diff --git a/Inc/targets.h b/Inc/targets.h
index 66485ae1..4fd0acf3 100644
--- a/Inc/targets.h
+++ b/Inc/targets.h
@@ -129,7 +129,7 @@
 #endif
 ///
 #ifdef REF_G431
-#define FIRMWARE_NAME "Ref G431    "
+#define FIRMWARE_NAME "Ref G431"
 #define FILE_NAME "REF_G431"
 #define DEAD_TIME 80
 #define HARDWARE_GROUP_G4_A
@@ -138,8 +138,18 @@
 // #define USE_SERIAL_TELEMETRY
 #endif
 
+#ifdef PROTONDRIVE_G431
+#define FIRMWARE_NAME "PROTONDRIVE "
+#define FILE_NAME "PROTONDRIVE_G431"
+#define DEAD_TIME 100
+#define HARDWARE_GROUP_G4_B
+#define TARGET_STALL_PROTECTION_INTERVAL 20000
+// #define PA6_VOLTAGE
+// #define USE_SERIAL_TELEMETRY
+#endif
+
 #ifdef GD32DEV_A_E230
-#define FIRMWARE_NAME "GD32 Dev A  "
+#define FIRMWARE_NAME "GD32 Dev A"
 #define FILE_NAME "GD32DEV_A_E230"
 #define DEAD_TIME 40
 #define HARDWARE_GROUP_GD_A
@@ -216,7 +226,7 @@
 #endif
 
 #ifdef AIRBEE_F421
-#define FIRMWARE_NAME "AIRBEE F4   "
+#define FIRMWARE_NAME "AIRBEE F4"
 #define FILE_NAME "AIRBEE_F421"
 #define DEAD_TIME 22
 #define HARDWARE_GROUP_AT_045
@@ -246,6 +256,28 @@
 // #define PA6_NTC_ONLY
 #endif
 
+#ifdef  FLYWOO_F4A_F421
+#define FIRMWARE_NAME "FLYWOO_F4A "
+#define FILE_NAME "FLYWOO_F4A_F421"
+#define DEAD_TIME 75
+#define HARDWARE_GROUP_AT_540
+#define HARDWARE_GROUP_AT_E
+#define USE_SERIAL_TELEMETRY
+#define USE_PA14_TELEMETRY
+#define PA6_NTC_ONLY
+#endif
+
+#ifdef  FLYWOO_F421
+#define FIRMWARE_NAME "FLYWOO_F421 "
+#define FILE_NAME "FLYWOO_F421"
+#define DEAD_TIME 60
+#define HARDWARE_GROUP_AT_B
+#define HARDWARE_GROUP_AT_045
+#define USE_SERIAL_TELEMETRY
+#define ADC_CHANNEL_CURRENT ADC_CHANNEL_3
+#define ADC_CHANNEL_VOLTAGE ADC_CHANNEL_6
+#endif
+
 #ifdef F4A_4IN1_F421
 #define FIRMWARE_NAME "F4A 4in1    "
 #define FILE_NAME "F4A_4IN1_F421"
@@ -541,7 +573,7 @@
 #endif
 
 #ifdef AT32DEV_F415
-#define FIRMWARE_NAME "AT32F415    "
+#define FIRMWARE_NAME "AT32F415"
 #define FILE_NAME "AT32DEV_F415"
 #define DEAD_TIME 100
 #define HARDWARE_GROUP_AT_D
@@ -550,7 +582,7 @@
 #endif
 
 #ifdef DAKEFPV_35A_F415
-#define FIRMWARE_NAME "DakeFPV 35A "
+#define FIRMWARE_NAME "DakeFPV 35A"
 #define FILE_NAME "DAKEFPV_35A_F415" // DISABLE_BUILD
 #define DEAD_TIME 20
 #define HARDWARE_GROUP_AT_D
@@ -648,6 +680,15 @@
 #define USE_SERIAL_TELEMETRY
 #endif
 
+#ifdef SKYSTARS_KM55_V2_F421
+#define FIRMWARE_NAME "KM55 F4     "
+#define FILE_NAME "SKYSTARS_KM55_V2_F421"
+#define DEAD_TIME 60
+#define HARDWARE_GROUP_AT_B
+#define HARDWARE_GROUP_AT_045
+#define USE_SERIAL_TELEMETRY
+#endif
+
 #ifdef SKYSTARS_AM60_THRUSTER_F421
 #define FIRMWARE_NAME "F421 ROV   "
 #define FILE_NAME "SKYSTARS_AM60_THRUSTER_F421"
@@ -709,6 +750,47 @@
 #define USE_SERIAL_TELEMETRY
 #endif
 
+#ifdef AORC_K_A_F421
+#define FIRMWARE_NAME "AORC_K_F421"
+#define FILE_NAME "AORC_K_A_F421"
+#define DEAD_TIME 80
+#define HARDWARE_GROUP_AT_B
+#define HARDWARE_GROUP_AT_540
+#define USE_SERIAL_TELEMETRY
+#define USE_LED_STRIP
+#define WS2812_PIN GPIO_PINS_8
+#endif
+
+#ifdef AORC_G_A_F421
+#define FIRMWARE_NAME "AORC_G_F421"
+#define FILE_NAME "AORC_G_A_F421"
+#define DEAD_TIME 80
+#define HARDWARE_GROUP_AT_B
+#define HARDWARE_GROUP_AT_450
+#define USE_SERIAL_TELEMETRY
+#endif
+
+#ifdef BAYCKRC_S_55A_F421
+#define HARDWARE_GROUP_AT_C
+#define FIRMWARE_NAME "BAYCKRC S55A"
+#define FILE_NAME "BAYCKRC_S_55A_F421"
+#define DEAD_TIME 60
+#define HARDWARE_GROUP_AT_540
+#define USE_SERIAL_TELEMETRY
+#endif
+
+#ifdef F4A_ZERODRAG_F421
+#define FIRMWARE_NAME "F4A Zerodrag"
+#define FILE_NAME "F4A_ZERODRAG_F421"
+#define DEAD_TIME 75
+#define HARDWARE_GROUP_AT_540
+#define HARDWARE_GROUP_AT_B
+#define USE_SERIAL_TELEMETRY
+#define USE_PA14_TELEMETRY
+#define PA6_NTC_ONLY
+#endif
+
+
 /*****************************************************AT32F415 targets ************************************************/
 
 #ifdef PB450_F051
@@ -738,6 +820,30 @@
 #define HARDWARE_GROUP_F0_405
 #endif
 
+#ifdef  ASCENT_TEST_F051
+#define FIRMWARE_NAME "Sequre F0 "
+#define FILE_NAME "ASCENT_TEST_F051"
+#define DEAD_TIME 80
+#define HARDWARE_GROUP_F0_C
+#define USE_SERIAL_TELEMETRY
+#define VOLTAGE_ADC_CHANNEL LL_ADC_CHANNEL_6
+#define VOLTAGE_ADC_PIN LL_GPIO_PIN_6
+#define CURRENT_ADC_CHANNEL LL_ADC_CHANNEL_3
+#define CURRENT_ADC_PIN LL_GPIO_PIN_3
+#define MILLIVOLT_PER_AMP 25
+#define RAMP_SPEED_LOW_RPM 1
+#define RAMP_SPEED_HIGH_RPM 1
+#endif
+
+#ifdef  DM_VISHNU32_F051
+#define FILE_NAME "DM_VISHNU32_F051"
+#define FIRMWARE_NAME "DM_VISHNU32 "
+#define DEAD_TIME 45
+#define HARDWARE_GROUP_F0_A
+#define TARGET_VOLTAGE_DIVIDER 65
+#define USE_SERIAL_TELEMETRY
+#endif
+
 #ifdef FD6288_F051
 #define FILE_NAME "FD6288_F051"
 #define FIRMWARE_NAME "FD6288_PA2  "
@@ -1058,6 +1164,18 @@
 /*******************************   G071 Targets
  * *********************************/
 
+#ifdef RRIOT_G071
+#define FILE_NAME "RRIOT_G071"
+#define FIRMWARE_NAME "RRIOT G071"
+#define DEAD_TIME 45
+#define MILLIVOLT_PER_AMP 15
+#define CURRENT_OFFSET 0
+#define HARDWARE_GROUP_G0_K
+#define USE_SERIAL_TELEMETRY
+#define SIXTY_FOUR_KB_MEMORY
+#endif
+
+
 #ifdef GEN_64K_G071
 #define FILE_NAME "GEN_64K_G071"
 #define FIRMWARE_NAME "G071 64kESC "
@@ -2185,6 +2303,41 @@
 
 #endif
 
+#ifdef HARDWARE_GROUP_G0_K
+
+#define MCU_G071
+#define USE_TIMER_3_CHANNEL_1
+#define INPUT_PIN LL_GPIO_PIN_4
+#define INPUT_PIN_PORT GPIOB
+#define IC_TIMER_CHANNEL LL_TIM_CHANNEL_CH1
+#define IC_TIMER_REGISTER TIM3
+#define IC_TIMER_POINTER htim3
+
+#define INPUT_DMA_CHANNEL LL_DMA_CHANNEL_1
+#define DMA_HANDLE_TYPE_DEF hdma_tim3_ch1
+#define IC_DMA_IRQ_NAME DMA1_Channel1_IRQn
+
+#define PHASE_A_GPIO_LOW LL_GPIO_PIN_1
+#define PHASE_A_GPIO_PORT_LOW GPIOB
+#define PHASE_A_GPIO_HIGH LL_GPIO_PIN_10
+#define PHASE_A_GPIO_PORT_HIGH GPIOA
+
+#define PHASE_B_GPIO_LOW LL_GPIO_PIN_0
+#define PHASE_B_GPIO_PORT_LOW GPIOB
+#define PHASE_B_GPIO_HIGH LL_GPIO_PIN_9
+#define PHASE_B_GPIO_PORT_HIGH GPIOA
+
+#define PHASE_C_GPIO_LOW LL_GPIO_PIN_7
+#define PHASE_C_GPIO_PORT_LOW GPIOA
+#define PHASE_C_GPIO_HIGH LL_GPIO_PIN_8
+#define PHASE_C_GPIO_PORT_HIGH GPIOA
+
+#define PHASE_A_COMP LL_COMP_INPUT_MINUS_IO3 // pa2
+#define PHASE_B_COMP LL_COMP_INPUT_MINUS_IO1 // pb3
+#define PHASE_C_COMP LL_COMP_INPUT_MINUS_IO2 // pb7
+
+#endif
+
 #ifdef HARDWARE_GROUP_G4_A
 
 #define MCU_G431
@@ -2235,6 +2388,56 @@
 
 #endif
 
+#ifdef HARDWARE_GROUP_G4_B
+
+#define MCU_G431
+#define USE_TIMER_15_CHANNEL_1
+#define INPUT_PIN LL_GPIO_PIN_2
+#define INPUT_PIN_PORT GPIOA
+#define IC_TIMER_CHANNEL LL_TIM_CHANNEL_CH1
+#define IC_TIMER_REGISTER TIM15
+#define IC_TIMER_POINTER htim15
+
+#define INPUT_DMA_CHANNEL LL_DMA_CHANNEL_1
+#define DMA_HANDLE_TYPE_DEF hdma_tim15_ch1
+#define IC_DMA_IRQ_NAME DMA1_Channel1_IRQn
+
+#define PHASE_A_GPIO_LOW LL_GPIO_PIN_1
+#define PHASE_A_GPIO_PORT_LOW GPIOB
+#define PHASE_A_GPIO_HIGH LL_GPIO_PIN_10
+#define PHASE_A_GPIO_PORT_HIGH GPIOA
+
+#define PHASE_B_GPIO_LOW LL_GPIO_PIN_0
+#define PHASE_B_GPIO_PORT_LOW GPIOB
+#define PHASE_B_GPIO_HIGH LL_GPIO_PIN_9
+#define PHASE_B_GPIO_PORT_HIGH GPIOA
+
+#define PHASE_C_GPIO_LOW LL_GPIO_PIN_7
+#define PHASE_C_GPIO_PORT_LOW GPIOA
+#define PHASE_C_GPIO_HIGH LL_GPIO_PIN_8
+#define PHASE_C_GPIO_PORT_HIGH GPIOA
+
+#define PHASE_A_COMP LL_COMP_INPUT_MINUS_IO1 //
+#define PHASE_B_COMP LL_COMP_INPUT_MINUS_IO1 //
+#define PHASE_C_COMP LL_COMP_INPUT_MINUS_IO2 //
+
+#define PHASE_A_EXTI_LINE LL_EXTI_LINE_22
+#define PHASE_A_COMP_NUMBER COMP2
+
+#define PHASE_B_EXTI_LINE LL_EXTI_LINE_21
+#define PHASE_B_COMP_NUMBER COMP1
+
+#define PHASE_C_EXTI_LINE LL_EXTI_LINE_21
+#define PHASE_C_COMP_NUMBER COMP1
+
+#define VOLTAGE_ADC_PIN LL_GPIO_PIN_5
+#define VOLTAGE_ADC_CHANNEL LL_ADC_CHANNEL_5
+
+#define CURRENT_ADC_PIN LL_GPIO_PIN_4
+#define CURRENT_ADC_CHANNEL LL_ADC_CHANNEL_4
+
+#endif
+
 /************************************ G031 Hardware Groups
  * ************************************************/
 
diff --git a/Keil_Projects/AM32_MultiProject.uvmpw b/Keil_Projects/AM32_MultiProject.uvmpw
index cea70728..cdef7b15 100644
--- a/Keil_Projects/AM32_MultiProject.uvmpw
+++ b/Keil_Projects/AM32_MultiProject.uvmpw
@@ -9,44 +9,36 @@
 
   <project>
     <PathAndName>.\Am32e230.uvprojx</PathAndName>
-    <NodeIsCheckedInBatchBuild>1</NodeIsCheckedInBatchBuild>
   </project>
 
   <project>
     <PathAndName>.\Am32F031.uvprojx</PathAndName>
-    <NodeIsCheckedInBatchBuild>1</NodeIsCheckedInBatchBuild>
   </project>
 
   <project>
     <PathAndName>.\Am32F051.uvprojx</PathAndName>
-    <NodeIsCheckedInBatchBuild>1</NodeIsCheckedInBatchBuild>
   </project>
 
   <project>
     <PathAndName>.\Am32F415.uvprojx</PathAndName>
-    <NodeIsCheckedInBatchBuild>1</NodeIsCheckedInBatchBuild>
   </project>
 
   <project>
     <PathAndName>.\Am32F421.uvprojx</PathAndName>
-    <NodeIsExpanded>1</NodeIsExpanded>
-    <NodeIsCheckedInBatchBuild>1</NodeIsCheckedInBatchBuild>
+    <NodeIsActive>1</NodeIsActive>
   </project>
 
   <project>
     <PathAndName>.\Am32G071.uvprojx</PathAndName>
-    <NodeIsActive>1</NodeIsActive>
-    <NodeIsCheckedInBatchBuild>1</NodeIsCheckedInBatchBuild>
+    <NodeIsExpanded>1</NodeIsExpanded>
   </project>
 
   <project>
     <PathAndName>.\Am32G431.uvprojx</PathAndName>
-    <NodeIsCheckedInBatchBuild>1</NodeIsCheckedInBatchBuild>
   </project>
 
   <project>
     <PathAndName>.\Am32l431.uvprojx</PathAndName>
-    <NodeIsCheckedInBatchBuild>1</NodeIsCheckedInBatchBuild>
   </project>
 
