From 20db81c5b69f876a49905546be22f162e192a8b3 Mon Sep 17 00:00:00 2001
From: Federica Di Lauro <federicadilauro1998@gmail.com>
Date: Wed, 16 Oct 2019 13:38:22 +0200
Subject: [PATCH] update to new firmware version broke the encoder readings

---
 RemoteSystemsTempFiles/.project               |   12 +
 otto_controller_source/.cproject              |   10 +-
 otto_controller_source/.mxproject             |    6 +-
 .../.settings/language.settings.xml           |    4 +-
 .../Debug/otto_controller_source.list         | 2936 +++++++++--------
 .../Debug/st-link_gdbserver_log.txt           |  582 ++++
 otto_controller_source/STM32F767ZITX_FLASH.ld |    4 +-
 otto_controller_source/Src/main.cpp           |   10 +-
 ...ch => otto_controller_source Debug.launch} |   52 +-
 .../otto_controller_source.ioc                |   10 +-
 10 files changed, 2101 insertions(+), 1525 deletions(-)
 create mode 100644 RemoteSystemsTempFiles/.project
 create mode 100644 otto_controller_source/Debug/st-link_gdbserver_log.txt
 rename otto_controller_source/{otto_controller_source.elf.launch => otto_controller_source Debug.launch} (57%)

diff --git a/RemoteSystemsTempFiles/.project b/RemoteSystemsTempFiles/.project
new file mode 100644
index 0000000..5447a64
--- /dev/null
+++ b/RemoteSystemsTempFiles/.project
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>RemoteSystemsTempFiles</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.rse.ui.remoteSystemsTempNature</nature>
+	</natures>
+</projectDescription>
diff --git a/otto_controller_source/.cproject b/otto_controller_source/.cproject
index a93878d..f76551a 100644
--- a/otto_controller_source/.cproject
+++ b/otto_controller_source/.cproject
@@ -54,14 +54,14 @@
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.297854302" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.1923718886" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.856689588" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false"/>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths.117175211" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths" valueType="includePath">
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths.117175211" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F7xx/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy"/>
 								</option>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.1550077360" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" valueType="definedSymbols">
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.1550077360" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F767xx"/>
 									<listOptionValue builtIn="false" value="DEBUG"/>
@@ -125,7 +125,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1616419827" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.201181481" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.517538660" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1690295498" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.0 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F767ZITx || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Inc | ../Drivers/CMSIS/Include | ../Drivers/CMSIS/Device/ST/STM32F7xx/Include | ../Drivers/STM32F7xx_HAL_Driver/Inc | ../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy || ../ ||  || USE_HAL_DRIVER | STM32F767xx ||  || Startup || Drivers | Src ||  || ${workspace_loc:/${ProjName}/STM32F767ZITX_FLASH.ld} || true" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1690295498" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.3 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F767ZITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Inc | ../Drivers/CMSIS/Include | ../Drivers/CMSIS/Device/ST/STM32F7xx/Include | ../Drivers/STM32F7xx_HAL_Driver/Inc | ../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy || ../ ||  || USE_HAL_DRIVER | STM32F767xx ||  || Drivers | Src | Startup ||  ||  || ${workspace_loc:/${ProjName}/STM32F767ZITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o || " valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.851262217" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/otto_controller_source}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1795993472" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.61380631" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -154,14 +154,14 @@
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.683293631" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.1589256273" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.58275644" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.o3" valueType="enumerated"/>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths.1787672135" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths" valueType="includePath">
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths.1787672135" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F7xx/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F7xx_HAL_Driver/Inc/Legacy"/>
 								</option>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.2000231362" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" valueType="definedSymbols">
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.2000231362" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F767xx"/>
 								</option>
diff --git a/otto_controller_source/.mxproject b/otto_controller_source/.mxproject
index 907e4b2..1fe9200 100644
--- a/otto_controller_source/.mxproject
+++ b/otto_controller_source/.mxproject
@@ -5,10 +5,10 @@ SourcePath=/home/fdila/Projects/otto/otto_controller_source/Src
 SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;main.c;
 
 [PreviousLibFiles]
-LibFiles=Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f767xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm0.h;
+LibFiles=Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f767xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm4.h;
 
 [PreviousUsedCubeIDEFiles]
-SourceFiles=Src/main.c;Src/stm32f7xx_it.c;Src/stm32f7xx_hal_msp.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Src/system_stm32f7xx.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Src/system_stm32f7xx.c;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;null;
+SourceFiles=Src/main.c;Src/stm32f7xx_it.c;Src/stm32f7xx_hal_msp.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Src/system_stm32f7xx.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Src/system_stm32f7xx.c;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;;
 HeaderPath=Drivers/STM32F7xx_HAL_Driver/Inc;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32F7xx/Include;Drivers/CMSIS/Include;Inc;
-CDefines=USE_HAL_DRIVER;STM32F767xx;USE_HAL_DRIVER;STM32F767xx;
+CDefines=USE_HAL_DRIVER;STM32F767xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
diff --git a/otto_controller_source/.settings/language.settings.xml b/otto_controller_source/.settings/language.settings.xml
index 13a94ee..9f5fc1a 100644
--- a/otto_controller_source/.settings/language.settings.xml
+++ b/otto_controller_source/.settings/language.settings.xml
@@ -6,7 +6,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1637780455180610859" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1353665672765406898" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -18,7 +18,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1637780455180610859" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1353665672765406898" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/otto_controller_source/Debug/otto_controller_source.list b/otto_controller_source/Debug/otto_controller_source.list
index eff13ee..edcce08 100644
--- a/otto_controller_source/Debug/otto_controller_source.list
+++ b/otto_controller_source/Debug/otto_controller_source.list
@@ -5,45 +5,45 @@ Sections:
 Idx Name          Size      VMA       LMA       File off  Algn
   0 .isr_vector   000001f8  08000000  08000000  00010000  2**0
                   CONTENTS, ALLOC, LOAD, READONLY, DATA
-  1 .text         00004b10  080001f8  080001f8  000101f8  2**2
+  1 .text         00004b18  080001f8  080001f8  000101f8  2**2
                   CONTENTS, ALLOC, LOAD, READONLY, CODE
-  2 .rodata       00000020  08004d08  08004d08  00014d08  2**2
+  2 .rodata       00000020  08004d10  08004d10  00014d10  2**2
                   CONTENTS, ALLOC, LOAD, READONLY, DATA
-  3 .ARM.extab    00000000  08004d28  08004d28  0002000c  2**0
+  3 .ARM.extab    00000000  08004d30  08004d30  0002000c  2**0
                   CONTENTS
-  4 .ARM          00000008  08004d28  08004d28  00014d28  2**2
+  4 .ARM          00000008  08004d30  08004d30  00014d30  2**2
                   CONTENTS, ALLOC, LOAD, READONLY, DATA
-  5 .preinit_array 00000000  08004d30  08004d30  0002000c  2**0
+  5 .preinit_array 00000000  08004d38  08004d38  0002000c  2**0
                   CONTENTS, ALLOC, LOAD, DATA
-  6 .init_array   00000008  08004d30  08004d30  00014d30  2**2
+  6 .init_array   00000008  08004d38  08004d38  00014d38  2**2
                   CONTENTS, ALLOC, LOAD, DATA
-  7 .fini_array   00000004  08004d38  08004d38  00014d38  2**2
+  7 .fini_array   00000004  08004d40  08004d40  00014d40  2**2
                   CONTENTS, ALLOC, LOAD, DATA
-  8 .data         0000000c  20000000  08004d3c  00020000  2**2
+  8 .data         0000000c  20000000  08004d44  00020000  2**2
                   CONTENTS, ALLOC, LOAD, DATA
-  9 .bss          0000027c  2000000c  08004d48  0002000c  2**2
+  9 .bss          00000280  2000000c  08004d50  0002000c  2**2
                   ALLOC
- 10 ._user_heap_stack 00000600  20000288  08004d48  00020288  2**0
+ 10 ._user_heap_stack 00000604  2000028c  08004d50  0002028c  2**0
                   ALLOC
  11 .ARM.attributes 0000002e  00000000  00000000  0002000c  2**0
                   CONTENTS, READONLY
- 12 .debug_info   0000d3e4  00000000  00000000  0002003a  2**0
+ 12 .debug_info   0000d445  00000000  00000000  0002003a  2**0
                   CONTENTS, READONLY, DEBUGGING
- 13 .debug_abbrev 00001d33  00000000  00000000  0002d41e  2**0
+ 13 .debug_abbrev 00001d6a  00000000  00000000  0002d47f  2**0
                   CONTENTS, READONLY, DEBUGGING
- 14 .debug_aranges 00000d08  00000000  00000000  0002f158  2**3
+ 14 .debug_aranges 00000d18  00000000  00000000  0002f1f0  2**3
                   CONTENTS, READONLY, DEBUGGING
- 15 .debug_ranges 00000c20  00000000  00000000  0002fe60  2**3
+ 15 .debug_ranges 00000c30  00000000  00000000  0002ff08  2**3
                   CONTENTS, READONLY, DEBUGGING
- 16 .debug_macro  000274ae  00000000  00000000  00030a80  2**0
+ 16 .debug_macro  000274ae  00000000  00000000  00030b38  2**0
                   CONTENTS, READONLY, DEBUGGING
- 17 .debug_line   00009765  00000000  00000000  00057f2e  2**0
+ 17 .debug_line   000097a6  00000000  00000000  00057fe6  2**0
                   CONTENTS, READONLY, DEBUGGING
- 18 .debug_str    000f16e5  00000000  00000000  00061693  2**0
+ 18 .debug_str    000f16e5  00000000  00000000  0006178c  2**0
                   CONTENTS, READONLY, DEBUGGING
- 19 .comment      0000007b  00000000  00000000  00152d78  2**0
+ 19 .comment      0000007b  00000000  00000000  00152e71  2**0
                   CONTENTS, READONLY
- 20 .debug_frame  00003690  00000000  00000000  00152df4  2**2
+ 20 .debug_frame  000036dc  00000000  00000000  00152eec  2**2
                   CONTENTS, READONLY, DEBUGGING
 
 Disassembly of section .text:
@@ -62,7 +62,7 @@ Disassembly of section .text:
  800020e:	bd10      	pop	{r4, pc}
  8000210:	2000000c 	.word	0x2000000c
  8000214:	00000000 	.word	0x00000000
- 8000218:	08004cf0 	.word	0x08004cf0
+ 8000218:	08004cf8 	.word	0x08004cf8
 
 0800021c <frame_dummy>:
  800021c:	b508      	push	{r3, lr}
@@ -74,7 +74,7 @@ Disassembly of section .text:
  800022a:	bd08      	pop	{r3, pc}
  800022c:	00000000 	.word	0x00000000
  8000230:	20000010 	.word	0x20000010
- 8000234:	08004cf0 	.word	0x08004cf0
+ 8000234:	08004cf8 	.word	0x08004cf8
 
 08000238 <__aeabi_uldivmod>:
  8000238:	b953      	cbnz	r3, 8000250 <__aeabi_uldivmod+0x18>
@@ -378,7 +378,7 @@ HAL_StatusTypeDef HAL_Init(void)
   
   /* Init the low level hardware */
   HAL_MspInit();
- 8000548:	f004 f90a 	bl	8004760 <HAL_MspInit>
+ 8000548:	f004 f90e 	bl	8004768 <HAL_MspInit>
   
   /* Return function status */
   return HAL_OK;
@@ -479,7 +479,7 @@ __weak void HAL_IncTick(void)
  80005d0:	4770      	bx	lr
  80005d2:	bf00      	nop
  80005d4:	20000004 	.word	0x20000004
- 80005d8:	20000284 	.word	0x20000284
+ 80005d8:	20000288 	.word	0x20000288
 
 080005dc <HAL_GetTick>:
   * @note This function is declared as __weak to be overwritten in case of other 
@@ -499,7 +499,7 @@ __weak uint32_t HAL_GetTick(void)
  80005e8:	f85d 7b04 	ldr.w	r7, [sp], #4
  80005ec:	4770      	bx	lr
  80005ee:	bf00      	nop
- 80005f0:	20000284 	.word	0x20000284
+ 80005f0:	20000288 	.word	0x20000288
 
 080005f4 <HAL_Delay>:
   *       implementations in user file.
@@ -1934,7 +1934,7 @@ static uint32_t DMA_CalcBaseAndBitshift(DMA_HandleTypeDef *hdma)
  8000d6c:	4770      	bx	lr
  8000d6e:	bf00      	nop
  8000d70:	aaaaaaab 	.word	0xaaaaaaab
- 8000d74:	08004d08 	.word	0x08004d08
+ 8000d74:	08004d10 	.word	0x08004d10
  8000d78:	fffffc00 	.word	0xfffffc00
 
 08000d7c <DMA_CheckFifoParam>:
@@ -3871,7 +3871,7 @@ HAL_StatusTypeDef HAL_RCC_ClockConfig(RCC_ClkInitTypeDef  *RCC_ClkInitStruct, ui
  800189a:	bf00      	nop
  800189c:	40023c00 	.word	0x40023c00
  80018a0:	40023800 	.word	0x40023800
- 80018a4:	08004d10 	.word	0x08004d10
+ 80018a4:	08004d18 	.word	0x08004d18
  80018a8:	20000008 	.word	0x20000008
 
 080018ac <HAL_RCC_GetSysClockFreq>:
@@ -4107,7 +4107,7 @@ uint32_t HAL_RCC_GetPCLK1Freq(void)
  8001a44:	4618      	mov	r0, r3
  8001a46:	bd80      	pop	{r7, pc}
  8001a48:	40023800 	.word	0x40023800
- 8001a4c:	08004d20 	.word	0x08004d20
+ 8001a4c:	08004d28 	.word	0x08004d28
 
 08001a50 <HAL_RCC_GetPCLK2Freq>:
   * @note   Each time PCLK2 changes, this function must be called to update the
@@ -4133,7 +4133,7 @@ uint32_t HAL_RCC_GetPCLK2Freq(void)
  8001a6c:	4618      	mov	r0, r3
  8001a6e:	bd80      	pop	{r7, pc}
  8001a70:	40023800 	.word	0x40023800
- 8001a74:	08004d20 	.word	0x08004d20
+ 8001a74:	08004d28 	.word	0x08004d28
 
 08001a78 <HAL_RCCEx_PeriphCLKConfig>:
   *         the backup registers) are set to their reset values.
@@ -5594,7 +5594,7 @@ HAL_StatusTypeDef HAL_TIM_Base_Init(TIM_HandleTypeDef *htim)
     /* Init the low level hardware : GPIO, CLOCK, NVIC */
     HAL_TIM_Base_MspInit(htim);
  80022ea:	6878      	ldr	r0, [r7, #4]
- 80022ec:	f002 faec 	bl	80048c8 <HAL_TIM_Base_MspInit>
+ 80022ec:	f002 faf0 	bl	80048d0 <HAL_TIM_Base_MspInit>
 #endif /* USE_HAL_TIM_REGISTER_CALLBACKS */
   }
 
@@ -5735,7 +5735,7 @@ HAL_StatusTypeDef HAL_TIM_PWM_Init(TIM_HandleTypeDef *htim)
     /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */
     HAL_TIM_PWM_MspInit(htim);
  8002396:	6878      	ldr	r0, [r7, #4]
- 8002398:	f002 fabc 	bl	8004914 <HAL_TIM_PWM_MspInit>
+ 8002398:	f002 fac0 	bl	800491c <HAL_TIM_PWM_MspInit>
 #endif /* USE_HAL_TIM_REGISTER_CALLBACKS */
   }
 
@@ -5819,7 +5819,7 @@ HAL_StatusTypeDef HAL_TIM_Encoder_Init(TIM_HandleTypeDef *htim,  TIM_Encoder_Ini
     /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */
     HAL_TIM_Encoder_MspInit(htim);
  80023f0:	6878      	ldr	r0, [r7, #4]
- 80023f2:	f002 f9d9 	bl	80047a8 <HAL_TIM_Encoder_MspInit>
+ 80023f2:	f002 f9dd 	bl	80047b0 <HAL_TIM_Encoder_MspInit>
 #endif /* USE_HAL_TIM_REGISTER_CALLBACKS */
   }
 
@@ -6362,7 +6362,7 @@ void HAL_TIM_IRQHandler(TIM_HandleTypeDef *htim)
 #else
       HAL_TIM_PeriodElapsedCallback(htim);
  80026d8:	6878      	ldr	r0, [r7, #4]
- 80026da:	f002 f801 	bl	80046e0 <HAL_TIM_PeriodElapsedCallback>
+ 80026da:	f002 f805 	bl	80046e8 <HAL_TIM_PeriodElapsedCallback>
 #endif /* USE_HAL_TIM_REGISTER_CALLBACKS */
     }
   }
@@ -8831,7 +8831,7 @@ HAL_StatusTypeDef HAL_UART_Init(UART_HandleTypeDef *huart)
     /* Init the low level hardware : GPIO, CLOCK */
     HAL_UART_MspInit(huart);
  800341e:	6878      	ldr	r0, [r7, #4]
- 8003420:	f001 fad0 	bl	80049c4 <HAL_UART_MspInit>
+ 8003420:	f001 fad4 	bl	80049cc <HAL_UART_MspInit>
 #endif /* (USE_HAL_UART_REGISTER_CALLBACKS) */
   }
 
@@ -10748,2325 +10748,2327 @@ float Encoder::GetMeters() {
 int main(void)
 {
  8004014:	b580      	push	{r7, lr}
- 8004016:	b082      	sub	sp, #8
- 8004018:	af00      	add	r7, sp, #0
+ 8004016:	af00      	add	r7, sp, #0
   
 
   /* MCU Configuration--------------------------------------------------------*/
 
   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
   HAL_Init();
- 800401a:	f7fc fa8d 	bl	8000538 <HAL_Init>
+ 8004018:	f7fc fa8e 	bl	8000538 <HAL_Init>
 
   /* USER CODE BEGIN Init */
   /* USER CODE END Init */
 
   /* Configure the system clock */
   SystemClock_Config();
- 800401e:	f000 f82b 	bl	8004078 <_Z18SystemClock_Configv>
+ 800401c:	f000 f830 	bl	8004080 <_Z18SystemClock_Configv>
   /* USER CODE BEGIN SysInit */
 
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
- 8004022:	f000 fa9f 	bl	8004564 <_ZL12MX_GPIO_Initv>
+ 8004020:	f000 faa4 	bl	800456c <_ZL12MX_GPIO_Initv>
   MX_DMA_Init();
- 8004026:	f000 fa77 	bl	8004518 <_ZL11MX_DMA_Initv>
+ 8004024:	f000 fa7c 	bl	8004520 <_ZL11MX_DMA_Initv>
   MX_TIM2_Init();
- 800402a:	f000 f8af 	bl	800418c <_ZL12MX_TIM2_Initv>
+ 8004028:	f000 f8b4 	bl	8004194 <_ZL12MX_TIM2_Initv>
   MX_TIM3_Init();
- 800402e:	f000 f90b 	bl	8004248 <_ZL12MX_TIM3_Initv>
+ 800402c:	f000 f910 	bl	8004250 <_ZL12MX_TIM3_Initv>
   MX_TIM4_Init();
- 8004032:	f000 f967 	bl	8004304 <_ZL12MX_TIM4_Initv>
+ 8004030:	f000 f96c 	bl	800430c <_ZL12MX_TIM4_Initv>
   MX_TIM5_Init();
- 8004036:	f000 f9dd 	bl	80043f4 <_ZL12MX_TIM5_Initv>
+ 8004034:	f000 f9e2 	bl	80043fc <_ZL12MX_TIM5_Initv>
   MX_USART3_UART_Init();
- 800403a:	f000 fa39 	bl	80044b0 <_ZL19MX_USART3_UART_Initv>
+ 8004038:	f000 fa3e 	bl	80044b8 <_ZL19MX_USART3_UART_Initv>
   /* USER CODE BEGIN 2 */
 
   HAL_TIM_Base_Start_IT(&htim3);
- 800403e:	480c      	ldr	r0, [pc, #48]	; (8004070 <main+0x5c>)
- 8004040:	f7fe f96c 	bl	800231c <HAL_TIM_Base_Start_IT>
+ 800403c:	480d      	ldr	r0, [pc, #52]	; (8004074 <main+0x60>)
+ 800403e:	f7fe f96d 	bl	800231c <HAL_TIM_Base_Start_IT>
   left_encoder.Setup();
- 8004044:	480b      	ldr	r0, [pc, #44]	; (8004074 <main+0x60>)
- 8004046:	f7ff ffa3 	bl	8003f90 <_ZN7Encoder5SetupEv>
-  float meters = 0;
- 800404a:	f04f 0300 	mov.w	r3, #0
- 800404e:	607b      	str	r3, [r7, #4]
+ 8004042:	480d      	ldr	r0, [pc, #52]	; (8004078 <main+0x64>)
+ 8004044:	f7ff ffa4 	bl	8003f90 <_ZN7Encoder5SetupEv>
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1) {
-    meters += left_encoder.GetMeters();
- 8004050:	4808      	ldr	r0, [pc, #32]	; (8004074 <main+0x60>)
- 8004052:	f7ff ffb6 	bl	8003fc2 <_ZN7Encoder9GetMetersEv>
- 8004056:	eeb0 7a40 	vmov.f32	s14, s0
- 800405a:	edd7 7a01 	vldr	s15, [r7, #4]
- 800405e:	ee77 7a87 	vadd.f32	s15, s15, s14
- 8004062:	edc7 7a01 	vstr	s15, [r7, #4]
+    meters += left_encoder.GetCount();
+ 8004048:	480b      	ldr	r0, [pc, #44]	; (8004078 <main+0x64>)
+ 800404a:	f7ff ff61 	bl	8003f10 <_ZN7Encoder8GetCountEv>
+ 800404e:	ee07 0a90 	vmov	s15, r0
+ 8004052:	eeb8 7ae7 	vcvt.f32.s32	s14, s15
+ 8004056:	4b09      	ldr	r3, [pc, #36]	; (800407c <main+0x68>)
+ 8004058:	edd3 7a00 	vldr	s15, [r3]
+ 800405c:	ee77 7a27 	vadd.f32	s15, s14, s15
+ 8004060:	4b06      	ldr	r3, [pc, #24]	; (800407c <main+0x68>)
+ 8004062:	edc3 7a00 	vstr	s15, [r3]
+    left_encoder.ResetCount();
+ 8004066:	4804      	ldr	r0, [pc, #16]	; (8004078 <main+0x64>)
+ 8004068:	f7ff ff64 	bl	8003f34 <_ZN7Encoder10ResetCountEv>
     HAL_Delay(100);
- 8004066:	2064      	movs	r0, #100	; 0x64
- 8004068:	f7fc fac4 	bl	80005f4 <HAL_Delay>
-    meters += left_encoder.GetMeters();
- 800406c:	e7f0      	b.n	8004050 <main+0x3c>
- 800406e:	bf00      	nop
- 8004070:	20000068 	.word	0x20000068
- 8004074:	20000268 	.word	0x20000268
-
-08004078 <_Z18SystemClock_Configv>:
+ 800406c:	2064      	movs	r0, #100	; 0x64
+ 800406e:	f7fc fac1 	bl	80005f4 <HAL_Delay>
+    meters += left_encoder.GetCount();
+ 8004072:	e7e9      	b.n	8004048 <main+0x34>
+ 8004074:	20000068 	.word	0x20000068
+ 8004078:	20000268 	.word	0x20000268
+ 800407c:	20000284 	.word	0x20000284
+
+08004080 <_Z18SystemClock_Configv>:
 /**
   * @brief System Clock Configuration
   * @retval None
   */
 void SystemClock_Config(void)
 {
- 8004078:	b580      	push	{r7, lr}
- 800407a:	b0b8      	sub	sp, #224	; 0xe0
- 800407c:	af00      	add	r7, sp, #0
+ 8004080:	b580      	push	{r7, lr}
+ 8004082:	b0b8      	sub	sp, #224	; 0xe0
+ 8004084:	af00      	add	r7, sp, #0
   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
- 800407e:	f107 03ac 	add.w	r3, r7, #172	; 0xac
- 8004082:	2234      	movs	r2, #52	; 0x34
- 8004084:	2100      	movs	r1, #0
- 8004086:	4618      	mov	r0, r3
- 8004088:	f000 fe2a 	bl	8004ce0 <memset>
+ 8004086:	f107 03ac 	add.w	r3, r7, #172	; 0xac
+ 800408a:	2234      	movs	r2, #52	; 0x34
+ 800408c:	2100      	movs	r1, #0
+ 800408e:	4618      	mov	r0, r3
+ 8004090:	f000 fe2a 	bl	8004ce8 <memset>
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
- 800408c:	f107 0398 	add.w	r3, r7, #152	; 0x98
- 8004090:	2200      	movs	r2, #0
- 8004092:	601a      	str	r2, [r3, #0]
- 8004094:	605a      	str	r2, [r3, #4]
- 8004096:	609a      	str	r2, [r3, #8]
- 8004098:	60da      	str	r2, [r3, #12]
- 800409a:	611a      	str	r2, [r3, #16]
+ 8004094:	f107 0398 	add.w	r3, r7, #152	; 0x98
+ 8004098:	2200      	movs	r2, #0
+ 800409a:	601a      	str	r2, [r3, #0]
+ 800409c:	605a      	str	r2, [r3, #4]
+ 800409e:	609a      	str	r2, [r3, #8]
+ 80040a0:	60da      	str	r2, [r3, #12]
+ 80040a2:	611a      	str	r2, [r3, #16]
   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
- 800409c:	f107 0308 	add.w	r3, r7, #8
- 80040a0:	2290      	movs	r2, #144	; 0x90
- 80040a2:	2100      	movs	r1, #0
- 80040a4:	4618      	mov	r0, r3
- 80040a6:	f000 fe1b 	bl	8004ce0 <memset>
+ 80040a4:	f107 0308 	add.w	r3, r7, #8
+ 80040a8:	2290      	movs	r2, #144	; 0x90
+ 80040aa:	2100      	movs	r1, #0
+ 80040ac:	4618      	mov	r0, r3
+ 80040ae:	f000 fe1b 	bl	8004ce8 <memset>
 
   /** Configure the main internal regulator output voltage 
   */
   __HAL_RCC_PWR_CLK_ENABLE();
- 80040aa:	4b36      	ldr	r3, [pc, #216]	; (8004184 <_Z18SystemClock_Configv+0x10c>)
- 80040ac:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 80040ae:	4a35      	ldr	r2, [pc, #212]	; (8004184 <_Z18SystemClock_Configv+0x10c>)
- 80040b0:	f043 5380 	orr.w	r3, r3, #268435456	; 0x10000000
- 80040b4:	6413      	str	r3, [r2, #64]	; 0x40
- 80040b6:	4b33      	ldr	r3, [pc, #204]	; (8004184 <_Z18SystemClock_Configv+0x10c>)
- 80040b8:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 80040ba:	f003 5380 	and.w	r3, r3, #268435456	; 0x10000000
- 80040be:	607b      	str	r3, [r7, #4]
- 80040c0:	687b      	ldr	r3, [r7, #4]
+ 80040b2:	4b36      	ldr	r3, [pc, #216]	; (800418c <_Z18SystemClock_Configv+0x10c>)
+ 80040b4:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 80040b6:	4a35      	ldr	r2, [pc, #212]	; (800418c <_Z18SystemClock_Configv+0x10c>)
+ 80040b8:	f043 5380 	orr.w	r3, r3, #268435456	; 0x10000000
+ 80040bc:	6413      	str	r3, [r2, #64]	; 0x40
+ 80040be:	4b33      	ldr	r3, [pc, #204]	; (800418c <_Z18SystemClock_Configv+0x10c>)
+ 80040c0:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 80040c2:	f003 5380 	and.w	r3, r3, #268435456	; 0x10000000
+ 80040c6:	607b      	str	r3, [r7, #4]
+ 80040c8:	687b      	ldr	r3, [r7, #4]
   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
- 80040c2:	4b31      	ldr	r3, [pc, #196]	; (8004188 <_Z18SystemClock_Configv+0x110>)
- 80040c4:	681b      	ldr	r3, [r3, #0]
- 80040c6:	f423 4340 	bic.w	r3, r3, #49152	; 0xc000
- 80040ca:	4a2f      	ldr	r2, [pc, #188]	; (8004188 <_Z18SystemClock_Configv+0x110>)
- 80040cc:	f443 4380 	orr.w	r3, r3, #16384	; 0x4000
- 80040d0:	6013      	str	r3, [r2, #0]
- 80040d2:	4b2d      	ldr	r3, [pc, #180]	; (8004188 <_Z18SystemClock_Configv+0x110>)
- 80040d4:	681b      	ldr	r3, [r3, #0]
- 80040d6:	f403 4340 	and.w	r3, r3, #49152	; 0xc000
- 80040da:	603b      	str	r3, [r7, #0]
- 80040dc:	683b      	ldr	r3, [r7, #0]
+ 80040ca:	4b31      	ldr	r3, [pc, #196]	; (8004190 <_Z18SystemClock_Configv+0x110>)
+ 80040cc:	681b      	ldr	r3, [r3, #0]
+ 80040ce:	f423 4340 	bic.w	r3, r3, #49152	; 0xc000
+ 80040d2:	4a2f      	ldr	r2, [pc, #188]	; (8004190 <_Z18SystemClock_Configv+0x110>)
+ 80040d4:	f443 4380 	orr.w	r3, r3, #16384	; 0x4000
+ 80040d8:	6013      	str	r3, [r2, #0]
+ 80040da:	4b2d      	ldr	r3, [pc, #180]	; (8004190 <_Z18SystemClock_Configv+0x110>)
+ 80040dc:	681b      	ldr	r3, [r3, #0]
+ 80040de:	f403 4340 	and.w	r3, r3, #49152	; 0xc000
+ 80040e2:	603b      	str	r3, [r7, #0]
+ 80040e4:	683b      	ldr	r3, [r7, #0]
   /** Initializes the CPU, AHB and APB busses clocks 
   */
   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
- 80040de:	2302      	movs	r3, #2
- 80040e0:	f8c7 30ac 	str.w	r3, [r7, #172]	; 0xac
+ 80040e6:	2302      	movs	r3, #2
+ 80040e8:	f8c7 30ac 	str.w	r3, [r7, #172]	; 0xac
   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
- 80040e4:	2301      	movs	r3, #1
- 80040e6:	f8c7 30b8 	str.w	r3, [r7, #184]	; 0xb8
+ 80040ec:	2301      	movs	r3, #1
+ 80040ee:	f8c7 30b8 	str.w	r3, [r7, #184]	; 0xb8
   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
- 80040ea:	2310      	movs	r3, #16
- 80040ec:	f8c7 30bc 	str.w	r3, [r7, #188]	; 0xbc
+ 80040f2:	2310      	movs	r3, #16
+ 80040f4:	f8c7 30bc 	str.w	r3, [r7, #188]	; 0xbc
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
- 80040f0:	2300      	movs	r3, #0
- 80040f2:	f8c7 30c4 	str.w	r3, [r7, #196]	; 0xc4
+ 80040f8:	2300      	movs	r3, #0
+ 80040fa:	f8c7 30c4 	str.w	r3, [r7, #196]	; 0xc4
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
- 80040f6:	f107 03ac 	add.w	r3, r7, #172	; 0xac
- 80040fa:	4618      	mov	r0, r3
- 80040fc:	f7fd f87c 	bl	80011f8 <HAL_RCC_OscConfig>
- 8004100:	4603      	mov	r3, r0
- 8004102:	2b00      	cmp	r3, #0
- 8004104:	bf14      	ite	ne
- 8004106:	2301      	movne	r3, #1
- 8004108:	2300      	moveq	r3, #0
- 800410a:	b2db      	uxtb	r3, r3
- 800410c:	2b00      	cmp	r3, #0
- 800410e:	d001      	beq.n	8004114 <_Z18SystemClock_Configv+0x9c>
+ 80040fe:	f107 03ac 	add.w	r3, r7, #172	; 0xac
+ 8004102:	4618      	mov	r0, r3
+ 8004104:	f7fd f878 	bl	80011f8 <HAL_RCC_OscConfig>
+ 8004108:	4603      	mov	r3, r0
+ 800410a:	2b00      	cmp	r3, #0
+ 800410c:	bf14      	ite	ne
+ 800410e:	2301      	movne	r3, #1
+ 8004110:	2300      	moveq	r3, #0
+ 8004112:	b2db      	uxtb	r3, r3
+ 8004114:	2b00      	cmp	r3, #0
+ 8004116:	d001      	beq.n	800411c <_Z18SystemClock_Configv+0x9c>
   {
     Error_Handler();
- 8004110:	f000 fafc 	bl	800470c <Error_Handler>
+ 8004118:	f000 fafc 	bl	8004714 <Error_Handler>
   }
   /** Initializes the CPU, AHB and APB busses clocks 
   */
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
- 8004114:	230f      	movs	r3, #15
- 8004116:	f8c7 3098 	str.w	r3, [r7, #152]	; 0x98
+ 800411c:	230f      	movs	r3, #15
+ 800411e:	f8c7 3098 	str.w	r3, [r7, #152]	; 0x98
                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
- 800411a:	2300      	movs	r3, #0
- 800411c:	f8c7 309c 	str.w	r3, [r7, #156]	; 0x9c
+ 8004122:	2300      	movs	r3, #0
+ 8004124:	f8c7 309c 	str.w	r3, [r7, #156]	; 0x9c
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
- 8004120:	2300      	movs	r3, #0
- 8004122:	f8c7 30a0 	str.w	r3, [r7, #160]	; 0xa0
+ 8004128:	2300      	movs	r3, #0
+ 800412a:	f8c7 30a0 	str.w	r3, [r7, #160]	; 0xa0
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV8;
- 8004126:	f44f 53c0 	mov.w	r3, #6144	; 0x1800
- 800412a:	f8c7 30a4 	str.w	r3, [r7, #164]	; 0xa4
+ 800412e:	f44f 53c0 	mov.w	r3, #6144	; 0x1800
+ 8004132:	f8c7 30a4 	str.w	r3, [r7, #164]	; 0xa4
   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
- 800412e:	2300      	movs	r3, #0
- 8004130:	f8c7 30a8 	str.w	r3, [r7, #168]	; 0xa8
+ 8004136:	2300      	movs	r3, #0
+ 8004138:	f8c7 30a8 	str.w	r3, [r7, #168]	; 0xa8
 
   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
- 8004134:	f107 0398 	add.w	r3, r7, #152	; 0x98
- 8004138:	2100      	movs	r1, #0
- 800413a:	4618      	mov	r0, r3
- 800413c:	f7fd face 	bl	80016dc <HAL_RCC_ClockConfig>
- 8004140:	4603      	mov	r3, r0
- 8004142:	2b00      	cmp	r3, #0
- 8004144:	bf14      	ite	ne
- 8004146:	2301      	movne	r3, #1
- 8004148:	2300      	moveq	r3, #0
- 800414a:	b2db      	uxtb	r3, r3
- 800414c:	2b00      	cmp	r3, #0
- 800414e:	d001      	beq.n	8004154 <_Z18SystemClock_Configv+0xdc>
+ 800413c:	f107 0398 	add.w	r3, r7, #152	; 0x98
+ 8004140:	2100      	movs	r1, #0
+ 8004142:	4618      	mov	r0, r3
+ 8004144:	f7fd faca 	bl	80016dc <HAL_RCC_ClockConfig>
+ 8004148:	4603      	mov	r3, r0
+ 800414a:	2b00      	cmp	r3, #0
+ 800414c:	bf14      	ite	ne
+ 800414e:	2301      	movne	r3, #1
+ 8004150:	2300      	moveq	r3, #0
+ 8004152:	b2db      	uxtb	r3, r3
+ 8004154:	2b00      	cmp	r3, #0
+ 8004156:	d001      	beq.n	800415c <_Z18SystemClock_Configv+0xdc>
   {
     Error_Handler();
- 8004150:	f000 fadc 	bl	800470c <Error_Handler>
+ 8004158:	f000 fadc 	bl	8004714 <Error_Handler>
   }
   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART3;
- 8004154:	f44f 7380 	mov.w	r3, #256	; 0x100
- 8004158:	60bb      	str	r3, [r7, #8]
+ 800415c:	f44f 7380 	mov.w	r3, #256	; 0x100
+ 8004160:	60bb      	str	r3, [r7, #8]
   PeriphClkInitStruct.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1;
- 800415a:	2300      	movs	r3, #0
- 800415c:	657b      	str	r3, [r7, #84]	; 0x54
+ 8004162:	2300      	movs	r3, #0
+ 8004164:	657b      	str	r3, [r7, #84]	; 0x54
   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
- 800415e:	f107 0308 	add.w	r3, r7, #8
- 8004162:	4618      	mov	r0, r3
- 8004164:	f7fd fc88 	bl	8001a78 <HAL_RCCEx_PeriphCLKConfig>
- 8004168:	4603      	mov	r3, r0
- 800416a:	2b00      	cmp	r3, #0
- 800416c:	bf14      	ite	ne
- 800416e:	2301      	movne	r3, #1
- 8004170:	2300      	moveq	r3, #0
- 8004172:	b2db      	uxtb	r3, r3
- 8004174:	2b00      	cmp	r3, #0
- 8004176:	d001      	beq.n	800417c <_Z18SystemClock_Configv+0x104>
+ 8004166:	f107 0308 	add.w	r3, r7, #8
+ 800416a:	4618      	mov	r0, r3
+ 800416c:	f7fd fc84 	bl	8001a78 <HAL_RCCEx_PeriphCLKConfig>
+ 8004170:	4603      	mov	r3, r0
+ 8004172:	2b00      	cmp	r3, #0
+ 8004174:	bf14      	ite	ne
+ 8004176:	2301      	movne	r3, #1
+ 8004178:	2300      	moveq	r3, #0
+ 800417a:	b2db      	uxtb	r3, r3
+ 800417c:	2b00      	cmp	r3, #0
+ 800417e:	d001      	beq.n	8004184 <_Z18SystemClock_Configv+0x104>
   {
     Error_Handler();
- 8004178:	f000 fac8 	bl	800470c <Error_Handler>
+ 8004180:	f000 fac8 	bl	8004714 <Error_Handler>
   }
 }
- 800417c:	bf00      	nop
- 800417e:	37e0      	adds	r7, #224	; 0xe0
- 8004180:	46bd      	mov	sp, r7
- 8004182:	bd80      	pop	{r7, pc}
- 8004184:	40023800 	.word	0x40023800
- 8004188:	40007000 	.word	0x40007000
-
-0800418c <_ZL12MX_TIM2_Initv>:
+ 8004184:	bf00      	nop
+ 8004186:	37e0      	adds	r7, #224	; 0xe0
+ 8004188:	46bd      	mov	sp, r7
+ 800418a:	bd80      	pop	{r7, pc}
+ 800418c:	40023800 	.word	0x40023800
+ 8004190:	40007000 	.word	0x40007000
+
+08004194 <_ZL12MX_TIM2_Initv>:
   * @brief TIM2 Initialization Function
   * @param None
   * @retval None
   */
 static void MX_TIM2_Init(void)
 {
- 800418c:	b580      	push	{r7, lr}
- 800418e:	b08c      	sub	sp, #48	; 0x30
- 8004190:	af00      	add	r7, sp, #0
+ 8004194:	b580      	push	{r7, lr}
+ 8004196:	b08c      	sub	sp, #48	; 0x30
+ 8004198:	af00      	add	r7, sp, #0
 
