From fc1f245eb2fe4c21f475b7bd34b16f96f2262a97 Mon Sep 17 00:00:00 2001
From: on4ip84 <on4ip84@gmail.com>
Date: Fri, 6 Oct 2023 17:55:56 +0300
Subject: [PATCH] Added CAN

---
 .cproject                       |  14 +-
 .mxproject                      |   4 +-
 .settings/language.settings.xml |   4 +-
 App/CAN_API.c                   | 104 ++++++++++++++
 App/CAN_API.h                   |  22 +++
 App/appIsrCallBacks.c           |   2 +-
 Inc/can.h                       |   3 +
 Inc/main.h                      |  11 +-
 Inc/stm32f4xx_it.h              |   2 -
 Src/can.c                       | 163 +++++++++++++++++++--
 Src/main.c                      | 245 +++++++++++++++++++-------------
 Src/stm32f4xx_it.c              |  30 +---
 processor32f446.ioc             |  68 ++++++---
 13 files changed, 489 insertions(+), 183 deletions(-)
 create mode 100644 App/CAN_API.c
 create mode 100644 App/CAN_API.h

diff --git a/.cproject b/.cproject
index d7546c9..0511adc 100644
--- a/.cproject
+++ b/.cproject
@@ -23,7 +23,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1073974277" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1202894378" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" 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.285507849" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.840921504" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F446RETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_FULL_LL_DRIVER | USE_HAL_DRIVER | STM32F446xx ||  || Drivers | Src | Startup ||  ||  || ${workspace_loc:/${ProjName}/STM32F446RETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.840921504" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F446RETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy ||  ||  || USE_FULL_LL_DRIVER | STM32F446xx | USE_HAL_DRIVER ||  || Drivers | Src | Startup ||  ||  || ${workspace_loc:/${ProjName}/STM32F446RETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1733050747" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/processor32f446}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.854011992" 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.1584089664" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -39,8 +39,8 @@
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.449668890" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_FULL_LL_DRIVER"/>
-									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F446xx"/>
+									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.348859802" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../Inc"/>
@@ -48,9 +48,9 @@
 									<listOptionValue builtIn="false" value="../App/FOC"/>
 									<listOptionValue builtIn="false" value="../Drivers/DSP/inc/"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc"/>
-									<listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F4xx/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
+									<listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1875519623" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -77,8 +77,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
+						<entry excluding="CAN_API.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="App"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Startup"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="App"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Src"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 					</sourceEntries>
@@ -108,7 +108,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1465778023" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1613264615" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" 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.1621000323" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1395657319" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F446RETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_FULL_LL_DRIVER | USE_HAL_DRIVER | STM32F446xx ||  || Drivers | Src | Startup ||  ||  || ${workspace_loc:/${ProjName}/STM32F446RETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1395657319" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F446RETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy ||  ||  || USE_FULL_LL_DRIVER | STM32F446xx | USE_HAL_DRIVER ||  || Drivers | Src | Startup ||  ||  || ${workspace_loc:/${ProjName}/STM32F446RETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.9370029" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/processor32f446}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1909003388" 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.1684568899" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -120,15 +120,15 @@
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.250042651" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.84687476" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_FULL_LL_DRIVER"/>
-									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F446xx"/>
+									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.393170196" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc"/>
-									<listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F4xx/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
+									<listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1386778535" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
diff --git a/.mxproject b/.mxproject
index 5b2fbd1..2c260b6 100644
--- a/.mxproject
+++ b/.mxproject
@@ -1,8 +1,8 @@
 [PreviousLibFiles]
-LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_utils.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usart.c;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f446xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
+LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_utils.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usart.c;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f446xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
 
