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+			"path" : "C:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeASMInformation.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "C:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/GNU-ASM.cmake"
+		},
+		{
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+			"isExternal" : true,
+			"path" : "C:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Compiler/GNU.cmake"
+		},
+		{
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+			"isExternal" : true,
+			"path" : "C:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/Internal/CMakeASMLinkerInformation.cmake"
+		},
+		{
+			"path" : "cmake/stm32cubemx/CMakeLists.txt"
+		}
+	],
+	"kind" : "cmakeFiles",
+	"paths" : 
+	{
+		"build" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug",
+		"source" : "D:/Desktop/RC!!!/2026rc/2026rc_r2"
+	},
+	"version" : 
+	{
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+		"minor" : 1
+	}
+}
diff --git a/build/Debug/.cmake/api/v1/reply/cmakeFiles-v1-46c282218a004592b14f.json b/build/Debug/.cmake/api/v1/reply/cmakeFiles-v1-46c282218a004592b14f.json
deleted file mode 100644
index 5cfeb33..0000000
--- a/build/Debug/.cmake/api/v1/reply/cmakeFiles-v1-46c282218a004592b14f.json
+++ /dev/null
@@ -1,1391 +0,0 @@
-{
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-	[
-		{
-			"expression" : "D:/Desktop/RC!!!/r2/User/*.c",
-			"paths" : 
-			[
-				"D:/Desktop/RC!!!/r2/User/bsp/calc_lib.c",
-				"D:/Desktop/RC!!!/r2/User/bsp/can.c",
-				"D:/Desktop/RC!!!/r2/User/bsp/dwt.c",
-				"D:/Desktop/RC!!!/r2/User/bsp/gpio.c",
-				"D:/Desktop/RC!!!/r2/User/bsp/mm.c",
-				"D:/Desktop/RC!!!/r2/User/bsp/pwm.c",
-				"D:/Desktop/RC!!!/r2/User/bsp/spi.c",
-				"D:/Desktop/RC!!!/r2/User/bsp/time.c",
-				"D:/Desktop/RC!!!/r2/User/bsp/uart.c",
-				"D:/Desktop/RC!!!/r2/User/component/ahrs.c",
-				"D:/Desktop/RC!!!/r2/User/component/crc16.c",
-				"D:/Desktop/RC!!!/r2/User/component/crc8.c",
-				"D:/Desktop/RC!!!/r2/User/component/filter.c",
-				"D:/Desktop/RC!!!/r2/User/component/freertos_cli.c",
-				"D:/Desktop/RC!!!/r2/User/component/limiter.c",
-				"D:/Desktop/RC!!!/r2/User/component/mixer.c",
-				"D:/Desktop/RC!!!/r2/User/component/pid.c",
-				"D:/Desktop/RC!!!/r2/User/component/user_math.c",
-				"D:/Desktop/RC!!!/r2/User/device/bmi088.c",
-				"D:/Desktop/RC!!!/r2/User/device/buzzer.c",
-				"D:/Desktop/RC!!!/r2/User/device/dr16.c",
-				"D:/Desktop/RC!!!/r2/User/device/led.c",
-				"D:/Desktop/RC!!!/r2/User/device/motor.c",
-				"D:/Desktop/RC!!!/r2/User/device/motor_dm.c",
-				"D:/Desktop/RC!!!/r2/User/device/motor_lz.c",
-				"D:/Desktop/RC!!!/r2/User/device/motor_rm.c",
-				"D:/Desktop/RC!!!/r2/User/device/motor_vesc.c",
-				"D:/Desktop/RC!!!/r2/User/device/remote_control.c",
-				"D:/Desktop/RC!!!/r2/User/module/chassis.c",
-				"D:/Desktop/RC!!!/r2/User/module/cmd.c",
-				"D:/Desktop/RC!!!/r2/User/module/config.c",
-				"D:/Desktop/RC!!!/r2/User/module/mechanism.c",
-				"D:/Desktop/RC!!!/r2/User/task/atti_esti.c",
-				"D:/Desktop/RC!!!/r2/User/task/chassis.c",
-				"D:/Desktop/RC!!!/r2/User/task/cmd.c",
-				"D:/Desktop/RC!!!/r2/User/task/init.c",
-				"D:/Desktop/RC!!!/r2/User/task/mechanism.c",
-				"D:/Desktop/RC!!!/r2/User/task/rc.c",
-				"D:/Desktop/RC!!!/r2/User/task/user_task.c"
-			],
-			"recurse" : true
-		},
-		{
-			"expression" : "D:/Desktop/RC!!!/r2/User/*.cpp",
-			"paths" : [],
-			"recurse" : true
-		}
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diff --git a/build/Debug/.cmake/api/v1/reply/codemodel-v2-14b880e53f17abc510f7.json b/build/Debug/.cmake/api/v1/reply/codemodel-v2-f01550f83b70171e715f.json
similarity index 82%
rename from build/Debug/.cmake/api/v1/reply/codemodel-v2-14b880e53f17abc510f7.json
rename to build/Debug/.cmake/api/v1/reply/codemodel-v2-f01550f83b70171e715f.json
index 9aa3d04..66e7deb 100644
--- a/build/Debug/.cmake/api/v1/reply/codemodel-v2-14b880e53f17abc510f7.json
+++ b/build/Debug/.cmake/api/v1/reply/codemodel-v2-f01550f83b70171e715f.json
@@ -62,21 +62,21 @@
 				{
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 					"id" : "FreeRTOS::@768a070a0fe75716b479",
-					"jsonFile" : "target-FreeRTOS-Debug-b47cccbf1f68dad57399.json",
+					"jsonFile" : "target-FreeRTOS-Debug-f52a36a630792c079d5f.json",
 					"name" : "FreeRTOS",
 					"projectIndex" : 0
 				},
 				{
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 					"id" : "R1::@6890427a1f51a3e7e1df",
-					"jsonFile" : "target-R1-Debug-227a46e5fa1054809f29.json",
+					"jsonFile" : "target-R1-Debug-5d0c05ab7f49de39ff7e.json",
 					"name" : "R1",
 					"projectIndex" : 0
 				},
 				{
 					"directoryIndex" : 1,
 					"id" : "STM32_Drivers::@768a070a0fe75716b479",
-					"jsonFile" : "target-STM32_Drivers-Debug-4eb4aa31e579295c59ea.json",
+					"jsonFile" : "target-STM32_Drivers-Debug-c4b49790278ca049cf53.json",
 					"name" : "STM32_Drivers",
 					"projectIndex" : 0
 				}
@@ -86,8 +86,8 @@
 	"kind" : "codemodel",
 	"paths" : 
 	{
-		"build" : "D:/Desktop/RC!!!/r2/build/Debug",
-		"source" : "D:/Desktop/RC!!!/r2"
+		"build" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug",
+		"source" : "D:/Desktop/RC!!!/2026rc/2026rc_r2"
 	},
 	"version" : 
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diff --git a/build/Debug/.cmake/api/v1/reply/index-2026-03-16T19-51-48-0796.json b/build/Debug/.cmake/api/v1/reply/index-2026-03-16T20-44-00-0819.json
similarity index 85%
rename from build/Debug/.cmake/api/v1/reply/index-2026-03-16T19-51-48-0796.json
rename to build/Debug/.cmake/api/v1/reply/index-2026-03-16T20-44-00-0819.json
index d3d68c6..8bd9049 100644
--- a/build/Debug/.cmake/api/v1/reply/index-2026-03-16T19-51-48-0796.json
+++ b/build/Debug/.cmake/api/v1/reply/index-2026-03-16T20-44-00-0819.json
@@ -26,7 +26,7 @@
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+			"jsonFile" : "codemodel-v2-f01550f83b70171e715f.json",
 			"kind" : "codemodel",
 			"version" : 
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@@ -35,7 +35,7 @@
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 		},
 		{
-			"jsonFile" : "cache-v2-943819fa4eba54b04ef7.json",
+			"jsonFile" : "cache-v2-a39e6759008c7225615e.json",
 			"kind" : "cache",
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@@ -44,7 +44,7 @@
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 			"kind" : "cmakeFiles",
 			"version" : 
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@@ -90,7 +90,7 @@
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+						"jsonFile" : "cache-v2-a39e6759008c7225615e.json",
 						"kind" : "cache",
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@@ -99,7 +99,7 @@
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-						"jsonFile" : "codemodel-v2-14b880e53f17abc510f7.json",
+						"jsonFile" : "codemodel-v2-f01550f83b70171e715f.json",
 						"kind" : "codemodel",
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@@ -117,7 +117,7 @@
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diff --git a/build/Debug/.cmake/api/v1/reply/target-FreeRTOS-Debug-b47cccbf1f68dad57399.json b/build/Debug/.cmake/api/v1/reply/target-FreeRTOS-Debug-f52a36a630792c079d5f.json
similarity index 82%
rename from build/Debug/.cmake/api/v1/reply/target-FreeRTOS-Debug-b47cccbf1f68dad57399.json
rename to build/Debug/.cmake/api/v1/reply/target-FreeRTOS-Debug-f52a36a630792c079d5f.json
index 81834c3..76dde3f 100644
--- a/build/Debug/.cmake/api/v1/reply/target-FreeRTOS-Debug-b47cccbf1f68dad57399.json