   /* USER CODE BEGIN TIM2_Init 0 */
 
   /* USER CODE END TIM2_Init 0 */
 
   TIM_Encoder_InitTypeDef sConfig = {0};
- 8004192:	f107 030c 	add.w	r3, r7, #12
- 8004196:	2224      	movs	r2, #36	; 0x24
- 8004198:	2100      	movs	r1, #0
- 800419a:	4618      	mov	r0, r3
- 800419c:	f000 fda0 	bl	8004ce0 <memset>
+ 800419a:	f107 030c 	add.w	r3, r7, #12
+ 800419e:	2224      	movs	r2, #36	; 0x24
+ 80041a0:	2100      	movs	r1, #0
+ 80041a2:	4618      	mov	r0, r3
+ 80041a4:	f000 fda0 	bl	8004ce8 <memset>
   TIM_MasterConfigTypeDef sMasterConfig = {0};
- 80041a0:	463b      	mov	r3, r7
- 80041a2:	2200      	movs	r2, #0
- 80041a4:	601a      	str	r2, [r3, #0]
- 80041a6:	605a      	str	r2, [r3, #4]
- 80041a8:	609a      	str	r2, [r3, #8]
+ 80041a8:	463b      	mov	r3, r7
+ 80041aa:	2200      	movs	r2, #0
+ 80041ac:	601a      	str	r2, [r3, #0]
+ 80041ae:	605a      	str	r2, [r3, #4]
+ 80041b0:	609a      	str	r2, [r3, #8]
 
   /* USER CODE BEGIN TIM2_Init 1 */
 
   /* USER CODE END TIM2_Init 1 */
   htim2.Instance = TIM2;
- 80041aa:	4b26      	ldr	r3, [pc, #152]	; (8004244 <_ZL12MX_TIM2_Initv+0xb8>)
- 80041ac:	f04f 4280 	mov.w	r2, #1073741824	; 0x40000000
- 80041b0:	601a      	str	r2, [r3, #0]
+ 80041b2:	4b26      	ldr	r3, [pc, #152]	; (800424c <_ZL12MX_TIM2_Initv+0xb8>)
+ 80041b4:	f04f 4280 	mov.w	r2, #1073741824	; 0x40000000
+ 80041b8:	601a      	str	r2, [r3, #0]
   htim2.Init.Prescaler = 0;
- 80041b2:	4b24      	ldr	r3, [pc, #144]	; (8004244 <_ZL12MX_TIM2_Initv+0xb8>)
- 80041b4:	2200      	movs	r2, #0
- 80041b6:	605a      	str	r2, [r3, #4]
+ 80041ba:	4b24      	ldr	r3, [pc, #144]	; (800424c <_ZL12MX_TIM2_Initv+0xb8>)
+ 80041bc:	2200      	movs	r2, #0
+ 80041be:	605a      	str	r2, [r3, #4]
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
- 80041b8:	4b22      	ldr	r3, [pc, #136]	; (8004244 <_ZL12MX_TIM2_Initv+0xb8>)
- 80041ba:	2200      	movs	r2, #0
- 80041bc:	609a      	str	r2, [r3, #8]
+ 80041c0:	4b22      	ldr	r3, [pc, #136]	; (800424c <_ZL12MX_TIM2_Initv+0xb8>)
+ 80041c2:	2200      	movs	r2, #0
+ 80041c4:	609a      	str	r2, [r3, #8]
   htim2.Init.Period = 4294967295;
- 80041be:	4b21      	ldr	r3, [pc, #132]	; (8004244 <_ZL12MX_TIM2_Initv+0xb8>)
- 80041c0:	f04f 32ff 	mov.w	r2, #4294967295	; 0xffffffff
- 80041c4:	60da      	str	r2, [r3, #12]
+ 80041c6:	4b21      	ldr	r3, [pc, #132]	; (800424c <_ZL12MX_TIM2_Initv+0xb8>)
+ 80041c8:	f04f 32ff 	mov.w	r2, #4294967295	; 0xffffffff
+ 80041cc:	60da      	str	r2, [r3, #12]
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
- 80041c6:	4b1f      	ldr	r3, [pc, #124]	; (8004244 <_ZL12MX_TIM2_Initv+0xb8>)
- 80041c8:	2200      	movs	r2, #0
- 80041ca:	611a      	str	r2, [r3, #16]
+ 80041ce:	4b1f      	ldr	r3, [pc, #124]	; (800424c <_ZL12MX_TIM2_Initv+0xb8>)
+ 80041d0:	2200      	movs	r2, #0
+ 80041d2:	611a      	str	r2, [r3, #16]
   htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
- 80041cc:	4b1d      	ldr	r3, [pc, #116]	; (8004244 <_ZL12MX_TIM2_Initv+0xb8>)
- 80041ce:	2200      	movs	r2, #0
- 80041d0:	619a      	str	r2, [r3, #24]
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
- 80041d2:	2301      	movs	r3, #1
- 80041d4:	60fb      	str	r3, [r7, #12]
+ 80041d4:	4b1d      	ldr	r3, [pc, #116]	; (800424c <_ZL12MX_TIM2_Initv+0xb8>)
+ 80041d6:	2200      	movs	r2, #0
+ 80041d8:	619a      	str	r2, [r3, #24]
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
+ 80041da:	2303      	movs	r3, #3
+ 80041dc:	60fb      	str	r3, [r7, #12]
   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
- 80041d6:	2300      	movs	r3, #0
- 80041d8:	613b      	str	r3, [r7, #16]
+ 80041de:	2300      	movs	r3, #0
+ 80041e0:	613b      	str	r3, [r7, #16]
   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
- 80041da:	2301      	movs	r3, #1
- 80041dc:	617b      	str	r3, [r7, #20]
+ 80041e2:	2301      	movs	r3, #1
+ 80041e4:	617b      	str	r3, [r7, #20]
   sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
- 80041de:	2300      	movs	r3, #0
- 80041e0:	61bb      	str	r3, [r7, #24]
+ 80041e6:	2300      	movs	r3, #0
+ 80041e8:	61bb      	str	r3, [r7, #24]
   sConfig.IC1Filter = 0;
- 80041e2:	2300      	movs	r3, #0
- 80041e4:	61fb      	str	r3, [r7, #28]
+ 80041ea:	2300      	movs	r3, #0
+ 80041ec:	61fb      	str	r3, [r7, #28]
   sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
- 80041e6:	2300      	movs	r3, #0
- 80041e8:	623b      	str	r3, [r7, #32]
+ 80041ee:	2300      	movs	r3, #0
+ 80041f0:	623b      	str	r3, [r7, #32]
   sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
- 80041ea:	2301      	movs	r3, #1
- 80041ec:	627b      	str	r3, [r7, #36]	; 0x24
+ 80041f2:	2301      	movs	r3, #1
+ 80041f4:	627b      	str	r3, [r7, #36]	; 0x24
   sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
- 80041ee:	2300      	movs	r3, #0
- 80041f0:	62bb      	str	r3, [r7, #40]	; 0x28
+ 80041f6:	2300      	movs	r3, #0
+ 80041f8:	62bb      	str	r3, [r7, #40]	; 0x28
   sConfig.IC2Filter = 0;
- 80041f2:	2300      	movs	r3, #0
- 80041f4:	62fb      	str	r3, [r7, #44]	; 0x2c
+ 80041fa:	2300      	movs	r3, #0
+ 80041fc:	62fb      	str	r3, [r7, #44]	; 0x2c
   if (HAL_TIM_Encoder_Init(&htim2, &sConfig) != HAL_OK)
- 80041f6:	f107 030c 	add.w	r3, r7, #12
- 80041fa:	4619      	mov	r1, r3
- 80041fc:	4811      	ldr	r0, [pc, #68]	; (8004244 <_ZL12MX_TIM2_Initv+0xb8>)
- 80041fe:	f7fe f8e3 	bl	80023c8 <HAL_TIM_Encoder_Init>
- 8004202:	4603      	mov	r3, r0
- 8004204:	2b00      	cmp	r3, #0
- 8004206:	bf14      	ite	ne
- 8004208:	2301      	movne	r3, #1
- 800420a:	2300      	moveq	r3, #0
- 800420c:	b2db      	uxtb	r3, r3
- 800420e:	2b00      	cmp	r3, #0
- 8004210:	d001      	beq.n	8004216 <_ZL12MX_TIM2_Initv+0x8a>
+ 80041fe:	f107 030c 	add.w	r3, r7, #12
+ 8004202:	4619      	mov	r1, r3
+ 8004204:	4811      	ldr	r0, [pc, #68]	; (800424c <_ZL12MX_TIM2_Initv+0xb8>)
+ 8004206:	f7fe f8df 	bl	80023c8 <HAL_TIM_Encoder_Init>
+ 800420a:	4603      	mov	r3, r0
+ 800420c:	2b00      	cmp	r3, #0
+ 800420e:	bf14      	ite	ne
+ 8004210:	2301      	movne	r3, #1
+ 8004212:	2300      	moveq	r3, #0
+ 8004214:	b2db      	uxtb	r3, r3
+ 8004216:	2b00      	cmp	r3, #0
+ 8004218:	d001      	beq.n	800421e <_ZL12MX_TIM2_Initv+0x8a>
   {
     Error_Handler();
- 8004212:	f000 fa7b 	bl	800470c <Error_Handler>
+ 800421a:	f000 fa7b 	bl	8004714 <Error_Handler>
   }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
- 8004216:	2300      	movs	r3, #0
- 8004218:	603b      	str	r3, [r7, #0]
+ 800421e:	2300      	movs	r3, #0
+ 8004220:	603b      	str	r3, [r7, #0]
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
- 800421a:	2300      	movs	r3, #0
- 800421c:	60bb      	str	r3, [r7, #8]
+ 8004222:	2300      	movs	r3, #0
+ 8004224:	60bb      	str	r3, [r7, #8]
   if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
- 800421e:	463b      	mov	r3, r7
- 8004220:	4619      	mov	r1, r3
- 8004222:	4808      	ldr	r0, [pc, #32]	; (8004244 <_ZL12MX_TIM2_Initv+0xb8>)
- 8004224:	f7ff f870 	bl	8003308 <HAL_TIMEx_MasterConfigSynchronization>
- 8004228:	4603      	mov	r3, r0
- 800422a:	2b00      	cmp	r3, #0
- 800422c:	bf14      	ite	ne
- 800422e:	2301      	movne	r3, #1
- 8004230:	2300      	moveq	r3, #0
- 8004232:	b2db      	uxtb	r3, r3
- 8004234:	2b00      	cmp	r3, #0
- 8004236:	d001      	beq.n	800423c <_ZL12MX_TIM2_Initv+0xb0>
+ 8004226:	463b      	mov	r3, r7
+ 8004228:	4619      	mov	r1, r3
+ 800422a:	4808      	ldr	r0, [pc, #32]	; (800424c <_ZL12MX_TIM2_Initv+0xb8>)
+ 800422c:	f7ff f86c 	bl	8003308 <HAL_TIMEx_MasterConfigSynchronization>
+ 8004230:	4603      	mov	r3, r0
+ 8004232:	2b00      	cmp	r3, #0
+ 8004234:	bf14      	ite	ne
+ 8004236:	2301      	movne	r3, #1
+ 8004238:	2300      	moveq	r3, #0
+ 800423a:	b2db      	uxtb	r3, r3
+ 800423c:	2b00      	cmp	r3, #0
+ 800423e:	d001      	beq.n	8004244 <_ZL12MX_TIM2_Initv+0xb0>
   {
     Error_Handler();
- 8004238:	f000 fa68 	bl	800470c <Error_Handler>
+ 8004240:	f000 fa68 	bl	8004714 <Error_Handler>
   }
   /* USER CODE BEGIN TIM2_Init 2 */
 
   /* USER CODE END TIM2_Init 2 */
 
 }
- 800423c:	bf00      	nop
- 800423e:	3730      	adds	r7, #48	; 0x30
- 8004240:	46bd      	mov	sp, r7
- 8004242:	bd80      	pop	{r7, pc}
- 8004244:	20000028 	.word	0x20000028
+ 8004244:	bf00      	nop
+ 8004246:	3730      	adds	r7, #48	; 0x30
+ 8004248:	46bd      	mov	sp, r7
+ 800424a:	bd80      	pop	{r7, pc}
+ 800424c:	20000028 	.word	0x20000028
 
-08004248 <_ZL12MX_TIM3_Initv>:
+08004250 <_ZL12MX_TIM3_Initv>:
   * @brief TIM3 Initialization Function
   * @param None
   * @retval None
   */
 static void MX_TIM3_Init(void)
 {
- 8004248:	b580      	push	{r7, lr}
- 800424a:	b088      	sub	sp, #32
- 800424c:	af00      	add	r7, sp, #0
+ 8004250:	b580      	push	{r7, lr}
+ 8004252:	b088      	sub	sp, #32
+ 8004254:	af00      	add	r7, sp, #0
 
   /* USER CODE BEGIN TIM3_Init 0 */
 
   /* USER CODE END TIM3_Init 0 */
 
   TIM_ClockConfigTypeDef sClockSourceConfig = {0};
- 800424e:	f107 0310 	add.w	r3, r7, #16
- 8004252:	2200      	movs	r2, #0
- 8004254:	601a      	str	r2, [r3, #0]
- 8004256:	605a      	str	r2, [r3, #4]
- 8004258:	609a      	str	r2, [r3, #8]
- 800425a:	60da      	str	r2, [r3, #12]
+ 8004256:	f107 0310 	add.w	r3, r7, #16
+ 800425a:	2200      	movs	r2, #0
+ 800425c:	601a      	str	r2, [r3, #0]
+ 800425e:	605a      	str	r2, [r3, #4]
+ 8004260:	609a      	str	r2, [r3, #8]
+ 8004262:	60da      	str	r2, [r3, #12]
   TIM_MasterConfigTypeDef sMasterConfig = {0};
- 800425c:	1d3b      	adds	r3, r7, #4
- 800425e:	2200      	movs	r2, #0
- 8004260:	601a      	str	r2, [r3, #0]
- 8004262:	605a      	str	r2, [r3, #4]
- 8004264:	609a      	str	r2, [r3, #8]
+ 8004264:	1d3b      	adds	r3, r7, #4
+ 8004266:	2200      	movs	r2, #0
+ 8004268:	601a      	str	r2, [r3, #0]
+ 800426a:	605a      	str	r2, [r3, #4]
+ 800426c:	609a      	str	r2, [r3, #8]
 
   /* USER CODE BEGIN TIM3_Init 1 */
 
   /* USER CODE END TIM3_Init 1 */
   htim3.Instance = TIM3;
- 8004266:	4b25      	ldr	r3, [pc, #148]	; (80042fc <_ZL12MX_TIM3_Initv+0xb4>)
- 8004268:	4a25      	ldr	r2, [pc, #148]	; (8004300 <_ZL12MX_TIM3_Initv+0xb8>)
- 800426a:	601a      	str	r2, [r3, #0]
+ 800426e:	4b25      	ldr	r3, [pc, #148]	; (8004304 <_ZL12MX_TIM3_Initv+0xb4>)
+ 8004270:	4a25      	ldr	r2, [pc, #148]	; (8004308 <_ZL12MX_TIM3_Initv+0xb8>)
+ 8004272:	601a      	str	r2, [r3, #0]
   htim3.Init.Prescaler = 39999;
- 800426c:	4b23      	ldr	r3, [pc, #140]	; (80042fc <_ZL12MX_TIM3_Initv+0xb4>)
- 800426e:	f649 423f 	movw	r2, #39999	; 0x9c3f
- 8004272:	605a      	str	r2, [r3, #4]
+ 8004274:	4b23      	ldr	r3, [pc, #140]	; (8004304 <_ZL12MX_TIM3_Initv+0xb4>)
+ 8004276:	f649 423f 	movw	r2, #39999	; 0x9c3f
+ 800427a:	605a      	str	r2, [r3, #4]
   htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
- 8004274:	4b21      	ldr	r3, [pc, #132]	; (80042fc <_ZL12MX_TIM3_Initv+0xb4>)
- 8004276:	2200      	movs	r2, #0
- 8004278:	609a      	str	r2, [r3, #8]
+ 800427c:	4b21      	ldr	r3, [pc, #132]	; (8004304 <_ZL12MX_TIM3_Initv+0xb4>)
+ 800427e:	2200      	movs	r2, #0
+ 8004280:	609a      	str	r2, [r3, #8]
   htim3.Init.Period = 9;
- 800427a:	4b20      	ldr	r3, [pc, #128]	; (80042fc <_ZL12MX_TIM3_Initv+0xb4>)
- 800427c:	2209      	movs	r2, #9
- 800427e:	60da      	str	r2, [r3, #12]
+ 8004282:	4b20      	ldr	r3, [pc, #128]	; (8004304 <_ZL12MX_TIM3_Initv+0xb4>)
+ 8004284:	2209      	movs	r2, #9
+ 8004286:	60da      	str	r2, [r3, #12]
   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
- 8004280:	4b1e      	ldr	r3, [pc, #120]	; (80042fc <_ZL12MX_TIM3_Initv+0xb4>)
- 8004282:	2200      	movs	r2, #0
- 8004284:	611a      	str	r2, [r3, #16]
+ 8004288:	4b1e      	ldr	r3, [pc, #120]	; (8004304 <_ZL12MX_TIM3_Initv+0xb4>)
+ 800428a:	2200      	movs	r2, #0
+ 800428c:	611a      	str	r2, [r3, #16]
   htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
- 8004286:	4b1d      	ldr	r3, [pc, #116]	; (80042fc <_ZL12MX_TIM3_Initv+0xb4>)
- 8004288:	2200      	movs	r2, #0
- 800428a:	619a      	str	r2, [r3, #24]
+ 800428e:	4b1d      	ldr	r3, [pc, #116]	; (8004304 <_ZL12MX_TIM3_Initv+0xb4>)
+ 8004290:	2200      	movs	r2, #0
+ 8004292:	619a      	str	r2, [r3, #24]
   if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
- 800428c:	481b      	ldr	r0, [pc, #108]	; (80042fc <_ZL12MX_TIM3_Initv+0xb4>)
- 800428e:	f7fe f819 	bl	80022c4 <HAL_TIM_Base_Init>
- 8004292:	4603      	mov	r3, r0
- 8004294:	2b00      	cmp	r3, #0
- 8004296:	bf14      	ite	ne
- 8004298:	2301      	movne	r3, #1
- 800429a:	2300      	moveq	r3, #0
- 800429c:	b2db      	uxtb	r3, r3
- 800429e:	2b00      	cmp	r3, #0
- 80042a0:	d001      	beq.n	80042a6 <_ZL12MX_TIM3_Initv+0x5e>
+ 8004294:	481b      	ldr	r0, [pc, #108]	; (8004304 <_ZL12MX_TIM3_Initv+0xb4>)
+ 8004296:	f7fe f815 	bl	80022c4 <HAL_TIM_Base_Init>
+ 800429a:	4603      	mov	r3, r0
+ 800429c:	2b00      	cmp	r3, #0
+ 800429e:	bf14      	ite	ne
+ 80042a0:	2301      	movne	r3, #1
+ 80042a2:	2300      	moveq	r3, #0
+ 80042a4:	b2db      	uxtb	r3, r3
+ 80042a6:	2b00      	cmp	r3, #0
+ 80042a8:	d001      	beq.n	80042ae <_ZL12MX_TIM3_Initv+0x5e>
   {
     Error_Handler();
- 80042a2:	f000 fa33 	bl	800470c <Error_Handler>
+ 80042aa:	f000 fa33 	bl	8004714 <Error_Handler>
   }
   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
- 80042a6:	f44f 5380 	mov.w	r3, #4096	; 0x1000
- 80042aa:	613b      	str	r3, [r7, #16]
+ 80042ae:	f44f 5380 	mov.w	r3, #4096	; 0x1000
+ 80042b2:	613b      	str	r3, [r7, #16]
   if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
- 80042ac:	f107 0310 	add.w	r3, r7, #16
- 80042b0:	4619      	mov	r1, r3
- 80042b2:	4812      	ldr	r0, [pc, #72]	; (80042fc <_ZL12MX_TIM3_Initv+0xb4>)
- 80042b4:	f7fe fb88 	bl	80029c8 <HAL_TIM_ConfigClockSource>
- 80042b8:	4603      	mov	r3, r0
- 80042ba:	2b00      	cmp	r3, #0
- 80042bc:	bf14      	ite	ne
- 80042be:	2301      	movne	r3, #1
- 80042c0:	2300      	moveq	r3, #0
- 80042c2:	b2db      	uxtb	r3, r3
- 80042c4:	2b00      	cmp	r3, #0
- 80042c6:	d001      	beq.n	80042cc <_ZL12MX_TIM3_Initv+0x84>
+ 80042b4:	f107 0310 	add.w	r3, r7, #16
+ 80042b8:	4619      	mov	r1, r3
+ 80042ba:	4812      	ldr	r0, [pc, #72]	; (8004304 <_ZL12MX_TIM3_Initv+0xb4>)
+ 80042bc:	f7fe fb84 	bl	80029c8 <HAL_TIM_ConfigClockSource>
+ 80042c0:	4603      	mov	r3, r0
+ 80042c2:	2b00      	cmp	r3, #0
+ 80042c4:	bf14      	ite	ne
+ 80042c6:	2301      	movne	r3, #1
+ 80042c8:	2300      	moveq	r3, #0
+ 80042ca:	b2db      	uxtb	r3, r3
+ 80042cc:	2b00      	cmp	r3, #0
+ 80042ce:	d001      	beq.n	80042d4 <_ZL12MX_TIM3_Initv+0x84>
   {
     Error_Handler();
- 80042c8:	f000 fa20 	bl	800470c <Error_Handler>
+ 80042d0:	f000 fa20 	bl	8004714 <Error_Handler>
   }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
- 80042cc:	2300      	movs	r3, #0
- 80042ce:	607b      	str	r3, [r7, #4]
+ 80042d4:	2300      	movs	r3, #0
+ 80042d6:	607b      	str	r3, [r7, #4]
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
- 80042d0:	2300      	movs	r3, #0
- 80042d2:	60fb      	str	r3, [r7, #12]
+ 80042d8:	2300      	movs	r3, #0
+ 80042da:	60fb      	str	r3, [r7, #12]
   if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
- 80042d4:	1d3b      	adds	r3, r7, #4
- 80042d6:	4619      	mov	r1, r3
- 80042d8:	4808      	ldr	r0, [pc, #32]	; (80042fc <_ZL12MX_TIM3_Initv+0xb4>)
- 80042da:	f7ff f815 	bl	8003308 <HAL_TIMEx_MasterConfigSynchronization>
- 80042de:	4603      	mov	r3, r0
- 80042e0:	2b00      	cmp	r3, #0
- 80042e2:	bf14      	ite	ne
- 80042e4:	2301      	movne	r3, #1
- 80042e6:	2300      	moveq	r3, #0
- 80042e8:	b2db      	uxtb	r3, r3
- 80042ea:	2b00      	cmp	r3, #0
- 80042ec:	d001      	beq.n	80042f2 <_ZL12MX_TIM3_Initv+0xaa>
+ 80042dc:	1d3b      	adds	r3, r7, #4
+ 80042de:	4619      	mov	r1, r3
+ 80042e0:	4808      	ldr	r0, [pc, #32]	; (8004304 <_ZL12MX_TIM3_Initv+0xb4>)
+ 80042e2:	f7ff f811 	bl	8003308 <HAL_TIMEx_MasterConfigSynchronization>
+ 80042e6:	4603      	mov	r3, r0
+ 80042e8:	2b00      	cmp	r3, #0
+ 80042ea:	bf14      	ite	ne
+ 80042ec:	2301      	movne	r3, #1
+ 80042ee:	2300      	moveq	r3, #0
+ 80042f0:	b2db      	uxtb	r3, r3
+ 80042f2:	2b00      	cmp	r3, #0
+ 80042f4:	d001      	beq.n	80042fa <_ZL12MX_TIM3_Initv+0xaa>
   {
     Error_Handler();
- 80042ee:	f000 fa0d 	bl	800470c <Error_Handler>
+ 80042f6:	f000 fa0d 	bl	8004714 <Error_Handler>
   }
   /* USER CODE BEGIN TIM3_Init 2 */
 
   /* USER CODE END TIM3_Init 2 */
 
 }
- 80042f2:	bf00      	nop
- 80042f4:	3720      	adds	r7, #32
- 80042f6:	46bd      	mov	sp, r7
- 80042f8:	bd80      	pop	{r7, pc}
  80042fa:	bf00      	nop
- 80042fc:	20000068 	.word	0x20000068
- 8004300:	40000400 	.word	0x40000400
-
-08004304 <_ZL12MX_TIM4_Initv>:
+ 80042fc:	3720      	adds	r7, #32
+ 80042fe:	46bd      	mov	sp, r7
+ 8004300:	bd80      	pop	{r7, pc}
+ 8004302:	bf00      	nop
+ 8004304:	20000068 	.word	0x20000068
+ 8004308:	40000400 	.word	0x40000400
+
+0800430c <_ZL12MX_TIM4_Initv>:
   * @brief TIM4 Initialization Function
   * @param None
   * @retval None
   */
 static void MX_TIM4_Init(void)
 {
- 8004304:	b580      	push	{r7, lr}
- 8004306:	b08a      	sub	sp, #40	; 0x28
- 8004308:	af00      	add	r7, sp, #0
+ 800430c:	b580      	push	{r7, lr}
+ 800430e:	b08a      	sub	sp, #40	; 0x28
+ 8004310:	af00      	add	r7, sp, #0
 
   /* USER CODE BEGIN TIM4_Init 0 */
 
   /* USER CODE END TIM4_Init 0 */
 
   TIM_MasterConfigTypeDef sMasterConfig = {0};
- 800430a:	f107 031c 	add.w	r3, r7, #28
- 800430e:	2200      	movs	r2, #0
- 8004310:	601a      	str	r2, [r3, #0]
- 8004312:	605a      	str	r2, [r3, #4]
- 8004314:	609a      	str	r2, [r3, #8]
+ 8004312:	f107 031c 	add.w	r3, r7, #28
+ 8004316:	2200      	movs	r2, #0
+ 8004318:	601a      	str	r2, [r3, #0]
+ 800431a:	605a      	str	r2, [r3, #4]
+ 800431c:	609a      	str	r2, [r3, #8]
   TIM_OC_InitTypeDef sConfigOC = {0};
- 8004316:	463b      	mov	r3, r7
- 8004318:	2200      	movs	r2, #0
- 800431a:	601a      	str	r2, [r3, #0]
- 800431c:	605a      	str	r2, [r3, #4]
- 800431e:	609a      	str	r2, [r3, #8]
- 8004320:	60da      	str	r2, [r3, #12]
- 8004322:	611a      	str	r2, [r3, #16]
- 8004324:	615a      	str	r2, [r3, #20]
- 8004326:	619a      	str	r2, [r3, #24]
+ 800431e:	463b      	mov	r3, r7
+ 8004320:	2200      	movs	r2, #0
+ 8004322:	601a      	str	r2, [r3, #0]
+ 8004324:	605a      	str	r2, [r3, #4]
+ 8004326:	609a      	str	r2, [r3, #8]
+ 8004328:	60da      	str	r2, [r3, #12]
+ 800432a:	611a      	str	r2, [r3, #16]
+ 800432c:	615a      	str	r2, [r3, #20]
+ 800432e:	619a      	str	r2, [r3, #24]
 
   /* USER CODE BEGIN TIM4_Init 1 */
 
   /* USER CODE END TIM4_Init 1 */
   htim4.Instance = TIM4;
- 8004328:	4b30      	ldr	r3, [pc, #192]	; (80043ec <_ZL12MX_TIM4_Initv+0xe8>)
- 800432a:	4a31      	ldr	r2, [pc, #196]	; (80043f0 <_ZL12MX_TIM4_Initv+0xec>)
- 800432c:	601a      	str	r2, [r3, #0]
+ 8004330:	4b30      	ldr	r3, [pc, #192]	; (80043f4 <_ZL12MX_TIM4_Initv+0xe8>)
+ 8004332:	4a31      	ldr	r2, [pc, #196]	; (80043f8 <_ZL12MX_TIM4_Initv+0xec>)
+ 8004334:	601a      	str	r2, [r3, #0]
   htim4.Init.Prescaler = 0;
- 800432e:	4b2f      	ldr	r3, [pc, #188]	; (80043ec <_ZL12MX_TIM4_Initv+0xe8>)
- 8004330:	2200      	movs	r2, #0
- 8004332:	605a      	str	r2, [r3, #4]
+ 8004336:	4b2f      	ldr	r3, [pc, #188]	; (80043f4 <_ZL12MX_TIM4_Initv+0xe8>)
+ 8004338:	2200      	movs	r2, #0
+ 800433a:	605a      	str	r2, [r3, #4]
   htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
- 8004334:	4b2d      	ldr	r3, [pc, #180]	; (80043ec <_ZL12MX_TIM4_Initv+0xe8>)
- 8004336:	2200      	movs	r2, #0
- 8004338:	609a      	str	r2, [r3, #8]
+ 800433c:	4b2d      	ldr	r3, [pc, #180]	; (80043f4 <_ZL12MX_TIM4_Initv+0xe8>)
+ 800433e:	2200      	movs	r2, #0
+ 8004340:	609a      	str	r2, [r3, #8]
   htim4.Init.Period = 0;
- 800433a:	4b2c      	ldr	r3, [pc, #176]	; (80043ec <_ZL12MX_TIM4_Initv+0xe8>)
- 800433c:	2200      	movs	r2, #0
- 800433e:	60da      	str	r2, [r3, #12]
+ 8004342:	4b2c      	ldr	r3, [pc, #176]	; (80043f4 <_ZL12MX_TIM4_Initv+0xe8>)
+ 8004344:	2200      	movs	r2, #0
+ 8004346:	60da      	str	r2, [r3, #12]
   htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
- 8004340:	4b2a      	ldr	r3, [pc, #168]	; (80043ec <_ZL12MX_TIM4_Initv+0xe8>)
- 8004342:	2200      	movs	r2, #0
- 8004344:	611a      	str	r2, [r3, #16]
+ 8004348:	4b2a      	ldr	r3, [pc, #168]	; (80043f4 <_ZL12MX_TIM4_Initv+0xe8>)
+ 800434a:	2200      	movs	r2, #0
+ 800434c:	611a      	str	r2, [r3, #16]
   htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
- 8004346:	4b29      	ldr	r3, [pc, #164]	; (80043ec <_ZL12MX_TIM4_Initv+0xe8>)
- 8004348:	2200      	movs	r2, #0
- 800434a:	619a      	str	r2, [r3, #24]
+ 800434e:	4b29      	ldr	r3, [pc, #164]	; (80043f4 <_ZL12MX_TIM4_Initv+0xe8>)
+ 8004350:	2200      	movs	r2, #0
+ 8004352:	619a      	str	r2, [r3, #24]
   if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
- 800434c:	4827      	ldr	r0, [pc, #156]	; (80043ec <_ZL12MX_TIM4_Initv+0xe8>)
- 800434e:	f7fe f80f 	bl	8002370 <HAL_TIM_PWM_Init>
- 8004352:	4603      	mov	r3, r0
- 8004354:	2b00      	cmp	r3, #0
- 8004356:	bf14      	ite	ne
- 8004358:	2301      	movne	r3, #1
- 800435a:	2300      	moveq	r3, #0
- 800435c:	b2db      	uxtb	r3, r3
- 800435e:	2b00      	cmp	r3, #0
- 8004360:	d001      	beq.n	8004366 <_ZL12MX_TIM4_Initv+0x62>
+ 8004354:	4827      	ldr	r0, [pc, #156]	; (80043f4 <_ZL12MX_TIM4_Initv+0xe8>)
+ 8004356:	f7fe f80b 	bl	8002370 <HAL_TIM_PWM_Init>
+ 800435a:	4603      	mov	r3, r0
+ 800435c:	2b00      	cmp	r3, #0
+ 800435e:	bf14      	ite	ne
+ 8004360:	2301      	movne	r3, #1
+ 8004362:	2300      	moveq	r3, #0
+ 8004364:	b2db      	uxtb	r3, r3
+ 8004366:	2b00      	cmp	r3, #0
+ 8004368:	d001      	beq.n	800436e <_ZL12MX_TIM4_Initv+0x62>
   {
     Error_Handler();
- 8004362:	f000 f9d3 	bl	800470c <Error_Handler>
+ 800436a:	f000 f9d3 	bl	8004714 <Error_Handler>
   }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
- 8004366:	2300      	movs	r3, #0
- 8004368:	61fb      	str	r3, [r7, #28]
+ 800436e:	2300      	movs	r3, #0
+ 8004370:	61fb      	str	r3, [r7, #28]
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
- 800436a:	2300      	movs	r3, #0
- 800436c:	627b      	str	r3, [r7, #36]	; 0x24
+ 8004372:	2300      	movs	r3, #0
+ 8004374:	627b      	str	r3, [r7, #36]	; 0x24
   if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
- 800436e:	f107 031c 	add.w	r3, r7, #28
- 8004372:	4619      	mov	r1, r3
- 8004374:	481d      	ldr	r0, [pc, #116]	; (80043ec <_ZL12MX_TIM4_Initv+0xe8>)
- 8004376:	f7fe ffc7 	bl	8003308 <HAL_TIMEx_MasterConfigSynchronization>
- 800437a:	4603      	mov	r3, r0
- 800437c:	2b00      	cmp	r3, #0
- 800437e:	bf14      	ite	ne
- 8004380:	2301      	movne	r3, #1
- 8004382:	2300      	moveq	r3, #0
- 8004384:	b2db      	uxtb	r3, r3
- 8004386:	2b00      	cmp	r3, #0
- 8004388:	d001      	beq.n	800438e <_ZL12MX_TIM4_Initv+0x8a>
+ 8004376:	f107 031c 	add.w	r3, r7, #28
+ 800437a:	4619      	mov	r1, r3
+ 800437c:	481d      	ldr	r0, [pc, #116]	; (80043f4 <_ZL12MX_TIM4_Initv+0xe8>)
+ 800437e:	f7fe ffc3 	bl	8003308 <HAL_TIMEx_MasterConfigSynchronization>
+ 8004382:	4603      	mov	r3, r0
+ 8004384:	2b00      	cmp	r3, #0
+ 8004386:	bf14      	ite	ne
+ 8004388:	2301      	movne	r3, #1
+ 800438a:	2300      	moveq	r3, #0
+ 800438c:	b2db      	uxtb	r3, r3
+ 800438e:	2b00      	cmp	r3, #0
+ 8004390:	d001      	beq.n	8004396 <_ZL12MX_TIM4_Initv+0x8a>
   {
     Error_Handler();
- 800438a:	f000 f9bf 	bl	800470c <Error_Handler>
+ 8004392:	f000 f9bf 	bl	8004714 <Error_Handler>
   }
   sConfigOC.OCMode = TIM_OCMODE_PWM1;
- 800438e:	2360      	movs	r3, #96	; 0x60
- 8004390:	603b      	str	r3, [r7, #0]
+ 8004396:	2360      	movs	r3, #96	; 0x60
+ 8004398:	603b      	str	r3, [r7, #0]
   sConfigOC.Pulse = 0;
- 8004392:	2300      	movs	r3, #0
- 8004394:	607b      	str	r3, [r7, #4]
+ 800439a:	2300      	movs	r3, #0
+ 800439c:	607b      	str	r3, [r7, #4]
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
- 8004396:	2300      	movs	r3, #0
- 8004398:	60bb      	str	r3, [r7, #8]
+ 800439e:	2300      	movs	r3, #0
+ 80043a0:	60bb      	str	r3, [r7, #8]
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
- 800439a:	2300      	movs	r3, #0
- 800439c:	613b      	str	r3, [r7, #16]
+ 80043a2:	2300      	movs	r3, #0
+ 80043a4:	613b      	str	r3, [r7, #16]
   if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
- 800439e:	463b      	mov	r3, r7
- 80043a0:	2208      	movs	r2, #8
- 80043a2:	4619      	mov	r1, r3
- 80043a4:	4811      	ldr	r0, [pc, #68]	; (80043ec <_ZL12MX_TIM4_Initv+0xe8>)
- 80043a6:	f7fe f9f7 	bl	8002798 <HAL_TIM_PWM_ConfigChannel>
- 80043aa:	4603      	mov	r3, r0
- 80043ac:	2b00      	cmp	r3, #0
- 80043ae:	bf14      	ite	ne
- 80043b0:	2301      	movne	r3, #1
- 80043b2:	2300      	moveq	r3, #0
- 80043b4:	b2db      	uxtb	r3, r3
- 80043b6:	2b00      	cmp	r3, #0
- 80043b8:	d001      	beq.n	80043be <_ZL12MX_TIM4_Initv+0xba>
+ 80043a6:	463b      	mov	r3, r7
+ 80043a8:	2208      	movs	r2, #8
+ 80043aa:	4619      	mov	r1, r3
+ 80043ac:	4811      	ldr	r0, [pc, #68]	; (80043f4 <_ZL12MX_TIM4_Initv+0xe8>)
+ 80043ae:	f7fe f9f3 	bl	8002798 <HAL_TIM_PWM_ConfigChannel>
+ 80043b2:	4603      	mov	r3, r0
+ 80043b4:	2b00      	cmp	r3, #0
+ 80043b6:	bf14      	ite	ne
+ 80043b8:	2301      	movne	r3, #1
+ 80043ba:	2300      	moveq	r3, #0
+ 80043bc:	b2db      	uxtb	r3, r3
+ 80043be:	2b00      	cmp	r3, #0
+ 80043c0:	d001      	beq.n	80043c6 <_ZL12MX_TIM4_Initv+0xba>
   {
     Error_Handler();
- 80043ba:	f000 f9a7 	bl	800470c <Error_Handler>
+ 80043c2:	f000 f9a7 	bl	8004714 <Error_Handler>
   }
   if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
- 80043be:	463b      	mov	r3, r7
- 80043c0:	220c      	movs	r2, #12
- 80043c2:	4619      	mov	r1, r3
- 80043c4:	4809      	ldr	r0, [pc, #36]	; (80043ec <_ZL12MX_TIM4_Initv+0xe8>)
- 80043c6:	f7fe f9e7 	bl	8002798 <HAL_TIM_PWM_ConfigChannel>
- 80043ca:	4603      	mov	r3, r0
- 80043cc:	2b00      	cmp	r3, #0
- 80043ce:	bf14      	ite	ne
- 80043d0:	2301      	movne	r3, #1
- 80043d2:	2300      	moveq	r3, #0
- 80043d4:	b2db      	uxtb	r3, r3
- 80043d6:	2b00      	cmp	r3, #0
- 80043d8:	d001      	beq.n	80043de <_ZL12MX_TIM4_Initv+0xda>
+ 80043c6:	463b      	mov	r3, r7
+ 80043c8:	220c      	movs	r2, #12
+ 80043ca:	4619      	mov	r1, r3
+ 80043cc:	4809      	ldr	r0, [pc, #36]	; (80043f4 <_ZL12MX_TIM4_Initv+0xe8>)
+ 80043ce:	f7fe f9e3 	bl	8002798 <HAL_TIM_PWM_ConfigChannel>
+ 80043d2:	4603      	mov	r3, r0
+ 80043d4:	2b00      	cmp	r3, #0
+ 80043d6:	bf14      	ite	ne
+ 80043d8:	2301      	movne	r3, #1
+ 80043da:	2300      	moveq	r3, #0
+ 80043dc:	b2db      	uxtb	r3, r3
+ 80043de:	2b00      	cmp	r3, #0
+ 80043e0:	d001      	beq.n	80043e6 <_ZL12MX_TIM4_Initv+0xda>
   {
     Error_Handler();
- 80043da:	f000 f997 	bl	800470c <Error_Handler>
+ 80043e2:	f000 f997 	bl	8004714 <Error_Handler>
   }
   /* USER CODE BEGIN TIM4_Init 2 */
 
