diff --git a/.gitignore b/.gitignore
index 66282c9..45d947f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,45 +1,30 @@
-# CubeMX generated files
-*.log
-
-# Keil specific files
-*.axf
-*.bak
-*.dep
-*.d
-*.htm
-*.lnp
-*.map
+*.rar
 *.o
-*.plg
-*.uvoptx
-*.uvprojx
-*.uvgui.*
-*.sct
-
-# Object files and build output
-*.elf
-*.hex
-*.bin
-*.lst
+*.d
 *.crf
-*.lib
-*.out
-*.s19
-*.pdb
-*.idb
-
-# Backup files
-*~
-*.swp
-*.tmp
-
-# Generated folders
-BUILD/
-Debug/
-Release/
-Objects/
-
-# Operating system files
-.DS_Store
-Thumbs.db
-desktop.ini
\ No newline at end of file
+*.htm
+*.dep
+*.map
+*.bak
+*.lnp
+*.lst
+*.ini
+*.iex
+*.sct
+*.scvd
+*.uvguix
+*.dbg*
+*.uvguix.*
+.mxproject
+ 
+RTE/
+Templates/
+Examples/
+ 
+!*.uvprojx
+!*.h
+!*.c
+!*.ioc
+!*.axf
+!*.bin
+!*.hex
diff --git a/Drivers/CMSIS/Lib/ARM/arm_cortexM4b_math.lib b/Drivers/CMSIS/Lib/ARM/arm_cortexM4b_math.lib
new file mode 100644
index 0000000..5a4b86f
Binary files /dev/null and b/Drivers/CMSIS/Lib/ARM/arm_cortexM4b_math.lib differ
diff --git a/Drivers/CMSIS/Lib/ARM/arm_cortexM4bf_math.lib b/Drivers/CMSIS/Lib/ARM/arm_cortexM4bf_math.lib
new file mode 100644
index 0000000..fe135ae
Binary files /dev/null and b/Drivers/CMSIS/Lib/ARM/arm_cortexM4bf_math.lib differ
diff --git a/Drivers/CMSIS/Lib/ARM/arm_cortexM4l_math.lib b/Drivers/CMSIS/Lib/ARM/arm_cortexM4l_math.lib
new file mode 100644
index 0000000..593d42f
Binary files /dev/null and b/Drivers/CMSIS/Lib/ARM/arm_cortexM4l_math.lib differ
diff --git a/Drivers/CMSIS/Lib/ARM/arm_cortexM4lf_math.lib b/Drivers/CMSIS/Lib/ARM/arm_cortexM4lf_math.lib
new file mode 100644
index 0000000..5e8d842
Binary files /dev/null and b/Drivers/CMSIS/Lib/ARM/arm_cortexM4lf_math.lib differ
diff --git a/MDK-ARM/sick.uvguix.lvzucheng b/MDK-ARM/sick.uvguix.lvzucheng
index 7df63e0..2a121f1 100644
--- a/MDK-ARM/sick.uvguix.lvzucheng
+++ b/MDK-ARM/sick.uvguix.lvzucheng
@@ -15,17 +15,17 @@
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     <View>
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       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>631 101</TableColWidths>
+      <TableColWidths>617 160</TableColWidths>
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     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
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+      <TableColWidths>777</TableColWidths>
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@@ -34,13 +34,13 @@
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       <ViewName>Event Statistics</ViewName>
       <UserString></UserString>
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+      <TableColWidths>200 50 700</TableColWidths>
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     <View>
       <WinId>1506</WinId>
       <ViewName>Symbols</ViewName>
       <UserString></UserString>
-      <TableColWidths>53 53 53</TableColWidths>
+      <TableColWidths>63 63 63</TableColWidths>
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@@ -170,7 +170,7 @@
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@@ -450,7 +450,7 @@
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@@ -470,7 +470,7 @@
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@@ -510,11 +510,11 @@
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         <OriginalItems>
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diff --git a/MDK-ARM/sick.uvoptx b/MDK-ARM/sick.uvoptx
new file mode 100644
index 0000000..04deffc
--- /dev/null
+++ b/MDK-ARM/sick.uvoptx
@@ -0,0 +1,1046 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
+
+  <SchemaVersion>1.0</SchemaVersion>
+
+  <Header>### uVision Project, (C) Keil Software</Header>
+
+  <Extensions>
+    <cExt>*.c</cExt>
+    <aExt>*.s*; *.src; *.a*</aExt>
+    <oExt>*.obj; *.o</oExt>
+    <lExt>*.lib</lExt>
+    <tExt>*.txt; *.h; *.inc; *.md</tExt>
+    <pExt>*.plm</pExt>
+    <CppX>*.cpp</CppX>
+    <nMigrate>0</nMigrate>
+  </Extensions>
+
+  <DaveTm>
+    <dwLowDateTime>0</dwLowDateTime>
+    <dwHighDateTime>0</dwHighDateTime>
+  </DaveTm>
+
+  <Target>
+    <TargetName>sick</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>8000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath></ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>1</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>18</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>1</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>3</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>BIN\CMSIS_AGDI.dll</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"" -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F3xx_256.FLM -FS08000000 -FL010000 -FP0($$Device:STM32F302C8Tx$CMSIS\Flash\STM32F3xx_256.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F3xx_256 -FS08000000 -FL010000 -FP0($$Device:STM32F302C8Tx$CMSIS\Flash\STM32F3xx_256.FLM))</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F3xx_256 -FS08000000 -FL010000 -FP0($$Device:STM32F302C8Tx$CMSIS\Flash\STM32F3xx_256.FLM)</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>adc_data,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>can_debug</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ads8864</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>1</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+      <DebugDescription>