 </ProjectWorkspace>
diff --git a/Keil_Projects/AM32_MultiProject.uvmpw.uvgui.alkaz b/Keil_Projects/AM32_MultiProject.uvmpw.uvgui.alkaz
index 73e07713..d3d40e09 100644
--- a/Keil_Projects/AM32_MultiProject.uvmpw.uvgui.alkaz
+++ b/Keil_Projects/AM32_MultiProject.uvmpw.uvgui.alkaz
@@ -29,8 +29,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>1951</Len>
-        <Data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ata>
+        <Len>60</Len>
+        <Data>010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000</Data>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -1724,8 +1724,8 @@
         <RegID>59392</RegID>
         <Name>File</Name>
         <Buttons>
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index b38ccc84..9e091b41 100644
--- a/Keil_Projects/Am32F051.uvguix.alkaz
+++ b/Keil_Projects/Am32F051.uvguix.alkaz
@@ -110,8 +110,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>1951</Len>
-        <Data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ata>
+        <Len>60</Len>
+        <Data>010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000</Data>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
diff --git a/Keil_Projects/Am32F051.uvoptx b/Keil_Projects/Am32F051.uvoptx
index dd42cc65..b96cb838 100644
--- a/Keil_Projects/Am32F051.uvoptx
+++ b/Keil_Projects/Am32F051.uvoptx
@@ -75,7 +75,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
       <DebugOpt>
@@ -7592,6 +7592,261 @@
     </TargetOption>
   </Target>
 
+  <Target>
+    <TargetName>DM_VISHNU32</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>12000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath></ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>1</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>18</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>1</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>6</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U066DFF313736504157094132 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(0BB11477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8000 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F0xx_32.FLM -FS08000000 -FL08000 -FP0($$Device:STM32F051K6Ux$CMSIS\Flash\STM32F0xx_32.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 )  -FN1 -FC1000 -FD20000000 -FF0STM32F0xx_32 -FL08000 -FS08000000 -FP0($$Device:STM32F051K6Ux$CMSIS\Flash\STM32F0xx_32.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=75,104,486,533,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_frametime_high,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_frametime_low,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_frametime,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>duty_cycle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>minimum_duty_cycle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>smallestnumber,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>zero_input_count</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dma_buffer</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>servoPwm</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>signaltimeout,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_goodcounts,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>12</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_badcounts,0x0A</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>40015804</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>0</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+      <DebugDescription>
+        <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
+        <EnableLog>0</EnableLog>
+        <Protocol>2</Protocol>
+        <DbgClock>10000000</DbgClock>
+      </DebugDescription>
+    </TargetOption>
+  </Target>
+
   <Group>
     <GroupName>startup</GroupName>
     <tvExp>0</tvExp>
diff --git a/Keil_Projects/Am32F051.uvprojx b/Keil_Projects/Am32F051.uvprojx
index e59a4094..200823fc 100644
--- a/Keil_Projects/Am32F051.uvprojx
+++ b/Keil_Projects/Am32F051.uvprojx
@@ -89,7 +89,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -622,7 +622,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -1224,7 +1224,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -1826,7 +1826,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -2428,7 +2428,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -3030,7 +3030,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -3632,7 +3632,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -4234,7 +4234,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -4836,7 +4836,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -5438,7 +5438,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -6040,7 +6040,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -6642,7 +6642,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -7244,7 +7244,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -7846,7 +7846,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -8448,7 +8448,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -9050,7 +9050,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -9652,7 +9652,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -10254,7 +10254,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -10856,7 +10856,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -11458,7 +11458,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -12060,7 +12060,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -12662,7 +12662,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -13264,7 +13264,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -13866,7 +13866,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -14468,7 +14468,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -15070,7 +15070,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -15603,7 +15603,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -16205,7 +16205,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -16738,7 +16738,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -17271,7 +17271,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -17804,7 +17804,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -18406,7 +18406,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -19008,7 +19008,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -19610,7 +19610,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -20212,7 +20212,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -20731,6 +20731,539 @@
         </Group>
       </Groups>
     </Target>
+    <Target>
+      <TargetName>DM_VISHNU32</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
+      <uAC6>1</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>STM32F051K6Ux</Device>
+          <Vendor>STMicroelectronics</Vendor>
+          <PackID>Keil.STM32F0xx_DFP.2.1.1</PackID>
+          <PackURL>https://www.keil.com/pack/</PackURL>
+          <Cpu>IRAM(0x20000000,0x00002000) IROM(0x08000000,0x00008000) CPUTYPE("Cortex-M0") CLOCK(12000000) ELITTLE</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F0xx_32 -FS08000000 -FL08000 -FP0($$Device:STM32F051K6Ux$CMSIS\Flash\STM32F0xx_32.FLM))</FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile>$$Device:STM32F051K6Ux$Drivers\CMSIS\Device\ST\STM32F0xx\Include\stm32f0xx.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:STM32F051K6Ux$CMSIS\SVD\STM32F0x1.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\Objects\</OutputDirectory>
+          <OutputName>AM32_DM_VISHNU32_F051</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath></ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>0</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments> -REMAP </SimDllArguments>
+          <SimDlgDll>DARMCM1.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM0</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments> </TargetDllArguments>
+          <TargetDlgDll>TARMCM1.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM0</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4096</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash3>"" ()</Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M0"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>0</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>1</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>3</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x2000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x8000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x8000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x2000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>3</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>0</uC99>
+            <uGnu>0</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>3</v6Lang>
+            <v6LangP>3</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>STM32F051x8,USE_FULL_LL_DRIVER, DM_VISHNU32_F051</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\mcu\f051\Drivers\CMSIS\Include;..\mcu\f051\Drivers\CMSIS\Device\ST\STM32F0xx\Include;..\mcu\f051\Drivers\STM32F0xx_HAL_Driver\Inc;..\mcu\f051\Inc;..\inc</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>4</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>0</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange>0x08000000</TextAddressRange>
+            <DataAddressRange>0x20000000</DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile>..\Mcu\f051\Am32 32kb_f051.sct</ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>startup</GroupName>
+          <Files>
+            <File>
+              <FileName>startup_stm32f051k8.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Mcu\f051\Startup\mdk\startup_stm32f051k8.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Src</GroupName>
+          <Files>
+            <File>
+              <FileName>dshot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\dshot.c</FilePath>
+            </File>
+            <File>
+              <FileName>functions.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\functions.c</FilePath>
+            </File>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>signal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\signal.c</FilePath>
+            </File>
+            <File>
+              <FileName>sounds.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\sounds.c</FilePath>
+            </File>
+            <File>
+              <FileName>firmwareversion.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\firmwareversion.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>f051</GroupName>
+          <Files>
+            <File>
+              <FileName>ADC.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Src\ADC.c</FilePath>
+            </File>
+            <File>
+              <FileName>comparator.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Src\comparator.c</FilePath>
+            </File>
+            <File>
+              <FileName>eeprom.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Src\eeprom.c</FilePath>
+            </File>
+            <File>
+              <FileName>IO.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Src\IO.c</FilePath>
+            </File>
+            <File>
+              <FileName>peripherals.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Src\peripherals.c</FilePath>
+            </File>
+            <File>
+              <FileName>phaseouts.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Src\phaseouts.c</FilePath>
+            </File>
+            <File>
+              <FileName>serial_telemetry.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Src\serial_telemetry.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f0xx_it.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Src\stm32f0xx_it.c</FilePath>
+            </File>
+            <File>
+              <FileName>system_stm32f0xx.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Src\system_stm32f0xx.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers/CMSIS</GroupName>
+        </Group>
+        <Group>
+          <GroupName>Drivers/STM32F0xx_LL_Driver</GroupName>
+          <Files>
+            <File>
+              <FileName>stm32f0xx_ll_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_ll_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f0xx_ll_comp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_ll_comp.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f0xx_ll_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_ll_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f0xx_ll_exti.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_ll_exti.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f0xx_ll_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_ll_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f0xx_ll_pwr.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_ll_pwr.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f0xx_ll_rcc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_ll_rcc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f0xx_ll_tim.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_ll_tim.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f0xx_ll_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_ll_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f0xx_ll_utils.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f051\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_ll_utils.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>::CMSIS</GroupName>
+        </Group>
+      </Groups>
+    </Target>
   </Targets>
 
   <RTE>
@@ -20740,6 +21273,7 @@
         <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0"/>
         <targetInfos>
           <targetInfo name="AM32REF_F051"/>
+          <targetInfo name="DM_VISHNU32"/>
           <targetInfo name="PB054_F051"/>
           <targetInfo name="PB405_F051"/>
           <targetInfo name="PB450_F051"/>
diff --git a/Keil_Projects/Am32F415.uvguix.alkaz b/Keil_Projects/Am32F415.uvguix.alkaz
index 6be9242f..491031c6 100644
--- a/Keil_Projects/Am32F415.uvguix.alkaz
+++ b/Keil_Projects/Am32F415.uvguix.alkaz
@@ -285,8 +285,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>1951</Len>
-        <Data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ata>
+        <Len>60</Len>
+        <Data>010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000</Data>
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     </MDIClientArea>
     <ViewEx>
diff --git a/Keil_Projects/Am32F415.uvprojx b/Keil_Projects/Am32F415.uvprojx
index 4cf791a5..980c8238 100644
--- a/Keil_Projects/Am32F415.uvprojx
+++ b/Keil_Projects/Am32F415.uvprojx
@@ -88,7 +88,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -669,7 +669,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -1250,7 +1250,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -1831,7 +1831,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
diff --git a/Keil_Projects/Am32F421.uvguix.alkaz b/Keil_Projects/Am32F421.uvguix.alkaz
index 6c58a218..7310e584 100644
--- a/Keil_Projects/Am32F421.uvguix.alkaz
+++ b/Keil_Projects/Am32F421.uvguix.alkaz
@@ -903,8 +903,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>1951</Len>
-        <Data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ata>
+        <Len>60</Len>
+        <Data>010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000</Data>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
diff --git a/Keil_Projects/Am32F421.uvoptx b/Keil_Projects/Am32F421.uvoptx
index e76c26e1..f23ab30e 100644
--- a/Keil_Projects/Am32F421.uvoptx
+++ b/Keil_Projects/Am32F421.uvoptx
@@ -6462,7 +6462,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>255</CpuCode>
       <DebugOpt>
@@ -9663,41 +9663,1686 @@
     </TargetOption>
   </Target>
 
