From 0cbd186dc11f008c5dc095968a1545282c621f5c Mon Sep 17 00:00:00 2001
From: ThinkPad-T460P <ibookshiyi@gmail.com>
Date: Thu, 17 Dec 2020 18:22:19 +0800
Subject: [PATCH] V0.9.1 beta

support voltage monitor
support formatted log message
made log system thread safe
output more infomation of  MCU and firmware
---
 .cproject                                  |  97 +++++----
 .gitignore                                 |   1 +
 .settings/language.settings.xml            |   4 +-
 .settings/org.eclipse.cdt.codan.core.prefs | 146 ++++++++++++-
 .settings/org.eclipse.cdt.core.prefs       |   6 +
 .settings/stm32cubeide.project.prefs       |   4 +
 Core/Inc/FreeRTOSConfig.h                  |  16 +-
 Core/Inc/adc.h                             |  22 +-
 Core/Inc/dma.h                             |  18 +-
 Core/Inc/gpio.h                            |  24 +--
 Core/Inc/i2c.h                             |  22 +-
 Core/Inc/iwdg.h                            |  22 +-
 Core/Inc/navikit.h                         |   2 +
 Core/Inc/rtc.h                             |  22 +-
 Core/Inc/usart.h                           |  25 +--
 Core/Src/adc.c                             |   6 +-
 Core/Src/dma.c                             |  14 +-
 Core/Src/freertos.c                        | 225 ++++++++++++---------
 Core/Src/gpio.c                            |   7 +-
 Core/Src/i2c.c                             |   6 +-
 Core/Src/iwdg.c                            |   6 +-
 Core/Src/main.c                            |   2 +-
 Core/Src/navikit.c                         |  31 +--
 Core/Src/rtc.c                             |   6 +-
 Core/Src/stm32f1xx_hal_msp.c               |   8 -
 Core/Src/stm32f1xx_hal_timebase_tim.c      |   5 +-
 Core/Src/usart.c                           |  15 +-
 Middlewares/Log/log.c                      |  32 +++
 Middlewares/Log/log.h                      |  21 ++
 Middlewares/Log/printf.c                   | 173 ++++++++++++++++
 NaviKit_stm32 Debug.launch                 |   3 +
 NaviKit_stm32.ioc                          |  49 +++--
 USB_DEVICE/Target/usbd_conf.h              |   7 +
 33 files changed, 729 insertions(+), 318 deletions(-)
 create mode 100644 .settings/stm32cubeide.project.prefs
 create mode 100644 Middlewares/Log/log.c
 create mode 100644 Middlewares/Log/log.h
 create mode 100644 Middlewares/Log/printf.c

diff --git a/.cproject b/.cproject
index 79cd334..44ac3bd 100644
--- a/.cproject
+++ b/.cproject
@@ -7,56 +7,59 @@
 				<extensions>
 					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
 				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.502298629" name="Debug" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug">
 					<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.502298629." name="/" resourcePath="">
-						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug.217041015" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug">
-							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.type.265410504" name="Internal Toolchain Type" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.type" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.version.1736166454" name="Internal Toolchain Version" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.version" value="7-2018-q2-update" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.604074274" name="Mcu" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" value="STM32F107VCTx" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.433736509" name="CpuId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" value="0" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.276377927" name="CpuCoreId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" value="0" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1980681105" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1465740073" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.3 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F107VCTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../USB_DEVICE/Target | ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../USB_DEVICE/App | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 ||  ||  || USE_HAL_DRIVER | STM32F107xC ||  || Drivers | CMSIS | Core/Startup | Middlewares | Core | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o || " valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.1573745116" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" value="true" valueType="boolean"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.142703396" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" value="true" valueType="boolean"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.1187387752" name="Runtime library" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.value.standard_c" valueType="enumerated"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.1986680919" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" value="true" valueType="boolean"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.1096157515" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" value="false" valueType="boolean"/>
+						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug.217041015" name="MCU ARM GCC" nonInternalBuilderId="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug">
+							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.type.265410504" name="Internal Toolchain Type" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.type" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.version.1736166454" name="Internal Toolchain Version" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.version" useByScannerDiscovery="false" value="7-2018-q2-update" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.604074274" name="Mcu" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" useByScannerDiscovery="true" value="STM32F107VCTx" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.433736509" name="CpuId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" useByScannerDiscovery="false" value="0" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.276377927" name="CpuCoreId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1980681105" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1465740073" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.3 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F107VCTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../USB_DEVICE/Target | ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../USB_DEVICE/App | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 ||  ||  || USE_HAL_DRIVER | STM32F107xC ||  || Drivers | CMSIS | Core/Startup | Middlewares | Core | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.1573745116" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.142703396" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.1187387752" name="Runtime library" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.value.standard_c" valueType="enumerated"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.1986680919" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.1096157515" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="false" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1735301810" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/NaviKit_stm32}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.510228817" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/NaviKit_stm32}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.901379162" keepEnvironmentInBuildfile="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="unlimited" stopOnErr="false" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.451303658" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.599548003" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g3" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.599548003" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g3" valueType="enumerated"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.259361276" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
-							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.770357739" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
+							<tool command="gcc" commandLinePattern="${COMMAND} ${INPUTS} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT}" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.770357739" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.883307296" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1182522958" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1182522958" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.og" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1676188920" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F107xC"/>
 									<listOptionValue builtIn="false" value="DEBUG"/>
+									<listOptionValue builtIn="false" value="DEPLOY_MODE=&quot;DEBUG&quot;"/>
+									<listOptionValue builtIn="false" value="APP_VERSION=&quot;V0.9.1&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.186388616" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
-									<listOptionValue builtIn="false" value="../USB_DEVICE/Target"/>
-									<listOptionValue builtIn="false" value="../Middlewares/Coulomb"/>
-									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Core/Inc"/>
-									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
-									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3"/>
+									<listOptionValue builtIn="false" value="../Core/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F1xx/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
-									<listOptionValue builtIn="false" value="../Core/Inc"/>
-									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
-									<listOptionValue builtIn="false" value="../USB_DEVICE/App"/>
-									<listOptionValue builtIn="false" value="../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F1xx_HAL_Driver/Inc"/>
+									<listOptionValue builtIn="false" value="../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Coulomb"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Log"/>
+									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc"/>
+									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Core/Inc"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3"/>
+									<listOptionValue builtIn="false" value="../USB_DEVICE/App"/>
+									<listOptionValue builtIn="false" value="../USB_DEVICE/Target"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1357480259" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -65,7 +68,7 @@
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.1376424800" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.571481677" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.577478684" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld}" valueType="string"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.577478684" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" useByScannerDiscovery="false" value="${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld}" valueType="string"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input.1876461324" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
@@ -84,11 +87,19 @@
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.1182938463" name="MCU Output Converter Motorola S-rec with symbols" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec"/>
 						</toolChain>
 					</folderInfo>
+					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.502298629.1109380639" name="log.h" rcbsApplicability="disable" resourcePath="Middlewares/Log/log.h" toolsToInvoke="">
+						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.429610301" name="Resource Custom Build Step">
+							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.835196452" name="Resource Custom Build Step Input Type">
+								<additionalInput kind="additionalinputdependency" paths=""/>
+							</inputType>
+							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.145240003" name="Resource Custom Build Step Output Type"/>
+						</tool>
+					</fileInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="CMSIS"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="USB_DEVICE"/>
 					</sourceEntries>
 				</configuration>
@@ -108,16 +119,18 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1260902692" name="Release" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release">
+				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1260902692" name="Release" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release">
 					<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1260902692." name="/" resourcePath="">
 						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release.471674088" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release">
-							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.type.1681983468" name="Internal Toolchain Type" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.type" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.version.33449610" name="Internal Toolchain Version" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.version" value="7-2018-q2-update" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.856265018" name="Mcu" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" value="STM32F107VCTx" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.1398882809" name="CpuId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" value="0" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1532730982" name="CpuCoreId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" value="0" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1861067852" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1239010509" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.3 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F107VCTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../USB_DEVICE/Target | ..//CMSIS/Driver/Include | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 | ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../USB_DEVICE/App | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/HID/Inc ||  ||  || USE_HAL_DRIVER | STM32F107xC ||  || Drivers | CMSIS | Core/Startup | Middlewares | Core | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.type.1681983468" name="Internal Toolchain Type" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.type" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.version.33449610" name="Internal Toolchain Version" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.version" useByScannerDiscovery="false" value="9-2020-q2-update" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.856265018" name="Mcu" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" useByScannerDiscovery="true" value="STM32F107VCTx" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.1398882809" name="CpuId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" useByScannerDiscovery="false" value="0" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1532730982" name="CpuCoreId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1861067852" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1239010509" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.3 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F107VCTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../USB_DEVICE/Target | ..//CMSIS/Driver/Include | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 | ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../USB_DEVICE/App | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/HID/Inc ||  ||  || USE_HAL_DRIVER | STM32F107xC ||  || Drivers | CMSIS | Core/Startup | Middlewares | Core | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.1121264663" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="false" valueType="boolean"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.1737555266" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.238068216" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/NaviKit_stm32}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.95113451" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1535045086" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -130,6 +143,8 @@
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1412817126" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F107xC"/>
+									<listOptionValue builtIn="false" value="DEPLOY_MODE=&quot;RELEASE&quot;"/>
+									<listOptionValue builtIn="false" value="APP_VERSION=&quot;V0.9.1&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.968919675" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
@@ -146,6 +161,8 @@
 									<listOptionValue builtIn="false" value="../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F1xx_HAL_Driver/Inc"/>
 									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Class/HID/Inc"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Log"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Coulomb"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.77383630" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
diff --git a/.gitignore b/.gitignore
index 83a0720..76a7c5b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -52,4 +52,5 @@ Mkfile.old
 dkms.conf
 