 [PreviousUsedCubeIDEFiles]
-SourceFiles=Src\main.c;Src\gpio.c;Src\adc.c;Src\can.c;Src\spi.c;Src\tim.c;Src\usart.c;Src\stm32f4xx_it.c;Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_utils.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usart.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_utils.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usart.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;;;
+SourceFiles=Src\main.c;Src\gpio.c;Src\adc.c;Src\can.c;Src\spi.c;Src\tim.c;Src\usart.c;Src\stm32f4xx_it.c;Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_utils.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usart.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_utils.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usart.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;;;
 HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Inc;
 CDefines=USE_FULL_LL_DRIVER;USE_HAL_DRIVER;STM32F446xx;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 85a57af..257ce35 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="93408926115469970" 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="1411999553536701806" 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>
@@ -16,7 +16,7 @@
 			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="93408926115469970" 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="1411999553536701806" 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/App/CAN_API.c b/App/CAN_API.c
new file mode 100644
index 0000000..c57180e
--- /dev/null
+++ b/App/CAN_API.c
@@ -0,0 +1,104 @@
+/*
+ * CanCallBacks.c
+ *
+ *  Created on: 23 авг. 2023 г.
+ *      Author: on4ip
+ */
+#include "CAN_API.h"
+
+void initCAN(enum CAN_API_BAUD baud) {
+
+
+	CAN_FilterTypeDef sFilterConfig;
+	hcan2.Instance = CAN2;
+	hcan2.Init.Prescaler = 5;
+	hcan2.Init.Mode = CAN_MODE_NORMAL;
+	hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
+	hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
+	hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
+	hcan2.Init.TimeTriggeredMode = DISABLE;
+	hcan2.Init.AutoBusOff = DISABLE;
+	hcan2.Init.AutoWakeUp = DISABLE;
+	hcan2.Init.AutoRetransmission = DISABLE;
+	hcan2.Init.ReceiveFifoLocked = DISABLE;
+	hcan2.Init.TransmitFifoPriority = DISABLE;
+
+	switch(baud)
+	{
+	case CAN_BAUD_125:
+		hcan2.Init.Prescaler = 20;
+		hcan2.Init.TimeSeg1 = CAN_BS1_15TQ;
+		hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
+		break;
+	case CAN_BAUD_250:
+		hcan2.Init.Prescaler = 10;
+		hcan2.Init.TimeSeg1 = CAN_BS1_15TQ;
+		hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
+		break;
+	case CAN_BAUD_500:
+		hcan2.Init.Prescaler = 10;
+		hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
+		hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
+		break;
+	case CAN_BAUD_1000:
+		hcan2.Init.Prescaler = 5;
+		hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
+		hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
+		break;
+	default:
+		hcan2.Init.Prescaler = 5;
+		hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
+		hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
+		break;
+	}
+
+	if (HAL_CAN_Init(&hcan2) != HAL_OK) {
+		Error_Handler();
+	}
+
+	sFilterConfig.FilterBank = 0;
+	sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+	sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+	sFilterConfig.FilterIdHigh = 0x0000;
+	sFilterConfig.FilterIdLow = 0x0000;
+	sFilterConfig.FilterMaskIdHigh = 0x0000;
+	sFilterConfig.FilterMaskIdLow = 0x0000;
+	sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
+	sFilterConfig.FilterActivation = ENABLE;
+	sFilterConfig.SlaveStartFilterBank = 14;
+	if (HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != HAL_OK) {
+		/* Filter configuration Error */
+		Error_Handler();
+	}
+
+	HAL_CAN_Start(&hcan2);
+
+	/*##-4- Activate CAN RX notification #######################################*/
+	if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING)
+			!= HAL_OK) {
+		/* Notification Error */
+		Error_Handler();
+	}
+}
+CAN_RxHeaderTypeDef RxHeader1;
+uint8_t RxData1[8];
+void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
+	  /* Get RX message */
+	  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &RxHeader1, RxData1) != HAL_OK)
+	  {
+	    /* Reception Error */
+	    Error_Handler();
+	  }
+
+}
+CAN_RxHeaderTypeDef RxHeader0;
+uint8_t RxData0[8];
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
+	  /* Get RX message */
+	  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader0, RxData0) != HAL_OK)
+	  {
+	    /* Reception Error */
+	    Error_Handler();
+	  }
+}
diff --git a/App/CAN_API.h b/App/CAN_API.h
new file mode 100644
index 0000000..c98f639
--- /dev/null
+++ b/App/CAN_API.h
@@ -0,0 +1,22 @@
+/*
+ * CAN_API.h
+ *
+ *  Created on: 23 авг. 2023 г.
+ *      Author: on4ip
+ */
+
+#ifndef CAN_API_H_
+#define CAN_API_H_
+#include "main.h"
+//#include "can.h"
+enum CAN_API_BAUD
+{
+	CAN_BAUD_125,
+	CAN_BAUD_250,
+	CAN_BAUD_500,
+	CAN_BAUD_1000,
+	CAN_BUAD_END
+};
+void initCAN(enum CAN_API_BAUD baud );
+
+#endif /* CAN_API_H_ */
diff --git a/App/appIsrCallBacks.c b/App/appIsrCallBacks.c
index cb1de88..f105a6f 100644
--- a/App/appIsrCallBacks.c
+++ b/App/appIsrCallBacks.c
@@ -30,7 +30,7 @@ void adcIsrCallBack(void) {
 	}
 	update_IO_ADC(SYSTEMobj_1.IO, ADC_array,SYSTEMobj_1.DRIVE->STAT.stat.bit_ENABLED);
 	/*Calling of Application control function with Fast update rate*/
-	FAST_loop(&SYSTEMobj_1);
+	//FAST_loop(&SYSTEMobj_1);
 	stop_ADC_isr = SysTick->VAL;
 	ADC_ISR_time = ISR_TIME_CALC(start_ADC_isr, stop_ADC_isr);
 	LL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
diff --git a/Inc/can.h b/Inc/can.h
index 34bbcbc..f9d9695 100644
--- a/Inc/can.h
+++ b/Inc/can.h
@@ -32,12 +32,15 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern CAN_HandleTypeDef hcan1;
+
 extern CAN_HandleTypeDef hcan2;
 
