From f175b617cdcac808d6c7e6d25fd1a0a53409113d Mon Sep 17 00:00:00 2001
From: shen <664376944@qq.com>
Date: Sun, 5 Apr 2026 23:37:22 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E7=94=A8=E6=88=B7app?=
 =?UTF-8?q?=E8=B7=B3=E8=BD=AC=E5=9C=B0=E5=9D=80=EF=BC=8C=E5=A2=9E=E5=8A=A0?=
 =?UTF-8?q?=E4=B8=B2=E5=8F=A3=E7=83=A7=E5=86=99?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Core/Src/main.c                               |    4 +-
 Core/Src/system_stm32l4xx.c                   |    2 +-
 Drivers/OpenBLT/backdoor.c                    |    2 +-
 Drivers/OpenBLT/flash.c                       |    2 +-
 ...sor_bootloader_STM32L431CCUx_1.0.1.dbgconf |   75 +
 MDK-ARM/EventRecorderStub.scvd                |    9 +
 .../RTE_Components.h                          |    5 +-
 .../arm_joint_sensor_bootloader.uvguix.66437  | 2031 ++++++++++++++++-
 MDK-ARM/arm_joint_sensor_bootloader.uvoptx    |   89 +-
 MDK-ARM/arm_joint_sensor_bootloader.uvprojx   |    8 +-
 MDK-ARM/startup_stm32l431xx.lst               |    6 +-
 11 files changed, 2107 insertions(+), 126 deletions(-)
 create mode 100644 MDK-ARM/DebugConfig/arm_joint_sensor_bootloader_STM32L431CCUx_1.0.1.dbgconf
 create mode 100644 MDK-ARM/EventRecorderStub.scvd

diff --git a/Core/Src/main.c b/Core/Src/main.c
index 5d05add..5192c52 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -166,7 +166,7 @@ void HAL_MspInit(void)
 
 #if (BOOT_COM_RS232_ENABLE > 0)
   /* UART clock enable. */
-  LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART2);
+  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART1);
 #endif
 
 #if (BOOT_COM_CAN_ENABLE > 0)
@@ -240,7 +240,7 @@ void HAL_MspDeInit(void)
 
 #if (BOOT_COM_RS232_ENABLE > 0)
   /* UART clock disable. */
-  LL_APB1_GRP1_DisableClock(LL_APB1_GRP1_PERIPH_USART2);
+  LL_APB2_GRP1_DisableClock(LL_APB2_GRP1_PERIPH_USART1);
 #endif
 
   /* GPIO ports clock disable. */
diff --git a/Core/Src/system_stm32l4xx.c b/Core/Src/system_stm32l4xx.c
index a70a6be..ecd09a8 100644
--- a/Core/Src/system_stm32l4xx.c
+++ b/Core/Src/system_stm32l4xx.c
@@ -107,7 +107,7 @@
   */
 
 #if !defined  (HSE_VALUE)
-  #define HSE_VALUE    8000000U  /*!< Value of the External oscillator in Hz */
+  #define HSE_VALUE    24000000U  /*!< Value of the External oscillator in Hz */
 #endif /* HSE_VALUE */
 
 #if !defined  (MSI_VALUE)
diff --git a/Drivers/OpenBLT/backdoor.c b/Drivers/OpenBLT/backdoor.c
index 4073ac8..571c1a9 100644
--- a/Drivers/OpenBLT/backdoor.c
+++ b/Drivers/OpenBLT/backdoor.c
@@ -42,7 +42,7 @@
  *         BOOT_BACKDOOR_ENTRY_TIMEOUT_MS to blt_conf.h with your desired backdoor 
  *         open time in milliseconds.
  */
-#define BOOT_BACKDOOR_ENTRY_TIMEOUT_MS  (500)
+#define BOOT_BACKDOOR_ENTRY_TIMEOUT_MS  (2000)
 #endif
 #endif /* BOOT_BACKDOOR_HOOKS_ENABLE == 0 */
 
