diff --git a/.cproject b/.cproject
index 3c099c7..aafece0 100644
--- a/.cproject
+++ b/.cproject
@@ -16,28 +16,31 @@
 				<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" 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" 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" 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" 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" 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" 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" 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 | 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.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 | 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" 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"/>
 							<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="${workspace_loc:/NaviKit_stm32}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.510228817" managedBuildOn="true" name="Gnu Make Builder.Debug" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/NaviKit_stm32}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.510228817" 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.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" 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" 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">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.883307296" 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" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false"/>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1676188920" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
+								<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 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"/>
 								</option>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.186388616" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
+								<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/ST/STM32_USB_Device_Library/Core/Inc"/>
@@ -54,18 +57,18 @@
 								<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>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.281339584" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.691806855" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.1376424800" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.691806855" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
+								<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" 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" 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)"/>
 								</inputType>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.1896979318" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script.1502748276" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld}" valueType="string"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script.1502748276" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld}" valueType="string"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver.864618306" name="MCU GCC Archiver" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size.466614655" name="MCU Size" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size"/>
@@ -102,27 +105,27 @@
 				<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">
 					<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" 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" 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" 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" 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" 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" 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" 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 | ../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 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 ||  ||  || USE_HAL_DRIVER | STM32F107xC ||  || Drivers | 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" 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 | ../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 | Core/Startup | Middlewares | Core | USB_DEVICE ||  ||  || ${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o || " valueType="string"/>
 							<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="${workspace_loc:/NaviKit_stm32}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.95113451" managedBuildOn="true" name="Gnu Make Builder.Release" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${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">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.767286012" 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.g0" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.767286012" 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.g0" valueType="enumerated"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.611490005" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.632904416" 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.1856652564" 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.g0" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2079025018" 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.o3" valueType="enumerated"/>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1412817126" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.1856652564" 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.g0" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2079025018" 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.o3" valueType="enumerated"/>
+								<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"/>
 								</option>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.968919675" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
+								<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"/>
 									<listOptionValue builtIn="false" value="../USB_DEVICE/Target"/>
 									<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Core/Inc"/>
@@ -139,18 +142,18 @@
 								<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>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.1848097315" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.2049139026" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.558025982" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.o3" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.2049139026" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.558025982" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.o3" valueType="enumerated"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.419968497" 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.1298132814" 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.1298132814" 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"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input.1808263706" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
 								</inputType>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.356535176" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script.2075589485" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld}" valueType="string"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script.2075589485" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F107VCTX_FLASH.ld}" valueType="string"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver.333798927" name="MCU GCC Archiver" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size.174120013" name="MCU Size" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size"/>
@@ -187,5 +190,13 @@
 			<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
 	</storageModule>
-	<storageModule moduleId="refreshScope"/>
+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Debug">
+			<resource resourceType="PROJECT" workspacePath="/NaviKit_stm32"/>
+		</configuration>
+		<configuration configurationName="Release">
+			<resource resourceType="PROJECT" workspacePath="/NaviKit_stm32"/>
+		</configuration>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
 </cproject>
diff --git a/.mxproject b/.mxproject
index 1cf8002..d6682e9 100644
--- a/.mxproject
+++ b/.mxproject
@@ -1,14 +1,14 @@
 [PreviousLibFiles]
-LibFiles=Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_usb.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_i2c.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_iwdg.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_wwdg.h;Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h;Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h;Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h;Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h;Middlewares/Third_Party/FreeRTOS/Source/include/list.h;Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h;Middlewares/Third_Party/FreeRTOS/Source/include/portable.h;Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h;Middlewares/Third_Party/FreeRTOS/Source/include/queue.h;Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h;Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h;Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h;Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/task.h;Middlewares/Third_Party/FreeRTOS/Source/include/timers.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_core.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_usb.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_wwdg.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_usb.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/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
 [PreviousUsedCubeIDEFiles]
-SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\i2c.c;Core\Src\iwdg.c;Core\Src\usart.c;USB_DEVICE\App\usb_device.c;USB_DEVICE\Target\usbd_conf.c;USB_DEVICE\App\usbd_desc.c;USB_DEVICE\App\usbd_cdc_if.c;Core\Src\wwdg.c;Core\Src\stm32f1xx_it.c;Core\Src\stm32f1xx_hal_msp.c;Core\Src\stm32f1xx_hal_timebase_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_usb.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_wwdg.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Core\Src/system_stm32f1xx.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_usb.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_wwdg.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Core\Src/system_stm32f1xx.c;Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;
+SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\i2c.c;Core\Src\iwdg.c;Core\Src\usart.c;USB_DEVICE\App\usb_device.c;USB_DEVICE\Target\usbd_conf.c;USB_DEVICE\App\usbd_desc.c;USB_DEVICE\App\usbd_cdc_if.c;Core\Src\stm32f1xx_it.c;Core\Src\stm32f1xx_hal_msp.c;Core\Src\stm32f1xx_hal_timebase_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_usb.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Core\Src/system_stm32f1xx.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_usb.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Core\Src/system_stm32f1xx.c;Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;
 HeaderPath=Drivers\STM32F1xx_HAL_Driver\Inc;Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM3;Middlewares\ST\STM32_USB_Device_Library\Core\Inc;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc;Drivers\CMSIS\Device\ST\STM32F1xx\Include;Drivers\CMSIS\Include;Core\Inc;USB_DEVICE\App;USB_DEVICE\Target;
 CDefines=USE_HAL_DRIVER;STM32F107xC;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [PreviousGenFiles]
 AdvancedFolderStructure=true
-HeaderFileListSize=13
+HeaderFileListSize=12
 HeaderFiles#0=E:/source/NaviKit_stm32/Core/Inc/gpio.h
 HeaderFiles#1=E:/source/NaviKit_stm32/Core/Inc/FreeRTOSConfig.h
 HeaderFiles#2=E:/source/NaviKit_stm32/Core/Inc/i2c.h
@@ -18,16 +18,15 @@ HeaderFiles#5=E:/source/NaviKit_stm32/USB_DEVICE/App/usb_device.h
 HeaderFiles#6=E:/source/NaviKit_stm32/USB_DEVICE/Target/usbd_conf.h
 HeaderFiles#7=E:/source/NaviKit_stm32/USB_DEVICE/App/usbd_desc.h
 HeaderFiles#8=E:/source/NaviKit_stm32/USB_DEVICE/App/usbd_cdc_if.h
-HeaderFiles#9=E:/source/NaviKit_stm32/Core/Inc/wwdg.h
-HeaderFiles#10=E:/source/NaviKit_stm32/Core/Inc/stm32f1xx_it.h
-HeaderFiles#11=E:/source/NaviKit_stm32/Core/Inc/stm32f1xx_hal_conf.h
-HeaderFiles#12=E:/source/NaviKit_stm32/Core/Inc/main.h
+HeaderFiles#9=E:/source/NaviKit_stm32/Core/Inc/stm32f1xx_it.h
+HeaderFiles#10=E:/source/NaviKit_stm32/Core/Inc/stm32f1xx_hal_conf.h
+HeaderFiles#11=E:/source/NaviKit_stm32/Core/Inc/main.h
 HeaderFolderListSize=3
 HeaderPath#0=E:/source/NaviKit_stm32/Core/Inc
 HeaderPath#1=E:/source/NaviKit_stm32/USB_DEVICE/App
 HeaderPath#2=E:/source/NaviKit_stm32/USB_DEVICE/Target
 HeaderFiles=;
-SourceFileListSize=14
+SourceFileListSize=13
 SourceFiles#0=E:/source/NaviKit_stm32/Core/Src/gpio.c
 SourceFiles#1=E:/source/NaviKit_stm32/Core/Src/freertos.c
 SourceFiles#2=E:/source/NaviKit_stm32/Core/Src/i2c.c
@@ -37,11 +36,10 @@ SourceFiles#5=E:/source/NaviKit_stm32/USB_DEVICE/App/usb_device.c
 SourceFiles#6=E:/source/NaviKit_stm32/USB_DEVICE/Target/usbd_conf.c
 SourceFiles#7=E:/source/NaviKit_stm32/USB_DEVICE/App/usbd_desc.c
 SourceFiles#8=E:/source/NaviKit_stm32/USB_DEVICE/App/usbd_cdc_if.c
-SourceFiles#9=E:/source/NaviKit_stm32/Core/Src/wwdg.c
-SourceFiles#10=E:/source/NaviKit_stm32/Core/Src/stm32f1xx_it.c
-SourceFiles#11=E:/source/NaviKit_stm32/Core/Src/stm32f1xx_hal_msp.c
-SourceFiles#12=E:/source/NaviKit_stm32/Core/Src/stm32f1xx_hal_timebase_tim.c
-SourceFiles#13=E:/source/NaviKit_stm32/Core/Src/main.c
+SourceFiles#9=E:/source/NaviKit_stm32/Core/Src/stm32f1xx_it.c
+SourceFiles#10=E:/source/NaviKit_stm32/Core/Src/stm32f1xx_hal_msp.c
+SourceFiles#11=E:/source/NaviKit_stm32/Core/Src/stm32f1xx_hal_timebase_tim.c
+SourceFiles#12=E:/source/NaviKit_stm32/Core/Src/main.c
 SourceFolderListSize=3
 SourcePath#0=E:/source/NaviKit_stm32/Core/Src
 SourcePath#1=E:/source/NaviKit_stm32/USB_DEVICE/App
diff --git a/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs b/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
new file mode 100644
index 0000000..b94a8ec
--- /dev/null
+++ b/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
@@ -0,0 +1,3 @@
+eclipse.preferences.version=1
+svd_custom_file_path=
+svd_file_path=platform\:/plugin/com.st.stm32cube.ide.mcu.productdb.debug/resources/cmsis/STMicroelectronics_CMSIS_SVD/STM32F107.svd
diff --git a/.settings/org.eclipse.cdt.codan.core.prefs b/.settings/org.eclipse.cdt.codan.core.prefs
new file mode 100644
index 0000000..f957b85
--- /dev/null
+++ b/.settings/org.eclipse.cdt.codan.core.prefs
@@ -0,0 +1,56 @@
+com.st.stm32cube.ide.mcu.ide.oss.source.checker.libnano.problem.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(\\"Float formatting support\\")"}
+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.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}
+org.eclipse.cdt.codan.internal.checkers.AbstractClassCreation.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(\\"Abstract class cannot be instantiated\\")"}
+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.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.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\\")"}
+org.eclipse.cdt.codan.internal.checkers.ClassMembersInitialization.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 members should be properly initialized\\")",skip\=>true}
+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.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.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
+org.eclipse.cdt.codan.internal.checkers.MissCaseProblem.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 cases in switch\\")"}
+org.eclipse.cdt.codan.internal.checkers.MissDefaultProblem=-Warning
+org.eclipse.cdt.codan.internal.checkers.MissDefaultProblem.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 default in switch\\")",defaultWithAllEnums\=>false}
+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.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\\")"}
+org.eclipse.cdt.codan.internal.checkers.RedeclarationProblem.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 redeclaration\\")"}
+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.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.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.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}
+org.eclipse.cdt.codan.internal.checkers.UnusedVariableDeclarationProblem.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 variable declaration in file scope\\")",macro\=>true,exceptions\=>("@(\#)","$Id")}
+org.eclipse.cdt.codan.internal.checkers.UsingInHeaderProblem=-Warning
+org.eclipse.cdt.codan.internal.checkers.UsingInHeaderProblem.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(\\"Using directive in header\\")"}
+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\\")"}
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 1b9d745..ab1a1d7 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -61,14 +61,16 @@
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
 #define configTOTAL_HEAP_SIZE                    ((size_t)4096)
-#define configMAX_TASK_NAME_LEN                  ( 16 )
+#define configMAX_TASK_NAME_LEN                  ( 32 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1
 #define configQUEUE_REGISTRY_SIZE                8
 #define configUSE_RECURSIVE_MUTEXES              1
+#define configUSE_APPLICATION_TASK_TAG           1
 #define configUSE_COUNTING_SEMAPHORES            1
 #define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
+#define configUSE_TICKLESS_IDLE                  1
 