+++ b/build/Debug/.cmake/api/v1/reply/target-FreeRTOS-Debug-f52a36a630792c079d5f.json
@@ -76,7 +76,7 @@
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+					"fragment" : " -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11"
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@@ -98,35 +98,35 @@
 			[
 				{
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-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc"
 				},
 				{
 					"backtrace" : 2,
-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc"
 				},
 				{
 					"backtrace" : 2,
-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"
 				},
 				{
 					"backtrace" : 2,
-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include"
 				},
 				{
 					"backtrace" : 2,
-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"
 				},
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 					"backtrace" : 2,
-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"
 				},
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 					"backtrace" : 2,
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diff --git a/build/Debug/.cmake/api/v1/reply/target-R1-Debug-227a46e5fa1054809f29.json b/build/Debug/.cmake/api/v1/reply/target-R1-Debug-5d0c05ab7f49de39ff7e.json
similarity index 88%
rename from build/Debug/.cmake/api/v1/reply/target-R1-Debug-227a46e5fa1054809f29.json
rename to build/Debug/.cmake/api/v1/reply/target-R1-Debug-5d0c05ab7f49de39ff7e.json
index ed43003..3076d6a 100644
--- a/build/Debug/.cmake/api/v1/reply/target-R1-Debug-227a46e5fa1054809f29.json
+++ b/build/Debug/.cmake/api/v1/reply/target-R1-Debug-5d0c05ab7f49de39ff7e.json
@@ -66,7 +66,7 @@
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+					"fragment" : " -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11"
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@@ -88,39 +88,39 @@
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 					"backtrace" : 3,
-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc"
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-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"
 				},
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 					"backtrace" : 3,
-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include"
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+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"
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+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"
 				},
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+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include"
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 				{
 					"backtrace" : 3,
-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include"
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@@ -191,7 +191,7 @@
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+					"fragment" : " -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -x assembler-with-cpp -MMD -MP -g"
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@@ -213,39 +213,39 @@
 			[
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+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/User"
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-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc"
 				},
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 					"backtrace" : 3,
-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc"
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 					"backtrace" : 3,
-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"
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-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include"
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+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"
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-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"
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-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include"
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 				{
 					"backtrace" : 3,
-					"path" : "D:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include"
+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include"
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@@ -272,11 +272,11 @@
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+				"fragment" : "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3",
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+				"fragment" : "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -T \"D:/Desktop/RC!!!/2026rc/2026rc_r2/STM32F407XX_FLASH.ld\" --specs=nano.specs -Wl,-Map=R1.map -Wl,--gc-sections -Wl,--print-memory-usage",
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diff --git a/build/Debug/.cmake/api/v1/reply/target-STM32_Drivers-Debug-4eb4aa31e579295c59ea.json b/build/Debug/.cmake/api/v1/reply/target-STM32_Drivers-Debug-c4b49790278ca049cf53.json
similarity index 88%
rename from build/Debug/.cmake/api/v1/reply/target-STM32_Drivers-Debug-4eb4aa31e579295c59ea.json
rename to build/Debug/.cmake/api/v1/reply/target-STM32_Drivers-Debug-c4b49790278ca049cf53.json
index 7d6cbe3..acda65f 100644
--- a/build/Debug/.cmake/api/v1/reply/target-STM32_Drivers-Debug-4eb4aa31e579295c59ea.json
+++ b/build/Debug/.cmake/api/v1/reply/target-STM32_Drivers-Debug-c4b49790278ca049cf53.json
@@ -103,7 +103,7 @@
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+					"fragment" : " -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11"
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@@ -125,35 +125,35 @@
 			[
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+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc"
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 					"backtrace" : 2,
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+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc"
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+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"
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+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"
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+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"
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+					"path" : "D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include"
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diff --git a/build/Debug/.ninja_deps b/build/Debug/.ninja_deps
index 0ff5628..d4d2d52 100644
Binary files a/build/Debug/.ninja_deps and b/build/Debug/.ninja_deps differ
diff --git a/build/Debug/.ninja_log b/build/Debug/.ninja_log
index 80f6d2b..5aabf36 100644
--- a/build/Debug/.ninja_log
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diff --git a/build/Debug/CMakeCache.txt b/build/Debug/CMakeCache.txt
index e41cdb4..8856fb9 100644
--- a/build/Debug/CMakeCache.txt
+++ b/build/Debug/CMakeCache.txt
@@ -1,5 +1,5 @@
 # This is the CMakeCache file.
-# For build in directory: d:/Desktop/RC!!!/r2/build/Debug
+# For build in directory: d:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug
 # It was generated by CMake: C:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/bin/cmake.exe
 # You can edit this file to change values found and used by cmake.
 # If you do not want to change any of the values, simply exit the editor.
@@ -118,7 +118,7 @@ CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
 CMAKE_EXPORT_BUILD_DATABASE:BOOL=
 
