diff --git a/controller/fw/bootloader/src/main.cpp b/controller/fw/bootloader/src/main.cpp
index 4782660..f2f277b 100644
--- a/controller/fw/bootloader/src/main.cpp
+++ b/controller/fw/bootloader/src/main.cpp
@@ -7,6 +7,8 @@
 STM32_CAN Can(CAN2, DEF);
 
 volatile bool fw_update = false;
+volatile bool app_valid = false;
+
 volatile uint32_t fw_size = 0;
 volatile uint16_t fw_crc = 0;
 volatile uint32_t jump;
@@ -25,9 +27,7 @@ bool verify_firmware();
 void send_ack(uint8_t status);
 
 void setup() {
-    // Инициализация периферии
-    SystemInit();
-    SystemClock_Config();
+
     Serial.setRx(HARDWARE_SERIAL_RX_PIN);
     Serial.setTx(HARDWARE_SERIAL_TX_PIN);
     Serial.begin(115200);
@@ -46,28 +46,25 @@ void setup() {
     GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;
     GPIOC->ODR &= ~GPIO_ODR_OD11;
     GPIOC->ODR |= GPIO_ODR_OD10;
-    // // Проверка флага обновления
-    // erase_sector(7);
-    // flash_program_word(FLAG_BOOT,0xDEADBEEF,BYTE32);
-    // flash_record = load_params();
-    // write_param(firmw,UPDATE_FLAG);
+
     flash_record = load_params();
-    // write_param(addr_id,33);
-    // flash_record = load_params();
+
+
    /*           Добавить проверку адреса, т.е во время отправки запроса прошивки по CAN
                 мы сохраняем как флаг, так и аддрес устройства к которому будет обращатлься во 
                 время прошивки                                      */
-
     if(flash_record[firmw].value == UPDATE_FLAG) {
         fw_update = true;
         for(int i = 0; i < 5;i++){
             GPIOC->ODR ^= GPIO_ODR_OD10;  // Индикация обновления
             delay(100);
         }
+        write_param(firmw,0);   //reset flasg
         erase_flash_pages();
-    } else {
-        jump_to_app();
     }
+    else
+        jump_to_app();
+
     GPIOC->ODR |= GPIO_ODR_OD10;
 }
 
@@ -99,15 +96,13 @@ void process_can_message(const CAN_message_t &msg) {
                 send_ack(0x02);
 
             }
-            break;
-        
+            break;    
 
         case BOOT_CAN_END:  // Завершение передачи
             if(verify_firmware()) {
                 send_ack(0xAA);
-                HAL_Delay(500);
-                // erase_sector(7);  // Сброс флага
                 write_param(firmw,0);   //reset flasg
+                // erase_sector(7);  // Сброс флага
                 NVIC_SystemReset();
             } else {
                 send_ack(0x55);
@@ -156,7 +151,6 @@ void send_ack(uint8_t status) {
     Can.write(ack);
 }
 
-
 void loop() {
     if(fw_update) {
     CAN_message_t msg;
diff --git a/controller/fw/embed/platformio.ini b/controller/fw/embed/platformio.ini
index b2b4e74..a15e7c9 100644
--- a/controller/fw/embed/platformio.ini
+++ b/controller/fw/embed/platformio.ini
@@ -7,6 +7,7 @@ debug_tool = stlink
 monitor_speed = 19200
 monitor_parity = N
 
+board_upload.offset_address = 0x08008000
 board_build.ldscript = ${PROJECT_DIR}/custom_script.ld
 
 build_flags = 
@@ -14,11 +15,10 @@ build_flags =
     -D HAL_CAN_MODULE_ENABLED
     -D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
 
-
 lib_deps = 
     askuric/Simple FOC@^2.3.4
     pazi88/STM32_CAN@^1.1.2
 
 extra_scripts = 
     pre:gen_compile_commands.py
-    post:hex_compile.py
\ No newline at end of file
+    post:hex_compile.py
diff --git a/controller/fw/embed/src/main.cpp b/controller/fw/embed/src/main.cpp
index dd27397..907b94c 100644
--- a/controller/fw/embed/src/main.cpp
+++ b/controller/fw/embed/src/main.cpp
@@ -63,13 +63,13 @@ volatile uint32_t ipsr_value = 0;
 
   void setup(){
   // Vector table initialization (commented out)
-  SCB->VTOR = (uint32_t)0x08008004;
+  SCB->VTOR = (volatile uint32_t)0x08008004;
   
   Serial.setRx(HARDWARE_SERIAL_RX_PIN);
   Serial.setTx(HARDWARE_SERIAL_TX_PIN);
   Serial.begin(115200);
 
-  // pinMode(PC11, OUTPUT);
+  pinMode(PC11, OUTPUT);
   pinMode(PC10,OUTPUT);
   GPIOC->ODR &= ~GPIO_ODR_OD10;
   // Can.enableMBInterrupts();
@@ -111,11 +111,12 @@ void loop() {
   
   // // Process incoming CAN messages
   while (Can.read(msg)) {
+    listen_can(msg);
     CAN_GET = true;
   }
   /*  If receive data from  CAN */
   if(CAN_GET) {
-    listen_can(msg);
+
     CAN_GET = false;
   }
 }
diff --git a/controller/fw/embed/src/process_can.cpp b/controller/fw/embed/src/process_can.cpp
index 3730926..b9b6217 100644
--- a/controller/fw/embed/src/process_can.cpp
+++ b/controller/fw/embed/src/process_can.cpp
@@ -6,7 +6,7 @@ static CAN_message_t CAN_inMsg;
 
 
 template <typename T>
-void send_can_with_id_crc(uint8_t id, uint8_t message_type, const T* data) {
+void send_can_with_id_crc(uint8_t id, uint8_t message_type, T* data) {
   // Create CAN message
   CAN_message_t msg_l;
   msg_l.id = id;
@@ -76,7 +76,6 @@ void send_id() {
 
   uint8_t id = flash_rec[addr_id].value;
   send_can_with_id_crc(id,'I',&id);
-  __NOP();
 }
 
 // void send_motor_torque() {