   /* USER CODE END TIM4_Init 2 */
   HAL_TIM_MspPostInit(&htim4);
- 80043de:	4803      	ldr	r0, [pc, #12]	; (80043ec <_ZL12MX_TIM4_Initv+0xe8>)
- 80043e0:	f000 fab8 	bl	8004954 <HAL_TIM_MspPostInit>
+ 80043e6:	4803      	ldr	r0, [pc, #12]	; (80043f4 <_ZL12MX_TIM4_Initv+0xe8>)
+ 80043e8:	f000 fab8 	bl	800495c <HAL_TIM_MspPostInit>
 
 }
- 80043e4:	bf00      	nop
- 80043e6:	3728      	adds	r7, #40	; 0x28
- 80043e8:	46bd      	mov	sp, r7
- 80043ea:	bd80      	pop	{r7, pc}
- 80043ec:	200000a8 	.word	0x200000a8
- 80043f0:	40000800 	.word	0x40000800
-
-080043f4 <_ZL12MX_TIM5_Initv>:
+ 80043ec:	bf00      	nop
+ 80043ee:	3728      	adds	r7, #40	; 0x28
+ 80043f0:	46bd      	mov	sp, r7
+ 80043f2:	bd80      	pop	{r7, pc}
+ 80043f4:	200000a8 	.word	0x200000a8
+ 80043f8:	40000800 	.word	0x40000800
+
+080043fc <_ZL12MX_TIM5_Initv>:
   * @brief TIM5 Initialization Function
   * @param None
   * @retval None
   */
 static void MX_TIM5_Init(void)
 {
- 80043f4:	b580      	push	{r7, lr}
- 80043f6:	b08c      	sub	sp, #48	; 0x30
- 80043f8:	af00      	add	r7, sp, #0
+ 80043fc:	b580      	push	{r7, lr}
+ 80043fe:	b08c      	sub	sp, #48	; 0x30
+ 8004400:	af00      	add	r7, sp, #0
 
   /* USER CODE BEGIN TIM5_Init 0 */
 
   /* USER CODE END TIM5_Init 0 */
 
   TIM_Encoder_InitTypeDef sConfig = {0};
- 80043fa:	f107 030c 	add.w	r3, r7, #12
- 80043fe:	2224      	movs	r2, #36	; 0x24
- 8004400:	2100      	movs	r1, #0
- 8004402:	4618      	mov	r0, r3
- 8004404:	f000 fc6c 	bl	8004ce0 <memset>
+ 8004402:	f107 030c 	add.w	r3, r7, #12
+ 8004406:	2224      	movs	r2, #36	; 0x24
+ 8004408:	2100      	movs	r1, #0
+ 800440a:	4618      	mov	r0, r3
+ 800440c:	f000 fc6c 	bl	8004ce8 <memset>
   TIM_MasterConfigTypeDef sMasterConfig = {0};
- 8004408:	463b      	mov	r3, r7
- 800440a:	2200      	movs	r2, #0
- 800440c:	601a      	str	r2, [r3, #0]
- 800440e:	605a      	str	r2, [r3, #4]
- 8004410:	609a      	str	r2, [r3, #8]
+ 8004410:	463b      	mov	r3, r7
+ 8004412:	2200      	movs	r2, #0
+ 8004414:	601a      	str	r2, [r3, #0]
+ 8004416:	605a      	str	r2, [r3, #4]
+ 8004418:	609a      	str	r2, [r3, #8]
 
   /* USER CODE BEGIN TIM5_Init 1 */
 
   /* USER CODE END TIM5_Init 1 */
   htim5.Instance = TIM5;
- 8004412:	4b25      	ldr	r3, [pc, #148]	; (80044a8 <_ZL12MX_TIM5_Initv+0xb4>)
- 8004414:	4a25      	ldr	r2, [pc, #148]	; (80044ac <_ZL12MX_TIM5_Initv+0xb8>)
- 8004416:	601a      	str	r2, [r3, #0]
+ 800441a:	4b25      	ldr	r3, [pc, #148]	; (80044b0 <_ZL12MX_TIM5_Initv+0xb4>)
+ 800441c:	4a25      	ldr	r2, [pc, #148]	; (80044b4 <_ZL12MX_TIM5_Initv+0xb8>)
+ 800441e:	601a      	str	r2, [r3, #0]
   htim5.Init.Prescaler = 0;
- 8004418:	4b23      	ldr	r3, [pc, #140]	; (80044a8 <_ZL12MX_TIM5_Initv+0xb4>)
- 800441a:	2200      	movs	r2, #0
- 800441c:	605a      	str	r2, [r3, #4]
+ 8004420:	4b23      	ldr	r3, [pc, #140]	; (80044b0 <_ZL12MX_TIM5_Initv+0xb4>)
+ 8004422:	2200      	movs	r2, #0
+ 8004424:	605a      	str	r2, [r3, #4]
   htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
- 800441e:	4b22      	ldr	r3, [pc, #136]	; (80044a8 <_ZL12MX_TIM5_Initv+0xb4>)
- 8004420:	2200      	movs	r2, #0
- 8004422:	609a      	str	r2, [r3, #8]
+ 8004426:	4b22      	ldr	r3, [pc, #136]	; (80044b0 <_ZL12MX_TIM5_Initv+0xb4>)
+ 8004428:	2200      	movs	r2, #0
+ 800442a:	609a      	str	r2, [r3, #8]
   htim5.Init.Period = 0;
- 8004424:	4b20      	ldr	r3, [pc, #128]	; (80044a8 <_ZL12MX_TIM5_Initv+0xb4>)
- 8004426:	2200      	movs	r2, #0
- 8004428:	60da      	str	r2, [r3, #12]
+ 800442c:	4b20      	ldr	r3, [pc, #128]	; (80044b0 <_ZL12MX_TIM5_Initv+0xb4>)
+ 800442e:	2200      	movs	r2, #0
+ 8004430:	60da      	str	r2, [r3, #12]
   htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
- 800442a:	4b1f      	ldr	r3, [pc, #124]	; (80044a8 <_ZL12MX_TIM5_Initv+0xb4>)
- 800442c:	2200      	movs	r2, #0
- 800442e:	611a      	str	r2, [r3, #16]
+ 8004432:	4b1f      	ldr	r3, [pc, #124]	; (80044b0 <_ZL12MX_TIM5_Initv+0xb4>)
+ 8004434:	2200      	movs	r2, #0
+ 8004436:	611a      	str	r2, [r3, #16]
   htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
- 8004430:	4b1d      	ldr	r3, [pc, #116]	; (80044a8 <_ZL12MX_TIM5_Initv+0xb4>)
- 8004432:	2200      	movs	r2, #0
- 8004434:	619a      	str	r2, [r3, #24]
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
- 8004436:	2301      	movs	r3, #1
- 8004438:	60fb      	str	r3, [r7, #12]
+ 8004438:	4b1d      	ldr	r3, [pc, #116]	; (80044b0 <_ZL12MX_TIM5_Initv+0xb4>)
+ 800443a:	2200      	movs	r2, #0
+ 800443c:	619a      	str	r2, [r3, #24]
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
+ 800443e:	2303      	movs	r3, #3
+ 8004440:	60fb      	str	r3, [r7, #12]
   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
- 800443a:	2300      	movs	r3, #0
- 800443c:	613b      	str	r3, [r7, #16]
+ 8004442:	2300      	movs	r3, #0
+ 8004444:	613b      	str	r3, [r7, #16]
   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
- 800443e:	2301      	movs	r3, #1
- 8004440:	617b      	str	r3, [r7, #20]
+ 8004446:	2301      	movs	r3, #1
+ 8004448:	617b      	str	r3, [r7, #20]
   sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
- 8004442:	2300      	movs	r3, #0
- 8004444:	61bb      	str	r3, [r7, #24]
+ 800444a:	2300      	movs	r3, #0
+ 800444c:	61bb      	str	r3, [r7, #24]
   sConfig.IC1Filter = 0;
- 8004446:	2300      	movs	r3, #0
- 8004448:	61fb      	str	r3, [r7, #28]
+ 800444e:	2300      	movs	r3, #0
+ 8004450:	61fb      	str	r3, [r7, #28]
   sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
- 800444a:	2300      	movs	r3, #0
- 800444c:	623b      	str	r3, [r7, #32]
+ 8004452:	2300      	movs	r3, #0
+ 8004454:	623b      	str	r3, [r7, #32]
   sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
- 800444e:	2301      	movs	r3, #1
- 8004450:	627b      	str	r3, [r7, #36]	; 0x24
+ 8004456:	2301      	movs	r3, #1
+ 8004458:	627b      	str	r3, [r7, #36]	; 0x24
   sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
- 8004452:	2300      	movs	r3, #0
- 8004454:	62bb      	str	r3, [r7, #40]	; 0x28
+ 800445a:	2300      	movs	r3, #0
+ 800445c:	62bb      	str	r3, [r7, #40]	; 0x28
   sConfig.IC2Filter = 0;
- 8004456:	2300      	movs	r3, #0
- 8004458:	62fb      	str	r3, [r7, #44]	; 0x2c
+ 800445e:	2300      	movs	r3, #0
+ 8004460:	62fb      	str	r3, [r7, #44]	; 0x2c
   if (HAL_TIM_Encoder_Init(&htim5, &sConfig) != HAL_OK)
- 800445a:	f107 030c 	add.w	r3, r7, #12
- 800445e:	4619      	mov	r1, r3
- 8004460:	4811      	ldr	r0, [pc, #68]	; (80044a8 <_ZL12MX_TIM5_Initv+0xb4>)
- 8004462:	f7fd ffb1 	bl	80023c8 <HAL_TIM_Encoder_Init>
- 8004466:	4603      	mov	r3, r0
- 8004468:	2b00      	cmp	r3, #0
- 800446a:	bf14      	ite	ne
- 800446c:	2301      	movne	r3, #1
- 800446e:	2300      	moveq	r3, #0
- 8004470:	b2db      	uxtb	r3, r3
- 8004472:	2b00      	cmp	r3, #0
- 8004474:	d001      	beq.n	800447a <_ZL12MX_TIM5_Initv+0x86>
+ 8004462:	f107 030c 	add.w	r3, r7, #12
+ 8004466:	4619      	mov	r1, r3
+ 8004468:	4811      	ldr	r0, [pc, #68]	; (80044b0 <_ZL12MX_TIM5_Initv+0xb4>)
+ 800446a:	f7fd ffad 	bl	80023c8 <HAL_TIM_Encoder_Init>
+ 800446e:	4603      	mov	r3, r0
+ 8004470:	2b00      	cmp	r3, #0
+ 8004472:	bf14      	ite	ne
+ 8004474:	2301      	movne	r3, #1
+ 8004476:	2300      	moveq	r3, #0
+ 8004478:	b2db      	uxtb	r3, r3
+ 800447a:	2b00      	cmp	r3, #0
+ 800447c:	d001      	beq.n	8004482 <_ZL12MX_TIM5_Initv+0x86>
   {
     Error_Handler();
- 8004476:	f000 f949 	bl	800470c <Error_Handler>
+ 800447e:	f000 f949 	bl	8004714 <Error_Handler>
   }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
- 800447a:	2300      	movs	r3, #0
- 800447c:	603b      	str	r3, [r7, #0]
+ 8004482:	2300      	movs	r3, #0
+ 8004484:	603b      	str	r3, [r7, #0]
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
- 800447e:	2300      	movs	r3, #0
- 8004480:	60bb      	str	r3, [r7, #8]
+ 8004486:	2300      	movs	r3, #0
+ 8004488:	60bb      	str	r3, [r7, #8]
   if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
- 8004482:	463b      	mov	r3, r7
- 8004484:	4619      	mov	r1, r3
- 8004486:	4808      	ldr	r0, [pc, #32]	; (80044a8 <_ZL12MX_TIM5_Initv+0xb4>)
- 8004488:	f7fe ff3e 	bl	8003308 <HAL_TIMEx_MasterConfigSynchronization>
- 800448c:	4603      	mov	r3, r0
- 800448e:	2b00      	cmp	r3, #0
- 8004490:	bf14      	ite	ne
- 8004492:	2301      	movne	r3, #1
- 8004494:	2300      	moveq	r3, #0
- 8004496:	b2db      	uxtb	r3, r3
- 8004498:	2b00      	cmp	r3, #0
- 800449a:	d001      	beq.n	80044a0 <_ZL12MX_TIM5_Initv+0xac>
+ 800448a:	463b      	mov	r3, r7
+ 800448c:	4619      	mov	r1, r3
+ 800448e:	4808      	ldr	r0, [pc, #32]	; (80044b0 <_ZL12MX_TIM5_Initv+0xb4>)
+ 8004490:	f7fe ff3a 	bl	8003308 <HAL_TIMEx_MasterConfigSynchronization>
+ 8004494:	4603      	mov	r3, r0
+ 8004496:	2b00      	cmp	r3, #0
+ 8004498:	bf14      	ite	ne
+ 800449a:	2301      	movne	r3, #1
+ 800449c:	2300      	moveq	r3, #0
+ 800449e:	b2db      	uxtb	r3, r3
+ 80044a0:	2b00      	cmp	r3, #0
+ 80044a2:	d001      	beq.n	80044a8 <_ZL12MX_TIM5_Initv+0xac>
   {
     Error_Handler();
- 800449c:	f000 f936 	bl	800470c <Error_Handler>
+ 80044a4:	f000 f936 	bl	8004714 <Error_Handler>
   }
   /* USER CODE BEGIN TIM5_Init 2 */
 
   /* USER CODE END TIM5_Init 2 */
 
 }
- 80044a0:	bf00      	nop
- 80044a2:	3730      	adds	r7, #48	; 0x30
- 80044a4:	46bd      	mov	sp, r7
- 80044a6:	bd80      	pop	{r7, pc}
- 80044a8:	200000e8 	.word	0x200000e8
- 80044ac:	40000c00 	.word	0x40000c00
-
-080044b0 <_ZL19MX_USART3_UART_Initv>:
+ 80044a8:	bf00      	nop
+ 80044aa:	3730      	adds	r7, #48	; 0x30
+ 80044ac:	46bd      	mov	sp, r7
+ 80044ae:	bd80      	pop	{r7, pc}
+ 80044b0:	200000e8 	.word	0x200000e8
+ 80044b4:	40000c00 	.word	0x40000c00
+
+080044b8 <_ZL19MX_USART3_UART_Initv>:
   * @brief USART3 Initialization Function
   * @param None
   * @retval None
   */
 static void MX_USART3_UART_Init(void)
 {
- 80044b0:	b580      	push	{r7, lr}
- 80044b2:	af00      	add	r7, sp, #0
+ 80044b8:	b580      	push	{r7, lr}
+ 80044ba:	af00      	add	r7, sp, #0
   /* USER CODE END USART3_Init 0 */
 
   /* USER CODE BEGIN USART3_Init 1 */
 
   /* USER CODE END USART3_Init 1 */
   huart3.Instance = USART3;
- 80044b4:	4b16      	ldr	r3, [pc, #88]	; (8004510 <_ZL19MX_USART3_UART_Initv+0x60>)
- 80044b6:	4a17      	ldr	r2, [pc, #92]	; (8004514 <_ZL19MX_USART3_UART_Initv+0x64>)
- 80044b8:	601a      	str	r2, [r3, #0]
+ 80044bc:	4b16      	ldr	r3, [pc, #88]	; (8004518 <_ZL19MX_USART3_UART_Initv+0x60>)
+ 80044be:	4a17      	ldr	r2, [pc, #92]	; (800451c <_ZL19MX_USART3_UART_Initv+0x64>)
+ 80044c0:	601a      	str	r2, [r3, #0]
   huart3.Init.BaudRate = 115200;
- 80044ba:	4b15      	ldr	r3, [pc, #84]	; (8004510 <_ZL19MX_USART3_UART_Initv+0x60>)
- 80044bc:	f44f 32e1 	mov.w	r2, #115200	; 0x1c200
- 80044c0:	605a      	str	r2, [r3, #4]
+ 80044c2:	4b15      	ldr	r3, [pc, #84]	; (8004518 <_ZL19MX_USART3_UART_Initv+0x60>)
+ 80044c4:	f44f 32e1 	mov.w	r2, #115200	; 0x1c200
+ 80044c8:	605a      	str	r2, [r3, #4]
   huart3.Init.WordLength = UART_WORDLENGTH_8B;
- 80044c2:	4b13      	ldr	r3, [pc, #76]	; (8004510 <_ZL19MX_USART3_UART_Initv+0x60>)
- 80044c4:	2200      	movs	r2, #0
- 80044c6:	609a      	str	r2, [r3, #8]
+ 80044ca:	4b13      	ldr	r3, [pc, #76]	; (8004518 <_ZL19MX_USART3_UART_Initv+0x60>)
+ 80044cc:	2200      	movs	r2, #0
+ 80044ce:	609a      	str	r2, [r3, #8]
   huart3.Init.StopBits = UART_STOPBITS_1;
- 80044c8:	4b11      	ldr	r3, [pc, #68]	; (8004510 <_ZL19MX_USART3_UART_Initv+0x60>)
- 80044ca:	2200      	movs	r2, #0
- 80044cc:	60da      	str	r2, [r3, #12]
+ 80044d0:	4b11      	ldr	r3, [pc, #68]	; (8004518 <_ZL19MX_USART3_UART_Initv+0x60>)
+ 80044d2:	2200      	movs	r2, #0
+ 80044d4:	60da      	str	r2, [r3, #12]
   huart3.Init.Parity = UART_PARITY_NONE;
- 80044ce:	4b10      	ldr	r3, [pc, #64]	; (8004510 <_ZL19MX_USART3_UART_Initv+0x60>)
- 80044d0:	2200      	movs	r2, #0
- 80044d2:	611a      	str	r2, [r3, #16]
+ 80044d6:	4b10      	ldr	r3, [pc, #64]	; (8004518 <_ZL19MX_USART3_UART_Initv+0x60>)
+ 80044d8:	2200      	movs	r2, #0
+ 80044da:	611a      	str	r2, [r3, #16]
   huart3.Init.Mode = UART_MODE_TX_RX;
- 80044d4:	4b0e      	ldr	r3, [pc, #56]	; (8004510 <_ZL19MX_USART3_UART_Initv+0x60>)
- 80044d6:	220c      	movs	r2, #12
- 80044d8:	615a      	str	r2, [r3, #20]
+ 80044dc:	4b0e      	ldr	r3, [pc, #56]	; (8004518 <_ZL19MX_USART3_UART_Initv+0x60>)
+ 80044de:	220c      	movs	r2, #12
+ 80044e0:	615a      	str	r2, [r3, #20]
   huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
- 80044da:	4b0d      	ldr	r3, [pc, #52]	; (8004510 <_ZL19MX_USART3_UART_Initv+0x60>)
- 80044dc:	2200      	movs	r2, #0
- 80044de:	619a      	str	r2, [r3, #24]
+ 80044e2:	4b0d      	ldr	r3, [pc, #52]	; (8004518 <_ZL19MX_USART3_UART_Initv+0x60>)
+ 80044e4:	2200      	movs	r2, #0
+ 80044e6:	619a      	str	r2, [r3, #24]
   huart3.Init.OverSampling = UART_OVERSAMPLING_16;
- 80044e0:	4b0b      	ldr	r3, [pc, #44]	; (8004510 <_ZL19MX_USART3_UART_Initv+0x60>)
- 80044e2:	2200      	movs	r2, #0
- 80044e4:	61da      	str	r2, [r3, #28]
+ 80044e8:	4b0b      	ldr	r3, [pc, #44]	; (8004518 <_ZL19MX_USART3_UART_Initv+0x60>)
+ 80044ea:	2200      	movs	r2, #0
+ 80044ec:	61da      	str	r2, [r3, #28]
   huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
- 80044e6:	4b0a      	ldr	r3, [pc, #40]	; (8004510 <_ZL19MX_USART3_UART_Initv+0x60>)
- 80044e8:	2200      	movs	r2, #0
- 80044ea:	621a      	str	r2, [r3, #32]
+ 80044ee:	4b0a      	ldr	r3, [pc, #40]	; (8004518 <_ZL19MX_USART3_UART_Initv+0x60>)
+ 80044f0:	2200      	movs	r2, #0
+ 80044f2:	621a      	str	r2, [r3, #32]
   huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
- 80044ec:	4b08      	ldr	r3, [pc, #32]	; (8004510 <_ZL19MX_USART3_UART_Initv+0x60>)
- 80044ee:	2200      	movs	r2, #0
- 80044f0:	625a      	str	r2, [r3, #36]	; 0x24
+ 80044f4:	4b08      	ldr	r3, [pc, #32]	; (8004518 <_ZL19MX_USART3_UART_Initv+0x60>)
+ 80044f6:	2200      	movs	r2, #0
+ 80044f8:	625a      	str	r2, [r3, #36]	; 0x24
   if (HAL_UART_Init(&huart3) != HAL_OK)
- 80044f2:	4807      	ldr	r0, [pc, #28]	; (8004510 <_ZL19MX_USART3_UART_Initv+0x60>)
- 80044f4:	f7fe ff82 	bl	80033fc <HAL_UART_Init>
- 80044f8:	4603      	mov	r3, r0
- 80044fa:	2b00      	cmp	r3, #0
- 80044fc:	bf14      	ite	ne
- 80044fe:	2301      	movne	r3, #1
- 8004500:	2300      	moveq	r3, #0
- 8004502:	b2db      	uxtb	r3, r3
- 8004504:	2b00      	cmp	r3, #0
- 8004506:	d001      	beq.n	800450c <_ZL19MX_USART3_UART_Initv+0x5c>
+ 80044fa:	4807      	ldr	r0, [pc, #28]	; (8004518 <_ZL19MX_USART3_UART_Initv+0x60>)
+ 80044fc:	f7fe ff7e 	bl	80033fc <HAL_UART_Init>
+ 8004500:	4603      	mov	r3, r0
+ 8004502:	2b00      	cmp	r3, #0
+ 8004504:	bf14      	ite	ne
+ 8004506:	2301      	movne	r3, #1
+ 8004508:	2300      	moveq	r3, #0
+ 800450a:	b2db      	uxtb	r3, r3
+ 800450c:	2b00      	cmp	r3, #0
+ 800450e:	d001      	beq.n	8004514 <_ZL19MX_USART3_UART_Initv+0x5c>
   {
     Error_Handler();
- 8004508:	f000 f900 	bl	800470c <Error_Handler>
+ 8004510:	f000 f900 	bl	8004714 <Error_Handler>
   }
   /* USER CODE BEGIN USART3_Init 2 */
 
   /* USER CODE END USART3_Init 2 */
 
 }
- 800450c:	bf00      	nop
- 800450e:	bd80      	pop	{r7, pc}
- 8004510:	20000128 	.word	0x20000128
- 8004514:	40004800 	.word	0x40004800
+ 8004514:	bf00      	nop
+ 8004516:	bd80      	pop	{r7, pc}
+ 8004518:	20000128 	.word	0x20000128
+ 800451c:	40004800 	.word	0x40004800
 
-08004518 <_ZL11MX_DMA_Initv>:
+08004520 <_ZL11MX_DMA_Initv>:
 
 /** 
   * Enable DMA controller clock
   */
 static void MX_DMA_Init(void) 
 {
- 8004518:	b580      	push	{r7, lr}
- 800451a:	b082      	sub	sp, #8
- 800451c:	af00      	add	r7, sp, #0
+ 8004520:	b580      	push	{r7, lr}
+ 8004522:	b082      	sub	sp, #8
+ 8004524:	af00      	add	r7, sp, #0
 
   /* DMA controller clock enable */
   __HAL_RCC_DMA1_CLK_ENABLE();
- 800451e:	4b10      	ldr	r3, [pc, #64]	; (8004560 <_ZL11MX_DMA_Initv+0x48>)
- 8004520:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 8004522:	4a0f      	ldr	r2, [pc, #60]	; (8004560 <_ZL11MX_DMA_Initv+0x48>)
- 8004524:	f443 1300 	orr.w	r3, r3, #2097152	; 0x200000
- 8004528:	6313      	str	r3, [r2, #48]	; 0x30
- 800452a:	4b0d      	ldr	r3, [pc, #52]	; (8004560 <_ZL11MX_DMA_Initv+0x48>)
- 800452c:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 800452e:	f403 1300 	and.w	r3, r3, #2097152	; 0x200000
- 8004532:	607b      	str	r3, [r7, #4]
- 8004534:	687b      	ldr	r3, [r7, #4]
+ 8004526:	4b10      	ldr	r3, [pc, #64]	; (8004568 <_ZL11MX_DMA_Initv+0x48>)
+ 8004528:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 800452a:	4a0f      	ldr	r2, [pc, #60]	; (8004568 <_ZL11MX_DMA_Initv+0x48>)
+ 800452c:	f443 1300 	orr.w	r3, r3, #2097152	; 0x200000
+ 8004530:	6313      	str	r3, [r2, #48]	; 0x30
+ 8004532:	4b0d      	ldr	r3, [pc, #52]	; (8004568 <_ZL11MX_DMA_Initv+0x48>)
+ 8004534:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 8004536:	f403 1300 	and.w	r3, r3, #2097152	; 0x200000
+ 800453a:	607b      	str	r3, [r7, #4]
+ 800453c:	687b      	ldr	r3, [r7, #4]
 
   /* DMA interrupt init */
   /* DMA1_Stream1_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 0, 0);
- 8004536:	2200      	movs	r2, #0
- 8004538:	2100      	movs	r1, #0
- 800453a:	200c      	movs	r0, #12
- 800453c:	f7fc f957 	bl	80007ee <HAL_NVIC_SetPriority>
+ 800453e:	2200      	movs	r2, #0
+ 8004540:	2100      	movs	r1, #0
+ 8004542:	200c      	movs	r0, #12
+ 8004544:	f7fc f953 	bl	80007ee <HAL_NVIC_SetPriority>
   HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
- 8004540:	200c      	movs	r0, #12
- 8004542:	f7fc f970 	bl	8000826 <HAL_NVIC_EnableIRQ>
+ 8004548:	200c      	movs	r0, #12
+ 800454a:	f7fc f96c 	bl	8000826 <HAL_NVIC_EnableIRQ>
   /* DMA1_Stream3_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 0, 0);
- 8004546:	2200      	movs	r2, #0
- 8004548:	2100      	movs	r1, #0
- 800454a:	200e      	movs	r0, #14
- 800454c:	f7fc f94f 	bl	80007ee <HAL_NVIC_SetPriority>
+ 800454e:	2200      	movs	r2, #0
+ 8004550:	2100      	movs	r1, #0
+ 8004552:	200e      	movs	r0, #14
+ 8004554:	f7fc f94b 	bl	80007ee <HAL_NVIC_SetPriority>
   HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
- 8004550:	200e      	movs	r0, #14
- 8004552:	f7fc f968 	bl	8000826 <HAL_NVIC_EnableIRQ>
+ 8004558:	200e      	movs	r0, #14
+ 800455a:	f7fc f964 	bl	8000826 <HAL_NVIC_EnableIRQ>
 
 }
- 8004556:	bf00      	nop
- 8004558:	3708      	adds	r7, #8
- 800455a:	46bd      	mov	sp, r7
- 800455c:	bd80      	pop	{r7, pc}
  800455e:	bf00      	nop
- 8004560:	40023800 	.word	0x40023800
+ 8004560:	3708      	adds	r7, #8
+ 8004562:	46bd      	mov	sp, r7
+ 8004564:	bd80      	pop	{r7, pc}
+ 8004566:	bf00      	nop
+ 8004568:	40023800 	.word	0x40023800
 
-08004564 <_ZL12MX_GPIO_Initv>:
+0800456c <_ZL12MX_GPIO_Initv>:
   * @brief GPIO Initialization Function
   * @param None
   * @retval None
   */
 static void MX_GPIO_Init(void)
 {
- 8004564:	b580      	push	{r7, lr}
- 8004566:	b08c      	sub	sp, #48	; 0x30
- 8004568:	af00      	add	r7, sp, #0
+ 800456c:	b580      	push	{r7, lr}
+ 800456e:	b08c      	sub	sp, #48	; 0x30
+ 8004570:	af00      	add	r7, sp, #0
   GPIO_InitTypeDef GPIO_InitStruct = {0};
- 800456a:	f107 031c 	add.w	r3, r7, #28
- 800456e:	2200      	movs	r2, #0
- 8004570:	601a      	str	r2, [r3, #0]
- 8004572:	605a      	str	r2, [r3, #4]
- 8004574:	609a      	str	r2, [r3, #8]
- 8004576:	60da      	str	r2, [r3, #12]
- 8004578:	611a      	str	r2, [r3, #16]
+ 8004572:	f107 031c 	add.w	r3, r7, #28
+ 8004576:	2200      	movs	r2, #0
+ 8004578:	601a      	str	r2, [r3, #0]
+ 800457a:	605a      	str	r2, [r3, #4]
+ 800457c:	609a      	str	r2, [r3, #8]
+ 800457e:	60da      	str	r2, [r3, #12]
+ 8004580:	611a      	str	r2, [r3, #16]
 
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOC_CLK_ENABLE();
- 800457a:	4b53      	ldr	r3, [pc, #332]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 800457c:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 800457e:	4a52      	ldr	r2, [pc, #328]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 8004580:	f043 0304 	orr.w	r3, r3, #4
- 8004584:	6313      	str	r3, [r2, #48]	; 0x30
- 8004586:	4b50      	ldr	r3, [pc, #320]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 8004588:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 800458a:	f003 0304 	and.w	r3, r3, #4
- 800458e:	61bb      	str	r3, [r7, #24]
- 8004590:	69bb      	ldr	r3, [r7, #24]
+ 8004582:	4b53      	ldr	r3, [pc, #332]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 8004584:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 8004586:	4a52      	ldr	r2, [pc, #328]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 8004588:	f043 0304 	orr.w	r3, r3, #4
+ 800458c:	6313      	str	r3, [r2, #48]	; 0x30
+ 800458e:	4b50      	ldr	r3, [pc, #320]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 8004590:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 8004592:	f003 0304 	and.w	r3, r3, #4
+ 8004596:	61bb      	str	r3, [r7, #24]
+ 8004598:	69bb      	ldr	r3, [r7, #24]
   __HAL_RCC_GPIOA_CLK_ENABLE();
- 8004592:	4b4d      	ldr	r3, [pc, #308]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 8004594:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 8004596:	4a4c      	ldr	r2, [pc, #304]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 8004598:	f043 0301 	orr.w	r3, r3, #1
- 800459c:	6313      	str	r3, [r2, #48]	; 0x30
- 800459e:	4b4a      	ldr	r3, [pc, #296]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045a0:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 80045a2:	f003 0301 	and.w	r3, r3, #1
- 80045a6:	617b      	str	r3, [r7, #20]
- 80045a8:	697b      	ldr	r3, [r7, #20]
+ 800459a:	4b4d      	ldr	r3, [pc, #308]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 800459c:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 800459e:	4a4c      	ldr	r2, [pc, #304]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045a0:	f043 0301 	orr.w	r3, r3, #1
+ 80045a4:	6313      	str	r3, [r2, #48]	; 0x30
+ 80045a6:	4b4a      	ldr	r3, [pc, #296]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045a8:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 80045aa:	f003 0301 	and.w	r3, r3, #1
+ 80045ae:	617b      	str	r3, [r7, #20]
+ 80045b0:	697b      	ldr	r3, [r7, #20]
   __HAL_RCC_GPIOF_CLK_ENABLE();
- 80045aa:	4b47      	ldr	r3, [pc, #284]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045ac:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 80045ae:	4a46      	ldr	r2, [pc, #280]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045b0:	f043 0320 	orr.w	r3, r3, #32
- 80045b4:	6313      	str	r3, [r2, #48]	; 0x30
- 80045b6:	4b44      	ldr	r3, [pc, #272]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045b8:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 80045ba:	f003 0320 	and.w	r3, r3, #32
- 80045be:	613b      	str	r3, [r7, #16]
- 80045c0:	693b      	ldr	r3, [r7, #16]
+ 80045b2:	4b47      	ldr	r3, [pc, #284]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045b4:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 80045b6:	4a46      	ldr	r2, [pc, #280]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045b8:	f043 0320 	orr.w	r3, r3, #32
+ 80045bc:	6313      	str	r3, [r2, #48]	; 0x30
+ 80045be:	4b44      	ldr	r3, [pc, #272]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045c0:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 80045c2:	f003 0320 	and.w	r3, r3, #32
+ 80045c6:	613b      	str	r3, [r7, #16]
+ 80045c8:	693b      	ldr	r3, [r7, #16]
   __HAL_RCC_GPIOE_CLK_ENABLE();
- 80045c2:	4b41      	ldr	r3, [pc, #260]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045c4:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 80045c6:	4a40      	ldr	r2, [pc, #256]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045c8:	f043 0310 	orr.w	r3, r3, #16
- 80045cc:	6313      	str	r3, [r2, #48]	; 0x30
- 80045ce:	4b3e      	ldr	r3, [pc, #248]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045d0:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 80045d2:	f003 0310 	and.w	r3, r3, #16
- 80045d6:	60fb      	str	r3, [r7, #12]
- 80045d8:	68fb      	ldr	r3, [r7, #12]
+ 80045ca:	4b41      	ldr	r3, [pc, #260]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045cc:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 80045ce:	4a40      	ldr	r2, [pc, #256]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045d0:	f043 0310 	orr.w	r3, r3, #16
+ 80045d4:	6313      	str	r3, [r2, #48]	; 0x30
+ 80045d6:	4b3e      	ldr	r3, [pc, #248]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045d8:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 80045da:	f003 0310 	and.w	r3, r3, #16
+ 80045de:	60fb      	str	r3, [r7, #12]
+ 80045e0:	68fb      	ldr	r3, [r7, #12]
   __HAL_RCC_GPIOD_CLK_ENABLE();
- 80045da:	4b3b      	ldr	r3, [pc, #236]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045dc:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 80045de:	4a3a      	ldr	r2, [pc, #232]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045e0:	f043 0308 	orr.w	r3, r3, #8
- 80045e4:	6313      	str	r3, [r2, #48]	; 0x30
- 80045e6:	4b38      	ldr	r3, [pc, #224]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045e8:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 80045ea:	f003 0308 	and.w	r3, r3, #8
- 80045ee:	60bb      	str	r3, [r7, #8]
- 80045f0:	68bb      	ldr	r3, [r7, #8]
+ 80045e2:	4b3b      	ldr	r3, [pc, #236]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045e4:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 80045e6:	4a3a      	ldr	r2, [pc, #232]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045e8:	f043 0308 	orr.w	r3, r3, #8
+ 80045ec:	6313      	str	r3, [r2, #48]	; 0x30
+ 80045ee:	4b38      	ldr	r3, [pc, #224]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045f0:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 80045f2:	f003 0308 	and.w	r3, r3, #8
+ 80045f6:	60bb      	str	r3, [r7, #8]
+ 80045f8:	68bb      	ldr	r3, [r7, #8]
   __HAL_RCC_GPIOB_CLK_ENABLE();
- 80045f2:	4b35      	ldr	r3, [pc, #212]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045f4:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 80045f6:	4a34      	ldr	r2, [pc, #208]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 80045f8:	f043 0302 	orr.w	r3, r3, #2
- 80045fc:	6313      	str	r3, [r2, #48]	; 0x30
- 80045fe:	4b32      	ldr	r3, [pc, #200]	; (80046c8 <_ZL12MX_GPIO_Initv+0x164>)
- 8004600:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 8004602:	f003 0302 	and.w	r3, r3, #2
- 8004606:	607b      	str	r3, [r7, #4]
- 8004608:	687b      	ldr	r3, [r7, #4]
+ 80045fa:	4b35      	ldr	r3, [pc, #212]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 80045fc:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 80045fe:	4a34      	ldr	r2, [pc, #208]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 8004600:	f043 0302 	orr.w	r3, r3, #2
+ 8004604:	6313      	str	r3, [r2, #48]	; 0x30
+ 8004606:	4b32      	ldr	r3, [pc, #200]	; (80046d0 <_ZL12MX_GPIO_Initv+0x164>)
+ 8004608:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 800460a:	f003 0302 	and.w	r3, r3, #2
+ 800460e:	607b      	str	r3, [r7, #4]
+ 8004610:	687b      	ldr	r3, [r7, #4]
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOF, GPIO_PIN_12|dir_1_Pin|sleep_2_Pin|sleep_1_Pin, GPIO_PIN_RESET);
- 800460a:	2200      	movs	r2, #0
- 800460c:	f44f 4170 	mov.w	r1, #61440	; 0xf000
- 8004610:	482e      	ldr	r0, [pc, #184]	; (80046cc <_ZL12MX_GPIO_Initv+0x168>)
- 8004612:	f7fc fdd7 	bl	80011c4 <HAL_GPIO_WritePin>
+ 8004612:	2200      	movs	r2, #0
+ 8004614:	f44f 4170 	mov.w	r1, #61440	; 0xf000
+ 8004618:	482e      	ldr	r0, [pc, #184]	; (80046d4 <_ZL12MX_GPIO_Initv+0x168>)
+ 800461a:	f7fc fdd3 	bl	80011c4 <HAL_GPIO_WritePin>
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8, GPIO_PIN_RESET);
- 8004616:	2200      	movs	r2, #0
- 8004618:	f44f 7180 	mov.w	r1, #256	; 0x100
- 800461c:	482c      	ldr	r0, [pc, #176]	; (80046d0 <_ZL12MX_GPIO_Initv+0x16c>)
- 800461e:	f7fc fdd1 	bl	80011c4 <HAL_GPIO_WritePin>
+ 800461e:	2200      	movs	r2, #0
+ 8004620:	f44f 7180 	mov.w	r1, #256	; 0x100
+ 8004624:	482c      	ldr	r0, [pc, #176]	; (80046d8 <_ZL12MX_GPIO_Initv+0x16c>)
+ 8004626:	f7fc fdcd 	bl	80011c4 <HAL_GPIO_WritePin>
 