 /Debug/
+/Release/
 /Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd.c
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index ca2d5ac..46e7806 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -6,7 +6,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-834964856988592126" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="618447504645106327" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -18,7 +18,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-834964856988592126" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="575369762763518865" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/.settings/org.eclipse.cdt.codan.core.prefs b/.settings/org.eclipse.cdt.codan.core.prefs
index f957b85..a93b2d4 100644
--- a/.settings/org.eclipse.cdt.codan.core.prefs
+++ b/.settings/org.eclipse.cdt.codan.core.prefs
@@ -2,6 +2,8 @@ com.st.stm32cube.ide.mcu.ide.oss.source.checker.libnano.problem.params={launchMo
 eclipse.preferences.version=1
 org.eclipse.cdt.codan.checkers.errnoreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"No return\\")",implicit\=>false}
 org.eclipse.cdt.codan.checkers.errreturnvalue.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Unused return value\\")"}
+org.eclipse.cdt.codan.checkers.localvarreturn=-Warning
+org.eclipse.cdt.codan.checkers.localvarreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Returning the address of a local variable\\")"}
 org.eclipse.cdt.codan.checkers.nocommentinside.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Nesting comments\\")"}
 org.eclipse.cdt.codan.checkers.nolinecomment.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Line comments\\")"}
 org.eclipse.cdt.codan.checkers.noreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"No return value\\")",implicit\=>false}
@@ -9,8 +11,10 @@ org.eclipse.cdt.codan.internal.checkers.AbstractClassCreation.params={launchMode
 org.eclipse.cdt.codan.internal.checkers.AmbiguousProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Ambiguous problem\\")"}
 org.eclipse.cdt.codan.internal.checkers.AssignmentInConditionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Assignment in condition\\")"}
 org.eclipse.cdt.codan.internal.checkers.AssignmentToItselfProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Assignment to itself\\")"}
+org.eclipse.cdt.codan.internal.checkers.BlacklistProblem=-Warning
+org.eclipse.cdt.codan.internal.checkers.BlacklistProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Function or method is blacklisted\\")",blacklist\=>()}
 org.eclipse.cdt.codan.internal.checkers.CStyleCastProblem=-Warning
-org.eclipse.cdt.codan.internal.checkers.CStyleCastProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"C-Style cast instead of C++ cast\\")"}
+org.eclipse.cdt.codan.internal.checkers.CStyleCastProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"C-Style cast instead of C++ cast\\")",checkMacro\=>true}
 org.eclipse.cdt.codan.internal.checkers.CaseBreakProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"No break at end of case\\")",no_break_comment\=>"no break",last_case_param\=>false,empty_case_param\=>false,enable_fallthrough_quickfix_param\=>false}
 org.eclipse.cdt.codan.internal.checkers.CatchByReference.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Catching by reference is recommended\\")",unknown\=>false,exceptions\=>()}
 org.eclipse.cdt.codan.internal.checkers.CircularReferenceProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Circular inheritance\\")"}
@@ -19,12 +23,16 @@ org.eclipse.cdt.codan.internal.checkers.CopyrightProblem=-Warning
 org.eclipse.cdt.codan.internal.checkers.CopyrightProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Lack of copyright information\\")",regex\=>".*Copyright.*"}
 org.eclipse.cdt.codan.internal.checkers.DecltypeAutoProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid 'decltype(auto)' specifier\\")"}
 org.eclipse.cdt.codan.internal.checkers.FieldResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Field cannot be resolved\\")"}
+org.eclipse.cdt.codan.internal.checkers.FloatCompareProblem=-Warning
+org.eclipse.cdt.codan.internal.checkers.FloatCompareProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Direct float comparison\\")"}
 org.eclipse.cdt.codan.internal.checkers.FunctionResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Function cannot be resolved\\")"}
 org.eclipse.cdt.codan.internal.checkers.GotoStatementProblem=-Warning
 org.eclipse.cdt.codan.internal.checkers.GotoStatementProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Goto statement used\\")"}
 org.eclipse.cdt.codan.internal.checkers.InvalidArguments.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid arguments\\")"}
 org.eclipse.cdt.codan.internal.checkers.InvalidTemplateArgumentsProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid template argument\\")"}
 org.eclipse.cdt.codan.internal.checkers.LabelStatementNotFoundProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Label statement not found\\")"}
+org.eclipse.cdt.codan.internal.checkers.MagicNumberProblem=-Warning
+org.eclipse.cdt.codan.internal.checkers.MagicNumberProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Avoid magic numbers\\")",checkArray\=>true,checkOperatorParen\=>true,exceptions\=>(1,0,-1,2,1.0,0.0,-1.0)}
 org.eclipse.cdt.codan.internal.checkers.MemberDeclarationNotFoundProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Member declaration not found\\")"}
 org.eclipse.cdt.codan.internal.checkers.MethodResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Method cannot be resolved\\")"}
 org.eclipse.cdt.codan.internal.checkers.MissCaseProblem=-Warning
@@ -35,6 +43,8 @@ org.eclipse.cdt.codan.internal.checkers.MissReferenceProblem=-Warning
 org.eclipse.cdt.codan.internal.checkers.MissReferenceProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Missing reference return value in assignment operator\\")"}
 org.eclipse.cdt.codan.internal.checkers.MissSelfCheckProblem=-Warning
 org.eclipse.cdt.codan.internal.checkers.MissSelfCheckProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Missing self check in assignment operator\\")"}
+org.eclipse.cdt.codan.internal.checkers.MultipleDeclarationsProblem=-Warning
+org.eclipse.cdt.codan.internal.checkers.MultipleDeclarationsProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Multiple variable declaration\\")"}
 org.eclipse.cdt.codan.internal.checkers.NamingConventionFunctionChecker.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Name convention for function\\")",pattern\=>"^[a-z]",macro\=>true,exceptions\=>()}
 org.eclipse.cdt.codan.internal.checkers.NonVirtualDestructorProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Class has a virtual method and non-virtual destructor\\")"}
 org.eclipse.cdt.codan.internal.checkers.OverloadProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid overload\\")"}
@@ -42,9 +52,15 @@ org.eclipse.cdt.codan.internal.checkers.RedeclarationProblem.params={launchModes
 org.eclipse.cdt.codan.internal.checkers.RedefinitionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid redefinition\\")"}
 org.eclipse.cdt.codan.internal.checkers.ReturnStyleProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Return with parenthesis\\")"}
 org.eclipse.cdt.codan.internal.checkers.ScanfFormatStringSecurityProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Format String Vulnerability\\")"}
+org.eclipse.cdt.codan.internal.checkers.ShallowCopyProblem=-Warning
+org.eclipse.cdt.codan.internal.checkers.ShallowCopyProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Miss copy constructor or assignment operator\\")",onlynew\=>false}
 org.eclipse.cdt.codan.internal.checkers.StatementHasNoEffectProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Statement has no effect\\")",macro\=>true,exceptions\=>()}
+org.eclipse.cdt.codan.internal.checkers.StaticVariableInHeaderProblem=-Warning
+org.eclipse.cdt.codan.internal.checkers.StaticVariableInHeaderProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Static variable in header file\\")"}
 org.eclipse.cdt.codan.internal.checkers.SuggestedParenthesisProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Suggested parenthesis around expression\\")",paramNot\=>false}
 org.eclipse.cdt.codan.internal.checkers.SuspiciousSemicolonProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Suspicious semicolon\\")",else\=>false,afterelse\=>false}
+org.eclipse.cdt.codan.internal.checkers.SymbolShadowingProblem=-Warning
+org.eclipse.cdt.codan.internal.checkers.SymbolShadowingProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Symbol shadowing\\")",paramFuncParameters\=>true}
 org.eclipse.cdt.codan.internal.checkers.TypeResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Type cannot be resolved\\")"}
 org.eclipse.cdt.codan.internal.checkers.UnusedFunctionDeclarationProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Unused function declaration\\")",macro\=>true}
 org.eclipse.cdt.codan.internal.checkers.UnusedStaticFunctionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Unused static function\\")",macro\=>true}
@@ -54,3 +70,131 @@ org.eclipse.cdt.codan.internal.checkers.UsingInHeaderProblem.params={launchModes
 org.eclipse.cdt.codan.internal.checkers.VariableResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Symbol is not resolved\\")"}
 org.eclipse.cdt.codan.internal.checkers.VirtualMethodCallProblem=-Error
 org.eclipse.cdt.codan.internal.checkers.VirtualMethodCallProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Virtual method call in constructor/destructor\\")"}
+org.wangzw.plugin.cppstyle.cpplint.build.c++11=Error
+org.wangzw.plugin.cppstyle.cpplint.build.c++11.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.categorized=Error
+org.wangzw.plugin.cppstyle.cpplint.build.categorized.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.deprecated=Error
+org.wangzw.plugin.cppstyle.cpplint.build.deprecated.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.endif_comment=Error
+org.wangzw.plugin.cppstyle.cpplint.build.endif_comment.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.explicit_make_pair=Error
+org.wangzw.plugin.cppstyle.cpplint.build.explicit_make_pair.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.forward_decl=Error
+org.wangzw.plugin.cppstyle.cpplint.build.forward_decl.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.header_guard=Error
+org.wangzw.plugin.cppstyle.cpplint.build.header_guard.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.include=Error
+org.wangzw.plugin.cppstyle.cpplint.build.include.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.include_alpha=Error
+org.wangzw.plugin.cppstyle.cpplint.build.include_alpha.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.include_order=Error
+org.wangzw.plugin.cppstyle.cpplint.build.include_order.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.include_what_you_use=Error
+org.wangzw.plugin.cppstyle.cpplint.build.include_what_you_use.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.namespaces=Error
+org.wangzw.plugin.cppstyle.cpplint.build.namespaces.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.printf_format=Error
+org.wangzw.plugin.cppstyle.cpplint.build.printf_format.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.build.storage_class=Error
+org.wangzw.plugin.cppstyle.cpplint.build.storage_class.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.legal.copyright=Error
+org.wangzw.plugin.cppstyle.cpplint.legal.copyright.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.alt_tokens=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.alt_tokens.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.braces=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.braces.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.casting=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.casting.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.check=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.check.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.constructors=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.constructors.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.fn_size=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.fn_size.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.function=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.function.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.inheritance=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.inheritance.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.multiline_comment=Error
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+org.wangzw.plugin.cppstyle.cpplint.readability.multiline_string=Error
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+org.wangzw.plugin.cppstyle.cpplint.readability.namespace=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.namespace.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.nolint=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.nolint.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.nul=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.nul.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.strings=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.strings.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.todo=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.todo.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.readability.utf8=Error
+org.wangzw.plugin.cppstyle.cpplint.readability.utf8.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.arrays=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.arrays.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.casting=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.casting.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.explicit=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.explicit.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.indentation_namespace=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.indentation_namespace.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.init=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.init.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.int=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.int.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.invalid_increment=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.invalid_increment.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.member_string_references=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.member_string_references.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.memset=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.memset.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.operator=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.operator.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.printf=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.printf.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.printf_format=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.printf_format.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.references=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.references.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.string=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.string.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.threadsafe_fn=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.threadsafe_fn.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.runtime.vlog=Error
+org.wangzw.plugin.cppstyle.cpplint.runtime.vlog.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.blank_line=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.blank_line.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.braces=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.braces.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.comma=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.comma.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.comments=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.comments.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.empty_conditional_body=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.empty_conditional_body.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.empty_loop_body=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.empty_loop_body.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.end_of_line=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.end_of_line.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.ending_newline=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.ending_newline.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.forcolon=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.forcolon.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.indent=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.indent.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.line_length=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.line_length.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.newline=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.newline.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.operators=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.operators.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.parens=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.parens.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.semicolon=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.semicolon.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.tab=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.tab.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
+org.wangzw.plugin.cppstyle.cpplint.whitespace.todo=Error
+org.wangzw.plugin.cppstyle.cpplint.whitespace.todo.params={fileScope\=>inclusion\=>("*.cc","*.h","*.cpp","*.cu","*.cuh","*.hpp"),exclusion\=>(),launchModes\=>{RUN_ON_FULL_BUILD\=>false,RUN_ON_INC_BUILD\=>false,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>true,RUN_AS_YOU_TYPE\=>false,RUN_ON_DEMAND\=>true},suppression_comment\=>null}
diff --git a/.settings/org.eclipse.cdt.core.prefs b/.settings/org.eclipse.cdt.core.prefs
index 9fa20dc..6764570 100644
--- a/.settings/org.eclipse.cdt.core.prefs
+++ b/.settings/org.eclipse.cdt.core.prefs
@@ -1,3 +1,9 @@
+doxygen/doxygen_new_line_after_brief=true
+doxygen/doxygen_use_brief_tag=false
+doxygen/doxygen_use_javadoc_tags=true
+doxygen/doxygen_use_pre_tag=false
+doxygen/doxygen_use_structural_commands=false
 eclipse.preferences.version=1
 environment/project/com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.502298629/append=true
 environment/project/com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.502298629/appendContributed=true
+org.eclipse.cdt.core.code_formatter=org.eclipse.cdt.core.defaultCodeFormatter
diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
new file mode 100644
index 0000000..42c3797
--- /dev/null
+++ b/.settings/stm32cubeide.project.prefs
@@ -0,0 +1,4 @@
+2F62501ED4689FB349E356AB974DBE57=66ECD72EB9ECEB12193E2107C4BA39FF
+8DF89ED150041C4CBC7CB9A9CAA90856=66ECD72EB9ECEB12193E2107C4BA39FF
+DC22A860405A8BF2F2C095E5B6529F12=F6E7387302D54A097C31AB36FAAFE226
+eclipse.preferences.version=1
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index a40c8b3..d4ab828 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -50,21 +50,27 @@
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
   #include <stdint.h>
   extern uint32_t SystemCoreClock;
+/* USER CODE BEGIN 0 */
+  extern void configureTimerForRunTimeStats(void);
+  extern unsigned long getRunTimeCounterValue(void);
+/* USER CODE END 0 */
 #endif
 #define configUSE_PREEMPTION                     1
 #define configSUPPORT_STATIC_ALLOCATION          1
 #define configSUPPORT_DYNAMIC_ALLOCATION         1
-#define configUSE_IDLE_HOOK                      0
-#define configUSE_TICK_HOOK                      0
+#define configUSE_IDLE_HOOK                      1
+#define configUSE_TICK_HOOK                      1
 #define configCPU_CLOCK_HZ                       ( SystemCoreClock )
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
 #define configTOTAL_HEAP_SIZE                    ((size_t)8192)
 #define configMAX_TASK_NAME_LEN                  ( 32 )
+#define configGENERATE_RUN_TIME_STATS            1
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1
 #define configQUEUE_REGISTRY_SIZE                8
+#define configCHECK_FOR_STACK_OVERFLOW           1
 #define configUSE_RECURSIVE_MUTEXES              1
 #define configUSE_COUNTING_SEMAPHORES            1
 #define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
@@ -143,6 +149,12 @@ standard names. */
 
