diff --git a/.gitignore b/.gitignore
index 6ce8bce..48e31fe 100644
--- a/.gitignore
+++ b/.gitignore
@@ -12,4 +12,6 @@
.vscode/*
*.elf
build
-MDK-ARM/arm_joint_sensor
\ No newline at end of file
+MDK-ARM/arm_joint_sensor
+!MDK-ARM/bootloader/arm_joint_sensor_bootloader.hex
+!MDK-ARM/output/combined.hex
\ No newline at end of file
diff --git a/MDK-ARM/RTE/_arm_joint_sensor/RTE_Components.h b/MDK-ARM/RTE/_arm_joint_sensor/RTE_Components.h
index b2f0de6..8abfbef 100644
--- a/MDK-ARM/RTE/_arm_joint_sensor/RTE_Components.h
+++ b/MDK-ARM/RTE/_arm_joint_sensor/RTE_Components.h
@@ -1,7 +1,6 @@
-
/*
- * Auto generated Run-Time-Environment Configuration File
- * *** Do not modify ! ***
+ * UVISION generated file: DO NOT EDIT!
+ * Generated by: uVision version 5.41.0.0
*
* Project: 'arm_joint_sensor'
* Target: 'arm_joint_sensor'
diff --git a/MDK-ARM/arm_joint_sensor.uvguix.66437 b/MDK-ARM/arm_joint_sensor.uvguix.66437
index e358155..c7c33dd 100644
--- a/MDK-ARM/arm_joint_sensor.uvguix.66437
+++ b/MDK-ARM/arm_joint_sensor.uvguix.66437
@@ -15,7 +15,7 @@
38003
Registers
- 119 111
+ 150 80
346
@@ -40,7 +40,7 @@
1506
Symbols
- 68 68 68
+ 85 85 85
1936
@@ -91,7 +91,7 @@
44
2
- 3
+ 2
-32000
-32000
@@ -101,17 +101,17 @@
-1
- 165
- 287
- 1522
- 867
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+ -60
+ 1860
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@@ -150,7 +150,7 @@
0
16
- 0300000066000000ED00000000030000
+ 0300000066000000ED0000007B030000
16
@@ -170,7 +170,7 @@
0
16
- 0300000066000000ED00000000030000
+ 0300000066000000ED0000007B030000
16
@@ -450,7 +450,7 @@
0
16
- 0300000066000000ED00000000030000
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16
@@ -470,7 +470,7 @@
0
16
- 0300000066000000ED00000000030000
+ 0300000066000000ED0000007B030000
16
@@ -490,7 +490,7 @@
0
16
- 00000000310300006E060000AB030000
+ 00000000AC0300000008000026040000
16
@@ -530,7 +530,7 @@
0
16
- 0300000034030000FD07000092030000
+ 03000000AF030000FD0700000D040000
16
@@ -1170,7 +1170,7 @@
0
16
- 0300000034030000FD07000092030000
+ 03000000AF030000FD0700000D040000
16
@@ -1190,7 +1190,7 @@
0
16
- 0300000034030000FD07000092030000
+ 03000000AF030000FD0700000D040000
16
@@ -1250,7 +1250,7 @@
0
16
- 0300000034030000FD07000092030000
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16
@@ -1270,7 +1270,7 @@
0
16
- 0300000034030000FD07000092030000
+ 03000000AF030000FD0700000D040000
16
@@ -1730,7 +1730,7 @@
0
16
- 00000000AB0300006E060000BE030000
+ 00000000260400000008000039040000
16
@@ -1799,14 +1799,14 @@
3334
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1423
@@ -3592,8 +3592,8 @@
0
- 1646
- 1029
+ 2048
+ 1152
@@ -3624,9 +3624,9 @@
../Core/Src/main.c
- 1
- 34
- 63
+ 17
+ 102
+ 128
1
0
diff --git a/MDK-ARM/arm_joint_sensor.uvoptx b/MDK-ARM/arm_joint_sensor.uvoptx
index b35e68e..29a5c3f 100644
--- a/MDK-ARM/arm_joint_sensor.uvoptx
+++ b/MDK-ARM/arm_joint_sensor.uvoptx
@@ -150,7 +150,7 @@
0
ST-LINKIII-KEIL_SWO