   /*Configure GPIO pin : PC0 */
   GPIO_InitStruct.Pin = GPIO_PIN_0;
- 8004622:	2301      	movs	r3, #1
- 8004624:	61fb      	str	r3, [r7, #28]
+ 800462a:	2301      	movs	r3, #1
+ 800462c:	61fb      	str	r3, [r7, #28]
   GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
- 8004626:	2303      	movs	r3, #3
- 8004628:	623b      	str	r3, [r7, #32]
+ 800462e:	2303      	movs	r3, #3
+ 8004630:	623b      	str	r3, [r7, #32]
   GPIO_InitStruct.Pull = GPIO_NOPULL;
- 800462a:	2300      	movs	r3, #0
- 800462c:	627b      	str	r3, [r7, #36]	; 0x24
+ 8004632:	2300      	movs	r3, #0
+ 8004634:	627b      	str	r3, [r7, #36]	; 0x24
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
- 800462e:	f107 031c 	add.w	r3, r7, #28
- 8004632:	4619      	mov	r1, r3
- 8004634:	4827      	ldr	r0, [pc, #156]	; (80046d4 <_ZL12MX_GPIO_Initv+0x170>)
- 8004636:	f7fc fc1b 	bl	8000e70 <HAL_GPIO_Init>
+ 8004636:	f107 031c 	add.w	r3, r7, #28
+ 800463a:	4619      	mov	r1, r3
+ 800463c:	4827      	ldr	r0, [pc, #156]	; (80046dc <_ZL12MX_GPIO_Initv+0x170>)
+ 800463e:	f7fc fc17 	bl	8000e70 <HAL_GPIO_Init>
 
   /*Configure GPIO pin : current_1_Pin */
   GPIO_InitStruct.Pin = current_1_Pin;
- 800463a:	2308      	movs	r3, #8
- 800463c:	61fb      	str	r3, [r7, #28]
+ 8004642:	2308      	movs	r3, #8
+ 8004644:	61fb      	str	r3, [r7, #28]
   GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
- 800463e:	2303      	movs	r3, #3
- 8004640:	623b      	str	r3, [r7, #32]
+ 8004646:	2303      	movs	r3, #3
+ 8004648:	623b      	str	r3, [r7, #32]
   GPIO_InitStruct.Pull = GPIO_NOPULL;
- 8004642:	2300      	movs	r3, #0
- 8004644:	627b      	str	r3, [r7, #36]	; 0x24
+ 800464a:	2300      	movs	r3, #0
+ 800464c:	627b      	str	r3, [r7, #36]	; 0x24
   HAL_GPIO_Init(current_1_GPIO_Port, &GPIO_InitStruct);
- 8004646:	f107 031c 	add.w	r3, r7, #28
- 800464a:	4619      	mov	r1, r3
- 800464c:	4822      	ldr	r0, [pc, #136]	; (80046d8 <_ZL12MX_GPIO_Initv+0x174>)
- 800464e:	f7fc fc0f 	bl	8000e70 <HAL_GPIO_Init>
+ 800464e:	f107 031c 	add.w	r3, r7, #28
+ 8004652:	4619      	mov	r1, r3
+ 8004654:	4822      	ldr	r0, [pc, #136]	; (80046e0 <_ZL12MX_GPIO_Initv+0x174>)
+ 8004656:	f7fc fc0b 	bl	8000e70 <HAL_GPIO_Init>
 
   /*Configure GPIO pin : fault_2_Pin */
   GPIO_InitStruct.Pin = fault_2_Pin;
- 8004652:	2340      	movs	r3, #64	; 0x40
- 8004654:	61fb      	str	r3, [r7, #28]
+ 800465a:	2340      	movs	r3, #64	; 0x40
+ 800465c:	61fb      	str	r3, [r7, #28]
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
- 8004656:	2300      	movs	r3, #0
- 8004658:	623b      	str	r3, [r7, #32]
+ 800465e:	2300      	movs	r3, #0
+ 8004660:	623b      	str	r3, [r7, #32]
   GPIO_InitStruct.Pull = GPIO_NOPULL;
- 800465a:	2300      	movs	r3, #0
- 800465c:	627b      	str	r3, [r7, #36]	; 0x24
+ 8004662:	2300      	movs	r3, #0
+ 8004664:	627b      	str	r3, [r7, #36]	; 0x24
   HAL_GPIO_Init(fault_2_GPIO_Port, &GPIO_InitStruct);
- 800465e:	f107 031c 	add.w	r3, r7, #28
- 8004662:	4619      	mov	r1, r3
- 8004664:	481c      	ldr	r0, [pc, #112]	; (80046d8 <_ZL12MX_GPIO_Initv+0x174>)
- 8004666:	f7fc fc03 	bl	8000e70 <HAL_GPIO_Init>
+ 8004666:	f107 031c 	add.w	r3, r7, #28
+ 800466a:	4619      	mov	r1, r3
+ 800466c:	481c      	ldr	r0, [pc, #112]	; (80046e0 <_ZL12MX_GPIO_Initv+0x174>)
+ 800466e:	f7fc fbff 	bl	8000e70 <HAL_GPIO_Init>
 
   /*Configure GPIO pins : PF12 dir_1_Pin sleep_2_Pin sleep_1_Pin */
   GPIO_InitStruct.Pin = GPIO_PIN_12|dir_1_Pin|sleep_2_Pin|sleep_1_Pin;
- 800466a:	f44f 4370 	mov.w	r3, #61440	; 0xf000
- 800466e:	61fb      	str	r3, [r7, #28]
+ 8004672:	f44f 4370 	mov.w	r3, #61440	; 0xf000
+ 8004676:	61fb      	str	r3, [r7, #28]
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- 8004670:	2301      	movs	r3, #1
- 8004672:	623b      	str	r3, [r7, #32]
+ 8004678:	2301      	movs	r3, #1
+ 800467a:	623b      	str	r3, [r7, #32]
   GPIO_InitStruct.Pull = GPIO_NOPULL;
- 8004674:	2300      	movs	r3, #0
- 8004676:	627b      	str	r3, [r7, #36]	; 0x24
+ 800467c:	2300      	movs	r3, #0
+ 800467e:	627b      	str	r3, [r7, #36]	; 0x24
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- 8004678:	2300      	movs	r3, #0
- 800467a:	62bb      	str	r3, [r7, #40]	; 0x28
+ 8004680:	2300      	movs	r3, #0
+ 8004682:	62bb      	str	r3, [r7, #40]	; 0x28
   HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
- 800467c:	f107 031c 	add.w	r3, r7, #28
- 8004680:	4619      	mov	r1, r3
- 8004682:	4812      	ldr	r0, [pc, #72]	; (80046cc <_ZL12MX_GPIO_Initv+0x168>)
- 8004684:	f7fc fbf4 	bl	8000e70 <HAL_GPIO_Init>
+ 8004684:	f107 031c 	add.w	r3, r7, #28
+ 8004688:	4619      	mov	r1, r3
+ 800468a:	4812      	ldr	r0, [pc, #72]	; (80046d4 <_ZL12MX_GPIO_Initv+0x168>)
+ 800468c:	f7fc fbf0 	bl	8000e70 <HAL_GPIO_Init>
 
   /*Configure GPIO pin : fault_1_Pin */
   GPIO_InitStruct.Pin = fault_1_Pin;
- 8004688:	f44f 7300 	mov.w	r3, #512	; 0x200
- 800468c:	61fb      	str	r3, [r7, #28]
+ 8004690:	f44f 7300 	mov.w	r3, #512	; 0x200
+ 8004694:	61fb      	str	r3, [r7, #28]
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
- 800468e:	2300      	movs	r3, #0
- 8004690:	623b      	str	r3, [r7, #32]
+ 8004696:	2300      	movs	r3, #0
+ 8004698:	623b      	str	r3, [r7, #32]
   GPIO_InitStruct.Pull = GPIO_NOPULL;
- 8004692:	2300      	movs	r3, #0
- 8004694:	627b      	str	r3, [r7, #36]	; 0x24
+ 800469a:	2300      	movs	r3, #0
+ 800469c:	627b      	str	r3, [r7, #36]	; 0x24
   HAL_GPIO_Init(fault_1_GPIO_Port, &GPIO_InitStruct);
- 8004696:	f107 031c 	add.w	r3, r7, #28
- 800469a:	4619      	mov	r1, r3
- 800469c:	480f      	ldr	r0, [pc, #60]	; (80046dc <_ZL12MX_GPIO_Initv+0x178>)
- 800469e:	f7fc fbe7 	bl	8000e70 <HAL_GPIO_Init>
+ 800469e:	f107 031c 	add.w	r3, r7, #28
+ 80046a2:	4619      	mov	r1, r3
+ 80046a4:	480f      	ldr	r0, [pc, #60]	; (80046e4 <_ZL12MX_GPIO_Initv+0x178>)
+ 80046a6:	f7fc fbe3 	bl	8000e70 <HAL_GPIO_Init>
 
   /*Configure GPIO pin : PB8 */
   GPIO_InitStruct.Pin = GPIO_PIN_8;
- 80046a2:	f44f 7380 	mov.w	r3, #256	; 0x100
- 80046a6:	61fb      	str	r3, [r7, #28]
+ 80046aa:	f44f 7380 	mov.w	r3, #256	; 0x100
+ 80046ae:	61fb      	str	r3, [r7, #28]
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- 80046a8:	2301      	movs	r3, #1
- 80046aa:	623b      	str	r3, [r7, #32]
+ 80046b0:	2301      	movs	r3, #1
+ 80046b2:	623b      	str	r3, [r7, #32]
   GPIO_InitStruct.Pull = GPIO_NOPULL;
- 80046ac:	2300      	movs	r3, #0
- 80046ae:	627b      	str	r3, [r7, #36]	; 0x24
+ 80046b4:	2300      	movs	r3, #0
+ 80046b6:	627b      	str	r3, [r7, #36]	; 0x24
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- 80046b0:	2300      	movs	r3, #0
- 80046b2:	62bb      	str	r3, [r7, #40]	; 0x28
+ 80046b8:	2300      	movs	r3, #0
+ 80046ba:	62bb      	str	r3, [r7, #40]	; 0x28
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
- 80046b4:	f107 031c 	add.w	r3, r7, #28
- 80046b8:	4619      	mov	r1, r3
- 80046ba:	4805      	ldr	r0, [pc, #20]	; (80046d0 <_ZL12MX_GPIO_Initv+0x16c>)
- 80046bc:	f7fc fbd8 	bl	8000e70 <HAL_GPIO_Init>
+ 80046bc:	f107 031c 	add.w	r3, r7, #28
+ 80046c0:	4619      	mov	r1, r3
+ 80046c2:	4805      	ldr	r0, [pc, #20]	; (80046d8 <_ZL12MX_GPIO_Initv+0x16c>)
+ 80046c4:	f7fc fbd4 	bl	8000e70 <HAL_GPIO_Init>
 
 }
- 80046c0:	bf00      	nop
- 80046c2:	3730      	adds	r7, #48	; 0x30
- 80046c4:	46bd      	mov	sp, r7
- 80046c6:	bd80      	pop	{r7, pc}
- 80046c8:	40023800 	.word	0x40023800
- 80046cc:	40021400 	.word	0x40021400
- 80046d0:	40020400 	.word	0x40020400
- 80046d4:	40020800 	.word	0x40020800
- 80046d8:	40020000 	.word	0x40020000
- 80046dc:	40021000 	.word	0x40021000
-
-080046e0 <HAL_TIM_PeriodElapsedCallback>:
+ 80046c8:	bf00      	nop
+ 80046ca:	3730      	adds	r7, #48	; 0x30
+ 80046cc:	46bd      	mov	sp, r7
+ 80046ce:	bd80      	pop	{r7, pc}
+ 80046d0:	40023800 	.word	0x40023800
+ 80046d4:	40021400 	.word	0x40021400
+ 80046d8:	40020400 	.word	0x40020400
+ 80046dc:	40020800 	.word	0x40020800
+ 80046e0:	40020000 	.word	0x40020000
+ 80046e4:	40021000 	.word	0x40021000
+
+080046e8 <HAL_TIM_PeriodElapsedCallback>:
 
 /* USER CODE BEGIN 4 */
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
- 80046e0:	b580      	push	{r7, lr}
- 80046e2:	b084      	sub	sp, #16
- 80046e4:	af00      	add	r7, sp, #0
- 80046e6:	6078      	str	r0, [r7, #4]
+ 80046e8:	b580      	push	{r7, lr}
+ 80046ea:	b084      	sub	sp, #16
+ 80046ec:	af00      	add	r7, sp, #0
+ 80046ee:	6078      	str	r0, [r7, #4]
   if (htim->Instance == TIM3){
- 80046e8:	687b      	ldr	r3, [r7, #4]
- 80046ea:	681b      	ldr	r3, [r3, #0]
- 80046ec:	4a05      	ldr	r2, [pc, #20]	; (8004704 <HAL_TIM_PeriodElapsedCallback+0x24>)
- 80046ee:	4293      	cmp	r3, r2
- 80046f0:	d104      	bne.n	80046fc <HAL_TIM_PeriodElapsedCallback+0x1c>
+ 80046f0:	687b      	ldr	r3, [r7, #4]
+ 80046f2:	681b      	ldr	r3, [r3, #0]
+ 80046f4:	4a05      	ldr	r2, [pc, #20]	; (800470c <HAL_TIM_PeriodElapsedCallback+0x24>)
+ 80046f6:	4293      	cmp	r3, r2
+ 80046f8:	d104      	bne.n	8004704 <HAL_TIM_PeriodElapsedCallback+0x1c>
     float left_meters = left_encoder.GetMeters();
- 80046f2:	4805      	ldr	r0, [pc, #20]	; (8004708 <HAL_TIM_PeriodElapsedCallback+0x28>)
- 80046f4:	f7ff fc65 	bl	8003fc2 <_ZN7Encoder9GetMetersEv>
- 80046f8:	ed87 0a03 	vstr	s0, [r7, #12]
+ 80046fa:	4805      	ldr	r0, [pc, #20]	; (8004710 <HAL_TIM_PeriodElapsedCallback+0x28>)
+ 80046fc:	f7ff fc61 	bl	8003fc2 <_ZN7Encoder9GetMetersEv>
+ 8004700:	ed87 0a03 	vstr	s0, [r7, #12]
   }
 
 }
- 80046fc:	bf00      	nop
- 80046fe:	3710      	adds	r7, #16
- 8004700:	46bd      	mov	sp, r7
- 8004702:	bd80      	pop	{r7, pc}
- 8004704:	40000400 	.word	0x40000400
- 8004708:	20000268 	.word	0x20000268
-
-0800470c <Error_Handler>:
+ 8004704:	bf00      	nop
+ 8004706:	3710      	adds	r7, #16
+ 8004708:	46bd      	mov	sp, r7
+ 800470a:	bd80      	pop	{r7, pc}
+ 800470c:	40000400 	.word	0x40000400
+ 8004710:	20000268 	.word	0x20000268
+
+08004714 <Error_Handler>:
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
   */
 void Error_Handler(void)
 {
- 800470c:	b480      	push	{r7}
- 800470e:	af00      	add	r7, sp, #0
+ 8004714:	b480      	push	{r7}
+ 8004716:	af00      	add	r7, sp, #0
   /* USER CODE BEGIN Error_Handler_Debug */
   /* User can add his own implementation to report the HAL error return state */
 
   /* USER CODE END Error_Handler_Debug */
 }
- 8004710:	bf00      	nop
- 8004712:	46bd      	mov	sp, r7
- 8004714:	f85d 7b04 	ldr.w	r7, [sp], #4
- 8004718:	4770      	bx	lr
+ 8004718:	bf00      	nop
+ 800471a:	46bd      	mov	sp, r7
+ 800471c:	f85d 7b04 	ldr.w	r7, [sp], #4
+ 8004720:	4770      	bx	lr
 	...
 
-0800471c <_Z41__static_initialization_and_destruction_0ii>:
- 800471c:	b580      	push	{r7, lr}
- 800471e:	b082      	sub	sp, #8
- 8004720:	af00      	add	r7, sp, #0
- 8004722:	6078      	str	r0, [r7, #4]
- 8004724:	6039      	str	r1, [r7, #0]
- 8004726:	687b      	ldr	r3, [r7, #4]
- 8004728:	2b01      	cmp	r3, #1
- 800472a:	d108      	bne.n	800473e <_Z41__static_initialization_and_destruction_0ii+0x22>
- 800472c:	683b      	ldr	r3, [r7, #0]
- 800472e:	f64f 72ff 	movw	r2, #65535	; 0xffff
- 8004732:	4293      	cmp	r3, r2
- 8004734:	d103      	bne.n	800473e <_Z41__static_initialization_and_destruction_0ii+0x22>
+08004724 <_Z41__static_initialization_and_destruction_0ii>:
+ 8004724:	b580      	push	{r7, lr}
+ 8004726:	b082      	sub	sp, #8
+ 8004728:	af00      	add	r7, sp, #0
+ 800472a:	6078      	str	r0, [r7, #4]
+ 800472c:	6039      	str	r1, [r7, #0]
+ 800472e:	687b      	ldr	r3, [r7, #4]
+ 8004730:	2b01      	cmp	r3, #1
+ 8004732:	d108      	bne.n	8004746 <_Z41__static_initialization_and_destruction_0ii+0x22>
+ 8004734:	683b      	ldr	r3, [r7, #0]
+ 8004736:	f64f 72ff 	movw	r2, #65535	; 0xffff
+ 800473a:	4293      	cmp	r3, r2
+ 800473c:	d103      	bne.n	8004746 <_Z41__static_initialization_and_destruction_0ii+0x22>
 Encoder left_encoder = Encoder(&htim2);
- 8004736:	4904      	ldr	r1, [pc, #16]	; (8004748 <_Z41__static_initialization_and_destruction_0ii+0x2c>)
- 8004738:	4804      	ldr	r0, [pc, #16]	; (800474c <_Z41__static_initialization_and_destruction_0ii+0x30>)
- 800473a:	f7ff fc0b 	bl	8003f54 <_ZN7EncoderC1EP17TIM_HandleTypeDef>
+ 800473e:	4904      	ldr	r1, [pc, #16]	; (8004750 <_Z41__static_initialization_and_destruction_0ii+0x2c>)
+ 8004740:	4804      	ldr	r0, [pc, #16]	; (8004754 <_Z41__static_initialization_and_destruction_0ii+0x30>)
+ 8004742:	f7ff fc07 	bl	8003f54 <_ZN7EncoderC1EP17TIM_HandleTypeDef>
 }
- 800473e:	bf00      	nop
- 8004740:	3708      	adds	r7, #8
- 8004742:	46bd      	mov	sp, r7
- 8004744:	bd80      	pop	{r7, pc}
  8004746:	bf00      	nop
- 8004748:	20000028 	.word	0x20000028
- 800474c:	20000268 	.word	0x20000268
-
-08004750 <_GLOBAL__sub_I_htim2>:
- 8004750:	b580      	push	{r7, lr}
- 8004752:	af00      	add	r7, sp, #0
- 8004754:	f64f 71ff 	movw	r1, #65535	; 0xffff
- 8004758:	2001      	movs	r0, #1
- 800475a:	f7ff ffdf 	bl	800471c <_Z41__static_initialization_and_destruction_0ii>
- 800475e:	bd80      	pop	{r7, pc}
-
-08004760 <HAL_MspInit>:
+ 8004748:	3708      	adds	r7, #8
+ 800474a:	46bd      	mov	sp, r7
+ 800474c:	bd80      	pop	{r7, pc}
+ 800474e:	bf00      	nop
+ 8004750:	20000028 	.word	0x20000028
+ 8004754:	20000268 	.word	0x20000268
+
+08004758 <_GLOBAL__sub_I_htim2>:
+ 8004758:	b580      	push	{r7, lr}
+ 800475a:	af00      	add	r7, sp, #0
+ 800475c:	f64f 71ff 	movw	r1, #65535	; 0xffff
+ 8004760:	2001      	movs	r0, #1
+ 8004762:	f7ff ffdf 	bl	8004724 <_Z41__static_initialization_and_destruction_0ii>
+ 8004766:	bd80      	pop	{r7, pc}
+
+08004768 <HAL_MspInit>:
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
                     /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
 {
- 8004760:	b480      	push	{r7}
- 8004762:	b083      	sub	sp, #12
- 8004764:	af00      	add	r7, sp, #0
+ 8004768:	b480      	push	{r7}
+ 800476a:	b083      	sub	sp, #12
+ 800476c:	af00      	add	r7, sp, #0
   /* USER CODE BEGIN MspInit 0 */
 
   /* USER CODE END MspInit 0 */
 
   __HAL_RCC_PWR_CLK_ENABLE();
- 8004766:	4b0f      	ldr	r3, [pc, #60]	; (80047a4 <HAL_MspInit+0x44>)
- 8004768:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 800476a:	4a0e      	ldr	r2, [pc, #56]	; (80047a4 <HAL_MspInit+0x44>)
- 800476c:	f043 5380 	orr.w	r3, r3, #268435456	; 0x10000000
- 8004770:	6413      	str	r3, [r2, #64]	; 0x40
- 8004772:	4b0c      	ldr	r3, [pc, #48]	; (80047a4 <HAL_MspInit+0x44>)
- 8004774:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 8004776:	f003 5380 	and.w	r3, r3, #268435456	; 0x10000000
- 800477a:	607b      	str	r3, [r7, #4]
- 800477c:	687b      	ldr	r3, [r7, #4]
+ 800476e:	4b0f      	ldr	r3, [pc, #60]	; (80047ac <HAL_MspInit+0x44>)
+ 8004770:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 8004772:	4a0e      	ldr	r2, [pc, #56]	; (80047ac <HAL_MspInit+0x44>)
+ 8004774:	f043 5380 	orr.w	r3, r3, #268435456	; 0x10000000
+ 8004778:	6413      	str	r3, [r2, #64]	; 0x40
+ 800477a:	4b0c      	ldr	r3, [pc, #48]	; (80047ac <HAL_MspInit+0x44>)
+ 800477c:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 800477e:	f003 5380 	and.w	r3, r3, #268435456	; 0x10000000
+ 8004782:	607b      	str	r3, [r7, #4]
+ 8004784:	687b      	ldr	r3, [r7, #4]
   __HAL_RCC_SYSCFG_CLK_ENABLE();
- 800477e:	4b09      	ldr	r3, [pc, #36]	; (80047a4 <HAL_MspInit+0x44>)
- 8004780:	6c5b      	ldr	r3, [r3, #68]	; 0x44
- 8004782:	4a08      	ldr	r2, [pc, #32]	; (80047a4 <HAL_MspInit+0x44>)
- 8004784:	f443 4380 	orr.w	r3, r3, #16384	; 0x4000
- 8004788:	6453      	str	r3, [r2, #68]	; 0x44
- 800478a:	4b06      	ldr	r3, [pc, #24]	; (80047a4 <HAL_MspInit+0x44>)
- 800478c:	6c5b      	ldr	r3, [r3, #68]	; 0x44
- 800478e:	f403 4380 	and.w	r3, r3, #16384	; 0x4000
- 8004792:	603b      	str	r3, [r7, #0]
- 8004794:	683b      	ldr	r3, [r7, #0]
+ 8004786:	4b09      	ldr	r3, [pc, #36]	; (80047ac <HAL_MspInit+0x44>)
+ 8004788:	6c5b      	ldr	r3, [r3, #68]	; 0x44
+ 800478a:	4a08      	ldr	r2, [pc, #32]	; (80047ac <HAL_MspInit+0x44>)
+ 800478c:	f443 4380 	orr.w	r3, r3, #16384	; 0x4000
+ 8004790:	6453      	str	r3, [r2, #68]	; 0x44
+ 8004792:	4b06      	ldr	r3, [pc, #24]	; (80047ac <HAL_MspInit+0x44>)
+ 8004794:	6c5b      	ldr	r3, [r3, #68]	; 0x44
+ 8004796:	f403 4380 	and.w	r3, r3, #16384	; 0x4000
+ 800479a:	603b      	str	r3, [r7, #0]
+ 800479c:	683b      	ldr	r3, [r7, #0]
   /* System interrupt init*/
 
   /* USER CODE BEGIN MspInit 1 */
 
   /* USER CODE END MspInit 1 */
 }
- 8004796:	bf00      	nop
- 8004798:	370c      	adds	r7, #12
- 800479a:	46bd      	mov	sp, r7
- 800479c:	f85d 7b04 	ldr.w	r7, [sp], #4
- 80047a0:	4770      	bx	lr
- 80047a2:	bf00      	nop
- 80047a4:	40023800 	.word	0x40023800
-
-080047a8 <HAL_TIM_Encoder_MspInit>:
+ 800479e:	bf00      	nop
+ 80047a0:	370c      	adds	r7, #12
+ 80047a2:	46bd      	mov	sp, r7
+ 80047a4:	f85d 7b04 	ldr.w	r7, [sp], #4
+ 80047a8:	4770      	bx	lr
+ 80047aa:	bf00      	nop
+ 80047ac:	40023800 	.word	0x40023800
+
+080047b0 <HAL_TIM_Encoder_MspInit>:
 * This function configures the hardware resources used in this example
 * @param htim_encoder: TIM_Encoder handle pointer
 * @retval None
 */
 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
 {
- 80047a8:	b580      	push	{r7, lr}
- 80047aa:	b08c      	sub	sp, #48	; 0x30
- 80047ac:	af00      	add	r7, sp, #0
- 80047ae:	6078      	str	r0, [r7, #4]
+ 80047b0:	b580      	push	{r7, lr}
+ 80047b2:	b08c      	sub	sp, #48	; 0x30
+ 80047b4:	af00      	add	r7, sp, #0
+ 80047b6:	6078      	str	r0, [r7, #4]
   GPIO_InitTypeDef GPIO_InitStruct = {0};
- 80047b0:	f107 031c 	add.w	r3, r7, #28
- 80047b4:	2200      	movs	r2, #0
- 80047b6:	601a      	str	r2, [r3, #0]
- 80047b8:	605a      	str	r2, [r3, #4]
- 80047ba:	609a      	str	r2, [r3, #8]
- 80047bc:	60da      	str	r2, [r3, #12]
- 80047be:	611a      	str	r2, [r3, #16]
+ 80047b8:	f107 031c 	add.w	r3, r7, #28
+ 80047bc:	2200      	movs	r2, #0
+ 80047be:	601a      	str	r2, [r3, #0]
+ 80047c0:	605a      	str	r2, [r3, #4]
+ 80047c2:	609a      	str	r2, [r3, #8]
+ 80047c4:	60da      	str	r2, [r3, #12]
+ 80047c6:	611a      	str	r2, [r3, #16]
   if(htim_encoder->Instance==TIM2)
- 80047c0:	687b      	ldr	r3, [r7, #4]
- 80047c2:	681b      	ldr	r3, [r3, #0]
- 80047c4:	f1b3 4f80 	cmp.w	r3, #1073741824	; 0x40000000
- 80047c8:	d144      	bne.n	8004854 <HAL_TIM_Encoder_MspInit+0xac>
+ 80047c8:	687b      	ldr	r3, [r7, #4]
+ 80047ca:	681b      	ldr	r3, [r3, #0]
+ 80047cc:	f1b3 4f80 	cmp.w	r3, #1073741824	; 0x40000000
+ 80047d0:	d144      	bne.n	800485c <HAL_TIM_Encoder_MspInit+0xac>
   {
   /* USER CODE BEGIN TIM2_MspInit 0 */
 
   /* USER CODE END TIM2_MspInit 0 */
     /* Peripheral clock enable */
     __HAL_RCC_TIM2_CLK_ENABLE();
- 80047ca:	4b3b      	ldr	r3, [pc, #236]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 80047cc:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 80047ce:	4a3a      	ldr	r2, [pc, #232]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 80047d0:	f043 0301 	orr.w	r3, r3, #1
- 80047d4:	6413      	str	r3, [r2, #64]	; 0x40
- 80047d6:	4b38      	ldr	r3, [pc, #224]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 80047d8:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 80047da:	f003 0301 	and.w	r3, r3, #1
- 80047de:	61bb      	str	r3, [r7, #24]
- 80047e0:	69bb      	ldr	r3, [r7, #24]
+ 80047d2:	4b3b      	ldr	r3, [pc, #236]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 80047d4:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 80047d6:	4a3a      	ldr	r2, [pc, #232]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 80047d8:	f043 0301 	orr.w	r3, r3, #1
+ 80047dc:	6413      	str	r3, [r2, #64]	; 0x40
+ 80047de:	4b38      	ldr	r3, [pc, #224]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 80047e0:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 80047e2:	f003 0301 	and.w	r3, r3, #1
+ 80047e6:	61bb      	str	r3, [r7, #24]
+ 80047e8:	69bb      	ldr	r3, [r7, #24]
   
     __HAL_RCC_GPIOA_CLK_ENABLE();
- 80047e2:	4b35      	ldr	r3, [pc, #212]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 80047e4:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 80047e6:	4a34      	ldr	r2, [pc, #208]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 80047e8:	f043 0301 	orr.w	r3, r3, #1
- 80047ec:	6313      	str	r3, [r2, #48]	; 0x30
- 80047ee:	4b32      	ldr	r3, [pc, #200]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 80047f0:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 80047f2:	f003 0301 	and.w	r3, r3, #1
- 80047f6:	617b      	str	r3, [r7, #20]
- 80047f8:	697b      	ldr	r3, [r7, #20]
+ 80047ea:	4b35      	ldr	r3, [pc, #212]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 80047ec:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 80047ee:	4a34      	ldr	r2, [pc, #208]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 80047f0:	f043 0301 	orr.w	r3, r3, #1
+ 80047f4:	6313      	str	r3, [r2, #48]	; 0x30
+ 80047f6:	4b32      	ldr	r3, [pc, #200]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 80047f8:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 80047fa:	f003 0301 	and.w	r3, r3, #1
+ 80047fe:	617b      	str	r3, [r7, #20]
+ 8004800:	697b      	ldr	r3, [r7, #20]
     __HAL_RCC_GPIOB_CLK_ENABLE();
- 80047fa:	4b2f      	ldr	r3, [pc, #188]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 80047fc:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 80047fe:	4a2e      	ldr	r2, [pc, #184]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 8004800:	f043 0302 	orr.w	r3, r3, #2
- 8004804:	6313      	str	r3, [r2, #48]	; 0x30
- 8004806:	4b2c      	ldr	r3, [pc, #176]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 8004808:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 800480a:	f003 0302 	and.w	r3, r3, #2
- 800480e:	613b      	str	r3, [r7, #16]
- 8004810:	693b      	ldr	r3, [r7, #16]
+ 8004802:	4b2f      	ldr	r3, [pc, #188]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 8004804:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 8004806:	4a2e      	ldr	r2, [pc, #184]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 8004808:	f043 0302 	orr.w	r3, r3, #2
+ 800480c:	6313      	str	r3, [r2, #48]	; 0x30
+ 800480e:	4b2c      	ldr	r3, [pc, #176]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 8004810:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 8004812:	f003 0302 	and.w	r3, r3, #2
+ 8004816:	613b      	str	r3, [r7, #16]
+ 8004818:	693b      	ldr	r3, [r7, #16]
     /**TIM2 GPIO Configuration    
     PA5     ------> TIM2_CH1
     PB3     ------> TIM2_CH2 
     */
     GPIO_InitStruct.Pin = GPIO_PIN_5;
- 8004812:	2320      	movs	r3, #32
- 8004814:	61fb      	str	r3, [r7, #28]
+ 800481a:	2320      	movs	r3, #32
+ 800481c:	61fb      	str	r3, [r7, #28]
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- 8004816:	2302      	movs	r3, #2
- 8004818:	623b      	str	r3, [r7, #32]
+ 800481e:	2302      	movs	r3, #2
+ 8004820:	623b      	str	r3, [r7, #32]
     GPIO_InitStruct.Pull = GPIO_NOPULL;
- 800481a:	2300      	movs	r3, #0
- 800481c:	627b      	str	r3, [r7, #36]	; 0x24
+ 8004822:	2300      	movs	r3, #0
+ 8004824:	627b      	str	r3, [r7, #36]	; 0x24
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- 800481e:	2300      	movs	r3, #0
- 8004820:	62bb      	str	r3, [r7, #40]	; 0x28
+ 8004826:	2300      	movs	r3, #0
+ 8004828:	62bb      	str	r3, [r7, #40]	; 0x28
     GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
- 8004822:	2301      	movs	r3, #1
- 8004824:	62fb      	str	r3, [r7, #44]	; 0x2c
+ 800482a:	2301      	movs	r3, #1
+ 800482c:	62fb      	str	r3, [r7, #44]	; 0x2c
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- 8004826:	f107 031c 	add.w	r3, r7, #28
- 800482a:	4619      	mov	r1, r3
- 800482c:	4823      	ldr	r0, [pc, #140]	; (80048bc <HAL_TIM_Encoder_MspInit+0x114>)
- 800482e:	f7fc fb1f 	bl	8000e70 <HAL_GPIO_Init>
+ 800482e:	f107 031c 	add.w	r3, r7, #28
+ 8004832:	4619      	mov	r1, r3
+ 8004834:	4823      	ldr	r0, [pc, #140]	; (80048c4 <HAL_TIM_Encoder_MspInit+0x114>)
+ 8004836:	f7fc fb1b 	bl	8000e70 <HAL_GPIO_Init>
 
     GPIO_InitStruct.Pin = GPIO_PIN_3;
- 8004832:	2308      	movs	r3, #8
- 8004834:	61fb      	str	r3, [r7, #28]
+ 800483a:	2308      	movs	r3, #8
+ 800483c:	61fb      	str	r3, [r7, #28]
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- 8004836:	2302      	movs	r3, #2
- 8004838:	623b      	str	r3, [r7, #32]
+ 800483e:	2302      	movs	r3, #2
+ 8004840:	623b      	str	r3, [r7, #32]
     GPIO_InitStruct.Pull = GPIO_NOPULL;
- 800483a:	2300      	movs	r3, #0
- 800483c:	627b      	str	r3, [r7, #36]	; 0x24
+ 8004842:	2300      	movs	r3, #0
+ 8004844:	627b      	str	r3, [r7, #36]	; 0x24
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- 800483e:	2300      	movs	r3, #0
- 8004840:	62bb      	str	r3, [r7, #40]	; 0x28
+ 8004846:	2300      	movs	r3, #0
+ 8004848:	62bb      	str	r3, [r7, #40]	; 0x28
     GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
- 8004842:	2301      	movs	r3, #1
- 8004844:	62fb      	str	r3, [r7, #44]	; 0x2c
+ 800484a:	2301      	movs	r3, #1
+ 800484c:	62fb      	str	r3, [r7, #44]	; 0x2c
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
- 8004846:	f107 031c 	add.w	r3, r7, #28
- 800484a:	4619      	mov	r1, r3
- 800484c:	481c      	ldr	r0, [pc, #112]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x118>)
- 800484e:	f7fc fb0f 	bl	8000e70 <HAL_GPIO_Init>
+ 800484e:	f107 031c 	add.w	r3, r7, #28
+ 8004852:	4619      	mov	r1, r3
+ 8004854:	481c      	ldr	r0, [pc, #112]	; (80048c8 <HAL_TIM_Encoder_MspInit+0x118>)
+ 8004856:	f7fc fb0b 	bl	8000e70 <HAL_GPIO_Init>
   /* USER CODE BEGIN TIM5_MspInit 1 */
 