 #define xPortSysTickHandler SysTick_Handler
 
+/* USER CODE BEGIN 2 */
+/* Definitions needed when configGENERATE_RUN_TIME_STATS is on */
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS configureTimerForRunTimeStats
+#define portGET_RUN_TIME_COUNTER_VALUE getRunTimeCounterValue
+/* USER CODE END 2 */
+
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
 /* USER CODE END Defines */
diff --git a/Core/Inc/adc.h b/Core/Inc/adc.h
index f7a4ebd..a2125bd 100644
--- a/Core/Inc/adc.h
+++ b/Core/Inc/adc.h
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : ADC.h
-  * Description        : This file provides code for the configuration
-  *                      of the ADC instances.
+  * @file    adc.h
+  * @brief   This file contains all the function prototypes for
+  *          the adc.c file
   ******************************************************************************
   * @attention
   *
@@ -17,10 +17,11 @@
   ******************************************************************************
   */
 /* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __adc_H
-#define __adc_H
+#ifndef __ADC_H__
+#define __ADC_H__
+
 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -45,14 +46,7 @@ void MX_ADC1_Init(void);
 #ifdef __cplusplus
 }
 #endif
-#endif /*__ adc_H */
 
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
+#endif /* __ADC_H__ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Inc/dma.h b/Core/Inc/dma.h
index a1219cd..24238c8 100644
--- a/Core/Inc/dma.h
+++ b/Core/Inc/dma.h
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : dma.h
-  * Description        : This file contains all the function prototypes for
-  *                      the dma.c file
+  * @file    dma.h
+  * @brief   This file contains all the function prototypes for
+  *          the dma.c file
   ******************************************************************************
   * @attention
   *
@@ -17,11 +17,11 @@
   ******************************************************************************
   */
 /* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __dma_H
-#define __dma_H
+#ifndef __DMA_H__
+#define __DMA_H__
 
 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -47,10 +47,6 @@ void MX_DMA_Init(void);
 }
 #endif
 
-#endif /* __dma_H */
-
-/**
-  * @}
-  */
+#endif /* __DMA_H__ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Inc/gpio.h b/Core/Inc/gpio.h
index 52e5e53..081bd78 100644
--- a/Core/Inc/gpio.h
+++ b/Core/Inc/gpio.h
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : gpio.h
-  * Description        : This file contains all the functions prototypes for
-  *                      the gpio
+  * @file    gpio.h
+  * @brief   This file contains all the function prototypes for
+  *          the gpio.c file
   ******************************************************************************
   * @attention
   *
@@ -16,12 +16,12 @@
   *
   ******************************************************************************
   */
-
 /* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __gpio_H
-#define __gpio_H
+#ifndef __GPIO_H__
+#define __GPIO_H__
+
 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -45,14 +45,6 @@ void MX_GPIO_Init(void);
 #ifdef __cplusplus
 }
 #endif
-#endif /*__ pinoutConfig_H */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
+#endif /*__ GPIO_H__ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Inc/i2c.h b/Core/Inc/i2c.h
index d1dcf7c..a1bb913 100644
--- a/Core/Inc/i2c.h
+++ b/Core/Inc/i2c.h
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : I2C.h
-  * Description        : This file provides code for the configuration
-  *                      of the I2C instances.
+  * @file    i2c.h
+  * @brief   This file contains all the function prototypes for
+  *          the i2c.c file
   ******************************************************************************
   * @attention
   *
@@ -17,10 +17,11 @@
   ******************************************************************************
   */
 /* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __i2c_H
-#define __i2c_H
+#ifndef __I2C_H__
+#define __I2C_H__
+
 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -45,14 +46,7 @@ void MX_I2C1_Init(void);
 #ifdef __cplusplus
 }
 #endif
-#endif /*__ i2c_H */
 
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
+#endif /* __I2C_H__ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Inc/iwdg.h b/Core/Inc/iwdg.h
index e467683..a4022aa 100644
--- a/Core/Inc/iwdg.h
+++ b/Core/Inc/iwdg.h
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : IWDG.h
-  * Description        : This file provides code for the configuration
-  *                      of the IWDG instances.
+  * @file    iwdg.h
+  * @brief   This file contains all the function prototypes for
+  *          the iwdg.c file
   ******************************************************************************
   * @attention
   *
@@ -17,10 +17,11 @@
   ******************************************************************************
   */
 /* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __iwdg_H
-#define __iwdg_H
+#ifndef __IWDG_H__
+#define __IWDG_H__
+
 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -45,14 +46,7 @@ void MX_IWDG_Init(void);
 #ifdef __cplusplus
 }
 #endif
-#endif /*__ iwdg_H */
 
