diff --git a/controller/fw/embed/include/flash.h b/controller/fw/embed/include/flash.h
index 6551ee7..e6ae270 100644
--- a/controller/fw/embed/include/flash.h
+++ b/controller/fw/embed/include/flash.h
@@ -7,14 +7,20 @@
 
 /*      for addr in FLASH     */
 typedef struct{
-    uint8_t data_id;
+    uint8_t data_id;  // data_id = id register of can
     uint8_t value;
     uint16_t crc;
   }FLASH_RECORD;
+enum {
+  addr_id   = 0,
+  foc_id    = 1,
+kp_id       = 2,
+  ki_id     = 3,
+  kd_id     = 4
+};
 
-static uint32_t write_ptr;
 #define FLASH_RECORD_SIZE sizeof(FLASH_RECORD)    //size flash struct
-#define PARAM_COUNT 4             // count data in flash
+#define PARAM_COUNT 3             // count data in flash
 
 // Flash sectors for STM32F407
 
@@ -32,7 +38,8 @@ static uint32_t write_ptr;
 
 //FLASH SET ONE PROGRAMM WORD
 #define FLASH_8BYTE  FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
-#define FLASH_32BYTE FLASH->CR |= FLASH_CR_PSIZE | FLASH_CR_PSIZE_0
+#define FLASH_32BYTE \
+    FLASH->CR = (FLASH->CR & ~FLASH_CR_PSIZE) | (0x2 << FLASH_CR_PSIZE_Pos)
 
 // Flash command bits
 #define FLASH_LOCK   FLASH->CR |= FLASH_CR_LOCK
@@ -52,7 +59,11 @@ void flash_lock(void);
 void erase_sector(uint8_t sector);
 void program_word(uint32_t address, uint32_t data,uint32_t byte_len);
 uint8_t flash_read_word(uint32_t address);
-
-
+void write_param(uint8_t param_id, uint8_t val);
+FLASH_RECORD* load_params();
+void compact_page();
+void flash_read(uint32_t addr,FLASH_RECORD* ptr);
+bool validate_crc(FLASH_RECORD* crc);
+void flash_write(uint32_t addr, FLASH_RECORD* record);
 
 #endif /* FLASH_H_ */
diff --git a/controller/fw/embed/include/reg_cah.h b/controller/fw/embed/include/reg_cah.h
index ce4057a..2a0c51d 100644
--- a/controller/fw/embed/include/reg_cah.h
+++ b/controller/fw/embed/include/reg_cah.h
@@ -2,7 +2,7 @@
 #define REG_CAH_H_
 
 #define APP_ADDR        0x0800400  // 16KB - Application
-#define ADDR_VAR        0x8050000
+#define ADDR_VAR        0x8040000
 #define ADDR_VAR_ID     ADDR_VAR
 #define ADDR_VAR_P      (ADDR_VAR + 1)
 #define ADDR_VAR_I      (ADDR_VAR + 2)
diff --git a/controller/fw/embed/src/flash.cpp b/controller/fw/embed/src/flash.cpp
index 6c94616..ac2824d 100644
--- a/controller/fw/embed/src/flash.cpp
+++ b/controller/fw/embed/src/flash.cpp
@@ -1,7 +1,8 @@
 #include "flash.h"
 #include <stdbool.h>
+#include "hal_conf_extra.h"
 
-
+static uint32_t write_ptr = SECTOR_6;
 
 void flash_unlock(){
 
@@ -93,7 +94,7 @@ void flash_write(uint32_t addr, FLASH_RECORD* record){
     FLASH->CR |= FLASH_CR_PG;
     
     for(int i = 0;i < size;i++){
-        *(volatile uint32_t*)(addr + i * 4) = data[i];
+        *(volatile uint32_t*)addr = data[i];
     }
     
