[arduino][stm32f407-robomaster-c] 对接RTduino (#6759)

13 files changed, 301 insertions, 1546 deletions

diff --git a/bsp/stm32/stm32f407-robomaster-c/applications/SConscript b/bsp/stm32/stm32f407-robomaster-c/applications/SConscript
index 9bb9abae89..e1c7fa5996 100644
--- a/bsp/stm32/stm32f407-robomaster-c/applications/SConscript
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/SConscript
@@ -1,9 +1,12 @@
 from building import *
 import os
 
-cwd = GetCurrentDir()
-src = Glob('*.c')
+cwd     = GetCurrentDir()
 CPPPATH = [cwd]
+src     = Glob('*.c')
+
+if GetDepend(['PKG_USING_RTDUINO']) and not GetDepend(['RTDUINO_NO_SETUP_LOOP']):
+    src += ['arduino_main.cpp']
 
 group = DefineGroup('Applications', src, depend = [''], CPPPATH = CPPPATH)
 
diff --git a/bsp/stm32/stm32f407-robomaster-c/applications/arduino_main.cpp b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_main.cpp
new file mode 100644
index 0000000000..2b99475c72
--- /dev/null
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_main.cpp
@@ -0,0 +1,24 @@
+/*
+ * Copyright (c) 2006-2022, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-12-20     default      first version
+ */
+
+#include <Arduino.h>
+
+void setup(void)
+{
+    /* put your setup code here, to run once: */
+    pinMode(LED_BUILTIN, OUTPUT);
+}
+
+void loop(void)
+{
+    /* put your main code here, to run repeatedly: */
+    digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
+    delay(100);
+}
diff --git a/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/README.md b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/README.md
new file mode 100644
index 0000000000..66b56a08f7
--- /dev/null
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/README.md
@@ -0,0 +1,41 @@
+# xxx 开发板的Arduino生态兼容说明
+
+## 1 RTduino - RT-Thread的Arduino生态兼容层
+
+stm32f407-robomaster-c 开发板已经完整适配了[RTduino软件包](https://github.com/RTduino/RTduino)，即RT-Thread的Arduino生态兼容层。用户可以按照Arduino的编程习惯来操作该BSP，并且可以使用大量Arduino社区丰富的库，是对RT-Thread生态的极大增强。更多信息，请参见[RTduino软件包说明文档](https://github.com/RTduino/RTduino)。
+
+### 1.1 如何开启针对本BSP的Arduino生态兼容层
+
+Env 工具下敲入 menuconfig 命令，或者 RT-Thread Studio IDE 下选择 RT-Thread Settings：
+
+```Kconfig
+Hardware Drivers Config --->
+    Onboard Peripheral Drivers --->
+        [*] Compatible with Arduino Ecosystem (RTduino)
+```
+
+## 2 Arduino引脚排布
+
+更多引脚布局相关信息参见 [pins_arduino.c](pins_arduino.c) 和 [pins_arduino.h](pins_arduino.h)。
+
+![xxx-pinout](xxx-pinout.jpg)
+| Arduino引脚编号  | STM32引脚编号 | 5V容忍 | 备注  |
+| ------------------- | --------- | ---- | ------------------------------------------------------------------------- |
+| 0 (D0) | PH11 | 是/否 | 板载用户LED |
+| 1 (D1) | PB7 | 是/否 | Serial-RX，默认被RT-Thread的UART设备框架uart1接管 |
+| 2 (D2) | PA9 | 是/否 | Serial-TX，默认被RT-Thread的UART设备框架uart1接管 |
+| 3 (D3) | PG9 | 是/否 | Serial-RX，默认被RT-Thread的UART设备框架uart6接管 |
+| 4 (D4) | PG14 | 是/否 | Serial-TX，默认被RT-Thread的UART设备框架uart6接管 |
+| 5 (D5) | PB0 | 是/否 | I2C1-SCL，默认被RT-Thread的I2C设备框架i2c1接管 |
+| 6 (D6) | PB0 | 是/否 | I2C1-SDA，默认被RT-Thread的I2C设备框架i2c1接管 |
+| 7 (D7) | PE9 | 是/否 | PWM1-CH1，默认被RT-Thread的PWM设备框架pwm1接管 |
+| 8 (D8) | PE11 | 是/否 | PWM1-CH2，默认被RT-Thread的PWM设备框架pwm1接管 |
+| 9 (D9) | PE13 | 是/否 | PWM1-CH3，默认被RT-Thread的PWM设备框架pwm1接管 |
+| 10 (D10) | PE14 | 是/否 | PWM1-CH4，默认被RT-Thread的PWM设备框架pwm1接管 |
+| 11 (D11) | PE14 | 是/否 | PWM1-CH4，默认被RT-Thread的PWM设备框架pwm1接管 |
+| 12 (D12) | PC6 | 是/否 | PWM8-CH1，默认被RT-Thread的PWM设备框架pwm8接管 |
+| 13 (D13) | PI6 | 是/否 | PWM8-CH2，默认被RT-Thread的PWM设备框架pwm8接管 |
+| 14 (D14) | PI7 | 是/否 | PWM8-CH3，默认被RT-Thread的PWM设备框架pwm8接管 |
+| 15 (A0) | -- |  | 芯片内部温度 ADC，默认被RT-Thread的ADC设备框架adc1接管 |
+| 16 (A1) | -- |  | 芯片内部参考电压 ADC，默认被RT-Thread的ADC设备框架adc1接管 |
+
diff --git a/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/SConscript b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/SConscript
new file mode 100644
index 0000000000..2539929027
--- /dev/null
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/SConscript
@@ -0,0 +1,9 @@
+from building import *
+
+cwd = GetCurrentDir()
+src = Glob('*.c') + Glob('*.cpp')
+inc = [cwd]
+
+group = DefineGroup('RTduino', src, depend = ['PKG_USING_RTDUINO'], CPPPATH = inc)
+
+Return('group')
diff --git a/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/pins_arduino.c b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/pins_arduino.c
new file mode 100644
index 0000000000..52b57c6d8a
--- /dev/null
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/pins_arduino.c
@@ -0,0 +1,41 @@
+/*
+ * Copyright (c) 2006-2022, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-12-20     default      first version
+ */
+
+#include <Arduino.h>
+#include <board.h>
+#include "pins_arduino.h"
+
+/*
+ * {Arduino Pin, RT-Thread Pin [, Device Name, Channel]}
+ * [] means optional
+ * Digital pins must NOT give the device name and channel.
+ * Analog pins MUST give the device name and channel(ADC, PWM or DAC).
+ * Arduino Pin must keep in sequence.
+ */
+const pin_map_t pin_map_table[]=
+{
+    {D0, GET_PIN(H,11)},                /* LED_BUILTIN */
+    {D1, GET_PIN(B,7), "uart1"},        /* Serial-RX */
+    {D2, GET_PIN(A,9), "uart1"},        /* Serial-TX */
+    {D3, GET_PIN(G,9), "uart6"},        /* Serial-RX */
+    {D4, GET_PIN(G,14), "uart6"},       /* Serial-TX */
+    {D5, GET_PIN(B,0), "i2c1"},         /* I2C-SCL (Wire) */
+    {D6, GET_PIN(B,0), "i2c1"},         /* I2C-SDA (Wire) */
+    {D7, GET_PIN(E,9), "pwm1", 1},      /* PWM */
+    {D8, GET_PIN(E,11), "pwm1", 2},     /* PWM */
+    {D9, GET_PIN(E,13), "pwm1", 3},     /* PWM */
+    {D10, GET_PIN(E,14), "pwm1", 4},    /* PWM */
+    {D11, GET_PIN(E,14), "pwm1", 4},    /* PWM */
+    {D12, GET_PIN(C,6), "pwm8", 1},     /* PWM */
+    {D13, GET_PIN(I,6), "pwm8", 2},     /* PWM */
+    {D14, GET_PIN(I,7), "pwm8", 3},     /* PWM */
+    {A0, RT_NULL, "adc1", 18},          /* ADC, On-Chip: internal temperature sensor, ADC_CHANNEL_TEMPSENSOR */
+    {A1, RT_NULL, "adc1", 17},          /* ADC, On-Chip: internal reference voltage, ADC_CHANNEL_VREFINT */
+};
diff --git a/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/pins_arduino.h b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/pins_arduino.h
new file mode 100644
index 0000000000..4b0842fe86
--- /dev/null
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/pins_arduino.h
@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2006-2022, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-12-20     default      first version
+ */
+
+#ifndef Pins_Arduino_h
+#define Pins_Arduino_h
+
+/* pins alias. Must keep in sequence */
+#define D0        (0)
+#define D1        (1)
+#define D2        (2)
+#define D3        (3)
+#define D4        (4)
+#define D5        (5)
+#define D6        (6)
+#define D7        (7)
+#define D8        (8)
+#define D9        (9)
+#define D10       (10)
+#define D11       (11)
+#define D12       (12)
+#define D13       (13)
+#define D14       (14)
+#define A0        (15)
+#define A1        (16)
+
+#define F_CPU          168000000L  /* CPU:168MHz */
+
+#define LED_BUILTIN     D0  /* Default Built-in LED */
+
+/* i2c1 : PF0-SDA PF1-SCL */
+#define RTDUINO_DEFAULT_IIC_BUS_NAME    "i2c1"
+
+#endif /* Pins_Arduino_h */
diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject
index dd8c8e6ec2..5f4db53a62 100644
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject
@@ -1,8 +1,8 @@
 [PreviousLibFiles]
-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;
+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_i2c.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_i2c.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.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_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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_i2c.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_i2c.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.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_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;;;
+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_i2c.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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_i2c.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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;
 
diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc
index 94d5e8e3fa..e749fed20c 100644
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc
@@ -1,9 +1,18 @@
 #MicroXplorer Configuration settings - do not modify
+ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_TEMPSENSOR
+ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag
+ADC1.NbrOfConversionFlag=1
+ADC1.Rank-0\#ChannelRegularConversion=1
+ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
+ADC1.master=1
 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
+CAD.formats=
+CAD.pinconfig=
+CAD.provider=
 CAN1.BS1=CAN_BS1_1TQ
 CAN1.BS2=CAN_BS2_1TQ
 CAN1.CalculateBaudRate=875000
@@ -17,23 +26,25 @@ CAN2.CalculateTimeBit=1142
 CAN2.CalculateTimeQuantum=380.95238095238096
 CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2
 File.Version=6
-GPIO.groupedBy=
+GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32F407IGH6
 Mcu.Family=STM32F4
-Mcu.IP0=ADC3
-Mcu.IP1=CAN1
-Mcu.IP10=USART3
-Mcu.IP11=USART6
-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.IP0=ADC1
+Mcu.IP1=ADC3
+Mcu.IP10=TIM8
+Mcu.IP11=USART1
+Mcu.IP12=USART3
+Mcu.IP13=USART6
+Mcu.IP2=CAN1
+Mcu.IP3=CAN2
+Mcu.IP4=I2C2
+Mcu.IP5=NVIC
+Mcu.IP6=RCC
+Mcu.IP7=SYS
+Mcu.IP8=TIM1
+Mcu.IP9=TIM4
+Mcu.IPNb=14
 Mcu.Name=STM32F407I(E-G)Hx
 Mcu.Package=UFBGA176
 Mcu.Pin0=PB5
@@ -41,29 +52,33 @@ Mcu.Pin1=PG14
 Mcu.Pin10=PI6
 Mcu.Pin11=PG9
 Mcu.Pin12=PD1
-Mcu.Pin13=PA9
-Mcu.Pin14=PH0-OSC_IN
-Mcu.Pin15=PH1-OSC_OUT
-Mcu.Pin16=PC6
-Mcu.Pin17=PF10
-Mcu.Pin18=PD14
-Mcu.Pin19=PE13
+Mcu.Pin13=PF0
+Mcu.Pin14=PA9
+Mcu.Pin15=PH0-OSC_IN
+Mcu.Pin16=PH1-OSC_OUT
+Mcu.Pin17=PF1
+Mcu.Pin18=PC6
+Mcu.Pin19=PF10
 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.Pin20=PD14
+Mcu.Pin21=PE13
+Mcu.Pin22=PE9
+Mcu.Pin23=PE11
+Mcu.Pin24=PE14
+Mcu.Pin25=VP_ADC1_TempSens_Input
+Mcu.Pin26=VP_ADC1_Vref_Input
+Mcu.Pin27=VP_SYS_VS_Systick
+Mcu.Pin28=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin29=VP_TIM4_VS_ClockSourceINT
 Mcu.Pin3=PA13
+Mcu.Pin30=VP_TIM8_VS_ClockSourceINT
 Mcu.Pin4=PB7
 Mcu.Pin5=PB6
 Mcu.Pin6=PD0
 Mcu.Pin7=PC11
 Mcu.Pin8=PC10
 Mcu.Pin9=PI7
-Mcu.PinsNb=27
+Mcu.PinsNb=31
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
@@ -117,6 +132,10 @@ PE14.Locked=true
 PE14.Signal=S_TIM1_CH4
 PE9.Locked=true
 PE9.Signal=S_TIM1_CH1
+PF0.Mode=I2C
+PF0.Signal=I2C2_SDA
+PF1.Mode=I2C
+PF1.Signal=I2C2_SCL
 PF10.Locked=true
 PF10.Mode=IN8
 PF10.Signal=ADC3_IN8
@@ -159,7 +178,7 @@ 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,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
+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,12-MX_ADC1_Init-ADC1-false-HAL-true
 RCC.48MHZClocksFreq_Value=84000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -226,6 +245,10 @@ USART3.IPParameters=VirtualMode
 USART3.VirtualMode=VM_ASYNC
 USART6.IPParameters=VirtualMode
 USART6.VirtualMode=VM_ASYNC
+VP_ADC1_TempSens_Input.Mode=IN-TempSens
+VP_ADC1_TempSens_Input.Signal=ADC1_TempSens_Input
+VP_ADC1_Vref_Input.Mode=IN-Vrefint
+VP_ADC1_Vref_Input.Signal=ADC1_Vref_Input
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM1_VS_ClockSourceINT.Mode=Internal
diff --git 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
index 9a4f205a70..d94a9f7279 100644
--- 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
@@ -53,7 +53,7 @@
 /* #define HAL_SRAM_MODULE_ENABLED   */
 /* #define HAL_SDRAM_MODULE_ENABLED   */
 /* #define HAL_HASH_MODULE_ENABLED   */
-/* #define HAL_I2C_MODULE_ENABLED   */
+#define HAL_I2C_MODULE_ENABLED
 /* #define HAL_I2S_MODULE_ENABLED   */
 /* #define HAL_IWDG_MODULE_ENABLED   */
 /* #define HAL_LTDC_MODULE_ENABLED   */
@@ -62,7 +62,7 @@
 /* #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_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED   */
diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/main.c
deleted file mode 100644
index abadb990b8..0000000000
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/main.c
+++ /dev/null
@@ -1,728 +0,0 @@
-/* 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 */
diff --git 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
index 75bf36d1a4..d06a87501a 100644
--- 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
@@ -88,7 +88,18 @@ void HAL_MspInit(void)
 void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(hadc->Instance==ADC3)
+  if(hadc->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspInit 0 */
+
+  /* USER CODE END ADC1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_ADC1_CLK_ENABLE();
+  /* USER CODE BEGIN ADC1_MspInit 1 */
+
+  /* USER CODE END ADC1_MspInit 1 */
+  }
+  else if(hadc->Instance==ADC3)
   {
   /* USER CODE BEGIN ADC3_MspInit 0 */
 