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
+void MX_CAN1_Init(void);
 void MX_CAN2_Init(void);
 
 /* USER CODE BEGIN Prototypes */
diff --git a/Inc/main.h b/Inc/main.h
index f4f30ba..40f47c2 100644
--- a/Inc/main.h
+++ b/Inc/main.h
@@ -30,22 +30,23 @@ extern "C" {
 #include "stm32f4xx_hal.h"
 
 #include "stm32f4xx_ll_adc.h"
+#include "stm32f4xx_ll_spi.h"
+#include "stm32f4xx_ll_tim.h"
+#include "stm32f4xx_ll_usart.h"
 #include "stm32f4xx_ll_rcc.h"
-#include "stm32f4xx_ll_bus.h"
 #include "stm32f4xx_ll_system.h"
+#include "stm32f4xx_ll_gpio.h"
 #include "stm32f4xx_ll_exti.h"
+#include "stm32f4xx_ll_bus.h"
 #include "stm32f4xx_ll_cortex.h"
 #include "stm32f4xx_ll_utils.h"
 #include "stm32f4xx_ll_pwr.h"
 #include "stm32f4xx_ll_dma.h"
-#include "stm32f4xx_ll_spi.h"
-#include "stm32f4xx_ll_tim.h"
-#include "stm32f4xx_ll_usart.h"
-#include "stm32f4xx_ll_gpio.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "appIsrCallBacks.h"
+#include "CAN_API.h"
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/
diff --git a/Inc/stm32f4xx_it.h b/Inc/stm32f4xx_it.h
index fc9dab0..1532364 100644
--- a/Inc/stm32f4xx_it.h
+++ b/Inc/stm32f4xx_it.h
@@ -59,8 +59,6 @@ void ADC_IRQHandler(void);
 void TIM1_BRK_TIM9_IRQHandler(void);
 void TIM1_CC_IRQHandler(void);
 void TIM2_IRQHandler(void);
-void CAN2_RX0_IRQHandler(void);
-void CAN2_RX1_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/Src/can.c b/Src/can.c
index 982c0e1..0825d1c 100644
--- a/Src/can.c
+++ b/Src/can.c
@@ -24,8 +24,65 @@
 
 /* USER CODE END 0 */
 
+CAN_HandleTypeDef hcan1;
 CAN_HandleTypeDef hcan2;
 
+/* CAN1 init function */
+void MX_CAN1_Init(void)
+{
+
+  /* USER CODE BEGIN CAN1_Init 0 */
+
+  /* USER CODE END CAN1_Init 0 */
+
+  /* USER CODE BEGIN CAN1_Init 1 */
+
+  /* USER CODE END CAN1_Init 1 */
+  hcan1.Instance = CAN1;
+  hcan1.Init.Prescaler = 5;
+  hcan1.Init.Mode = CAN_MODE_LOOPBACK;
+  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
+  hcan1.Init.TimeSeg1 = CAN_BS1_7TQ;
+  hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
+  hcan1.Init.TimeTriggeredMode = DISABLE;
+  hcan1.Init.AutoBusOff = ENABLE;
+  hcan1.Init.AutoWakeUp = DISABLE;
+  hcan1.Init.AutoRetransmission = ENABLE;
+  hcan1.Init.ReceiveFifoLocked = DISABLE;
+  hcan1.Init.TransmitFifoPriority = DISABLE;
+  if (HAL_CAN_Init(&hcan1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN CAN1_Init 2 */
+  /*##-2- Configure the CAN Filter ###########################################*/
+  CAN_FilterTypeDef  sFilterConfig;
+  sFilterConfig.FilterBank = 0;
+  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+  sFilterConfig.FilterIdHigh = 0x0000;
+  sFilterConfig.FilterIdLow = 0x0000;
+  sFilterConfig.FilterMaskIdHigh = 0x0000;
+  sFilterConfig.FilterMaskIdLow = 0x0000;
+  sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
+  sFilterConfig.FilterActivation = ENABLE;
+  sFilterConfig.SlaveStartFilterBank = 14;
+
+  if(HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
+  {
+    /* Filter configuration Error */
+    Error_Handler();
+  }
+
+  /*##-3- Start the CAN peripheral ###########################################*/
+  if (HAL_CAN_Start(&hcan1) != HAL_OK)
+  {
+    /* Start Error */
+    Error_Handler();
+  }
+  /* USER CODE END CAN1_Init 2 */
+
+}
 /* CAN2 init function */
 void MX_CAN2_Init(void)
 {
@@ -38,15 +95,15 @@ void MX_CAN2_Init(void)
 