 /* Co-routine definitions. */
 #define configUSE_CO_ROUTINES                    0
@@ -93,7 +95,9 @@ to exclude the API function. */
 #define INCLUDE_xTimerPendFunctionCall      1
 #define INCLUDE_xQueueGetMutexHolder        1
 #define INCLUDE_uxTaskGetStackHighWaterMark 1
+#define INCLUDE_xTaskGetCurrentTaskHandle   1
 #define INCLUDE_eTaskGetState               1
+#define INCLUDE_xTaskGetHandle              1
 
 /* 
  * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
@@ -146,4 +150,17 @@ standard names. */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
 /* USER CODE END Defines */ 
 
+#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
+void PreSleepProcessing(uint32_t *ulExpectedIdleTime);
+void PostSleepProcessing(uint32_t *ulExpectedIdleTime);
+#endif /* defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__) */
+
+/* The configPRE_SLEEP_PROCESSING() and configPOST_SLEEP_PROCESSING() macros
+allow the application writer to add additional code before and after the MCU is
+placed into the low power state respectively. */
+#if configUSE_TICKLESS_IDLE == 1 
+#define configPRE_SLEEP_PROCESSING                        PreSleepProcessing
+#define configPOST_SLEEP_PROCESSING                       PostSleepProcessing
+#endif /* configUSE_TICKLESS_IDLE == 1 */
+
 #endif /* FREERTOS_CONFIG_H */
diff --git a/Core/Inc/stm32f1xx_hal_conf.h b/Core/Inc/stm32f1xx_hal_conf.h
index 1f9004d..95b2f98 100644
--- a/Core/Inc/stm32f1xx_hal_conf.h
+++ b/Core/Inc/stm32f1xx_hal_conf.h
@@ -66,7 +66,7 @@
 #define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /*#define HAL_USART_MODULE_ENABLED   */
-#define HAL_WWDG_MODULE_ENABLED
+/*#define HAL_WWDG_MODULE_ENABLED   */
 
 #define HAL_CORTEX_MODULE_ENABLED
 #define HAL_DMA_MODULE_ENABLED
diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h
index 8e331e2..80fb020 100644
--- a/Core/Inc/stm32f1xx_it.h
+++ b/Core/Inc/stm32f1xx_it.h
@@ -53,12 +53,12 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
-void WWDG_IRQHandler(void);
 void PVD_IRQHandler(void);
 void FLASH_IRQHandler(void);
 void RCC_IRQHandler(void);
 void I2C1_EV_IRQHandler(void);
 void I2C1_ER_IRQHandler(void);
+void UART4_IRQHandler(void);
 void TIM7_IRQHandler(void);
 void OTG_FS_IRQHandler(void);
 /* USER CODE BEGIN EFP */
diff --git a/Core/Inc/wwdg.h b/Core/Inc/wwdg.h
deleted file mode 100644
index c79dccf..0000000
--- a/Core/Inc/wwdg.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/**
-  ******************************************************************************
-  * File Name          : WWDG.h
-  * Description        : This file provides code for the configuration
-  *                      of the WWDG instances.
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
-  * All rights reserved.</center></h2>
-  *
-  * This software component is licensed by ST under Ultimate Liberty license
-  * SLA0044, the "License"; You may not use this file except in compliance with
-  * the License. You may obtain a copy of the License at:
-  *                             www.st.com/SLA0044
-  *
-  ******************************************************************************
-  */
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __wwdg_H
-#define __wwdg_H
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-extern WWDG_HandleTypeDef hwwdg;
-
-/* USER CODE BEGIN Private defines */
-
-/* USER CODE END Private defines */
-
-void MX_WWDG_Init(void);
-
-/* USER CODE BEGIN Prototypes */
-
-/* USER CODE END Prototypes */
-
-#ifdef __cplusplus
-}
-#endif
-#endif /*__ wwdg_H */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 985acd6..501ca92 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -26,7 +26,10 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */     
-
+#include "iwdg.h"
+#include "gpio.h"
+#include "usart.h"
+#include "stdio.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -55,17 +58,62 @@ const osThreadAttr_t defaultTask_attributes = {
   .priority = (osPriority_t) osPriorityNormal,
   .stack_size = 128 * 4
 };
+/* Definitions for LEDBlinkTask */
+osThreadId_t LEDBlinkTaskHandle;
+const osThreadAttr_t LEDBlinkTask_attributes = {
+  .name = "LEDBlinkTask",
+  .priority = (osPriority_t) osPriorityNormal,
+  .stack_size = 128 * 4
+};
+/* Definitions for IWDGRefreshTask */
+osThreadId_t IWDGRefreshTaskHandle;
+const osThreadAttr_t IWDGRefreshTask_attributes = {
+  .name = "IWDGRefreshTask",
+  .priority = (osPriority_t) osPriorityNormal,
+  .stack_size = 128 * 4
+};
+/* Definitions for printfTask */
+osThreadId_t printfTaskHandle;
+const osThreadAttr_t printfTask_attributes = {
+  .name = "printfTask",
+  .priority = (osPriority_t) osPriorityLow,
+  .stack_size = 256 * 4
+};
+/* Definitions for printfQueue */
+osMessageQueueId_t printfQueueHandle;
+const osMessageQueueAttr_t printfQueue_attributes = {
+  .name = "printfQueue"
+};
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
-   
+
 /* USER CODE END FunctionPrototypes */
 
-void StartDefaultTask(void *argument);
+void startDefaultTask(void *argument);
+void startLEDBlinkTask(void *argument);
+void startIWDGRefreshTask(void *argument);
+void startPrintfTask(void *argument);
 
 extern void MX_USB_DEVICE_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
+/* Pre/Post sleep processing prototypes */
+void PreSleepProcessing(uint32_t *ulExpectedIdleTime);
+void PostSleepProcessing(uint32_t *ulExpectedIdleTime);
+
+/* USER CODE BEGIN PREPOSTSLEEP */
+__weak void PreSleepProcessing(uint32_t *ulExpectedIdleTime)
+{
+/* place for user code */ 
+}
+
+__weak void PostSleepProcessing(uint32_t *ulExpectedIdleTime)
+{
+/* place for user code */
+}
+/* USER CODE END PREPOSTSLEEP */
+
 /**
   * @brief  FreeRTOS initialization
   * @param  None
@@ -88,43 +136,143 @@ void MX_FREERTOS_Init(void) {
   /* start timers, add new ones, ... */
   /* USER CODE END RTOS_TIMERS */
 
+  /* Create the queue(s) */
+  /* creation of printfQueue */
+  printfQueueHandle = osMessageQueueNew (128, sizeof(uint8_t), &printfQueue_attributes);
+
   /* USER CODE BEGIN RTOS_QUEUES */
   /* add queues, ... */
   /* USER CODE END RTOS_QUEUES */
 
   /* Create the thread(s) */
   /* creation of defaultTask */
-  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+  defaultTaskHandle = osThreadNew(startDefaultTask, NULL, &defaultTask_attributes);
+
+  /* creation of LEDBlinkTask */
+  LEDBlinkTaskHandle = osThreadNew(startLEDBlinkTask, NULL, &LEDBlinkTask_attributes);
+
+  /* creation of IWDGRefreshTask */
+  IWDGRefreshTaskHandle = osThreadNew(startIWDGRefreshTask, NULL, &IWDGRefreshTask_attributes);
+
+  /* creation of printfTask */
+  printfTaskHandle = osThreadNew(startPrintfTask, NULL, &printfTask_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
+
   /* USER CODE END RTOS_THREADS */
 
 }
 
-/* USER CODE BEGIN Header_StartDefaultTask */
+/* USER CODE BEGIN Header_startDefaultTask */
 /**
   * @brief  Function implementing the defaultTask thread.
   * @param  argument: Not used 
   * @retval None
   */
-/* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void *argument)
+/* USER CODE END Header_startDefaultTask */
+void startDefaultTask(void *argument)
 {
   /* init code for USB_DEVICE */
   MX_USB_DEVICE_Init();
-  /* USER CODE BEGIN StartDefaultTask */
+  /* USER CODE BEGIN startDefaultTask */
+  
+     osVersion_t version;
+     char id_buf[128];
+     uint32_t id_size;
+     osKernelGetInfo(&version, &id_buf, id_size);
+
   /* Infinite loop */
   for(;;)
   {
+    osDelay(1000);
+	printf("[%f],NumofTasks:%d\n",(float)(osKernelGetTickCount()/1000.0),(int)(osThreadGetCount()));
+	printf("Name:%s\n",osThreadGetName(defaultTaskHandle));
+	printf("state:%s\n",osKernelGetState());
+
+  }
+  /* USER CODE END startDefaultTask */
+}
+
+/* USER CODE BEGIN Header_startLEDBlinkTask */
+/**
+* @brief Function implementing the LEDBlinkTask thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_startLEDBlinkTask */
+void startLEDBlinkTask(void *argument)
+{
+  /* USER CODE BEGIN startLEDBlinkTask */
+  /* Infinite loop */
+	GPIO_InitTypeDef GPIO_InitStruct = {0};
+	GPIO_InitStruct.Pin = POWER_BUTTON_Pin;
+	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+	HAL_GPIO_Init(POWER_BUTTON_GPIO_Port, &GPIO_InitStruct);
+	for(;;)
+	{
+//		HAL_GPIO_TogglePin(LED_RUN_GPIO_Port,LED_RUN_Pin);
+		HAL_GPIO_TogglePin(POWER_BUTTON_GPIO_Port,POWER_BUTTON_Pin);
+//		printf("led toggled\n");
+		osDelay(500);
+	}
+  /* USER CODE END startLEDBlinkTask */
+}
+
+/* USER CODE BEGIN Header_startIWDGRefreshTask */
+/**
+* @brief Function implementing the IWDGRefreshTask thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_startIWDGRefreshTask */
+void startIWDGRefreshTask(void *argument)
+{
+  /* USER CODE BEGIN startIWDGRefreshTask */
+  /* Infinite loop */
+  for(;;)
+  {
+	HAL_IWDG_Refresh(&hiwdg);
+//	printf("iwdg refreshed\n");
+	osDelay(1000);
+  }
+  /* USER CODE END startIWDGRefreshTask */
+}
+
+/* USER CODE BEGIN Header_startPrintfTask */
+/**
+* @brief Function implementing the printfTask thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_startPrintfTask */
+void startPrintfTask(void *argument)
+{
+  /* USER CODE BEGIN startPrintfTask */
+  /* Infinite loop */
+  for(;;)
+  {
+//	  osMessageQueueGet();
+//	  printfQueueHandle = osMessageQueueNew (128, sizeof(uint8_t), &printfQueue_attributes);
     osDelay(1);
   }
-  /* USER CODE END StartDefaultTask */
+  /* USER CODE END startPrintfTask */
 }
 