@@ -120,7 +131,18 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
 */
 void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
 {
-  if(hadc->Instance==ADC3)
+  if(hadc->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspDeInit 0 */
+
+  /* USER CODE END ADC1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC1_CLK_DISABLE();
+  /* USER CODE BEGIN ADC1_MspDeInit 1 */
+
+  /* USER CODE END ADC1_MspDeInit 1 */
+  }
+  else if(hadc->Instance==ADC3)
   {
   /* USER CODE BEGIN ADC3_MspDeInit 0 */
 
@@ -264,68 +286,68 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
 }
 
 /**
-* @brief SPI MSP Initialization
+* @brief I2C MSP Initialization
 * This function configures the hardware resources used in this example
-* @param hspi: SPI handle pointer
+* @param hi2c: I2C handle pointer
 * @retval None
 */
-void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
+void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(hspi->Instance==SPI2)
+  if(hi2c->Instance==I2C2)
   {
-  /* USER CODE BEGIN SPI2_MspInit 0 */
+  /* USER CODE BEGIN I2C2_MspInit 0 */
 
-  /* USER CODE END SPI2_MspInit 0 */
-    /* Peripheral clock enable */
-    __HAL_RCC_SPI2_CLK_ENABLE();
+  /* USER CODE END I2C2_MspInit 0 */
 
-    __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**SPI2 GPIO Configuration
-    PB13     ------> SPI2_SCK
-    PB14     ------> SPI2_MISO
-    PB15     ------> SPI2_MOSI
+    __HAL_RCC_GPIOF_CLK_ENABLE();
+    /**I2C2 GPIO Configuration
+    PF0     ------> I2C2_SDA
+    PF1     ------> I2C2_SCL
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
     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);
+    GPIO_InitStruct.Alternate = GPIO_AF4_I2C2;
+    HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
 
