAN/uavcan.h b/UAVCAN/uavcan.h
index 3332b37..6af101b 100644
--- a/UAVCAN/uavcan.h
+++ b/UAVCAN/uavcan.h
@@ -16,13 +16,14 @@ extern "C"
 #include "node_measurement.h"
 #include "node_timestamp.h"
 #include "node_coarse_orientation.h"
+#include "node_proximity.h"
 
 #define ARRAY_SIZE(arr) (sizeof(arr) / sizeof(arr[0]))
 
 #define APP_VERSION_MAJOR 1
 #define APP_VERSION_MINOR 0
 #define HARDWARE_VERSION_MAJOR 1
-#define APP_NODE_NAME "zrzk.water.depth"
+#define APP_NODE_NAME "zrzk.proxi.1"
 #define GIT_HASH 0xBADC0FFE
 
 #define UAVCAN_GET_NODE_INFO_DATA_TYPE_SIGNATURE 0xee468a8121c46a9e
@@ -102,16 +103,6 @@ extern "C"
 
 #define FIlTER_USED_AMOUNT 2
 
-#define SENSOR_TYPE_UNDEFINED 0
-#define SENSOR_TYPE_SONAR 1
-#define SENSOR_TYPE_LIDAR 2
-#define SENSOR_TYPE_RADAR 3
-
-#define READING_TYPE_UNDEFINED 0   //# Range is unknown
-#define READING_TYPE_VALID_RANGE 1 //# Range field contains valid distance
-#define READING_TYPE_TOO_CLOSE 2   // # Range field contains min range for the sensor
-#define READING_TYPE_TOO_FAR 3     // # Range field contains max range for the sensor
-
   //#define UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_DEBUG                                  0 // 0
   //#define UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_INFO                                   1 // 1
   //#define UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_WARNING                                2 // 2
@@ -173,13 +164,30 @@ extern "C"
       uavcan_measurement_t measurement_msg;
       uavcan_equipment_device_Temperature device_temp_msg;
       uavcan_node_status_t node_state;
+      uavcan_proximity_t proximity;
     } content;
   } uavcan_send_data_t;
 
+  typedef enum
+  {
+    SENSOR_TYPE_UNDEFINED = 0,
+    SENSOR_TYPE_SONAR,
+    SENSOR_TYPE_LIDAR,
+    SENSOR_TYPE_RADAR
+  } sensor_type_e;
+
+  typedef enum
+  {
+    READING_TYPE_UNDEFINED = 0,
+    READING_TYPE_VALID_RANGE = 1,
+    READING_TYPE_TOO_CLOSE = 2,
+    READING_TYPE_TOO_FAR = 3
+  } reading_type_e;
   //------------------------------Filter-Start-----------------------------------------
   //----------------------------Filter-END----------------------------------
 
-  void action_transfer_received_request(CanardInstance *ins, CanardRxTransfer *transfer);
+  void
+  action_transfer_received_request(CanardInstance *ins, CanardRxTransfer *transfer);
   void action_transfer_received_broadcast(CanardInstance *ins, CanardRxTransfer *transfer);
   void action_transfer_received_response(CanardInstance *ins, CanardRxTransfer *transfer);
 
@@ -229,6 +237,7 @@ extern "C"
   void publish_water_dapth(zrzk_equipment_flow_WaterDepth *data);
   void publish_measurement_canard(uavcan_measurement_t *msg);
   void publish_device_temperature(uavcan_equipment_device_Temperature *data);
+  void publish_proximity(uavcan_proximity_t *msg);
 #ifdef __cplusplus
 }
 #endif
diff --git a/WaterLidar.ioc b/WaterLidar.ioc
index abe559d..88b544b 100644
--- a/WaterLidar.ioc
+++ b/WaterLidar.ioc
@@ -42,10 +42,10 @@ FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,Queues01,configTOTAL_HEAP_SIZE,configQUEUE_REGISTRY_SIZE,configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY,FootprintOK,Mutexes01
 FREERTOS.Mutexes01=uavcan_send_mutex,Dynamic,NULL
 FREERTOS.Queues01=uavcan_rev_queue,10,uavcan_rev_t,0,Dynamic,NULL,NULL;uavcan_send_queue,10,uavcan_send_data_t,0,Dynamic,NULL,NULL;usart_rev_queue,10,usart_data_t,0,Dynamic,NULL,NULL
-FREERTOS.Tasks01=DefaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;UavcanRevTask,35,256,StartUavcanRevTask,Default,NULL,Dynamic,NULL,NULL;UsartSendTask,18,256,StartTaskUsartSend,Default,NULL,Dynamic,NULL,NULL;UavcanSendTask,36,256,StartUavcanSendTask,Default,NULL,Dynamic,NULL,NULL;UsartRevTask,39,128,StartUsartRevTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.Tasks01=DefaultTask,24,256,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;UavcanRevTask,35,256,StartUavcanRevTask,Default,NULL,Dynamic,NULL,NULL;UsartSendTask,18,128,StartTaskUsartSend,Default,NULL,Dynamic,NULL,NULL;UavcanSendTask,36,512,StartUavcanSendTask,Default,NULL,Dynamic,NULL,NULL;UsartRevTask,39,128,StartUsartRevTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY=5
 FREERTOS.configQUEUE_REGISTRY_SIZE=40
-FREERTOS.configTOTAL_HEAP_SIZE=8192
+FREERTOS.configTOTAL_HEAP_SIZE=11264
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@@ -77,8 +77,8 @@ Mcu.PinsNb=12
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F103T8Ux
-MxCube.Version=6.2.1
-MxDb.Version=DB.6.0.21
+MxCube.Version=6.3.0
+MxDb.Version=DB.6.0.30
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.CAN1_RX1_IRQn=true\:7\:0\:true\:false\:true\:true\:true\:true
 NVIC.DMA1_Channel4_IRQn=true\:9\:0\:true\:false\:true\:true\:false\:true
@@ -147,7 +147,7 @@ ProjectManager.ProjectFileName=WaterLidar.ioc
 ProjectManager.ProjectName=WaterLidar
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
-ProjectManager.TargetToolchain=MDK-ARM V5.27
+ProjectManager.TargetToolchain=MDK-ARM V5.32
 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_CAN_Init-CAN-false-HAL-true,5-MX_USART1_UART_Init-USART1-false-HAL-true,6-MX_USART2_UART_Init-USART2-false-HAL-true