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
-     
+#ifdef __GNUC__
+#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
+PUTCHAR_PROTOTYPE
+{
+
+	while(HAL_UART_GetState(&huart4) == HAL_UART_STATE_BUSY_TX){}
+	HAL_UART_Transmit(&huart4,(uint8_t *)&ch,1,0xffff);
+  return ch;
+}
+#endif
 /* USER CODE END Application */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Src/iwdg.c b/Core/Src/iwdg.c
index bad139d..5057a2a 100644
--- a/Core/Src/iwdg.c
+++ b/Core/Src/iwdg.c
@@ -31,8 +31,8 @@ void MX_IWDG_Init(void)
 {
 
   hiwdg.Instance = IWDG;
-  hiwdg.Init.Prescaler = IWDG_PRESCALER_4;
-  hiwdg.Init.Reload = 4095;
+  hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
+  hiwdg.Init.Reload = 0xfff;
   if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
   {
     Error_Handler();
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 0b65a53..7618d29 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -25,12 +25,11 @@
 #include "iwdg.h"
 #include "usart.h"
 #include "usb_device.h"
-#include "wwdg.h"
 #include "gpio.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include <stdio.h>
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -95,10 +94,10 @@ int main(void)
   MX_GPIO_Init();
   MX_I2C1_Init();
   MX_IWDG_Init();
-  MX_WWDG_Init();
   MX_UART4_Init();
   /* USER CODE BEGIN 2 */
-
+  HAL_IWDG_Refresh(&hiwdg);
+	printf("Core initial successfully\n");
   /* USER CODE END 2 */
 
   /* Init scheduler */
@@ -174,6 +173,7 @@ void SystemClock_Config(void)
 
 /* USER CODE BEGIN 4 */
 
+
 /* USER CODE END 4 */
 
  /**
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index 55ccff5..21771b1 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -60,7 +60,7 @@
 /* External variables --------------------------------------------------------*/
 extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
 extern I2C_HandleTypeDef hi2c1;
-extern WWDG_HandleTypeDef hwwdg;
+extern UART_HandleTypeDef huart4;
 extern TIM_HandleTypeDef htim7;
 
 /* USER CODE BEGIN EV */
@@ -164,20 +164,6 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f1xx.s).                    */
 /******************************************************************************/
 
-/**
-  * @brief This function handles Window watchdog interrupt.
-  */
-void WWDG_IRQHandler(void)
-{
-  /* USER CODE BEGIN WWDG_IRQn 0 */
-
-  /* USER CODE END WWDG_IRQn 0 */
-  HAL_WWDG_IRQHandler(&hwwdg);
-  /* USER CODE BEGIN WWDG_IRQn 1 */
-
-  /* USER CODE END WWDG_IRQn 1 */
-}
-
 /**
   * @brief This function handles PVD interrupt through EXTI line 16.
   */
@@ -247,6 +233,20 @@ void I2C1_ER_IRQHandler(void)
   /* USER CODE END I2C1_ER_IRQn 1 */
 }
 
+/**
+  * @brief This function handles UART4 global interrupt.
+  */
+void UART4_IRQHandler(void)
+{
+  /* USER CODE BEGIN UART4_IRQn 0 */
+
+  /* USER CODE END UART4_IRQn 0 */
+  HAL_UART_IRQHandler(&huart4);
+  /* USER CODE BEGIN UART4_IRQn 1 */
+
+  /* USER CODE END UART4_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM7 global interrupt.
   */
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index ad5490b..8b6ea92 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -21,7 +21,6 @@
 #include "usart.h"
 
 /* USER CODE BEGIN 0 */
-
 /* USER CODE END 0 */
 
 UART_HandleTypeDef huart4;
@@ -72,6 +71,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
+    /* UART4 interrupt Init */
+    HAL_NVIC_SetPriority(UART4_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(UART4_IRQn);
   /* USER CODE BEGIN UART4_MspInit 1 */
 
   /* USER CODE END UART4_MspInit 1 */
@@ -95,6 +97,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_11);
 
+    /* UART4 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(UART4_IRQn);
   /* USER CODE BEGIN UART4_MspDeInit 1 */
 
   /* USER CODE END UART4_MspDeInit 1 */
@@ -103,6 +107,7 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
 /* USER CODE BEGIN 1 */
 