-  /* USER CODE BEGIN SPI2_MspInit 1 */
+    /* Peripheral clock enable */
+    __HAL_RCC_I2C2_CLK_ENABLE();
+  /* USER CODE BEGIN I2C2_MspInit 1 */
 
-  /* USER CODE END SPI2_MspInit 1 */
+  /* USER CODE END I2C2_MspInit 1 */
   }
 
 }
 
 /**
-* @brief SPI MSP De-Initialization
+* @brief I2C MSP De-Initialization
 * This function freeze the hardware resources used in this example
-* @param hspi: SPI handle pointer
+* @param hi2c: I2C handle pointer
 * @retval None
 */
-void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
+void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
 {
-  if(hspi->Instance==SPI2)
+  if(hi2c->Instance==I2C2)
   {
-  /* USER CODE BEGIN SPI2_MspDeInit 0 */
+  /* USER CODE BEGIN I2C2_MspDeInit 0 */
 
-  /* USER CODE END SPI2_MspDeInit 0 */
+  /* USER CODE END I2C2_MspDeInit 0 */
     /* Peripheral clock disable */
-    __HAL_RCC_SPI2_CLK_DISABLE();
+    __HAL_RCC_I2C2_CLK_DISABLE();
 
-    /**SPI2 GPIO Configuration
-    PB13     ------> SPI2_SCK
-    PB14     ------> SPI2_MISO
-    PB15     ------> SPI2_MOSI
+    /**I2C2 GPIO Configuration
+    PF0     ------> I2C2_SDA
+    PF1     ------> I2C2_SCL
     */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15);
+    HAL_GPIO_DeInit(GPIOF, GPIO_PIN_0);
+
+    HAL_GPIO_DeInit(GPIOF, GPIO_PIN_1);
 
-  /* USER CODE BEGIN SPI2_MspDeInit 1 */
+  /* USER CODE BEGIN I2C2_MspDeInit 1 */
 
-  /* USER CODE END SPI2_MspDeInit 1 */
+  /* USER CODE END I2C2_MspDeInit 1 */
   }
 