   /* USER CODE END TIM5_MspInit 1 */
   }
 
 }
- 8004852:	e02c      	b.n	80048ae <HAL_TIM_Encoder_MspInit+0x106>
+ 800485a:	e02c      	b.n	80048b6 <HAL_TIM_Encoder_MspInit+0x106>
   else if(htim_encoder->Instance==TIM5)
- 8004854:	687b      	ldr	r3, [r7, #4]
- 8004856:	681b      	ldr	r3, [r3, #0]
- 8004858:	4a1a      	ldr	r2, [pc, #104]	; (80048c4 <HAL_TIM_Encoder_MspInit+0x11c>)
- 800485a:	4293      	cmp	r3, r2
- 800485c:	d127      	bne.n	80048ae <HAL_TIM_Encoder_MspInit+0x106>
+ 800485c:	687b      	ldr	r3, [r7, #4]
+ 800485e:	681b      	ldr	r3, [r3, #0]
+ 8004860:	4a1a      	ldr	r2, [pc, #104]	; (80048cc <HAL_TIM_Encoder_MspInit+0x11c>)
+ 8004862:	4293      	cmp	r3, r2
+ 8004864:	d127      	bne.n	80048b6 <HAL_TIM_Encoder_MspInit+0x106>
     __HAL_RCC_TIM5_CLK_ENABLE();
- 800485e:	4b16      	ldr	r3, [pc, #88]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 8004860:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 8004862:	4a15      	ldr	r2, [pc, #84]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 8004864:	f043 0308 	orr.w	r3, r3, #8
- 8004868:	6413      	str	r3, [r2, #64]	; 0x40
- 800486a:	4b13      	ldr	r3, [pc, #76]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 800486c:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 800486e:	f003 0308 	and.w	r3, r3, #8
- 8004872:	60fb      	str	r3, [r7, #12]
- 8004874:	68fb      	ldr	r3, [r7, #12]
+ 8004866:	4b16      	ldr	r3, [pc, #88]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 8004868:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 800486a:	4a15      	ldr	r2, [pc, #84]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 800486c:	f043 0308 	orr.w	r3, r3, #8
+ 8004870:	6413      	str	r3, [r2, #64]	; 0x40
+ 8004872:	4b13      	ldr	r3, [pc, #76]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 8004874:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 8004876:	f003 0308 	and.w	r3, r3, #8
+ 800487a:	60fb      	str	r3, [r7, #12]
+ 800487c:	68fb      	ldr	r3, [r7, #12]
     __HAL_RCC_GPIOA_CLK_ENABLE();
- 8004876:	4b10      	ldr	r3, [pc, #64]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 8004878:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 800487a:	4a0f      	ldr	r2, [pc, #60]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 800487c:	f043 0301 	orr.w	r3, r3, #1
- 8004880:	6313      	str	r3, [r2, #48]	; 0x30
- 8004882:	4b0d      	ldr	r3, [pc, #52]	; (80048b8 <HAL_TIM_Encoder_MspInit+0x110>)
- 8004884:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 8004886:	f003 0301 	and.w	r3, r3, #1
- 800488a:	60bb      	str	r3, [r7, #8]
- 800488c:	68bb      	ldr	r3, [r7, #8]
+ 800487e:	4b10      	ldr	r3, [pc, #64]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 8004880:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 8004882:	4a0f      	ldr	r2, [pc, #60]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 8004884:	f043 0301 	orr.w	r3, r3, #1
+ 8004888:	6313      	str	r3, [r2, #48]	; 0x30
+ 800488a:	4b0d      	ldr	r3, [pc, #52]	; (80048c0 <HAL_TIM_Encoder_MspInit+0x110>)
+ 800488c:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 800488e:	f003 0301 	and.w	r3, r3, #1
+ 8004892:	60bb      	str	r3, [r7, #8]
+ 8004894:	68bb      	ldr	r3, [r7, #8]
     GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
- 800488e:	2303      	movs	r3, #3
- 8004890:	61fb      	str	r3, [r7, #28]
+ 8004896:	2303      	movs	r3, #3
+ 8004898:	61fb      	str	r3, [r7, #28]
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- 8004892:	2302      	movs	r3, #2
- 8004894:	623b      	str	r3, [r7, #32]
+ 800489a:	2302      	movs	r3, #2
+ 800489c:	623b      	str	r3, [r7, #32]
     GPIO_InitStruct.Pull = GPIO_NOPULL;
- 8004896:	2300      	movs	r3, #0
- 8004898:	627b      	str	r3, [r7, #36]	; 0x24
+ 800489e:	2300      	movs	r3, #0
+ 80048a0:	627b      	str	r3, [r7, #36]	; 0x24
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- 800489a:	2300      	movs	r3, #0
- 800489c:	62bb      	str	r3, [r7, #40]	; 0x28
+ 80048a2:	2300      	movs	r3, #0
+ 80048a4:	62bb      	str	r3, [r7, #40]	; 0x28
     GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
- 800489e:	2302      	movs	r3, #2
- 80048a0:	62fb      	str	r3, [r7, #44]	; 0x2c
+ 80048a6:	2302      	movs	r3, #2
+ 80048a8:	62fb      	str	r3, [r7, #44]	; 0x2c
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- 80048a2:	f107 031c 	add.w	r3, r7, #28
- 80048a6:	4619      	mov	r1, r3
- 80048a8:	4804      	ldr	r0, [pc, #16]	; (80048bc <HAL_TIM_Encoder_MspInit+0x114>)
- 80048aa:	f7fc fae1 	bl	8000e70 <HAL_GPIO_Init>
+ 80048aa:	f107 031c 	add.w	r3, r7, #28
+ 80048ae:	4619      	mov	r1, r3
+ 80048b0:	4804      	ldr	r0, [pc, #16]	; (80048c4 <HAL_TIM_Encoder_MspInit+0x114>)
+ 80048b2:	f7fc fadd 	bl	8000e70 <HAL_GPIO_Init>
 }
- 80048ae:	bf00      	nop
- 80048b0:	3730      	adds	r7, #48	; 0x30
- 80048b2:	46bd      	mov	sp, r7
- 80048b4:	bd80      	pop	{r7, pc}
  80048b6:	bf00      	nop
- 80048b8:	40023800 	.word	0x40023800
- 80048bc:	40020000 	.word	0x40020000
- 80048c0:	40020400 	.word	0x40020400
- 80048c4:	40000c00 	.word	0x40000c00
-
-080048c8 <HAL_TIM_Base_MspInit>:
+ 80048b8:	3730      	adds	r7, #48	; 0x30
+ 80048ba:	46bd      	mov	sp, r7
+ 80048bc:	bd80      	pop	{r7, pc}
+ 80048be:	bf00      	nop
+ 80048c0:	40023800 	.word	0x40023800
+ 80048c4:	40020000 	.word	0x40020000
+ 80048c8:	40020400 	.word	0x40020400
+ 80048cc:	40000c00 	.word	0x40000c00
+
+080048d0 <HAL_TIM_Base_MspInit>:
 * This function configures the hardware resources used in this example
 * @param htim_base: TIM_Base handle pointer
 * @retval None
 */
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 {
- 80048c8:	b580      	push	{r7, lr}
- 80048ca:	b084      	sub	sp, #16
- 80048cc:	af00      	add	r7, sp, #0
- 80048ce:	6078      	str	r0, [r7, #4]
+ 80048d0:	b580      	push	{r7, lr}
+ 80048d2:	b084      	sub	sp, #16
+ 80048d4:	af00      	add	r7, sp, #0
+ 80048d6:	6078      	str	r0, [r7, #4]
   if(htim_base->Instance==TIM3)
- 80048d0:	687b      	ldr	r3, [r7, #4]
- 80048d2:	681b      	ldr	r3, [r3, #0]
- 80048d4:	4a0d      	ldr	r2, [pc, #52]	; (800490c <HAL_TIM_Base_MspInit+0x44>)
- 80048d6:	4293      	cmp	r3, r2
- 80048d8:	d113      	bne.n	8004902 <HAL_TIM_Base_MspInit+0x3a>
+ 80048d8:	687b      	ldr	r3, [r7, #4]
+ 80048da:	681b      	ldr	r3, [r3, #0]
+ 80048dc:	4a0d      	ldr	r2, [pc, #52]	; (8004914 <HAL_TIM_Base_MspInit+0x44>)
+ 80048de:	4293      	cmp	r3, r2
+ 80048e0:	d113      	bne.n	800490a <HAL_TIM_Base_MspInit+0x3a>
   {
   /* USER CODE BEGIN TIM3_MspInit 0 */
 
   /* USER CODE END TIM3_MspInit 0 */
     /* Peripheral clock enable */
     __HAL_RCC_TIM3_CLK_ENABLE();
- 80048da:	4b0d      	ldr	r3, [pc, #52]	; (8004910 <HAL_TIM_Base_MspInit+0x48>)
- 80048dc:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 80048de:	4a0c      	ldr	r2, [pc, #48]	; (8004910 <HAL_TIM_Base_MspInit+0x48>)
- 80048e0:	f043 0302 	orr.w	r3, r3, #2
- 80048e4:	6413      	str	r3, [r2, #64]	; 0x40
- 80048e6:	4b0a      	ldr	r3, [pc, #40]	; (8004910 <HAL_TIM_Base_MspInit+0x48>)
- 80048e8:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 80048ea:	f003 0302 	and.w	r3, r3, #2
- 80048ee:	60fb      	str	r3, [r7, #12]
- 80048f0:	68fb      	ldr	r3, [r7, #12]
+ 80048e2:	4b0d      	ldr	r3, [pc, #52]	; (8004918 <HAL_TIM_Base_MspInit+0x48>)
+ 80048e4:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 80048e6:	4a0c      	ldr	r2, [pc, #48]	; (8004918 <HAL_TIM_Base_MspInit+0x48>)
+ 80048e8:	f043 0302 	orr.w	r3, r3, #2
+ 80048ec:	6413      	str	r3, [r2, #64]	; 0x40
+ 80048ee:	4b0a      	ldr	r3, [pc, #40]	; (8004918 <HAL_TIM_Base_MspInit+0x48>)
+ 80048f0:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 80048f2:	f003 0302 	and.w	r3, r3, #2
+ 80048f6:	60fb      	str	r3, [r7, #12]
+ 80048f8:	68fb      	ldr	r3, [r7, #12]
     /* TIM3 interrupt Init */
     HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
- 80048f2:	2200      	movs	r2, #0
- 80048f4:	2100      	movs	r1, #0
- 80048f6:	201d      	movs	r0, #29
- 80048f8:	f7fb ff79 	bl	80007ee <HAL_NVIC_SetPriority>
+ 80048fa:	2200      	movs	r2, #0
+ 80048fc:	2100      	movs	r1, #0
+ 80048fe:	201d      	movs	r0, #29
+ 8004900:	f7fb ff75 	bl	80007ee <HAL_NVIC_SetPriority>
     HAL_NVIC_EnableIRQ(TIM3_IRQn);
- 80048fc:	201d      	movs	r0, #29
- 80048fe:	f7fb ff92 	bl	8000826 <HAL_NVIC_EnableIRQ>
+ 8004904:	201d      	movs	r0, #29
+ 8004906:	f7fb ff8e 	bl	8000826 <HAL_NVIC_EnableIRQ>
   /* USER CODE BEGIN TIM3_MspInit 1 */
 
   /* USER CODE END TIM3_MspInit 1 */
   }
 
 }
- 8004902:	bf00      	nop
- 8004904:	3710      	adds	r7, #16
- 8004906:	46bd      	mov	sp, r7
- 8004908:	bd80      	pop	{r7, pc}
  800490a:	bf00      	nop
- 800490c:	40000400 	.word	0x40000400
- 8004910:	40023800 	.word	0x40023800
-
-08004914 <HAL_TIM_PWM_MspInit>:
+ 800490c:	3710      	adds	r7, #16
+ 800490e:	46bd      	mov	sp, r7
+ 8004910:	bd80      	pop	{r7, pc}
+ 8004912:	bf00      	nop
+ 8004914:	40000400 	.word	0x40000400
+ 8004918:	40023800 	.word	0x40023800
+
+0800491c <HAL_TIM_PWM_MspInit>:
 * This function configures the hardware resources used in this example
 * @param htim_pwm: TIM_PWM handle pointer
 * @retval None
 */
 void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
 {
- 8004914:	b480      	push	{r7}
- 8004916:	b085      	sub	sp, #20
- 8004918:	af00      	add	r7, sp, #0
- 800491a:	6078      	str	r0, [r7, #4]
+ 800491c:	b480      	push	{r7}
+ 800491e:	b085      	sub	sp, #20
+ 8004920:	af00      	add	r7, sp, #0
+ 8004922:	6078      	str	r0, [r7, #4]
   if(htim_pwm->Instance==TIM4)
- 800491c:	687b      	ldr	r3, [r7, #4]
- 800491e:	681b      	ldr	r3, [r3, #0]
- 8004920:	4a0a      	ldr	r2, [pc, #40]	; (800494c <HAL_TIM_PWM_MspInit+0x38>)
- 8004922:	4293      	cmp	r3, r2
- 8004924:	d10b      	bne.n	800493e <HAL_TIM_PWM_MspInit+0x2a>
+ 8004924:	687b      	ldr	r3, [r7, #4]
+ 8004926:	681b      	ldr	r3, [r3, #0]
+ 8004928:	4a0a      	ldr	r2, [pc, #40]	; (8004954 <HAL_TIM_PWM_MspInit+0x38>)
+ 800492a:	4293      	cmp	r3, r2
+ 800492c:	d10b      	bne.n	8004946 <HAL_TIM_PWM_MspInit+0x2a>
   {
   /* USER CODE BEGIN TIM4_MspInit 0 */
 
   /* USER CODE END TIM4_MspInit 0 */
     /* Peripheral clock enable */
     __HAL_RCC_TIM4_CLK_ENABLE();
- 8004926:	4b0a      	ldr	r3, [pc, #40]	; (8004950 <HAL_TIM_PWM_MspInit+0x3c>)
- 8004928:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 800492a:	4a09      	ldr	r2, [pc, #36]	; (8004950 <HAL_TIM_PWM_MspInit+0x3c>)
- 800492c:	f043 0304 	orr.w	r3, r3, #4
- 8004930:	6413      	str	r3, [r2, #64]	; 0x40
- 8004932:	4b07      	ldr	r3, [pc, #28]	; (8004950 <HAL_TIM_PWM_MspInit+0x3c>)
- 8004934:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 8004936:	f003 0304 	and.w	r3, r3, #4
- 800493a:	60fb      	str	r3, [r7, #12]
- 800493c:	68fb      	ldr	r3, [r7, #12]
+ 800492e:	4b0a      	ldr	r3, [pc, #40]	; (8004958 <HAL_TIM_PWM_MspInit+0x3c>)
+ 8004930:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 8004932:	4a09      	ldr	r2, [pc, #36]	; (8004958 <HAL_TIM_PWM_MspInit+0x3c>)
+ 8004934:	f043 0304 	orr.w	r3, r3, #4
+ 8004938:	6413      	str	r3, [r2, #64]	; 0x40
+ 800493a:	4b07      	ldr	r3, [pc, #28]	; (8004958 <HAL_TIM_PWM_MspInit+0x3c>)
+ 800493c:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 800493e:	f003 0304 	and.w	r3, r3, #4
+ 8004942:	60fb      	str	r3, [r7, #12]
+ 8004944:	68fb      	ldr	r3, [r7, #12]
   /* USER CODE BEGIN TIM4_MspInit 1 */
 
   /* USER CODE END TIM4_MspInit 1 */
   }
 
 }
- 800493e:	bf00      	nop
- 8004940:	3714      	adds	r7, #20
- 8004942:	46bd      	mov	sp, r7
- 8004944:	f85d 7b04 	ldr.w	r7, [sp], #4
- 8004948:	4770      	bx	lr
- 800494a:	bf00      	nop
- 800494c:	40000800 	.word	0x40000800
- 8004950:	40023800 	.word	0x40023800
+ 8004946:	bf00      	nop
+ 8004948:	3714      	adds	r7, #20
+ 800494a:	46bd      	mov	sp, r7
+ 800494c:	f85d 7b04 	ldr.w	r7, [sp], #4
+ 8004950:	4770      	bx	lr
+ 8004952:	bf00      	nop
+ 8004954:	40000800 	.word	0x40000800
+ 8004958:	40023800 	.word	0x40023800
 
-08004954 <HAL_TIM_MspPostInit>:
+0800495c <HAL_TIM_MspPostInit>:
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 {
- 8004954:	b580      	push	{r7, lr}
- 8004956:	b088      	sub	sp, #32
- 8004958:	af00      	add	r7, sp, #0
- 800495a:	6078      	str	r0, [r7, #4]
+ 800495c:	b580      	push	{r7, lr}
+ 800495e:	b088      	sub	sp, #32
+ 8004960:	af00      	add	r7, sp, #0
+ 8004962:	6078      	str	r0, [r7, #4]
   GPIO_InitTypeDef GPIO_InitStruct = {0};
- 800495c:	f107 030c 	add.w	r3, r7, #12
- 8004960:	2200      	movs	r2, #0
- 8004962:	601a      	str	r2, [r3, #0]
- 8004964:	605a      	str	r2, [r3, #4]
- 8004966:	609a      	str	r2, [r3, #8]
- 8004968:	60da      	str	r2, [r3, #12]
- 800496a:	611a      	str	r2, [r3, #16]
+ 8004964:	f107 030c 	add.w	r3, r7, #12
+ 8004968:	2200      	movs	r2, #0
+ 800496a:	601a      	str	r2, [r3, #0]
+ 800496c:	605a      	str	r2, [r3, #4]
+ 800496e:	609a      	str	r2, [r3, #8]
+ 8004970:	60da      	str	r2, [r3, #12]
+ 8004972:	611a      	str	r2, [r3, #16]
   if(htim->Instance==TIM4)
- 800496c:	687b      	ldr	r3, [r7, #4]
- 800496e:	681b      	ldr	r3, [r3, #0]
- 8004970:	4a11      	ldr	r2, [pc, #68]	; (80049b8 <HAL_TIM_MspPostInit+0x64>)
- 8004972:	4293      	cmp	r3, r2
- 8004974:	d11c      	bne.n	80049b0 <HAL_TIM_MspPostInit+0x5c>
+ 8004974:	687b      	ldr	r3, [r7, #4]
+ 8004976:	681b      	ldr	r3, [r3, #0]
+ 8004978:	4a11      	ldr	r2, [pc, #68]	; (80049c0 <HAL_TIM_MspPostInit+0x64>)
+ 800497a:	4293      	cmp	r3, r2
+ 800497c:	d11c      	bne.n	80049b8 <HAL_TIM_MspPostInit+0x5c>
   {
   /* USER CODE BEGIN TIM4_MspPostInit 0 */
 
   /* USER CODE END TIM4_MspPostInit 0 */
   
     __HAL_RCC_GPIOD_CLK_ENABLE();
- 8004976:	4b11      	ldr	r3, [pc, #68]	; (80049bc <HAL_TIM_MspPostInit+0x68>)
- 8004978:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 800497a:	4a10      	ldr	r2, [pc, #64]	; (80049bc <HAL_TIM_MspPostInit+0x68>)
- 800497c:	f043 0308 	orr.w	r3, r3, #8
- 8004980:	6313      	str	r3, [r2, #48]	; 0x30
- 8004982:	4b0e      	ldr	r3, [pc, #56]	; (80049bc <HAL_TIM_MspPostInit+0x68>)
- 8004984:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 8004986:	f003 0308 	and.w	r3, r3, #8
- 800498a:	60bb      	str	r3, [r7, #8]
- 800498c:	68bb      	ldr	r3, [r7, #8]
+ 800497e:	4b11      	ldr	r3, [pc, #68]	; (80049c4 <HAL_TIM_MspPostInit+0x68>)
+ 8004980:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 8004982:	4a10      	ldr	r2, [pc, #64]	; (80049c4 <HAL_TIM_MspPostInit+0x68>)
+ 8004984:	f043 0308 	orr.w	r3, r3, #8
+ 8004988:	6313      	str	r3, [r2, #48]	; 0x30
+ 800498a:	4b0e      	ldr	r3, [pc, #56]	; (80049c4 <HAL_TIM_MspPostInit+0x68>)
+ 800498c:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 800498e:	f003 0308 	and.w	r3, r3, #8
+ 8004992:	60bb      	str	r3, [r7, #8]
+ 8004994:	68bb      	ldr	r3, [r7, #8]
     /**TIM4 GPIO Configuration    
     PD14     ------> TIM4_CH3
     PD15     ------> TIM4_CH4 
     */
     GPIO_InitStruct.Pin = pwm_2_Pin|pwm_1_Pin;
- 800498e:	f44f 4340 	mov.w	r3, #49152	; 0xc000
- 8004992:	60fb      	str	r3, [r7, #12]
+ 8004996:	f44f 4340 	mov.w	r3, #49152	; 0xc000
+ 800499a:	60fb      	str	r3, [r7, #12]
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- 8004994:	2302      	movs	r3, #2
- 8004996:	613b      	str	r3, [r7, #16]
+ 800499c:	2302      	movs	r3, #2
+ 800499e:	613b      	str	r3, [r7, #16]
     GPIO_InitStruct.Pull = GPIO_NOPULL;
- 8004998:	2300      	movs	r3, #0
- 800499a:	617b      	str	r3, [r7, #20]
+ 80049a0:	2300      	movs	r3, #0
+ 80049a2:	617b      	str	r3, [r7, #20]
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- 800499c:	2300      	movs	r3, #0
- 800499e:	61bb      	str	r3, [r7, #24]
+ 80049a4:	2300      	movs	r3, #0
+ 80049a6:	61bb      	str	r3, [r7, #24]
     GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
- 80049a0:	2302      	movs	r3, #2
- 80049a2:	61fb      	str	r3, [r7, #28]
+ 80049a8:	2302      	movs	r3, #2
+ 80049aa:	61fb      	str	r3, [r7, #28]
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
- 80049a4:	f107 030c 	add.w	r3, r7, #12
- 80049a8:	4619      	mov	r1, r3
- 80049aa:	4805      	ldr	r0, [pc, #20]	; (80049c0 <HAL_TIM_MspPostInit+0x6c>)
- 80049ac:	f7fc fa60 	bl	8000e70 <HAL_GPIO_Init>
+ 80049ac:	f107 030c 	add.w	r3, r7, #12
+ 80049b0:	4619      	mov	r1, r3
+ 80049b2:	4805      	ldr	r0, [pc, #20]	; (80049c8 <HAL_TIM_MspPostInit+0x6c>)
+ 80049b4:	f7fc fa5c 	bl	8000e70 <HAL_GPIO_Init>
   /* USER CODE BEGIN TIM4_MspPostInit 1 */
 
   /* USER CODE END TIM4_MspPostInit 1 */
   }
 
 }
- 80049b0:	bf00      	nop
- 80049b2:	3720      	adds	r7, #32
- 80049b4:	46bd      	mov	sp, r7
- 80049b6:	bd80      	pop	{r7, pc}
- 80049b8:	40000800 	.word	0x40000800
- 80049bc:	40023800 	.word	0x40023800
- 80049c0:	40020c00 	.word	0x40020c00
-
-080049c4 <HAL_UART_MspInit>:
+ 80049b8:	bf00      	nop
+ 80049ba:	3720      	adds	r7, #32
+ 80049bc:	46bd      	mov	sp, r7
+ 80049be:	bd80      	pop	{r7, pc}
+ 80049c0:	40000800 	.word	0x40000800
+ 80049c4:	40023800 	.word	0x40023800
+ 80049c8:	40020c00 	.word	0x40020c00
+
+080049cc <HAL_UART_MspInit>:
 * This function configures the hardware resources used in this example
 * @param huart: UART handle pointer
 * @retval None
 */
 void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 {
- 80049c4:	b580      	push	{r7, lr}
- 80049c6:	b08a      	sub	sp, #40	; 0x28
- 80049c8:	af00      	add	r7, sp, #0
- 80049ca:	6078      	str	r0, [r7, #4]
+ 80049cc:	b580      	push	{r7, lr}
+ 80049ce:	b08a      	sub	sp, #40	; 0x28
+ 80049d0:	af00      	add	r7, sp, #0
+ 80049d2:	6078      	str	r0, [r7, #4]
   GPIO_InitTypeDef GPIO_InitStruct = {0};
- 80049cc:	f107 0314 	add.w	r3, r7, #20
- 80049d0:	2200      	movs	r2, #0
- 80049d2:	601a      	str	r2, [r3, #0]
- 80049d4:	605a      	str	r2, [r3, #4]
- 80049d6:	609a      	str	r2, [r3, #8]
- 80049d8:	60da      	str	r2, [r3, #12]
- 80049da:	611a      	str	r2, [r3, #16]
+ 80049d4:	f107 0314 	add.w	r3, r7, #20
+ 80049d8:	2200      	movs	r2, #0
+ 80049da:	601a      	str	r2, [r3, #0]
+ 80049dc:	605a      	str	r2, [r3, #4]
+ 80049de:	609a      	str	r2, [r3, #8]
+ 80049e0:	60da      	str	r2, [r3, #12]
+ 80049e2:	611a      	str	r2, [r3, #16]
   if(huart->Instance==USART3)
- 80049dc:	687b      	ldr	r3, [r7, #4]
- 80049de:	681b      	ldr	r3, [r3, #0]
- 80049e0:	4a4b      	ldr	r2, [pc, #300]	; (8004b10 <HAL_UART_MspInit+0x14c>)
- 80049e2:	4293      	cmp	r3, r2
- 80049e4:	f040 808f 	bne.w	8004b06 <HAL_UART_MspInit+0x142>
+ 80049e4:	687b      	ldr	r3, [r7, #4]
+ 80049e6:	681b      	ldr	r3, [r3, #0]
+ 80049e8:	4a4b      	ldr	r2, [pc, #300]	; (8004b18 <HAL_UART_MspInit+0x14c>)
+ 80049ea:	4293      	cmp	r3, r2
+ 80049ec:	f040 808f 	bne.w	8004b0e <HAL_UART_MspInit+0x142>
   {
   /* USER CODE BEGIN USART3_MspInit 0 */
 
   /* USER CODE END USART3_MspInit 0 */
     /* Peripheral clock enable */
     __HAL_RCC_USART3_CLK_ENABLE();
- 80049e8:	4b4a      	ldr	r3, [pc, #296]	; (8004b14 <HAL_UART_MspInit+0x150>)
- 80049ea:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 80049ec:	4a49      	ldr	r2, [pc, #292]	; (8004b14 <HAL_UART_MspInit+0x150>)
- 80049ee:	f443 2380 	orr.w	r3, r3, #262144	; 0x40000
- 80049f2:	6413      	str	r3, [r2, #64]	; 0x40
- 80049f4:	4b47      	ldr	r3, [pc, #284]	; (8004b14 <HAL_UART_MspInit+0x150>)
- 80049f6:	6c1b      	ldr	r3, [r3, #64]	; 0x40
- 80049f8:	f403 2380 	and.w	r3, r3, #262144	; 0x40000
- 80049fc:	613b      	str	r3, [r7, #16]
- 80049fe:	693b      	ldr	r3, [r7, #16]
+ 80049f0:	4b4a      	ldr	r3, [pc, #296]	; (8004b1c <HAL_UART_MspInit+0x150>)
+ 80049f2:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 80049f4:	4a49      	ldr	r2, [pc, #292]	; (8004b1c <HAL_UART_MspInit+0x150>)
+ 80049f6:	f443 2380 	orr.w	r3, r3, #262144	; 0x40000
+ 80049fa:	6413      	str	r3, [r2, #64]	; 0x40
+ 80049fc:	4b47      	ldr	r3, [pc, #284]	; (8004b1c <HAL_UART_MspInit+0x150>)
+ 80049fe:	6c1b      	ldr	r3, [r3, #64]	; 0x40
+ 8004a00:	f403 2380 	and.w	r3, r3, #262144	; 0x40000
+ 8004a04:	613b      	str	r3, [r7, #16]
+ 8004a06:	693b      	ldr	r3, [r7, #16]
   
     __HAL_RCC_GPIOD_CLK_ENABLE();
- 8004a00:	4b44      	ldr	r3, [pc, #272]	; (8004b14 <HAL_UART_MspInit+0x150>)
- 8004a02:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 8004a04:	4a43      	ldr	r2, [pc, #268]	; (8004b14 <HAL_UART_MspInit+0x150>)
- 8004a06:	f043 0308 	orr.w	r3, r3, #8
- 8004a0a:	6313      	str	r3, [r2, #48]	; 0x30
- 8004a0c:	4b41      	ldr	r3, [pc, #260]	; (8004b14 <HAL_UART_MspInit+0x150>)
- 8004a0e:	6b1b      	ldr	r3, [r3, #48]	; 0x30
- 8004a10:	f003 0308 	and.w	r3, r3, #8
- 8004a14:	60fb      	str	r3, [r7, #12]
- 8004a16:	68fb      	ldr	r3, [r7, #12]
+ 8004a08:	4b44      	ldr	r3, [pc, #272]	; (8004b1c <HAL_UART_MspInit+0x150>)
+ 8004a0a:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 8004a0c:	4a43      	ldr	r2, [pc, #268]	; (8004b1c <HAL_UART_MspInit+0x150>)
+ 8004a0e:	f043 0308 	orr.w	r3, r3, #8
+ 8004a12:	6313      	str	r3, [r2, #48]	; 0x30
+ 8004a14:	4b41      	ldr	r3, [pc, #260]	; (8004b1c <HAL_UART_MspInit+0x150>)
+ 8004a16:	6b1b      	ldr	r3, [r3, #48]	; 0x30
+ 8004a18:	f003 0308 	and.w	r3, r3, #8
+ 8004a1c:	60fb      	str	r3, [r7, #12]
+ 8004a1e:	68fb      	ldr	r3, [r7, #12]
     /**USART3 GPIO Configuration    
     PD8     ------> USART3_TX
     PD9     ------> USART3_RX 
     */
     GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
- 8004a18:	f44f 7340 	mov.w	r3, #768	; 0x300
- 8004a1c:	617b      	str	r3, [r7, #20]
+ 8004a20:	f44f 7340 	mov.w	r3, #768	; 0x300
+ 8004a24:	617b      	str	r3, [r7, #20]
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- 8004a1e:	2302      	movs	r3, #2
- 8004a20:	61bb      	str	r3, [r7, #24]
+ 8004a26:	2302      	movs	r3, #2
+ 8004a28:	61bb      	str	r3, [r7, #24]
     GPIO_InitStruct.Pull = GPIO_NOPULL;
- 8004a22:	2300      	movs	r3, #0
- 8004a24:	61fb      	str	r3, [r7, #28]
+ 8004a2a:	2300      	movs	r3, #0
+ 8004a2c:	61fb      	str	r3, [r7, #28]
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
- 8004a26:	2303      	movs	r3, #3
- 8004a28:	623b      	str	r3, [r7, #32]
+ 8004a2e:	2303      	movs	r3, #3
+ 8004a30:	623b      	str	r3, [r7, #32]
     GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
- 8004a2a:	2307      	movs	r3, #7
- 8004a2c:	627b      	str	r3, [r7, #36]	; 0x24
+ 8004a32:	2307      	movs	r3, #7
+ 8004a34:	627b      	str	r3, [r7, #36]	; 0x24
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
- 8004a2e:	f107 0314 	add.w	r3, r7, #20
- 8004a32:	4619      	mov	r1, r3
- 8004a34:	4838      	ldr	r0, [pc, #224]	; (8004b18 <HAL_UART_MspInit+0x154>)
- 8004a36:	f7fc fa1b 	bl	8000e70 <HAL_GPIO_Init>
+ 8004a36:	f107 0314 	add.w	r3, r7, #20
+ 8004a3a:	4619      	mov	r1, r3
+ 8004a3c:	4838      	ldr	r0, [pc, #224]	; (8004b20 <HAL_UART_MspInit+0x154>)
+ 8004a3e:	f7fc fa17 	bl	8000e70 <HAL_GPIO_Init>
 
     /* USART3 DMA Init */
     /* USART3_RX Init */
     hdma_usart3_rx.Instance = DMA1_Stream1;
- 8004a3a:	4b38      	ldr	r3, [pc, #224]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a3c:	4a38      	ldr	r2, [pc, #224]	; (8004b20 <HAL_UART_MspInit+0x15c>)
- 8004a3e:	601a      	str	r2, [r3, #0]
+ 8004a42:	4b38      	ldr	r3, [pc, #224]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a44:	4a38      	ldr	r2, [pc, #224]	; (8004b28 <HAL_UART_MspInit+0x15c>)
+ 8004a46:	601a      	str	r2, [r3, #0]
     hdma_usart3_rx.Init.Channel = DMA_CHANNEL_4;
- 8004a40:	4b36      	ldr	r3, [pc, #216]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a42:	f04f 6200 	mov.w	r2, #134217728	; 0x8000000
- 8004a46:	605a      	str	r2, [r3, #4]
+ 8004a48:	4b36      	ldr	r3, [pc, #216]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a4a:	f04f 6200 	mov.w	r2, #134217728	; 0x8000000
+ 8004a4e:	605a      	str	r2, [r3, #4]
     hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
- 8004a48:	4b34      	ldr	r3, [pc, #208]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a4a:	2200      	movs	r2, #0
- 8004a4c:	609a      	str	r2, [r3, #8]
+ 8004a50:	4b34      	ldr	r3, [pc, #208]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a52:	2200      	movs	r2, #0
+ 8004a54:	609a      	str	r2, [r3, #8]
     hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
- 8004a4e:	4b33      	ldr	r3, [pc, #204]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a50:	2200      	movs	r2, #0
- 8004a52:	60da      	str	r2, [r3, #12]
+ 8004a56:	4b33      	ldr	r3, [pc, #204]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a58:	2200      	movs	r2, #0
+ 8004a5a:	60da      	str	r2, [r3, #12]
     hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
- 8004a54:	4b31      	ldr	r3, [pc, #196]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a56:	f44f 6280 	mov.w	r2, #1024	; 0x400
- 8004a5a:	611a      	str	r2, [r3, #16]
+ 8004a5c:	4b31      	ldr	r3, [pc, #196]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a5e:	f44f 6280 	mov.w	r2, #1024	; 0x400
+ 8004a62:	611a      	str	r2, [r3, #16]
     hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
- 8004a5c:	4b2f      	ldr	r3, [pc, #188]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a5e:	2200      	movs	r2, #0
- 8004a60:	615a      	str	r2, [r3, #20]
+ 8004a64:	4b2f      	ldr	r3, [pc, #188]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a66:	2200      	movs	r2, #0
+ 8004a68:	615a      	str	r2, [r3, #20]
     hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
- 8004a62:	4b2e      	ldr	r3, [pc, #184]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a64:	2200      	movs	r2, #0
- 8004a66:	619a      	str	r2, [r3, #24]
+ 8004a6a:	4b2e      	ldr	r3, [pc, #184]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a6c:	2200      	movs	r2, #0
+ 8004a6e:	619a      	str	r2, [r3, #24]
     hdma_usart3_rx.Init.Mode = DMA_NORMAL;
- 8004a68:	4b2c      	ldr	r3, [pc, #176]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a6a:	2200      	movs	r2, #0
- 8004a6c:	61da      	str	r2, [r3, #28]
+ 8004a70:	4b2c      	ldr	r3, [pc, #176]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a72:	2200      	movs	r2, #0
+ 8004a74:	61da      	str	r2, [r3, #28]
     hdma_usart3_rx.Init.Priority = DMA_PRIORITY_HIGH;
- 8004a6e:	4b2b      	ldr	r3, [pc, #172]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a70:	f44f 3200 	mov.w	r2, #131072	; 0x20000
- 8004a74:	621a      	str	r2, [r3, #32]
+ 8004a76:	4b2b      	ldr	r3, [pc, #172]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a78:	f44f 3200 	mov.w	r2, #131072	; 0x20000
+ 8004a7c:	621a      	str	r2, [r3, #32]
     hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
- 8004a76:	4b29      	ldr	r3, [pc, #164]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a78:	2200      	movs	r2, #0
- 8004a7a:	625a      	str	r2, [r3, #36]	; 0x24
+ 8004a7e:	4b29      	ldr	r3, [pc, #164]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a80:	2200      	movs	r2, #0
+ 8004a82:	625a      	str	r2, [r3, #36]	; 0x24
     if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
- 8004a7c:	4827      	ldr	r0, [pc, #156]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a7e:	f7fb feed 	bl	800085c <HAL_DMA_Init>
- 8004a82:	4603      	mov	r3, r0
- 8004a84:	2b00      	cmp	r3, #0
- 8004a86:	d001      	beq.n	8004a8c <HAL_UART_MspInit+0xc8>
+ 8004a84:	4827      	ldr	r0, [pc, #156]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a86:	f7fb fee9 	bl	800085c <HAL_DMA_Init>
+ 8004a8a:	4603      	mov	r3, r0
+ 8004a8c:	2b00      	cmp	r3, #0
+ 8004a8e:	d001      	beq.n	8004a94 <HAL_UART_MspInit+0xc8>
     {
       Error_Handler();
- 8004a88:	f7ff fe40 	bl	800470c <Error_Handler>
+ 8004a90:	f7ff fe40 	bl	8004714 <Error_Handler>
     }
 
     __HAL_LINKDMA(huart,hdmarx,hdma_usart3_rx);
- 8004a8c:	687b      	ldr	r3, [r7, #4]
- 8004a8e:	4a23      	ldr	r2, [pc, #140]	; (8004b1c <HAL_UART_MspInit+0x158>)
- 8004a90:	66da      	str	r2, [r3, #108]	; 0x6c
- 8004a92:	4a22      	ldr	r2, [pc, #136]	; (8004b1c <HAL_UART_MspInit+0x158>)
  8004a94:	687b      	ldr	r3, [r7, #4]
- 8004a96:	6393      	str	r3, [r2, #56]	; 0x38
+ 8004a96:	4a23      	ldr	r2, [pc, #140]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a98:	66da      	str	r2, [r3, #108]	; 0x6c
+ 8004a9a:	4a22      	ldr	r2, [pc, #136]	; (8004b24 <HAL_UART_MspInit+0x158>)
+ 8004a9c:	687b      	ldr	r3, [r7, #4]
+ 8004a9e:	6393      	str	r3, [r2, #56]	; 0x38
 
     /* USART3_TX Init */
     hdma_usart3_tx.Instance = DMA1_Stream3;
- 8004a98:	4b22      	ldr	r3, [pc, #136]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004a9a:	4a23      	ldr	r2, [pc, #140]	; (8004b28 <HAL_UART_MspInit+0x164>)
- 8004a9c:	601a      	str	r2, [r3, #0]
+ 8004aa0:	4b22      	ldr	r3, [pc, #136]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004aa2:	4a23      	ldr	r2, [pc, #140]	; (8004b30 <HAL_UART_MspInit+0x164>)
+ 8004aa4:	601a      	str	r2, [r3, #0]
     hdma_usart3_tx.Init.Channel = DMA_CHANNEL_4;
- 8004a9e:	4b21      	ldr	r3, [pc, #132]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004aa0:	f04f 6200 	mov.w	r2, #134217728	; 0x8000000
- 8004aa4:	605a      	str	r2, [r3, #4]
+ 8004aa6:	4b21      	ldr	r3, [pc, #132]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004aa8:	f04f 6200 	mov.w	r2, #134217728	; 0x8000000
+ 8004aac:	605a      	str	r2, [r3, #4]
     hdma_usart3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
- 8004aa6:	4b1f      	ldr	r3, [pc, #124]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004aa8:	2240      	movs	r2, #64	; 0x40
- 8004aaa:	609a      	str	r2, [r3, #8]
+ 8004aae:	4b1f      	ldr	r3, [pc, #124]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004ab0:	2240      	movs	r2, #64	; 0x40
+ 8004ab2:	609a      	str	r2, [r3, #8]
     hdma_usart3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
- 8004aac:	4b1d      	ldr	r3, [pc, #116]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004aae:	2200      	movs	r2, #0
- 8004ab0:	60da      	str	r2, [r3, #12]
+ 8004ab4:	4b1d      	ldr	r3, [pc, #116]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004ab6:	2200      	movs	r2, #0
+ 8004ab8:	60da      	str	r2, [r3, #12]
     hdma_usart3_tx.Init.MemInc = DMA_MINC_ENABLE;
- 8004ab2:	4b1c      	ldr	r3, [pc, #112]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004ab4:	f44f 6280 	mov.w	r2, #1024	; 0x400
- 8004ab8:	611a      	str	r2, [r3, #16]
+ 8004aba:	4b1c      	ldr	r3, [pc, #112]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004abc:	f44f 6280 	mov.w	r2, #1024	; 0x400
+ 8004ac0:	611a      	str	r2, [r3, #16]
     hdma_usart3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
- 8004aba:	4b1a      	ldr	r3, [pc, #104]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004abc:	2200      	movs	r2, #0
- 8004abe:	615a      	str	r2, [r3, #20]
+ 8004ac2:	4b1a      	ldr	r3, [pc, #104]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004ac4:	2200      	movs	r2, #0
+ 8004ac6:	615a      	str	r2, [r3, #20]
     hdma_usart3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
- 8004ac0:	4b18      	ldr	r3, [pc, #96]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004ac2:	2200      	movs	r2, #0
- 8004ac4:	619a      	str	r2, [r3, #24]
+ 8004ac8:	4b18      	ldr	r3, [pc, #96]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004aca:	2200      	movs	r2, #0
+ 8004acc:	619a      	str	r2, [r3, #24]
     hdma_usart3_tx.Init.Mode = DMA_NORMAL;
- 8004ac6:	4b17      	ldr	r3, [pc, #92]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004ac8:	2200      	movs	r2, #0
- 8004aca:	61da      	str	r2, [r3, #28]
+ 8004ace:	4b17      	ldr	r3, [pc, #92]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004ad0:	2200      	movs	r2, #0
+ 8004ad2:	61da      	str	r2, [r3, #28]
     hdma_usart3_tx.Init.Priority = DMA_PRIORITY_HIGH;
- 8004acc:	4b15      	ldr	r3, [pc, #84]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004ace:	f44f 3200 	mov.w	r2, #131072	; 0x20000
- 8004ad2:	621a      	str	r2, [r3, #32]
+ 8004ad4:	4b15      	ldr	r3, [pc, #84]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004ad6:	f44f 3200 	mov.w	r2, #131072	; 0x20000
+ 8004ada:	621a      	str	r2, [r3, #32]
     hdma_usart3_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
- 8004ad4:	4b13      	ldr	r3, [pc, #76]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004ad6:	2200      	movs	r2, #0
- 8004ad8:	625a      	str	r2, [r3, #36]	; 0x24
+ 8004adc:	4b13      	ldr	r3, [pc, #76]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004ade:	2200      	movs	r2, #0
+ 8004ae0:	625a      	str	r2, [r3, #36]	; 0x24
     if (HAL_DMA_Init(&hdma_usart3_tx) != HAL_OK)
- 8004ada:	4812      	ldr	r0, [pc, #72]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004adc:	f7fb febe 	bl	800085c <HAL_DMA_Init>
- 8004ae0:	4603      	mov	r3, r0
- 8004ae2:	2b00      	cmp	r3, #0
- 8004ae4:	d001      	beq.n	8004aea <HAL_UART_MspInit+0x126>
+ 8004ae2:	4812      	ldr	r0, [pc, #72]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004ae4:	f7fb feba 	bl	800085c <HAL_DMA_Init>
+ 8004ae8:	4603      	mov	r3, r0
+ 8004aea:	2b00      	cmp	r3, #0
+ 8004aec:	d001      	beq.n	8004af2 <HAL_UART_MspInit+0x126>
     {
       Error_Handler();
- 8004ae6:	f7ff fe11 	bl	800470c <Error_Handler>
+ 8004aee:	f7ff fe11 	bl	8004714 <Error_Handler>
     }
 