   /* USER CODE END CAN2_Init 1 */
   hcan2.Instance = CAN2;
-  hcan2.Init.Prescaler = 16;
+  hcan2.Init.Prescaler = 5;
   hcan2.Init.Mode = CAN_MODE_NORMAL;
   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
+  hcan2.Init.TimeSeg1 = CAN_BS1_7TQ;
   hcan2.Init.TimeSeg2 = CAN_BS2_1TQ;
   hcan2.Init.TimeTriggeredMode = DISABLE;
-  hcan2.Init.AutoBusOff = DISABLE;
+  hcan2.Init.AutoBusOff = ENABLE;
   hcan2.Init.AutoWakeUp = DISABLE;
-  hcan2.Init.AutoRetransmission = DISABLE;
+  hcan2.Init.AutoRetransmission = ENABLE;
   hcan2.Init.ReceiveFifoLocked = DISABLE;
   hcan2.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan2) != HAL_OK)
@@ -54,23 +111,86 @@ void MX_CAN2_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN CAN2_Init 2 */
+  /*##-2- Configure the CAN Filter ###########################################*/
+  CAN_FilterTypeDef  sFilterConfig;
+  sFilterConfig.FilterBank = 14;
+  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+  sFilterConfig.FilterIdHigh = 0x0000;
+  sFilterConfig.FilterIdLow = 0x0000;
+  sFilterConfig.FilterMaskIdHigh = 0x0000;
+  sFilterConfig.FilterMaskIdLow = 0x0000;
+  sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
+  sFilterConfig.FilterActivation = ENABLE;
+  sFilterConfig.SlaveStartFilterBank = 14;
 
+  if(HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != HAL_OK)
+  {
+    /* Filter configuration Error */
+    Error_Handler();
+  }
+
+  /*##-3- Start the CAN peripheral ###########################################*/
+  if (HAL_CAN_Start(&hcan2) != HAL_OK)
+  {
+    /* Start Error */
+    Error_Handler();
+  }
   /* USER CODE END CAN2_Init 2 */
 
 }
 
+static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;
+
 void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(canHandle->Instance==CAN2)
+  if(canHandle->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspInit 0 */
+
+  /* USER CODE END CAN1_MspInit 0 */
+    /* CAN1 clock enable */
+    HAL_RCC_CAN1_CLK_ENABLED++;
+    if(HAL_RCC_CAN1_CLK_ENABLED==1){
+      __HAL_RCC_CAN1_CLK_ENABLE();
+    }
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**CAN1 GPIO Configuration
+    PB8     ------> CAN1_RX
+    PB9     ------> CAN1_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_8;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_9;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN CAN1_MspInit 1 */
+
+  /* USER CODE END CAN1_MspInit 1 */
+  }
+  else if(canHandle->Instance==CAN2)
   {
   /* USER CODE BEGIN CAN2_MspInit 0 */
 
   /* USER CODE END CAN2_MspInit 0 */
     /* CAN2 clock enable */
     __HAL_RCC_CAN2_CLK_ENABLE();
-    __HAL_RCC_CAN1_CLK_ENABLE();
+    HAL_RCC_CAN1_CLK_ENABLED++;
+    if(HAL_RCC_CAN1_CLK_ENABLED==1){
+      __HAL_RCC_CAN1_CLK_ENABLE();
+    }
 
     __HAL_RCC_GPIOB_CLK_ENABLE();
     /**CAN2 GPIO Configuration
@@ -93,14 +213,38 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
 void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
 {
 
-  if(canHandle->Instance==CAN2)
+  if(canHandle->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspDeInit 0 */
+
+  /* USER CODE END CAN1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    HAL_RCC_CAN1_CLK_ENABLED--;
+    if(HAL_RCC_CAN1_CLK_ENABLED==0){
+      __HAL_RCC_CAN1_CLK_DISABLE();
+    }
+
+    /**CAN1 GPIO Configuration
+    PB8     ------> CAN1_RX
+    PB9     ------> CAN1_TX
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
+
+  /* USER CODE BEGIN CAN1_MspDeInit 1 */
+
+  /* USER CODE END CAN1_MspDeInit 1 */
+  }
+  else if(canHandle->Instance==CAN2)
   {
   /* USER CODE BEGIN CAN2_MspDeInit 0 */
 