 //Value Computed by CMake.
-CMAKE_FIND_PACKAGE_REDIRECTS_DIR:STATIC=D:/Desktop/RC!!!/r2/build/Debug/CMakeFiles/pkgRedirects
+CMAKE_FIND_PACKAGE_REDIRECTS_DIR:STATIC=D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/CMakeFiles/pkgRedirects
 
 //Install path prefix, prepended onto install directories.
 CMAKE_INSTALL_PREFIX:PATH=C:/Program Files (x86)/R1
@@ -220,8 +220,8 @@ CMAKE_STRIP:FILEPATH=C:/Users/16213/AppData/Local/stm32cube/bundles/gnu-tools-fo
 //Path to a program.
 CMAKE_TAPI:FILEPATH=CMAKE_TAPI-NOTFOUND
 
-//The CMake toolchain file
-CMAKE_TOOLCHAIN_FILE:FILEPATH=D:/Desktop/RC!!!/r2/cmake/gcc-arm-none-eabi.cmake
+//No help, variable specified on the command line.
+CMAKE_TOOLCHAIN_FILE:UNINITIALIZED=D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/gcc-arm-none-eabi.cmake
 
 //If this value is on, makefiles will be generated without the
 // .SILENT directive, and all commands will be echoed to the console
@@ -230,13 +230,13 @@ CMAKE_TOOLCHAIN_FILE:FILEPATH=D:/Desktop/RC!!!/r2/cmake/gcc-arm-none-eabi.cmake
 CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
 
 //Value Computed by CMake
-R1_BINARY_DIR:STATIC=D:/Desktop/RC!!!/r2/build/Debug
+R1_BINARY_DIR:STATIC=D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug
 