-  <Group>
-    <GroupName>Src</GroupName>
-    <tvExp>1</tvExp>
-    <tvExpOptDlg>0</tvExpOptDlg>
-    <cbSel>0</cbSel>
-    <RteFlg>0</RteFlg>
-    <File>
-      <GroupNumber>1</GroupNumber>
-      <FileNumber>1</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\Src\dshot.c</PathWithFileName>
-      <FilenameWithoutPath>dshot.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>1</GroupNumber>
-      <FileNumber>2</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\Src\functions.c</PathWithFileName>
-      <FilenameWithoutPath>functions.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>1</GroupNumber>
-      <FileNumber>3</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
+  <Target>
+    <TargetName>AORC_K_A_F421</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>12000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath>.\Listings\</ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>0</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>255</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>0</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>6</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U066DFF313736504157094132 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 ) -FN1 -FC1000 -FD20000000 -FF0AT32F421_64 -FL010000 -FS08000000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=75,104,525,661,0)(1007=105,137,292,412,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_badcounts</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_goodcounts,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>e_com_time,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>degrees_celsius,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>battery_voltage,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>actual_current,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>duty_cycle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>adjusted_duty_cycle,0x0A</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+      </WatchWindow2>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>newcount</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>0</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+    </TargetOption>
+  </Target>
+
+  <Target>
+    <TargetName>AORC_G_A_F421</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>12000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath>.\Listings\</ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>1</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>255</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>0</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>6</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U066DFF313736504157094132 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 ) -FN1 -FC1000 -FD20000000 -FF0AT32F421_64 -FL010000 -FS08000000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=75,104,525,661,0)(1007=105,137,292,412,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_badcounts</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_goodcounts,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>e_com_time,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>degrees_celsius,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>battery_voltage,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>actual_current,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>duty_cycle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>adjusted_duty_cycle,0x0A</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+      </WatchWindow2>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>newcount</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>0</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+    </TargetOption>
+  </Target>
+
+  <Target>
+    <TargetName>BAYCKRC_S_55A_F421</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>12000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath>.\Listings\</ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>0</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>255</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>0</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>6</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U066DFF313736504157094132 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 ) -FN1 -FC1000 -FD20000000 -FF0AT32F421_64 -FL010000 -FS08000000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=75,104,525,661,0)(1007=105,137,292,412,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_badcounts</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_goodcounts,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>e_com_time,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>degrees_celsius,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>battery_voltage,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>actual_current,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>duty_cycle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>adjusted_duty_cycle,0x0A</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+      </WatchWindow2>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>newcount</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>0</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+    </TargetOption>
+  </Target>
+
+  <Target>
+    <TargetName>FLYWOO_F4A_F421</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>12000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath>.\Listings\</ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>0</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>255</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>0</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>6</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U066DFF313736504157094132 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 ) -FN1 -FC1000 -FD20000000 -FF0AT32F421_64 -FL010000 -FS08000000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=75,104,525,661,0)(1007=105,137,292,412,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_badcounts</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_goodcounts,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>e_com_time,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>degrees_celsius,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>battery_voltage,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>actual_current,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>duty_cycle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>adjusted_duty_cycle,0x0A</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+      </WatchWindow2>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>newcount</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>0</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+    </TargetOption>
+  </Target>
+
+  <Target>
+    <TargetName>FLYWOO_F421</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>12000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath>.\Listings\</ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>0</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>255</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>0</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>6</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U066DFF313736504157094132 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 ) -FN1 -FC1000 -FD20000000 -FF0AT32F421_64 -FL010000 -FS08000000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=75,104,525,661,0)(1007=105,137,292,412,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_badcounts</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_goodcounts,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>e_com_time,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>degrees_celsius,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>battery_voltage,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>actual_current,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>duty_cycle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>adjusted_duty_cycle,0x0A</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+      </WatchWindow2>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>newcount</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>0</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+    </TargetOption>
+  </Target>
+
+  <Target>
+    <TargetName>SKYSTARS_KM55_V2_F421</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>12000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath>.\Listings\</ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>0</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>255</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>0</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>6</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U066DFF313736504157094132 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 ) -FN1 -FC1000 -FD20000000 -FF0AT32F421_64 -FL010000 -FS08000000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=75,104,525,661,0)(1007=105,137,292,412,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_badcounts</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_goodcounts,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>e_com_time,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>degrees_celsius,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>battery_voltage,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>actual_current,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>duty_cycle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>adjusted_duty_cycle,0x0A</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+      </WatchWindow2>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>newcount</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>0</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+    </TargetOption>
+  </Target>
+
+  <Target>
+    <TargetName>F4A_ZERODRAG_F421</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>12000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath>.\Listings\</ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>0</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>255</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>0</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>6</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U066DFF313736504157094132 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 ) -FN1 -FC1000 -FD20000000 -FF0AT32F421_64 -FL010000 -FS08000000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64.FLM -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=75,104,525,661,0)(1007=105,137,292,412,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_badcounts</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot_goodcounts,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>e_com_time,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>degrees_celsius,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>battery_voltage,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>actual_current,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>duty_cycle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>adjusted_duty_cycle,0x0A</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+      </WatchWindow2>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>newcount</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>0</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+    </TargetOption>
+  </Target>
+
+  <Group>
+    <GroupName>Src</GroupName>
+    <tvExp>1</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>1</GroupNumber>
+      <FileNumber>1</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Src\dshot.c</PathWithFileName>
+      <FilenameWithoutPath>dshot.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>1</GroupNumber>
+      <FileNumber>2</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Src\functions.c</PathWithFileName>
+      <FilenameWithoutPath>functions.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>1</GroupNumber>
+      <FileNumber>3</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\Src\main.c</PathWithFileName>
diff --git a/Keil_Projects/Am32F421.uvprojx b/Keil_Projects/Am32F421.uvprojx
index d87dc1b4..75f37175 100644
--- a/Keil_Projects/Am32F421.uvprojx
+++ b/Keil_Projects/Am32F421.uvprojx
@@ -88,7 +88,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -667,7 +667,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -1246,7 +1246,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -1825,7 +1825,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -2404,7 +2404,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -2983,7 +2983,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -3562,7 +3562,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -4141,7 +4141,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -4720,7 +4720,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -5299,7 +5299,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -5878,7 +5878,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -6457,7 +6457,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -7036,7 +7036,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -7615,7 +7615,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -8194,7 +8194,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -8773,7 +8773,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -9352,7 +9352,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -9931,7 +9931,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -10510,7 +10510,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -11089,7 +11089,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -11668,7 +11668,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -12247,7 +12247,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -12826,7 +12826,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -13405,7 +13405,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -13984,7 +13984,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -14563,7 +14563,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -15142,7 +15142,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -15721,7 +15721,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -16300,7 +16300,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -16879,7 +16879,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -17458,7 +17458,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -18037,7 +18037,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -18616,7 +18616,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -19195,7 +19195,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -19774,7 +19774,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -20353,7 +20353,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -20932,7 +20932,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -21511,7 +21511,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -22090,7 +22090,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -22587,6 +22587,4059 @@
         </Group>
       </Groups>
     </Target>
+    <Target>
+      <TargetName>AORC_K_A_F421</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
+      <uAC6>1</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>-AT32F421K8U7</Device>
+          <Vendor>ArteryTek</Vendor>
+          <PackID>ArteryTek.AT32F421_DFP.2.0.5</PackID>
+          <Cpu>IRAM(0x20000000,0x4000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M4") CLOCK(12000000) ELITTLE</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64 -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM))</FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile>$$Device:-AT32F421K8U7$Device\Include\at32f421.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:-AT32F421K8U7$SVD\AT32F421xx_v2.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\Objects\</OutputDirectory>
+          <OutputName>AM32_AORC_K_A_F421</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath>.\Listings\</ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name>fromelf.exe --text -a -c --output=@L_asm.txt</UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>1</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments> -REMAP -MPU</SimDllArguments>
+          <SimDlgDll>DCM.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments> -MPU</TargetDllArguments>
+          <TargetDlgDll>TCM.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4096</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M4"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>0</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>0</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>3</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>3</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>0</uC99>
+            <uGnu>0</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>0</v6Lang>
+            <v6LangP>0</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>AT32F421K8U7,USE_STDPERIPH_DRIVER, AORC_K_A_F421</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\Inc;..\mcu\f421\Inc;..\Mcu\f421\Drivers\drivers\inc;..\Mcu\f421\Drivers\CMSIS\cm4\device_support;..\Mcu\f421\Drivers\CMSIS\cm4\core_support</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>1</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>0</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange>0x08001000</TextAddressRange>
+            <DataAddressRange>0x20000000</DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile>..\Mcu\f421\Am32.sct</ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>Src</GroupName>
+          <Files>
+            <File>
+              <FileName>dshot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\dshot.c</FilePath>
+            </File>
+            <File>
+              <FileName>functions.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\functions.c</FilePath>
+            </File>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>signal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\signal.c</FilePath>
+            </File>
+            <File>
+              <FileName>sounds.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\sounds.c</FilePath>
+            </File>
+            <File>
+              <FileName>firmwareversion.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\firmwareversion.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers</GroupName>
+          <Files>
+            <File>
+              <FileName>at32f421_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_cmp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_cmp.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crm.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crm.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_debug.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_debug.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_ertc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_ertc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_exint.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_exint.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_flash.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_flash.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_i2c.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_i2c.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_misc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_misc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_pwc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_pwc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_scfg.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_scfg.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_spi.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_tmr.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_tmr.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wdt.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wwdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wwdt.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>F421</GroupName>
+          <Files>
+            <File>
+              <FileName>ADC.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\ADC.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_it.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\at32f421_it.c</FilePath>
+            </File>
+            <File>
+              <FileName>comparator.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\comparator.c</FilePath>
+            </File>
+            <File>
+              <FileName>eeprom.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\eeprom.c</FilePath>
+            </File>
+            <File>
+              <FileName>IO.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\IO.c</FilePath>
+            </File>
+            <File>
+              <FileName>peripherals.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\peripherals.c</FilePath>
+            </File>
+            <File>
+              <FileName>phaseouts.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\phaseouts.c</FilePath>
+            </File>
+            <File>
+              <FileName>serial_telemetry.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\serial_telemetry.c</FilePath>
+            </File>
+            <File>
+              <FileName>system_at32f421.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\system_at32f421.c</FilePath>
+            </File>
+            <File>
+              <FileName>WS2812.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\WS2812.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Startup</GroupName>
+          <Files>
+            <File>
+              <FileName>startup_at32f421.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Mcu\f421\Startup\mdk\startup_at32f421.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>CMSIS</GroupName>
+        </Group>
+      </Groups>
+    </Target>
+    <Target>
+      <TargetName>AORC_G_A_F421</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
+      <uAC6>1</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>-AT32F421K8U7</Device>
+          <Vendor>ArteryTek</Vendor>
+          <PackID>ArteryTek.AT32F421_DFP.2.0.5</PackID>
+          <Cpu>IRAM(0x20000000,0x4000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M4") CLOCK(12000000) ELITTLE</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64 -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM))</FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile>$$Device:-AT32F421K8U7$Device\Include\at32f421.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:-AT32F421K8U7$SVD\AT32F421xx_v2.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\Objects\</OutputDirectory>
+          <OutputName>AM32_AORC_G_A_F421</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath>.\Listings\</ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name>fromelf.exe --text -a -c --output=@L_asm.txt</UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>1</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments> -REMAP -MPU</SimDllArguments>
+          <SimDlgDll>DCM.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments> -MPU</TargetDllArguments>
+          <TargetDlgDll>TCM.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4096</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M4"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>0</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>0</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>3</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>3</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>0</uC99>
+            <uGnu>0</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>0</v6Lang>
+            <v6LangP>0</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>AT32F421K8U7,USE_STDPERIPH_DRIVER, AORC_G_A_F421</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\Inc;..\mcu\f421\Inc;..\Mcu\f421\Drivers\drivers\inc;..\Mcu\f421\Drivers\CMSIS\cm4\device_support;..\Mcu\f421\Drivers\CMSIS\cm4\core_support</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>1</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>0</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange>0x08001000</TextAddressRange>
+            <DataAddressRange>0x20000000</DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile>..\Mcu\f421\Am32.sct</ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>Src</GroupName>
+          <Files>
+            <File>
+              <FileName>dshot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\dshot.c</FilePath>
+            </File>
+            <File>
+              <FileName>functions.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\functions.c</FilePath>
+            </File>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>signal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\signal.c</FilePath>
+            </File>
+            <File>
+              <FileName>sounds.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\sounds.c</FilePath>
+            </File>
+            <File>
+              <FileName>firmwareversion.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\firmwareversion.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers</GroupName>
+          <Files>
+            <File>
+              <FileName>at32f421_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_cmp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_cmp.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crm.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crm.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_debug.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_debug.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_ertc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_ertc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_exint.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_exint.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_flash.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_flash.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_i2c.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_i2c.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_misc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_misc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_pwc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_pwc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_scfg.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_scfg.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_spi.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_tmr.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_tmr.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wdt.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wwdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wwdt.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>F421</GroupName>
+          <Files>
+            <File>
+              <FileName>ADC.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\ADC.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_it.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\at32f421_it.c</FilePath>
+            </File>
+            <File>
+              <FileName>comparator.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\comparator.c</FilePath>
+            </File>
+            <File>
+              <FileName>eeprom.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\eeprom.c</FilePath>
+            </File>
+            <File>
+              <FileName>IO.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\IO.c</FilePath>
+            </File>
+            <File>
+              <FileName>peripherals.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\peripherals.c</FilePath>
+            </File>
+            <File>
+              <FileName>phaseouts.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\phaseouts.c</FilePath>
+            </File>
+            <File>
+              <FileName>serial_telemetry.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\serial_telemetry.c</FilePath>
+            </File>
+            <File>
+              <FileName>system_at32f421.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\system_at32f421.c</FilePath>
+            </File>
+            <File>
+              <FileName>WS2812.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\WS2812.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Startup</GroupName>
+          <Files>
+            <File>
+              <FileName>startup_at32f421.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Mcu\f421\Startup\mdk\startup_at32f421.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>CMSIS</GroupName>
+        </Group>
+      </Groups>
+    </Target>
+    <Target>
+      <TargetName>BAYCKRC_S_55A_F421</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
+      <uAC6>1</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>-AT32F421K8U7</Device>
+          <Vendor>ArteryTek</Vendor>
+          <PackID>ArteryTek.AT32F421_DFP.2.0.5</PackID>
+          <Cpu>IRAM(0x20000000,0x4000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M4") CLOCK(12000000) ELITTLE</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64 -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM))</FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile>$$Device:-AT32F421K8U7$Device\Include\at32f421.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:-AT32F421K8U7$SVD\AT32F421xx_v2.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\Objects\</OutputDirectory>
+          <OutputName>AM32_BAYCKRC_S_55A_F421</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath>.\Listings\</ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name>fromelf.exe --text -a -c --output=@L_asm.txt</UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>1</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments> -REMAP -MPU</SimDllArguments>
+          <SimDlgDll>DCM.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments> -MPU</TargetDllArguments>
+          <TargetDlgDll>TCM.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4096</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M4"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>0</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>0</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>3</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>3</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>0</uC99>
+            <uGnu>0</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>0</v6Lang>
+            <v6LangP>0</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>AT32F421K8U7,USE_STDPERIPH_DRIVER, BAYCKRC_S_55A_F421</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\Inc;..\mcu\f421\Inc;..\Mcu\f421\Drivers\drivers\inc;..\Mcu\f421\Drivers\CMSIS\cm4\device_support;..\Mcu\f421\Drivers\CMSIS\cm4\core_support</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>1</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>0</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange>0x08001000</TextAddressRange>
+            <DataAddressRange>0x20000000</DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile>..\Mcu\f421\Am32.sct</ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>Src</GroupName>
+          <Files>
+            <File>
+              <FileName>dshot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\dshot.c</FilePath>
+            </File>
+            <File>
+              <FileName>functions.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\functions.c</FilePath>
+            </File>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>signal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\signal.c</FilePath>
+            </File>
+            <File>
+              <FileName>sounds.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\sounds.c</FilePath>
+            </File>
+            <File>
+              <FileName>firmwareversion.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\firmwareversion.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers</GroupName>
+          <Files>
+            <File>
+              <FileName>at32f421_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_cmp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_cmp.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crm.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crm.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_debug.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_debug.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_ertc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_ertc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_exint.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_exint.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_flash.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_flash.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_i2c.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_i2c.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_misc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_misc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_pwc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_pwc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_scfg.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_scfg.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_spi.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_tmr.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_tmr.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wdt.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wwdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wwdt.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>F421</GroupName>
+          <Files>
+            <File>
+              <FileName>ADC.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\ADC.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_it.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\at32f421_it.c</FilePath>
+            </File>
+            <File>
+              <FileName>comparator.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\comparator.c</FilePath>
+            </File>
+            <File>
+              <FileName>eeprom.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\eeprom.c</FilePath>
+            </File>
+            <File>
+              <FileName>IO.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\IO.c</FilePath>
+            </File>
+            <File>
+              <FileName>peripherals.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\peripherals.c</FilePath>
+            </File>
+            <File>
+              <FileName>phaseouts.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\phaseouts.c</FilePath>
+            </File>
+            <File>
+              <FileName>serial_telemetry.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\serial_telemetry.c</FilePath>
+            </File>
+            <File>
+              <FileName>system_at32f421.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\system_at32f421.c</FilePath>
+            </File>
+            <File>
+              <FileName>WS2812.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\WS2812.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Startup</GroupName>
+          <Files>
+            <File>
+              <FileName>startup_at32f421.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Mcu\f421\Startup\mdk\startup_at32f421.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>CMSIS</GroupName>
+        </Group>
+      </Groups>
+    </Target>
+    <Target>
+      <TargetName>FLYWOO_F4A_F421</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
+      <uAC6>1</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>-AT32F421K8U7</Device>
+          <Vendor>ArteryTek</Vendor>
+          <PackID>ArteryTek.AT32F421_DFP.2.0.5</PackID>
+          <Cpu>IRAM(0x20000000,0x4000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M4") CLOCK(12000000) ELITTLE</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64 -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM))</FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile>$$Device:-AT32F421K8U7$Device\Include\at32f421.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:-AT32F421K8U7$SVD\AT32F421xx_v2.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\Objects\</OutputDirectory>
+          <OutputName>AM32_FLYWOO_F4A_F421</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath>.\Listings\</ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name>fromelf.exe --text -a -c --output=@L_asm.txt</UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>1</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments> -REMAP -MPU</SimDllArguments>
+          <SimDlgDll>DCM.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments> -MPU</TargetDllArguments>
+          <TargetDlgDll>TCM.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4096</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M4"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>0</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>0</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>3</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>3</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>0</uC99>
+            <uGnu>0</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>0</v6Lang>
+            <v6LangP>0</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>AT32F421K8U7,USE_STDPERIPH_DRIVER, FLYWOO_F4A_F421</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\Inc;..\mcu\f421\Inc;..\Mcu\f421\Drivers\drivers\inc;..\Mcu\f421\Drivers\CMSIS\cm4\device_support;..\Mcu\f421\Drivers\CMSIS\cm4\core_support</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>1</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>0</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange>0x08001000</TextAddressRange>
+            <DataAddressRange>0x20000000</DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile>..\Mcu\f421\Am32.sct</ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>Src</GroupName>
+          <Files>
+            <File>
+              <FileName>dshot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\dshot.c</FilePath>
+            </File>
+            <File>
+              <FileName>functions.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\functions.c</FilePath>
+            </File>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>signal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\signal.c</FilePath>
+            </File>
+            <File>
+              <FileName>sounds.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\sounds.c</FilePath>
+            </File>
+            <File>
+              <FileName>firmwareversion.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\firmwareversion.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers</GroupName>
+          <Files>
+            <File>
+              <FileName>at32f421_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_cmp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_cmp.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crm.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crm.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_debug.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_debug.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_ertc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_ertc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_exint.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_exint.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_flash.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_flash.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_i2c.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_i2c.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_misc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_misc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_pwc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_pwc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_scfg.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_scfg.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_spi.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_tmr.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_tmr.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wdt.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wwdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wwdt.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>F421</GroupName>
+          <Files>
+            <File>
+              <FileName>ADC.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\ADC.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_it.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\at32f421_it.c</FilePath>
+            </File>
+            <File>
+              <FileName>comparator.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\comparator.c</FilePath>
+            </File>
+            <File>
+              <FileName>eeprom.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\eeprom.c</FilePath>
+            </File>
+            <File>
+              <FileName>IO.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\IO.c</FilePath>
+            </File>
+            <File>
+              <FileName>peripherals.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\peripherals.c</FilePath>
+            </File>
+            <File>
+              <FileName>phaseouts.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\phaseouts.c</FilePath>
+            </File>
+            <File>
+              <FileName>serial_telemetry.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\serial_telemetry.c</FilePath>
+            </File>
+            <File>
+              <FileName>system_at32f421.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\system_at32f421.c</FilePath>
+            </File>
+            <File>
+              <FileName>WS2812.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\WS2812.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Startup</GroupName>
+          <Files>
+            <File>
+              <FileName>startup_at32f421.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Mcu\f421\Startup\mdk\startup_at32f421.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>CMSIS</GroupName>
+        </Group>
+      </Groups>
+    </Target>
+    <Target>
+      <TargetName>FLYWOO_F421</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
+      <uAC6>1</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>-AT32F421K8U7</Device>
+          <Vendor>ArteryTek</Vendor>
+          <PackID>ArteryTek.AT32F421_DFP.2.0.5</PackID>
+          <Cpu>IRAM(0x20000000,0x4000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M4") CLOCK(12000000) ELITTLE</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64 -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM))</FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile>$$Device:-AT32F421K8U7$Device\Include\at32f421.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:-AT32F421K8U7$SVD\AT32F421xx_v2.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\Objects\</OutputDirectory>
+          <OutputName>AM32_FLYWOO_F421</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath>.\Listings\</ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name>fromelf.exe --text -a -c --output=@L_asm.txt</UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>1</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments> -REMAP -MPU</SimDllArguments>
+          <SimDlgDll>DCM.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments> -MPU</TargetDllArguments>
+          <TargetDlgDll>TCM.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4096</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M4"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>0</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>0</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>3</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>3</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>0</uC99>
+            <uGnu>0</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>0</v6Lang>
+            <v6LangP>0</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>AT32F421K8U7,USE_STDPERIPH_DRIVER, FLYWOO_F421</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\Inc;..\mcu\f421\Inc;..\Mcu\f421\Drivers\drivers\inc;..\Mcu\f421\Drivers\CMSIS\cm4\device_support;..\Mcu\f421\Drivers\CMSIS\cm4\core_support</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>1</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>0</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange>0x08001000</TextAddressRange>
+            <DataAddressRange>0x20000000</DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile>..\Mcu\f421\Am32.sct</ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>Src</GroupName>
+          <Files>
+            <File>
+              <FileName>dshot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\dshot.c</FilePath>
+            </File>
+            <File>
+              <FileName>functions.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\functions.c</FilePath>
+            </File>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>signal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\signal.c</FilePath>
+            </File>
+            <File>
+              <FileName>sounds.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\sounds.c</FilePath>
+            </File>
+            <File>
+              <FileName>firmwareversion.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\firmwareversion.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers</GroupName>
+          <Files>
+            <File>
+              <FileName>at32f421_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_cmp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_cmp.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crm.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crm.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_debug.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_debug.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_ertc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_ertc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_exint.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_exint.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_flash.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_flash.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_i2c.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_i2c.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_misc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_misc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_pwc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_pwc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_scfg.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_scfg.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_spi.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_tmr.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_tmr.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wdt.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wwdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wwdt.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>F421</GroupName>
+          <Files>
+            <File>
+              <FileName>ADC.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\ADC.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_it.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\at32f421_it.c</FilePath>
+            </File>
+            <File>
+              <FileName>comparator.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\comparator.c</FilePath>
+            </File>
+            <File>
+              <FileName>eeprom.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\eeprom.c</FilePath>
+            </File>
+            <File>
+              <FileName>IO.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\IO.c</FilePath>
+            </File>
+            <File>
+              <FileName>peripherals.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\peripherals.c</FilePath>
+            </File>
+            <File>
+              <FileName>phaseouts.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\phaseouts.c</FilePath>
+            </File>
+            <File>
+              <FileName>serial_telemetry.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\serial_telemetry.c</FilePath>
+            </File>
+            <File>
+              <FileName>system_at32f421.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\system_at32f421.c</FilePath>
+            </File>
+            <File>
+              <FileName>WS2812.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\WS2812.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Startup</GroupName>
+          <Files>
+            <File>
+              <FileName>startup_at32f421.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Mcu\f421\Startup\mdk\startup_at32f421.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>CMSIS</GroupName>
+        </Group>
+      </Groups>
+    </Target>
+    <Target>
+      <TargetName>SKYSTARS_KM55_V2_F421</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
+      <uAC6>1</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>-AT32F421K8U7</Device>
+          <Vendor>ArteryTek</Vendor>
+          <PackID>ArteryTek.AT32F421_DFP.2.0.5</PackID>
+          <Cpu>IRAM(0x20000000,0x4000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M4") CLOCK(12000000) ELITTLE</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64 -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM))</FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile>$$Device:-AT32F421K8U7$Device\Include\at32f421.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:-AT32F421K8U7$SVD\AT32F421xx_v2.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\Objects\</OutputDirectory>
+          <OutputName>AM32_SKYSTARS_KM55_V2_F421</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath>.\Listings\</ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name>fromelf.exe --text -a -c --output=@L_asm.txt</UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>1</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments> -REMAP -MPU</SimDllArguments>
+          <SimDlgDll>DCM.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments> -MPU</TargetDllArguments>
+          <TargetDlgDll>TCM.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4096</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M4"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>0</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>0</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>3</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>3</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>0</uC99>
+            <uGnu>0</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>0</v6Lang>
+            <v6LangP>0</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>AT32F421K8U7,USE_STDPERIPH_DRIVER, SKYSTARS_KM55_V2_F421</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\Inc;..\mcu\f421\Inc;..\Mcu\f421\Drivers\drivers\inc;..\Mcu\f421\Drivers\CMSIS\cm4\device_support;..\Mcu\f421\Drivers\CMSIS\cm4\core_support</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>1</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>0</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange>0x08001000</TextAddressRange>
+            <DataAddressRange>0x20000000</DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile>..\Mcu\f421\Am32.sct</ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>Src</GroupName>
+          <Files>
+            <File>
+              <FileName>dshot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\dshot.c</FilePath>
+            </File>
+            <File>
+              <FileName>functions.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\functions.c</FilePath>
+            </File>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>signal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\signal.c</FilePath>
+            </File>
+            <File>
+              <FileName>sounds.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\sounds.c</FilePath>
+            </File>
+            <File>
+              <FileName>firmwareversion.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\firmwareversion.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers</GroupName>
+          <Files>
+            <File>
+              <FileName>at32f421_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_cmp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_cmp.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crm.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crm.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_debug.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_debug.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_ertc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_ertc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_exint.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_exint.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_flash.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_flash.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_i2c.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_i2c.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_misc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_misc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_pwc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_pwc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_scfg.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_scfg.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_spi.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_tmr.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_tmr.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wdt.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wwdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wwdt.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>F421</GroupName>
+          <Files>
+            <File>
+              <FileName>ADC.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\ADC.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_it.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\at32f421_it.c</FilePath>
+            </File>
+            <File>
+              <FileName>comparator.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\comparator.c</FilePath>
+            </File>
+            <File>
+              <FileName>eeprom.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\eeprom.c</FilePath>
+            </File>
+            <File>
+              <FileName>IO.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\IO.c</FilePath>
+            </File>
+            <File>
+              <FileName>peripherals.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\peripherals.c</FilePath>
+            </File>
+            <File>
+              <FileName>phaseouts.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\phaseouts.c</FilePath>
+            </File>
+            <File>
+              <FileName>serial_telemetry.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\serial_telemetry.c</FilePath>
+            </File>
+            <File>
+              <FileName>system_at32f421.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\system_at32f421.c</FilePath>
+            </File>
+            <File>
+              <FileName>WS2812.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\WS2812.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Startup</GroupName>
+          <Files>
+            <File>
+              <FileName>startup_at32f421.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Mcu\f421\Startup\mdk\startup_at32f421.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>CMSIS</GroupName>
+        </Group>
+      </Groups>
+    </Target>
+    <Target>
+      <TargetName>F4A_ZERODRAG_F421</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
+      <uAC6>1</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>-AT32F421K8U7</Device>
+          <Vendor>ArteryTek</Vendor>
+          <PackID>ArteryTek.AT32F421_DFP.2.0.5</PackID>
+          <Cpu>IRAM(0x20000000,0x4000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M4") CLOCK(12000000) ELITTLE</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0AT32F421_64 -FS08000000 -FL010000 -FP0($$Device:-AT32F421K8U7$Flash\AT32F421_64.FLM))</FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile>$$Device:-AT32F421K8U7$Device\Include\at32f421.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:-AT32F421K8U7$SVD\AT32F421xx_v2.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\Objects\</OutputDirectory>
+          <OutputName>AM32_F4A_ZERODRAG_F421</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath>.\Listings\</ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name>fromelf.exe --text -a -c --output=@L_asm.txt</UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>1</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments> -REMAP -MPU</SimDllArguments>
+          <SimDlgDll>DCM.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments> -MPU</TargetDllArguments>
+          <TargetDlgDll>TCM.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4096</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M4"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>0</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>0</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>3</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x4000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>3</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>0</uC99>
+            <uGnu>0</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>0</v6Lang>
+            <v6LangP>0</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>AT32F421K8U7,USE_STDPERIPH_DRIVER, F4A_ZERODRAG_F421</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\Inc;..\mcu\f421\Inc;..\Mcu\f421\Drivers\drivers\inc;..\Mcu\f421\Drivers\CMSIS\cm4\device_support;..\Mcu\f421\Drivers\CMSIS\cm4\core_support</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>1</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>0</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange>0x08001000</TextAddressRange>
+            <DataAddressRange>0x20000000</DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile>..\Mcu\f421\Am32.sct</ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>Src</GroupName>
+          <Files>
+            <File>
+              <FileName>dshot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\dshot.c</FilePath>
+            </File>
+            <File>
+              <FileName>functions.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\functions.c</FilePath>
+            </File>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>signal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\signal.c</FilePath>
+            </File>
+            <File>
+              <FileName>sounds.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\sounds.c</FilePath>
+            </File>
+            <File>
+              <FileName>firmwareversion.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\firmwareversion.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers</GroupName>
+          <Files>
+            <File>
+              <FileName>at32f421_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_cmp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_cmp.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_crm.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_crm.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_debug.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_debug.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_ertc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_ertc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_exint.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_exint.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_flash.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_flash.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_i2c.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_i2c.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_misc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_misc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_pwc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_pwc.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_scfg.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_scfg.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_spi.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_tmr.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_tmr.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wdt.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_wwdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Drivers\drivers\src\at32f421_wwdt.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>F421</GroupName>
+          <Files>
+            <File>
+              <FileName>ADC.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\ADC.c</FilePath>
+            </File>
+            <File>
+              <FileName>at32f421_it.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\at32f421_it.c</FilePath>
+            </File>
+            <File>
+              <FileName>comparator.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\comparator.c</FilePath>
+            </File>
+            <File>
+              <FileName>eeprom.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\eeprom.c</FilePath>
+            </File>
+            <File>
+              <FileName>IO.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\IO.c</FilePath>
+            </File>
+            <File>
+              <FileName>peripherals.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\peripherals.c</FilePath>
+            </File>
+            <File>
+              <FileName>phaseouts.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\phaseouts.c</FilePath>
+            </File>
+            <File>
+              <FileName>serial_telemetry.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\serial_telemetry.c</FilePath>
+            </File>
+            <File>
+              <FileName>system_at32f421.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\system_at32f421.c</FilePath>
+            </File>
+            <File>
+              <FileName>WS2812.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\f421\Src\WS2812.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Startup</GroupName>
+          <Files>
+            <File>
+              <FileName>startup_at32f421.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Mcu\f421\Startup\mdk\startup_at32f421.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>CMSIS</GroupName>
+        </Group>
+      </Groups>
+    </Target>
   </Targets>
 