   /* USER CODE END CAN2_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_CAN2_CLK_DISABLE();
-    __HAL_RCC_CAN1_CLK_DISABLE();
+    HAL_RCC_CAN1_CLK_ENABLED--;
+    if(HAL_RCC_CAN1_CLK_ENABLED==0){
+      __HAL_RCC_CAN1_CLK_DISABLE();
+    }
 
     /**CAN2 GPIO Configuration
     PB12     ------> CAN2_RX
@@ -108,9 +252,6 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     */
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);
 
-    /* CAN2 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
-    HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
   /* USER CODE BEGIN CAN2_MspDeInit 1 */
 
   /* USER CODE END CAN2_MspDeInit 1 */
diff --git a/Src/main.c b/Src/main.c
index 0e802ce..5b0d228 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -27,7 +27,9 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "CAN_API.h"
 #include "InitDrive.h"
+
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -69,47 +71,49 @@ static void MX_NVIC_Init(void);
 /* USER CODE END 0 */
 
 /**
- * @brief  The application entry point.
- * @retval int
- */
-int main(void) {
-	/* USER CODE BEGIN 1 */
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+  /* USER CODE BEGIN 1 */
 	__disable_irq();
-	/* USER CODE END 1 */
+  /* USER CODE END 1 */
 
-	/* MCU Configuration--------------------------------------------------------*/
+  /* MCU Configuration--------------------------------------------------------*/
 
-	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-	HAL_Init();
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
 
-	/* USER CODE BEGIN Init */
+  /* USER CODE BEGIN Init */
 	SysTick_Config(0xFFFFFF);
 	LL_DBGMCU_APB1_GRP1_FreezePeriph( LL_DBGMCU_APB1_GRP1_TIM3_STOP);
 	LL_DBGMCU_APB1_GRP1_FreezePeriph( LL_DBGMCU_APB1_GRP1_TIM2_STOP);
 	LL_DBGMCU_APB2_GRP1_FreezePeriph( LL_DBGMCU_APB2_GRP1_TIM1_STOP);
 	LL_DBGMCU_APB2_GRP1_FreezePeriph( LL_DBGMCU_APB2_GRP1_TIM8_STOP);
-	/* USER CODE END Init */
+  /* USER CODE END Init */
 
-	/* Configure the system clock */
-	SystemClock_Config();
+  /* Configure the system clock */
+  SystemClock_Config();
 
-	/* USER CODE BEGIN SysInit */
+  /* USER CODE BEGIN SysInit */
 	SystemCoreClockUpdate();
-	/* USER CODE END SysInit */
+  /* USER CODE END SysInit */
 
-	/* Initialize all configured peripherals */
-	MX_GPIO_Init();
-	MX_ADC1_Init();
-	MX_TIM1_Init();
-	MX_USART1_UART_Init();
-	MX_USART2_UART_Init();
-	MX_CAN2_Init();
-	MX_TIM2_Init();
-	MX_SPI2_Init();
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_ADC1_Init();
+  MX_TIM1_Init();
+  MX_USART1_UART_Init();
+  MX_USART2_UART_Init();
+  MX_TIM2_Init();
+  MX_SPI2_Init();
+  MX_CAN1_Init();
+  MX_CAN2_Init();
 
-	/* Initialize interrupts */
-	MX_NVIC_Init();
-	/* USER CODE BEGIN 2 */
+  /* Initialize interrupts */
+  MX_NVIC_Init();
+  /* USER CODE BEGIN 2 */
 
 	LL_GPIO_ResetOutputPin(LED1_GPIO_Port, LED1_Pin);
 	LL_GPIO_ResetOutputPin(LED2_GPIO_Port, LED2_Pin);
@@ -131,24 +135,27 @@ int main(void) {
 	LL_TIM_EnableCounter(TIM2);
 
 	LL_GPIO_SetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
-	LL_SPI_SetBaudRatePrescaler(SPI2,LL_SPI_BAUDRATEPRESCALER_DIV64 );
+	LL_SPI_SetBaudRatePrescaler(SPI2, LL_SPI_BAUDRATEPRESCALER_DIV64);
 	LL_SPI_Enable(SPI2);
 	/*Init Control structure*/
 	float TSAMPLE_FAST = 1.f / PWM_FRQ_HZ;
 	float TSAMPLE_SLOW = 1.f / ALG_TIMER_HZ;
 	DriveInit(TSAMPLE_FAST, TSAMPLE_SLOW);
+
+	//initCAN(CAN_BAUD_1000);
 	__enable_irq();
-	/* USER CODE END 2 */
+  /* USER CODE END 2 */
 
-	/* Infinite loop */
-	/* USER CODE BEGIN WHILE */
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
 	while (1) {
-		/* USER CODE END WHILE */
+    /* USER CODE END WHILE */
 