 //Value Computed by CMake
 R1_IS_TOP_LEVEL:STATIC=ON
 
 //Value Computed by CMake
-R1_SOURCE_DIR:STATIC=D:/Desktop/RC!!!/r2
+R1_SOURCE_DIR:STATIC=D:/Desktop/RC!!!/2026rc/2026rc_r2
 
 
 ########################
@@ -263,7 +263,7 @@ CMAKE_ASM_FLAGS_RELEASE-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_ASM_FLAGS_RELWITHDEBINFO
 CMAKE_ASM_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
 //This is the directory where this CMakeCache.txt was created
-CMAKE_CACHEFILE_DIR:INTERNAL=d:/Desktop/RC!!!/r2/build/Debug
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-  "D:/Desktop/RC!!!/r2/User/task/init.c"
-  "D:/Desktop/RC!!!/r2/User/task/mechanism.c"
-  "D:/Desktop/RC!!!/r2/User/task/rc.c"
-  "D:/Desktop/RC!!!/r2/User/task/user_task.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/bsp/calc_lib.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/bsp/can.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/bsp/dwt.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/bsp/gpio.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/bsp/mm.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/bsp/pwm.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/bsp/spi.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/bsp/time.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/bsp/uart.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/component/ahrs.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/component/crc16.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/component/crc8.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/component/filter.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/component/freertos_cli.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/component/limiter.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/component/mixer.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/component/pid.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/component/user_math.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/device/bmi088.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/device/buzzer.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/device/dr16.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/device/led.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/device/motor.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/device/motor_dm.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/device/motor_lz.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/device/motor_rm.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/device/motor_vesc.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/device/remote_control.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/module/chassis.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/module/cmd.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/module/config.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/module/mechanism.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/task/atti_esti.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/task/chassis.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/task/cmd.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/task/init.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/task/mechanism.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/task/rc.c"
+  "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/task/user_task.c"
   )
 if(NOT "${NEW_GLOB}" STREQUAL "${OLD_GLOB}")
   message("-- GLOB mismatch!")
-  file(TOUCH_NOCREATE "D:/Desktop/RC!!!/r2/build/Debug/CMakeFiles/cmake.verify_globs")
+  file(TOUCH_NOCREATE "D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/CMakeFiles/cmake.verify_globs")
 endif()
 
 # USER_SOURCES at CMakeLists.txt:41 (file)
-file(GLOB_RECURSE NEW_GLOB LIST_DIRECTORIES false "D:/Desktop/RC!!!/r2/User/*.cpp")
+file(GLOB_RECURSE NEW_GLOB LIST_DIRECTORIES false "D:/Desktop/RC!!!/2026rc/2026rc_r2/User/*.cpp")
 set(OLD_GLOB
   )
 if(NOT "${NEW_GLOB}" STREQUAL "${OLD_GLOB}")
   message("-- GLOB mismatch!")
-  file(TOUCH_NOCREATE "D:/Desktop/RC!!!/r2/build/Debug/CMakeFiles/cmake.verify_globs")
+  file(TOUCH_NOCREATE "D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/CMakeFiles/cmake.verify_globs")
 endif()
diff --git a/build/Debug/CMakeFiles/rules.ninja b/build/Debug/CMakeFiles/rules.ninja
index c56a2a5..fda2a4a 100644
--- a/build/Debug/CMakeFiles/rules.ninja
+++ b/build/Debug/CMakeFiles/rules.ninja
@@ -72,7 +72,7 @@ rule C_COMPILER__FreeRTOS_unscanned_Debug
 # Rule for re-running cmake.
 
 rule RERUN_CMAKE
-  command = C:\Users\16213\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake.exe --regenerate-during-build -SD:\Desktop\RC!!!\r2 -BD:\Desktop\RC!!!\r2\build\Debug
+  command = C:\Users\16213\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake.exe --regenerate-during-build -SD:\Desktop\RC!!!\2026rc\2026rc_r2 -BD:\Desktop\RC!!!\2026rc\2026rc_r2\build\Debug
   description = Re-running CMake...
   generator = 1
 
@@ -81,7 +81,7 @@ rule RERUN_CMAKE
 # Rule for re-checking globbed directories.
 
 rule VERIFY_GLOBS
-  command = C:\Users\16213\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake.exe -P D:\Desktop\RC!!!\r2\build\Debug\CMakeFiles\VerifyGlobs.cmake
+  command = C:\Users\16213\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake.exe -P D:\Desktop\RC!!!\2026rc\2026rc_r2\build\Debug\CMakeFiles\VerifyGlobs.cmake
   description = Re-checking globbed directories...
   generator = 1
 
diff --git a/build/Debug/build.ninja b/build/Debug/build.ninja
index 969642c..7174553 100644
--- a/build/Debug/build.ninja
+++ b/build/Debug/build.ninja
@@ -39,7 +39,7 @@ include CMakeFiles/rules.ninja
 #############################################
 # Logical path to working directory; prefix for absolute paths.
 