     __HAL_LINKDMA(huart,hdmatx,hdma_usart3_tx);
- 8004aea:	687b      	ldr	r3, [r7, #4]
- 8004aec:	4a0d      	ldr	r2, [pc, #52]	; (8004b24 <HAL_UART_MspInit+0x160>)
- 8004aee:	669a      	str	r2, [r3, #104]	; 0x68
- 8004af0:	4a0c      	ldr	r2, [pc, #48]	; (8004b24 <HAL_UART_MspInit+0x160>)
  8004af2:	687b      	ldr	r3, [r7, #4]
- 8004af4:	6393      	str	r3, [r2, #56]	; 0x38
+ 8004af4:	4a0d      	ldr	r2, [pc, #52]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004af6:	669a      	str	r2, [r3, #104]	; 0x68
+ 8004af8:	4a0c      	ldr	r2, [pc, #48]	; (8004b2c <HAL_UART_MspInit+0x160>)
+ 8004afa:	687b      	ldr	r3, [r7, #4]
+ 8004afc:	6393      	str	r3, [r2, #56]	; 0x38
 
     /* USART3 interrupt Init */
     HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
- 8004af6:	2200      	movs	r2, #0
- 8004af8:	2100      	movs	r1, #0
- 8004afa:	2027      	movs	r0, #39	; 0x27
- 8004afc:	f7fb fe77 	bl	80007ee <HAL_NVIC_SetPriority>
+ 8004afe:	2200      	movs	r2, #0
+ 8004b00:	2100      	movs	r1, #0
+ 8004b02:	2027      	movs	r0, #39	; 0x27
+ 8004b04:	f7fb fe73 	bl	80007ee <HAL_NVIC_SetPriority>
     HAL_NVIC_EnableIRQ(USART3_IRQn);
- 8004b00:	2027      	movs	r0, #39	; 0x27
- 8004b02:	f7fb fe90 	bl	8000826 <HAL_NVIC_EnableIRQ>
+ 8004b08:	2027      	movs	r0, #39	; 0x27
+ 8004b0a:	f7fb fe8c 	bl	8000826 <HAL_NVIC_EnableIRQ>
   /* USER CODE BEGIN USART3_MspInit 1 */
 
   /* USER CODE END USART3_MspInit 1 */
   }
 
 }
- 8004b06:	bf00      	nop
- 8004b08:	3728      	adds	r7, #40	; 0x28
- 8004b0a:	46bd      	mov	sp, r7
- 8004b0c:	bd80      	pop	{r7, pc}
  8004b0e:	bf00      	nop
- 8004b10:	40004800 	.word	0x40004800
- 8004b14:	40023800 	.word	0x40023800
- 8004b18:	40020c00 	.word	0x40020c00
- 8004b1c:	200001a8 	.word	0x200001a8
- 8004b20:	40026028 	.word	0x40026028
- 8004b24:	20000208 	.word	0x20000208
- 8004b28:	40026058 	.word	0x40026058
-
-08004b2c <NMI_Handler>:
+ 8004b10:	3728      	adds	r7, #40	; 0x28
+ 8004b12:	46bd      	mov	sp, r7
+ 8004b14:	bd80      	pop	{r7, pc}
+ 8004b16:	bf00      	nop
+ 8004b18:	40004800 	.word	0x40004800
+ 8004b1c:	40023800 	.word	0x40023800
+ 8004b20:	40020c00 	.word	0x40020c00
+ 8004b24:	200001a8 	.word	0x200001a8
+ 8004b28:	40026028 	.word	0x40026028
+ 8004b2c:	20000208 	.word	0x20000208
+ 8004b30:	40026058 	.word	0x40026058
+
+08004b34 <NMI_Handler>:
 /******************************************************************************/
 /**
   * @brief This function handles Non maskable interrupt.
   */
 void NMI_Handler(void)
 {
- 8004b2c:	b480      	push	{r7}
- 8004b2e:	af00      	add	r7, sp, #0
+ 8004b34:	b480      	push	{r7}
+ 8004b36:	af00      	add	r7, sp, #0
 
   /* USER CODE END NonMaskableInt_IRQn 0 */
   /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
 
   /* USER CODE END NonMaskableInt_IRQn 1 */
 }
- 8004b30:	bf00      	nop
- 8004b32:	46bd      	mov	sp, r7
- 8004b34:	f85d 7b04 	ldr.w	r7, [sp], #4
- 8004b38:	4770      	bx	lr
+ 8004b38:	bf00      	nop
+ 8004b3a:	46bd      	mov	sp, r7
+ 8004b3c:	f85d 7b04 	ldr.w	r7, [sp], #4
+ 8004b40:	4770      	bx	lr
 
-08004b3a <HardFault_Handler>:
+08004b42 <HardFault_Handler>:
 
 /**
   * @brief This function handles Hard fault interrupt.
   */
 void HardFault_Handler(void)
 {
- 8004b3a:	b480      	push	{r7}
- 8004b3c:	af00      	add	r7, sp, #0
+ 8004b42:	b480      	push	{r7}
+ 8004b44:	af00      	add	r7, sp, #0
   /* USER CODE BEGIN HardFault_IRQn 0 */
 
   /* USER CODE END HardFault_IRQn 0 */
   while (1)
- 8004b3e:	e7fe      	b.n	8004b3e <HardFault_Handler+0x4>
+ 8004b46:	e7fe      	b.n	8004b46 <HardFault_Handler+0x4>
 
-08004b40 <MemManage_Handler>:
+08004b48 <MemManage_Handler>:
 
 /**
   * @brief This function handles Memory management fault.
   */
 void MemManage_Handler(void)
 {
- 8004b40:	b480      	push	{r7}
- 8004b42:	af00      	add	r7, sp, #0
+ 8004b48:	b480      	push	{r7}
+ 8004b4a:	af00      	add	r7, sp, #0
   /* USER CODE BEGIN MemoryManagement_IRQn 0 */
 
   /* USER CODE END MemoryManagement_IRQn 0 */
   while (1)
- 8004b44:	e7fe      	b.n	8004b44 <MemManage_Handler+0x4>
+ 8004b4c:	e7fe      	b.n	8004b4c <MemManage_Handler+0x4>
 
-08004b46 <BusFault_Handler>:
+08004b4e <BusFault_Handler>:
 
 /**
   * @brief This function handles Pre-fetch fault, memory access fault.
   */
 void BusFault_Handler(void)
 {
- 8004b46:	b480      	push	{r7}
- 8004b48:	af00      	add	r7, sp, #0
+ 8004b4e:	b480      	push	{r7}
+ 8004b50:	af00      	add	r7, sp, #0
   /* USER CODE BEGIN BusFault_IRQn 0 */
 
   /* USER CODE END BusFault_IRQn 0 */
   while (1)
- 8004b4a:	e7fe      	b.n	8004b4a <BusFault_Handler+0x4>
+ 8004b52:	e7fe      	b.n	8004b52 <BusFault_Handler+0x4>
 
-08004b4c <UsageFault_Handler>:
+08004b54 <UsageFault_Handler>:
 
 /**
   * @brief This function handles Undefined instruction or illegal state.
   */
 void UsageFault_Handler(void)
 {
- 8004b4c:	b480      	push	{r7}
- 8004b4e:	af00      	add	r7, sp, #0
+ 8004b54:	b480      	push	{r7}
+ 8004b56:	af00      	add	r7, sp, #0
   /* USER CODE BEGIN UsageFault_IRQn 0 */
 
   /* USER CODE END UsageFault_IRQn 0 */
   while (1)
- 8004b50:	e7fe      	b.n	8004b50 <UsageFault_Handler+0x4>
+ 8004b58:	e7fe      	b.n	8004b58 <UsageFault_Handler+0x4>
 
-08004b52 <SVC_Handler>:
+08004b5a <SVC_Handler>:
 
 /**
   * @brief This function handles System service call via SWI instruction.
   */
 void SVC_Handler(void)
 {
- 8004b52:	b480      	push	{r7}
- 8004b54:	af00      	add	r7, sp, #0
+ 8004b5a:	b480      	push	{r7}
+ 8004b5c:	af00      	add	r7, sp, #0
 
   /* USER CODE END SVCall_IRQn 0 */
   /* USER CODE BEGIN SVCall_IRQn 1 */
 
   /* USER CODE END SVCall_IRQn 1 */
 }
- 8004b56:	bf00      	nop
- 8004b58:	46bd      	mov	sp, r7
- 8004b5a:	f85d 7b04 	ldr.w	r7, [sp], #4
- 8004b5e:	4770      	bx	lr
+ 8004b5e:	bf00      	nop
+ 8004b60:	46bd      	mov	sp, r7
+ 8004b62:	f85d 7b04 	ldr.w	r7, [sp], #4
+ 8004b66:	4770      	bx	lr
 
-08004b60 <DebugMon_Handler>:
+08004b68 <DebugMon_Handler>:
 
 /**
   * @brief This function handles Debug monitor.
   */
 void DebugMon_Handler(void)
 {
- 8004b60:	b480      	push	{r7}
- 8004b62:	af00      	add	r7, sp, #0
+ 8004b68:	b480      	push	{r7}
+ 8004b6a:	af00      	add	r7, sp, #0
 
   /* USER CODE END DebugMonitor_IRQn 0 */
   /* USER CODE BEGIN DebugMonitor_IRQn 1 */
 
   /* USER CODE END DebugMonitor_IRQn 1 */
 }
- 8004b64:	bf00      	nop
- 8004b66:	46bd      	mov	sp, r7
- 8004b68:	f85d 7b04 	ldr.w	r7, [sp], #4
- 8004b6c:	4770      	bx	lr
+ 8004b6c:	bf00      	nop
+ 8004b6e:	46bd      	mov	sp, r7
+ 8004b70:	f85d 7b04 	ldr.w	r7, [sp], #4
+ 8004b74:	4770      	bx	lr
 
-08004b6e <PendSV_Handler>:
+08004b76 <PendSV_Handler>:
 
 /**
   * @brief This function handles Pendable request for system service.
   */
 void PendSV_Handler(void)
 {
- 8004b6e:	b480      	push	{r7}
- 8004b70:	af00      	add	r7, sp, #0
+ 8004b76:	b480      	push	{r7}
+ 8004b78:	af00      	add	r7, sp, #0
 
   /* USER CODE END PendSV_IRQn 0 */
   /* USER CODE BEGIN PendSV_IRQn 1 */
 
   /* USER CODE END PendSV_IRQn 1 */
 }
- 8004b72:	bf00      	nop
- 8004b74:	46bd      	mov	sp, r7
- 8004b76:	f85d 7b04 	ldr.w	r7, [sp], #4
- 8004b7a:	4770      	bx	lr
+ 8004b7a:	bf00      	nop
+ 8004b7c:	46bd      	mov	sp, r7
+ 8004b7e:	f85d 7b04 	ldr.w	r7, [sp], #4
+ 8004b82:	4770      	bx	lr
 
-08004b7c <SysTick_Handler>:
+08004b84 <SysTick_Handler>:
 
 /**
   * @brief This function handles System tick timer.
   */
 void SysTick_Handler(void)
 {
- 8004b7c:	b580      	push	{r7, lr}
- 8004b7e:	af00      	add	r7, sp, #0
+ 8004b84:	b580      	push	{r7, lr}
+ 8004b86:	af00      	add	r7, sp, #0
   /* USER CODE BEGIN SysTick_IRQn 0 */
 
   /* USER CODE END SysTick_IRQn 0 */
   HAL_IncTick();
- 8004b80:	f7fb fd18 	bl	80005b4 <HAL_IncTick>
+ 8004b88:	f7fb fd14 	bl	80005b4 <HAL_IncTick>
   /* USER CODE BEGIN SysTick_IRQn 1 */
 
   /* USER CODE END SysTick_IRQn 1 */
 }
- 8004b84:	bf00      	nop
- 8004b86:	bd80      	pop	{r7, pc}
+ 8004b8c:	bf00      	nop
+ 8004b8e:	bd80      	pop	{r7, pc}
 
-08004b88 <DMA1_Stream1_IRQHandler>:
+08004b90 <DMA1_Stream1_IRQHandler>:
 
 /**
   * @brief This function handles DMA1 stream1 global interrupt.
   */
 void DMA1_Stream1_IRQHandler(void)
 {
- 8004b88:	b580      	push	{r7, lr}
- 8004b8a:	af00      	add	r7, sp, #0
+ 8004b90:	b580      	push	{r7, lr}
+ 8004b92:	af00      	add	r7, sp, #0
   /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
 
   /* USER CODE END DMA1_Stream1_IRQn 0 */
   HAL_DMA_IRQHandler(&hdma_usart3_rx);
- 8004b8c:	4802      	ldr	r0, [pc, #8]	; (8004b98 <DMA1_Stream1_IRQHandler+0x10>)
- 8004b8e:	f7fb ff35 	bl	80009fc <HAL_DMA_IRQHandler>
+ 8004b94:	4802      	ldr	r0, [pc, #8]	; (8004ba0 <DMA1_Stream1_IRQHandler+0x10>)
+ 8004b96:	f7fb ff31 	bl	80009fc <HAL_DMA_IRQHandler>
   /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
 
   /* USER CODE END DMA1_Stream1_IRQn 1 */
 }
- 8004b92:	bf00      	nop
- 8004b94:	bd80      	pop	{r7, pc}
- 8004b96:	bf00      	nop
- 8004b98:	200001a8 	.word	0x200001a8
+ 8004b9a:	bf00      	nop
+ 8004b9c:	bd80      	pop	{r7, pc}
+ 8004b9e:	bf00      	nop
+ 8004ba0:	200001a8 	.word	0x200001a8
 
-08004b9c <DMA1_Stream3_IRQHandler>:
+08004ba4 <DMA1_Stream3_IRQHandler>:
 
 /**
   * @brief This function handles DMA1 stream3 global interrupt.
   */
 void DMA1_Stream3_IRQHandler(void)
 {
- 8004b9c:	b580      	push	{r7, lr}
- 8004b9e:	af00      	add	r7, sp, #0
+ 8004ba4:	b580      	push	{r7, lr}
+ 8004ba6:	af00      	add	r7, sp, #0
   /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
 
   /* USER CODE END DMA1_Stream3_IRQn 0 */
   HAL_DMA_IRQHandler(&hdma_usart3_tx);
- 8004ba0:	4802      	ldr	r0, [pc, #8]	; (8004bac <DMA1_Stream3_IRQHandler+0x10>)
- 8004ba2:	f7fb ff2b 	bl	80009fc <HAL_DMA_IRQHandler>
+ 8004ba8:	4802      	ldr	r0, [pc, #8]	; (8004bb4 <DMA1_Stream3_IRQHandler+0x10>)
+ 8004baa:	f7fb ff27 	bl	80009fc <HAL_DMA_IRQHandler>
   /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
 
   /* USER CODE END DMA1_Stream3_IRQn 1 */
 }
- 8004ba6:	bf00      	nop
- 8004ba8:	bd80      	pop	{r7, pc}
- 8004baa:	bf00      	nop
- 8004bac:	20000208 	.word	0x20000208
+ 8004bae:	bf00      	nop
+ 8004bb0:	bd80      	pop	{r7, pc}
+ 8004bb2:	bf00      	nop
+ 8004bb4:	20000208 	.word	0x20000208
 
-08004bb0 <TIM3_IRQHandler>:
+08004bb8 <TIM3_IRQHandler>:
 
 /**
   * @brief This function handles TIM3 global interrupt.
   */
 void TIM3_IRQHandler(void)
 {
- 8004bb0:	b580      	push	{r7, lr}
- 8004bb2:	af00      	add	r7, sp, #0
+ 8004bb8:	b580      	push	{r7, lr}
+ 8004bba:	af00      	add	r7, sp, #0
   /* USER CODE BEGIN TIM3_IRQn 0 */
 
   /* USER CODE END TIM3_IRQn 0 */
   HAL_TIM_IRQHandler(&htim3);
- 8004bb4:	4802      	ldr	r0, [pc, #8]	; (8004bc0 <TIM3_IRQHandler+0x10>)
- 8004bb6:	f7fd fcd0 	bl	800255a <HAL_TIM_IRQHandler>
+ 8004bbc:	4802      	ldr	r0, [pc, #8]	; (8004bc8 <TIM3_IRQHandler+0x10>)
+ 8004bbe:	f7fd fccc 	bl	800255a <HAL_TIM_IRQHandler>
   /* USER CODE BEGIN TIM3_IRQn 1 */
 
   /* USER CODE END TIM3_IRQn 1 */
 }
- 8004bba:	bf00      	nop
- 8004bbc:	bd80      	pop	{r7, pc}
- 8004bbe:	bf00      	nop
- 8004bc0:	20000068 	.word	0x20000068
+ 8004bc2:	bf00      	nop
+ 8004bc4:	bd80      	pop	{r7, pc}
+ 8004bc6:	bf00      	nop
+ 8004bc8:	20000068 	.word	0x20000068
 
-08004bc4 <USART3_IRQHandler>:
+08004bcc <USART3_IRQHandler>:
 
 /**
   * @brief This function handles USART3 global interrupt.
   */
 void USART3_IRQHandler(void)
 {
- 8004bc4:	b580      	push	{r7, lr}
- 8004bc6:	af00      	add	r7, sp, #0
+ 8004bcc:	b580      	push	{r7, lr}
+ 8004bce:	af00      	add	r7, sp, #0
   /* USER CODE BEGIN USART3_IRQn 0 */
 
   /* USER CODE END USART3_IRQn 0 */
   HAL_UART_IRQHandler(&huart3);
- 8004bc8:	4802      	ldr	r0, [pc, #8]	; (8004bd4 <USART3_IRQHandler+0x10>)
- 8004bca:	f7fe fc65 	bl	8003498 <HAL_UART_IRQHandler>
+ 8004bd0:	4802      	ldr	r0, [pc, #8]	; (8004bdc <USART3_IRQHandler+0x10>)
+ 8004bd2:	f7fe fc61 	bl	8003498 <HAL_UART_IRQHandler>
   /* USER CODE BEGIN USART3_IRQn 1 */
 
   /* USER CODE END USART3_IRQn 1 */
 }
- 8004bce:	bf00      	nop
- 8004bd0:	bd80      	pop	{r7, pc}
- 8004bd2:	bf00      	nop
- 8004bd4:	20000128 	.word	0x20000128
+ 8004bd6:	bf00      	nop
+ 8004bd8:	bd80      	pop	{r7, pc}
+ 8004bda:	bf00      	nop
+ 8004bdc:	20000128 	.word	0x20000128
 
-08004bd8 <SystemInit>:
+08004be0 <SystemInit>:
   *         SystemFrequency variable.
   * @param  None
   * @retval None
   */
 void SystemInit(void)
 {
- 8004bd8:	b480      	push	{r7}
- 8004bda:	af00      	add	r7, sp, #0
+ 8004be0:	b480      	push	{r7}
+ 8004be2:	af00      	add	r7, sp, #0
   /* FPU settings ------------------------------------------------------------*/
   #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
     SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2));  /* set CP10 and CP11 Full Access */
- 8004bdc:	4b15      	ldr	r3, [pc, #84]	; (8004c34 <SystemInit+0x5c>)
- 8004bde:	f8d3 3088 	ldr.w	r3, [r3, #136]	; 0x88
- 8004be2:	4a14      	ldr	r2, [pc, #80]	; (8004c34 <SystemInit+0x5c>)
- 8004be4:	f443 0370 	orr.w	r3, r3, #15728640	; 0xf00000
- 8004be8:	f8c2 3088 	str.w	r3, [r2, #136]	; 0x88
+ 8004be4:	4b15      	ldr	r3, [pc, #84]	; (8004c3c <SystemInit+0x5c>)
+ 8004be6:	f8d3 3088 	ldr.w	r3, [r3, #136]	; 0x88
+ 8004bea:	4a14      	ldr	r2, [pc, #80]	; (8004c3c <SystemInit+0x5c>)
+ 8004bec:	f443 0370 	orr.w	r3, r3, #15728640	; 0xf00000
+ 8004bf0:	f8c2 3088 	str.w	r3, [r2, #136]	; 0x88
   #endif
   /* Reset the RCC clock configuration to the default reset state ------------*/
   /* Set HSION bit */
   RCC->CR |= (uint32_t)0x00000001;
- 8004bec:	4b12      	ldr	r3, [pc, #72]	; (8004c38 <SystemInit+0x60>)
- 8004bee:	681b      	ldr	r3, [r3, #0]
- 8004bf0:	4a11      	ldr	r2, [pc, #68]	; (8004c38 <SystemInit+0x60>)
- 8004bf2:	f043 0301 	orr.w	r3, r3, #1
- 8004bf6:	6013      	str	r3, [r2, #0]
+ 8004bf4:	4b12      	ldr	r3, [pc, #72]	; (8004c40 <SystemInit+0x60>)
+ 8004bf6:	681b      	ldr	r3, [r3, #0]
+ 8004bf8:	4a11      	ldr	r2, [pc, #68]	; (8004c40 <SystemInit+0x60>)
+ 8004bfa:	f043 0301 	orr.w	r3, r3, #1
+ 8004bfe:	6013      	str	r3, [r2, #0]
 
   /* Reset CFGR register */
   RCC->CFGR = 0x00000000;
- 8004bf8:	4b0f      	ldr	r3, [pc, #60]	; (8004c38 <SystemInit+0x60>)
- 8004bfa:	2200      	movs	r2, #0
- 8004bfc:	609a      	str	r2, [r3, #8]
+ 8004c00:	4b0f      	ldr	r3, [pc, #60]	; (8004c40 <SystemInit+0x60>)
+ 8004c02:	2200      	movs	r2, #0
+ 8004c04:	609a      	str	r2, [r3, #8]
 
   /* Reset HSEON, CSSON and PLLON bits */
   RCC->CR &= (uint32_t)0xFEF6FFFF;
- 8004bfe:	4b0e      	ldr	r3, [pc, #56]	; (8004c38 <SystemInit+0x60>)
- 8004c00:	681a      	ldr	r2, [r3, #0]
- 8004c02:	490d      	ldr	r1, [pc, #52]	; (8004c38 <SystemInit+0x60>)
- 8004c04:	4b0d      	ldr	r3, [pc, #52]	; (8004c3c <SystemInit+0x64>)
- 8004c06:	4013      	ands	r3, r2
- 8004c08:	600b      	str	r3, [r1, #0]
+ 8004c06:	4b0e      	ldr	r3, [pc, #56]	; (8004c40 <SystemInit+0x60>)
+ 8004c08:	681a      	ldr	r2, [r3, #0]
+ 8004c0a:	490d      	ldr	r1, [pc, #52]	; (8004c40 <SystemInit+0x60>)
+ 8004c0c:	4b0d      	ldr	r3, [pc, #52]	; (8004c44 <SystemInit+0x64>)
+ 8004c0e:	4013      	ands	r3, r2
+ 8004c10:	600b      	str	r3, [r1, #0]
 
   /* Reset PLLCFGR register */
   RCC->PLLCFGR = 0x24003010;
- 8004c0a:	4b0b      	ldr	r3, [pc, #44]	; (8004c38 <SystemInit+0x60>)
- 8004c0c:	4a0c      	ldr	r2, [pc, #48]	; (8004c40 <SystemInit+0x68>)
- 8004c0e:	605a      	str	r2, [r3, #4]
+ 8004c12:	4b0b      	ldr	r3, [pc, #44]	; (8004c40 <SystemInit+0x60>)
+ 8004c14:	4a0c      	ldr	r2, [pc, #48]	; (8004c48 <SystemInit+0x68>)
+ 8004c16:	605a      	str	r2, [r3, #4]
 
   /* Reset HSEBYP bit */
   RCC->CR &= (uint32_t)0xFFFBFFFF;
- 8004c10:	4b09      	ldr	r3, [pc, #36]	; (8004c38 <SystemInit+0x60>)
- 8004c12:	681b      	ldr	r3, [r3, #0]
- 8004c14:	4a08      	ldr	r2, [pc, #32]	; (8004c38 <SystemInit+0x60>)
- 8004c16:	f423 2380 	bic.w	r3, r3, #262144	; 0x40000
- 8004c1a:	6013      	str	r3, [r2, #0]
+ 8004c18:	4b09      	ldr	r3, [pc, #36]	; (8004c40 <SystemInit+0x60>)
+ 8004c1a:	681b      	ldr	r3, [r3, #0]
+ 8004c1c:	4a08      	ldr	r2, [pc, #32]	; (8004c40 <SystemInit+0x60>)
+ 8004c1e:	f423 2380 	bic.w	r3, r3, #262144	; 0x40000
+ 8004c22:	6013      	str	r3, [r2, #0]
 
   /* Disable all interrupts */
   RCC->CIR = 0x00000000;
- 8004c1c:	4b06      	ldr	r3, [pc, #24]	; (8004c38 <SystemInit+0x60>)
- 8004c1e:	2200      	movs	r2, #0
- 8004c20:	60da      	str	r2, [r3, #12]
+ 8004c24:	4b06      	ldr	r3, [pc, #24]	; (8004c40 <SystemInit+0x60>)
+ 8004c26:	2200      	movs	r2, #0
+ 8004c28:	60da      	str	r2, [r3, #12]
 
   /* Configure the Vector Table location add offset address ------------------*/
 #ifdef VECT_TAB_SRAM
   SCB->VTOR = RAMDTCM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
 #else
   SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
- 8004c22:	4b04      	ldr	r3, [pc, #16]	; (8004c34 <SystemInit+0x5c>)
- 8004c24:	f04f 6200 	mov.w	r2, #134217728	; 0x8000000
- 8004c28:	609a      	str	r2, [r3, #8]
+ 8004c2a:	4b04      	ldr	r3, [pc, #16]	; (8004c3c <SystemInit+0x5c>)
+ 8004c2c:	f04f 6200 	mov.w	r2, #134217728	; 0x8000000
+ 8004c30:	609a      	str	r2, [r3, #8]
 #endif
 }
- 8004c2a:	bf00      	nop
- 8004c2c:	46bd      	mov	sp, r7
- 8004c2e:	f85d 7b04 	ldr.w	r7, [sp], #4
- 8004c32:	4770      	bx	lr
- 8004c34:	e000ed00 	.word	0xe000ed00
- 8004c38:	40023800 	.word	0x40023800
- 8004c3c:	fef6ffff 	.word	0xfef6ffff
- 8004c40:	24003010 	.word	0x24003010
+ 8004c32:	bf00      	nop
+ 8004c34:	46bd      	mov	sp, r7
+ 8004c36:	f85d 7b04 	ldr.w	r7, [sp], #4
+ 8004c3a:	4770      	bx	lr
+ 8004c3c:	e000ed00 	.word	0xe000ed00
+ 8004c40:	40023800 	.word	0x40023800
+ 8004c44:	fef6ffff 	.word	0xfef6ffff
+ 8004c48:	24003010 	.word	0x24003010
 
-08004c44 <Reset_Handler>:
+08004c4c <Reset_Handler>:
 
     .section  .text.Reset_Handler
   .weak  Reset_Handler
   .type  Reset_Handler, %function
 Reset_Handler:  
   ldr   sp, =_estack      /* set stack pointer */
- 8004c44:	f8df d034 	ldr.w	sp, [pc, #52]	; 8004c7c <LoopFillZerobss+0x14>
+ 8004c4c:	f8df d034 	ldr.w	sp, [pc, #52]	; 8004c84 <LoopFillZerobss+0x14>
 
 /* Copy the data segment initializers from flash to SRAM */  
   movs  r1, #0
- 8004c48:	2100      	movs	r1, #0
+ 8004c50:	2100      	movs	r1, #0
   b  LoopCopyDataInit
- 8004c4a:	e003      	b.n	8004c54 <LoopCopyDataInit>
+ 8004c52:	e003      	b.n	8004c5c <LoopCopyDataInit>
 
-08004c4c <CopyDataInit>:
+08004c54 <CopyDataInit>:
 
 CopyDataInit:
   ldr  r3, =_sidata
- 8004c4c:	4b0c      	ldr	r3, [pc, #48]	; (8004c80 <LoopFillZerobss+0x18>)
+ 8004c54:	4b0c      	ldr	r3, [pc, #48]	; (8004c88 <LoopFillZerobss+0x18>)
   ldr  r3, [r3, r1]
- 8004c4e:	585b      	ldr	r3, [r3, r1]
+ 8004c56:	585b      	ldr	r3, [r3, r1]
   str  r3, [r0, r1]
- 8004c50:	5043      	str	r3, [r0, r1]
+ 8004c58:	5043      	str	r3, [r0, r1]
   adds  r1, r1, #4
- 8004c52:	3104      	adds	r1, #4
+ 8004c5a:	3104      	adds	r1, #4
 
-08004c54 <LoopCopyDataInit>:
+08004c5c <LoopCopyDataInit>:
     
 LoopCopyDataInit:
   ldr  r0, =_sdata
- 8004c54:	480b      	ldr	r0, [pc, #44]	; (8004c84 <LoopFillZerobss+0x1c>)
+ 8004c5c:	480b      	ldr	r0, [pc, #44]	; (8004c8c <LoopFillZerobss+0x1c>)
   ldr  r3, =_edata
- 8004c56:	4b0c      	ldr	r3, [pc, #48]	; (8004c88 <LoopFillZerobss+0x20>)
+ 8004c5e:	4b0c      	ldr	r3, [pc, #48]	; (8004c90 <LoopFillZerobss+0x20>)
   adds  r2, r0, r1
- 8004c58:	1842      	adds	r2, r0, r1
+ 8004c60:	1842      	adds	r2, r0, r1
   cmp  r2, r3
- 8004c5a:	429a      	cmp	r2, r3
+ 8004c62:	429a      	cmp	r2, r3
   bcc  CopyDataInit
- 8004c5c:	d3f6      	bcc.n	8004c4c <CopyDataInit>
+ 8004c64:	d3f6      	bcc.n	8004c54 <CopyDataInit>
   ldr  r2, =_sbss
- 8004c5e:	4a0b      	ldr	r2, [pc, #44]	; (8004c8c <LoopFillZerobss+0x24>)
+ 8004c66:	4a0b      	ldr	r2, [pc, #44]	; (8004c94 <LoopFillZerobss+0x24>)
   b  LoopFillZerobss
- 8004c60:	e002      	b.n	8004c68 <LoopFillZerobss>
+ 8004c68:	e002      	b.n	8004c70 <LoopFillZerobss>
 
-08004c62 <FillZerobss>:
+08004c6a <FillZerobss>:
 /* Zero fill the bss segment. */  
 FillZerobss:
   movs  r3, #0
- 8004c62:	2300      	movs	r3, #0
+ 8004c6a:	2300      	movs	r3, #0
   str  r3, [r2], #4
- 8004c64:	f842 3b04 	str.w	r3, [r2], #4
+ 8004c6c:	f842 3b04 	str.w	r3, [r2], #4
 
-08004c68 <LoopFillZerobss>:
+08004c70 <LoopFillZerobss>:
     
 LoopFillZerobss:
   ldr  r3, = _ebss
- 8004c68:	4b09      	ldr	r3, [pc, #36]	; (8004c90 <LoopFillZerobss+0x28>)
+ 8004c70:	4b09      	ldr	r3, [pc, #36]	; (8004c98 <LoopFillZerobss+0x28>)
   cmp  r2, r3
- 8004c6a:	429a      	cmp	r2, r3
+ 8004c72:	429a      	cmp	r2, r3
   bcc  FillZerobss
- 8004c6c:	d3f9      	bcc.n	8004c62 <FillZerobss>
+ 8004c74:	d3f9      	bcc.n	8004c6a <FillZerobss>
 
 /* Call the clock system initialization function.*/
   bl  SystemInit   
- 8004c6e:	f7ff ffb3 	bl	8004bd8 <SystemInit>
+ 8004c76:	f7ff ffb3 	bl	8004be0 <SystemInit>
 /* Call static constructors */
     bl __libc_init_array
- 8004c72:	f000 f811 	bl	8004c98 <__libc_init_array>
+ 8004c7a:	f000 f811 	bl	8004ca0 <__libc_init_array>
 /* Call the application's entry point.*/
   bl  main
- 8004c76:	f7ff f9cd 	bl	8004014 <main>
+ 8004c7e:	f7ff f9c9 	bl	8004014 <main>
   bx  lr    
- 8004c7a:	4770      	bx	lr
+ 8004c82:	4770      	bx	lr
   ldr   sp, =_estack      /* set stack pointer */
- 8004c7c:	20080000 	.word	0x20080000
+ 8004c84:	20080000 	.word	0x20080000
   ldr  r3, =_sidata
- 8004c80:	08004d3c 	.word	0x08004d3c
+ 8004c88:	08004d44 	.word	0x08004d44
   ldr  r0, =_sdata
- 8004c84:	20000000 	.word	0x20000000
+ 8004c8c:	20000000 	.word	0x20000000
   ldr  r3, =_edata
- 8004c88:	2000000c 	.word	0x2000000c
+ 8004c90:	2000000c 	.word	0x2000000c
   ldr  r2, =_sbss
- 8004c8c:	2000000c 	.word	0x2000000c
+ 8004c94:	2000000c 	.word	0x2000000c
   ldr  r3, = _ebss
- 8004c90:	20000288 	.word	0x20000288
+ 8004c98:	2000028c 	.word	0x2000028c
 
-08004c94 <ADC_IRQHandler>:
+08004c9c <ADC_IRQHandler>:
  * @retval None       
 */
     .section  .text.Default_Handler,"ax",%progbits
 Default_Handler:
 Infinite_Loop:
   b  Infinite_Loop
- 8004c94:	e7fe      	b.n	8004c94 <ADC_IRQHandler>
+ 8004c9c:	e7fe      	b.n	8004c9c <ADC_IRQHandler>
 	...
 