-		/* USER CODE BEGIN 3 */
+    /* USER CODE BEGIN 3 */
 		if (!LL_SPI_IsActiveFlag_OVR(SPI2)) {
 			LL_GPIO_ResetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
-			while (!LL_SPI_IsActiveFlag_TXE(SPI2)){};
+			while (!LL_SPI_IsActiveFlag_TXE(SPI2)) {
+			};
 			LL_SPI_TransmitData16(SPI2, 0xFFFF);
 			while (!LL_SPI_IsActiveFlag_RXNE(SPI2)) {
 			}
@@ -159,79 +166,114 @@ int main(void) {
 		} else {
 			LL_SPI_ClearFlag_OVR(SPI2);
 		}
+		CAN_TxHeaderTypeDef txheader;
+		uint8_t txdata[8];
+		txheader.DLC = 8;
+		txheader.ExtId = 0x11111111;
+		txheader.IDE = CAN_ID_STD;
+		txheader.RTR = CAN_RTR_DATA;
+		for (uint8_t i = 0; i < 8; i++) {
+			txdata[i] = i;
+		}
+		static uint32_t txMailBox = 0;
+		if (HAL_CAN_AddTxMessage(&hcan2, &txheader, txdata,
+				(uint32_t*) &txMailBox) != HAL_OK) {
+			HAL_CAN_AbortTxRequest(&hcan2,
+					CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
+		}
+		/*
+		if (HAL_CAN_AddTxMessage(&hcan1, &txheader, txdata,
+				(uint32_t*) &txMailBox) != HAL_OK) {
+			HAL_CAN_AbortTxRequest(&hcan1,
+					CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
+		}
+		if (HAL_CAN_AddTxMessage(&hcan2, &txheader, txdata,
+				(uint32_t*) &txMailBox) != HAL_OK) {
+			HAL_CAN_AbortTxRequest(&hcan2,
+					CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
+		}
+	*/
+		HAL_Delay(10);
+		static uint16_t state =0;
+		//state = HAL_CAN_GetState(&hcan2);
+		//LL_GPIO_TogglePin(CAN2_RX_GPIO_Port, CAN2_RX_Pin);
+		//LL_GPIO_TogglePin(CAN2_TX_GPIO_Port, CAN2_TX_Pin);
+
 	}
-	/* USER CODE END 3 */
+  /* USER CODE END 3 */
 }
 
 /**
- * @brief System Clock Configuration
- * @retval None
- */
-void SystemClock_Config(void) {
-	LL_FLASH_SetLatency(LL_FLASH_LATENCY_5);
-	while (LL_FLASH_GetLatency() != LL_FLASH_LATENCY_5) {
-	}
-	LL_PWR_SetRegulVoltageScaling(LL_PWR_REGU_VOLTAGE_SCALE1);
-	LL_PWR_EnableOverDriveMode();
-	LL_RCC_HSE_Enable();
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
-	/* Wait till HSE is ready */
-	while (LL_RCC_HSE_IsReady() != 1) {
+  /** Configure the main internal regulator output voltage
+  */
+  __HAL_RCC_PWR_CLK_ENABLE();
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
 
-	}
-	LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE, LL_RCC_PLLM_DIV_4, 180,
-			LL_RCC_PLLP_DIV_2);
-	LL_RCC_PLL_Enable();
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLM = 4;
+  RCC_OscInitStruct.PLL.PLLN = 180;
+  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+  RCC_OscInitStruct.PLL.PLLQ = 2;
+  RCC_OscInitStruct.PLL.PLLR = 2;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
 
-	/* Wait till PLL is ready */
-	while (LL_RCC_PLL_IsReady() != 1) {
+  /** Activate the Over-Drive mode
+  */
+  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
+  {
+    Error_Handler();
+  }
 
-	}
-	LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
-	LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_4);
-	LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_2);
-	LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
 
-	/* Wait till System clock is ready */
-	while (LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL) {
-
-	}
-	LL_SetSystemCoreClock(180000000);
-
-	/* Update the time base */
-	if (HAL_InitTick(TICK_INT_PRIORITY) != HAL_OK) {
-		Error_Handler();
-	}
-	LL_RCC_SetTIMPrescaler(LL_RCC_TIM_PRESCALER_TWICE);
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
+  {
+    Error_Handler();
+  }
 }
 