+        <Enable>1</Enable>
+        <EnableFlashSeq>1</EnableFlashSeq>
+        <EnableLog>0</EnableLog>
+        <Protocol>2</Protocol>
+        <DbgClock>10000000</DbgClock>
+      </DebugDescription>
+    </TargetOption>
+  </Target>
+
+  <Group>
+    <GroupName>Application/MDK-ARM</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>1</GroupNumber>
+      <FileNumber>1</FileNumber>
+      <FileType>2</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>startup_stm32f302x8.s</PathWithFileName>
+      <FilenameWithoutPath>startup_stm32f302x8.s</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
+  <Group>
+    <GroupName>Application/User/Core</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>2</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/main.c</PathWithFileName>
+      <FilenameWithoutPath>main.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>3</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/gpio.c</PathWithFileName>
+      <FilenameWithoutPath>gpio.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>4</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/freertos.c</PathWithFileName>
+      <FilenameWithoutPath>freertos.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>5</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/can.c</PathWithFileName>
+      <FilenameWithoutPath>can.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>6</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/dma.c</PathWithFileName>
+      <FilenameWithoutPath>dma.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>7</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/spi.c</PathWithFileName>
+      <FilenameWithoutPath>spi.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>8</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/tim.c</PathWithFileName>
+      <FilenameWithoutPath>tim.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>9</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/usart.c</PathWithFileName>
+      <FilenameWithoutPath>usart.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>10</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/stm32f3xx_it.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f3xx_it.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>11</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/stm32f3xx_hal_msp.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f3xx_hal_msp.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
+  <Group>
+    <GroupName>Drivers/STM32F3xx_HAL_Driver</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
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+      <GroupNumber>3</GroupNumber>
+      <FileNumber>12</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Drivers/STM32F3xx_HAL_Driver/Src/stm32f3xx_hal_can.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f3xx_hal_can.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>13</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Drivers/STM32F3xx_HAL_Driver/Src/stm32f3xx_hal.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f3xx_hal.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
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+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>55</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\can.c</PathWithFileName>
+      <FilenameWithoutPath>can.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>56</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\init.c</PathWithFileName>
+      <FilenameWithoutPath>init.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>57</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\user_task.c</PathWithFileName>
+      <FilenameWithoutPath>user_task.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>58</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\user_task.h</PathWithFileName>
+      <FilenameWithoutPath>user_task.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>59</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\adc.c</PathWithFileName>
+      <FilenameWithoutPath>adc.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>60</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\mointor.c</PathWithFileName>
+      <FilenameWithoutPath>mointor.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>61</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\pc.c</PathWithFileName>