   <RTE>
diff --git a/Keil_Projects/Am32G071.uvguix.alkaz b/Keil_Projects/Am32G071.uvguix.alkaz
index 4335f863..8553f1e1 100644
--- a/Keil_Projects/Am32G071.uvguix.alkaz
+++ b/Keil_Projects/Am32G071.uvguix.alkaz
@@ -142,6 +142,18 @@
       <UserString></UserString>
       <PropColWidth>127</PropColWidth>
     </View>
+    <View>
+      <ViewName>System Viewer\COMP</ViewName>
+      <WinId>35905</WinId>
+      <UserString></UserString>
+      <PropColWidth>127</PropColWidth>
+    </View>
+    <View>
+      <ViewName>System Viewer\TIM17</ViewName>
+      <WinId>35904</WinId>
+      <UserString></UserString>
+      <PropColWidth>127</PropColWidth>
+    </View>
   </ViewPool>
 
   <SECTreeCtrl>
@@ -226,8 +238,8 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
@@ -243,8 +255,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>1951</Len>
-        <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000011000000020000000100000043433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C673037315C5372635C4144432E6300000000054144432E6300000000C5D4F200FFFFFFFF43433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C673433315C5372635C4144432E6300000000054144432E6300000000FFDC7800FFFFFFFF3E433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C496E635C746172676574732E680000000009746172676574732E6800000000BECEA100FFFFFFFF4B433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C673433315C5372635C7065726970686572616C732E63000000000D7065726970686572616C732E6300000000F0A0A100FFFFFFFF4B433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C673433315C496E635C7065726970686572616C732E68000000000D7065726970686572616C732E6800000000BCA8E100FFFFFFFF3B433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C5372635C6D61696E2E6300000000066D61696E2E63000000009CC1B600FFFFFFFF50433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C673433315C5372635C73797374656D5F73746D3332673478782E63000000001273797374656D5F73746D3332673478782E6300000000F7B88600FFFFFFFF4C433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C673433315C5372635C73746D3332673478785F69742E63000000000E73746D3332673478785F69742E6300000000D9ADC200FFFFFFFF4C433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C673037315C5372635C73746D3332673078785F69742E63000000000E73746D3332673078785F69742E6300000000A5C2D700FFFFFFFF43433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C6C3433315C5372635C4144432E6300000000054144432E6300000000B3A6BE00FFFFFFFF50433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C673433315C5372635C73657269616C5F74656C656D657472792E63000000001273657269616C5F74656C656D657472792E6300000000EAD6A300FFFFFFFF4A433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C663431355C5372635C636F6D70617261746F722E63000000000C636F6D70617261746F722E6300000000F6FA7D00FFFFFFFF4B433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C663431355C5372635C61743332663431355F69742E63000000000D61743332663431355F69742E6300000000B5E99D00FFFFFFFF4A433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C6C3433315C5372635C636F6D70617261746F722E63000000000C636F6D70617261746F722E63000000005FC3CF00FFFFFFFF4C433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C6C3433315C5372635C73746D33326C3478785F69742E63000000000E73746D33326C3478785F69742E6300000000C1838300FFFFFFFF4B433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C6C3433315C5372635C7065726970686572616C732E63000000000D7065726970686572616C732E6300000000CACAD500FFFFFFFF6F433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4D554C54495F4D43555C4D63755C663035315C447269766572735C53544D3332463078785F48414C5F4472697665725C5372635C73746D3332663078785F6C6C5F7574696C732E63000000001473746D3332663078785F6C6C5F7574696C732E6300000000C5D4F200FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000B50100007000000080070000C8030000</Data>
+        <Len>1063</Len>
+        <Data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ata>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
diff --git a/Keil_Projects/Am32G071.uvoptx b/Keil_Projects/Am32G071.uvoptx
index fe1c8014..025b044f 100644
--- a/Keil_Projects/Am32G071.uvoptx
+++ b/Keil_Projects/Am32G071.uvoptx
@@ -1707,7 +1707,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
       <DebugOpt>
@@ -4353,6 +4353,223 @@
     </TargetOption>
   </Target>
 