 }
diff --git 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
deleted file mode 100644
index 3bd40f7788..0000000000
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/system_stm32f4xx.c
+++ /dev/null
@@ -1,747 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    system_stm32f4xx.c
-  * @author  MCD Application Team
-  * @brief   CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
-  *
-  *   This file provides two functions and one global variable to be called from 
-  *   user application:
-  *      - SystemInit(): This function is called at startup just after reset and 
-  *                      before branch to main program. This call is made inside
-  *                      the "startup_stm32f4xx.s" file.
-  *
-  *      - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
-  *                                  by the user application to setup the SysTick 
-  *                                  timer or configure other parameters.
-  *                                     
-  *      - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
-  *                                 be called whenever the core clock is changed
-  *                                 during program execution.
-  *
-  *
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2017 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.
-  *
-  ******************************************************************************
-  */
-
-/** @addtogroup CMSIS
-  * @{
-  */
-
-/** @addtogroup stm32f4xx_system
-  * @{
-  */  
-  
-/** @addtogroup STM32F4xx_System_Private_Includes
-  * @{
-  */
-
-
-#include "stm32f4xx.h"
-
-#if !defined  (HSE_VALUE) 
-  #define HSE_VALUE    ((uint32_t)25000000) /*!< Default value of the External oscillator in Hz */
-#endif /* HSE_VALUE */
-
-#if !defined  (HSI_VALUE)
-  #define HSI_VALUE    ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/
-#endif /* HSI_VALUE */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Defines
-  * @{
-  */
-
-/************************* Miscellaneous Configuration ************************/
-/*!< Uncomment the following line if you need to use external SRAM or SDRAM as data memory  */
-#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\
- || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx)
-/* #define DATA_IN_ExtSRAM */
-#endif /* STM32F40xxx || STM32F41xxx || STM32F42xxx || STM32F43xxx || STM32F469xx || STM32F479xx ||\
-          STM32F412Zx || STM32F412Vx */
- 
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
-/* #define DATA_IN_ExtSDRAM */
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx ||\
-          STM32F479xx */
-
-/* Note: Following vector table addresses must be defined in line with linker
-         configuration. */
-/*!< Uncomment the following line if you need to relocate the vector table
-     anywhere in Flash or Sram, else the vector table is kept at the automatic
-     remap of boot address selected */
-/* #define USER_VECT_TAB_ADDRESS */
-
-#if defined(USER_VECT_TAB_ADDRESS)
-/*!< Uncomment the following line if you need to relocate your vector Table
-     in Sram else user remap will be done in Flash. */
-/* #define VECT_TAB_SRAM */
-#if defined(VECT_TAB_SRAM)
-#define VECT_TAB_BASE_ADDRESS   SRAM_BASE       /*!< Vector Table base address field.
-                                                     This value must be a multiple of 0x200. */
-#define VECT_TAB_OFFSET         0x00000000U     /*!< Vector Table base offset field.
-                                                     This value must be a multiple of 0x200. */
-#else
-#define VECT_TAB_BASE_ADDRESS   FLASH_BASE      /*!< Vector Table base address field.
-                                                     This value must be a multiple of 0x200. */
-#define VECT_TAB_OFFSET         0x00000000U     /*!< Vector Table base offset field.
-                                                     This value must be a multiple of 0x200. */
-#endif /* VECT_TAB_SRAM */
-#endif /* USER_VECT_TAB_ADDRESS */
-/******************************************************************************/
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Macros
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Variables
-  * @{
-  */
-  /* This variable is updated in three ways:
-      1) by calling CMSIS function SystemCoreClockUpdate()
-      2) by calling HAL API function HAL_RCC_GetHCLKFreq()
-      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency 
-         Note: If you use this function to configure the system clock; then there
-               is no need to call the 2 first functions listed above, since SystemCoreClock
-               variable is updated automatically.
-  */
-uint32_t SystemCoreClock = 16000000;
-const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
-const uint8_t APBPrescTable[8]  = {0, 0, 0, 0, 1, 2, 3, 4};
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
-  * @{
-  */
-
-#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
-  static void SystemInit_ExtMemCtl(void); 
-#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Functions
-  * @{
-  */
-
-/**
-  * @brief  Setup the microcontroller system
-  *         Initialize the FPU setting, vector table location and External memory 
-  *         configuration.
-  * @param  None
-  * @retval None
-  */
-void SystemInit(void)
-{
-  /* FPU settings ------------------------------------------------------------*/
-  #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-    SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2));  /* set CP10 and CP11 Full Access */
-  #endif
-
-#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
-  SystemInit_ExtMemCtl(); 
-#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */
-
-  /* Configure the Vector Table location -------------------------------------*/
-#if defined(USER_VECT_TAB_ADDRESS)
-  SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
-#endif /* USER_VECT_TAB_ADDRESS */
-}
-
-/**
-   * @brief  Update SystemCoreClock variable according to Clock Register Values.
-  *         The SystemCoreClock variable contains the core clock (HCLK), it can
-  *         be used by the user application to setup the SysTick timer or configure
-  *         other parameters.
-  *           
-  * @note   Each time the core clock (HCLK) changes, this function must be called
-  *         to update SystemCoreClock variable value. Otherwise, any configuration
-  *         based on this variable will be incorrect.         
-  *     
-  * @note   - The system frequency computed by this function is not the real 
-  *           frequency in the chip. It is calculated based on the predefined 
-  *           constant and the selected clock source:
-  *             
-  *           - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
-  *                                              
-  *           - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
-  *                          
-  *           - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) 
-  *             or HSI_VALUE(*) multiplied/divided by the PLL factors.
-  *         
-  *         (*) HSI_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value
-  *             16 MHz) but the real value may vary depending on the variations
-  *             in voltage and temperature.   
-  *    
-  *         (**) HSE_VALUE is a constant defined in stm32f4xx_hal_conf.h file (its value
-  *              depends on the application requirements), user has to ensure that HSE_VALUE
-  *              is same as the real frequency of the crystal used. Otherwise, this function
-  *              may have wrong result.
-  *                
-  *         - The result of this function could be not correct when using fractional
-  *           value for HSE crystal.
-  *     
-  * @param  None
-  * @retval None
-  */
-void SystemCoreClockUpdate(void)
-{
-  uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
-  
-  /* Get SYSCLK source -------------------------------------------------------*/
-  tmp = RCC->CFGR & RCC_CFGR_SWS;
-
-  switch (tmp)
-  {
-    case 0x00:  /* HSI used as system clock source */
-      SystemCoreClock = HSI_VALUE;
-      break;
-    case 0x04:  /* HSE used as system clock source */
-      SystemCoreClock = HSE_VALUE;
-      break;
-    case 0x08:  /* PLL used as system clock source */
-