diff --git a/Drivers/OpenBLT/flash.c b/Drivers/OpenBLT/flash.c
index d6f0faa..483f7f9 100644
--- a/Drivers/OpenBLT/flash.c
+++ b/Drivers/OpenBLT/flash.c
@@ -151,7 +151,7 @@ static const tFlashSector flashLayout[] =
   /* { 0x08001000, 0x00800 },           flash sector  2 - 2kb (reserved for bootloader)*/
   /* { 0x08001800, 0x00800 },           flash sector  3 - 2kb (reserved for bootloader)*/
   /* { 0x08002000, 0x00800 },           flash sector  4 - 2kb (reserved for bootloader)*/
-  { 0x08002800, 0x00800 },              /* flash sector   5 - 2kb                      */
+  // { 0x08002800, 0x00800 },              /* flash sector   5 - 2kb                      */
   { 0x08003000, 0x00800 },              /* flash sector   6 - 2kb                      */
   { 0x08003800, 0x00800 },              /* flash sector   7 - 2kb                      */
   { 0x08004000, 0x00800 },              /* flash sector   8 - 2kb                      */
diff --git a/MDK-ARM/DebugConfig/arm_joint_sensor_bootloader_STM32L431CCUx_1.0.1.dbgconf b/MDK-ARM/DebugConfig/arm_joint_sensor_bootloader_STM32L431CCUx_1.0.1.dbgconf
new file mode 100644
index 0000000..bb107e4
--- /dev/null
+++ b/MDK-ARM/DebugConfig/arm_joint_sensor_bootloader_STM32L431CCUx_1.0.1.dbgconf
@@ -0,0 +1,75 @@
+// File: STM32L43x_44x_45x_46x.dbgconf
+// Version: 1.0.1
+// Note: refer to STM32L43xxx STM32L44xxx STM32L45xxx STM32L46xxx Reference manual (RM0394)
+//       refer to STM32L431xx STM32L432xx STM32L433xx STM32L442xx STM32L443xx STM32L451xx STM32L452xx STM32L462xx datasheets
+
+// <<< Use Configuration Wizard in Context Menu >>>
+
+// <h> Debug MCU configuration register (DBGMCU_CR)
+//   <o.2>  DBG_STANDBY              <i> Debug Standby mode
+//   <o.1>  DBG_STOP                 <i> Debug Stop mode
+//   <o.0>  DBG_SLEEP                <i> Debug Sleep mode
+// </h>
+DbgMCU_CR = 0x00000007;
+
+// <h> Debug MCU APB1 freeze register1 (DBGMCU_APB1FZR1)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.31> DBG_LPTIM1_STOP          <i> LPTIM1 counter stopped when core is halted
+//   <o.25> DBG_CAN1_STOP            <i> bxCAN1 stopped when core is halted
+//   <o.23> DBG_I2C3_STOP            <i> I2C3 SMBUS timeout counter stopped when core is halted
+//   <o.22> DBG_I2C2_STOP            <i> I2C2 SMBUS timeout counter stopped when core is halted
+//   <o.21> DBG_I2C1_STOP            <i> I2C1 SMBUS timeout counter stopped when core is halted
+//   <o.12> DBG_IWDG_STOP            <i> Independent watchdog counter stopped when core is halted
+//   <o.11> DBG_WWDG_STOP            <i> Window watchdog counter stopped when core is halted
+//   <o.10> DBG_RTC_STOP             <i> RTC counter stopped when core is halted
+//   <o.5>  DBG_TIM7_STOP            <i> TIM7 counter stopped when core is halted
+//   <o.4>  DBG_TIM6_STOP            <i> TIM6 counter stopped when core is halted
+//   <o.0>  DBG_TIM2_STOP            <i> TIM2 counter stopped when core is halted
+// </h>
+DbgMCU_APB1_Fz1 = 0x82E01831;
+
+// <h> Debug MCU APB1 freeze register 2 (DBGMCU_APB1FZR2)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.5>  DBG_LPTIM2_STOP          <i> LPTIM2 counter stopped when core is halted
+// </h>
+DbgMCU_APB1_Fz2 = 0x00000020;
+
+// <h> Debug MCU APB2 freeze register (DBGMCU_APB2FZR)