-cmake_ninja_workdir = D$:/Desktop/RC!!!/r2/build/Debug/
+cmake_ninja_workdir = D$:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/
 # =============================================================================
 # Object build statements for EXECUTABLE target R1
 
@@ -49,577 +49,473 @@ cmake_ninja_workdir = D$:/Desktop/RC!!!/r2/build/Debug/
 
 build cmake_object_order_depends_target_R1: phony || cmake_object_order_depends_target_FreeRTOS cmake_object_order_depends_target_STM32_Drivers
 
-build CMakeFiles/R1.dir/Core/Src/main.c.obj: C_COMPILER__R1_unscanned_Debug D$:/Desktop/RC!!!/r2/Core/Src/main.c || cmake_object_order_depends_target_R1
+build CMakeFiles/R1.dir/Core/Src/main.c.obj: C_COMPILER__R1_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Core/Src/main.c || cmake_object_order_depends_target_R1
   CONFIG = Debug
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
   DEP_FILE = CMakeFiles\R1.dir\Core\Src\main.c.obj.d
-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
-  INCLUDES = -ID:/Desktop/RC!!!/r2/User -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
+  INCLUDES = -ID:/Desktop/RC!!!/2026rc/2026rc_r2/User -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = CMakeFiles\R1.dir
   OBJECT_FILE_DIR = CMakeFiles\R1.dir\Core\Src
-  TARGET_COMPILE_PDB = CMakeFiles\R1.dir\
-  TARGET_PDB = R1.pdb
 
-build CMakeFiles/R1.dir/Core/Src/gpio.c.obj: C_COMPILER__R1_unscanned_Debug D$:/Desktop/RC!!!/r2/Core/Src/gpio.c || cmake_object_order_depends_target_R1
+build CMakeFiles/R1.dir/Core/Src/gpio.c.obj: C_COMPILER__R1_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Core/Src/gpio.c || cmake_object_order_depends_target_R1
   CONFIG = Debug
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
   DEP_FILE = CMakeFiles\R1.dir\Core\Src\gpio.c.obj.d
-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
-  INCLUDES = -ID:/Desktop/RC!!!/r2/User -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
+  INCLUDES = -ID:/Desktop/RC!!!/2026rc/2026rc_r2/User -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = CMakeFiles\R1.dir
   OBJECT_FILE_DIR = CMakeFiles\R1.dir\Core\Src
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-build CMakeFiles/R1.dir/Core/Src/freertos.c.obj: C_COMPILER__R1_unscanned_Debug D$:/Desktop/RC!!!/r2/Core/Src/freertos.c || cmake_object_order_depends_target_R1
+build CMakeFiles/R1.dir/Core/Src/freertos.c.obj: C_COMPILER__R1_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Core/Src/freertos.c || cmake_object_order_depends_target_R1
   CONFIG = Debug
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
   DEP_FILE = CMakeFiles\R1.dir\Core\Src\freertos.c.obj.d
-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
-  INCLUDES = -ID:/Desktop/RC!!!/r2/User -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
+  INCLUDES = -ID:/Desktop/RC!!!/2026rc/2026rc_r2/User -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = CMakeFiles\R1.dir
   OBJECT_FILE_DIR = CMakeFiles\R1.dir\Core\Src
-  TARGET_COMPILE_PDB = CMakeFiles\R1.dir\
-  TARGET_PDB = R1.pdb
 
-build CMakeFiles/R1.dir/Core/Src/can.c.obj: C_COMPILER__R1_unscanned_Debug D$:/Desktop/RC!!!/r2/Core/Src/can.c || cmake_object_order_depends_target_R1
+build CMakeFiles/R1.dir/Core/Src/can.c.obj: C_COMPILER__R1_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Core/Src/can.c || cmake_object_order_depends_target_R1
   CONFIG = Debug
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
   DEP_FILE = CMakeFiles\R1.dir\Core\Src\can.c.obj.d
-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
-  INCLUDES = -ID:/Desktop/RC!!!/r2/User -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
+  INCLUDES = -ID:/Desktop/RC!!!/2026rc/2026rc_r2/User -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = CMakeFiles\R1.dir
   OBJECT_FILE_DIR = CMakeFiles\R1.dir\Core\Src
-  TARGET_COMPILE_PDB = CMakeFiles\R1.dir\
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-build CMakeFiles/R1.dir/Core/Src/dma.c.obj: C_COMPILER__R1_unscanned_Debug D$:/Desktop/RC!!!/r2/Core/Src/dma.c || cmake_object_order_depends_target_R1
+build CMakeFiles/R1.dir/Core/Src/dma.c.obj: C_COMPILER__R1_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Core/Src/dma.c || cmake_object_order_depends_target_R1
   CONFIG = Debug
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
   DEP_FILE = CMakeFiles\R1.dir\Core\Src\dma.c.obj.d
-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c || cmake_object_order_depends_target_STM32_Drivers
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c || cmake_object_order_depends_target_STM32_Drivers
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+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c || cmake_object_order_depends_target_STM32_Drivers
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c || cmake_object_order_depends_target_STM32_Drivers
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+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c || cmake_object_order_depends_target_STM32_Drivers
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+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c || cmake_object_order_depends_target_STM32_Drivers
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-  INCLUDES = -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c || cmake_object_order_depends_target_STM32_Drivers
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-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c || cmake_object_order_depends_target_STM32_Drivers
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c || cmake_object_order_depends_target_STM32_Drivers
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c || cmake_object_order_depends_target_STM32_Drivers
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-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c || cmake_object_order_depends_target_STM32_Drivers
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+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c || cmake_object_order_depends_target_STM32_Drivers
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-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
-  INCLUDES = -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c || cmake_object_order_depends_target_STM32_Drivers
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-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
-  INCLUDES = -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c || cmake_object_order_depends_target_STM32_Drivers
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+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c || cmake_object_order_depends_target_STM32_Drivers
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-  INCLUDES = -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c || cmake_object_order_depends_target_STM32_Drivers
   CONFIG = Debug
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+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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-build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c || cmake_object_order_depends_target_STM32_Drivers
+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c || cmake_object_order_depends_target_STM32_Drivers
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+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c.obj: C_COMPILER__STM32_Drivers_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c || cmake_object_order_depends_target_STM32_Drivers
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   DEP_FILE = cmake\stm32cubemx\CMakeFiles\STM32_Drivers.dir\__\__\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c.obj.d
-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
-  INCLUDES = -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
+  INCLUDES = -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
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-  TARGET_COMPILE_PDB = cmake\stm32cubemx\CMakeFiles\STM32_Drivers.dir\
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@@ -904,115 +761,95 @@ build cmake/stm32cubemx/STM32_Drivers: phony cmake/stm32cubemx/CMakeFiles/STM32_
 