+  <Target>
+    <TargetName>RRIOT_G071</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>12000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath></ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>1</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>18</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>1</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>6</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 ) -FN1 -FC8000 -FD20000000 -FF0STM32G0xx_64 -FL010000 -FS08000000 -FP0($$Device:STM32G071K8Ux$CMSIS\Flash\STM32G0xx_64.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U066DFF313736504157094132 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(0BC11477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC8000 -FN1 -FF0STM32G0xx_64.FLM -FS08000000 -FL010000 -FP0($$Device:STM32G071K8Ux$CMSIS\Flash\STM32G0xx_64.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>blank_time,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>filter_level,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>commutation_interval,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>min_bemf_counts_up</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>min_bemf_counts_down</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>0</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+      <SystemViewers>
+        <Entry>
+          <Name>System Viewer\COMP</Name>
+          <WinId>35905</WinId>
+        </Entry>
+        <Entry>
+          <Name>System Viewer\TIM17</Name>
+          <WinId>35904</WinId>
+        </Entry>
+      </SystemViewers>
+      <DebugDescription>
+        <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
+        <EnableLog>0</EnableLog>
+        <Protocol>2</Protocol>
+        <DbgClock>10000000</DbgClock>
+      </DebugDescription>
+    </TargetOption>
+  </Target>
+
   <Group>
     <GroupName>startup</GroupName>
     <tvExp>1</tvExp>
diff --git a/Keil_Projects/Am32G071.uvprojx b/Keil_Projects/Am32G071.uvprojx
index 14213791..739a173e 100644
--- a/Keil_Projects/Am32G071.uvprojx
+++ b/Keil_Projects/Am32G071.uvprojx
@@ -89,7 +89,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -621,7 +621,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -1153,7 +1153,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -1685,7 +1685,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -2217,7 +2217,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -2749,7 +2749,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -3281,7 +3281,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -3813,7 +3813,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -4345,7 +4345,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -4877,7 +4877,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -5409,7 +5409,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -5941,7 +5941,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -6473,7 +6473,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -7005,7 +7005,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -7537,7 +7537,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -8069,7 +8069,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -8601,7 +8601,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -9133,7 +9133,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -9665,7 +9665,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -10197,7 +10197,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -10729,7 +10729,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -11178,6 +11178,538 @@
         </Group>
       </Groups>
     </Target>
+    <Target>
+      <TargetName>RRIOT_G071</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
+      <uAC6>1</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>STM32G071K8Ux</Device>
+          <Vendor>STMicroelectronics</Vendor>
+          <PackID>Keil.STM32G0xx_DFP.1.4.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
+          <Cpu>IRAM(0x20000000,0x00009000) IROM(0x08000000,0x00010000) CPUTYPE("Cortex-M0+") CLOCK(12000000) ELITTLE</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC8000 -FN1 -FF0STM32G0xx_64 -FS08000000 -FL010000 -FP0($$Device:STM32G071K8Ux$CMSIS\Flash\STM32G0xx_64.FLM))</FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile>$$Device:STM32G071K8Ux$Drivers\CMSIS\Device\ST\STM32G0xx\Include\stm32g0xx.h</RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:STM32G071K8Ux$CMSIS\SVD\STM32G071.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\Objects\</OutputDirectory>
+          <OutputName>AM32_RRIOT_G071</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath></ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>0</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments> -REMAP-MPU </SimDllArguments>
+          <SimDlgDll>DARMCM1.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM0+</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments>-MPU </TargetDllArguments>
+          <TargetDlgDll>TARMCM1.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM0+</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4096</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash3>"" ()</Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M0+"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>0</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>1</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>3</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x9000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x10000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x9000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>3</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>1</uC99>
+            <uGnu>0</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>3</v6Lang>
+            <v6LangP>3</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>RRIOT_G071,USE_FULL_LL_DRIVER,HSE_VALUE=8000000,HSE_STARTUP_TIMEOUT=100,LSE_STARTUP_TIMEOUT=5000,LSE_VALUE=32768,EXTERNAL_CLOCK_VALUE=12288000,HSI_VALUE=16000000,LSI_VALUE=32000,VDD_VALUE=3300,PREFETCH_ENABLE=0,INSTRUCTION_CACHE_ENABLE=1,DATA_CACHE_ENABLE=1,STM32G071xx,</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\Mcu\g071\Drivers\CMSIS\Include;..\Mcu\g071\Drivers\STM32G0xx_HAL_Driver\Inc;..\Mcu\g071\Drivers\CMSIS\Device\ST\STM32G0xx\Include;..\Mcu\g071\Inc;..\Inc</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>4</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>0</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange>0x08000000</TextAddressRange>
+            <DataAddressRange>0x20000000</DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile>..\Mcu\g071\Am32_64kb_g071.sct</ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>startup</GroupName>
+          <Files>
+            <File>
+              <FileName>startup_stm32g071xx.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Mcu\g071\Startup\mdk\startup_stm32g071xx.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>g071</GroupName>
+          <Files>
+            <File>
+              <FileName>ADC.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Src\ADC.c</FilePath>
+            </File>
+            <File>
+              <FileName>comparator.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Src\comparator.c</FilePath>
+            </File>
+            <File>
+              <FileName>eeprom.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Src\eeprom.c</FilePath>
+            </File>
+            <File>
+              <FileName>IO.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Src\IO.c</FilePath>
+            </File>
+            <File>
+              <FileName>peripherals.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Src\peripherals.c</FilePath>
+            </File>
+            <File>
+              <FileName>phaseouts.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Src\phaseouts.c</FilePath>
+            </File>
+            <File>
+              <FileName>serial_telemetry.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Src\serial_telemetry.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g0xx_it.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Src\stm32g0xx_it.c</FilePath>
+            </File>
+            <File>
+              <FileName>system_stm32g0xx.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Src\system_stm32g0xx.c</FilePath>
+            </File>
+            <File>
+              <FileName>WS2812.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Src\WS2812.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Src</GroupName>
+          <Files>
+            <File>
+              <FileName>dshot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\dshot.c</FilePath>
+            </File>
+            <File>
+              <FileName>functions.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\functions.c</FilePath>
+            </File>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>signal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\signal.c</FilePath>
+            </File>
+            <File>
+              <FileName>sounds.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\sounds.c</FilePath>
+            </File>
+            <File>
+              <FileName>firmwareversion.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\firmwareversion.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers</GroupName>
+          <Files>
+            <File>
+              <FileName>stm32g0xx_ll_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Drivers\STM32G0xx_HAL_Driver\Src\stm32g0xx_ll_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g0xx_ll_comp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Drivers\STM32G0xx_HAL_Driver\Src\stm32g0xx_ll_comp.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g0xx_ll_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Drivers\STM32G0xx_HAL_Driver\Src\stm32g0xx_ll_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g0xx_ll_exti.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Drivers\STM32G0xx_HAL_Driver\Src\stm32g0xx_ll_exti.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g0xx_ll_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Drivers\STM32G0xx_HAL_Driver\Src\stm32g0xx_ll_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g0xx_ll_pwr.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Drivers\STM32G0xx_HAL_Driver\Src\stm32g0xx_ll_pwr.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g0xx_ll_rcc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Drivers\STM32G0xx_HAL_Driver\Src\stm32g0xx_ll_rcc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g0xx_ll_tim.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Drivers\STM32G0xx_HAL_Driver\Src\stm32g0xx_ll_tim.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g0xx_ll_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Drivers\STM32G0xx_HAL_Driver\Src\stm32g0xx_ll_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g0xx_ll_utils.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g071\Drivers\STM32G0xx_HAL_Driver\Src\stm32g0xx_ll_utils.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+      </Groups>
+    </Target>
   </Targets>
 
   <RTE>
diff --git a/Keil_Projects/Am32G431.uvguix.alkaz b/Keil_Projects/Am32G431.uvguix.alkaz
index 862f6e3f..9e556e46 100644
--- a/Keil_Projects/Am32G431.uvguix.alkaz
+++ b/Keil_Projects/Am32G431.uvguix.alkaz
@@ -93,8 +93,8 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
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         <Buttons>
           <Len>2362</Len>
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+          <Data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ata>
         </Buttons>
         <OriginalItems>
           <Len>898</Len>
diff --git a/Keil_Projects/Am32G431.uvoptx b/Keil_Projects/Am32G431.uvoptx
index 4fdb786a..69ceeefa 100644
--- a/Keil_Projects/Am32G431.uvoptx
+++ b/Keil_Projects/Am32G431.uvoptx
@@ -25,6 +25,276 @@
     <TargetName>G431_test</TargetName>
     <ToolsetNumber>0x4</ToolsetNumber>
     <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>8000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
+        <RunAbUc>0</RunAbUc>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath></ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>0</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>18</CpuCode>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>1</tRfunc>
+        <tRbox>1</tRbox>
+        <tRtrace>1</tRtrace>
+        <sRSysVw>1</sRSysVw>
+        <tRSysVw>1</tRSysVw>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>6</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+      </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=157,189,753,874,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC8000 -FN1 -FF0STM32G43x-4x_128 -FS08000000 -FL020000 -FP0($$Device:STM32G431KBUx$CMSIS\Flash\STM32G43x-4x_128.FLM))</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32G43x-4x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32G431KBUx$CMSIS\Flash\STM32G43x-4x_128.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>signaltimeout</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>armed</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>smallestnumber,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dshot</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>input</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>newinput,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>stepper_sine</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>use_sin_start</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>eepromBuffer</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>stall_protection,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>commutation_interval,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>interrupt</ItemText>
+        </Ww>
+        <Ww>
+          <count>12</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dma_buffer</ItemText>
+        </Ww>
+        <Ww>
+          <count>13</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ADCDataDMA,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>14</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>degrees_celsius,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>15</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ADC_raw_temp</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>40015804</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
+      <Tracepoint>
+        <THDelay>0</THDelay>
+      </Tracepoint>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>1</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+      <bLintAuto>0</bLintAuto>
+      <bAutoGenD>0</bAutoGenD>
+      <LntExFlags>0</LntExFlags>
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
+      <DebugDescription>
+        <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
+        <EnableLog>0</EnableLog>
+        <Protocol>2</Protocol>
+        <DbgClock>10000000</DbgClock>
+      </DebugDescription>
+    </TargetOption>
+  </Target>
+
+  <Target>
+    <TargetName>PhotonDrive_G431</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
     <TargetOption>
       <CLKADS>8000000</CLKADS>
       <OPTTT>
@@ -653,7 +923,7 @@
       <GroupNumber>3</GroupNumber>
       <FileNumber>29</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\Src\main.c</PathWithFileName>
diff --git a/Keil_Projects/Am32G431.uvprojx b/Keil_Projects/Am32G431.uvprojx
index 9a90e578..3ee77d1b 100644
--- a/Keil_Projects/Am32G431.uvprojx
+++ b/Keil_Projects/Am32G431.uvprojx
@@ -90,7 +90,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -612,6 +612,612 @@
         </Group>
       </Groups>
     </Target>
+    <Target>
+      <TargetName>PhotonDrive_G431</TargetName>
+      <ToolsetNumber>0x4</ToolsetNumber>
+      <ToolsetName>ARM-ADS</ToolsetName>
+      <pArmCC>6190000::V6.19::ARMCLANG</pArmCC>
+      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
+      <uAC6>1</uAC6>
+      <TargetOption>
+        <TargetCommonOption>
+          <Device>STM32G431KBUx</Device>
+          <Vendor>STMicroelectronics</Vendor>
+          <PackID>Keil.STM32G4xx_DFP.1.5.0</PackID>
+          <PackURL>https://www.keil.com/pack/</PackURL>
+          <Cpu>IRAM(0x20000000-0x20007FFF) IROM(0x8000000-0x801FFFF) CLOCK(8000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu>
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll></FlashDriverDll>
+          <DeviceId>0</DeviceId>
+          <RegisterFile></RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <SFDFile>$$Device:STM32G431KBUx$CMSIS\SVD\STM32G431xx.svd</SFDFile>
+          <bCustSvd>0</bCustSvd>
+          <UseEnv>0</UseEnv>
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
+          <TargetStatus>
+            <Error>0</Error>
+            <ExitCodeStop>0</ExitCodeStop>
+            <ButtonStop>0</ButtonStop>
+            <NotGenerated>0</NotGenerated>
+            <InvalidFlash>1</InvalidFlash>
+          </TargetStatus>
+          <OutputDirectory>.\Objects\</OutputDirectory>
+          <OutputName>AM32_PROTONDRIVE_G431</OutputName>
+          <CreateExecutable>1</CreateExecutable>
+          <CreateLib>0</CreateLib>
+          <CreateHexFile>1</CreateHexFile>
+          <DebugInformation>1</DebugInformation>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath></ListingPath>
+          <HexFormatSelection>1</HexFormatSelection>
+          <Merge32K>0</Merge32K>
+          <CreateBatchFile>0</CreateBatchFile>
+          <BeforeCompile>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopU1X>0</nStopU1X>
+            <nStopU2X>0</nStopU2X>
+          </BeforeCompile>
+          <BeforeMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopB1X>0</nStopB1X>
+            <nStopB2X>0</nStopB2X>
+          </BeforeMake>
+          <AfterMake>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>0</RunUserProg2>
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
+            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
+            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
+            <nStopA1X>0</nStopA1X>
+            <nStopA2X>0</nStopA2X>
+          </AfterMake>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
+          <SVCSIdString></SVCSIdString>
+        </TargetCommonOption>
+        <CommonProperty>
+          <UseCPPCompiler>0</UseCPPCompiler>
+          <RVCTCodeConst>0</RVCTCodeConst>
+          <RVCTZI>0</RVCTZI>
+          <RVCTOtherData>0</RVCTOtherData>
+          <ModuleSelection>0</ModuleSelection>
+          <IncludeInBuild>1</IncludeInBuild>
+          <AlwaysBuild>0</AlwaysBuild>
+          <GenerateAssemblyFile>0</GenerateAssemblyFile>
+          <AssembleAssemblyFile>0</AssembleAssemblyFile>
+          <PublicsOnly>0</PublicsOnly>
+          <StopOnExitCode>3</StopOnExitCode>
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
+          <ComprImg>0</ComprImg>
+        </CommonProperty>
+        <DllOption>
+          <SimDllName>SARMCM3.DLL</SimDllName>
+          <SimDllArguments>-REMAP -MPU</SimDllArguments>
+          <SimDlgDll>DCM.DLL</SimDlgDll>
+          <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
+          <TargetDllName>SARMCM3.DLL</TargetDllName>
+          <TargetDllArguments>-MPU</TargetDllArguments>
+          <TargetDlgDll>TCM.DLL</TargetDlgDll>
+          <TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
+        </DllOption>
+        <DebugOption>
+          <OPTHX>
+            <HexSelection>1</HexSelection>
+            <HexRangeLowAddress>0</HexRangeLowAddress>
+            <HexRangeHighAddress>0</HexRangeHighAddress>
+            <HexOffset>0</HexOffset>
+            <Oh166RecLen>16</Oh166RecLen>
+          </OPTHX>
+        </DebugOption>
+        <Utilities>
+          <Flash1>
+            <UseTargetDll>1</UseTargetDll>
+            <UseExternalTool>0</UseExternalTool>
+            <RunIndependent>0</RunIndependent>
+            <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
+            <Capability>1</Capability>
+            <DriverSelection>4101</DriverSelection>
+          </Flash1>
+          <bUseTDR>1</bUseTDR>
+          <Flash2>BIN\UL2V8M.DLL</Flash2>
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
+          <FcArmLst>0</FcArmLst>
+        </Utilities>
+        <TargetArmAds>
+          <ArmAdsMisc>
+            <GenerateListings>0</GenerateListings>
+            <asHll>1</asHll>
+            <asAsm>1</asAsm>
+            <asMacX>1</asMacX>
+            <asSyms>1</asSyms>
+            <asFals>1</asFals>
+            <asDbgD>1</asDbgD>
+            <asForm>1</asForm>
+            <ldLst>0</ldLst>
+            <ldmm>1</ldmm>
+            <ldXref>1</ldXref>
+            <BigEnd>0</BigEnd>
+            <AdsALst>1</AdsALst>
+            <AdsACrf>1</AdsACrf>
+            <AdsANop>0</AdsANop>
+            <AdsANot>0</AdsANot>
+            <AdsLLst>1</AdsLLst>
+            <AdsLmap>1</AdsLmap>
+            <AdsLcgr>1</AdsLcgr>
+            <AdsLsym>1</AdsLsym>
+            <AdsLszi>1</AdsLszi>
+            <AdsLtoi>1</AdsLtoi>
+            <AdsLsun>1</AdsLsun>
+            <AdsLven>1</AdsLven>
+            <AdsLsxf>1</AdsLsxf>
+            <RvctClst>0</RvctClst>
+            <GenPPlst>0</GenPPlst>
+            <AdsCpuType>"Cortex-M4"</AdsCpuType>
+            <RvctDeviceName></RvctDeviceName>
+            <mOS>0</mOS>
+            <uocRom>0</uocRom>
+            <uocRam>0</uocRam>
+            <hadIROM>1</hadIROM>
+            <hadIRAM>1</hadIRAM>
+            <hadXRAM>0</hadXRAM>
+            <uocXRam>0</uocXRam>
+            <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
+            <hadIRAM2>0</hadIRAM2>
+            <hadIROM2>0</hadIROM2>
+            <StupSel>8</StupSel>
+            <useUlib>0</useUlib>
+            <EndSel>0</EndSel>
+            <uLtcg>0</uLtcg>
+            <nSecure>0</nSecure>
+            <RoSelD>3</RoSelD>
+            <RwSelD>4</RwSelD>
+            <CodeSel>0</CodeSel>
+            <OptFeed>0</OptFeed>
+            <NoZi1>0</NoZi1>
+            <NoZi2>0</NoZi2>
+            <NoZi3>0</NoZi3>
+            <NoZi4>0</NoZi4>
+            <NoZi5>0</NoZi5>
+            <Ro1Chk>0</Ro1Chk>
+            <Ro2Chk>0</Ro2Chk>
+            <Ro3Chk>0</Ro3Chk>
+            <Ir1Chk>1</Ir1Chk>
+            <Ir2Chk>0</Ir2Chk>
+            <Ra1Chk>0</Ra1Chk>
+            <Ra2Chk>0</Ra2Chk>
+            <Ra3Chk>0</Ra3Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
+            <OnChipMemories>
+              <Ocm1>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm1>
+              <Ocm2>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm2>
+              <Ocm3>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm3>
+              <Ocm4>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm4>
+              <Ocm5>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm5>
+              <Ocm6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </Ocm6>
+              <IRAM>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x8000</Size>
+              </IRAM>
+              <IROM>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x20000</Size>
+              </IROM>
+              <XRAM>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </XRAM>
+              <OCR_RVCT1>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT1>
+              <OCR_RVCT2>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT2>
+              <OCR_RVCT3>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT3>
+              <OCR_RVCT4>
+                <Type>1</Type>
+                <StartAddress>0x8000000</StartAddress>
+                <Size>0x20000</Size>
+              </OCR_RVCT4>
+              <OCR_RVCT5>
+                <Type>1</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT5>
+              <OCR_RVCT6>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT6>
+              <OCR_RVCT7>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT7>
+              <OCR_RVCT8>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT8>
+              <OCR_RVCT9>
+                <Type>0</Type>
+                <StartAddress>0x20000000</StartAddress>
+                <Size>0x8000</Size>
+              </OCR_RVCT9>
+              <OCR_RVCT10>
+                <Type>0</Type>
+                <StartAddress>0x0</StartAddress>
+                <Size>0x0</Size>
+              </OCR_RVCT10>
+            </OnChipMemories>
+            <RvctStartVector></RvctStartVector>
+          </ArmAdsMisc>
+          <Cads>
+            <interw>1</interw>
+            <Optim>4</Optim>
+            <oTime>0</oTime>
+            <SplitLS>0</SplitLS>
+            <OneElfS>1</OneElfS>
+            <Strict>0</Strict>
+            <EnumInt>0</EnumInt>
+            <PlainCh>0</PlainCh>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <wLevel>3</wLevel>
+            <uThumb>0</uThumb>
+            <uSurpInc>0</uSurpInc>
+            <uC99>1</uC99>
+            <uGnu>0</uGnu>
+            <useXO>0</useXO>
+            <v6Lang>3</v6Lang>
+            <v6LangP>5</v6LangP>
+            <vShortEn>1</vShortEn>
+            <vShortWch>1</vShortWch>
+            <v6Lto>0</v6Lto>
+            <v6WtE>0</v6WtE>
+            <v6Rtti>0</v6Rtti>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define>PROTONDRIVE_G431, USE_FULL_LL_DRIVER,HSE_VALUE=8000000,HSE_STARTUP_TIMEOUT=100,LSE_STARTUP_TIMEOUT=5000,LSE_VALUE=32768,EXTERNAL_CLOCK_VALUE=12288000,HSI_VALUE=16000000,LSI_VALUE=32000,VDD_VALUE=3300,PREFETCH_ENABLE=0,INSTRUCTION_CACHE_ENABLE=1,DATA_CACHE_ENABLE=1,STM32G431xx</Define>
+              <Undefine></Undefine>
+              <IncludePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Inc;..\Mcu\g431\Drivers\CMSIS\Device\ST\STM32G4xx\Include;..\Inc;..\Mcu\g431\Inc</IncludePath>
+            </VariousControls>
+          </Cads>
+          <Aads>
+            <interw>1</interw>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <thumb>0</thumb>
+            <SplitLS>0</SplitLS>
+            <SwStkChk>0</SwStkChk>
+            <NoWarn>0</NoWarn>
+            <uSurpInc>0</uSurpInc>
+            <useXO>0</useXO>
+            <ClangAsOpt>1</ClangAsOpt>
+            <VariousControls>
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
+            </VariousControls>
+          </Aads>
+          <LDads>
+            <umfTarg>0</umfTarg>
+            <Ropi>0</Ropi>
+            <Rwpi>0</Rwpi>
+            <noStLib>0</noStLib>
+            <RepFail>1</RepFail>
+            <useFile>0</useFile>
+            <TextAddressRange></TextAddressRange>
+            <DataAddressRange></DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile>..\Mcu\g431\Am32_64kb_g431.sct</ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
+          </LDads>
+        </TargetArmAds>
+      </TargetOption>
+      <Groups>
+        <Group>
+          <GroupName>startup</GroupName>
+          <Files>
+            <File>
+              <FileName>startup_stm32g431xx.s</FileName>
+              <FileType>2</FileType>
+              <FilePath>..\Mcu\g431\Startup\startup_stm32g431xx.s</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers</GroupName>
+          <Files>
+            <File>
+              <FileName>stm32g4xx_ll_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_comp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_comp.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_cordic.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_cordic.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_crc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_crc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_crs.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_crs.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_dac.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_dac.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_exti.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_exti.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_fmac.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_fmac.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_hrtim.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_hrtim.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_i2c.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_i2c.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_lptim.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_lptim.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_lpuart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_lpuart.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_opamp.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_opamp.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_pwr.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_pwr.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_rcc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_rcc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_rng.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_rng.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_rtc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_rtc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_spi.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_tim.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_tim.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_ucpd.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_ucpd.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_usart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_usart.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_ll_utils.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_utils.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Src</GroupName>
+          <Files>
+            <File>
+              <FileName>dshot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\dshot.c</FilePath>
+            </File>
+            <File>
+              <FileName>firmwareversion.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\firmwareversion.c</FilePath>
+            </File>
+            <File>
+              <FileName>functions.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\functions.c</FilePath>
+            </File>
+            <File>
+              <FileName>main.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\main.c</FilePath>
+            </File>
+            <File>
+              <FileName>signal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\signal.c</FilePath>
+            </File>
+            <File>
+              <FileName>sounds.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\sounds.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Mcu</GroupName>
+          <Files>
+            <File>
+              <FileName>ADC.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Src\ADC.c</FilePath>
+            </File>
+            <File>
+              <FileName>comparator.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Src\comparator.c</FilePath>
+            </File>
+            <File>
+              <FileName>eeprom.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Src\eeprom.c</FilePath>
+            </File>
+            <File>
+              <FileName>IO.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Src\IO.c</FilePath>
+            </File>
+            <File>
+              <FileName>peripherals.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Src\peripherals.c</FilePath>
+            </File>
+            <File>
+              <FileName>phaseouts.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Src\phaseouts.c</FilePath>
+            </File>
+            <File>
+              <FileName>serial_telemetry.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Src\serial_telemetry.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32g4xx_it.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Src\stm32g4xx_it.c</FilePath>
+            </File>
+            <File>
+              <FileName>system_stm32g4xx.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Src\system_stm32g4xx.c</FilePath>
+            </File>
+            <File>
+              <FileName>WS2812.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Mcu\g431\Src\WS2812.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>::CMSIS</GroupName>
+        </Group>
+      </Groups>
+    </Target>
   </Targets>
 