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
+#endif /* __IWDG_H__ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Inc/navikit.h b/Core/Inc/navikit.h
index d7db43a..f2246cc 100644
--- a/Core/Inc/navikit.h
+++ b/Core/Inc/navikit.h
@@ -12,6 +12,8 @@
 #include "stm32f1xx_hal.h"
 #include "adc.h"
 #include "gpio.h"
+#include "log.h"
+
 
 #define ADC_CH_COUNT 5+2	//number of adc channels (include temp sensor and vrefint adc_in17)
 
diff --git a/Core/Inc/rtc.h b/Core/Inc/rtc.h
index bf42725..632d0e5 100644
--- a/Core/Inc/rtc.h
+++ b/Core/Inc/rtc.h
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : RTC.h
-  * Description        : This file provides code for the configuration
-  *                      of the RTC instances.
+  * @file    rtc.h
+  * @brief   This file contains all the function prototypes for
+  *          the rtc.c file
   ******************************************************************************
   * @attention
   *
@@ -17,10 +17,11 @@
   ******************************************************************************
   */
 /* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __rtc_H
-#define __rtc_H
+#ifndef __RTC_H__
+#define __RTC_H__
+
 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -45,14 +46,7 @@ void MX_RTC_Init(void);
 #ifdef __cplusplus
 }
 #endif
-#endif /*__ rtc_H */
 
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
+#endif /* __RTC_H__ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Inc/usart.h b/Core/Inc/usart.h
index ea5d64d..be874c6 100644
--- a/Core/Inc/usart.h
+++ b/Core/Inc/usart.h
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : USART.h
-  * Description        : This file provides code for the configuration
-  *                      of the USART instances.
+  * @file    usart.h
+  * @brief   This file contains all the function prototypes for
+  *          the usart.c file
   ******************************************************************************
   * @attention
   *
@@ -17,10 +17,11 @@
   ******************************************************************************
   */
 /* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __usart_H
-#define __usart_H
+#ifndef __USART_H__
+#define __USART_H__
+
 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -28,6 +29,8 @@
 
 /* USER CODE BEGIN Includes */
 
+#include <stdio.h>
+#include  <stdarg.h>
 /* USER CODE END Includes */
 
 extern UART_HandleTypeDef huart4;
@@ -42,19 +45,13 @@ void MX_USART1_UART_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 
+void UartPrint(char * format,...);
 /* USER CODE END Prototypes */
 
 #ifdef __cplusplus
 }
 #endif
-#endif /*__ usart_H */
 
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
+#endif /* __USART_H__ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Src/adc.c b/Core/Src/adc.c
index 007e827..46aa2ee 100644
--- a/Core/Src/adc.c
+++ b/Core/Src/adc.c
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : ADC.c
-  * Description        : This file provides code for the configuration
-  *                      of the ADC instances.
+  * @file    adc.c
+  * @brief   This file provides code for the configuration
+  *          of the ADC instances.
   ******************************************************************************
   * @attention
   *
diff --git a/Core/Src/dma.c b/Core/Src/dma.c
index c1ee482..64f1bab 100644
--- a/Core/Src/dma.c
+++ b/Core/Src/dma.c
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : dma.c
-  * Description        : This file provides code for the configuration
-  *                      of all the requested memory to memory DMA transfers.
+  * @file    dma.c
+  * @brief   This file provides code for the configuration
+  *          of all the requested memory to memory DMA transfers.
   ******************************************************************************
   * @attention
   *
@@ -47,12 +47,4 @@ void MX_DMA_Init(void)
 
 /* USER CODE END 2 */
 
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 1fea623..fbc9eab 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -1,3 +1,10 @@
+/*
+ * @Description: 
+ * @Date: 2020-04-02 21:44:31
+ * @LastEditors: CK.Zh
+ * @LastEditTime: 2020-12-17 17:27:06
+ * @FilePath: \NaviKit_stm32\Core\Src\freertos.c
+ */
 /* USER CODE BEGIN Header */
 /**
   ******************************************************************************
@@ -29,11 +36,12 @@
 #include "iwdg.h"
 #include "gpio.h"
 #include "usart.h"
-#include "stdio.h"
+//#include "stdio.h"
 #include "navikit.h"
 #include "coulomb.h"
 #include "stdbool.h"
 #include "adc.h"
+#include "log.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -104,17 +112,10 @@ const osThreadAttr_t PowerMonitTask_attributes = {
   .priority = (osPriority_t) osPriorityLow,
   .stack_size = 128 * 4
 };
-/* Definitions for uartQueueTask */
-osThreadId_t uartQueueTaskHandle;
-const osThreadAttr_t uartQueueTask_attributes = {
-  .name = "uartQueueTask",
-  .priority = (osPriority_t) osPriorityLow,
-  .stack_size = 128 * 4
-};
-/* Definitions for uartQueue */
-osMessageQueueId_t uartQueueHandle;
-const osMessageQueueAttr_t uartQueue_attributes = {
-  .name = "uartQueue"
+/* Definitions for myMutex01 */
+osMutexId_t myMutex01Handle;
+const osMutexAttr_t myMutex01_attributes = {
+  .name = "myMutex01"
 };
 
 /* Private function prototypes -----------------------------------------------*/
@@ -128,11 +129,65 @@ void StartEventDetect(void *argument);
 void StartCoulombRead(void *argument);
 void StartStateSwitchTask(void *argument);
 void StartPowerMonitTask(void *argument);
-void StartUartQueueTask(void *argument);
 
 extern void MX_USB_DEVICE_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
+/* Hook prototypes */
+void configureTimerForRunTimeStats(void);
+unsigned long getRunTimeCounterValue(void);
+void vApplicationIdleHook(void);
+void vApplicationTickHook(void);
+void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
+
+/* USER CODE BEGIN 1 */
+/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
+__weak void configureTimerForRunTimeStats(void)
+{
+
+}
+
+__weak unsigned long getRunTimeCounterValue(void)
+{
+return 0;
+}
+/* USER CODE END 1 */
+
+/* USER CODE BEGIN 2 */
+void vApplicationIdleHook( void )
+{
+   /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
+   to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
+   task. It is essential that code added to this hook function never attempts
+   to block in any way (for example, call xQueueReceive() with a block time
+   specified, or call vTaskDelay()). If the application makes use of the
+   vTaskDelete() API function (as this demo application does) then it is also
+   important that vApplicationIdleHook() is permitted to return to its calling
+   function, because it is the responsibility of the idle task to clean up
+   memory allocated by the kernel to any task that has since been deleted. */
+}
+/* USER CODE END 2 */
+
+/* USER CODE BEGIN 3 */
+void vApplicationTickHook( void )
+{
+   /* This function will be called by each tick interrupt if
+   configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
+   added here, but the tick hook is called from an interrupt context, so
+   code must not attempt to block, and only the interrupt safe FreeRTOS API
+   functions can be used (those that end in FromISR()). */
+}
+/* USER CODE END 3 */
+
+/* USER CODE BEGIN 4 */
+void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
+{
+   /* Run time stack overflow checking is performed if
+   configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
+   called if a stack overflow is detected. */
+}
+/* USER CODE END 4 */
+
 /**
   * @brief  FreeRTOS initialization
   * @param  None
@@ -142,6 +197,9 @@ void MX_FREERTOS_Init(void) {
   /* USER CODE BEGIN Init */
        
   /* USER CODE END Init */
+  /* Create the mutex(es) */
+  /* creation of myMutex01 */
+  myMutex01Handle = osMutexNew(&myMutex01_attributes);
 
   /* USER CODE BEGIN RTOS_MUTEX */
   /* add mutexes, ... */
@@ -155,10 +213,6 @@ void MX_FREERTOS_Init(void) {
   /* start timers, add new ones, ... */
   /* USER CODE END RTOS_TIMERS */
 
-  /* Create the queue(s) */
-  /* creation of uartQueue */
-  uartQueueHandle = osMessageQueueNew (128, sizeof(uint8_t), &uartQueue_attributes);
-
   /* USER CODE BEGIN RTOS_QUEUES */
   /* add queues, ... */
   /* USER CODE END RTOS_QUEUES */
@@ -177,7 +231,7 @@ void MX_FREERTOS_Init(void) {
   EventDetectHandle = osThreadNew(StartEventDetect, NULL, &EventDetect_attributes);
 
   /* creation of CoulombRead */
-//  CoulombReadHandle = osThreadNew(StartCoulombRead, NULL, &CoulombRead_attributes);
+  CoulombReadHandle = osThreadNew(StartCoulombRead, NULL, &CoulombRead_attributes);
 
   /* creation of StateSwitchTask */
   StateSwitchTaskHandle = osThreadNew(StartStateSwitchTask, NULL, &StateSwitchTask_attributes);
@@ -185,14 +239,15 @@ void MX_FREERTOS_Init(void) {
   /* creation of PowerMonitTask */
   PowerMonitTaskHandle = osThreadNew(StartPowerMonitTask, NULL, &PowerMonitTask_attributes);
 
-  /* creation of uartQueueTask */
-  uartQueueTaskHandle = osThreadNew(StartUartQueueTask, NULL, &uartQueueTask_attributes);
-
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
 
   /* USER CODE END RTOS_THREADS */
 
+  /* USER CODE BEGIN RTOS_EVENTS */
+  /* add events, ... */
+  /* USER CODE END RTOS_EVENTS */
+
 }
 
 /* USER CODE BEGIN Header_StartDefaultTask */
@@ -207,29 +262,35 @@ void StartDefaultTask(void *argument)
   /* init code for USB_DEVICE */
   MX_USB_DEVICE_Init();
   /* USER CODE BEGIN StartDefaultTask */
+ osVersion_t osVersion;
+ char id_buf[20];
+ unsigned char id_size=20;
 
-  HAL_GPIO_WritePin(USB2_FS_ENUM_CTL_GPIO_Port,USB2_FS_ENUM_CTL_Pin, GPIO_PIN_SET);
-   Beep(50);
+	HAL_GPIO_WritePin(USB2_FS_ENUM_CTL_GPIO_Port,USB2_FS_ENUM_CTL_Pin, GPIO_PIN_SET);
+	Beep(50);
 