+
 /* USER CODE END 1 */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Src/wwdg.c b/Core/Src/wwdg.c
deleted file mode 100644
index 336fb79..0000000
--- a/Core/Src/wwdg.c
+++ /dev/null
@@ -1,70 +0,0 @@
-/**
-  ******************************************************************************
-  * File Name          : WWDG.c
-  * Description        : This file provides code for the configuration
-  *                      of the WWDG instances.
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
-  * All rights reserved.</center></h2>
-  *
-  * This software component is licensed by ST under Ultimate Liberty license
-  * SLA0044, the "License"; You may not use this file except in compliance with
-  * the License. You may obtain a copy of the License at:
-  *                             www.st.com/SLA0044
-  *
-  ******************************************************************************
-  */
-
-/* Includes ------------------------------------------------------------------*/
-#include "wwdg.h"
-
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-
-WWDG_HandleTypeDef hwwdg;
-
-/* WWDG init function */
-void MX_WWDG_Init(void)
-{
-
-  hwwdg.Instance = WWDG;
-  hwwdg.Init.Prescaler = WWDG_PRESCALER_1;
-  hwwdg.Init.Window = 64;
-  hwwdg.Init.Counter = 64;
-  hwwdg.Init.EWIMode = WWDG_EWI_DISABLE;
-  if (HAL_WWDG_Init(&hwwdg) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-}
-
-void HAL_WWDG_MspInit(WWDG_HandleTypeDef* wwdgHandle)
-{
-
-  if(wwdgHandle->Instance==WWDG)
-  {
-  /* USER CODE BEGIN WWDG_MspInit 0 */
-
-  /* USER CODE END WWDG_MspInit 0 */
-    /* WWDG clock enable */
-    __HAL_RCC_WWDG_CLK_ENABLE();
-
-    /* WWDG interrupt Init */
-    HAL_NVIC_SetPriority(WWDG_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(WWDG_IRQn);
-  /* USER CODE BEGIN WWDG_MspInit 1 */
-
-  /* USER CODE END WWDG_MspInit 1 */
-  }
-}
- 
-
-/* USER CODE BEGIN 1 */
-
-/* USER CODE END 1 */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_wwdg.h b/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_wwdg.h
deleted file mode 100644
index 8e97773..0000000
--- a/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_wwdg.h
+++ /dev/null
@@ -1,297 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    stm32f1xx_hal_wwdg.h
-  * @author  MCD Application Team
-  * @brief   Header file of WWDG HAL module.
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
-  * All rights reserved.</center></h2>
-  *
-  * This software component is licensed by ST under BSD 3-Clause license,
-  * the "License"; You may not use this file except in compliance with the
-  * License. You may obtain a copy of the License at:
-  *                        opensource.org/licenses/BSD-3-Clause
-  *
-  ******************************************************************************
-  */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef STM32F1xx_HAL_WWDG_H
-#define STM32F1xx_HAL_WWDG_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f1xx_hal_def.h"
-
-/** @addtogroup STM32F1xx_HAL_Driver
-  * @{
-  */
-
-/** @addtogroup WWDG
-  * @{
-  */
-
-/* Exported types ------------------------------------------------------------*/
-/** @defgroup WWDG_Exported_Types WWDG Exported Types
-  * @{
-  */
-
-/**
-  * @brief  WWDG Init structure definition
-  */
-typedef struct
-{
-  uint32_t Prescaler;     /*!< Specifies the prescaler value of the WWDG.
-                               This parameter can be a value of @ref WWDG_Prescaler */
-
-  uint32_t Window;        /*!< Specifies the WWDG window value to be compared to the downcounter.
-                               This parameter must be a number Min_Data = 0x40 and Max_Data = 0x7F */
-
-  uint32_t Counter;       /*!< Specifies the WWDG free-running downcounter  value.
-                               This parameter must be a number between Min_Data = 0x40 and Max_Data = 0x7F */
-
-  uint32_t EWIMode ;      /*!< Specifies if WWDG Early Wakeup Interupt is enable or not.
-                               This parameter can be a value of @ref WWDG_EWI_Mode */
-
-} WWDG_InitTypeDef;
-
-/**
-  * @brief  WWDG handle Structure definition
-  */
-#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1)
-typedef struct __WWDG_HandleTypeDef
-#else
-typedef struct
-#endif
-{
-  WWDG_TypeDef                 *Instance;  /*!< Register base address    */
-
-  WWDG_InitTypeDef             Init;       /*!< WWDG required parameters */
-#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1)
-  void              (* EwiCallback)(struct __WWDG_HandleTypeDef *hwwdg);     /*!< WWDG Early WakeUp Interrupt callback */
-
-  void              (* MspInitCallback)(struct __WWDG_HandleTypeDef *hwwdg); /*!< WWDG Msp Init callback */
-#endif
-} WWDG_HandleTypeDef;
-
-#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1)
-/**
-  * @brief  HAL WWDG common Callback ID enumeration definition
-  */
-typedef enum
-{
-  HAL_WWDG_EWI_CB_ID          = 0x00u,    /*!< WWDG EWI callback ID */
-  HAL_WWDG_MSPINIT_CB_ID      = 0x01u,    /*!< WWDG MspInit callback ID */
-}HAL_WWDG_CallbackIDTypeDef;
-
-/**
-  * @brief  HAL WWDG Callback pointer definition
-  */
-typedef void (*pWWDG_CallbackTypeDef)(WWDG_HandleTypeDef * hppp); /*!< pointer to a WWDG common callback functions */
-
-#endif
-/**
-  * @}
-  */
-
-/* Exported constants --------------------------------------------------------*/
-
-/** @defgroup WWDG_Exported_Constants WWDG Exported Constants
-  * @{
-  */
-
-/** @defgroup WWDG_Interrupt_definition WWDG Interrupt definition
-  * @{
-  */
-#define WWDG_IT_EWI                         WWDG_CFR_EWI  /*!< Early wakeup interrupt */
-/**
-  * @}
-  */
-
-/** @defgroup WWDG_Flag_definition WWDG Flag definition
-  * @brief WWDG Flag definition
-  * @{
-  */
-#define WWDG_FLAG_EWIF                      WWDG_SR_EWIF  /*!< Early wakeup interrupt flag */
-/**
-  * @}
-  */
-
-/** @defgroup WWDG_Prescaler WWDG Prescaler
-  * @{
-  */
-#define WWDG_PRESCALER_1                  0x00000000U      /*!< WWDG counter clock = (PCLK1/4096)/1 */
-#define WWDG_PRESCALER_2                  WWDG_CFR_WDGTB0  /*!< WWDG counter clock = (PCLK1/4096)/2 */
-#define WWDG_PRESCALER_4                  WWDG_CFR_WDGTB1  /*!< WWDG counter clock = (PCLK1/4096)/4 */
-#define WWDG_PRESCALER_8                  WWDG_CFR_WDGTB   /*!< WWDG counter clock = (PCLK1/4096)/8 */
-/**
-  * @}
-  */
-
-/** @defgroup WWDG_EWI_Mode WWDG Early Wakeup Interrupt Mode
-  * @{
-  */
-#define WWDG_EWI_DISABLE                    0x00000000U       /*!< EWI Disable */
-#define WWDG_EWI_ENABLE                     WWDG_CFR_EWI      /*!< EWI Enable */
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/* Private macros ------------------------------------------------------------*/
-
-/** @defgroup WWDG_Private_Macros WWDG Private Macros
-  * @{
-  */
-#define IS_WWDG_PRESCALER(__PRESCALER__)    (((__PRESCALER__) == WWDG_PRESCALER_1) || \
-                                             ((__PRESCALER__) == WWDG_PRESCALER_2) || \
-                                             ((__PRESCALER__) == WWDG_PRESCALER_4) || \
-                                             ((__PRESCALER__) == WWDG_PRESCALER_8))
-
-#define IS_WWDG_WINDOW(__WINDOW__)          (((__WINDOW__) >= WWDG_CFR_W_6) && ((__WINDOW__) <= WWDG_CFR_W))
-
-#define IS_WWDG_COUNTER(__COUNTER__)        (((__COUNTER__) >= WWDG_CR_T_6) && ((__COUNTER__) <= WWDG_CR_T))
-
-#define IS_WWDG_EWI_MODE(__MODE__)          (((__MODE__) == WWDG_EWI_ENABLE) || \
-                                             ((__MODE__) == WWDG_EWI_DISABLE))
-/**
-  * @}
-  */
-
-
-/* Exported macros ------------------------------------------------------------*/
-
-/** @defgroup WWDG_Exported_Macros WWDG Exported Macros
-  * @{
-  */
-
-/**
-  * @brief  Enables the WWDG peripheral.
-  * @param  __HANDLE__: WWDG handle
-  * @retval None
-  */
-#define __HAL_WWDG_ENABLE(__HANDLE__) SET_BIT((__HANDLE__)->Instance->CR, WWDG_CR_WDGA)
-
-/**
-  * @brief  Enables the WWDG early wakeup interrupt.
-  * @param  __HANDLE__: WWDG handle
-  * @param  __INTERRUPT__  specifies the interrupt to enable.
-  *         This parameter can be one of the following values:
-  *            @arg WWDG_IT_EWI: Early wakeup interrupt
-  * @note   Once enabled this interrupt cannot be disabled except by a system reset.
-  * @retval None
-  */
-#define __HAL_WWDG_ENABLE_IT(__HANDLE__, __INTERRUPT__)       SET_BIT((__HANDLE__)->Instance->CFR, (__INTERRUPT__))