+//                                   <i> Reserved bits must be kept at reset value
+//   <o.17> DBG_TIM16_STOP           <i> TIM16 counter stopped when core is halted
+//   <o.16> DBG_TIM15_STOP           <i> TIM15 counter stopped when core is halted
+//   <o.11> DBG_TIM1_STOP            <i> TIM1 counter stopped when core is halted
+// </h>
+DbgMCU_APB2_Fz = 0x00030800;
+
+// <h> TPIU Pin Routing (TRACECLK fixed on Pin PE2)
+//   <i> TRACECLK: Pin PE2
+//   <o1> TRACED0
+//     <i> ETM Trace Data 0
+//       <0x00040003=> Pin PE3
+//       <0x00020001=> Pin PC1
+//   <o2> TRACED1
+//     <i> ETM Trace Data 1
+//       <0x00040004=> Pin PE4
+//       <0x0002000A=> Pin PC10
+//   <o3> TRACED2
+//     <i> ETM Trace Data 2
+//       <0x00040005=> Pin PE5
+//       <0x00030002=> Pin PD2
+//   <o4> TRACED3
+//     <i> ETM Trace Data 3
+//       <0x00040006=> Pin PE6
+//       <0x0002000C=> Pin PC12
+// </h>
+TraceClk_Pin = 0x00040002;
+TraceD0_Pin  = 0x00040003;
+TraceD1_Pin  = 0x00040004;
+TraceD2_Pin  = 0x00040005;
+TraceD3_Pin  = 0x00040006;
+
+// <h> Flash Download Options
+//   <o.0> Option Byte Loading      <i> Launch the Option Byte Loading after a Flash Download by setting the OBL_LAUNCH bit (causes a reset)
+// </h>
+DoOptionByteLoading = 0x00000000;
+
+// <<< end of configuration section >>>
diff --git a/MDK-ARM/EventRecorderStub.scvd b/MDK-ARM/EventRecorderStub.scvd
new file mode 100644
index 0000000..2956b29
--- /dev/null
+++ b/MDK-ARM/EventRecorderStub.scvd
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<component_viewer schemaVersion="0.1" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="Component_Viewer.xsd">
+
+<component name="EventRecorderStub" version="1.0.0"/>       <!--name and version of the component-->
+  <events>
+  </events>
+
+</component_viewer>
diff --git a/MDK-ARM/RTE/_arm_joint_sensor_bootloader/RTE_Components.h b/MDK-ARM/RTE/_arm_joint_sensor_bootloader/RTE_Components.h
index 035388d..fe47ca4 100644
--- a/MDK-ARM/RTE/_arm_joint_sensor_bootloader/RTE_Components.h
+++ b/MDK-ARM/RTE/_arm_joint_sensor_bootloader/RTE_Components.h
@@ -1,6 +1,7 @@
+
 /*
- * UVISION generated file: DO NOT EDIT!
- * Generated by: uVision version 5.41.0.0
+ * Auto generated Run-Time-Environment Configuration File
+ *      *** Do not modify ! ***
  *
  * Project: 'arm_joint_sensor_bootloader' 
  * Target:  'arm_joint_sensor_bootloader' 
diff --git a/MDK-ARM/arm_joint_sensor_bootloader.uvguix.66437 b/MDK-ARM/arm_joint_sensor_bootloader.uvguix.66437
index 67f35b9..abb4d57 100644
--- a/MDK-ARM/arm_joint_sensor_bootloader.uvguix.66437
+++ b/MDK-ARM/arm_joint_sensor_bootloader.uvguix.66437
@@ -15,17 +15,17 @@
     <View>
       <WinId>38003</WinId>
       <ViewName>Registers</ViewName>
-      <TableColWidths>150 96</TableColWidths>
+      <TableColWidths>123 100</TableColWidths>
     </View>
     <View>
       <WinId>346</WinId>
       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>1090 160</TableColWidths>
+      <TableColWidths>1090 337</TableColWidths>
     </View>
     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
-      <TableColWidths>1250</TableColWidths>
+      <TableColWidths>1250 187 187 100</TableColWidths>
     </View>
   </SECTreeCtrl>
 