-   osDelay(100);
-   osDelay(100);
-   printf("\nCore initial successfully\n");
-   printf("---------------------------------------------\n");
-   printf("Copyright (c) Powered by www.autolabor.com.cn\n");
-   printf("BIOS SW Version: V0.9.1, build: %s, %s\n",__DATE__ ,__TIME__ );
-	  printf("HAL Version: %lu \n", HAL_GetHalVersion());
-	  printf("Revision ID: %lu \n", HAL_GetREVID());
-	  printf("Device ID: %lu \n", HAL_GetDEVID());
-	  printf("Chip UID: %lu%lu%lu \n", HAL_GetUIDw0(),HAL_GetUIDw1(),HAL_GetUIDw2);
-	  printf("----------------------------------------------\n");
+	Log(info,"----------------------------------------------");
+	Log(info,"Copyright (c) Powered by www.autolabor.com.cn");
+
+	Log(info,"EC Firmware : %s[%s], build: %s, %s, by STD:%u",APP_VERSION,DEPLOY_MODE,__DATE__ ,__TIME__,__STDC_VERSION__  );
+	Log(info,"HAL Version: %u ", HAL_GetHalVersion());
+	Log(info,"Revision ID: %u ", HAL_GetREVID());
+	Log(info,"Device ID: %u ", HAL_GetDEVID());
+	Log(info,"Chip UID: %u%u%u ", HAL_GetUIDw0(),HAL_GetUIDw1(),HAL_GetUIDw2);
+
+	if(osKernelGetInfo(&osVersion,id_buf,id_size)){
+		Log(info,"OS Kernel Version: %u ", osVersion.kernel );
+		Log(info,"OS Kernel ID: %s ",id_buf );
+	}
+
+	Log(info,"Core initial successfully");
+	Log(info,"----------------------------------------------");
 
   /* Infinite loop */
   for(;;)
   {
 	osDelay(100);
 
-	//  printf("Time:[%f s]; OUT_24:[%f V]; OUT_5:[%f V]; OUT_12:[%f V]; BKP_BAT:[%f V]; MAIN_PWR:[%f V]\n",(float)(osKernelGetTickCount()/1000.0),NaviKit.pmb.rails.out_24v,NaviKit.pmb.rails.out_5v,NaviKit.pmb.rails.out_12v,NaviKit.pmb.rails.bkp_bat,NaviKit.pmb.rails.main_pwr);
-
   }
   /* USER CODE END StartDefaultTask */
 }
@@ -322,8 +383,10 @@ void StartLedBlinkTask(void *argument)
 				HAL_GPIO_WritePin(SYS_RUN_LED_CTL_GPIO_Port,SYS_RUN_LED_CTL_Pin,GPIO_PIN_SET);//turn off run led
 				osDelay(300);
 			  }
+		}break;
+		case isp:
+			break;
 		}
-  }
 	}
   /* USER CODE END StartLedBlinkTask */
 }
@@ -342,7 +405,6 @@ void StartIWDGRefreshTask(void *argument)
   for(;;)
   {
 	HAL_IWDG_Refresh(&hiwdg);
-//	printf("2\n");
 	osDelay(1000);
   }
   /* USER CODE END StartIWDGRefreshTask */
@@ -361,7 +423,7 @@ void StartEventDetect(void *argument)
 	osDelay(100);
   if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port,SYS_CUSTOM_BTN_Pin) == GPIO_PIN_RESET)
   {
-      printf("Custom button has been pushed. \n");
+      Log(debug,"Custom button has been pushed.");
       NaviKit.sys.next_sta = isp;
   }
   /* Infinite loop */
@@ -522,83 +584,50 @@ void StartPowerMonitTask(void *argument)
   /* Infinite loop */
   for(;;)
   {
-    osDelay(1000);
-  // printf("out_24v: %f \n",NaviKit.pmb.out_24v_div16);
-  // printf("out_5v: %f \n",NaviKit.pmb.out_5v_div8);
-  // printf("out_12v: %f \n",NaviKit.pmb.out_12v_div8);
-  // printf("bkp_bat: %f \n",NaviKit.pmb.bkp_bat_div8);
-  // printf("main_pwr: %f \n",NaviKit.pmb.main_pwr_div16);
-
-    if(NaviKit.pmb.rails.main_pwr < 19)
-    {
-    	Beep(50);
+    if(NaviKit.pmb.rails.out_24v > 26.4 || NaviKit.pmb.rails.out_24v < 21.6){
+    	 Log(error,"24V power rail exception:%f",NaviKit.pmb.rails.out_24v);
+//    	printf("24V power rail exception:%f",NaviKit.pmb.rails.out_24v);
     }
+    if(NaviKit.pmb.rails.out_5v > 5.5 || NaviKit.pmb.rails.out_5v < 4.5){
+    	 Log(error,"5V power rail exception:%f",NaviKit.pmb.rails.out_5v);
+//    	printf("5V power rail exception:%f",NaviKit.pmb.rails.out_5v);
+    }
+    if(NaviKit.pmb.rails.out_12v > 13.2 || NaviKit.pmb.rails.out_12v < 10.8){
+    	 Log(error ,"12V power rail exception:%f",NaviKit.pmb.rails.out_12v);
+//    	printf("12V power rail exception:%f",NaviKit.pmb.rails.out_12v);
+    }
+    if(NaviKit.pmb.rails.bkp_bat < 10){
+    	 Log(warning,"Backup power is not online");
+//    	printf("Backup power is not online");
+    }
+    if(NaviKit.pmb.rails.main_pwr < 19){
+    	Beep(100);
+    	 Log(warning,"Main power has been lost, please shutdown computer as soon as possible");
+//    	printf("Main power has been lost, please shutdown computer as soon as possible");
+    }
+    osDelay(5000);
 
   }
   /* USER CODE END StartPowerMonitTask */
 }
 
-/* USER CODE BEGIN Header_StartUartQueueTask */
-/**
-* @brief Function implementing the uartQueueTask thread.
-* @param argument: Not used
-* @retval None
-*/
-/* USER CODE END Header_StartUartQueueTask */
-void StartUartQueueTask(void *argument)
-{
-  /* USER CODE BEGIN StartUartQueueTask */
-    uint8_t count,temp[256];
-//  osMessageQueuePut(uartQueueHandle,"t",0,100);
-//  osMessageQueuePut(uartQueueHandle,"e",0,100);
-//  osMessageQueuePut(uartQueueHandle,"s",0,100);
-//  osMessageQueuePut(uartQueueHandle,"t",0,100);
-
-  /* Infinite loop */
-  for(;;)
-  {
-    osDelay(2);
-      count = osMessageQueueGetCount(uartQueueHandle);
-      if(count){
-        for(uint32_t i=0;i<count;i++){
-        	osMessageQueueGet(uartQueueHandle,&temp[i],0,10);
-        }
-        taskENTER_CRITICAL();
-		while(HAL_UART_GetState(&huart1) == HAL_UART_STATE_BUSY_TX){}
-        HAL_UART_Transmit(&huart1,(uint8_t *)&temp,count,0xffff);
-        taskEXIT_CRITICAL();
-      }
-  }
-  /* USER CODE END StartUartQueueTask */
-}
-
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 
 
 //printf redefine
 #ifdef __GNUC__
-#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
+//#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
+#define PUTCHAR_PROTOTYPE int putchar(int ch)
 #else
 #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
 #endif
 
 PUTCHAR_PROTOTYPE
 {
-
-//	while(HAL_UART_GetState(&huart1) == HAL_UART_STATE_BUSY_TX){}
-//	HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xffff);
-
-	//queue space check before enqueue
-	if(osMessageQueueGetSpace(uartQueueHandle)){
-		osMessageQueuePut(uartQueueHandle,(uint8_t*)&ch,0,10);
-	}
-	else{
-		uint8_t front[1];//trash
-    	osMessageQueueGet(uartQueueHandle,front,0,10);
-		osMessageQueuePut(uartQueueHandle,(uint8_t *)&ch,0,100);
-	}
-  return ch;
+	while(HAL_UART_GetState(&huart1) == HAL_UART_STATE_BUSY_TX){}
+	HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xffff);
+	return ch;
 }
 
 /* USER CODE END Application */
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 95f2d2b..05dafdd 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : gpio.c
-  * Description        : This file provides code for the configuration
-  *                      of all used GPIO pins.
+  * @file    gpio.c
+  * @brief   This file provides code for the configuration
+  *          of all used GPIO pins.
   ******************************************************************************
   * @attention
   *
@@ -19,6 +19,7 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "gpio.h"
+
 /* USER CODE BEGIN 0 */
 
 extern NaviKit_t NaviKit;
diff --git a/Core/Src/i2c.c b/Core/Src/i2c.c
index 80c52a2..27ebfbd 100644
--- a/Core/Src/i2c.c
+++ b/Core/Src/i2c.c
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : I2C.c
-  * Description        : This file provides code for the configuration
-  *                      of the I2C instances.
+  * @file    i2c.c
+  * @brief   This file provides code for the configuration
+  *          of the I2C instances.
   ******************************************************************************
   * @attention
   *
diff --git a/Core/Src/iwdg.c b/Core/Src/iwdg.c
index afc9a28..13edef4 100644
--- a/Core/Src/iwdg.c
+++ b/Core/Src/iwdg.c
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : IWDG.c
-  * Description        : This file provides code for the configuration
-  *                      of the IWDG instances.
+  * @file    iwdg.c
+  * @brief   This file provides code for the configuration
+  *          of the IWDG instances.
   ******************************************************************************
   * @attention
   *
diff --git a/Core/Src/main.c b/Core/Src/main.c
index fc3b3ef..5213fd2 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -256,7 +256,7 @@ void ISP_Judge()
 