-
-/**
-  * @brief  Checks whether the selected WWDG interrupt has occurred or not.
-  * @param  __HANDLE__  WWDG handle
-  * @param  __INTERRUPT__  specifies the it to check.
-  *        This parameter can be one of the following values:
-  *            @arg WWDG_FLAG_EWIF: Early wakeup interrupt IT
-  * @retval The new state of WWDG_FLAG (SET or RESET).
-  */
-#define __HAL_WWDG_GET_IT(__HANDLE__, __INTERRUPT__)       __HAL_WWDG_GET_FLAG((__HANDLE__),(__INTERRUPT__))
-
-/** @brief  Clear the WWDG's interrupt pending bits
-  *         bits to clear the selected interrupt pending bits.
-  * @param  __HANDLE__: WWDG handle
-  * @param  __INTERRUPT__: specifies the interrupt pending bit to clear.
-  *         This parameter can be one of the following values:
-  *            @arg WWDG_FLAG_EWIF: Early wakeup interrupt flag
-  */
-#define __HAL_WWDG_CLEAR_IT(__HANDLE__, __INTERRUPT__)     __HAL_WWDG_CLEAR_FLAG((__HANDLE__), (__INTERRUPT__))
-
-/**
-  * @brief  Check whether the specified WWDG flag is set or not.
-  * @param  __HANDLE__  WWDG handle
-  * @param  __FLAG__  specifies the flag to check.
-  *         This parameter can be one of the following values:
-  *            @arg WWDG_FLAG_EWIF: Early wakeup interrupt flag
-  * @retval The new state of WWDG_FLAG (SET or RESET).
-  */
-#define __HAL_WWDG_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR & (__FLAG__)) == (__FLAG__))
-
-/**
-  * @brief  Clears the WWDG's pending flags.
-  * @param  __HANDLE__: WWDG handle
-  * @param  __FLAG__: specifies the flag to clear.
-  *         This parameter can be one of the following values:
-  *            @arg WWDG_FLAG_EWIF: Early wakeup interrupt flag
-  * @retval None
-  */
-#define __HAL_WWDG_CLEAR_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR) = ~(__FLAG__))
-
-/** @brief  Checks if the specified WWDG interrupt source is enabled or disabled.
-  * @param  __HANDLE__: WWDG Handle.
-  * @param  __INTERRUPT__: specifies the WWDG interrupt source to check.
-  *          This parameter can be one of the following values:
-  *            @arg WWDG_IT_EWI: Early Wakeup Interrupt
-  * @retval state of __INTERRUPT__ (TRUE or FALSE).
-  */
-#define __HAL_WWDG_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CFR & (__INTERRUPT__)) == (__INTERRUPT__))
-
-/**
-  * @}
-  */
-
-/* Exported functions --------------------------------------------------------*/
-/** @addtogroup WWDG_Exported_Functions
-  * @{
-  */
-
-/** @addtogroup WWDG_Exported_Functions_Group1
-  * @{
-  */
-/* Initialization/de-initialization functions  **********************************/
-HAL_StatusTypeDef     HAL_WWDG_Init(WWDG_HandleTypeDef *hwwdg);
-void                  HAL_WWDG_MspInit(WWDG_HandleTypeDef *hwwdg);
-
-/* Callbacks Register/UnRegister functions  ***********************************/
-#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1)
-HAL_StatusTypeDef     HAL_WWDG_RegisterCallback(WWDG_HandleTypeDef *hwwdg, HAL_WWDG_CallbackIDTypeDef CallbackID, pWWDG_CallbackTypeDef pCallback);
-HAL_StatusTypeDef     HAL_WWDG_UnRegisterCallback(WWDG_HandleTypeDef *hwwdg, HAL_WWDG_CallbackIDTypeDef CallbackID);
-#endif
-
-/**
-  * @}
-  */
-
-/** @addtogroup WWDG_Exported_Functions_Group2
-  * @{
-  */
-/* I/O operation functions ******************************************************/
-HAL_StatusTypeDef     HAL_WWDG_Refresh(WWDG_HandleTypeDef *hwwdg);
-void                  HAL_WWDG_IRQHandler(WWDG_HandleTypeDef *hwwdg);
-void                  HAL_WWDG_EarlyWakeupCallback(WWDG_HandleTypeDef *hwwdg);
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* STM32F1xx_HAL_WWDG_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_wwdg.c b/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_wwdg.c
deleted file mode 100644
index 7b78694..0000000
--- a/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_wwdg.c
+++ /dev/null
@@ -1,393 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    stm32f1xx_hal_wwdg.c
-  * @author  MCD Application Team
-  * @brief   WWDG HAL module driver.
-  *          This file provides firmware functions to manage the following
-  *          functionalities of the Window Watchdog (WWDG) peripheral:
-  *           + Initialization and de-initialization functions
-  *           + IO operation functions
-  *           + Peripheral State functions
-  @verbatim
-  ==============================================================================
-                      ##### WWDG specific features #####
-  ==============================================================================
-  [..]
-    Once enabled the WWDG generates a system reset on expiry of a programmed
-    time period, unless the program refreshes the counter (downcounter)
-    before reaching 0x3F value (i.e. a reset is generated when the counter
-    value rolls over from 0x40 to 0x3F).
-
-    (+) An MCU reset is also generated if the counter value is refreshed
-        before the counter has reached the refresh window value. This
-        implies that the counter must be refreshed in a limited window.
-    (+) Once enabled the WWDG cannot be disabled except by a system reset.
-    (+) WWDGRST flag in RCC_CSR register can be used to inform when a WWDG
-        reset occurs.
-    (+) The WWDG counter input clock is derived from the APB clock divided
-        by a programmable prescaler.
-    (+) WWDG clock (Hz) = PCLK1 / (4096 * Prescaler)
-    (+) WWDG timeout (mS) = 1000 * Counter / WWDG clock
-    (+) WWDG Counter refresh is allowed between the following limits :
-        (++) min time (mS) = 1000 * (Counter _ Window) / WWDG clock
-        (++) max time (mS) = 1000 * (Counter _ 0x40) / WWDG clock
-
-    (+) Min-max timeout value at 36 MHz(PCLK1): 910 us / 58.25 ms
-
-    (+) The Early Wakeup Interrupt (EWI) can be used if specific safety
-        operations or data logging must be performed before the actual reset is
-        generated. When the downcounter reaches the value 0x40, an EWI interrupt
-        is generated and the corresponding interrupt service routine (ISR) can
-        be used to trigger specific actions (such as communications or data
-        logging), before resetting the device.
-        In some applications, the EWI interrupt can be used to manage a software
-        system check and/or system recovery/graceful degradation, without
-        generating a WWDG reset. In this case, the corresponding interrupt
-        service routine (ISR) should reload the WWDG counter to avoid the WWDG
-        reset, then trigger the required actions.
-        Note:When the EWI interrupt cannot be served, e.g. due to a system lock
-        in a higher priority task, the WWDG reset will eventually be generated.
-
-    (+) Debug mode : When the microcontroller enters debug mode (core halted),
-        the WWDG counter either continues to work normally or stops, depending
-        on DBG_WWDG_STOP configuration bit in DBG module, accessible through
-        __HAL_DBGMCU_FREEZE_WWDG() and __HAL_DBGMCU_UNFREEZE_WWDG() macros
-
-                     ##### How to use this driver #####
-  ==============================================================================
-  [..]
-    (+) Enable WWDG APB1 clock using __HAL_RCC_WWDG_CLK_ENABLE().
-
-    (+) Set the WWDG prescaler, refresh window, counter value and Early Wakeup
-        Interrupt mode using using HAL_WWDG_Init() function.
-        This enables WWDG peripheral and the downcounter starts downcounting
-        from given counter value.
-        Init function can be called again to modify all watchdog parameters,
-        however if EWI mode has been set once, it can't be clear until next
-        reset.
-
-    (+) The application program must refresh the WWDG counter at regular
-        intervals during normal operation to prevent an MCU reset using
-        HAL_WWDG_Refresh() function. This operation must occur only when
-        the counter is lower than the window value already programmed.
-
-    (+) if Early Wakeup Interrupt mode is enable an interrupt is generated when
-        the counter reaches 0x40. User can add his own code in weak function
-        HAL_WWDG_EarlyWakeupCallback().
-
-     *** WWDG HAL driver macros list ***
-     ==================================
-     [..]
-       Below the list of most used macros in WWDG HAL driver.
-