   <RTE>
@@ -621,6 +1227,7 @@
         <package name="CMSIS" schemaVersion="1.7.7" url="http://www.keil.com/pack/" vendor="ARM" version="5.9.0"/>
         <targetInfos>
           <targetInfo name="G431_test"/>
+          <targetInfo name="PhotonDrive_G431"/>
         </targetInfos>
       </component>
     </components>
diff --git a/Keil_Projects/Am32e230.uvguix.alkaz b/Keil_Projects/Am32e230.uvguix.alkaz
index d02ab33f..018c164e 100644
--- a/Keil_Projects/Am32e230.uvguix.alkaz
+++ b/Keil_Projects/Am32e230.uvguix.alkaz
@@ -177,8 +177,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
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       </Doc>
       <Doc>
-        <Name>&lt;1&gt;..\Mcu\l431\Drivers\CMSIS\Device\ST\STM32L4xx\Include\stm32l431xx.h</Name>
+        <Name>C:\Users\alkaz\OneDrive\Documents\AM32\Mcu\l431\Drivers\CMSIS\Device\ST\STM32L4xx\Include\stm32l431xx.h</Name>
         <ColumnNumber>11</ColumnNumber>
         <TopLine>118</TopLine>
         <CurrentLine>127</CurrentLine>
@@ -3933,7 +3933,7 @@
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
-        <Name>&lt;1&gt;..\Mcu\l431\Inc\peripherals.h</Name>
+        <Name>C:\Users\alkaz\OneDrive\Documents\AM32\Mcu\l431\Inc\peripherals.h</Name>
         <ColumnNumber>11</ColumnNumber>
         <TopLine>23</TopLine>
         <CurrentLine>41</CurrentLine>
@@ -3942,7 +3942,7 @@
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
-        <Name>&lt;1&gt;..\Mcu\l431\Inc\comparator.h</Name>
+        <Name>C:\Users\alkaz\OneDrive\Documents\AM32\Mcu\l431\Inc\comparator.h</Name>
         <ColumnNumber>0</ColumnNumber>
         <TopLine>4</TopLine>
         <CurrentLine>21</CurrentLine>
diff --git a/Keil_Projects/Am32l431.uvprojx b/Keil_Projects/Am32l431.uvprojx
index 215aab3d..8db531e2 100644
--- a/Keil_Projects/Am32l431.uvprojx
+++ b/Keil_Projects/Am32l431.uvprojx
@@ -89,7 +89,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -684,7 +684,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
@@ -1279,7 +1279,7 @@
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
-          <SelectedForBatchBuild>1</SelectedForBatchBuild>
+          <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
diff --git a/Keil_Projects/DebugConfig/DM_VISHNU32_STM32F051K6Ux.dbgconf b/Keil_Projects/DebugConfig/DM_VISHNU32_STM32F051K6Ux.dbgconf
new file mode 100644
index 00000000..003699ff
--- /dev/null
+++ b/Keil_Projects/DebugConfig/DM_VISHNU32_STM32F051K6Ux.dbgconf
@@ -0,0 +1,45 @@
+// File: STM32F0x1_0x2_0x8.dbgconf
+// Version: 1.0.0
+// Note: refer to STM32F0x1/STM32F0x2/STM32F0x8 Reference manual (RM0091)
+//       refer to STM32F031x4/x6, STM32F051x4/x6/x8, STM32F071x8/xB datasheets
+//                STM32F091xB/xC, STM32F042x4/x6, STM32F072x8/xB, STM32F038x6 datasheets
+//                STM32F048x6, STM32F058x8, STM32F078xB, STM32F098xC datasheets
+
+// <<< Use Configuration Wizard in Context Menu >>>
+
+// <h> Debug MCU configuration register (DBGMCU_CR)
+//   <o.2>  DBG_STANDBY              <i> Debug standby mode
+//   <o.1>  DBG_STOP                 <i> Debug stop mode
+// </h>
+DbgMCU_CR = 0x00000006;
+
+// <h> Debug MCU APB1 freeze register (DBGMCU_APB1_FZ)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.25> DBG_CAN_STOP             <i> CAN stopped when core is halted
+//   <o.21> DBG_I2C1_TIMEOUT         <i> I2C1 SMBUS timeout mode stopped when core is halted
+//   <o.12> DBG_IWDG_STOP            <i> Independent watchdog stopped when core is halted
+//   <o.11> DBG_WWDG_STOP            <i> Window watchdog stopped when core is halted
+//   <o.10> DBG_RTC_STOP             <i> RTC stopped when core is halted
+//   <o.8>  DBG_TIM14_STOP           <i> TIM14 counter stopped when core is halted
+//   <o.5>  DBG_TIM7_STOP            <i> TIM7 counter stopped when core is halted
+//   <o.4>  DBG_TIM6_STOP            <i> TIM6 counter stopped when core is halted
+//   <o.1>  DBG_TIM3_STOP            <i> TIM3 counter stopped when core is halted
+//   <o.0>  DBG_TIM2_STOP            <i> TIM2 counter stopped when core is halted
+// </h>
+DbgMCU_APB1_Fz = 0x00000000;
+
+// <h> Debug MCU APB2 freeze register (DBGMCU_APB2_FZ)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.18> DBG_TIM17_STOP           <i> TIM17 counter stopped when core is halted
+//   <o.17> DBG_TIM16_STOP           <i> TIM16 counter stopped when core is halted
+//   <o.16> DBG_TIM15_STOP           <i> TIM15 counter stopped when core is halted
+//   <o.11> DBG_TIM1_STOP            <i> TIM1 counter stopped when core is halted
+// </h>
+DbgMCU_APB2_Fz = 0x00000000;
+
+// <h> Flash Download Options
+//   <o.0> Option Byte Loading       <i> Launch the Option Byte Loading after a Flash Download by setting the OBL_LAUNCH bit (causes a reset)
+// </h>
+DoOptionByteLoading = 0x00000000;
+
+// <<< end of configuration section >>>
diff --git a/Keil_Projects/DebugConfig/PhotonDrive_G431_STM32G431KBUx.dbgconf b/Keil_Projects/DebugConfig/PhotonDrive_G431_STM32G431KBUx.dbgconf
new file mode 100644
index 00000000..08d5314d
--- /dev/null
+++ b/Keil_Projects/DebugConfig/PhotonDrive_G431_STM32G431KBUx.dbgconf
@@ -0,0 +1,64 @@
+// File: STM32G4xx.dbgconf
+// Version: 1.0.1
+// Note: refer to STM32G4xx Reference manual (RM0440)
+//       refer to STM32G4xx datasheets
+
+// <<< Use Configuration Wizard in Context Menu >>>
+
+// <h> Debug MCU configuration register (DBGMCU_CR)
+//   <o.2>  DBG_STANDBY              <i> Debug Standby mode
+//   <o.1>  DBG_STOP                 <i> Debug Stop mode
+//   <o.0>  DBG_SLEEP                <i> Debug Sleep mode
+// </h>
+DbgMCU_CR = 0x00000007;
+
+// <h> Debug MCU APB1 freeze register1 (DBGMCU_APB1FZR1)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.31> DBG_LPTIM1_STOP          <i> LPTIM1 counter stopped when core is halted
+//   <o.30> DBG_I2C3_STOP            <i> I2C3 SMBUS timeout counter stopped when core is halted
+//   <o.22> DBG_I2C2_STOP            <i> I2C2 SMBUS timeout counter stopped when core is halted
+//   <o.21> DBG_I2C1_STOP            <i> I2C1 SMBUS timeout counter stopped when core is halted
+//   <o.12> DBG_IWDG_STOP            <i> Independent watchdog counter stopped when core is halted
+//   <o.11> DBG_WWDG_STOP            <i> Window watchdog counter stopped when core is halted
+//   <o.10> DBG_RTC_STOP             <i> RTC counter stopped when core is halted
+//   <o.5>  DBG_TIM7_STOP            <i> TIM7 counter stopped when core is halted
+//   <o.4>  DBG_TIM6_STOP            <i> TIM6 counter stopped when core is halted
+//   <o.3>  DBG_TIM5_STOP            <i> TIM5 counter stopped when core is halted
+//   <o.2>  DBG_TIM4_STOP            <i> TIM4 counter stopped when core is halted
+//   <o.1>  DBG_TIM3_STOP            <i> TIM3 counter stopped when core is halted
+//   <o.0>  DBG_TIM2_STOP            <i> TIM2 counter stopped when core is halted
+// </h>
+DbgMCU_APB1_Fz1 = 0x00000000;
+
+// <h> Debug MCU APB1 freeze register 2 (DBGMCU_APB1FZR2)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.1>  DBG_I2C4_STOP            <i> I2C4 SMBUS timeout counter stopped when core is halted
+// </h>
+DbgMCU_APB1_Fz2 = 0x00000000;
+
+// <h> Debug MCU APB2 freeze register (DBGMCU_APB2FZR)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.26> DBG_HRTIM_STOP           <i> HRTIM counter stopped when core is halted
+//   <o.20> DBG_TIM20_STOP           <i> TIM20 counter stopped when core is halted
+//   <o.18> DBG_TIM17_STOP           <i> TIM17 counter stopped when core is halted
+//   <o.17> DBG_TIM16_STOP           <i> TIM16 counter stopped when core is halted
+//   <o.16> DBG_TIM15_STOP           <i> TIM15 counter stopped when core is halted
+//   <o.13> DBG_TIM8_STOP            <i> TIM8 counter stopped when core is halted
+//   <o.11> DBG_TIM1_STOP            <i> TIM1 counter stopped when core is halted
+// </h>
+DbgMCU_APB2_Fz = 0x00000000;
+
+// <h> TPIU Pin Routing
+//   <i> TRACECLK: Pin PE2
+//   <i> TRACED[0]: Pin PE3
+//   <i> TRACED[1]: Pin PE4
+//   <i> TRACED[2]: Pin PE5
+//   <i> TRACED[3]: Pin PE6
+// </h>
+
+// <h> Flash Download Options
+//   <o.0> Option Byte Loading      <i> Launch the Option Byte Loading after a Flash Download by setting the OBL_LAUNCH bit (causes a reset)
+// </h>
+DoOptionByteLoading = 0x00000000;
+
+// <<< end of configuration section >>>
diff --git a/Keil_Projects/DebugConfig/RRIOT_G071_STM32G071K8Ux_1.0.0.dbgconf b/Keil_Projects/DebugConfig/RRIOT_G071_STM32G071K8Ux_1.0.0.dbgconf
new file mode 100644
index 00000000..9c6303c8
--- /dev/null
+++ b/Keil_Projects/DebugConfig/RRIOT_G071_STM32G071K8Ux_1.0.0.dbgconf
@@ -0,0 +1,39 @@
+// File: STM32G0x1.dbgconf
+// Version: 1.0.0
+// Note: refer to STM32G0x1 reference manual (RM0444)
+
+// <<< Use Configuration Wizard in Context Menu >>>
+
+// <h> Debug MCU configuration register (DBGMCU_CR)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.2>  DBG_STANDBY              <i> Debug Standby Mode
+//   <o.1>  DBG_STOP                 <i> Debug Stop Mode
+// </h>
+DbgMCU_CR = 0x00000006;
+
+// <h> Debug MCU APB freeze register 1 (DBGMCU_APB_FZ1)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.31> DBG_LPTIM1_STOP          <i> LPTIMER1 counter stopped when core is halted
+//   <o.30> DBG_LPTIM2_STOP          <i> LPTIMER2 counter stopped when core is halted
+//   <o.21> DBG_I2C1_SMBUS_TIMEOUT   <i> I2C1 SMBUS timeout is frozen
+//   <o.12> DBG_IWDG_STOP            <i> Debug independent watchdog stopped when core is halted
+//   <o.11> DBG_WWDG_STOP            <i> Debug window watchdog stopped when core is halted
+//   <o.10> DBG_RTC_STOP             <i> Debug RTC stopped when core is halted
+//   <o.5>  DBG_TIM7_STOP            <i> TIM7 counter stopped when core is halted
+//   <o.4>  DBG_TIM6_STOP            <i> TIM6 counter stopped when core is halted
+//   <o.1>  DBG_TIM3_STOP            <i> TIM3 counter stopped when core is halted
+//   <o.0>  DBG_TIM2_STOP            <i> TIM2 counter stopped when core is halted
+// </h>
+DbgMCU_APB_Fz1 = 0x00000000;
+
+// <h> Debug MCU APB freeze register 2 (DBGMCU_APB_FZ2)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.18> DBG_TIM17_STOP            <i> TIM17 counter stopped when core is halted
+//   <o.17> DBG_TIM16_STOP            <i> TIM16 counter stopped when core is halted
+//   <o.16> DBG_TIM15_STOP            <i> TIM15 counter stopped when core is halted
+//   <o.15> DBG_TIM14_STOP            <i> TIM14 counter stopped when core is halted
+//   <o.11> DBG_TIM1_STOP             <i> TIM1 counter stopped when core is halted
+// </h>
+DbgMCU_APB_Fz2 = 0x00000000;
+
+// <<< end of configuration section >>>
diff --git a/Keil_Projects/startup_stm32f051k8.lst b/Keil_Projects/startup_stm32f051k8.lst
index f603957b..b9193f0d 100644
--- a/Keil_Projects/startup_stm32f051k8.lst
+++ b/Keil_Projects/startup_stm32f051k8.lst
@@ -362,12 +362,13 @@ ARM Macro Assembler    Page 6
               00000000 
               00000000 
 Command Line: --debug --xref --diag_suppress=9931,A1950W --cpu=Cortex-M0 --depe
-nd=.\objects\startup_stm32f051k8.d -o.\objects\startup_stm32f051k8.o -I.\RTE\_L
-UMINOUSBEES_F051 -IC:\KeilPacks\Keil\STM32F0xx_DFP\2.1.1\Drivers\CMSIS\Device\S
-T\STM32F0xx\Include --predefine="__EVAL SETA 1" --predefine="__MICROLIB SETA 1"
- --predefine="__UVISION_VERSION SETA 538" --predefine="_RTE_ SETA 1" --predefin
-e="STM32F051x8 SETA 1" --predefine="_RTE_ SETA 1" --list=startup_stm32f051k8.ls
-t ..\Mcu\f051\Startup\mdk\startup_stm32f051k8.s
+nd=.\objects\startup_stm32f051k8.d -o.\objects\startup_stm32f051k8.o -I.\RTE\_D
+M_VISHNU32 -IC:\KeilPacks\ARM\CMSIS\5.9.0\CMSIS\Core\Include -IC:\KeilPacks\Kei
+l\STM32F0xx_DFP\2.1.1\Drivers\CMSIS\Device\ST\STM32F0xx\Include --predefine="__
+EVAL SETA 1" --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SET
+A 538" --predefine="_RTE_ SETA 1" --predefine="STM32F051x8 SETA 1" --predefine=
+"_RTE_ SETA 1" --list=startup_stm32f051k8.lst ..\Mcu\f051\Startup\mdk\startup_s
+tm32f051k8.s
 