 /* USER CODE END 4 */
 
-/**
+ /**
   * @brief  Period elapsed callback in non blocking mode
   * @note   This function is called  when TIM1 interrupt took place, inside
   * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
diff --git a/Core/Src/navikit.c b/Core/Src/navikit.c
index e8da15a..5ddeb8e 100644
--- a/Core/Src/navikit.c
+++ b/Core/Src/navikit.c
@@ -1,3 +1,10 @@
+/*
+ * @Description: 
+ * @Date: 2020-04-17 13:16:16
+ * @LastEditors: CK.Zh
+ * @LastEditTime: 2020-12-17 17:29:07
+ * @FilePath: \NaviKit_stm32\Core\Src\navikit.c
+ */
 /*
  * navikit.c
  *
@@ -58,7 +65,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 			  {//if jetson nano shutdown output low,the power_en should be set low less than 10us
 				    HAL_GPIO_WritePin(SOM_POWER_EN_GPIO_Port ,SOM_POWER_EN_Pin, GPIO_PIN_RESET);
 					NaviKit.sys.next_sta = shutdown;
-					printf("som request to shutdown");
+					Log(info,"som request to shutdown");
 			  }
 				NaviKit.som.shutdown_req = true;
 		}
@@ -72,12 +79,12 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 		if(HAL_GPIO_ReadPin(SYS_POWER_BTN_GPIO_Port, SYS_POWER_BTN_Pin)==GPIO_PIN_SET)
 		{//Rising edge trigger
 			NaviKit.sys.power_btn = true;
-			printf("power_btn pushed \n");
+			Log(debug,"power_btn pushed");
 		}
 		if(HAL_GPIO_ReadPin(SYS_POWER_BTN_GPIO_Port, SYS_POWER_BTN_Pin)==GPIO_PIN_RESET)
 		{//falling edge trigger
 			NaviKit.sys.power_btn = false;
-			printf("power_btn released \n");
+			Log(debug,"power_btn released");
 		}
 	}
 	else if(GPIO_Pin == SYS_CUSTOM_BTN_Pin)
@@ -85,12 +92,12 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 		if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port, SYS_CUSTOM_BTN_Pin)==GPIO_PIN_SET)
 		{//Rising edge trigger
 			NaviKit.sys.custom_btn = false;
-			printf("custom_btn released \n");
+			Log(debug,"custom_btn released");
 		}
 		if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port, SYS_CUSTOM_BTN_Pin)==GPIO_PIN_RESET)
 		{//falling edge trigger
 			NaviKit.sys.custom_btn = true;
-			printf("custom_btn pushed \n");
+			Log(debug,"custom_btn pushed");
 		}
 	}
 
@@ -120,19 +127,19 @@ void enter_isp_state()
         Beep(500);
         Beep(500);
         Beep(500);
-        printf("Enter to BIOS update state.\n");
-        printf("System will reboot ,then run ISP automatic.\n");
+        Log(info,"Enter to EC update state.");
+        Log(info,"System will reboot ,then run ISP automatic.");
         HAL_NVIC_SystemReset();
     }
     else{
-        printf("Backup Register Writen error, can not enter BIOS update state \n");
+        Log(error,"Backup register writen error, can not enter EC update state.");
     }
 }
 
 //timeout:the time of wait
 void enter_shutdown_state()
 {
-				  printf("Enter to shutdown state\n");
+				  Log(info,"Enter to shutdown state");
 				  Beep(50);
 
     HAL_GPIO_WritePin(SOM_POWER_EN_GPIO_Port ,SOM_POWER_EN_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
@@ -167,7 +174,7 @@ void enter_shutdown_state()
 
 void enter_sleep_state()
 {
-				  printf("Enter to sleep state \n");
+				  Log(info,"Enter to sleep state");
 				  Beep(50);
 
     // HAL_GPIO_WritePin(SOC_U3_HUB_PWR_CTL_GPIO_Port,SOC_U3_HUB_PWR_CTL_Pin, GPIO_PIN_RESET);				  HAL_Delay(100);
@@ -199,7 +206,7 @@ void enter_sleep_state()
 void enter_runing_state()
 {
   
-  printf("Enter to runing state \n");
+  Log(info,"Enter to runing state");
   Beep(200);
 
   HAL_GPIO_WritePin(SOM_FORCE_RECOVERY_GPIO_Port ,SOM_FORCE_RECOVERY_Pin, GPIO_PIN_SET);				      HAL_Delay(100);
@@ -236,7 +243,7 @@ void enter_runing_state()
 void enter_dfu_state()
 {
 
-  printf("Enter to dfu state \n");
+  Log(info,"Enter to dfu state");
   Beep(500);
   Beep(500);
   Beep(500);
diff --git a/Core/Src/rtc.c b/Core/Src/rtc.c
index 0871a96..ba9868d 100644
--- a/Core/Src/rtc.c
+++ b/Core/Src/rtc.c
@@ -1,8 +1,8 @@
 /**
   ******************************************************************************
-  * File Name          : RTC.c
-  * Description        : This file provides code for the configuration
-  *                      of the RTC instances.
+  * @file    rtc.c
+  * @brief   This file provides code for the configuration
+  *          of the RTC instances.
   ******************************************************************************
   * @attention
   *
diff --git a/Core/Src/stm32f1xx_hal_msp.c b/Core/Src/stm32f1xx_hal_msp.c
index 3c6af63..5ca4d94 100644
--- a/Core/Src/stm32f1xx_hal_msp.c
+++ b/Core/Src/stm32f1xx_hal_msp.c
@@ -71,14 +71,6 @@ void HAL_MspInit(void)
   __HAL_RCC_PWR_CLK_ENABLE();
 
   /* System interrupt init*/
-  /* MemoryManagement_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(MemoryManagement_IRQn, 5, 0);
-  /* BusFault_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(BusFault_IRQn, 5, 0);
-  /* UsageFault_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(UsageFault_IRQn, 5, 0);
-  /* DebugMonitor_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DebugMonitor_IRQn, 5, 0);
   /* PendSV_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
 
diff --git a/Core/Src/stm32f1xx_hal_timebase_tim.c b/Core/Src/stm32f1xx_hal_timebase_tim.c
index e037059..b72345c 100644
--- a/Core/Src/stm32f1xx_hal_timebase_tim.c
+++ b/Core/Src/stm32f1xx_hal_timebase_tim.c
@@ -58,9 +58,8 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 
   /* Compute TIM1 clock */
   uwTimclock = HAL_RCC_GetPCLK2Freq();
-
   /* Compute the prescaler value to have TIM1 counter clock equal to 1MHz */
-  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000) - 1);
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
 
   /* Initialize TIM1 */
   htim1.Instance = TIM1;
@@ -71,7 +70,7 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
   + ClockDivision = 0
   + Counter direction = Up
   */
-  htim1.Init.Period = (1000000 / 1000) - 1;
+  htim1.Init.Period = (1000000U / 1000U) - 1U;
   htim1.Init.Prescaler = uwPrescalerValue;
   htim1.Init.ClockDivision = 0;
   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index b8891b2..752328d 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -1,8 +1,15 @@
+/*
+ * @Description: 
+ * @Date: 2020-04-04 11:28:36
+ * @LastEditors: CK.Zh
+ * @LastEditTime: 2020-12-17 17:28:53
+ * @FilePath: \NaviKit_stm32\Core\Src\usart.c
+ */
 /**
   ******************************************************************************
-  * File Name          : USART.c
-  * Description        : This file provides code for the configuration
-  *                      of the USART instances.
+  * @file    usart.c
+  * @brief   This file provides code for the configuration
+  *          of the USART instances.
   ******************************************************************************
   * @attention
   *
@@ -21,6 +28,7 @@
 #include "usart.h"
 
 /* USER CODE BEGIN 0 */
+#include "log.h"
 /* USER CODE END 0 */
 
 UART_HandleTypeDef huart4;
@@ -172,6 +180,7 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 /* USER CODE BEGIN 1 */
 