+      <FilenameWithoutPath>pc.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
+  <Group>
+    <GroupName>::CMSIS</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>1</RteFlg>
+  </Group>
+
+</ProjectOpt>
diff --git a/MDK-ARM/sick.uvprojx b/MDK-ARM/sick.uvprojx
new file mode 100644
index 0000000..f878aa8
--- /dev/null
+++ b/MDK-ARM/sick.uvprojx
@@ -0,0 +1,1854 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
+
+  <SchemaVersion>2.1</SchemaVersion>
+
+  <Header>### uVision Project, (C) Keil Software</Header>
+
+  <Targets>
+    <Target>
+      <TargetName>sick</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
+      <uAC6>0</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>STM32F302C8Tx</Device>
+          <Vendor>STMicroelectronics</Vendor>
+          <PackID>Keil.STM32F3xx_DFP.2.1.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
+          <Cpu>IRAM(0x20000000-0x20003FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll></FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile></RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:STM32F302C8Tx$CMSIS\SVD\STM32F302x.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>sick\</OutputDirectory>
+          <OutputName>sick</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath></ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>1</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>0</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments>-MPU -REMAP</SimDllArguments>
+          <SimDlgDll>DCM.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments>-MPU</TargetDllArguments>
+          <TargetDlgDll>TCM.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4101</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2V8M.DLL</Flash2>
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M4"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>0</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>4</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>2</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>1</uC99>
+            <uGnu>0</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>5</v6Lang>
+            <v6LangP>3</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>USE_HAL_DRIVER,STM32F302x8</Define>
+              <Undefine></Undefine>
+              <IncludePath>../Core/Inc;../Drivers/STM32F3xx_HAL_Driver/Inc;../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F3xx/Include;../Drivers/CMSIS/Include;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../User</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>1</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath>../Drivers/CMSIS/Include</IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>1</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange></TextAddressRange>
+            <DataAddressRange></DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile></ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>Application/MDK-ARM</GroupName>
+          <Files>
+            <File>
+              <FileName>startup_stm32f302x8.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>startup_stm32f302x8.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Application/User/Core</GroupName>
+          <Files>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Core/Src/main.c</FilePath>
+            </File>
+            <File>
+              <FileName>gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Core/Src/gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>freertos.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Core/Src/freertos.c</FilePath>
+              <FileOption>
+                <CommonProperty>
+                  <UseCPPCompiler>2</UseCPPCompiler>
+                  <RVCTCodeConst>0</RVCTCodeConst>
+                  <RVCTZI>0</RVCTZI>
+                  <RVCTOtherData>0</RVCTOtherData>
+                  <ModuleSelection>0</ModuleSelection>
+                  <IncludeInBuild>1</IncludeInBuild>
+                  <AlwaysBuild>2</AlwaysBuild>
+                  <GenerateAssemblyFile>2</GenerateAssemblyFile>
+                  <AssembleAssemblyFile>2</AssembleAssemblyFile>
+                  <PublicsOnly>2</PublicsOnly>
+                  <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
+                  <ComprImg>1</ComprImg>
+                </CommonProperty>
+                <FileArmAds>
+                  <Cads>
+                    <interw>2</interw>
+                    <Optim>0</Optim>
+                    <oTime>2</oTime>
+                    <SplitLS>2</SplitLS>
+                    <OneElfS>2</OneElfS>
+                    <Strict>2</Strict>
+                    <EnumInt>2</EnumInt>
+                    <PlainCh>2</PlainCh>
+                    <Ropi>2</Ropi>