 build cmake_object_order_depends_target_FreeRTOS: phony || .
 
-build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/croutine.c.obj: C_COMPILER__FreeRTOS_unscanned_Debug D$:/Desktop/RC!!!/r2/Middlewares/Third_Party/FreeRTOS/Source/croutine.c || cmake_object_order_depends_target_FreeRTOS
+build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/croutine.c.obj: C_COMPILER__FreeRTOS_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Middlewares/Third_Party/FreeRTOS/Source/croutine.c || cmake_object_order_depends_target_FreeRTOS
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   DEP_FILE = cmake\stm32cubemx\CMakeFiles\FreeRTOS.dir\__\__\Middlewares\Third_Party\FreeRTOS\Source\croutine.c.obj.d
-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
-  INCLUDES = -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
+  INCLUDES = -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
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+build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/event_groups.c.obj: C_COMPILER__FreeRTOS_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Middlewares/Third_Party/FreeRTOS/Source/event_groups.c || cmake_object_order_depends_target_FreeRTOS
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   DEP_FILE = cmake\stm32cubemx\CMakeFiles\FreeRTOS.dir\__\__\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c.obj.d
-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
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+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
+  INCLUDES = -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
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   OBJECT_FILE_DIR = cmake\stm32cubemx\CMakeFiles\FreeRTOS.dir\__\__\Middlewares\Third_Party\FreeRTOS\Source
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+build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/list.c.obj: C_COMPILER__FreeRTOS_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Middlewares/Third_Party/FreeRTOS/Source/list.c || cmake_object_order_depends_target_FreeRTOS
   CONFIG = Debug
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   DEP_FILE = cmake\stm32cubemx\CMakeFiles\FreeRTOS.dir\__\__\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c.obj.d
-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
-  INCLUDES = -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
+  INCLUDES = -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake\stm32cubemx\CMakeFiles\FreeRTOS.dir
   OBJECT_FILE_DIR = cmake\stm32cubemx\CMakeFiles\FreeRTOS.dir\__\__\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang
-  TARGET_COMPILE_PDB = cmake\stm32cubemx\CMakeFiles\FreeRTOS.dir\
-  TARGET_PDB = ""
 
-build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c.obj: C_COMPILER__FreeRTOS_unscanned_Debug D$:/Desktop/RC!!!/r2/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c || cmake_object_order_depends_target_FreeRTOS
+build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c.obj: C_COMPILER__FreeRTOS_unscanned_Debug D$:/Desktop/RC!!!/2026rc/2026rc_r2/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c || cmake_object_order_depends_target_FreeRTOS
   CONFIG = Debug
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
   DEP_FILE = cmake\stm32cubemx\CMakeFiles\FreeRTOS.dir\__\__\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c.obj.d
-  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
-  INCLUDES = -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
+  FLAGS = -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11
+  INCLUDES = -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake\stm32cubemx\CMakeFiles\FreeRTOS.dir
   OBJECT_FILE_DIR = cmake\stm32cubemx\CMakeFiles\FreeRTOS.dir\__\__\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F
-  TARGET_COMPILE_PDB = cmake\stm32cubemx\CMakeFiles\FreeRTOS.dir\
-  TARGET_PDB = ""
 
 
 
@@ -1026,7 +863,7 @@ build cmake/stm32cubemx/FreeRTOS: phony cmake/stm32cubemx/CMakeFiles/FreeRTOS.di
 # Utility command for edit_cache
 
 build cmake/stm32cubemx/CMakeFiles/edit_cache.util: CUSTOM_COMMAND
-  COMMAND = C:\Windows\system32\cmd.exe /C "cd /D D:\Desktop\RC!!!\r2\build\Debug\cmake\stm32cubemx && C:\Users\16213\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake-gui.exe -SD:\Desktop\RC!!!\r2 -BD:\Desktop\RC!!!\r2\build\Debug"
+  COMMAND = C:\Windows\system32\cmd.exe /C "cd /D D:\Desktop\RC!!!\2026rc\2026rc_r2\build\Debug\cmake\stm32cubemx && C:\Users\16213\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake-gui.exe -SD:\Desktop\RC!!!\2026rc\2026rc_r2 -BD:\Desktop\RC!!!\2026rc\2026rc_r2\build\Debug"
   DESC = Running CMake cache editor...
   pool = console
   restat = 1
@@ -1038,7 +875,7 @@ build cmake/stm32cubemx/edit_cache: phony cmake/stm32cubemx/CMakeFiles/edit_cach
 # Utility command for rebuild_cache
 