 
 
diff --git a/Mcu/e230/Src/IO.c b/Mcu/e230/Src/IO.c
index ad4ed79c..471f5d97 100644
--- a/Mcu/e230/Src/IO.c
+++ b/Mcu/e230/Src/IO.c
@@ -24,7 +24,7 @@ void receiveDshotDma()
 {
     RCU_REG_VAL(RCU_TIMER2RST) |= BIT(RCU_BIT_POS(RCU_TIMER2RST));
     RCU_REG_VAL(RCU_TIMER2RST) &= ~BIT(RCU_BIT_POS(RCU_TIMER2RST));
-    TIMER_CHCTL0(IC_TIMER_REGISTER) = 0x01;
+    TIMER_CHCTL0(IC_TIMER_REGISTER) = 0x41;
     TIMER_CHCTL2(IC_TIMER_REGISTER) = 0xa;
     TIMER_PSC(IC_TIMER_REGISTER) = ic_timer_prescaler;
     TIMER_CAR(IC_TIMER_REGISTER) = 0xFFFF;
diff --git a/Mcu/f031/Src/IO.c b/Mcu/f031/Src/IO.c
index 2a1e9332..d4a55fb8 100644
--- a/Mcu/f031/Src/IO.c
+++ b/Mcu/f031/Src/IO.c
@@ -71,7 +71,7 @@ void changeToInput()
 #ifdef USE_TIMER_2_CHANNEL_3
     LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM2); // de-init timer 2
     LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM2);
-    IC_TIMER_REGISTER->CCMR2 = 0x71;
+    IC_TIMER_REGISTER->CCMR2 = 0x41;
     IC_TIMER_REGISTER->CCER = 0xa00;
 #endif
 
@@ -84,13 +84,13 @@ void changeToInput()
 #ifdef USE_TIMER_16
     LL_APB1_GRP2_ForceReset(LL_APB1_GRP2_PERIPH_TIM16);
     LL_APB1_GRP2_ReleaseReset(LL_APB1_GRP2_PERIPH_TIM16);
-    IC_TIMER_REGISTER->CCMR1 = 0x71;
+    IC_TIMER_REGISTER->CCMR1 = 0x41;
     IC_TIMER_REGISTER->CCER = 0xa;
 #endif
 #ifdef USE_TIMER_2_CHANNEL_1
     LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM2); // de-init timer 2
     LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM2);
-    IC_TIMER_REGISTER->CCMR1 = 0x71;
+    IC_TIMER_REGISTER->CCMR1 = 0x41;
     IC_TIMER_REGISTER->CCER = 0xa;
 #endif
     IC_TIMER_REGISTER->PSC = ic_timer_prescaler;
diff --git a/Mcu/f051/Src/IO.c b/Mcu/f051/Src/IO.c
index 2ebad416..b60af71c 100644
--- a/Mcu/f051/Src/IO.c
+++ b/Mcu/f051/Src/IO.c
@@ -29,7 +29,7 @@ void receiveDshotDma()
     RCC->APB2RSTR |= LL_APB1_GRP2_PERIPH_TIM15;
     RCC->APB2RSTR &= ~LL_APB1_GRP2_PERIPH_TIM15;
 #endif
-    IC_TIMER_REGISTER->CCMR1 = 0x01;
+    IC_TIMER_REGISTER->CCMR1 = 0x41;
     IC_TIMER_REGISTER->CCER = 0xa;
     IC_TIMER_REGISTER->PSC = ic_timer_prescaler;
     IC_TIMER_REGISTER->ARR = 0xFFFF;
diff --git a/Mcu/f415/Src/IO.c b/Mcu/f415/Src/IO.c
index be53d252..c8d8af9c 100644
--- a/Mcu/f415/Src/IO.c
+++ b/Mcu/f415/Src/IO.c
@@ -14,77 +14,32 @@
 #include "targets.h"
 
 char ic_timer_prescaler = CPU_FREQUENCY_MHZ / 6;
-// char output_timer_prescaler;
-// int buffersize = 32;
-// int smallestnumber = 0;
 uint32_t dma_buffer[64] = { 0 };
 char out_put = 0;
 uint8_t buffer_padding = 7;
-// int dshot_runout_timer = 62500;
-// uint32_t average_signal_pulse;
+
 
 void changeToOutput()
 {
-    //	LL_DMA_SetDataTransferDirection(DMA1, INPUT_DMA_CHANNEL,
-    // LL_DMA_DIRECTION_MEMORY_TO_PERIPH);
-    //  dma_transfer_direction_config(INPUT_DMA_CHANNEL,
-    //  DMA_MEMORY_TO_PERIPHERAL);
-    // INPUT_DMA_CHANNEL->CHCTRL |= DMA_DIR_PERIPHERALDST;
     INPUT_DMA_CHANNEL->ctrl |= DMA_DIR_MEMORY_TO_PERIPHERAL;
-
-    // 	LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM3);           // de-init
-    // timer 2
-    //  LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM3);
-
-    //  timer_deinit(IC_TIMER_REGISTER);
     tmr_reset(IC_TIMER_REGISTER);
-    // IC_TIMER_REGISTER->CCMR1 = 0x60;
-    //  TIMER_CHCTL0(IC_TIMER_REGISTER) = 0x60;
     IC_TIMER_REGISTER->cm1 = 0x60; // oc mode pwm
-
-    // IC_TIMER_REGISTER->CCER = 0x3;
-    //  TIMER_CHCTL2(IC_TIMER_REGISTER) = 0x3;
     IC_TIMER_REGISTER->cctrl = 0x3; //
-
-    //  IC_TIMER_REGISTER->PSC = output_timer_prescaler;
-    //  IC_TIMER_REGISTER->prR = 61;
     IC_TIMER_REGISTER->div = output_timer_prescaler;
     IC_TIMER_REGISTER->pr = 95;
-
     out_put = 1;
-    //  LL_TIM_GenerateEvent_UPDATE(IC_TIMER_REGISTER);
-    // timer_event_software_generate(IC_TIMER_REGISTER, TIMER_EVENT_SRC_UPG);
     IC_TIMER_REGISTER->swevt_bit.ovfswtr = TRUE;
 }
 
 void changeToInput()
 {
     gpio_mode_QUICK(GPIOB, GPIO_MODE_INPUT, GPIO_PULL_NONE, INPUT_PIN);
-
-    //  LL_DMA_SetDataTransferDirection(DMA1, INPUT_DMA_CHANNEL,
-    //  LL_DMA_DIRECTION_PERIPH_TO_MEMORY);
-    // dma_transfer_direction_config(INPUT_DMA_CHANNEL,
-    // DMA_PERIPHERAL_TO_MEMORY);
     INPUT_DMA_CHANNEL->ctrl |= DMA_DIR_PERIPHERAL_TO_MEMORY;
-
     GPIOB->scr = INPUT_PIN;
-
-    //  LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM3);           // de-init
-    //  timer 2
-    //	  LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM3);
-    //	timer_deinit(IC_TIMER_REGISTER);
     IC_TIMER_REGISTER->cval = 0;
     tmr_reset(IC_TIMER_REGISTER);
-
-    // IC_TIMER_REGISTER->CCMR1 = 0x1;
-    //	TIMER_CHCTL0(IC_TIMER_REGISTER) = 0x1;
-    IC_TIMER_REGISTER->cm1 = 0x71;
-    //	  IC_TIMER_REGISTER->CCER = 0xa;
-    // TIMER_CHCTL2(IC_TIMER_REGISTER) = 0xa;
+    IC_TIMER_REGISTER->cm1 = 0x41;
     IC_TIMER_REGISTER->cctrl = 0xB;
-
-    // IC_TIMER_REGISTER->PSC = ic_timer_prescaler;
-    //	  IC_TIMER_REGISTER->prR = 0xFFFF;
     IC_TIMER_REGISTER->div = ic_timer_prescaler;
     IC_TIMER_REGISTER->pr = 0xFFFF;
 