 /**
- * @brief NVIC Configuration.
- * @retval None
- */
-static void MX_NVIC_Init(void) {
-	/* TIM1_BRK_TIM9_IRQn interrupt configuration */
-	NVIC_SetPriority(TIM1_BRK_TIM9_IRQn,
-			NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 1, 0));
-	NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
-	/* TIM1_CC_IRQn interrupt configuration */
-	NVIC_SetPriority(TIM1_CC_IRQn,
-			NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 3, 0));
-	NVIC_EnableIRQ(TIM1_CC_IRQn);
-	/* TIM2_IRQn interrupt configuration */
-	NVIC_SetPriority(TIM2_IRQn,
-			NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 4, 0));
-	NVIC_EnableIRQ(TIM2_IRQn);
-	/* ADC_IRQn interrupt configuration */
-	NVIC_SetPriority(ADC_IRQn,
-			NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 2, 0));
-	NVIC_EnableIRQ(ADC_IRQn);
-	/* CAN2_RX0_IRQn interrupt configuration */
-	HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
-	HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
-	/* CAN2_RX1_IRQn interrupt configuration */
-	HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
-	HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
+  * @brief NVIC Configuration.
+  * @retval None
+  */
+static void MX_NVIC_Init(void)
+{
+  /* TIM1_BRK_TIM9_IRQn interrupt configuration */
+  NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),1, 0));
+  NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
+  /* TIM1_CC_IRQn interrupt configuration */
+  NVIC_SetPriority(TIM1_CC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),3, 0));
+  NVIC_EnableIRQ(TIM1_CC_IRQn);
+  /* TIM2_IRQn interrupt configuration */
+  NVIC_SetPriority(TIM2_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),4, 0));
+  NVIC_EnableIRQ(TIM2_IRQn);
+  /* ADC_IRQn interrupt configuration */
+  NVIC_SetPriority(ADC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),2, 0));
+  NVIC_EnableIRQ(ADC_IRQn);
 }
 
 /* USER CODE BEGIN 4 */
@@ -239,16 +281,17 @@ static void MX_NVIC_Init(void) {
 /* USER CODE END 4 */
 
 /**
- * @brief  This function is executed in case of error occurrence.
- * @retval None
- */
-void Error_Handler(void) {
-	/* USER CODE BEGIN Error_Handler_Debug */
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
 	/* User can add his own implementation to report the HAL error return state */
 	__disable_irq();
 	while (1) {
 	}
-	/* USER CODE END Error_Handler_Debug */
+  /* USER CODE END Error_Handler_Debug */
 }
 
 #ifdef  USE_FULL_ASSERT
diff --git a/Src/stm32f4xx_it.c b/Src/stm32f4xx_it.c
index 7711d95..ae7efaa 100644
--- a/Src/stm32f4xx_it.c
+++ b/Src/stm32f4xx_it.c
@@ -55,7 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
-extern CAN_HandleTypeDef hcan2;
+
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -251,34 +251,6 @@ void TIM2_IRQHandler(void)
   /* USER CODE END TIM2_IRQn 1 */
 }
 