+                    <Rwpi>2</Rwpi>
+                    <wLevel>0</wLevel>
+                    <uThumb>2</uThumb>
+                    <uSurpInc>2</uSurpInc>
+                    <uC99>2</uC99>
+                    <uGnu>2</uGnu>
+                    <useXO>2</useXO>
+                    <v6Lang>0</v6Lang>
+                    <v6LangP>0</v6LangP>
+                    <vShortEn>2</vShortEn>
+                    <vShortWch>2</vShortWch>
+                    <v6Lto>2</v6Lto>
+                    <v6WtE>2</v6WtE>
+                    <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
+                  </Cads>
+                </FileArmAds>
+              </FileOption>
+            </File>
+            <File>
+              <FileName>can.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Core/Src/can.c</FilePath>
+              <FileOption>
+                <CommonProperty>
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+                  <RVCTCodeConst>0</RVCTCodeConst>
+                  <RVCTZI>0</RVCTZI>
+                  <RVCTOtherData>0</RVCTOtherData>
+                  <ModuleSelection>0</ModuleSelection>
+                  <IncludeInBuild>1</IncludeInBuild>
+                  <AlwaysBuild>2</AlwaysBuild>
+                  <GenerateAssemblyFile>2</GenerateAssemblyFile>
+                  <AssembleAssemblyFile>2</AssembleAssemblyFile>
+                  <PublicsOnly>2</PublicsOnly>
+                  <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
+                  <ComprImg>1</ComprImg>
+                </CommonProperty>
+                <FileArmAds>
+                  <Cads>
+                    <interw>2</interw>
+                    <Optim>0</Optim>
+                    <oTime>2</oTime>
+                    <SplitLS>2</SplitLS>
+                    <OneElfS>2</OneElfS>
+                    <Strict>2</Strict>
+                    <EnumInt>2</EnumInt>
+                    <PlainCh>2</PlainCh>
+                    <Ropi>2</Ropi>
+                    <Rwpi>2</Rwpi>
+                    <wLevel>0</wLevel>
+                    <uThumb>2</uThumb>
+                    <uSurpInc>2</uSurpInc>
+                    <uC99>2</uC99>
+                    <uGnu>2</uGnu>
+                    <useXO>2</useXO>
+                    <v6Lang>0</v6Lang>
+                    <v6LangP>0</v6LangP>
+                    <vShortEn>2</vShortEn>
+                    <vShortWch>2</vShortWch>
+                    <v6Lto>2</v6Lto>
+                    <v6WtE>2</v6WtE>
+                    <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
+                  </Cads>
+                </FileArmAds>
+              </FileOption>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>User/bsp</GroupName>
+          <Files>
+            <File>
+              <FileName>led.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\bsp\led.c</FilePath>
+            </File>
+            <File>
+              <FileName>led.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\User\bsp\led.h</FilePath>
+            </File>
+            <File>
+              <FileName>spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\bsp\spi.c</FilePath>
+            </File>
+            <File>
+              <FileName>spi.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\User\bsp\spi.h</FilePath>
+            </File>
+            <File>
+              <FileName>bsp.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\User\bsp\bsp.h</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>User/component</GroupName>
+          <Files>
+            <File>
+              <FileName>user_math.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\component\user_math.c</FilePath>
+            </File>
+            <File>
+              <FileName>user_math.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\User\component\user_math.h</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>User/device</GroupName>
+          <Files>
+            <File>
+              <FileName>ads8864.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\device\ads8864.c</FilePath>
+            </File>
+            <File>
+              <FileName>ads8864.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\User\device\ads8864.h</FilePath>
+            </File>
+            <File>
+              <FileName>can.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\device\can.c</FilePath>
+            </File>
+            <File>
+              <FileName>can.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\User\device\can.h</FilePath>
+            </File>
+            <File>
+              <FileName>device.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\User\device\device.h</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>User/module</GroupName>
+        </Group>