-      (+) __HAL_WWDG_GET_IT_SOURCE: Check the selected WWDG's interrupt source.
-      (+) __HAL_WWDG_GET_FLAG: Get the selected WWDG's flag status.
-      (+) __HAL_WWDG_CLEAR_FLAG: Clear the WWDG's pending flags.
-
-  @endverbatim
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
-  * All rights reserved.</center></h2>
-  *
-  * This software component is licensed by ST under BSD 3-Clause license,
-  * the "License"; You may not use this file except in compliance with the
-  * License. You may obtain a copy of the License at:
-  *                        opensource.org/licenses/BSD-3-Clause
-  *
-  ******************************************************************************
-  */
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f1xx_hal.h"
-
-/** @addtogroup STM32F1xx_HAL_Driver
-  * @{
-  */
-
-#ifdef HAL_WWDG_MODULE_ENABLED
-/** @defgroup WWDG WWDG
-  * @brief WWDG HAL module driver.
-  * @{
-  */
-
-/* Private typedef -----------------------------------------------------------*/
-/* Private define ------------------------------------------------------------*/
-/* Private macro -------------------------------------------------------------*/
-/* Private variables ---------------------------------------------------------*/
-/* Private function prototypes -----------------------------------------------*/
-/* Exported functions --------------------------------------------------------*/
-
-/** @defgroup WWDG_Exported_Functions WWDG Exported Functions
-  * @{
-  */
-
-/** @defgroup WWDG_Exported_Functions_Group1 Initialization and Configuration functions
-  *  @brief    Initialization and Configuration functions.
-  *
-@verbatim
-  ==============================================================================
-          ##### Initialization and Configuration functions #####
-  ==============================================================================
-  [..]
-    This section provides functions allowing to:
-      (+) Initialize and start the WWDG according to the specified parameters
-          in the WWDG_InitTypeDef of associated handle.
-      (+) Initialize the WWDG MSP.
-
-@endverbatim
-  * @{
-  */
-
-/**
-  * @brief  Initialize the WWDG according to the specified.
-  *         parameters in the WWDG_InitTypeDef of  associated handle.
-  * @param  hwwdg  pointer to a WWDG_HandleTypeDef structure that contains
-  *                the configuration information for the specified WWDG module.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_WWDG_Init(WWDG_HandleTypeDef *hwwdg)
-{
-  /* Check the WWDG handle allocation */
-  if (hwwdg == NULL)
-  {
-    return HAL_ERROR;
-  }
-
-  /* Check the parameters */
-  assert_param(IS_WWDG_ALL_INSTANCE(hwwdg->Instance));
-  assert_param(IS_WWDG_PRESCALER(hwwdg->Init.Prescaler));
-  assert_param(IS_WWDG_WINDOW(hwwdg->Init.Window));
-  assert_param(IS_WWDG_COUNTER(hwwdg->Init.Counter));
-  assert_param(IS_WWDG_EWI_MODE(hwwdg->Init.EWIMode));
-
-#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1)
-  /* Reset Callback pointers */
-  if(hwwdg->EwiCallback == NULL)
-  {
-    hwwdg->EwiCallback = HAL_WWDG_EarlyWakeupCallback;
-  }
-
-  if(hwwdg->MspInitCallback == NULL)
-  {
-    hwwdg->MspInitCallback = HAL_WWDG_MspInit;
-  }
-
-  /* Init the low level hardware */
-  hwwdg->MspInitCallback(hwwdg);
-#else
-  /* Init the low level hardware */
-  HAL_WWDG_MspInit(hwwdg);
-#endif
-
-  /* Set WWDG Counter */
-  WRITE_REG(hwwdg->Instance->CR, (WWDG_CR_WDGA | hwwdg->Init.Counter));
-
-  /* Set WWDG Prescaler and Window */
-  WRITE_REG(hwwdg->Instance->CFR, (hwwdg->Init.EWIMode | hwwdg->Init.Prescaler | hwwdg->Init.Window));
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Initialize the WWDG MSP.
-  * @param  hwwdg  pointer to a WWDG_HandleTypeDef structure that contains
-  *                the configuration information for the specified WWDG module.
-  * @note   When rewriting this function in user file, mechanism may be added
-  *         to avoid multiple initialize when HAL_WWDG_Init function is called
-  *         again to change parameters.
-  * @retval None
-  */
-__weak void HAL_WWDG_MspInit(WWDG_HandleTypeDef *hwwdg)
-{
-  /* Prevent unused argument(s) compilation warning */
-  UNUSED(hwwdg);
-
-  /* NOTE: This function should not be modified, when the callback is needed,
-           the HAL_WWDG_MspInit could be implemented in the user file
-   */
-}
-
-
-#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1)
-/**
-  * @brief  Register a User WWDG Callback
-  *         To be used instead of the weak (surcharged) predefined callback
-  * @param  hwwdg WWDG handle
-  * @param  CallbackID ID of the callback to be registered
-  *         This parameter can be one of the following values:
-  *           @arg @ref HAL_WWDG_EWI_CB_ID Early WakeUp Interrupt Callback ID
-  *           @arg @ref HAL_WWDG_MSPINIT_CB_ID MspInit callback ID
-  * @param  pCallback pointer to the Callback function
-  * @retval status
-  */
-HAL_StatusTypeDef HAL_WWDG_RegisterCallback(WWDG_HandleTypeDef *hwwdg, HAL_WWDG_CallbackIDTypeDef CallbackID, pWWDG_CallbackTypeDef pCallback)
-{
-  HAL_StatusTypeDef status = HAL_OK;
-
-  if(pCallback == NULL)
-  {
-    status = HAL_ERROR;
-  }
-  else
-  {
-    switch(CallbackID)
-    {
-      case HAL_WWDG_EWI_CB_ID:
-        hwwdg->EwiCallback = pCallback;
-        break;
-
-      case HAL_WWDG_MSPINIT_CB_ID:
-        hwwdg->MspInitCallback = pCallback;
-        break;
-
-      default:
-        status = HAL_ERROR;
-        break;
-    }
-  }
-
-  return status;
-}
-
-
-/**
-  * @brief  Unregister a WWDG Callback
-  *         WWDG Callback is redirected to the weak (surcharged) predefined callback 
-  * @param  hwwdg WWDG handle
-  * @param  CallbackID ID of the callback to be registered
-  *         This parameter can be one of the following values:
-  *           @arg @ref HAL_WWDG_EWI_CB_ID Early WakeUp Interrupt Callback ID
-  *           @arg @ref HAL_WWDG_MSPINIT_CB_ID MspInit callback ID
-  * @retval status
-  */
-HAL_StatusTypeDef HAL_WWDG_UnRegisterCallback(WWDG_HandleTypeDef *hwwdg, HAL_WWDG_CallbackIDTypeDef CallbackID)
-{
-  HAL_StatusTypeDef status = HAL_OK;
-
-  switch(CallbackID)
-  {
-    case HAL_WWDG_EWI_CB_ID:
-      hwwdg->EwiCallback = HAL_WWDG_EarlyWakeupCallback;
-      break;
-
-    case HAL_WWDG_MSPINIT_CB_ID:
-      hwwdg->MspInitCallback = HAL_WWDG_MspInit;
-      break;
-
-    default:
-      status = HAL_ERROR;
-      break;
-  }
-
-  return status;
-}
-#endif
-
-/**
-  * @}
-  */
-
-/** @defgroup WWDG_Exported_Functions_Group2 IO operation functions
- *  @brief    IO operation functions
- *
-@verbatim
-  ==============================================================================
-                      ##### IO operation functions #####
-  ==============================================================================
-  [..]
-    This section provides functions allowing to:
-    (+) Refresh the WWDG.
-    (+) Handle WWDG interrupt request and associated function callback.
-
-@endverbatim
-  * @{
-  */
-
-/**
-  * @brief  Refresh the WWDG.
-  * @param  hwwdg  pointer to a WWDG_HandleTypeDef structure that contains
-  *                the configuration information for the specified WWDG module.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_WWDG_Refresh(WWDG_HandleTypeDef *hwwdg)
-{
-  /* Write to WWDG CR the WWDG Counter value to refresh with */
-  WRITE_REG(hwwdg->Instance->CR, (hwwdg->Init.Counter));
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Handle WWDG interrupt request.
-  * @note   The Early Wakeup Interrupt (EWI) can be used if specific safety operations
-  *         or data logging must be performed before the actual reset is generated.
-  *         The EWI interrupt is enabled by calling HAL_WWDG_Init function with
-  *         EWIMode set to WWDG_EWI_ENABLE.
-  *         When the downcounter reaches the value 0x40, and EWI interrupt is
-  *         generated and the corresponding Interrupt Service Routine (ISR) can
-  *         be used to trigger specific actions (such as communications or data
-  *         logging), before resetting the device.
-  * @param  hwwdg  pointer to a WWDG_HandleTypeDef structure that contains
-  *                the configuration information for the specified WWDG module.
-  * @retval None
-  */
-void HAL_WWDG_IRQHandler(WWDG_HandleTypeDef *hwwdg)
-{
-  /* Check if Early Wakeup Interrupt is enable */