-      /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
-         SYSCLK = PLL_VCO / PLL_P
-         */    
-      pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
-      pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
-      
-      if (pllsource != 0)
-      {
-        /* HSE used as PLL clock source */
-        pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
-      }
-      else
-      {
-        /* HSI used as PLL clock source */
-        pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
-      }
-
-      pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
-      SystemCoreClock = pllvco/pllp;
-      break;
-    default:
-      SystemCoreClock = HSI_VALUE;
-      break;
-  }
-  /* Compute HCLK frequency --------------------------------------------------*/
-  /* Get HCLK prescaler */
-  tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
-  /* HCLK frequency */
-  SystemCoreClock >>= tmp;
-}
-
-#if defined (DATA_IN_ExtSRAM) && defined (DATA_IN_ExtSDRAM)
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F469xx) || defined(STM32F479xx)
-/**
-  * @brief  Setup the external memory controller.
-  *         Called in startup_stm32f4xx.s before jump to main.
-  *         This function configures the external memories (SRAM/SDRAM)
-  *         This SRAM/SDRAM will be used as program data memory (including heap and stack).
-  * @param  None
-  * @retval None
-  */
-void SystemInit_ExtMemCtl(void)
-{
-  __IO uint32_t tmp = 0x00;
-
-  register uint32_t tmpreg = 0, timeout = 0xFFFF;
-  register __IO uint32_t index;
-
-  /* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface clock */
-  RCC->AHB1ENR |= 0x000001F8;
-
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN);
-  
-  /* Connect PDx pins to FMC Alternate function */
-  GPIOD->AFR[0]  = 0x00CCC0CC;
-  GPIOD->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PDx pins in Alternate function mode */  
-  GPIOD->MODER   = 0xAAAA0A8A;
-  /* Configure PDx pins speed to 100 MHz */  
-  GPIOD->OSPEEDR = 0xFFFF0FCF;
-  /* Configure PDx pins Output type to push-pull */  
-  GPIOD->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PDx pins */ 
-  GPIOD->PUPDR   = 0x00000000;
-
-  /* Connect PEx pins to FMC Alternate function */
-  GPIOE->AFR[0]  = 0xC00CC0CC;
-  GPIOE->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PEx pins in Alternate function mode */ 
-  GPIOE->MODER   = 0xAAAA828A;
-  /* Configure PEx pins speed to 100 MHz */ 
-  GPIOE->OSPEEDR = 0xFFFFC3CF;
-  /* Configure PEx pins Output type to push-pull */  
-  GPIOE->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PEx pins */ 
-  GPIOE->PUPDR   = 0x00000000;
-  
-  /* Connect PFx pins to FMC Alternate function */
-  GPIOF->AFR[0]  = 0xCCCCCCCC;
-  GPIOF->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PFx pins in Alternate function mode */   
-  GPIOF->MODER   = 0xAA800AAA;
-  /* Configure PFx pins speed to 50 MHz */ 
-  GPIOF->OSPEEDR = 0xAA800AAA;
-  /* Configure PFx pins Output type to push-pull */  
-  GPIOF->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PFx pins */ 
-  GPIOF->PUPDR   = 0x00000000;
-
-  /* Connect PGx pins to FMC Alternate function */
-  GPIOG->AFR[0]  = 0xCCCCCCCC;
-  GPIOG->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PGx pins in Alternate function mode */ 
-  GPIOG->MODER   = 0xAAAAAAAA;
-  /* Configure PGx pins speed to 50 MHz */ 
-  GPIOG->OSPEEDR = 0xAAAAAAAA;
-  /* Configure PGx pins Output type to push-pull */  
-  GPIOG->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PGx pins */ 
-  GPIOG->PUPDR   = 0x00000000;
-  
-  /* Connect PHx pins to FMC Alternate function */
-  GPIOH->AFR[0]  = 0x00C0CC00;
-  GPIOH->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PHx pins in Alternate function mode */ 
-  GPIOH->MODER   = 0xAAAA08A0;
-  /* Configure PHx pins speed to 50 MHz */ 
-  GPIOH->OSPEEDR = 0xAAAA08A0;
-  /* Configure PHx pins Output type to push-pull */  
-  GPIOH->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PHx pins */ 
-  GPIOH->PUPDR   = 0x00000000;
-  
-  /* Connect PIx pins to FMC Alternate function */
-  GPIOI->AFR[0]  = 0xCCCCCCCC;
-  GPIOI->AFR[1]  = 0x00000CC0;
-  /* Configure PIx pins in Alternate function mode */ 
-  GPIOI->MODER   = 0x0028AAAA;
-  /* Configure PIx pins speed to 50 MHz */ 
-  GPIOI->OSPEEDR = 0x0028AAAA;
-  /* Configure PIx pins Output type to push-pull */  
-  GPIOI->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PIx pins */ 
-  GPIOI->PUPDR   = 0x00000000;
-  
-/*-- FMC Configuration -------------------------------------------------------*/
-  /* Enable the FMC interface clock */
-  RCC->AHB3ENR |= 0x00000001;
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
-
-  FMC_Bank5_6->SDCR[0] = 0x000019E4;
-  FMC_Bank5_6->SDTR[0] = 0x01115351;      
-  
-  /* SDRAM initialization sequence */
-  /* Clock enable command */
-  FMC_Bank5_6->SDCMR = 0x00000011; 
-  tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
-
-  /* Delay */
-  for (index = 0; index<1000; index++);
-  
-  /* PALL command */
-  FMC_Bank5_6->SDCMR = 0x00000012;           
-  tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
-  
-  /* Auto refresh command */
-  FMC_Bank5_6->SDCMR = 0x00000073;
-  tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
- 
-  /* MRD register program */
-  FMC_Bank5_6->SDCMR = 0x00046014;
-  tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  } 
-  
-  /* Set refresh count */
-  tmpreg = FMC_Bank5_6->SDRTR;
-  FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1));
-  
-  /* Disable write protection */
-  tmpreg = FMC_Bank5_6->SDCR[0]; 
-  FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF);
-
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)
-  /* Configure and enable Bank1_SRAM2 */
-  FMC_Bank1->BTCR[2]  = 0x00001011;
-  FMC_Bank1->BTCR[3]  = 0x00000201;
-  FMC_Bank1E->BWTR[2] = 0x0fffffff;
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ 
-#if defined(STM32F469xx) || defined(STM32F479xx)
-  /* Configure and enable Bank1_SRAM2 */
-  FMC_Bank1->BTCR[2]  = 0x00001091;
-  FMC_Bank1->BTCR[3]  = 0x00110212;
-  FMC_Bank1E->BWTR[2] = 0x0fffffff;
-#endif /* STM32F469xx || STM32F479xx */
-
-  (void)(tmp); 
-}
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */
-#elif defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
-/**
-  * @brief  Setup the external memory controller.
-  *         Called in startup_stm32f4xx.s before jump to main.
-  *         This function configures the external memories (SRAM/SDRAM)
-  *         This SRAM/SDRAM will be used as program data memory (including heap and stack).
-  * @param  None
-  * @retval None
-  */
-void SystemInit_ExtMemCtl(void)
-{
-  __IO uint32_t tmp = 0x00;
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
-#if defined (DATA_IN_ExtSDRAM)
-  register uint32_t tmpreg = 0, timeout = 0xFFFF;
-  register __IO uint32_t index;
-
-#if defined(STM32F446xx)
-  /* Enable GPIOA, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG interface
-      clock */
-  RCC->AHB1ENR |= 0x0000007D;
-#else
-  /* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface 
-      clock */
-  RCC->AHB1ENR |= 0x000001F8;
-#endif /* STM32F446xx */  
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN);
-  
-#if defined(STM32F446xx)
-  /* Connect PAx pins to FMC Alternate function */
-  GPIOA->AFR[0]  |= 0xC0000000;
-  GPIOA->AFR[1]  |= 0x00000000;
-  /* Configure PDx pins in Alternate function mode */
-  GPIOA->MODER   |= 0x00008000;
-  /* Configure PDx pins speed to 50 MHz */
-  GPIOA->OSPEEDR |= 0x00008000;
-  /* Configure PDx pins Output type to push-pull */
-  GPIOA->OTYPER  |= 0x00000000;
-  /* No pull-up, pull-down for PDx pins */
-  GPIOA->PUPDR   |= 0x00000000;
-
-  /* Connect PCx pins to FMC Alternate function */
-  GPIOC->AFR[0]  |= 0x00CC0000;
-  GPIOC->AFR[1]  |= 0x00000000;
-  /* Configure PDx pins in Alternate function mode */
-  GPIOC->MODER   |= 0x00000A00;
-  /* Configure PDx pins speed to 50 MHz */
-  GPIOC->OSPEEDR |= 0x00000A00;
-  /* Configure PDx pins Output type to push-pull */
-  GPIOC->OTYPER  |= 0x00000000;
-  /* No pull-up, pull-down for PDx pins */
-  GPIOC->PUPDR   |= 0x00000000;
-#endif /* STM32F446xx */
-
-  /* Connect PDx pins to FMC Alternate function */
-  GPIOD->AFR[0]  = 0x000000CC;
-  GPIOD->AFR[1]  = 0xCC000CCC;
-  /* Configure PDx pins in Alternate function mode */  