 
+
 /* USER CODE END 1 */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Middlewares/Log/log.c b/Middlewares/Log/log.c
new file mode 100644
index 0000000..00c8fa5
--- /dev/null
+++ b/Middlewares/Log/log.c
@@ -0,0 +1,32 @@
+/*
+ * log.c
+ *
+ *  Created on: Dec 16, 2020
+ *      Author: bookshiyi
+ */
+#include "log.h"
+
+
+void Log(LogLevel_t loglevel,char *format,...)
+{
+			switch(loglevel){
+				case debug:{
+					printf("[Debug  ] ") ;
+				}break;
+				case info:{
+					printf("[Info   ] ") ;
+				}break;
+				case warning:{
+					printf("[Warning] ") ;
+				}break;
+				case error:{
+					printf("[Error  ] ") ;
+				}break;
+			}
+			printf("%u | ",osKernelGetTickCount());
+	        va_list args;
+	        va_start( args, format );
+			print(0, format, args );
+			printf("\n") ;
+}
+
diff --git a/Middlewares/Log/log.h b/Middlewares/Log/log.h
new file mode 100644
index 0000000..a0582ad
--- /dev/null
+++ b/Middlewares/Log/log.h
@@ -0,0 +1,21 @@
+/*
+ * log.h
+ *
+ *  Created on: Dec 16, 2020
+ *      Author: bookshiyi
+ */
+
+#ifndef LOG_LOG_H_
+#define LOG_LOG_H_
+
+#include <stdarg.h>
+
+typedef enum {
+	debug = 0,
+	info = 1,
+	warning = 2,
+	error = 3
+}LogLevel_t;
+
+void Log(LogLevel_t loglevel,char *format, ...);
+#endif /* LOG_LOG_H_ */
diff --git a/Middlewares/Log/printf.c b/Middlewares/Log/printf.c
new file mode 100644
index 0000000..b4aaf9a
--- /dev/null
+++ b/Middlewares/Log/printf.c
@@ -0,0 +1,173 @@
+
+#include <stdarg.h>
+
+static void printchar(char **str, int c)
+{
+	extern int putchar(int c);
+
+	if (str) {
+		**str = c;
+		++(*str);
+	}
+	else (void)putchar(c);
+}
+
+#define PAD_RIGHT 1
+#define PAD_ZERO 2
+
+static int prints(char **out, const char *string, int width, int pad)
+{
+	register int pc = 0, padchar = ' ';
+
+	if (width > 0) {
+		register int len = 0;
+		register const char *ptr;
+		for (ptr = string; *ptr; ++ptr) ++len;
+		if (len >= width) width = 0;
+		else width -= len;
+		if (pad & PAD_ZERO) padchar = '0';
+	}
+	if (!(pad & PAD_RIGHT)) {
+		for ( ; width > 0; --width) {
+			printchar (out, padchar);
+			++pc;
+		}
+	}
+	for ( ; *string ; ++string) {
+		printchar (out, *string);
+		++pc;
+	}
+	for ( ; width > 0; --width) {
+		printchar (out, padchar);
+		++pc;
+	}
+
+	return pc;
+}
+
+/* the following should be enough for 32 bit int */
+#define PRINT_BUF_LEN 12
+
+static int printi(char **out, int i, int b, int sg, int width, int pad, int letbase)
+{
+	char print_buf[PRINT_BUF_LEN];
+	register char *s;
+	register int t, neg = 0, pc = 0;
+	register unsigned int u = i;
+
+	if (i == 0) {
+		print_buf[0] = '0';
+		print_buf[1] = '\0';
+		return prints (out, print_buf, width, pad);
+	}
+
+	if (sg && b == 10 && i < 0) {
+		neg = 1;
+		u = -i;
+	}
+
+	s = print_buf + PRINT_BUF_LEN-1;
+	*s = '\0';
+
+	while (u) {
+		t = u % b;
+		if( t >= 10 )
+			t += letbase - '0' - 10;
+		*--s = t + '0';
+		u /= b;
+	}
+
+	if (neg) {
+		if( width && (pad & PAD_ZERO) ) {
+			printchar (out, '-');
+			++pc;
+			--width;
+		}
+		else {
+			*--s = '-';
+		}
+	}
+
+	return pc + prints (out, s, width, pad);
+}
+
+int print(char **out, const char *format, va_list args )
+{
+	register int width, pad;
+	register int pc = 0;
+	char scr[2];
+
+	for (; *format != 0; ++format) {
+		if (*format == '%') {
+			++format;
+			width = pad = 0;
+			if (*format == '\0') break;
+			if (*format == '%') goto out;
+			if (*format == '-') {
+				++format;
+				pad = PAD_RIGHT;
+			}
+			while (*format == '0') {
+				++format;
+				pad |= PAD_ZERO;
+			}
+			for ( ; *format >= '0' && *format <= '9'; ++format) {
+				width *= 10;
+				width += *format - '0';
+			}
+			if( *format == 's' ) {
+				register char *s = (char *)va_arg( args, int );
+				pc += prints (out, s?s:"(null)", width, pad);
+				continue;
+			}
+			if( *format == 'd' ) {
+				pc += printi (out, va_arg( args, int ), 10, 1, width, pad, 'a');
+				continue;
+			}
+			if( *format == 'x' ) {
+				pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'a');
+				continue;
+			}
+			if( *format == 'X' ) {
+				pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'A');
+				continue;
+			}
+			if( *format == 'u' ) {
+				pc += printi (out, va_arg( args, int ), 10, 0, width, pad, 'a');
+				continue;
+			}
+			if( *format == 'c' ) {
+				/* char are converted to int then pushed on the stack */
+				scr[0] = (char)va_arg( args, int );
+				scr[1] = '\0';
+				pc += prints (out, scr, width, pad);
+				continue;
+			}
+		}
+		else {
+		out:
+			printchar (out, *format);
+			++pc;
+		}
+	}
+	if (out) **out = '\0';
+	va_end( args );
+	return pc;
+}
+
+int printf(const char *format, ...)
+{
+        va_list args;
+
+        va_start( args, format );
+        return print( 0, format, args );
+}
+
+int sprintf(char *out, const char *format, ...)
+{
+        va_list args;
+
+        va_start( args, format );
+        return print( &out, format, args );
+}
+
diff --git a/NaviKit_stm32 Debug.launch b/NaviKit_stm32 Debug.launch
index b29eda2..e8f538d 100644
--- a/NaviKit_stm32 Debug.launch	
+++ b/NaviKit_stm32 Debug.launch	
@@ -82,6 +82,9 @@
 </listAttribute>
 <stringAttribute key="org.eclipse.debug.core.source_locator_id" value="org.eclipse.cdt.debug.core.sourceLocator"/>
 <stringAttribute key="org.eclipse.debug.core.source_locator_memento" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;sourceLookupDirector&gt;&#13;&#10;&lt;sourceContainers duplicates=&quot;false&quot;&gt;&#13;&#10;&lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;default/&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;org.eclipse.debug.core.containerType.default&quot;/&gt;&#13;&#10;&lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;mapping backend_enabled=&amp;quot;true&amp;quot; name=&amp;quot;Found Mappings&amp;quot;&amp;gt;&amp;#13;&amp;#10;&amp;lt;mapEntry memento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;mapEntry backendPath=&amp;amp;quot;E:/source/NaviKit_stm32/Debug/../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/&amp;amp;quot; localPath=&amp;amp;quot;E:\source\STM32CubeIDE\NaviKit_stm32\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM3\&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;mapEntry memento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;mapEntry backendPath=&amp;amp;quot;E:/source/NaviKit_stm32/Debug/../Core/Startup/&amp;amp;quot; localPath=&amp;amp;quot;E:\source\STM32CubeIDE\NaviKit_stm32\Core\Startup\&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;/mapping&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;org.eclipse.cdt.debug.core.containerType.mapping&quot;/&gt;&#13;&#10;&lt;/sourceContainers&gt;&#13;&#10;&lt;/sourceLookupDirector&gt;&#13;&#10;"/>
+<listAttribute key="org.eclipse.debug.ui.favoriteGroups">
+<listEntry value="org.eclipse.debug.ui.launchGroup.debug"/>
+</listAttribute>
 <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;&gt;&#13;&#10;&lt;gdbmemoryBlockExpression address=&quot;536936416&quot; label=&quot;0x2000ffe0&quot;/&gt;&#13;&#10;&lt;gdbmemoryBlockExpression address=&quot;536876872&quot; label=&quot;0x20001748&quot;/&gt;&#13;&#10;&lt;gdbmemoryBlockExpression address=&quot;136314880&quot; label=&quot;0x08200000&quot;/&gt;&#13;&#10;&lt;/memoryBlockExpressionList&gt;&#13;&#10;"/>
 <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
 </launchConfiguration>
diff --git a/NaviKit_stm32.ioc b/NaviKit_stm32.ioc
index ecd1ff8..1cdab66 100644
--- a/NaviKit_stm32.ioc
+++ b/NaviKit_stm32.ioc
@@ -32,7 +32,6 @@ ADC1.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_239CYCLES_5
 ADC1.WatchdogChannel=ADC_CHANNEL_TEMPSENSOR
 ADC1.WatchdogMode=ADC_ANALOGWATCHDOG_SINGLE_REG
 ADC1.master=1
-ARM.CMSIS.5.6.0.CMSISJjCORE_Checked=false
 ARM.CMSIS.5.6.0.CMSISJjDSP=Library
 ARM.CMSIS.5.6.0.CMSISJjNNOoLib=true
 ARM.CMSIS.5.6.0.CMSISOoDriverJjCANJjCustom=true
@@ -54,7 +53,7 @@ ARM.CMSIS.5.6.0.DeviceJjIRQOoControllerJjGIC=true
 ARM.CMSIS.5.6.0.DeviceJjOSOoTickJjPrivateOoTimer=true
 ARM.CMSIS.5.6.0.DeviceJjStartup=COoStartup