 build cmake/stm32cubemx/CMakeFiles/rebuild_cache.util: CUSTOM_COMMAND
-  COMMAND = C:\Windows\system32\cmd.exe /C "cd /D D:\Desktop\RC!!!\r2\build\Debug\cmake\stm32cubemx && C:\Users\16213\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake.exe --regenerate-during-build -SD:\Desktop\RC!!!\r2 -BD:\Desktop\RC!!!\r2\build\Debug"
+  COMMAND = C:\Windows\system32\cmd.exe /C "cd /D D:\Desktop\RC!!!\2026rc\2026rc_r2\build\Debug\cmake\stm32cubemx && C:\Users\16213\AppData\Local\stm32cube\bundles\cmake\4.0.1+st.3\bin\cmake.exe --regenerate-during-build -SD:\Desktop\RC!!!\2026rc\2026rc_r2 -BD:\Desktop\RC!!!\2026rc\2026rc_r2\build\Debug"
   DESC = Running CMake to regenerate build system...
   pool = console
   restat = 1
@@ -1060,14 +897,14 @@ build STM32_Drivers: phony cmake/stm32cubemx/STM32_Drivers
 # =============================================================================
 
 #############################################
-# Folder: D:/Desktop/RC!!!/r2/build/Debug
+# Folder: D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug
 
 build all: phony R1.elf cmake/stm32cubemx/all
 
 # =============================================================================
 
 #############################################
-# Folder: D:/Desktop/RC!!!/r2/build/Debug/cmake/stm32cubemx
+# Folder: D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/cmake/stm32cubemx
 
 build cmake/stm32cubemx/all: phony cmake/stm32cubemx/STM32_Drivers cmake/stm32cubemx/FreeRTOS
 
@@ -1078,13 +915,13 @@ build cmake/stm32cubemx/all: phony cmake/stm32cubemx/STM32_Drivers cmake/stm32cu
 #############################################
 # Phony target to force glob verification run.
 
-build D$:/Desktop/RC!!!/r2/build/Debug/CMakeFiles/VerifyGlobs.cmake_force: phony
+build D$:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/CMakeFiles/VerifyGlobs.cmake_force: phony
 
 
 #############################################
 # Re-run CMake to check if globbed directories changed.
 
-build D$:/Desktop/RC!!!/r2/build/Debug/CMakeFiles/cmake.verify_globs: VERIFY_GLOBS | D$:/Desktop/RC!!!/r2/build/Debug/CMakeFiles/VerifyGlobs.cmake_force
+build D$:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/CMakeFiles/cmake.verify_globs: VERIFY_GLOBS | D$:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/CMakeFiles/VerifyGlobs.cmake_force
   pool = console
   restat = 1
 
@@ -1092,14 +929,14 @@ build D$:/Desktop/RC!!!/r2/build/Debug/CMakeFiles/cmake.verify_globs: VERIFY_GLO
 #############################################
 # Re-run CMake if any of its inputs changed.
 
-build build.ninja D$:/Desktop/RC!!!/r2/build/Debug/cmake_install.cmake D$:/Desktop/RC!!!/r2/build/Debug/cmake/stm32cubemx/cmake_install.cmake: RERUN_CMAKE D$:/Desktop/RC!!!/r2/build/Debug/CMakeFiles/cmake.verify_globs | C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeASMCompiler.cmake.in C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeASMInformation.cmake C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCCompiler.cmake.in C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCCompilerABI.c C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCInformation.cmake C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCXXCompiler.cmake.in C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCXXCompilerABI.cpp C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCXXInformation.cmake C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCommonLanguageInclude.cmake C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeCompilerIdDetection.cmake C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineASMCompiler.cmake C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCCompiler.cmake C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCXXCompiler.cmake C$:/Users/16213/AppData/Local/stm32cube/bundles/cmake/4.0.1+st.3/share/cmake-4.0/Modules/CMakeDetermineCompiler.cmake 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   pool = console
 
 
 #############################################
 # A missing CMake input file is not an error.
 
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 #############################################
diff --git a/build/Debug/cmake/stm32cubemx/cmake_install.cmake b/build/Debug/cmake/stm32cubemx/cmake_install.cmake
index 95bc2e5..aaeb396 100644
--- a/build/Debug/cmake/stm32cubemx/cmake_install.cmake
+++ b/build/Debug/cmake/stm32cubemx/cmake_install.cmake
@@ -1,4 +1,4 @@
-# Install script for directory: D:/Desktop/RC!!!/r2/cmake/stm32cubemx
+# Install script for directory: D:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx
 