-/**
-  * @brief This function handles CAN2 RX0 interrupt.
-  */
-void CAN2_RX0_IRQHandler(void)
-{
-  /* USER CODE BEGIN CAN2_RX0_IRQn 0 */
-
-  /* USER CODE END CAN2_RX0_IRQn 0 */
-  HAL_CAN_IRQHandler(&hcan2);
-  /* USER CODE BEGIN CAN2_RX0_IRQn 1 */
-
-  /* USER CODE END CAN2_RX0_IRQn 1 */
-}
-
-/**
-  * @brief This function handles CAN2 RX1 interrupt.
-  */
-void CAN2_RX1_IRQHandler(void)
-{
-  /* USER CODE BEGIN CAN2_RX1_IRQn 0 */
-
-  /* USER CODE END CAN2_RX1_IRQn 0 */
-  HAL_CAN_IRQHandler(&hcan2);
-  /* USER CODE BEGIN CAN2_RX1_IRQn 1 */
-
-  /* USER CODE END CAN2_RX1_IRQn 1 */
-}
-
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/processor32f446.ioc b/processor32f446.ioc
index 1be850e..18359c0 100644
--- a/processor32f446.ioc
+++ b/processor32f446.ioc
@@ -24,26 +24,41 @@ ADC1.master=1
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
-CAN2.CalculateBaudRate=937500
-CAN2.CalculateTimeBit=1066
-CAN2.CalculateTimeQuantum=355.55555555555554
-CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate
+CAN1.ABOM=ENABLE
+CAN1.BS1=CAN_BS1_7TQ
+CAN1.CalculateBaudRate=1000000
+CAN1.CalculateTimeBit=1000
+CAN1.CalculateTimeQuantum=111.11111111111111
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,Mode,SJW,ABOM,NART,BS1
+CAN1.Mode=CAN_MODE_LOOPBACK
+CAN1.NART=ENABLE
+CAN1.Prescaler=5
+CAN1.SJW=CAN_SJW_1TQ
+CAN2.ABOM=ENABLE
+CAN2.BS1=CAN_BS1_7TQ
+CAN2.CalculateBaudRate=1000000
+CAN2.CalculateTimeBit=1000
+CAN2.CalculateTimeQuantum=111.11111111111111
+CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,ABOM,NART
+CAN2.NART=ENABLE
+CAN2.Prescaler=5
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32F446RET6
 Mcu.Family=STM32F4
 Mcu.IP0=ADC1
-Mcu.IP1=CAN2
-Mcu.IP2=NVIC
-Mcu.IP3=RCC
-Mcu.IP4=SPI2
-Mcu.IP5=SYS
-Mcu.IP6=TIM1
-Mcu.IP7=TIM2
-Mcu.IP8=USART1
-Mcu.IP9=USART2
-Mcu.IPNb=10
+Mcu.IP1=CAN1
+Mcu.IP10=USART2
+Mcu.IP2=CAN2
+Mcu.IP3=NVIC
+Mcu.IP4=RCC
+Mcu.IP5=SPI2
+Mcu.IP6=SYS
+Mcu.IP7=TIM1
+Mcu.IP8=TIM2
+Mcu.IP9=USART1
+Mcu.IPNb=11
 Mcu.Name=STM32F446R(C-E)Tx
 Mcu.Package=LQFP64
 Mcu.Pin0=PH0-OSC_IN
@@ -71,16 +86,18 @@ Mcu.Pin28=PD2
 Mcu.Pin29=PB6
 Mcu.Pin3=PA0-WKUP
 Mcu.Pin30=PB7
-Mcu.Pin31=VP_SYS_VS_Systick
-Mcu.Pin32=VP_TIM1_VS_no_output4
-Mcu.Pin33=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin31=PB8
+Mcu.Pin32=PB9
+Mcu.Pin33=VP_SYS_VS_Systick
+Mcu.Pin34=VP_TIM1_VS_no_output4
+Mcu.Pin35=VP_TIM2_VS_ClockSourceINT
 Mcu.Pin4=PA1
 Mcu.Pin5=PA2
 Mcu.Pin6=PA3
 Mcu.Pin7=PA4
 Mcu.Pin8=PA5
 Mcu.Pin9=PA6
-Mcu.PinsNb=34
+Mcu.PinsNb=36
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F446RETx
@@ -88,13 +105,11 @@ MxCube.Version=6.7.0
 MxDb.Version=DB.6.0.70
 NVIC.ADC_IRQn=true\:2\:0\:true\:true\:true\:4\:true\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:true\:true\:5\:true\:true\:true
-NVIC.CAN2_RX1_IRQn=true\:5\:0\:true\:true\:true\:6\:true\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -139,7 +154,6 @@ PB1.Locked=true
 PB1.Signal=ADCx_IN9
 PB10.Mode=Full_Duplex_Master
 PB10.Signal=SPI2_SCK
-PB12.Locked=true
 PB12.Mode=CAN_Activate
 PB12.Signal=CAN2_RX
 PB13.Mode=CAN_Activate
@@ -158,6 +172,14 @@ PB6.Mode=Asynchronous
 PB6.Signal=USART1_TX
 PB7.Mode=Asynchronous
 PB7.Signal=USART1_RX
+PB8.GPIOParameters=GPIO_PuPd
+PB8.GPIO_PuPd=GPIO_PULLUP
+PB8.Locked=true
+PB8.Mode=CAN_Activate
+PB8.Signal=CAN1_RX
+PB9.Locked=true
+PB9.Mode=CAN_Activate
+PB9.Signal=CAN1_TX
 PC1.Mode=Full_Duplex_Master
 PC1.Signal=SPI2_MOSI
 PC10.GPIOParameters=GPIO_Label
@@ -216,7 +238,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=STM32CubeIDE
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-LL-true,2-SystemClock_Config-RCC-false-LL-false,3-MX_ADC1_Init-ADC1-false-LL-true,4-MX_ADC2_Init-ADC2-false-LL-true,5-MX_ADC3_Init-ADC3-false-LL-true,6-MX_TIM1_Init-TIM1-false-LL-true,7-MX_USART1_UART_Init-USART1-false-LL-true,8-MX_USART2_UART_Init-USART2-false-LL-true,9-MX_CAN2_Init-CAN2-false-HAL-true,10-MX_TIM2_Init-TIM2-false-LL-true,11-MX_SPI2_Init-SPI2-false-LL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-LL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_ADC1_Init-ADC1-false-LL-true,4-MX_TIM1_Init-TIM1-false-LL-true,5-MX_USART1_UART_Init-USART1-false-LL-true,6-MX_USART2_UART_Init-USART2-false-LL-true,7-MX_TIM2_Init-TIM2-false-LL-true,8-MX_SPI2_Init-SPI2-false-LL-true,9-MX_CAN1_Init-CAN1-false-HAL-true
 RCC.AHBFreq_Value=180000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
 RCC.APB1Freq_Value=45000000