@@ -40,7 +40,7 @@
       <WinId>1506</WinId>
       <ViewName>Symbols</ViewName>
       <UserString></UserString>
-      <TableColWidths>85 85 85</TableColWidths>
+      <TableColWidths>68 68 68</TableColWidths>
     </View>
     <View>
       <WinId>1936</WinId>
@@ -70,7 +70,7 @@
       <WinId>466</WinId>
       <ViewName>Source Browser - *** Not Enabled ***</ViewName>
       <UserString>500</UserString>
-      <TableColWidths>300</TableColWidths>
+      <TableColWidths>166</TableColWidths>
     </View>
   </TreeListPane>
 
@@ -78,11 +78,11 @@
 
   <WindowSettings>
     <LogicAnalizer>
-      <ShowLACursor>1</ShowLACursor>
-      <ShowSignalInfo>1</ShowSignalInfo>
+      <ShowLACursor>0</ShowLACursor>
+      <ShowSignalInfo>0</ShowSignalInfo>
       <ShowCycles>0</ShowCycles>
-      <LeftSideBarSize>0</LeftSideBarSize>
-      <TimeBaseIndex>-1</TimeBaseIndex>
+      <LeftSideBarSize>50</LeftSideBarSize>
+      <TimeBaseIndex>16</TimeBaseIndex>
     </LogicAnalizer>
   </WindowSettings>
 
@@ -93,25 +93,25 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
         <yPos>-1</yPos>
       </MaxPosition>
       <NormalPosition>
-        <Top>163</Top>
-        <Left>1757</Left>
-        <Right>3677</Right>
-        <Bottom>1178</Bottom>
+        <Top>165</Top>
+        <Left>287</Left>
+        <Right>1522</Right>
+        <Bottom>867</Bottom>
       </NormalPosition>
     </WindowPosition>
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>539</Len>
-        <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000004000000010000000100000044443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725F626F6F746C6F616465725C447269766572735C4F70656E424C545C63616E2E63000000000563616E2E6300000000C5D4F200FFFFFFFF46443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725F626F6F746C6F616465725C447269766572735C4F70656E424C545C72733233322E63000000000772733233322E6300000000FFDC7800FFFFFFFF3E443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725F626F6F746C6F616465725C436F72655C5372635C6D61696E2E6300000000066D61696E2E6300000000BECEA100FFFFFFFF46443A5C6769745F7265705C6F70656E61726D5C61726D5F6A6F696E745F73656E736F725F626F6F746C6F616465725C447269766572735C4F70656E424C545C666C6173682E630000000007666C6173682E6300000000F0A0A100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000040900006600000000100000A1030000</Data>
+        <Len>1256</Len>
+        <Data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ata>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -134,7 +134,7 @@
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
-          <Data>0C0100002301000004040000BB010000</Data>
+          <Data>0401000066000000F0050000FE000000</Data>
         </RectRecentFloat>
       </Window>
       <Window>
@@ -150,7 +150,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000FD00000071030000</Data>
+          <Data>0300000066000000FD000000F6020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -170,7 +170,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000FD00000071030000</Data>
+          <Data>0300000066000000FD000000F6020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -190,7 +190,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0000000051020000F0050000E9020000</Data>
+          <Data>0300000054020000ED050000D0020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -210,7 +210,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000054020000ED050000BC020000</Data>
+          <Data>0300000054020000ED050000D0020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -230,7 +230,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000054020000ED050000BC020000</Data>
+          <Data>0300000054020000ED050000D0020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -250,7 +250,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000054020000ED050000BC020000</Data>
+          <Data>0300000054020000ED050000D0020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -270,7 +270,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>F304000066000000ED0500000E010000</Data>
+          <Data>F304000066000000ED05000034020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -330,7 +330,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000054020000ED050000BC020000</Data>
+          <Data>0300000054020000ED050000D0020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -350,7 +350,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000054020000ED050000BC020000</Data>
+          <Data>0300000054020000ED050000D0020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -370,7 +370,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000054020000ED050000BC020000</Data>
+          <Data>0300000054020000ED050000D0020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -390,7 +390,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000054020000ED050000BC020000</Data>
+          <Data>0300000054020000ED050000D0020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -410,7 +410,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000054020000ED050000BC020000</Data>
+          <Data>0300000054020000ED050000D0020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -430,7 +430,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000054020000ED050000BC020000</Data>
+          <Data>0300000054020000ED050000D0020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -450,7 +450,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
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+        <TopLine>156</TopLine>
+        <CurrentLine>166</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\Drivers\OpenBLT\com.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>100</TopLine>
+        <CurrentLine>110</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\Drivers\OpenBLT\cpu.c</Name>
+        <ColumnNumber>5</ColumnNumber>
+        <TopLine>120</TopLine>
+        <CurrentLine>136</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\Drivers\OpenBLT\timer.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>135</TopLine>
+        <CurrentLine>145</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\Drivers\OpenBLT\boot.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>59</TopLine>
+        <CurrentLine>79</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\Drivers\OpenBLT\nvm.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>181</TopLine>
+        <CurrentLine>1</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_can.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1482</TopLine>
+        <CurrentLine>1492</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
diff --git a/MDK-ARM/arm_joint_sensor_bootloader.uvoptx b/MDK-ARM/arm_joint_sensor_bootloader.uvoptx
index ae79c33..cb803e7 100644
--- a/MDK-ARM/arm_joint_sensor_bootloader.uvoptx
+++ b/MDK-ARM/arm_joint_sensor_bootloader.uvoptx
@@ -117,6 +117,26 @@
         <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>UL2CM3</Key>
@@ -125,10 +145,73 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U16004A002933353739303541 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32L4xx_256.FLM -FS08000000 -FL040000 -FP0($$Device:STM32L431CCUx$CMSIS\Flash\STM32L4xx_256.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0-R0</Name>
+          <Name>-U16004A002933353739303541 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32L4xx_256.FLM -FS08000000 -FL08000 -FP0($$Device:STM32L431CCUx$CMSIS\Flash\STM32L4xx_256.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>203</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134224634</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\Drivers\OpenBLT\rs232.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\arm_joint_sensor_bootloader\../Drivers/OpenBLT/rs232.c\203</Expression>
+        </Bp>
+        <Bp>
+          <Number>1</Number>
+          <Type>0</Type>
+          <LineNumber>494</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134220444</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\Drivers\OpenBLT\flash.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\arm_joint_sensor_bootloader\../Drivers/OpenBLT/flash.c\494</Expression>
+        </Bp>
+      </Breakpoint>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>xcpCtoReqPacket</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>signature_checksum</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>flashLayout</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>bootBlockInfo</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>signature_checksum</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -779,7 +862,7 @@
 