@@ -94,169 +49,29 @@ void changeToInput()
 void receiveDshotDma()
 {
     changeToInput();
-    //	IC_TIMER_REGISTER->CNT = 0;
-
-    //  LL_DMA_ConfigAddresses(DMA1, INPUT_DMA_CHANNEL,
-    //  (uint32_t)&IC_TIMER_REGISTER->CCR1, (uint32_t)&dma_buffer,
-    //  LL_DMA_GetDataTransferDirection(DMA1, INPUT_DMA_CHANNEL));
-    // dma_periph_address_config(INPUT_DMA_CHANNEL,
-    // (uint32_t)&TIMER_CH0CV(IC_TIMER_REGISTER));
-
     INPUT_DMA_CHANNEL->paddr = (uint32_t)&IC_TIMER_REGISTER->c1dt;
     INPUT_DMA_CHANNEL->maddr = (uint32_t)&dma_buffer;
-    // dma_memory_address_config(INPUT_DMA_CHANNEL, (uint32_t)&dma_buffer);
-    //  LL_DMA_SetDataLength(DMA1, INPUT_DMA_CHANNEL, buffersize);
-    // dma_transfer_number_config(INPUT_DMA_CHANNEL, buffersize);
     INPUT_DMA_CHANNEL->dtcnt = buffersize;
-
-    //  LL_DMA_EnableIT_TC(DMA1, INPUT_DMA_CHANNEL);
-    //	dma_interrupt_enable(INPUT_DMA_CHANNEL, DMA_INT_FTF);
-    //   LL_DMA_EnableIT_TE(DMA1, INPUT_DMA_CHANNEL);
-    // dma_interrupt_enable(INPUT_DMA_CHANNEL, DMA_INT_ERR);
-
-    // LL_DMA_EnableChannel(DMA1, INPUT_DMA_CHANNEL);
-    // TMR_DMACmd(IC_TIMER_REGISTER, TMR_DMA_CC1, ENABLE);
     IC_TIMER_REGISTER->iden |= TMR_C1_DMA_REQUEST;
-
-    // LL_TIM_EnableDMAReq_CC1(IC_TIMER_REGISTER);
-    //  timer_dma_enable(IC_TIMER_REGISTER, TIMER_DMA_CH0D) ;
-    //  TMR_DMAConfig(IC_TIMER_REGISTER, TMR_DMABase_CC1,
-    //  TMR_DMABurstLength_1Transfer);
-
-    //   LL_TIM_CC_EnableChannel(IC_TIMER_REGISTER, IC_TIMER_CHANNEL);
-    //	TIMER_CHCTL2(IC_TIMER_REGISTER) |= (uint32_t)TIMER_CCX_ENABLE;
-
-    //   LL_TIM_EnableCounter(IC_TIMER_REGISTER);
-    //		 TIMER_CTL0(IC_TIMER_REGISTER) |= (uint32_t)TIMER_CTL0_CEN;
-
-    // IC_TIMER_REGISTER->CTRL1 |= TMR_CTRL1_CNTEN;
     IC_TIMER_REGISTER->ctrl1_bit.tmren = TRUE;
-
-    // DMA_CHCTL(INPUT_DMA_CHANNEL) = 0x0000098b;   // just set the whole reg in
-    // one g to enable
-
-    // gpio_mode_QUICK(INPUT_PIN_PORT, GPIO_Mode_AF, GPIO_Pull_NOPULL,
-    // INPUT_PIN);
-
     INPUT_DMA_CHANNEL->ctrl = 0x0000098b;
 }
 
 void sendDshotDma()
 {
     changeToOutput();
-
-    //		  LL_DMA_ConfigAddresses(DMA1, INPUT_DMA_CHANNEL,
-    //(uint32_t)&gcr, (uint32_t)&IC_TIMER_REGISTER->CCR1,
-    // LL_DMA_GetDataTransferDirection(DMA1,
-    // INPUT_DMA_CHANNEL));
-    // dma_periph_address_config(INPUT_DMA_CHANNEL,
-    // (uint32_t)&TIMER_CH0CV(IC_TIMER_REGISTER));
-    // dma_memory_address_config(INPUT_DMA_CHANNEL, (uint32_t)&gcr);
-
     INPUT_DMA_CHANNEL->paddr = (uint32_t)&IC_TIMER_REGISTER->c1dt;
     INPUT_DMA_CHANNEL->maddr = (uint32_t)&gcr;
-
-    //		  LL_DMA_SetDataLength(DMA1, INPUT_DMA_CHANNEL, 30);
-    // dma_transfer_number_config(INPUT_DMA_CHANNEL, 26);
     INPUT_DMA_CHANNEL->dtcnt = 23 + buffer_padding;
-
-    // LL_DMA_EnableIT_TC(DMA1, INPUT_DMA_CHANNEL);
-    // dma_interrupt_enable(INPUT_DMA_CHANNEL, DMA_INT_FTF);
     INPUT_DMA_CHANNEL->ctrl |= DMA_FDT_INT;
-    //	  LL_DMA_EnableIT_TE(DMA1, INPUT_DMA_CHANNEL);
-    // dma_interrupt_enable(INPUT_DMA_CHANNEL, DMA_INT_ERR);
     INPUT_DMA_CHANNEL->ctrl |= DMA_DTERR_INT;
-
-    //	LL_DMA_EnableChannel(DMA1, INPUT_DMA_CHANNEL);
-    // dma_channel_enable(INPUT_DMA_CHANNEL);
-
     INPUT_DMA_CHANNEL->ctrl_bit.chen = TRUE;
-
-    //	  LL_TIM_EnableDMAReq_CC1(IC_TIMER_REGISTER);
-    // timer_dma_enable(IC_TIMER_REGISTER, TIMER_DMA_CH0D) ;
-    // TMR_DMAConfig(IC_TIMER_REGISTER, TMR_DMABase_CC1,
-    // TMR_DMABurstLength_1Transfer);
-
-    // TMR_DMACmd(IC_TIMER_REGISTER, TMR_DMA_CC1, ENABLE);
     IC_TIMER_REGISTER->iden |= TMR_C1_DMA_REQUEST;
-
-    //		  LL_TIM_CC_EnableChannel(IC_TIMER_REGISTER, IC_TIMER_CHANNEL);
-    //    TIMER_CHCTL2(IC_TIMER_REGISTER) |= (uint32_t)TIMER_CCX_ENABLE;
-
-    //  LL_TIM_EnableAllOutputs(IC_TIMER_REGISTER);
-    //			timer_primary_output_config(IC_TIMER_REGISTER, ENABLE);
-
-    // IC_TIMER_REGISTER->BRKDT |= TMR_BRKDT_MOEN;
     IC_TIMER_REGISTER->brk_bit.oen = TRUE;
-
-    //	  LL_TIM_EnableCounter(IC_TIMER_REGISTER);
-    //		TIMER_CTL0(IC_TIMER_REGISTER) |= (uint32_t)TIMER_CTL0_CEN;
-    //		IC_TIMER_REGISTER->CTRL1 |= TMR_CTRL1_CNTEN;
     IC_TIMER_REGISTER->ctrl1_bit.tmren = TRUE;
     gpio_mode_QUICK(INPUT_PIN_PORT, GPIO_MODE_MUX, GPIO_PULL_NONE, INPUT_PIN);
-    //		 gpio_mode_QUICK(GPIOB, GPIO_Mode_AF, GPIO_Pull_NOPULL,
-    // INPUT_PIN);
 }
 
-// void detectInput(){
-// 	smallestnumber = 20000;
-// 	average_signal_pulse = 0;
-// 	dshot = 0;
-// 	servoPwm = 0;
-// 	int lastnumber = dma_buffer[0];
-
-// 	for ( int j = 1 ; j < 31; j++){
-// 		if(dma_buffer[j] - lastnumber > 0 ){
-// 		if((dma_buffer[j] - lastnumber) < smallestnumber){
-
-// 			smallestnumber = dma_buffer[j] - lastnumber;
-
-// 	}
-
-// 		average_signal_pulse += (dma_buffer[j] - lastnumber);
-// 	}
-// 		lastnumber = dma_buffer[j];
-// 	}
-// 	average_signal_pulse = average_signal_pulse/32 ;
-
-// 	if ((smallestnumber > 1)&&(smallestnumber <= 5)&& (average_signal_pulse
-// < 60)) { 		ic_timer_prescaler= 0; output_timer_prescaler=1; dshot
-// = 1; 		buffer_padding = 12; 		dshot_runout_timer =
-// 65000; 		armed_count_threshold = 10000; 		buffersize = 32;
-// 	}
-// 	if ((smallestnumber > 5 )&&(smallestnumber <= 10)&&
-// (average_signal_pulse < 100)){ 		dshot = 1;
-// ic_timer_prescaler=1; 		output_timer_prescaler=3;
-// IC_TIMER_REGISTER->cval = 0xffff;
-// 	//	TIMER_CNT(IC_TIMER_REGISTER) = 0xffff;
-// 		buffer_padding = 7;
-// 		dshot_runout_timer = 65000;
-// 		armed_count_threshold = 10000;
-// 		buffersize = 32;
-// 	}
-// //	if ((smallestnumber > 100 )&&(smallestnumber < 400)){
-// //		multishot = 1;
-// //		armed_count_threshold = 1000;
-// //		buffersize = 4;
-// //	}
-// //	if ((smallestnumber > 2000 )&&(smallestnumber < 3000)){
-// //		oneshot42 = 1;
-// //	}
-// 		if (smallestnumber > 30 && smallestnumber < 20000){
-// 			servoPwm = 1;
-// 			ic_timer_prescaler=143;
-// 			armed_count_threshold = 35;
-// 			buffersize = 2;
-// 		}
-
-// 	if (smallestnumber == 0 || smallestnumber == 20000){
-// 		inputSet = 0;
-// 	}else{
-
-// 		inputSet = 1;
-// 	}
-
-// }
 
 uint8_t getInputPinState() { return (INPUT_PIN_PORT->idt & INPUT_PIN); }
 
diff --git a/Mcu/f421/Src/IO.c b/Mcu/f421/Src/IO.c
index 485f62ce..84a59b65 100644
--- a/Mcu/f421/Src/IO.c
+++ b/Mcu/f421/Src/IO.c
@@ -35,7 +35,7 @@ void changeToInput()
 {
     INPUT_DMA_CHANNEL->ctrl |= DMA_DIR_PERIPHERAL_TO_MEMORY;
     tmr_reset(IC_TIMER_REGISTER);
-    IC_TIMER_REGISTER->cm1 = 0x01;
+    IC_TIMER_REGISTER->cm1 = 0x41;
     IC_TIMER_REGISTER->cctrl = 0xB;
     IC_TIMER_REGISTER->div = ic_timer_prescaler;
     IC_TIMER_REGISTER->pr = 0xFFFF;
diff --git a/Mcu/g071/Src/IO.c b/Mcu/g071/Src/IO.c
index 314e6e03..ca45765f 100644
--- a/Mcu/g071/Src/IO.c
+++ b/Mcu/g071/Src/IO.c
@@ -23,13 +23,13 @@ void receiveDshotDma()
 #ifdef USE_TIMER_3_CHANNEL_1
     RCC->APBRSTR1 |= LL_APB1_GRP1_PERIPH_TIM3;
     RCC->APBRSTR1 &= ~LL_APB1_GRP1_PERIPH_TIM3;
-    IC_TIMER_REGISTER->CCMR1 = 0x01;
+    IC_TIMER_REGISTER->CCMR1 = 0x41;
     IC_TIMER_REGISTER->CCER = 0xa;
 #endif
 #ifdef USE_TIMER_16_CHANNEL_1
     LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_TIM16); // de-init timer 2
     LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_TIM16);
-    IC_TIMER_REGISTER->CCMR1 = 0x61;
+    IC_TIMER_REGISTER->CCMR1 = 0x41;
     IC_TIMER_REGISTER->CCER = 0xa;
 #endif
 
diff --git a/Mcu/g431/Src/IO.c b/Mcu/g431/Src/IO.c
index 5b06719e..45ac7ca5 100644
--- a/Mcu/g431/Src/IO.c
+++ b/Mcu/g431/Src/IO.c
@@ -23,15 +23,15 @@ void receiveDshotDma()
 #ifdef USE_TIMER_3_CHANNEL_1
     RCC->APBRSTR1 |= LL_APB1_GRP1_PERIPH_TIM3;
     RCC->APBRSTR1 &= ~LL_APB1_GRP1_PERIPH_TIM3;
-    IC_TIMER_REGISTER->CCMR1 = 0x6001;
+    IC_TIMER_REGISTER->CCMR1 = 0x41;
     IC_TIMER_REGISTER->CCER = 0xa;
-#endif
+#else
 
     LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_TIM15); // de-init timer 2
     LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_TIM15);
-    IC_TIMER_REGISTER->CCMR1 = 0x0601;
+    IC_TIMER_REGISTER->CCMR1 = 0x41;
     IC_TIMER_REGISTER->CCER = 0xa;
-
+#endif
     IC_TIMER_REGISTER->PSC = ic_timer_prescaler;
     IC_TIMER_REGISTER->ARR = 0xFFFF;
     IC_TIMER_REGISTER->EGR |= TIM_EGR_UG;
diff --git a/Mcu/g431/Src/peripherals.c b/Mcu/g431/Src/peripherals.c
index 60fd1c6b..a483904c 100644
--- a/Mcu/g431/Src/peripherals.c
+++ b/Mcu/g431/Src/peripherals.c
@@ -243,13 +243,13 @@ void MX_TIM1_Init(void)
     PA9   ------> TIM1_CH2
     PA10   ------> TIM1_CH3
     */
-    GPIO_InitStruct.Pin = LL_GPIO_PIN_0;
+    GPIO_InitStruct.Pin = PHASE_A_GPIO_LOW;
     GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
     GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
     GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
     GPIO_InitStruct.Alternate = LL_GPIO_AF_6;
-    LL_GPIO_Init(GPIOF, &GPIO_InitStruct);
+    LL_GPIO_Init(PHASE_A_GPIO_PORT_LOW, &GPIO_InitStruct);
 
     GPIO_InitStruct.Pin = LL_GPIO_PIN_7;
     GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
diff --git a/Mcu/l431/Src/IO.c b/Mcu/l431/Src/IO.c
index 99e57d89..6e349659 100644
--- a/Mcu/l431/Src/IO.c
+++ b/Mcu/l431/Src/IO.c
@@ -29,7 +29,7 @@ void receiveDshotDma()
     RCC->APB2RSTR |= LL_APB2_GRP1_PERIPH_TIM15;
     RCC->APB2RSTR &= ~LL_APB2_GRP1_PERIPH_TIM15;
 #endif
-    IC_TIMER_REGISTER->CCMR1 = 0x01;
+    IC_TIMER_REGISTER->CCMR1 = 0x41;
     IC_TIMER_REGISTER->CCER = 0xa;
     IC_TIMER_REGISTER->PSC = ic_timer_prescaler;
     IC_TIMER_REGISTER->ARR = 0xFFFF;
diff --git a/Src/dshot.c b/Src/dshot.c
index 0f1628e1..502ddb46 100644
--- a/Src/dshot.c
+++ b/Src/dshot.c
@@ -42,13 +42,12 @@ uint16_t halfpulsetime = 0;
 
 void computeDshotDMA()
 {
-    int j = 0;
     dshot_frametime = dma_buffer[31] - dma_buffer[0];
     halfpulsetime = dshot_frametime >> 5;
     if ((dshot_frametime > dshot_frametime_low) && (dshot_frametime < dshot_frametime_high)) {
 			signaltimeout = 0;
         for (int i = 0; i < 16; i++) {
-            dpulse[i] = ((dma_buffer[j + (i << 1) + 1] - dma_buffer[j + (i << 1)]) > (halfpulsetime));
+            dpulse[i] = ((dma_buffer[(i << 1) + 1] - dma_buffer[(i << 1)]) > (halfpulsetime));
         }
         uint8_t calcCRC = ((dpulse[0] ^ dpulse[4] ^ dpulse[8]) << 3 | (dpulse[1] ^ dpulse[5] ^ dpulse[9]) << 2 | (dpulse[2] ^ dpulse[6] ^ dpulse[10]) << 1 | (dpulse[3] ^ dpulse[7] ^ dpulse[11]));
         uint8_t checkCRC = (dpulse[12] << 3 | dpulse[13] << 2 | dpulse[14] << 1 | dpulse[15]);
diff --git a/Src/main.c b/Src/main.c
index 72c53d3b..c396da60 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -230,6 +230,8 @@ an settings option)
 #include "targets.h"
 #include <stdint.h>
 #include <string.h>
+#include <assert.h>
+#include <string.h>
 
 #ifdef USE_LED_STRIP
 #include "WS2812.h"
@@ -358,8 +360,7 @@ uint16_t low_cell_volt_cutoff = 330; // 3.3volts per cell
 //=========================== END EEPROM Defaults ===========================
 
 const char filename[30] __attribute__((section(".file_name"))) = FILE_NAME;
-
-char firmware_name[12] = FIRMWARE_NAME;
+static_assert(sizeof(FIRMWARE_NAME) <=13,"Firmware name too long");   // max 12 character firmware name plus NULL 
 
 uint8_t EEPROM_VERSION;
 // move these to targets folder or peripherals for each mcu