-08004c98 <__libc_init_array>:
- 8004c98:	b570      	push	{r4, r5, r6, lr}
- 8004c9a:	4e0d      	ldr	r6, [pc, #52]	; (8004cd0 <__libc_init_array+0x38>)
- 8004c9c:	4c0d      	ldr	r4, [pc, #52]	; (8004cd4 <__libc_init_array+0x3c>)
- 8004c9e:	1ba4      	subs	r4, r4, r6
- 8004ca0:	10a4      	asrs	r4, r4, #2
- 8004ca2:	2500      	movs	r5, #0
- 8004ca4:	42a5      	cmp	r5, r4
- 8004ca6:	d109      	bne.n	8004cbc <__libc_init_array+0x24>
- 8004ca8:	4e0b      	ldr	r6, [pc, #44]	; (8004cd8 <__libc_init_array+0x40>)
- 8004caa:	4c0c      	ldr	r4, [pc, #48]	; (8004cdc <__libc_init_array+0x44>)
- 8004cac:	f000 f820 	bl	8004cf0 <_init>
- 8004cb0:	1ba4      	subs	r4, r4, r6
- 8004cb2:	10a4      	asrs	r4, r4, #2
- 8004cb4:	2500      	movs	r5, #0
- 8004cb6:	42a5      	cmp	r5, r4
- 8004cb8:	d105      	bne.n	8004cc6 <__libc_init_array+0x2e>
- 8004cba:	bd70      	pop	{r4, r5, r6, pc}
- 8004cbc:	f856 3025 	ldr.w	r3, [r6, r5, lsl #2]
- 8004cc0:	4798      	blx	r3
- 8004cc2:	3501      	adds	r5, #1
- 8004cc4:	e7ee      	b.n	8004ca4 <__libc_init_array+0xc>
- 8004cc6:	f856 3025 	ldr.w	r3, [r6, r5, lsl #2]
- 8004cca:	4798      	blx	r3
- 8004ccc:	3501      	adds	r5, #1
- 8004cce:	e7f2      	b.n	8004cb6 <__libc_init_array+0x1e>
- 8004cd0:	08004d30 	.word	0x08004d30
- 8004cd4:	08004d30 	.word	0x08004d30
- 8004cd8:	08004d30 	.word	0x08004d30
+08004ca0 <__libc_init_array>:
+ 8004ca0:	b570      	push	{r4, r5, r6, lr}
+ 8004ca2:	4e0d      	ldr	r6, [pc, #52]	; (8004cd8 <__libc_init_array+0x38>)
+ 8004ca4:	4c0d      	ldr	r4, [pc, #52]	; (8004cdc <__libc_init_array+0x3c>)
+ 8004ca6:	1ba4      	subs	r4, r4, r6
+ 8004ca8:	10a4      	asrs	r4, r4, #2
+ 8004caa:	2500      	movs	r5, #0
+ 8004cac:	42a5      	cmp	r5, r4
+ 8004cae:	d109      	bne.n	8004cc4 <__libc_init_array+0x24>
+ 8004cb0:	4e0b      	ldr	r6, [pc, #44]	; (8004ce0 <__libc_init_array+0x40>)
+ 8004cb2:	4c0c      	ldr	r4, [pc, #48]	; (8004ce4 <__libc_init_array+0x44>)
+ 8004cb4:	f000 f820 	bl	8004cf8 <_init>
+ 8004cb8:	1ba4      	subs	r4, r4, r6
+ 8004cba:	10a4      	asrs	r4, r4, #2
+ 8004cbc:	2500      	movs	r5, #0
+ 8004cbe:	42a5      	cmp	r5, r4
+ 8004cc0:	d105      	bne.n	8004cce <__libc_init_array+0x2e>
+ 8004cc2:	bd70      	pop	{r4, r5, r6, pc}
+ 8004cc4:	f856 3025 	ldr.w	r3, [r6, r5, lsl #2]
+ 8004cc8:	4798      	blx	r3
+ 8004cca:	3501      	adds	r5, #1
+ 8004ccc:	e7ee      	b.n	8004cac <__libc_init_array+0xc>
+ 8004cce:	f856 3025 	ldr.w	r3, [r6, r5, lsl #2]
+ 8004cd2:	4798      	blx	r3
+ 8004cd4:	3501      	adds	r5, #1
+ 8004cd6:	e7f2      	b.n	8004cbe <__libc_init_array+0x1e>
+ 8004cd8:	08004d38 	.word	0x08004d38
  8004cdc:	08004d38 	.word	0x08004d38
-
-08004ce0 <memset>:
- 8004ce0:	4402      	add	r2, r0
- 8004ce2:	4603      	mov	r3, r0
- 8004ce4:	4293      	cmp	r3, r2
- 8004ce6:	d100      	bne.n	8004cea <memset+0xa>
- 8004ce8:	4770      	bx	lr
- 8004cea:	f803 1b01 	strb.w	r1, [r3], #1
- 8004cee:	e7f9      	b.n	8004ce4 <memset+0x4>
-
-08004cf0 <_init>:
- 8004cf0:	b5f8      	push	{r3, r4, r5, r6, r7, lr}
- 8004cf2:	bf00      	nop
- 8004cf4:	bcf8      	pop	{r3, r4, r5, r6, r7}
- 8004cf6:	bc08      	pop	{r3}
- 8004cf8:	469e      	mov	lr, r3
- 8004cfa:	4770      	bx	lr
-
-08004cfc <_fini>:
- 8004cfc:	b5f8      	push	{r3, r4, r5, r6, r7, lr}
- 8004cfe:	bf00      	nop
- 8004d00:	bcf8      	pop	{r3, r4, r5, r6, r7}
- 8004d02:	bc08      	pop	{r3}
- 8004d04:	469e      	mov	lr, r3
- 8004d06:	4770      	bx	lr
+ 8004ce0:	08004d38 	.word	0x08004d38
+ 8004ce4:	08004d40 	.word	0x08004d40
+
+08004ce8 <memset>:
+ 8004ce8:	4402      	add	r2, r0
+ 8004cea:	4603      	mov	r3, r0
+ 8004cec:	4293      	cmp	r3, r2
+ 8004cee:	d100      	bne.n	8004cf2 <memset+0xa>
+ 8004cf0:	4770      	bx	lr
+ 8004cf2:	f803 1b01 	strb.w	r1, [r3], #1
+ 8004cf6:	e7f9      	b.n	8004cec <memset+0x4>
+
+08004cf8 <_init>:
+ 8004cf8:	b5f8      	push	{r3, r4, r5, r6, r7, lr}
+ 8004cfa:	bf00      	nop
+ 8004cfc:	bcf8      	pop	{r3, r4, r5, r6, r7}
+ 8004cfe:	bc08      	pop	{r3}
+ 8004d00:	469e      	mov	lr, r3
+ 8004d02:	4770      	bx	lr
+
+08004d04 <_fini>:
+ 8004d04:	b5f8      	push	{r3, r4, r5, r6, r7, lr}
+ 8004d06:	bf00      	nop
+ 8004d08:	bcf8      	pop	{r3, r4, r5, r6, r7}
+ 8004d0a:	bc08      	pop	{r3}
+ 8004d0c:	469e      	mov	lr, r3
+ 8004d0e:	4770      	bx	lr
diff --git a/otto_controller_source/Debug/st-link_gdbserver_log.txt b/otto_controller_source/Debug/st-link_gdbserver_log.txt
new file mode 100644
index 0000000..048a1f4
--- /dev/null
+++ b/otto_controller_source/Debug/st-link_gdbserver_log.txt
@@ -0,0 +1,582 @@
+[0.000] initConfigParams():  Configuration flags start
+[0.000] initConfigParams():   halt                           false
+[0.000] initConfigParams():   config-file                    ""
+[0.000] initConfigParams():   persistent                     false
+[0.000] initConfigParams():  +log-file                       "/home/fdila/Projects/otto/otto_controller_source/Debug/st-link_gdbserver_log.txt"
+[0.000] initConfigParams():  +log-level                      31
+[0.000] initConfigParams():  +port-number                    61235
+[0.000] initConfigParams():  +verbose                        true
+[0.000] initConfigParams():   refresh-delay                  15
+[0.000] initConfigParams():  +verify                         true
+[0.000] initConfigParams():  +swd                            true
+[0.001] initConfigParams():  +swo-port                       61235
+[0.001] initConfigParams():  +cpu-clock                      16000000
+[0.001] initConfigParams():  +swo-clock-div                  640
+[0.001] initConfigParams():  +initialize-reset               true
+[0.001] initConfigParams():   debuggers                      false
+[0.001] initConfigParams():   serial-number                  ""
+[0.001] initConfigParams():  +apid                           0
+[0.001] initConfigParams():   attach                         false
+[0.001] initConfigParams():   shared                         false
+[0.001] initConfigParams():   erase-all                      false
+[0.001] initConfigParams():   memory-map                     ""
+[0.001] initConfigParams():   ext-memory-loaders             false
+[0.001] initConfigParams():   extload                        ""
+[0.001] initConfigParams():  +stm32cubeprogrammer-path       "/opt/st/stm32cubeide_1.1.0/plugins/com.st.stm32cube.ide.mcu.externaltools.cubeprogrammer.linux64_1.1.0.201910081157/tools/bin"
+[0.001] initConfigParams():   temp-path                      ""
+[0.001] initConfigParams():   preserve-temps                 false
+[0.001] initConfigParams():   frequency                      -1
+[0.001] initConfigParams():   licenses                       false
+[0.001] initConfigParams():   ignore-rest                    false
+[0.001] initConfigParams():   version                        false
+[0.001] initConfigParams():   help                           false
+[0.001] initConfigParams():  Configuration flags end
+[0.001] init():  STMicroelectronics ST-LINK GDB server. Version 5.3.2
+Copyright (c) 2019, STMicroelectronics. All rights reserved.
+[0.006] Device_Initialise():  Target connection mode: Under reset
+[0.013] reset_hw_wtchpt_module():  Hardware watchpoint supported by the target 
+[0.016] Device_Initialise():  COM frequency = 4000 kHz
+[0.016] Device_Initialise():  ST-LINK Firmware version : V2J35M26
+[0.016] Device_Initialise():  Device ID: 0x451
+[0.017] Device_Initialise():  PC: 0x8004c4c
+[0.017] Device_GetStatus():  ST-LINK device status: HALT_MODE
+[0.017] Device_Initialise():  ST-LINK detects target voltage = 3.27 V
+[0.018] Device_Initialise():  ST-LINK device status: HALT_MODE
+[0.018] initServerContext():  ST-LINK device initialization OK
+[0.018] ServerSocket():  Failed to bind to port 61235, error code -1: Address already in use
+[0.018] WaitConnection():  Waiting for connection on port 61235...
+[2.049] WaitConnection():  Accepted connection on port 61235...
+[2.049] read():  <12> Rx: +$qSupported:multiprocess+;swbreak+;hwbreak+;qRelocInsn+;fork-events+;vfork-events+;exec-events+;vContSupported+;QThreadEvents+;no-resumed+#df
+[2.117] write():  <12> Tx: +
+[2.117] write():  <12> Tx: $PacketSize=c00;qXfer:memory-map:read+;qXfer:features:read+;QStartNoAckMode+;QNonStop+;qXfer:threads:read+;hwbreak+;swbreak+#f2
+[2.117] read():  <12> Rx: +$vMustReplyEmpty#3a
+[2.128] write():  <12> Tx: +
+[2.128] write():  <12> Tx: $#00
+[2.172] read():  <12> Rx: +$QStartNoAckMode#b0
+[2.183] write():  <12> Tx: +
+[2.183] write():  <12> Tx: $OK#9a
+[2.225] read():  <12> Rx: +$Hg0#df
+[2.235] write():  <12> Tx: $#00
+[2.236] read():  <12> Rx: $qXfer:features:read:target.xml:0,bfb#75
+[2.236] write():  <12> Tx: $l<?xml version="1.0"?><!-- Copyright (C) 2009, 2010, 2011 Free Software Foundation, Inc.     Copying and distribution of this file, with or without modification,     are permitted in any medium without royalty provided the copyright     notice and this notice are preserved.  --><!DOCTYPE target SYSTEM "gdb-target.dtd"><target><feature name="org.gnu.gdb.arm.m-profile">  <reg name="r0" bitsize="32"/>  <reg name="r1" bitsize="32"/>  <reg name="r2" bitsize="32"/>  <reg name="r3" bitsize="32"/>  <reg name="r4" bitsize="32"/>  <reg name="r5" bitsize="32"/>  <reg name="r6" bitsize="32"/>  <reg name="r7" bitsize="32"/>  <reg name="r8" bitsize="32"/>  <reg name="r9" bitsize="32"/>  <reg name="r10" bitsize="32"/>  <reg name="r11" bitsize="32"/>  <reg name="r12" bitsize="32"/>  <reg name="sp" bitsize="32" type="data_ptr"/>  <reg name="lr" bitsize="32"/>  <reg name="pc" bitsize="32" type="code_ptr"/>  <reg name="xpsr" bitsize="32" regnum="25"/></feature><feature name="org.gnu.gdb.arm.vfp">  <reg name="d0" bitsize="64" type="ieee_double"/>  <reg name="d1" bitsize="64" type="ieee_double"/>  <reg name="d2" bitsize="64" type="ieee_double"/>  <reg name="d3" bitsize="64" type="ieee_double"/>  <reg name="d4" bitsize="64" type="ieee_double"/>  <reg name="d5" bitsize="64" type="ieee_double"/>  <reg name="d6" bitsize="64" type="ieee_double"/>  <reg name="d7" bitsize="64" type="ieee_double"/>  <reg name="d8" bitsize="64" type="ieee_double"/>  <reg name="d9" bitsize="64" type="ieee_double"/>  <reg name="d10" bitsize="64" type="ieee_double"/>  <reg name="d11" bitsize="64" type="ieee_double"/>  <reg name="d12" bitsize="64" type="ieee_double"/>  <reg name="d13" bitsize="64" type="ieee_double"/>  <reg name="d14" bitsize="64" type="ieee_double"/>  <reg name="d15" bitsize="64" type="ieee_double"/>  <reg name="fpscr" bitsize="32" type="int" group="float"/>  <reg name="PRIMASK" bitsize="32" regnum="93"/>  <reg name="BASEPRI" bitsize="32" regnum="94"/>  <reg name="FAULTMASK" bitsize="32" regnum="95"/>  <reg name="CONTROL" bitsize="32" regnum="96"/>  <reg name="MSP" bitsize="32" regnum="97"/>  <reg name="PSP" bitsize="32" regnum="98"/>    </feature></target>#aa
+[2.237] read():  <12> Rx: $QNonStop:1#8d
+[2.237] write():  <12> Tx: $OK#9a
+[2.238] read():  <12> Rx: $qXfer:threads:read::0,bfb#fb
+[2.238] write():  <12> Tx: $l<?xml version="1.0"?><threads><thread id="1" core="0" name="main"></thread></threads>#8b
+[2.238] read():  <12> Rx: $qAttached#8f
+[2.238] write():  <12> Tx: $1#31
+[2.239] read():  <12> Rx: $qTStatus#49
+[2.239] write():  <12> Tx: $#00
+[2.239] read():  <12> Rx: $?#3f
+[2.240] write():  <12> Tx: $T05thread:1;core:0;#25
+[2.240] read():  <12> Rx: $vStopped#55
+[2.240] write():  <12> Tx: $OK#9a
+[2.241] read():  <12> Rx: $Hg1#e0
+[2.241] write():  <12> Tx: $#00
+[2.241] read():  <12> Rx: $g#67
+[2.248] write():  <12> Tx: $0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000820ffffffff4c4c000800000001000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ffffffff000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ffffffff00000000000000000000000000000000000000000000082000000000#9b
+[2.248] read():  <12> Rx: $qXfer:memory-map:read::0,bfb#14
+[2.250] write():  <12> Tx: $l<?xml version="1.0"?>\x0a<!DOCTYPE memory-map\x0a          PUBLIC "+//IDN gnu.org//DTD GDB Memory Map V1.0//EN"\x0a                 "http://sourceware.org/gdb/gdb-memory-map.dtd"><memory-map><memory type="ram" start="0x0" length="0x200000"/><memory type="flash" start="0x200000" length="0x200000">\x0a<property name="blocksize">0x8000</property>\x0a</memory><memory type="ram" start="0x400000" length="0x7c00000"/><memory type="flash" start="0x8000000" length="0x200000">\x0a<property name="blocksize">0x8000</property>\x0a</memory><memory type="ram" start="0x8200000" length="0xf7dfffff"/></memory-map>#79
+[2.250] read():  <12> Rx: $m8004c4c,4#93
+[2.250] handlePacket():  Reading 0x4 bytes of memory from addr 0x8004c4c 
+[2.251] write():  <12> Tx: $dff834d0#63
+[2.252] read():  <12> Rx: $m8004c4c,2#91
+[2.252] handlePacket():  Reading 0x2 bytes of memory from addr 0x8004c4c 
+[2.252] write():  <12> Tx: $dff8#68
+[2.253] read():  <12> Rx: $m8004c4e,2#93
+[2.253] handlePacket():  Reading 0x2 bytes of memory from addr 0x8004c4e 
+[2.253] write():  <12> Tx: $34d0#fb
+[2.285] read():  <12> Rx: $qXfer:threads:read::0,bfb#fb
+[2.285] write():  <12> Tx: $l<?xml version="1.0"?><threads><thread id="1" core="0" name="main"></thread></threads>#8b
+[2.285] read():  <12> Rx: $qRcmd,57726974654450203078322030783030303030304630#f6
+[2.285] write():  <12> Tx: $4f2e4b2e0a#ef
+[2.288] read():  <12> Rx: $qRcmd,52656164415020307832#29
+[2.289] write():  <12> Tx: $4f2e4b2e3a307865303066646664300a#95
+[2.291] read():  <12> Rx: $me00fdfd0,20#84
+[2.291] handlePacket():  Reading 0x20 bytes of memory from addr 0xe00fdfd0 
+[2.292] write():  <12> Tx: $0000000000000000000000000000000051000000040000001a00000000000000#3c
+[2.294] read():  <12> Rx: $qRcmd,7265736574#37
+[2.295] STM32_AppReset():  Enter STM32_AppReset() function 
+[2.409] STM32_AppReset():  NVIC_DFSR_REG = 0x00000009
+[2.409] STM32_AppReset():  NVIC_CFGFSR_REG = 0x00000000
+[2.409] STM32_AppReset():  XPSR = 0x01000000
+[2.410] write():  <12> Tx: $53544d3332205375636365737366756c6c7920636f6d706c65746564207265736574206f7065726174696f6e0a#59
+[2.453] read():  <12> Rx: $vFlashErase:08000000,00008000#ca
+[2.453] handleFlashPacket():  FlashErase skipped (Will be performed at flash done)
+[2.453] write():  <12> Tx: $OK#9a
+[2.454] read():  <12> Rx: $vFlashWrite:8000000:\x00\x00\x08 ML\x00\x085K\x00\x08CK\x00\x08IK\x00\x08OK\x00\x08UK\x00\x08\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00[K\x00\x08iK\x00\x08\x00\x00\x00\x00wK\x00\x08\xffK\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffK\x00\x08\xffL\x00\x08\xffK\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffK\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffK\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\x00\x00\x00\x00\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\x00\x00\x00\x00\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08\xffL\x00\x08#04
+[2.454] handleFlashPacket():  Flash write: Address= 0x8000000, Length=504
+[2.454] write():  <12> Tx: $OK#9a
+[2.454] read():  <12> Rx: $vFlashWrite:80001f8:\x10\xff\x05L}\x03x3\xff\x04K\x13\xff\x04H\xff\xff\x00\xff\x01}\x03}\x03p\x10\xff\x0c\x00\x00 \x00\x00\x00\x00\xffL\x00\x08\x08\xff\x03K\x1b\xff\x03I\x03H\xff\xff\x00\xff\x08\xff\x00\x00\x00\x00\x10\x00\x00 \xffL\x00\x08S\xffJ\xff\x00)\x08\xff\x00(\x1c\xffO\xff\xff1O\xff\xff0\x00\xffr\xff\xff\xff\x08\x0cm\xff\x04\xff\x00\xff\x06\xff\xff\xff\x04\xff\xff\xff\x02}\x03\x04\xffpG-\xff\xffG\x08\xff\x04F\xffF\x00+K\xff\xffB\x15Fg\xff\xff\xff\xff\xffJ\xff\xff\xff \x07\x01\xff\x02\xff \xff\x07\xff\xff@G\xff\x03\x08\xff@O\xff\x15N}\x03\x0c\xff\xff\xff\xff\x1f\xff\xff\xff\x0e\xff\x17\xffC\xff\x08C\x07\xff\x0c\xff\xffB\x09\xff\xff\x18\x07\xff\xff0\xff\xff\x1b\xff\xffB@\xff\x18\xff\x02?+D[\x1a\xff\xff\xff\xff\xff\xff\x0e\xff\x103D\xff\x03D\x00\xff\x0c\xff\xffE\x09\xff,\x19\x00\xff\xff3\xff\xff\x07\xff\xffE@\xff\x04\xff\x028,D@\xff\x07@\xff\xff\x0c\x04\x00'\x1e\xff\xff@\x00}\x03\xff\xff\x00C9F\xff\xff\xff\xff\xffB\x09\xff\x00.\x00\xff\xff\xff\x00'\xff\xff\x00\x018F9F\xff\xff\xff\xff\xff\xff\xff\xff\x00/G\xff\xffB\x02\xff\xffB\x00\xff\xff\xff\xff\x1aa\xff\x03\x03\x01 \xffF\x00.\xff\xff\xff\xff\x00H\xff\xff\x02\xff\xff\xff\xff\xff\xff\xff\x00}\x0a@\xff\xff\xffI\x1bO\xff\x15N\x1f\xff\xff\xff\x01'\xff\xff\xff\xff}\x03\x0c\x0e\xff\x1c\x11C\xff\x01C\x08\xff\x0c\xff\xffB\x07\xff\xff\x18\x0c\xff\xff0\x02\xff\xffB\x00\xff\xff\xff\xffFY\x1a\xff\xff\xff\xff\xff\xff\x0e\xff\x10\x14C\xff\x04D\x08\xff\x00\xff\xffE\x07\xff,\x19\x00\xff\xff3\x02\xff\xffE\x00\xff\xff\xff\x18F\xff\xff\x08\x04@\xff\x0c@\xff\xff\xff\xff \x0c\xff@"\xff\x0c\xffN\xff\x03\x0e\x01\xff\x07\xff \xff\x0c\xff!\xff\x0c\xffO\xff\x1eH%C\xff\xff\xff\xff,\x0c\x08\xff\x193\x1f\xff\xff\xffD\xff\x03C\x09\xff\x0a\xff\xffB\x02\xff\x07\xff\x00\xff\x07\xff\x0b\xff\x1e\xff\x03\x03\x09\xff\xff0\xff\xff\xff\xff\xffB@\xff\xff\xff\xff\xff\x02\x09sD\x1b\x1b\xff\xff\xff\xff\xff\xff\x08\xff\x103E\xff\x03D\x00\xff\x0a\xff\xffE\x08\xff\x1e\xff\x04\x04\x00\xff\xff3k\xff\xffEi\xff\x028tD@\xff\x09@\xff\xff\x02\xff\xff\xff\x0a\x04LE\xffFKFT\xffQ\xff\x00.i\xff\xff\xff\x0a\x05d\xff\x03\x04\x04\xff\x0c\xff\xff@\xff@L\xff\x05\x05\xff\xff\x00T\x00'G\xff\xff\xff \x03 \xff\x03\xff\xff@\x01\xff\x02\xff!\xff\x03\xffO\xff\x15N8C\x01\x0c\xff\xff\xff\xff\x1f\xff\xff\xff\x0e\xff\x173A\xff\x03A\x07\xff\x08\xff\xffB\x04\xff\x02\xff\x07\xffi\x18\x07\xff\xff</\xff\xffB-\xff\x02?)D\xff\x1a\xff\xff\xff\xff\xff\xff\x0e\xff\x103A\xff\x03A\x00\xff\x08\xff\xffB\x07\xffi\x18\x00\xff\xff<\x17\xff\xffB\x15\xff\x028)D\xff\x1a@\xff\x07G;\xff7F0F\x09\xff\x07F\xff\xff\x18F\xff\xffAE\xff\xff\xff\xff\x02\x0ai\xff\x0e\x02\x018\x13F\xff\xff`F\xff\xff\x18F\xff\xffgF\xff\xff\xffF|\xff\x028,DG\xff\xff\xff\x02\x0c+D/\xff8F\x08\xff7F\xff\xffpG\x00\xff\xff\xff\x00\xff\x03 \x00\xffK\xff\x00 \x00\xff\x06\xff\x04\xff\x0e\xff\x00}\x03\x18F\xff\xff\x00\x00\xff\xff\xff\xff\x00\xffx`\x12K\x1ah\x12K\x1bx\x19FO\xffzs\xff\xff\xff\xff\xff\xff\xff\xff\x18F\x00\xffe\xff\x03F\x00+\x01\xff\x01}\x03\x0e\xff{h\x0f+\x0a\xff\x00"yhO\xff\xff0\x00\xff-\xff\x06J{h\x13`\x00}\x03\x00\xff\x01}\x03\x18F\x087\xffF\xff\xff\x08\x00\x00 \x04\x00\x00 \x00\x00\x00 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+[2.454] handleFlashPacket():  Flash write: Address= 0x80001f8, Length=3000
+[2.455] write():  <12> Tx: $OK#9a
+[2.455] read():  <12> Rx: 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+[2.455] handleFlashPacket():  Flash write: Address= 0x8000db0, Length=2944
+[2.455] write():  <12> Tx: $OK#9a
+[2.456] read():  <12> Rx: $vFlashWrite:8001930:\x00\x04\x1aF}\x03F\xff\xff\x7f\xff\x03F\x0cF\xff`I\xff0K[h\xff\x09O\xff\x00\x04@\xff\xff\x11O\xff\x00\x02\x03\xff\x01\x05\x04\xff\x02\x06)F2FO\xff\x00\x03O\xff\x00\x04T\x01D\xff\xffdK\x01\x19F"FI\x1bb\xff\x06\x02O\xff\x00\x03O\xff\x00\x04\xff\x01D\xff\xffd\xff\x01[\x1ad\xff\x02\x04O\xff\x00\x01O\xff\x00\x02\xff\x00B\xffSr\xff\x00\x0bF\x14F[\x19D\xff\x06\x04O\xff\x00\x01O\xff\x00\x02\xff\x02B\xff\xffR\xff\x02\x0bF\x14F\x18F!F{hO\xff\x00\x04\x1aF}\x03F\xff\xff4\xff\x03F\x0cF\xff`\x0bK[h\x1b\x0c\x03\xff\x03\x03\x013[\x00;`\xffh;h\xff\xff\xff\xff\xff`\x02\xff\x05K\xff`\x00\xff\xffh\x18F\x147\xffF\xff\xff\x00\xff\x008\x02@\x00}\x04\xff\x00@x}]\x01\xff\xff\x00\xff\x03K\x1bh\x18F\xffF]\xff\x04{pG\x00\xff\x08\x00\x00 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+[2.456] handleFlashPacket():  Flash write: Address= 0x8001930, Length=2976
+[2.456] write():  <12> Tx: $OK#9a
+[2.457] read():  <12> Rx: $vFlashWrite:80024d0:= 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+[2.457] handleFlashPacket():  Flash write: Address= 0x80024d0, Length=2992
+[2.457] write():  <12> Tx: $OK#9a
+[2.458] read():  <12> Rx: 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+[2.458] handleFlashPacket():  Flash write: Address= 0x8003080, Length=2960
+[2.458] write():  <12> Tx: $OK#9a
+[2.459] read():  <12> Rx: $vFlashWrite:8003c10:\xff?\x04\xff{h\x1bh\xffi\xff`\x01\xff\x01}\x03\xffu{h\x00"\x1af{h\x00"Zf\xff}]\x18F 7\xffF\xff\xff\x00H\xff\x01\x00}\x04\xff\x00\xff\xff\xff\xff\x00\xffx`{h[j\x03\xff\x01\x03\x00+\x0a\xff{h\x1bh[h}\x03\xff\x001{h\xffj{h\x1bh\x0aCZ`{h[j\x03\xff\x02\x03\x00+\x0a\xff{h\x1bh[h}\x03\xff\xff1{h\xffj{h\x1bh\x0aCZ`{h[j\x03\xff\x04\x03\x00+\x0a\xff{h\x1bh[h}\x03\xff\xff!{h\x1ak{h\x1bh\x0aCZ`{h[j\x03\xff\x08\x03\x00+\x0a\xff{h\x1bh[h}\x03\xff\x00A{hZk{h\x1bh\x0aCZ`{h[j\x03\xff\x10\x03\x00+\x0a\xff{h\x1bh\xffh}\x03\xff\xffQ{h\xffk{h\x1bh\x0aC\xff`{h[j\x03\xff 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\xff\xff\x00\xff\x00\xff\xffF]\xff\x04{pG\x00\x00\xff\xff\xff\xff\x00\xffx`9`{h\x01+\x08\xff;hO\xff\xffr\xffB\x03\xff\x04I\x04H\xff\xff\x07\xff\x00\xff\x087\xffF\xff\xff\x00\xff(\x00\x00 h\x02\x00 \xff\xff\x00\xffO\xff\xffq\x01 \xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\x00\xff\x0fK\x1bl\x0eJC\xff\xffS\x13d\x0cK\x1bl\x03\xff#61
+[2.459] handleFlashPacket():  Flash write: Address= 0x8003c10, Length=2928
+[2.459] write():  <12> Tx: $OK#9a
+[2.459] read():  <12> Rx: $vFlashWrite:8004780:\xffS{`{h\x09K[l\x08JC\xff\xffCSd\x06K[l\x03\xff\xffC;`;h\x00\xff\x0c7\xffF]\xff\x04{pG\x00\xff\x008\x02@\xff\xff\xff\xff\x00\xffx`\x07\xff\x1c\x03\x00"\x1a`Z`\xff`\xff`\x1aa{h\x1bh\xff\xff\xffOD\xff;K\x1bl:JC\xff\x01\x03\x13d8K\x1bl\x03\xff\x01\x03\xffa\xffi5K\x1bk4JC\xff\x01\x03\x13c2K\x1bk\x03\xff\x01\x03{a{i/K\x1bk.JC\xff\x02\x03\x13c,K\x1bk\x03\xff\x02\x03;a;i }\x03\xffa\x02}\x03;b\x00}\x03{b\x00}\x03\xffb\x01}\x03\xffb\x07\xff\x1c\x03\x19F}\x03H\xff\xff\x1b\xff\x08}\x03\xffa\x02}\x03;b\x00}\x03{b\x00}\x03\xffb\x01}\x03\xffb\x07\xff\x1c\x03\x19F\x1cH\xff\xff\x0b\xff,\xff{h\x1bh\x1aJ\xffB'\xff\x16K\x1bl\x15JC\xff\x08\x03\x13d\x13K\x1bl\x03\xff\x08\x03\xff`\xffh\x10K\x1bk\x0fJC\xff\x01\x03\x13c\x0dK\x1bk\x03\xff\x01\x03\xff`\xffh\x03}\x03\xffa\x02}\x03;b\x00}\x03{b\x00}\x03\xffb\x02}\x03\xffb\x07\xff\x1c\x03\x19F\x04H\xff\xff\xff\xff\x00\xff07\xffF\xff\xff\x00\xff\x008\x02@\x00\x00\x02@\x00\x04\x02@\x00\x0c\x00@\xff\xff\xff\xff\x00\xffx`{h\x1bh\x0dJ\xffB\x13\xff\x0dK\x1bl\x0cJC\xff\x02\x03\x13d\x0aK\x1bl\x03\xff\x02\x03\xff`\xffh\x00"\x00!\x1d \xff\xffu\xff\x1d \xff\xff\xff\xff\x00\xff\x107\xffF\xff\xff\x00\xff\x00\x04\x00@\x008\x02@\xff\xff\xff\xff\x00\xffx`{h\x1bh\x0aJ\xffB\x0b\xff\x0aK\x1bl\x09JC\xff\x04\x03\x13d\x07K\x1bl\x03\xff\x04\x03\xff`\xffh\x00\xff\x147\xffF]\xff\x04{pG\x00\xff\x00\x08\x00@\x008\x02@\xff\xff\xff\xff\x00\xffx`\x07\xff\x0c\x03\x00"\x1a`Z`\xff`\xff`\x1aa{h\x1bh\x11J\xffB\x1c\xff\x11K\x1bk\x10JC\xff\x08\x03\x13c\x0eK\x1bk\x03\xff\x08\x03\xff`\xffhO\xff@C\xff`\x02}\x03;a\x00}\x03{a\x00}\x03\xffa\x02}\x03\xffa\x07\xff\x0c\x03\x19F\x05H\xff\xff\\\xff\x00\xff 7\xffF\xff\xff\x00\x08\x00@\x008\x02@\x00\x0c\x02@\xff\xff\xff\xff\x00\xffx`\x07\xff\x14\x03\x00"\x1a`Z`\xff`\xff`\x1aa{h\x1bhKJ\xffB@\xff\xff\xffJK\x1blIJC\xff\xff}\x03\x13dGK\x1bl\x03\xff\xff}\x03;a;iDK\x1bkCJC\xff\x08\x03\x13cAK\x1bk\x03\xff\x08\x03\xff`\xffhO\xff@s{a\x02}\x03\xffa\x00}\x03\xffa\x03}\x03;b\x07}\x03{b\x07\xff\x14\x03\x19F8H\xff\xff\x17\xff8K8J\x1a`6KO\xff\x00bZ`4K\x00"\xff`3K\x00"\xff`1KO\xff\xffb\x1aa/K\x00"Za.K\x00"\xffa,K\x00"\xffa+KO\xff\x002\x1ab)K\x00"Zb'H\xff\xff\xff\xff\x03F\x00+\x01\xff\xff\xff@\xff{h}\x03J\xfff"J{h\xffc"K}\x03J\x1a`!KO\xff\x00bZ`\x1fK@"\xff`\x1dK\x00"\xff`\x1cKO\xff\xffb\x1aa\x1aK\x00"Za\x18K\x00"\xffa\x17K\x00"\xffa\x15KO\xff\x002\x1ab\x13K\x00"Zb\x12H\xff\xff\xff\xff\x03F\x00+\x01\xff\xff\xff\x11\xff{h\x0dJ\xfff\x0cJ{h\xffc\x00"\x00!' \xff\xffs\xff' \xff\xff\xff\xff\x00\xff(7\xffF\xff\xff\x00\xff\x00H\x00@\x008\x02@\x00\x0c\x02@\xff\x01\x00 (`\x02@\x08\x02\x00 X`\x02@\xff\xff\x00\xff\x00\xff\xffF]\xff\x04{pG\xff\xff\x00\xff\xff\xff\xff\xff\x00\xff\xff\xff\xff\xff\x00\xff\xff\xff\xff\xff\x00\xff\xff\xff\xff\xff\x00\xff\x00\xff\xffF]\xff\x04{pG\xff\xff\x00\xff\x00\xff\xffF]\xff\x04{pG\xff\xff\x00\xff\x00\xff\xffF]\xff\x04{pG\xff\xff\x00\xff\xff\xff\x14\xff\x00\xff\xff\xff\xff\xff\x00\xff\x02H\xff\xff1\xff\x00\xff\xff\xff\x00\xff\xff\x01\x00 \xff\xff\x00\xff\x02H\xff\xff'\xff\x00\xff\xff\xff\x00\xff\x08\x02\x00 \xff\xff\x00\xff\x02H\xff\xff\xff\xff\x00\xff\xff\xff\x00\xffh\x00\x00 \xff\xff\x00\xff\x02H\xff\xffa\xff\x00\xff\xff\xff\x00\xff(\x01\x00 \xff\xff\x00\xff\x15K\xff\xff\xff0\x14JC\xffp\x03\xff\xff\xff0\x12K\x1bh\x11JC\xff\x01\x03\x13`\x0fK\x00"\xff`\x0eK\x1ah\x0dI\x0dK\x13@\x0b`\x0bK\x0cJZ`\x09K\x1bh\x08J}\x03\xff\xff}\x03\x13`\x06K\x00"\xff`\x04KO\xff\x00b\xff`\x00\xff\xffF]\xff\x04{pG\x00\xff\x00\xff\x008\x02@\xff\xff\xff\xff\x100\x00}\x04\xff\xff4\xff\x00!\x03\xff\x0cK[XCP\x041\x0bH\x0cKB\x18\xffB\xff\xff\x0bJ\x02\xff\x00}\x03B\xff\x04;\x09K\xffB\xff\xff\xff\xff\xff\xff\x00\xff\x11\xff\xff\xff\xff\xffpG\x00\x00\x08 DM\x00\x08\x00\x00\x00 \x0c\x00\x00 \x0c\x00\x00 \xff\x02\x00 \xff\xff\x00\x00p\xff\x0dN\x0dL\xff\x1b\xff\x10\x00%\xffB\x09\xff\x0bN\x0cL\x00\xff \xff\xff\x1b\xff\x10\x00%\xffB\x05\xffp\xffV\xff%0\xffG\x015\xff\xffV\xff%0\xffG\x015\xff\xff8M\x00\x088M\x00\x088M\x00\x08@M\x00\x08\x02D\x03F\xffB\x00\xffpG\x03\xff\x01\x1b\xff\xff\xff\xff\x00\xff\xff\xff\x08\xff\xffFpG\xff\xff\x00\xff\xff\xff\x08\xff\xffFpG#17
+[2.460] handleFlashPacket():  Flash write: Address= 0x8004780, Length=1424
+[2.460] write():  <12> Tx: $OK#9a
+[2.460] read():  <12> Rx: $vFlashWrite:8004d10:\x00\x06\x10\x16\x00\x06\x10\x16\x00\x00\x00\x00\x00\x00\x00\x00\x01\x02\x03\x04\x06\x07\x08\x09\x00\x00\x00\x00\x01\x02\x03\x04#fe
+[2.460] handleFlashPacket():  Flash write: Address= 0x8004d10, Length=32
+[2.460] write():  <12> Tx: $OK#9a
+[2.460] read():  <12> Rx: $vFlashWrite:8004d30:8\xff\xff\x7f\x01\x00\x00\x00#e2
+[2.460] handleFlashPacket():  Flash write: Address= 0x8004d30, Length=8
+[2.460] write():  <12> Tx: $OK#9a
+[2.460] read():  <12> Rx: $vFlashWrite:8004d38:\x1d\x02\x00\x08YG\x00\x08#4d
+[2.460] handleFlashPacket():  Flash write: Address= 0x8004d38, Length=8
+[2.460] write():  <12> Tx: $OK#9a
+[2.460] read():  <12> Rx: $vFlashWrite:8004d40:\xff\x01\x00\x08#79
+[2.460] handleFlashPacket():  Flash write: Address= 0x8004d40, Length=4
+[2.460] write():  <12> Tx: $OK#9a
+[2.460] read():  <12> Rx: $vFlashWrite:8004d44:\x10\x00\x00\x00\x01\x00\x00\x00\x00}\x04\xff\x00#01
+[2.460] handleFlashPacket():  Flash write: Address= 0x8004d44, Length=12
+[2.460] write():  <12> Tx: $OK#9a
+[2.460] read():  <12> Rx: $vFlashDone#ea
+[2.460] handleFlashPacket():  Writing to /tmp/ST-LINK_GDB_server_IQRVyn.srec
+[2.464] spawnCubeProgrammer():   ------ Switching to STM32CubeProgrammer ----- 
+[2.464] file_utils_spawn():  Spawning /opt/st/stm32cubeide_1.1.0/plugins/com.st.stm32cube.ide.mcu.externaltools.cubeprogrammer.linux64_1.1.0.201910081157/tools/bin/STM32_Programmer_CLI --connect port=SWD mode=UR reset=hwRst --download /tmp/ST-LINK_GDB_server_IQRVyn.srec --verify --log /tmp/STM32CubeProgrammer_WUFBZl.log
+[3.759] file_utils_spawn():  Return code 0
+[3.759] spawnCubeProgrammer():  10:54:16:246       -------------------------------------------------------------------
+[3.759] spawnCubeProgrammer():  10:54:16:246                        STM32CubeProgrammer v2.2.0                  
+[3.759] spawnCubeProgrammer():  10:54:16:246       -------------------------------------------------------------------
+[3.759] spawnCubeProgrammer():  
+[3.759] spawnCubeProgrammer():  10:54:16:246 
+[3.759] spawnCubeProgrammer():  
+[3.759] spawnCubeProgrammer():  10:54:16:247 Log output file:   /tmp/STM32CubeProgrammer_WUFBZl.log
+[3.759] spawnCubeProgrammer():  10:54:16:253 STLinkUSBDriver.dll loaded
+[3.759] spawnCubeProgrammer():  10:54:16:253 STLinkUSBDriver.dll loaded
+[3.759] spawnCubeProgrammer():  10:54:16:253 STLinkUSBDriver.dll loaded
+[3.759] spawnCubeProgrammer():  10:54:16:253 ST-LINK SN  : 0666FF515254667867215328
+[3.759] spawnCubeProgrammer():  10:54:16:253 ST-LINK FW  : V2J35M26
+[3.759] spawnCubeProgrammer():  10:54:16:254 Voltage     : 3,27V
+[3.759] spawnCubeProgrammer():  10:54:16:259 SWD freq    : 4000 KHz
+[3.759] spawnCubeProgrammer():  10:54:16:259 Connect mode: Under Reset
+[3.759] spawnCubeProgrammer():  10:54:16:259 Reset mode  : Hardware reset
+[3.759] spawnCubeProgrammer():  10:54:16:350 Device ID   : 0x451
+[3.759] spawnCubeProgrammer():  10:54:16:523 Reading data...
+[3.759] spawnCubeProgrammer():  10:54:16:524 r ap 0 @0x40023C14 0x00000004 bytes
+[3.759] spawnCubeProgrammer():  10:54:16:524 Database: Config 0 is active.
+[3.759] spawnCubeProgrammer():  10:54:16:541 flash loader /opt/st/stm32cubeide_1.1.0/plugins/com.st.stm32cube.ide.mcu.externaltools.cubeprogrammer.linux64_1.1.0.201910081157/tools/bin/FlashLoader/0x451.stldr is loaded
+[3.759] spawnCubeProgrammer():  10:54:16:541 Reading data...
+[3.759] spawnCubeProgrammer():  10:54:16:542 r ap 0 @0x40023C14 0x00000004 bytes
+[3.759] spawnCubeProgrammer():  10:54:16:542 Database: Config 0 is active.
+[3.759] spawnCubeProgrammer():  10:54:16:542 Device name : STM32F76x/STM32F77x
+[3.759] spawnCubeProgrammer():  10:54:16:542 Flash size  : 2 MBytes
+[3.759] spawnCubeProgrammer():  10:54:16:542 Device type : MCU
+[3.759] spawnCubeProgrammer():  10:54:16:542 Device CPU  : Cortex-M7
+[3.759] spawnCubeProgrammer():  10:54:16:542 
+[3.759] spawnCubeProgrammer():  10:54:16:543 
+[3.759] spawnCubeProgrammer():  
+[3.759] spawnCubeProgrammer():  10:54:16:543 Memory Programming ...
+[3.759] spawnCubeProgrammer():  10:54:16:543 Opening and parsing file: ST-LINK_GDB_server_IQRVyn.srec
+[3.759] spawnCubeProgrammer():  10:54:16:544   File          : ST-LINK_GDB_server_IQRVyn.srec
+[3.759] spawnCubeProgrammer():  10:54:16:544   Size          : 19792 Bytes
+[3.759] spawnCubeProgrammer():  10:54:16:544   Address       : 0x08000000 
+[3.759] spawnCubeProgrammer():  10:54:16:544 
+[3.759] spawnCubeProgrammer():  
+[3.759] spawnCubeProgrammer():  10:54:16:544 Erasing Segment <0> Address <0x08000000> Size <19792>Bytes
+[3.759] spawnCubeProgrammer():  10:54:16:544 Erasing memory corresponding to segment 0:
+[3.759] spawnCubeProgrammer():  10:54:16:614 Memory erase...
+[3.759] spawnCubeProgrammer():  10:54:16:696 halt ap 0 
+[3.759] spawnCubeProgrammer():  10:54:16:696 w ap 0 reg 15 PC   (0x20000000)  
+[3.759] spawnCubeProgrammer():  10:54:16:697 w ap 0 reg 17 MSP  (0x20000500)  
+[3.759] spawnCubeProgrammer():  10:54:16:697 w ap 0 reg 16 xPSR (0x01000000)  
+[3.759] spawnCubeProgrammer():  10:54:16:701 w ap 0 @0x20001100 0x00000200 bytes
+[3.759] spawnCubeProgrammer():  10:54:16:701 w ap 0 @0x20000000 0x00000004 bytes
+[3.759] spawnCubeProgrammer():  10:54:16:723 w ap 0 @0x20000004 0x00000CD4 bytes
+[3.759] spawnCubeProgrammer():  10:54:16:723 Erasing internal memory sector 0
+[3.759] spawnCubeProgrammer():  10:54:16:723 Init flashloader...
+[3.759] spawnCubeProgrammer():  10:54:16:724 halt ap 0 
+[3.759] spawnCubeProgrammer():  10:54:16:725 w ap 0 reg 0 R0   0x00000001
+[3.759] spawnCubeProgrammer():  10:54:16:725 w ap 0 reg 1 R1   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:726 w ap 0 reg 2 R2   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:726 w ap 0 reg 3 R3   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:727 w ap 0 reg 4 R4   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:727 w ap 0 reg 5 R5   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:728 w ap 0 reg 6 R6   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:728 w ap 0 reg 7 R7   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:729 w ap 0 reg 8 R8   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:729 w ap 0 reg 9 R9   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:729 w ap 0 reg 10 R10  0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:730 w ap 0 reg 11 R11  0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:730 w ap 0 reg 12 R12  0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:731 w ap 0 reg 13 SP   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:731 w ap 0 reg 14 LR   0x20000001
+[3.759] spawnCubeProgrammer():  10:54:16:732 w ap 0 reg 15 PC   0x20000005
+[3.759] spawnCubeProgrammer():  10:54:16:732 w ap 0 reg 16 xPSR 0x01000000
+[3.759] spawnCubeProgrammer():  10:54:16:733 w ap 0 reg 17 MSP  0x200010D4
+[3.759] spawnCubeProgrammer():  10:54:16:733 w ap 0 reg 18 PSP  0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:733 run ap 0 
+[3.759] spawnCubeProgrammer():  10:54:16:734 halt ap 0 
+[3.759] spawnCubeProgrammer():  10:54:16:734 r ap 0 reg 0 R0   0x00000001
+[3.759] spawnCubeProgrammer():  10:54:16:734 Loader sector erase...
+[3.759] spawnCubeProgrammer():  10:54:16:735 w ap 0 reg 0 R0   0x08000000
+[3.759] spawnCubeProgrammer():  10:54:16:736 w ap 0 reg 1 R1   0x08000000
+[3.759] spawnCubeProgrammer():  10:54:16:736 w ap 0 reg 2 R2   0x00000002
+[3.759] spawnCubeProgrammer():  10:54:16:737 w ap 0 reg 3 R3   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:737 w ap 0 reg 4 R4   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:738 w ap 0 reg 5 R5   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:738 w ap 0 reg 6 R6   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:739 w ap 0 reg 7 R7   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:739 w ap 0 reg 8 R8   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:740 w ap 0 reg 9 R9   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:740 w ap 0 reg 10 R10  0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:741 w ap 0 reg 11 R11  0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:741 w ap 0 reg 12 R12  0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:742 w ap 0 reg 13 SP   0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:742 w ap 0 reg 14 LR   0x20000001
+[3.759] spawnCubeProgrammer():  10:54:16:743 w ap 0 reg 15 PC   0x20000281
+[3.759] spawnCubeProgrammer():  10:54:16:743 w ap 0 reg 16 xPSR 0x01000000
+[3.759] spawnCubeProgrammer():  10:54:16:744 w ap 0 reg 17 MSP  0x200010D4
+[3.759] spawnCubeProgrammer():  10:54:16:744 w ap 0 reg 18 PSP  0x00000000
+[3.759] spawnCubeProgrammer():  10:54:16:744 run ap 0 
+[3.759] spawnCubeProgrammer():  10:54:16:931 halt ap 0 
+[3.759] spawnCubeProgrammer():  10:54:16:931 r ap 0 reg 0 R0   0x00000001
+[3.759] spawnCubeProgrammer():  10:54:16:932 erase: 0388ms
+[3.759] spawnCubeProgrammer():  10:54:16:932 Download in Progress:
+[3.760] spawnCubeProgrammer():  10:54:16:945   Size          : 19808 Bytes
+[3.760] spawnCubeProgrammer():  10:54:16:945   Address       : 0x08000000 
+[3.760] spawnCubeProgrammer():  10:54:16:945 
+[3.760] spawnCubeProgrammer():  
+[3.760] spawnCubeProgrammer():  10:54:17:005 Buffer program...
+[3.760] spawnCubeProgrammer():  10:54:17:080 halt ap 0 
+[3.760] spawnCubeProgrammer():  10:54:17:081 w ap 0 reg 15 PC   (0x20000000)  
+[3.760] spawnCubeProgrammer():  10:54:17:081 w ap 0 reg 17 MSP  (0x20000500)  
+[3.760] spawnCubeProgrammer():  10:54:17:081 w ap 0 reg 16 xPSR (0x01000000)  
+[3.760] spawnCubeProgrammer():  10:54:17:085 w ap 0 @0x20001100 0x00000200 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:086 w ap 0 @0x20000000 0x00000004 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:108 w ap 0 @0x20000004 0x00000CD4 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:108 Loader write range...
+[3.760] spawnCubeProgrammer():  10:54:17:173 w ap 0 @0x20001100 0x000026C0 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:173 W B1 in RAM @0x20001100 size 0x000026C0 : 0065ms
+[3.760] spawnCubeProgrammer():  10:54:17:173 Init flashloader...
+[3.760] spawnCubeProgrammer():  10:54:17:174 halt ap 0 
+[3.760] spawnCubeProgrammer():  10:54:17:175 w ap 0 reg 0 R0   0x00000001
+[3.760] spawnCubeProgrammer():  10:54:17:175 w ap 0 reg 1 R1   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:176 w ap 0 reg 2 R2   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:176 w ap 0 reg 3 R3   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:177 w ap 0 reg 4 R4   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:177 w ap 0 reg 5 R5   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:178 w ap 0 reg 6 R6   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:178 w ap 0 reg 7 R7   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:179 w ap 0 reg 8 R8   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:179 w ap 0 reg 9 R9   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:180 w ap 0 reg 10 R10  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:180 w ap 0 reg 11 R11  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:181 w ap 0 reg 12 R12  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:181 w ap 0 reg 13 SP   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:182 w ap 0 reg 14 LR   0x20000001
+[3.760] spawnCubeProgrammer():  10:54:17:182 w ap 0 reg 15 PC   0x20000005
+[3.760] spawnCubeProgrammer():  10:54:17:182 w ap 0 reg 16 xPSR 0x01000000
+[3.760] spawnCubeProgrammer():  10:54:17:183 w ap 0 reg 17 MSP  0x200010D4
+[3.760] spawnCubeProgrammer():  10:54:17:184 w ap 0 reg 18 PSP  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:184 run ap 0 
+[3.760] spawnCubeProgrammer():  10:54:17:185 halt ap 0 
+[3.760] spawnCubeProgrammer():  10:54:17:185 r ap 0 reg 0 R0   0x00000001
+[3.760] spawnCubeProgrammer():  10:54:17:186 w ap 0 reg 0 R0   0x08000000
+[3.760] spawnCubeProgrammer():  10:54:17:186 w ap 0 reg 1 R1   0x000026C0
+[3.760] spawnCubeProgrammer():  10:54:17:187 w ap 0 reg 2 R2   0x20001100
+[3.760] spawnCubeProgrammer():  10:54:17:187 w ap 0 reg 3 R3   0x00000002
+[3.760] spawnCubeProgrammer():  10:54:17:187 w ap 0 reg 4 R4   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:188 w ap 0 reg 5 R5   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:188 w ap 0 reg 6 R6   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:189 w ap 0 reg 7 R7   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:189 w ap 0 reg 8 R8   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:189 w ap 0 reg 9 R9   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:190 w ap 0 reg 10 R10  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:190 w ap 0 reg 11 R11  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:190 w ap 0 reg 12 R12  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:190 w ap 0 reg 13 SP   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:191 w ap 0 reg 14 LR   0x20000001
+[3.760] spawnCubeProgrammer():  10:54:17:191 w ap 0 reg 15 PC   0x20000051
+[3.760] spawnCubeProgrammer():  10:54:17:191 w ap 0 reg 16 xPSR 0x01000000
+[3.760] spawnCubeProgrammer():  10:54:17:192 w ap 0 reg 17 MSP  0x200010D4
+[3.760] spawnCubeProgrammer():  10:54:17:192 w ap 0 reg 18 PSP  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:192 run ap 0 
+[3.760] spawnCubeProgrammer():  10:54:17:272 w ap 0 @0x200037C0 0x000026A0 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:272 W B2 in RAM @0x20040700 size 0x000026A0: 0099ms
+[3.760] spawnCubeProgrammer():  10:54:17:273 r ap 0 reg 0 R0   0x00000001
+[3.760] spawnCubeProgrammer():  10:54:17:273 Wait W B1 in Flash @0x08000000 size 0x000026C0: 0000ms
+[3.760] spawnCubeProgrammer():  10:54:17:274 w ap 0 reg 0 R0   0x080026C0
+[3.760] spawnCubeProgrammer():  10:54:17:275 w ap 0 reg 1 R1   0x000026A0
+[3.760] spawnCubeProgrammer():  10:54:17:275 w ap 0 reg 2 R2   0x200037C0
+[3.760] spawnCubeProgrammer():  10:54:17:275 w ap 0 reg 3 R3   0x00000002
+[3.760] spawnCubeProgrammer():  10:54:17:276 w ap 0 reg 4 R4   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:276 w ap 0 reg 5 R5   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:277 w ap 0 reg 6 R6   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:277 w ap 0 reg 7 R7   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:278 w ap 0 reg 8 R8   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:278 w ap 0 reg 9 R9   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:279 w ap 0 reg 10 R10  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:279 w ap 0 reg 11 R11  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:280 w ap 0 reg 12 R12  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:280 w ap 0 reg 13 SP   0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:280 w ap 0 reg 14 LR   0x20000001
+[3.760] spawnCubeProgrammer():  10:54:17:281 w ap 0 reg 15 PC   0x20000051
+[3.760] spawnCubeProgrammer():  10:54:17:281 w ap 0 reg 16 xPSR 0x01000000
+[3.760] spawnCubeProgrammer():  10:54:17:282 w ap 0 reg 17 MSP  0x200010D4
+[3.760] spawnCubeProgrammer():  10:54:17:282 w ap 0 reg 18 PSP  0x00000000
+[3.760] spawnCubeProgrammer():  10:54:17:282 run ap 0 
+[3.760] spawnCubeProgrammer():  10:54:17:354 r ap 0 reg 0 R0   0x00000001
+[3.760] spawnCubeProgrammer():  10:54:17:354 Write elapsed time: 0246ms
+[3.760] spawnCubeProgrammer():  10:54:17:354 Segment[0] downloaded successfully
+[3.760] spawnCubeProgrammer():  10:54:17:354 
+[3.760] spawnCubeProgrammer():  
+[3.760] spawnCubeProgrammer():  10:54:17:354 File download complete
+[3.760] spawnCubeProgrammer():  10:54:17:355 Time elapsed during download operation: 00:00:00.810
+[3.760] spawnCubeProgrammer():  10:54:17:355 
+[3.760] spawnCubeProgrammer():  
+[3.760] spawnCubeProgrammer():  10:54:17:355 
+[3.760] spawnCubeProgrammer():  Verifying ...
+[3.760] spawnCubeProgrammer():  10:54:17:355 
+[3.760] spawnCubeProgrammer():  
+[3.760] spawnCubeProgrammer():  10:54:17:355 Read progress:
+[3.760] spawnCubeProgrammer():  10:54:17:355 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:383 r ap 0 @0x08000000 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:383 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:390 r ap 0 @0x08000400 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:390 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:397 r ap 0 @0x08000800 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:397 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:404 r ap 0 @0x08000C00 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:404 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:411 r ap 0 @0x08001000 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:411 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:418 r ap 0 @0x08001400 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:418 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:425 r ap 0 @0x08001800 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:425 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:432 r ap 0 @0x08001C00 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:432 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:439 r ap 0 @0x08002000 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:439 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:446 r ap 0 @0x08002400 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:446 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:454 r ap 0 @0x08002800 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:454 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:461 r ap 0 @0x08002C00 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:461 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:468 r ap 0 @0x08003000 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:468 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:475 r ap 0 @0x08003400 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:475 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:482 r ap 0 @0x08003800 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:482 Reading data...
+[3.760] spawnCubeProgrammer():  10:54:17:489 r ap 0 @0x08003C00 0x00000400 bytes
+[3.760] spawnCubeProgrammer():  10:54:17:489 Reading data...
+[3.761] spawnCubeProgrammer():  10:54:17:496 r ap 0 @0x08004000 0x00000400 bytes
+[3.761] spawnCubeProgrammer():  10:54:17:496 Reading data...
+[3.761] spawnCubeProgrammer():  10:54:17:503 r ap 0 @0x08004400 0x00000400 bytes
+[3.761] spawnCubeProgrammer():  10:54:17:503 Reading data...
+[3.761] spawnCubeProgrammer():  10:54:17:510 r ap 0 @0x08004800 0x00000400 bytes
+[3.761] spawnCubeProgrammer():  10:54:17:510 Reading data...
+[3.761] spawnCubeProgrammer():  10:54:17:513 r ap 0 @0x08004C00 0x00000160 bytes
+[3.761] spawnCubeProgrammer():  10:54:17:513 
+[3.761] spawnCubeProgrammer():  
+[3.761] spawnCubeProgrammer():  10:54:17:513 Download verified successfully 
+[3.761] spawnCubeProgrammer():  10:54:17:513 
+[3.761] spawnCubeProgrammer():  
+[3.761] spawnCubeProgrammer():   ------ Switching context ----- 
+[3.770] Device_Initialise():  Target connection mode: Under reset
+[3.780] reset_hw_wtchpt_module():  Hardware watchpoint supported by the target 
+[3.784] Device_Initialise():  COM frequency = 4000 kHz
+[3.784] Device_Initialise():  ST-LINK Firmware version : V2J35M26
+[3.784] Device_Initialise():  Device ID: 0x451
+[3.784] Device_Initialise():  PC: 0x8004c4c
+[3.785] Device_Initialise():  ST-LINK detects target voltage = 3.26 V
+[3.786] Device_Initialise():  ST-LINK device status: HALT_MODE
+[3.786] initServerContext():  ST-LINK device initialization OK
+[3.786] write():  <12> Tx: $OK#9a
+[3.787] read():  <12> Rx: $qXfer:threads:read::0,bfb#fb
+[3.787] write():  <12> Tx: $l<?xml version="1.0"?><threads><thread id="1" core="0" name="main"></thread></threads>#8b
+[3.787] read():  <12> Rx: $m8004c4c,4#93
+[3.787] handlePacket():  Reading 0x4 bytes of memory from addr 0x8004c4c 
+[3.787] write():  <12> Tx: $dff834d0#63
+[3.788] read():  <12> Rx: $m8004c4c,2#91
+[3.788] handlePacket():  Reading 0x2 bytes of memory from addr 0x8004c4c 
+[3.788] write():  <12> Tx: $dff8#68
+[3.788] read():  <12> Rx: $m8004c4e,2#93
+[3.788] handlePacket():  Reading 0x2 bytes of memory from addr 0x8004c4e 
+[3.789] write():  <12> Tx: $34d0#fb
+[3.789] read():  <12> Rx: $qXfer:threads:read::0,bfb#fb
+[3.790] write():  <12> Tx: $l<?xml version="1.0"?><threads><thread id="1" core="0" name="main"></thread></threads>#8b
+[3.806] read():  <12> Rx: $T1#85
+[3.806] write():  <12> Tx: $OK#9a
+[3.806] read():  <12> Rx: $T1#85
+[3.806] write():  <12> Tx: $OK#9a
+[3.944] read():  <12> Rx: $mfffffffe,1#f9
+[3.944] handlePacket():  Reading 0x1 bytes of memory from addr 0xfffffffe 
+[3.944] write():  <12> Tx: $E31#a9
+[3.945] read():  <12> Rx: $mfffffffe,1#f9
+[3.945] handlePacket():  Reading 0x1 bytes of memory from addr 0xfffffffe 
+[3.945] write():  <12> Tx: $E31#a9
+[3.952] read():  <12> Rx: $me000ed14,4#f0
+[3.952] handlePacket():  Reading 0x4 bytes of memory from addr 0xe000ed14 
+[3.953] write():  <12> Tx: $00020400#86
+[3.953] read():  <12> Rx: $Xe000ed14,0:#11
+[3.953] write():  <12> Tx: $OK#9a
+[3.953] read():  <12> Rx: $Xe000ed14,4:\x10\x02\x04\x00#2b
+[3.953] write():  <12> Tx: $OK#9a
+[3.953] read():  <12> Rx: $g#67
+[3.960] write():  <12> Tx: $0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000820ffffffff4c4c000800000001000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ffffffff000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ffffffff00000000000000000000000000000000000000000000082000000000#9b
+[3.960] read():  <12> Rx: $m8004c4c,4#93
+[3.960] handlePacket():  Reading 0x4 bytes of memory from addr 0x8004c4c 
+[3.960] write():  <12> Tx: $dff834d0#63
+[3.960] read():  <12> Rx: $m8004c4c,2#91
+[3.960] handlePacket():  Reading 0x2 bytes of memory from addr 0x8004c4c 
+[3.960] write():  <12> Tx: $dff8#68
+[3.961] read():  <12> Rx: $m8004c4e,2#93
+[3.961] handlePacket():  Reading 0x2 bytes of memory from addr 0x8004c4e 
+[3.961] write():  <12> Tx: $34d0#fb
+[3.961] read():  <12> Rx: $me000edfc,4#54
+[3.961] handlePacket():  Reading 0x4 bytes of memory from addr 0xe000edfc 
+[3.961] write():  <12> Tx: $00000001#81
+[3.961] read():  <12> Rx: $Xe000edfc,4:\xff\x07\x00\x01#71
+[3.962] write():  <12> Tx: $OK#9a
+[3.962] read():  <12> Rx: $g#67
+[3.968] write():  <12> Tx: $0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000820ffffffff4c4c000800000001000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ffffffff000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ffffffff00000000000000000000000000000000000000000000082000000000#9b
+[3.968] read():  <12> Rx: $m8004c4c,4#93
+[3.968] handlePacket():  Reading 0x4 bytes of memory from addr 0x8004c4c 
+[3.969] write():  <12> Tx: $dff834d0#63
+[3.969] read():  <12> Rx: $m8004c4c,2#91
+[3.969] handlePacket():  Reading 0x2 bytes of memory from addr 0x8004c4c 
+[3.969] write():  <12> Tx: $dff8#68
+[3.969] read():  <12> Rx: $m8004c4e,2#93
+[3.969] handlePacket():  Reading 0x2 bytes of memory from addr 0x8004c4e 
+[3.969] write():  <12> Tx: $34d0#fb
+[3.970] read():  <12> Rx: $m8004000,40#59
+[3.970] handlePacket():  Reading 0x40 bytes of memory from addr 0x8004000 
+[3.970] write():  <12> Tx: $99ffbb6807ee903ab0ee670a1037bd4680bd000080b582b000affcf78dfa00f02ff800f0a3fa00f07bfa00f0b3f800f00ff900f06bf900f0e1f900f03dfa0e48#a0
+[3.970] read():  <12> Rx: $m800401a,2#59
+[3.970] handlePacket():  Reading 0x2 bytes of memory from addr 0x800401a 
+[3.971] write():  <12> Tx: $fcf7#66
+[3.972] read():  <12> Rx: $Z1,800401a,2#a3
+[3.973] write():  <12> Tx: $OK#9a
+[3.973] read():  <12> Rx: $vCont;c#a8
+[3.973] SWV_SetStatus():  SWV_SetStatus(true): stop_reply_pending == 0
+[3.978] handle_vCont_c():  handle_vCont_c, continue thread
+[3.979] write():  <12> Tx: $OK#9a
+[3.989] SWV_SetStatus():  SWV_SetStatus(false): stop_reply_pending == 1
+[3.989] handleGDBConnection():  TraceCaptureStart and SWV event set to APP_FALSE (0)
+[3.994] Device_GetHaltReason():  NVIC_DFSR_REG = 0x0000000B 
+[3.995] write():  <12> Tx: %Stop:T05hwbreak:;thread:1;core:0;#7e
+[3.995] read():  <12> Rx: $qXfer:threads:read::0,bfb#fb
+[3.995] write():  <12> Tx: $l<?xml version="1.0"?><threads><thread id="1" core="0" name="main"></thread></threads>#8b
+[4.036] read():  <12> Rx: $vStopped#55
+[4.036] write():  <12> Tx: $OK#9a
+[4.036] read():  <12> Rx: $g#67
+[4.043] write():  <12> Tx: $68020020280000202800002068020020000000000000000000000000f0ff07200000000000000000000000000000000000000000f0ff0720834c00081a40000800000061000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ffffffff000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ffffffff0000000000000000000000000000000000000000f0ff072000000000#2c
+[4.043] read():  <12> Rx: $qXfer:threads:read::0,bfb#fb
+[4.043] write():  <12> Tx: $l<?xml version="1.0"?><threads><thread id="1" core="0" name="main"></thread></threads>#8b
+[4.043] read():  <12> Rx: $z1,800401a,2#c3
+[4.044] write():  <12> Tx: $OK#9a
+[4.044] read():  <12> Rx: $m800401a,4#5b
+[4.044] handlePacket():  Reading 0x4 bytes of memory from addr 0x800401a 
+[4.044] write():  <12> Tx: $fcf78dfa#c9
+[4.045] read():  <12> Rx: $T1#85
+[4.045] write():  <12> Tx: $OK#9a
+[4.045] read():  <12> Rx: $T1#85
+[4.045] write():  <12> Tx: $OK#9a
+[4.058] read():  <12> Rx: $T1#85
+[4.058] write():  <12> Tx: $OK#9a
+[4.058] read():  <12> Rx: $T1#85
+[4.058] write():  <12> Tx: $OK#9a
+[4.060] read():  <12> Rx: $T1#85
+[4.060] write():  <12> Tx: $OK#9a
+[4.060] read():  <12> Rx: $T1#85
+[4.060] write():  <12> Tx: $OK#9a
+[4.061] read():  <12> Rx: $m2007ffc0,40#25
+[4.061] handlePacket():  Reading 0x40 bytes of memory from addr 0x2007ffc0 
+[4.062] write():  <12> Tx: $000000001000000028000020680200203c000000d8ff0720ffff000001000000e8ff07206747000800000000d54c0008000000000000000000000000834c0008#73
+[4.062] read():  <12> Rx: $m8004c82,4#66
+[4.062] handlePacket():  Reading 0x4 bytes of memory from addr 0x8004c82 
+[4.062] write():  <12> Tx: $70470000#92
+[4.062] read():  <12> Rx: $m8004c40,40#90
+[4.062] handlePacket():  Reading 0x40 bytes of memory from addr 0x8004c40 
+[4.063] write():  <12> Tx: $00380240fffff6fe10300024dff834d0002103e00c4b5b58435004310b480c4b42189a42f6d30b4a02e0002342f8043b094b9a42f9d3fff7b3ff00f011f8fff7#60
+[4.063] read():  <12> Rx: $m8004c84,4#68
+[4.063] handlePacket():  Reading 0x4 bytes of memory from addr 0x8004c84 
+[4.063] write():  <12> Tx: $00000820#8a
+[4.075] read():  <12> Rx: $qXfer:threads:read::0,bfb#fb
+[4.075] write():  <12> Tx: $l<?xml version="1.0"?><threads><thread id="1" core="0" name="main"></thread></threads>#8b
+[4.075] read():  <12> Rx: $qXfer:threads:read::0,bfb#fb
+[4.075] write():  <12> Tx: $l<?xml version="1.0"?><threads><thread id="1" core="0" name="main"></thread></threads>#8b
+[4.551] read():  <12> Rx: $m2007ffc0,40#25
+[4.551] handlePacket():  Reading 0x40 bytes of memory from addr 0x2007ffc0 
+[4.552] write():  <12> Tx: $000000001000000028000020680200203c000000d8ff0720ffff000001000000e8ff07206747000800000000d54c0008000000000000000000000000834c0008#73
+[6.213] read():  <12> Rx: $m2007ffc0,40#25
+[6.213] handlePacket():  Reading 0x40 bytes of memory from addr 0x2007ffc0 
+[6.214] write():  <12> Tx: $000000001000000028000020680200203c000000d8ff0720ffff000001000000e8ff07206747000800000000d54c0008000000000000000000000000834c0008#73
+[6.266] read():  <12> Rx: $m2007ffc0,40#25
+[6.266] handlePacket():  Reading 0x40 bytes of memory from addr 0x2007ffc0 
+[6.266] write():  <12> Tx: $000000001000000028000020680200203c000000d8ff0720ffff000001000000e8ff07206747000800000000d54c0008000000000000000000000000834c0008#73
+[8.774] read():  <12> Rx: $vCont;c#a8
+[8.774] SWV_SetStatus():  SWV_SetStatus(true): stop_reply_pending == 0
+[8.780] handle_vCont_c():  handle_vCont_c, continue thread
+[8.780] write():  <12> Tx: $OK#9a
+[8.790] Device_GetStatus():  ST-LINK device status: RUN_MODE
+[8.933] read():  <12> Rx: $T1#85
+[8.933] write():  <12> Tx: $OK#9a
+[8.933] read():  <12> Rx: $T1#85
+[8.933] write():  <12> Tx: $OK#9a
+[19.900] read():  <12> Rx: $vCont?#49
+[19.900] write():  <12> Tx: $vCont;c;s;t#05
+[19.900] read():  <12> Rx: $vCont;t:1#24
+[19.900] handle_vCont_t():  handle_vCont_t, Halt thread
+[19.901] write():  <12> Tx: $OK#9a
+[19.911] Device_GetStatus():  ST-LINK device status: HALT_MODE
+[19.911] SWV_SetStatus():  SWV_SetStatus(false): stop_reply_pending == 1
+[19.911] handleGDBConnection():  TraceCaptureStart and SWV event set to APP_FALSE (0)
+[19.917] Device_GetHaltReason():  NVIC_DFSR_REG = 0x00000001 
+[19.918] write():  <12> Tx: %Stop:T05thread:1;core:0;#25
+[19.945] read():  <12> Rx: $vStopped#55
+[19.945] write():  <12> Tx: $OK#9a
+[19.945] read():  <12> Rx: $g#67
+[19.952] write():  <12> Tx: $2b2b0000010000006500000029000000000000000000000000000000d8ff07200000000000000000000000000000000000000000d8ff0720210600081c060008000000216eec2a4600000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000097ffc04e4083244880c92448000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ffffffff1000000000000000000000000000000000000000d8ff072000000000#d8
+[19.994] read():  <12> Rx: $qXfer:threads:read::0,bfb#fb
+[19.995] write():  <12> Tx: $l<?xml version="1.0"?><threads><thread id="1" core="0" name="main"></thread></threads>#8b
+[19.995] read():  <12> Rx: $m800061c,4#5f
+[19.995] handlePacket():  Reading 0x4 bytes of memory from addr 0x800061c 
+[19.995] write():  <12> Tx: $fff7deff#fe
+[19.995] read():  <12> Rx: $m2007ffc0,40#25
+[19.995] handlePacket():  Reading 0x40 bytes of memory from addr 0x2007ffc0 
+[19.996] write():  <12> Tx: $0000000097ffc04e404524484083244810000000d8ff0720e0ff072064000000022b000065000000f0ff0720774000080000000080c9244800000000834c0008#34
+[19.996] read():  <12> Rx: $m8004076,4#36
+[19.996] handlePacket():  Reading 0x4 bytes of memory from addr 0x8004076 
+[19.997] write():  <12> Tx: $ebe76800#31
+[19.998] read():  <12> Rx: $m2007ffc0,40#25
+[19.998] handlePacket():  Reading 0x40 bytes of memory from addr 0x2007ffc0 
+[19.998] write():  <12> Tx: $0000000097ffc04e404524484083244810000000d8ff0720e0ff072064000000022b000065000000f0ff0720774000080000000080c9244800000000834c0008#34
+[19.999] read():  <12> Rx: $m8004c82,4#66
+[19.999] handlePacket():  Reading 0x4 bytes of memory from addr 0x8004c82 
+[19.999] write():  <12> Tx: $70470000#92
+[19.999] read():  <12> Rx: $m8004c40,40#90
+[19.999] handlePacket():  Reading 0x40 bytes of memory from addr 0x8004c40 
+[20.000] write():  <12> Tx: $00380240fffff6fe10300024dff834d0002103e00c4b5b58435004310b480c4b42189a42f6d30b4a02e0002342f8043b094b9a42f9d3fff7b3ff00f011f8fff7#60
+[20.000] read():  <12> Rx: $m8004c84,4#68
+[20.000] handlePacket():  Reading 0x4 bytes of memory from addr 0x8004c84 
+[20.000] write():  <12> Tx: $00000820#8a
+[20.002] read():  <12> Rx: $m2007ffc0,40#25
+[20.002] handlePacket():  Reading 0x40 bytes of memory from addr 0x2007ffc0 
+[20.003] write():  <12> Tx: $0000000097ffc04e404524484083244810000000d8ff0720e0ff072064000000022b000065000000f0ff0720774000080000000080c9244800000000834c0008#34
+[20.064] read():  <12> Rx: $qXfer:threads:read::0,bfb#fb
+[20.065] write():  <12> Tx: $l<?xml version="1.0"?><threads><thread id="1" core="0" name="main"></thread></threads>#8b
+[20.065] read():  <12> Rx: $m2007ffc0,40#25
+[20.065] handlePacket():  Reading 0x40 bytes of memory from addr 0x2007ffc0 
+[20.066] write():  <12> Tx: $0000000097ffc04e404524484083244810000000d8ff0720e0ff072064000000022b000065000000f0ff0720774000080000000080c9244800000000834c0008#34
+[20.066] read():  <12> Rx: $qXfer:threads:read::0,bfb#fb
+[20.066] write():  <12> Tx: $l<?xml version="1.0"?><threads><thread id="1" core="0" name="main"></thread></threads>#8b
+[88.620] read():  <12> Rx: $D#44
+[88.621] write():  <12> Tx: $OK#9a
diff --git a/otto_controller_source/STM32F767ZITX_FLASH.ld b/otto_controller_source/STM32F767ZITX_FLASH.ld
index a601ae1..744f0d6 100644
--- a/otto_controller_source/STM32F767ZITX_FLASH.ld
+++ b/otto_controller_source/STM32F767ZITX_FLASH.ld
@@ -55,8 +55,8 @@ ENTRY(Reset_Handler)
 /* Highest address of the user mode stack */
 _estack = 0x20080000;	/* end of "RAM" Ram type memory */
 