 # Set the install prefix
 if(NOT DEFINED CMAKE_INSTALL_PREFIX)
@@ -40,6 +40,6 @@ endif()
 string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
        "${CMAKE_INSTALL_MANIFEST_FILES}")
 if(CMAKE_INSTALL_LOCAL_ONLY)
-  file(WRITE "D:/Desktop/RC!!!/r2/build/Debug/cmake/stm32cubemx/install_local_manifest.txt"
+  file(WRITE "D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/cmake/stm32cubemx/install_local_manifest.txt"
      "${CMAKE_INSTALL_MANIFEST_CONTENT}")
 endif()
diff --git a/build/Debug/cmake_install.cmake b/build/Debug/cmake_install.cmake
index 2d73020..7b7e575 100644
--- a/build/Debug/cmake_install.cmake
+++ b/build/Debug/cmake_install.cmake
@@ -1,4 +1,4 @@
-# Install script for directory: D:/Desktop/RC!!!/r2
+# Install script for directory: D:/Desktop/RC!!!/2026rc/2026rc_r2
 
 # Set the install prefix
 if(NOT DEFINED CMAKE_INSTALL_PREFIX)
@@ -39,13 +39,13 @@ endif()
 
 if(NOT CMAKE_INSTALL_LOCAL_ONLY)
   # Include the install script for the subdirectory.
-  include("D:/Desktop/RC!!!/r2/build/Debug/cmake/stm32cubemx/cmake_install.cmake")
+  include("D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/cmake/stm32cubemx/cmake_install.cmake")
 endif()
 
 string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
        "${CMAKE_INSTALL_MANIFEST_FILES}")
 if(CMAKE_INSTALL_LOCAL_ONLY)
-  file(WRITE "D:/Desktop/RC!!!/r2/build/Debug/install_local_manifest.txt"
+  file(WRITE "D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/install_local_manifest.txt"
      "${CMAKE_INSTALL_MANIFEST_CONTENT}")
 endif()
 if(CMAKE_INSTALL_COMPONENT)
@@ -61,6 +61,6 @@ else()
 endif()
 
 if(NOT CMAKE_INSTALL_LOCAL_ONLY)
-  file(WRITE "D:/Desktop/RC!!!/r2/build/Debug/${CMAKE_INSTALL_MANIFEST}"
+  file(WRITE "D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug/${CMAKE_INSTALL_MANIFEST}"
      "${CMAKE_INSTALL_MANIFEST_CONTENT}")
 endif()
diff --git a/build/Debug/compile_commands.json b/build/Debug/compile_commands.json
index 8ca700d..370de8d 100644
--- a/build/Debug/compile_commands.json
+++ b/build/Debug/compile_commands.json
@@ -1,488 +1,488 @@
 [
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-  "directory": "D:/Desktop/RC!!!/r2/build/Debug",
-  "command": "C:\\Users\\16213\\AppData\\Local\\stm32cube\\bundles\\gnu-tools-for-stm32\\14.3.1+st.2\\bin\\arm-none-eabi-gcc.exe -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER -ID:/Desktop/RC!!!/r2/User -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include  -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11 -o CMakeFiles\\R1.dir\\Core\\Src\\main.c.obj -c D:\\Desktop\\RC!!!\\r2\\Core\\Src\\main.c",
-  "file": "D:\\Desktop\\RC!!!\\r2\\Core\\Src\\main.c",
+  "directory": "D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug",
+  "command": "C:\\Users\\16213\\AppData\\Local\\stm32cube\\bundles\\gnu-tools-for-stm32\\14.3.1+st.2\\bin\\arm-none-eabi-gcc.exe -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER -ID:/Desktop/RC!!!/2026rc/2026rc_r2/User -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include  -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11 -o CMakeFiles\\R1.dir\\Core\\Src\\main.c.obj -c D:\\Desktop\\RC!!!\\2026rc\\2026rc_r2\\Core\\Src\\main.c",
+  "file": "D:\\Desktop\\RC!!!\\2026rc\\2026rc_r2\\Core\\Src\\main.c",
   "output": "CMakeFiles\\R1.dir\\Core\\Src\\main.c.obj"
 },
 {
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-  "command": "C:\\Users\\16213\\AppData\\Local\\stm32cube\\bundles\\gnu-tools-for-stm32\\14.3.1+st.2\\bin\\arm-none-eabi-gcc.exe -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER -ID:/Desktop/RC!!!/r2/User -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include  -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11 -o CMakeFiles\\R1.dir\\Core\\Src\\gpio.c.obj -c D:\\Desktop\\RC!!!\\r2\\Core\\Src\\gpio.c",
-  "file": "D:\\Desktop\\RC!!!\\r2\\Core\\Src\\gpio.c",
+  "directory": "D:/Desktop/RC!!!/2026rc/2026rc_r2/build/Debug",
+  "command": "C:\\Users\\16213\\AppData\\Local\\stm32cube\\bundles\\gnu-tools-for-stm32\\14.3.1+st.2\\bin\\arm-none-eabi-gcc.exe -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER -ID:/Desktop/RC!!!/2026rc/2026rc_r2/User -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Core/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/Desktop/RC!!!/2026rc/2026rc_r2/cmake/stm32cubemx/../../Drivers/CMSIS/Include  -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard  -Wall -fdata-sections -ffunction-sections -O0 -g3 -std=gnu11 -o CMakeFiles\\R1.dir\\Core\\Src\\gpio.c.obj -c D:\\Desktop\\RC!!!\\2026rc\\2026rc_r2\\Core\\Src\\gpio.c",
+  "file": "D:\\Desktop\\RC!!!\\2026rc\\2026rc_r2\\Core\\Src\\gpio.c",
   "output": "CMakeFiles\\R1.dir\\Core\\Src\\gpio.c.obj"
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