   <Group>
     <GroupName>OpenBLT</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/MDK-ARM/arm_joint_sensor_bootloader.uvprojx b/MDK-ARM/arm_joint_sensor_bootloader.uvprojx
index 9e24991..e62abe7 100644
--- a/MDK-ARM/arm_joint_sensor_bootloader.uvprojx
+++ b/MDK-ARM/arm_joint_sensor_bootloader.uvprojx
@@ -16,7 +16,7 @@
         <TargetCommonOption>
           <Device>STM32L431CCUx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32L4xx_DFP.3.0.0</PackID>
+          <PackID>Keil.STM32L4xx_DFP.3.1.0</PackID>
           <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2000BFFF) IRAM2(0x10000000-0x10003FFF) IROM(0x8000000-0x803FFFF) CLOCK(8000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -80,9 +80,9 @@
             <nStopB2X>0</nStopB2X>
           </BeforeMake>
           <AfterMake>
-            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg1>1</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name></UserProg1Name>
+            <UserProg1Name>D:\Keil_v5\ARM\ARMCC\bin\fromelf.exe --m32 arm_joint_sensor_bootloader\arm_joint_sensor_bootloader.axf --output arm_joint_sensor_bootloader\arm_joint_sensor_bootloader.srec</UserProg1Name>
             <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
@@ -277,7 +277,7 @@
               <OCR_RVCT4>
                 <Type>1</Type>
                 <StartAddress>0x8000000</StartAddress>
-                <Size>0x8000</Size>
+                <Size>0x3000</Size>
               </OCR_RVCT4>
               <OCR_RVCT5>
                 <Type>1</Type>
diff --git a/MDK-ARM/startup_stm32l431xx.lst b/MDK-ARM/startup_stm32l431xx.lst
index 4923684..76bc589 100644
--- a/MDK-ARM/startup_stm32l431xx.lst
+++ b/MDK-ARM/startup_stm32l431xx.lst
@@ -616,9 +616,9 @@ ARM Macro Assembler    Page 10
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M4.fp.sp --apcs=
 interwork --depend=arm_joint_sensor_bootloader\startup_stm32l431xx.d -oarm_join
 t_sensor_bootloader\startup_stm32l431xx.o -I.\RTE\_arm_joint_sensor_bootloader 
--ID:\Keil_Pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include --predefine="__UVISION_VERSIO
-N SETA 541" --predefine="STM32L431xx SETA 1" --predefine="_RTE_ SETA 1" --list=
-startup_stm32l431xx.lst startup_stm32l431xx.s
+-ID:\Keil_Package\ARM\CMSIS\5.9.0\CMSIS\Core\Include --predefine="__UVISION_VER
+SION SETA 539" --predefine="_RTE_ SETA 1" --predefine="STM32L431xx SETA 1" --pr
+edefine="_RTE_ SETA 1" --list=startup_stm32l431xx.lst startup_stm32l431xx.s