-_Min_Heap_Size = 0x200;	/* required amount of heap  */
-_Min_Stack_Size = 0x400;	/* required amount of stack */
+_Min_Heap_Size = 0x200 ;	/* required amount of heap  */
+_Min_Stack_Size = 0x400 ;	/* required amount of stack */
 
 /* Memories definition */
 MEMORY
diff --git a/otto_controller_source/Src/main.cpp b/otto_controller_source/Src/main.cpp
index eed49a3..d15ad45 100644
--- a/otto_controller_source/Src/main.cpp
+++ b/otto_controller_source/Src/main.cpp
@@ -56,6 +56,7 @@ DMA_HandleTypeDef hdma_usart3_tx;
 /* USER CODE BEGIN PV */
 
 Encoder left_encoder = Encoder(&htim2);
+float meters = 0;
 
 /* USER CODE END PV */
 
@@ -115,18 +116,15 @@ int main(void)
 
   HAL_TIM_Base_Start_IT(&htim3);
   left_encoder.Setup();
-  float meters = 0;
 
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1) {
-    meters = left_encoder.GetCount();
+    meters += left_encoder.GetCount();
     left_encoder.ResetCount();
     HAL_Delay(100);
-
-
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
@@ -203,7 +201,7 @@ static void MX_TIM2_Init(void)
   htim2.Init.Period = 4294967295;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
   sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
@@ -350,7 +348,7 @@ static void MX_TIM5_Init(void)
   htim5.Init.Period = 0;
   htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
   sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
diff --git a/otto_controller_source/otto_controller_source.elf.launch b/otto_controller_source/otto_controller_source Debug.launch
similarity index 57%
rename from otto_controller_source/otto_controller_source.elf.launch
rename to otto_controller_source/otto_controller_source Debug.launch
index 28c3b5c..caffcda 100644
--- a/otto_controller_source/otto_controller_source.elf.launch
+++ b/otto_controller_source/otto_controller_source Debug.launch	
@@ -1,22 +1,16 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.device" value="STM32F767ZI"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.endian" value="little"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.init_speed" value="4000"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_check_serial_number" value="false"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_script_path" value=""/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_script_used" value="false"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_txt_serial_number" value=""/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.reset_strategy" value="type_0_normal"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.scan_chain_auto" value="true"/>
-<intAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.scan_chain_irpre" value="0"/>
-<intAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.scan_chain_pos" value="0"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.selected_rtos" value="No RTOS"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="true"/>
 <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/otto_controller_source.elf&quot;,&quot;fProjectName&quot;:&quot;otto_controller_source&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_div" value="8"/>
@@ -24,34 +18,22 @@
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_wait_for_sync" value="true"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_DEVICE_SHAREABLE_ALLOWED" value="false"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE" value="Swd"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE_FREQUENCY" value="8000000.0"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_LOW_POWER_MODE_ALLOWED" value="true"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_RESET_MODE" value="connect_under_reset"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_STOP_WATCHDOG_THEN_HALTED_ALLOWED" value="true"/>
-<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_GENERATOR_OPTION" value="false"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_NAME" value="&quot;${stm32cubeide_openocd_path}/openocd&quot;"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_OTHER_OPTIONS" value=""/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}/otto_controller_source.elf.cfg"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT_CHOICE" value="automated"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_external_loader" value="false"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.external_loader" value=""/>
+<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="/home/fdila/Projects/otto/otto_controller_source/Debug/st-link_gdbserver_log.txt"/>
-<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_ap_id" value="0"/>
+<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="system_reset"/>
 <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
 <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
-<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageFileName" value=""/>
-<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageOffset" value=""/>
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDevice" value="ST-LINK (ST-LINK GDB server)"/>
-<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadImage" value="true"/>
-<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadSymbols" value="true"/>
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
 <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
@@ -59,22 +41,18 @@
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
-<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsFileName" value=""/>
-<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsOffset" value=""/>
-<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForImage" value="false"/>
-<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForSymbols" value="false"/>
-<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForImage" value="true"/>
-<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForSymbols" value="true"/>
 <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="${TOOLCHAIN_PATH}/arm-none-eabi-gdb"/>
 <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="true"/>
+<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
 <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
+<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
 <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
 <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
 <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
 <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/otto_controller_source.elf"/>
 <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="otto_controller_source"/>
-<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
-<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value=""/>
+<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
+<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.347033999"/>
 <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
 <listEntry value="/otto_controller_source"/>
 </listAttribute>
diff --git a/otto_controller_source/otto_controller_source.ioc b/otto_controller_source/otto_controller_source.ioc
index f873747..f695e4b 100644
--- a/otto_controller_source/otto_controller_source.ioc
+++ b/otto_controller_source/otto_controller_source.ioc
@@ -61,12 +61,13 @@ Mcu.PinsNb=19
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F767ZITx
-MxCube.Version=5.3.0
-MxDb.Version=DB.5.0.30
+MxCube.Version=5.4.0
+MxDb.Version=DB.5.0.40
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.DMA1_Stream1_IRQn=true\:0\:0\:false\:false\:true\:false\:true
 NVIC.DMA1_Stream3_IRQn=true\:0\:0\:false\:false\:true\:false\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
@@ -229,7 +230,8 @@ SH.S_TIM5_CH1.0=TIM5_CH1,Encoder_Interface
 SH.S_TIM5_CH1.ConfNb=1
 SH.S_TIM5_CH2.0=TIM5_CH2,Encoder_Interface
 SH.S_TIM5_CH2.ConfNb=1
-TIM2.IPParameters=Period
+TIM2.EncoderMode=TIM_ENCODERMODE_TI12
+TIM2.IPParameters=Period,EncoderMode
 TIM2.Period=4294967295
 TIM3.IPParameters=Prescaler,Period
 TIM3.Period=9
@@ -237,6 +239,8 @@ TIM3.Prescaler=39999
 TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM4.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM4.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM5.EncoderMode=TIM_ENCODERMODE_TI12
+TIM5.IPParameters=EncoderMode
 USART3.IPParameters=VirtualMode-Asynchronous
 USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
-- 
2.52.0