-  GPIOD->MODER   = 0xA02A000A;
-  /* Configure PDx pins speed to 50 MHz */  
-  GPIOD->OSPEEDR = 0xA02A000A;
-  /* Configure PDx pins Output type to push-pull */  
-  GPIOD->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PDx pins */ 
-  GPIOD->PUPDR   = 0x00000000;
-
-  /* Connect PEx pins to FMC Alternate function */
-  GPIOE->AFR[0]  = 0xC00000CC;
-  GPIOE->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PEx pins in Alternate function mode */ 
-  GPIOE->MODER   = 0xAAAA800A;
-  /* Configure PEx pins speed to 50 MHz */ 
-  GPIOE->OSPEEDR = 0xAAAA800A;
-  /* Configure PEx pins Output type to push-pull */  
-  GPIOE->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PEx pins */ 
-  GPIOE->PUPDR   = 0x00000000;
-
-  /* Connect PFx pins to FMC Alternate function */
-  GPIOF->AFR[0]  = 0xCCCCCCCC;
-  GPIOF->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PFx pins in Alternate function mode */   
-  GPIOF->MODER   = 0xAA800AAA;
-  /* Configure PFx pins speed to 50 MHz */ 
-  GPIOF->OSPEEDR = 0xAA800AAA;
-  /* Configure PFx pins Output type to push-pull */  
-  GPIOF->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PFx pins */ 
-  GPIOF->PUPDR   = 0x00000000;
-
-  /* Connect PGx pins to FMC Alternate function */
-  GPIOG->AFR[0]  = 0xCCCCCCCC;
-  GPIOG->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PGx pins in Alternate function mode */ 
-  GPIOG->MODER   = 0xAAAAAAAA;
-  /* Configure PGx pins speed to 50 MHz */ 
-  GPIOG->OSPEEDR = 0xAAAAAAAA;
-  /* Configure PGx pins Output type to push-pull */  
-  GPIOG->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PGx pins */ 
-  GPIOG->PUPDR   = 0x00000000;
-
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F469xx) || defined(STM32F479xx)  
-  /* Connect PHx pins to FMC Alternate function */
-  GPIOH->AFR[0]  = 0x00C0CC00;
-  GPIOH->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PHx pins in Alternate function mode */ 
-  GPIOH->MODER   = 0xAAAA08A0;
-  /* Configure PHx pins speed to 50 MHz */ 
-  GPIOH->OSPEEDR = 0xAAAA08A0;
-  /* Configure PHx pins Output type to push-pull */  
-  GPIOH->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PHx pins */ 
-  GPIOH->PUPDR   = 0x00000000;
-  
-  /* Connect PIx pins to FMC Alternate function */
-  GPIOI->AFR[0]  = 0xCCCCCCCC;
-  GPIOI->AFR[1]  = 0x00000CC0;
-  /* Configure PIx pins in Alternate function mode */ 
-  GPIOI->MODER   = 0x0028AAAA;
-  /* Configure PIx pins speed to 50 MHz */ 
-  GPIOI->OSPEEDR = 0x0028AAAA;
-  /* Configure PIx pins Output type to push-pull */  
-  GPIOI->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PIx pins */ 
-  GPIOI->PUPDR   = 0x00000000;
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */
-  
-/*-- FMC Configuration -------------------------------------------------------*/
-  /* Enable the FMC interface clock */
-  RCC->AHB3ENR |= 0x00000001;
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
-
-  /* Configure and enable SDRAM bank1 */
-#if defined(STM32F446xx)
-  FMC_Bank5_6->SDCR[0] = 0x00001954;
-#else  
-  FMC_Bank5_6->SDCR[0] = 0x000019E4;
-#endif /* STM32F446xx */
-  FMC_Bank5_6->SDTR[0] = 0x01115351;      
-  
-  /* SDRAM initialization sequence */
-  /* Clock enable command */
-  FMC_Bank5_6->SDCMR = 0x00000011; 
-  tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
-
-  /* Delay */
-  for (index = 0; index<1000; index++);
-  
-  /* PALL command */
-  FMC_Bank5_6->SDCMR = 0x00000012;           
-  tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
-  
-  /* Auto refresh command */
-#if defined(STM32F446xx)
-  FMC_Bank5_6->SDCMR = 0x000000F3;
-#else  
-  FMC_Bank5_6->SDCMR = 0x00000073;
-#endif /* STM32F446xx */
-  tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
- 
-  /* MRD register program */
-#if defined(STM32F446xx)
-  FMC_Bank5_6->SDCMR = 0x00044014;
-#else  
-  FMC_Bank5_6->SDCMR = 0x00046014;
-#endif /* STM32F446xx */
-  tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  } 
-  
-  /* Set refresh count */
-  tmpreg = FMC_Bank5_6->SDRTR;
-#if defined(STM32F446xx)
-  FMC_Bank5_6->SDRTR = (tmpreg | (0x0000050C<<1));
-#else    
-  FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1));
-#endif /* STM32F446xx */
-  
-  /* Disable write protection */
-  tmpreg = FMC_Bank5_6->SDCR[0]; 
-  FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF);
-#endif /* DATA_IN_ExtSDRAM */
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */
-
-#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\
- || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx)
-
-#if defined(DATA_IN_ExtSRAM)
-/*-- GPIOs Configuration -----------------------------------------------------*/
-   /* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */
-  RCC->AHB1ENR   |= 0x00000078;
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);
-  
-  /* Connect PDx pins to FMC Alternate function */
-  GPIOD->AFR[0]  = 0x00CCC0CC;
-  GPIOD->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PDx pins in Alternate function mode */  
-  GPIOD->MODER   = 0xAAAA0A8A;
-  /* Configure PDx pins speed to 100 MHz */  
-  GPIOD->OSPEEDR = 0xFFFF0FCF;
-  /* Configure PDx pins Output type to push-pull */  
-  GPIOD->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PDx pins */ 
-  GPIOD->PUPDR   = 0x00000000;
-
-  /* Connect PEx pins to FMC Alternate function */
-  GPIOE->AFR[0]  = 0xC00CC0CC;
-  GPIOE->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PEx pins in Alternate function mode */ 
-  GPIOE->MODER   = 0xAAAA828A;
-  /* Configure PEx pins speed to 100 MHz */ 
-  GPIOE->OSPEEDR = 0xFFFFC3CF;
-  /* Configure PEx pins Output type to push-pull */  
-  GPIOE->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PEx pins */ 
-  GPIOE->PUPDR   = 0x00000000;
-
-  /* Connect PFx pins to FMC Alternate function */
-  GPIOF->AFR[0]  = 0x00CCCCCC;
-  GPIOF->AFR[1]  = 0xCCCC0000;
-  /* Configure PFx pins in Alternate function mode */   
-  GPIOF->MODER   = 0xAA000AAA;
-  /* Configure PFx pins speed to 100 MHz */ 
-  GPIOF->OSPEEDR = 0xFF000FFF;
-  /* Configure PFx pins Output type to push-pull */  
-  GPIOF->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PFx pins */ 
-  GPIOF->PUPDR   = 0x00000000;
-
-  /* Connect PGx pins to FMC Alternate function */
-  GPIOG->AFR[0]  = 0x00CCCCCC;
-  GPIOG->AFR[1]  = 0x000000C0;
-  /* Configure PGx pins in Alternate function mode */ 
-  GPIOG->MODER   = 0x00085AAA;
-  /* Configure PGx pins speed to 100 MHz */ 
-  GPIOG->OSPEEDR = 0x000CAFFF;
-  /* Configure PGx pins Output type to push-pull */  
-  GPIOG->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PGx pins */ 
-  GPIOG->PUPDR   = 0x00000000;
-  
-/*-- FMC/FSMC Configuration --------------------------------------------------*/
-  /* Enable the FMC/FSMC interface clock */
-  RCC->AHB3ENR         |= 0x00000001;
-
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
-  /* Configure and enable Bank1_SRAM2 */
-  FMC_Bank1->BTCR[2]  = 0x00001011;
-  FMC_Bank1->BTCR[3]  = 0x00000201;
-  FMC_Bank1E->BWTR[2] = 0x0fffffff;
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ 
-#if defined(STM32F469xx) || defined(STM32F479xx)
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
-  /* Configure and enable Bank1_SRAM2 */
-  FMC_Bank1->BTCR[2]  = 0x00001091;
-  FMC_Bank1->BTCR[3]  = 0x00110212;
-  FMC_Bank1E->BWTR[2] = 0x0fffffff;
-#endif /* STM32F469xx || STM32F479xx */
-#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx)\
-   || defined(STM32F412Zx) || defined(STM32F412Vx)
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FSMCEN);
-  /* Configure and enable Bank1_SRAM2 */
-  FSMC_Bank1->BTCR[2]  = 0x00001011;
-  FSMC_Bank1->BTCR[3]  = 0x00000201;
-  FSMC_Bank1E->BWTR[2] = 0x0FFFFFFF;
-#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F412Zx || STM32F412Vx */
-
-#endif /* DATA_IN_ExtSRAM */
-#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\
-          STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx  */ 
-  (void)(tmp); 
-}
-#endif /* DATA_IN_ExtSRAM && DATA_IN_ExtSDRAM */
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
diff --git a/bsp/stm32/stm32f407-robomaster-c/board/Kconfig b/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
index f12e8878c1..9bb8f1ed90 100644
--- a/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
+++ b/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
@@ -9,6 +9,29 @@ config SOC_STM32F407IG
 