-  if (__HAL_WWDG_GET_IT_SOURCE(hwwdg, WWDG_IT_EWI) != RESET)
-  {
-    /* Check if WWDG Early Wakeup Interrupt occurred */
-    if (__HAL_WWDG_GET_FLAG(hwwdg, WWDG_FLAG_EWIF) != RESET)
-    {
-      /* Clear the WWDG Early Wakeup flag */
-      __HAL_WWDG_CLEAR_FLAG(hwwdg, WWDG_FLAG_EWIF);
-
-#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1)
-      /* Early Wakeup registered callback */
-      hwwdg->EwiCallback(hwwdg);
-#else
-      /* Early Wakeup callback */
-      HAL_WWDG_EarlyWakeupCallback(hwwdg);
-#endif
-    }
-  }
-}
-
-/**
-  * @brief  WWDG Early Wakeup callback.
-  * @param  hwwdg : pointer to a WWDG_HandleTypeDef structure that contains
-  *                the configuration information for the specified WWDG module.
-  * @retval None
-  */
-__weak void HAL_WWDG_EarlyWakeupCallback(WWDG_HandleTypeDef *hwwdg)
-{
-  /* Prevent unused argument(s) compilation warning */
-  UNUSED(hwwdg);
-
-  /* NOTE: This function should not be modified, when the callback is needed,
-           the HAL_WWDG_EarlyWakeupCallback could be implemented in the user file
-   */
-}
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-#endif /* HAL_WWDG_MODULE_ENABLED */
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/NaviKit_stm32 Debug.cfg b/NaviKit_stm32 Debug.cfg
new file mode 100644
index 0000000..1d238cb
--- /dev/null
+++ b/NaviKit_stm32 Debug.cfg	
@@ -0,0 +1,41 @@
+# This is an genericBoard board with a single STM32F107VCTx chip
+#
+# Generated by STM32CubeIDE
+# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
+
+source [find interface/stlink.cfg]
+
+
+set WORKAREASIZE 0x8000
+
+transport select "hla_swd"
+
+set CHIPNAME STM32F107VCTx
+set BOARDNAME genericBoard
+
+# Enable debug when in low power modes
+set ENABLE_LOW_POWER 1
+
+# Stop Watchdog counters when halt
+set STOP_WATCHDOG 1
+
+# STlink Debug clock frequency
+set CLOCK_FREQ 8000
+
+# Reset configuration
+# use hardware reset, connect under reset
+# connect_assert_srst needed if low power mode application running (WFI...)
+reset_config srst_only srst_nogate connect_assert_srst
+set CONNECT_UNDER_RESET 1
+set CORE_RESET 0
+
+# ACCESS PORT NUMBER
+set AP_NUM 0
+# GDB PORT
+set GDB_PORT 3333
+
+
+# BCTM CPU variables
+
+
+source [find target/stm32f1x.cfg]
diff --git a/NaviKit_stm32 Debug.launch b/NaviKit_stm32 Debug.launch
new file mode 100644
index 0000000..9347e57
--- /dev/null
+++ b/NaviKit_stm32 Debug.launch	
@@ -0,0 +1,81 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="true"/>
+<intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug\\NaviKit_stm32.elf&quot;,&quot;fProjectName&quot;:&quot;NaviKit_stm32&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_div" value="8"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_wait_for_sync" value="true"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_DEVICE_SHAREABLE_ALLOWED" value="false"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE" value="Swd"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE_FREQUENCY" value="8000000.0"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_LOW_POWER_MODE_ALLOWED" value="true"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_RESET_MODE" value="connect_under_reset"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_STOP_WATCHDOG_THEN_HALTED_ALLOWED" value="true"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_GENERATOR_OPTION" value="false"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_NAME" value="&quot;${stm32cubeide_openocd_path}\openocd.exe&quot;"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_OTHER_OPTIONS" value=""/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}\NaviKit_stm32 Debug.cfg"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT_CHOICE" value="automated"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_external_loader" value="false"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.external_loader" value=""/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.external_loader_init" value="false"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="E:\source\NaviKit_stm32\Debug\st-link_gdbserver_log.txt"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="connect_under_reset"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDevice" value="ST-LINK (ST-LINK GDB server)"/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
+<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
+<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="${TOOLCHAIN_PATH}/arm-none-eabi-gdb"/>
+<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="true"/>
+<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
+<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
+<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
+<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
+<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
+<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
+<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug\NaviKit_stm32.elf"/>
+<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="NaviKit_stm32"/>
+<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
+<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.502298629"/>
+<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
+<listEntry value="/NaviKit_stm32"/>
+</listAttribute>
+<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
+<listEntry value="4"/>
+</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;"/>
+<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
+</launchConfiguration>
diff --git a/NaviKit_stm32.ioc b/NaviKit_stm32.ioc
index b517da3..d3a1198 100644
--- a/NaviKit_stm32.ioc
+++ b/NaviKit_stm32.ioc
@@ -1,8 +1,18 @@
 #MicroXplorer Configuration settings - do not modify
-FREERTOS.IPParameters=Tasks01
-FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.FootprintOK=true
+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,Queues01
+FREERTOS.Queues01=printfQueue,128,uint8_t,0,Dynamic,NULL,NULL
+FREERTOS.Tasks01=defaultTask,24,128,startDefaultTask,Default,NULL,Dynamic,NULL,NULL;LEDBlinkTask,24,128,startLEDBlinkTask,Default,NULL,Dynamic,NULL,NULL;IWDGRefreshTask,24,128,startIWDGRefreshTask,Default,NULL,Dynamic,NULL,NULL;printfTask,8,256,startPrintfTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.configMAX_TASK_NAME_LEN=32
+FREERTOS.configUSE_APPLICATION_TASK_TAG=1
+FREERTOS.configUSE_TICKLESS_IDLE=1
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
+IWDG.IPParameters=Prescaler,Reload
+IWDG.Prescaler=IWDG_PRESCALER_256
+IWDG.Reload=0xfff
 KeepUserPlacement=false
 Mcu.Family=STM32F1
 Mcu.IP0=FREERTOS
@@ -14,8 +24,7 @@ Mcu.IP5=SYS
 Mcu.IP6=UART4
 Mcu.IP7=USB_DEVICE
 Mcu.IP8=USB_OTG_FS
-Mcu.IP9=WWDG
-Mcu.IPNb=10
+Mcu.IPNb=9
 Mcu.Name=STM32F107V(B-C)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PE2
@@ -44,14 +53,13 @@ Mcu.Pin29=VP_IWDG_VS_IWDG
 Mcu.Pin3=OSC_OUT
 Mcu.Pin30=VP_SYS_VS_tim7
 Mcu.Pin31=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
-Mcu.Pin32=VP_WWDG_VS_WWDG
 Mcu.Pin4=PA0-WKUP
 Mcu.Pin5=PE12
 Mcu.Pin6=PE13
 Mcu.Pin7=PE14
 Mcu.Pin8=PE15
 Mcu.Pin9=PA8
-Mcu.PinsNb=33
+Mcu.PinsNb=32
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F107VCTx
@@ -76,8 +84,8 @@ NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false
 NVIC.TIM7_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.TimeBase=TIM7_IRQn
 NVIC.TimeBaseIP=TIM7
+NVIC.UART4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.WWDG_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
 OSC_IN.Mode=HSE-External-Oscillator
 OSC_IN.Signal=RCC_OSC_IN
 OSC_OUT.Mode=HSE-External-Oscillator
@@ -213,7 +221,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=STM32CubeIDE
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-true,3-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,4-MX_I2C1_Init-I2C1-false-HAL-true,5-MX_IWDG_Init-IWDG-false-HAL-true,6-MX_WWDG_Init-WWDG-false-HAL-true,7-MX_UART4_Init-UART4-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-true,3-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,4-MX_I2C1_Init-I2C1-false-HAL-true,5-MX_IWDG_Init-IWDG-false-HAL-true,6-MX_UART4_Init-UART4-false-HAL-true
 RCC.ADCFreqValue=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -258,7 +266,5 @@ VP_SYS_VS_tim7.Mode=TIM7
 VP_SYS_VS_tim7.Signal=SYS_VS_tim7
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
-VP_WWDG_VS_WWDG.Mode=WWDG_Activate
-VP_WWDG_VS_WWDG.Signal=WWDG_VS_WWDG
 board=custom
 isbadioc=false