 ARM.CMSIS.5.6.0.IPParameters=CMSISJjNNOoLib,DeviceJjIRQOoControllerJjGIC,DeviceJjOSOoTickJjPrivateOoTimer,CMSISOoDriverJjUSARTJjCustom,CMSISOoDriverJjSPIJjCustom,CMSISOoDriverJjSAIJjCustom,CMSISOoDriverJjI2CJjCustom,CMSISOoDriverJjCANJjCustom,CMSISOoDriverJjFlashJjCustom,CMSISOoDriverJjMCIJjCustom,CMSISOoDriverJjNANDJjCustom,CMSISOoDriverJjEthernetJjCustom,CMSISOoDriverJjEthernetOoMACJjCustom,CMSISOoDriverJjEthernetOoPHYJjCustom,CMSISOoDriverJjUSBOoDeviceJjCustom,CMSISOoDriverJjUSBOoHostJjCustom,CMSISOoDriverJjWiFiJjCustom,CMSISJjDSP,DeviceJjStartup
-ARM.CMSIS.5.6.0_SwParameter=CMSISOoDriverJjUSARTJjCustom\:true;DeviceJjOSOoTickJjPrivateOoTimer\:true;CMSISOoDriverJjUSBOoDeviceJjCustom\:true;CMSISOoDriverJjCANJjCustom\:true;CMSISJjCORE\:false;CMSISOoDriverJjFlashJjCustom\:true;CMSISOoDriverJjNANDJjCustom\:true;CMSISOoDriverJjEthernetJjCustom\:true;CMSISOoDriverJjEthernetOoMACJjCustom\:true;CMSISOoDriverJjUSBOoHostJjCustom\:true;CMSISOoDriverJjSAIJjCustom\:true;CMSISOoDriverJjWiFiJjCustom\:true;CMSISJjDSP\:Library;CMSISOoDriverJjSPIJjCustom\:true;CMSISOoDriverJjMCIJjCustom\:true;CMSISOoDriverJjEthernetOoPHYJjCustom\:true;DeviceJjIRQOoControllerJjGIC\:true;CMSISJjNNOoLib\:true;CMSISOoDriverJjI2CJjCustom\:true;
+ARM.CMSIS.5.6.0_SwParameter=CMSISOoDriverJjUSARTJjCustom\:true;DeviceJjOSOoTickJjPrivateOoTimer\:true;CMSISOoDriverJjUSBOoDeviceJjCustom\:true;CMSISOoDriverJjCANJjCustom\:true;CMSISOoDriverJjFlashJjCustom\:true;CMSISOoDriverJjNANDJjCustom\:true;CMSISOoDriverJjEthernetJjCustom\:true;CMSISOoDriverJjEthernetOoMACJjCustom\:true;CMSISOoDriverJjUSBOoHostJjCustom\:true;CMSISOoDriverJjSAIJjCustom\:true;CMSISOoDriverJjWiFiJjCustom\:true;CMSISJjDSP\:Library;CMSISOoDriverJjSPIJjCustom\:true;CMSISOoDriverJjMCIJjCustom\:true;CMSISOoDriverJjEthernetOoPHYJjCustom\:true;DeviceJjIRQOoControllerJjGIC\:true;CMSISJjNNOoLib\:true;DeviceJjStartup\:COoStartup;CMSISOoDriverJjI2CJjCustom\:true;
 Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC1.0.Instance=DMA1_Channel1
 Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_WORD
@@ -70,20 +69,20 @@ FREERTOS.FootprintOK=true
 FREERTOS.HEAP_NUMBER=4
 FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
 FREERTOS.INCLUDE_xTaskGetHandle=1
-FREERTOS.IPParameters=Tasks01,configMAX_TASK_NAME_LEN,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,configUSE_APPLICATION_TASK_TAG,FootprintOK,configUSE_IDLE_HOOK,configUSE_TICK_HOOK,configUSE_MALLOC_FAILED_HOOK,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configUSE_TRACE_FACILITY,HEAP_NUMBER,configTOTAL_HEAP_SIZE,configCHECK_FOR_STACK_OVERFLOW,Queues01,configUSE_TASK_NOTIFICATIONS
-FREERTOS.Queues01=uartQueue,128,uint8_t,0,Dynamic,NULL,NULL
-FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;LedBlinkTask,8,128,StartLedBlinkTask,Default,NULL,Dynamic,NULL,NULL;IWDGRefreshTask,40,128,StartIWDGRefreshTask,Default,NULL,Dynamic,NULL,NULL;EventDetect,8,128,StartEventDetect,Default,NULL,Dynamic,NULL,NULL;CoulombRead,8,128,StartCoulombRead,Default,NULL,Dynamic,NULL,NULL;StateSwitchTask,8,128,StartStateSwitchTask,Default,NULL,Dynamic,NULL,NULL;PowerMonitTask,8,128,StartPowerMonitTask,Default,NULL,Dynamic,NULL,NULL;uartQueueTask,8,128,StartUartQueueTask,Default,NULL,Dynamic,NULL,NULL
-FREERTOS.configCHECK_FOR_STACK_OVERFLOW=0
-FREERTOS.configGENERATE_RUN_TIME_STATS=0
+FREERTOS.IPParameters=Tasks01,configMAX_TASK_NAME_LEN,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,configUSE_APPLICATION_TASK_TAG,FootprintOK,configUSE_IDLE_HOOK,configUSE_TICK_HOOK,configUSE_MALLOC_FAILED_HOOK,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configUSE_TRACE_FACILITY,HEAP_NUMBER,configTOTAL_HEAP_SIZE,configCHECK_FOR_STACK_OVERFLOW,configUSE_TASK_NOTIFICATIONS,Mutexes01
+FREERTOS.Mutexes01=myMutex01,Dynamic,NULL
+FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;LedBlinkTask,8,128,StartLedBlinkTask,Default,NULL,Dynamic,NULL,NULL;IWDGRefreshTask,40,128,StartIWDGRefreshTask,Default,NULL,Dynamic,NULL,NULL;EventDetect,8,128,StartEventDetect,Default,NULL,Dynamic,NULL,NULL;CoulombRead,8,128,StartCoulombRead,Default,NULL,Dynamic,NULL,NULL;StateSwitchTask,8,128,StartStateSwitchTask,Default,NULL,Dynamic,NULL,NULL;PowerMonitTask,8,128,StartPowerMonitTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.configCHECK_FOR_STACK_OVERFLOW=1
+FREERTOS.configGENERATE_RUN_TIME_STATS=1
 FREERTOS.configMAX_TASK_NAME_LEN=32
 FREERTOS.configTOTAL_HEAP_SIZE=8192
 FREERTOS.configUSE_APPLICATION_TASK_TAG=0
-FREERTOS.configUSE_IDLE_HOOK=0
+FREERTOS.configUSE_IDLE_HOOK=1
 FREERTOS.configUSE_MALLOC_FAILED_HOOK=0
 FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=0
 FREERTOS.configUSE_TASK_NOTIFICATIONS=1
 FREERTOS.configUSE_TICKLESS_IDLE=0
-FREERTOS.configUSE_TICK_HOOK=0
+FREERTOS.configUSE_TICK_HOOK=1
 FREERTOS.configUSE_TRACE_FACILITY=0
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
@@ -185,39 +184,39 @@ Mcu.ThirdParty0=ARM.CMSIS.5.6.0
 Mcu.ThirdPartyNb=1
 Mcu.UserConstants=
 Mcu.UserName=STM32F107VCTx
-MxCube.Version=6.0.1
-MxDb.Version=DB.6.0.0
+MxCube.Version=6.1.0
+MxDb.Version=DB.6.0.10
 NVIC.ADC1_2_IRQn=true\:5\:0\:false\:true\:true\:8\:true\:true\:true
-NVIC.BusFault_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:false
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.DMA1_Channel1_IRQn=true\:5\:0\:false\:true\:true\:9\:true\:false\:true
-NVIC.DebugMonitor_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:false
+NVIC.DebugMonitor_IRQn=true\:0\:0\:true\:false\:true\:false\:false\:false
 NVIC.EXTI0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
 NVIC.EXTI3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
-NVIC.EXTI9_5_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true
+NVIC.EXTI9_5_IRQn=true\:5\:0\:true\:false\:true\:false\:true\:true
 NVIC.FLASH_IRQn=true\:5\:0\:false\:true\:true\:2\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.I2C1_ER_IRQn=true\:5\:0\:true\:true\:true\:7\:true\:true\:true
+NVIC.I2C1_ER_IRQn=true\:5\:0\:true\:true\:true\:7\:false\:true\:true
 NVIC.I2C1_EV_IRQn=true\:5\:0\:false\:true\:true\:6\:true\:true\:true
-NVIC.MemoryManagement_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.OTG_FS_IRQn=true\:5\:0\:false\:true\:true\:4\:true\:false\:true
-NVIC.PVD_IRQn=true\:5\:0\:true\:true\:true\:1\:true\:true\:true
+NVIC.PVD_IRQn=true\:5\:0\:true\:true\:true\:1\:false\:true\:true
 NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.RCC_IRQn=true\:5\:0\:false\:true\:true\:3\:true\:true\:false
-NVIC.RTC_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true
+NVIC.RTC_IRQn=true\:5\:0\:true\:false\:true\:false\:true\:true
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.SavedPendsvIrqHandlerGenerated=true
 NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false
+NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true
 NVIC.TIM1_UP_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.TimeBase=TIM1_UP_IRQn
 NVIC.TimeBaseIP=TIM1
 NVIC.UART4_IRQn=true\:5\:0\:false\:true\:true\:5\:true\:true\:true
 NVIC.USART1_IRQn=true\:5\:0\:false\:true\:true\:10\:true\:true\:true
-NVIC.UsageFault_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:false
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 OSC_IN.Mode=HSE-External-Oscillator
 OSC_IN.Signal=RCC_OSC_IN
 OSC_OUT.Mode=HSE-External-Oscillator
@@ -380,17 +379,17 @@ PCC.Line=STM32F105/107
 PCC.MCU=STM32F107V(B-C)Tx
 PCC.PartNumber=STM32F107VCTx
 PCC.Seq0=2
-PCC.Seq0.Step0.Average_Current=2.9 mA
-PCC.Seq0.Step0.CPU_Frequency=4 MHz
+PCC.Seq0.Step0.Average_Current=14.8 mA
+PCC.Seq0.Step0.CPU_Frequency=36 MHz
 PCC.Seq0.Step0.Category=In DS Table
-PCC.Seq0.Step0.DMIPS=5.0
+PCC.Seq0.Step0.DMIPS=45.0
 PCC.Seq0.Step0.Duration=0.1 ms
 PCC.Seq0.Step0.Frequency=8 MHz
 PCC.Seq0.Step0.Memory=FLASH
 PCC.Seq0.Step0.Mode=RUN
-PCC.Seq0.Step0.Oscillator=HSE
+PCC.Seq0.Step0.Oscillator=HSI PLL
 PCC.Seq0.Step0.Peripherals=
-PCC.Seq0.Step0.TaMax=104.56
+PCC.Seq0.Step0.TaMax=102.75
 PCC.Seq0.Step0.User's_Consumption=0 mA
 PCC.Seq0.Step0.Vcore=No Scale
 PCC.Seq0.Step0.Vdd=3.3
diff --git a/USB_DEVICE/Target/usbd_conf.h b/USB_DEVICE/Target/usbd_conf.h
index e6fc6f8..4b29c22 100644
--- a/USB_DEVICE/Target/usbd_conf.h
+++ b/USB_DEVICE/Target/usbd_conf.h
@@ -1,3 +1,10 @@
+/*
+ * @Description: 
+ * @Date: 2020-02-20 11:58:24
+ * @LastEditors: CK.Zh
+ * @LastEditTime: 2020-12-17 17:39:37
+ * @FilePath: \NaviKit_stm32\USB_DEVICE\Target\usbd_conf.h
+ */
 /* USER CODE BEGIN Header */
 /**
   ******************************************************************************