+        <Group>
+          <GroupName>User/task</GroupName>
+          <Files>
+            <File>
+              <FileName>can.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\can.c</FilePath>
+            </File>
+            <File>
+              <FileName>init.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\init.c</FilePath>
+            </File>
+            <File>
+              <FileName>user_task.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\user_task.c</FilePath>
+            </File>
+            <File>
+              <FileName>user_task.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\User\task\user_task.h</FilePath>
+            </File>
+            <File>
+              <FileName>adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>mointor.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\mointor.c</FilePath>
+            </File>
+            <File>
+              <FileName>pc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\pc.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>::CMSIS</GroupName>
+        </Group>
+      </Groups>
+    </Target>
+  </Targets>
+
+  <RTE>
+    <apis/>
+    <components>
+      <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="4.3.0" condition="CMSIS Core">
+        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0"/>
+        <targetInfos>
+          <targetInfo name="sick"/>
+        </targetInfos>
+      </component>
+    </components>
+    <files/>
+  </RTE>
+
+  <LayerInfo>
+    <Layers>
+      <Layer>
+        <LayName>sick</LayName>
+        <LayPrjMark>1</LayPrjMark>
+      </Layer>
+    </Layers>
+  </LayerInfo>
+
+</Project>
diff --git a/MDK-ARM/sick/sick.axf b/MDK-ARM/sick/sick.axf
new file mode 100644
index 0000000..52ddbb7
Binary files /dev/null and b/MDK-ARM/sick/sick.axf differ
diff --git a/MDK-ARM/sick/sick.hex b/MDK-ARM/sick/sick.hex
new file mode 100644
index 0000000..d099325
--- /dev/null
+++ b/MDK-ARM/sick/sick.hex
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diff --git a/README.md b/README.md
index a1e7b10..3a9698b 100644
--- a/README.md
+++ b/README.md
@@ -15,6 +15,8 @@
 
 
 ## Led
-LED1 闪烁表示线程征程
+LED1 闪烁表示线程正常
 LED2 闪烁表示can发送中
 
+## TODO ：
+自动化标定
diff --git a/User/bsp/can.c b/User/bsp/can.c
deleted file mode 100644
index ed84926..0000000
--- a/User/bsp/can.c
+++ /dev/null
@@ -1,19 +0,0 @@
-// /* Includes ----------------------------------------------------------------- */
-// #include "bsp\can.h"
-// #include "can.h" // 包含 hcan 的定义
-
-// /* Private define ----------------------------------------------------------- */
-// /* Private macro ------------------------------------------------------------ */
-// /* Private typedef ---------------------------------------------------------- */
-// /* Private variables -------------------------------------------------------- */
-// /* Private function  -------------------------------------------------------- */
-
-// /* Exported functions ------------------------------------------------------- */
-// CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
-//   switch (can) {
-//     case BSP_CAN:
-//       return &hcan; // 返回全局定义的 hcan 实例
-//     default:
-//       return NULL; // 未知的 CAN 枚举值
-//   }
-// }
\ No newline at end of file
diff --git a/User/bsp/can.h b/User/bsp/can.h
deleted file mode 100644
index 23c19ce..0000000
--- a/User/bsp/can.h
+++ /dev/null
@@ -1,15 +0,0 @@
-// #pragma once
-
-// /* Includes ----------------------------------------------------------------- */
-// #include <can.h>
-// #include "bsp/bsp.h"
-
-// /* Exported constants ------------------------------------------------------- */
-// /* Exported macro ----------------------------------------------------------- */
-// /* Exported types ----------------------------------------------------------- */
-// typedef enum {
-//   BSP_CAN,
-// } BSP_CAN_t;
-
-// /* Exported functions prototypes -------------------------------------------- */
-// CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can);
diff --git a/User/bsp/led.h b/User/bsp/led.h
index 2428ff1..d38d3a9 100644
--- a/User/bsp/led.h
+++ b/User/bsp/led.h
@@ -27,4 +27,6 @@ typedef enum
 
 /* Exported functions prototypes -------------------------------------------- */
 
-int8_t BSP_LED_SET(BSP_LED_Channel_t ch, BSP_LED_Status_t s);
\ No newline at end of file
+int8_t BSP_LED_SET(BSP_LED_Channel_t ch, BSP_LED_Status_t s);
+
+//未使用ws2812
\ No newline at end of file
diff --git a/User/bsp/uart.c b/User/bsp/uart.c
deleted file mode 100644
index e69de29..0000000
diff --git a/User/bsp/uart.h b/User/bsp/uart.h
deleted file mode 100644
index e69de29..0000000
diff --git a/User/device/pc.c b/User/device/pc.c
deleted file mode 100644
index e69de29..0000000
diff --git a/User/device/pc.h b/User/device/pc.h
deleted file mode 100644
index e69de29..0000000