 menu "Onboard Peripheral Drivers"
 
+    config BSP_USING_ARDUINO
+        bool "Compatible with Arduino Ecosystem (RTduino)"
+        select PKG_USING_RTDUINO
+        select BSP_USING_STLINK_TO_USART
+        select BSP_USING_GPIO
+        select BSP_USING_ADC
+        select BSP_USING_ADC1
+        select BSP_USING_PWM
+        select BSP_USING_PWM1
+        select BSP_USING_PWM1_CH1
+        select BSP_USING_PWM1_CH2
+        select BSP_USING_PWM1_CH3
+        select BSP_USING_PWM1_CH4
+        select BSP_USING_PWM8
+        select BSP_USING_PWM8_CH1
+        select BSP_USING_PWM8_CH2
+        select BSP_USING_PWM8_CH3
+        select BSP_USING_I2C
+        select BSP_USING_I2C1
+        imply RTDUINO_USING_SERVO
+        imply RTDUINO_USING_WIRE
+        default n
+        
 endmenu
 
 menu "On-chip Peripheral Drivers"
@@ -118,6 +141,9 @@ menu "On-chip Peripheral Drivers"
         default n
         select RT_USING_ADC
         if BSP_USING_ADC
+            config BSP_USING_ADC1
+                bool "Enable ADC1"
+                default n
             config BSP_USING_ADC3
                 bool "Enable ADC3"
                 default n
@@ -151,6 +177,7 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_I2C_BITOPS
         select RT_USING_PIN
         if BSP_USING_I2C1
+            comment "Notice: PF0 --> 80; PF1 --> 81"
             config BSP_I2C1_SCL_PIN
                 int "i2c1 scl pin number"
                 default 81