- -U16004A002933353739303541 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("") -D00(00000000) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32L4xx_256.FLM -FS08003000 -FL040000 -FP0($$Device:STM32L431CCUx$CMSIS\Flash\STM32L4xx_256.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0
+ -U16004A002933353739303541 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("") -D00(00000000) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32L4xx_256.FLM -FS08003000 -FL040000 -FP0($$Device:STM32L431CCUx$CMSIS\Flash\STM32L4xx_256.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0-R0
diff --git a/MDK-ARM/arm_joint_sensor.uvprojx b/MDK-ARM/arm_joint_sensor.uvprojx
index 78927e3..588fa91 100644
--- a/MDK-ARM/arm_joint_sensor.uvprojx
+++ b/MDK-ARM/arm_joint_sensor.uvprojx
@@ -16,7 +16,7 @@
STM32L431CCUx
STMicroelectronics
- Keil.STM32L4xx_DFP.3.1.0
+ Keil.STM32L4xx_DFP.3.0.0
https://www.keil.com/pack/
IRAM(0x20000000-0x2000BFFF) IRAM2(0x10000000-0x10003FFF) IROM(0x8000000-0x803FFFF) CLOCK(8000000) FPU2 CPUTYPE("Cortex-M4") TZ
@@ -81,9 +81,9 @@
1
- 0
- D:\Keil_v5\ARM\ARMCC\bin\fromelf.exe --m32 arm_joint_sensor\arm_joint_sensor.axf --output arm_joint_sensor\arm_joint_sensor.srec
-
+ 1
+ fromelf.exe --m32 arm_joint_sensor\arm_joint_sensor.axf --output output\arm_joint_sensor.srec
+ srec_cat.exe bootloader\arm_joint_sensor_bootloader.hex -Intel arm_joint_sensor\arm_joint_sensor.hex -Intel -o output\combined.hex -Intel
0
0
0
diff --git a/MDK-ARM/bootloader/arm_joint_sensor_bootloader.hex b/MDK-ARM/bootloader/arm_joint_sensor_bootloader.hex
new file mode 100644
index 0000000..a604cd9
--- /dev/null
+++ b/MDK-ARM/bootloader/arm_joint_sensor_bootloader.hex
@@ -0,0 +1,557 @@
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diff --git a/MDK-ARM/output/arm_joint_sensor.srec b/MDK-ARM/output/arm_joint_sensor.srec
new file mode 100644
index 0000000..492b518
--- /dev/null
+++ b/MDK-ARM/output/arm_joint_sensor.srec
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diff --git a/MDK-ARM/output/combined.hex b/MDK-ARM/output/combined.hex
new file mode 100644
index 0000000..cd98853
--- /dev/null
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diff --git a/MDK-ARM/startup_stm32l431xx.lst b/MDK-ARM/startup_stm32l431xx.lst
index 78c2977..c40f725 100644
--- a/MDK-ARM/startup_stm32l431xx.lst
+++ b/MDK-ARM/startup_stm32l431xx.lst
@@ -615,10 +615,10 @@ ARM Macro Assembler Page 10
00000000
Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M4.fp.sp --apcs=
interwork --depend=arm_joint_sensor\startup_stm32l431xx.d -oarm_joint_sensor\st
-artup_stm32l431xx.o -I.\RTE\_arm_joint_sensor -ID:\Keil_Package\ARM\CMSIS\5.9.0
-\CMSIS\Core\Include --predefine="__UVISION_VERSION SETA 539" --predefine="_RTE_
- SETA 1" --predefine="STM32L431xx SETA 1" --predefine="_RTE_ SETA 1" --list=sta
-rtup_stm32l431xx.lst startup_stm32l431xx.s
+artup_stm32l431xx.o -I.\RTE\_arm_joint_sensor -ID:\Keil_Pack\ARM\CMSIS\5.6.0\CM
+SIS\Core\Include --predefine="__UVISION_VERSION SETA 541" --predefine="STM32L43
+1xx SETA 1" --predefine="_RTE_ SETA 1" --list=startup_stm32l431xx.lst startup_s
+tm32l431xx.s