     // Clear program bit
@@ -130,7 +131,7 @@ void flash_read(uint32_t addr,FLASH_RECORD* ptr){
 
 void compact_page(){
     FLASH_RECORD latest[PARAM_COUNT] = {0};
-    for(int i = (uint32_t)SECTOR_6;i < (uint32_t)SECTOR_7,i += FLASH_RECORD_SIZE;) {
+    for(int i = (uint32_t)SECTOR_6;i < (uint32_t)SECTOR_7;i += FLASH_RECORD_SIZE) {
         FLASH_RECORD rec;
         flash_read(i,&rec);
 
@@ -152,15 +153,31 @@ void compact_page(){
 
 
 void write_param(uint8_t param_id, uint8_t val){
-    FLASH_RECORD param_flash = {
-        .data_id = param_id,
-        .value = val,
-        .crc = 6933
-    };
+    FLASH_RECORD param_flash = {param_id,val,6933};
+      
     /*          Exit data from FLASH            */
     if (write_ptr + FLASH_RECORD_SIZE >= SECTOR_7)
         compact_page();
 
-     flash_write((uint32_t)write_ptr,&param_flash);
+        // Проверка выравнивания адреса
+    if (write_ptr % 4 != 0) 
+        write_ptr += (4 - (write_ptr % 4));  // Выравнивание до 4 байт
+    __disable_irq();
+     flash_write(write_ptr,&param_flash);
      write_ptr += FLASH_RECORD_SIZE;
+     flash_program_word(SECTOR_7 - sizeof(uint32_t),write_ptr,0);
+}
+
+FLASH_RECORD* load_params(){
+    __disable_irq();
+    static FLASH_RECORD latest[PARAM_COUNT] = {0};
+    FLASH_RECORD res;
+    for(uint32_t addr = SECTOR_6;addr < SECTOR_7;addr +=FLASH_RECORD_SIZE) {
+        flash_read(addr,&res);
+        if (validate_crc(&res))
+            latest[res.data_id] = res;
+
+    }
+    __enable_irq();
+    return latest;
 }
\ No newline at end of file
diff --git a/controller/fw/embed/src/main.cpp b/controller/fw/embed/src/main.cpp
index 00e0706..24017fe 100644
--- a/controller/fw/embed/src/main.cpp
+++ b/controller/fw/embed/src/main.cpp
@@ -29,7 +29,8 @@ uint32_t SectorError;
 
 
 
-static FLASH_RECORD flash_rec;
+static FLASH_RECORD* flash_rec;
+static FLASH_RECORD flash_buf[PARAM_COUNT];
 static CAN_message_t CAN_TX_msg;
 static CAN_message_t CAN_inMsg;
 
@@ -149,18 +150,8 @@ void send_id() {
 }
 
 void setup_id(uint8_t my_id) {
-  /*      Чтобы разблокировать флэш память для записи*/
-  flash_unlock();
-  while (FLASH_BUSY) { }
- 
-  erase_sector(6);    //очистка 6 сектора 
-  while ((FLASH->SR & FLASH_SR_BSY) != 0)
-      __NOP();
-  FLASH->SR |= (FLASH_SR_EOP | FLASH_SR_WRPERR | FLASH_SR_PGAERR);
-  FLASH->CR |= FLASH_CR_PG;
-  *(volatile uint8_t*)ADDR_VAR_ID = my_id;
-
-  FLASH->CR |= FLASH_CR_LOCK;
+  write_param(addr_id,my_id);
+  send_id();
 }
 
 
@@ -204,8 +195,11 @@ void send_data() {
 
 
 void listen_can() {
+  flash_rec = load_params();
+  for(int i = 0;i < PARAM_COUNT;i++)
+    flash_buf[i] = flash_rec[i];
   uint8_t reg_id = CAN_inMsg.buf[0];  //reg id
-  if (CAN_inMsg.id == *(volatile uint8_t*)ADDR_VAR_ID) {
+  if (CAN_inMsg.id == flash_buf[addr_id].value) {
   if (CAN_inMsg.buf[1] == REG_WRITE) {
     switch (reg_id) {
     case REG_ID: