From cad6b45c5d96c66c915604db056ad3a79322e7a9 Mon Sep 17 00:00:00 2001
From: DashyFox <DashyFox@yandex.ru>
Date: Sun, 15 Sep 2024 19:29:07 +0300
Subject: [PATCH] Uart working

---
 .cproject                       |   4 +-
 .settings/language.settings.xml |   4 +-
 Core/Inc/EEPROM.h               |  28 +-
 Core/Inc/GlobalDefines.h        |  13 -
 Core/Inc/Print.h                |   1 +
 Core/Inc/RobotFunctions.h       |   1 +
 Core/Inc/UART3_CMD_Handler.h    |  42 +++
 Core/Inc/UART3_Handler.h        |  20 ++
 Core/Inc/stm32f1xx_hal_conf.h   |   2 +-
 Core/Inc/stm32f1xx_it.h         |   1 +
 Core/Src/EEPROM.c               |  16 +-
 Core/Src/Print.c                |  92 ++++--
 Core/Src/RobotFunctions.c       | 122 +++----
 Core/Src/UART3_CMD_Handler.c    | 239 ++++++++++++++
 Core/Src/UART3_Handler.c        | 295 +++++++++++++++++
 Core/Src/main.c                 | 208 ++----------
 Core/Src/stm32f1xx_hal_msp.c    |  23 +-
 Core/Src/stm32f1xx_it.c         | 569 +++++++++++++++-----------------
 StackSport.ioc                  |  52 +--
 USB_DEVICE/App/usbd_cdc_if.c    | 150 +++++----
 USB_DEVICE/Target/usbd_conf.c   |   2 +-
 21 files changed, 1187 insertions(+), 697 deletions(-)
 delete mode 100644 Core/Inc/GlobalDefines.h
 create mode 100644 Core/Inc/UART3_CMD_Handler.h
 create mode 100644 Core/Inc/UART3_Handler.h
 create mode 100644 Core/Src/UART3_CMD_Handler.c
 create mode 100644 Core/Src/UART3_Handler.c

diff --git a/.cproject b/.cproject
index 4c0e158..41d0e09 100644
--- a/.cproject
+++ b/.cproject
@@ -36,7 +36,7 @@
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.400718382" name="MCU/MPU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.1282773953" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.394842051" 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.oz" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.394842051" 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.1350178782" 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_HAL_DRIVER"/>
@@ -117,7 +117,7 @@
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.422705567" name="MCU/MPU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.131805638" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.324687102" 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 id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.324687102" 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.o1" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.971138536" 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_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F103xB"/>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index c5c6395..5adad92 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<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="4489868063458550" 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="1139920058673081605" 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 copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<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="4489868063458550" 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="1139920058673081605" 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/Core/Inc/EEPROM.h b/Core/Inc/EEPROM.h
index 8d47b68..a88f05e 100644
--- a/Core/Inc/EEPROM.h
+++ b/Core/Inc/EEPROM.h
@@ -10,21 +10,21 @@
 
 #define START_ADR_SHOT			(START_ADR_STAT+STAT_BLOCKSIZE)
 #define SHOT_BLOCKSIZE			10
-#define MAX_NUMBER_SHOTS		255
+#define MAX_SHOT_COUNT		256
 
-#define START_ADR_PROGRAM		(START_ADR_SHOT + (SHOT_BLOCKSIZE*MAX_NUMBER_SHOTS))
-#define PROGRAM_BLOCKSIZE		203
-#define MAX_NUMBER_PROGRAMS 	100
-#define MAX_NUMBER_SHOTS_IN_PROGRAMS	\
-	(PROGRAM_BLOCKSIZE-sizeof(ProgramHeader)) /sizeof(ProgramShot) // 100
+#define START_ADR_PROGRAM		(START_ADR_SHOT + (SHOT_BLOCKSIZE*MAX_SHOT_COUNT))
+#define PROGRAM_BLOCKSIZE		67
+#define MAX_PROGRAM_COUNT 	256
+#define MAX_SHOT_COUNT_IN_PROGRAMS	\
+	(PROGRAM_BLOCKSIZE-sizeof(ProgramHeader)) /sizeof(ProgramShot) //
 
-#define START_ADR_MACRO			(START_ADR_PROGRAM + (PROGRAM_BLOCKSIZE*MAX_NUMBER_PROGRAMS))
-#define MACRO_BLOCKSIZE			81
-#define MAX_NUMBER_MACRO		100
-#define MAX_NUMBER_PROGRAMS_IN_MACRO	\
-	(MACRO_BLOCKSIZE-sizeof(MacroHeader)) /sizeof(MacroProgram) // 20
+#define START_ADR_MACRO			(START_ADR_PROGRAM + (PROGRAM_BLOCKSIZE*MAX_PROGRAM_COUNT))
+#define MACRO_BLOCKSIZE			129
+#define MAX_MACRO_COUNT		100
+#define MAX_PROGRAM_COUNT_IN_MACRO	\
+	(MACRO_BLOCKSIZE-sizeof(MacroHeader)) /sizeof(MacroProgram) //
 
-#define MEMORY_END	(START_ADR_MACRO + (MACRO_BLOCKSIZE*MAX_NUMBER_MACRO))
+#define MEMORY_END	(START_ADR_MACRO + (MACRO_BLOCKSIZE*MAX_MACRO_COUNT))
 
 typedef enum MemoryStatus {
 	EEPROM_FAIL,
@@ -58,7 +58,7 @@ typedef struct ProgramShot {
 
 typedef struct Program {
 	ProgramHeader header;
-	ProgramShot shots[MAX_NUMBER_SHOTS_IN_PROGRAMS];
+	ProgramShot shots[MAX_SHOT_COUNT_IN_PROGRAMS];
 } Program;
 
 typedef struct MacroHeader {
@@ -74,7 +74,7 @@ typedef struct MacroProgram {
 
 typedef struct Macro {
 	MacroHeader header;
-	MacroProgram programs[MAX_NUMBER_PROGRAMS_IN_MACRO];
+	MacroProgram programs[MAX_PROGRAM_COUNT_IN_MACRO];
 } Macro;
 
 typedef struct ServoSetting {
diff --git a/Core/Inc/GlobalDefines.h b/Core/Inc/GlobalDefines.h
deleted file mode 100644
index f084d2f..0000000
--- a/Core/Inc/GlobalDefines.h
+++ /dev/null
@@ -1,13 +0,0 @@
-/*
- * GlobalDefines.h
- *
- *  Created on: Aug 25, 2024
- *      Author: DashyFox
- */
-
-#ifndef INC_GLOBALDEFINES_H_
-#define INC_GLOBALDEFINES_H_
-
-#define UART_BUFFER_SIZE 64
-
-#endif /* INC_GLOBALDEFINES_H_ */
diff --git a/Core/Inc/Print.h b/Core/Inc/Print.h
index b81647a..a973a3d 100644
--- a/Core/Inc/Print.h
+++ b/Core/Inc/Print.h
@@ -9,3 +9,4 @@
 void print(char* str);
 void int_to_str(int number, char *str, int base);
 void printNumber(long int number);
+void printHexBuffer(uint8_t *buffer, uint16_t size);
diff --git a/Core/Inc/RobotFunctions.h b/Core/Inc/RobotFunctions.h
index 087ce02..9c875fb 100644
--- a/Core/Inc/RobotFunctions.h
+++ b/Core/Inc/RobotFunctions.h
@@ -30,6 +30,7 @@ void stopShooting();
 
 
 void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical);
+void setPosSingle(ServoMap servo, uint8_t value);
 void setPosDefault();
 
 // 0 .. 100
diff --git a/Core/Inc/UART3_CMD_Handler.h b/Core/Inc/UART3_CMD_Handler.h
new file mode 100644
index 0000000..e796d4f
--- /dev/null
+++ b/Core/Inc/UART3_CMD_Handler.h
@@ -0,0 +1,42 @@
+/*
+ * UART3_CMD_Handler.h
+ *
+ *  Created on: Sep 12, 2024
+ *      Author: DashyFox
+ */
+
+#ifndef INC_UART3_CMD_HANDLER_H_
+#define INC_UART3_CMD_HANDLER_H_
+
+#include "stm32f1xx_hal.h"
+
+void UART3_SaveShot(uint8_t *dataPtr, uint8_t len);
+void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len);
+void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len);
+void UART3_StartMacro(uint8_t *dataPtr, uint8_t len);
+void UART3_StartProgram(uint8_t *dataPtr, uint8_t len);
+void UART3_StartShot(uint8_t *dataPtr, uint8_t len);
+void UART3_Stop(uint8_t *dataPtr, uint8_t len);
+void UART3_DeleteShot(uint8_t *dataPtr, uint8_t len);
+void UART3_DeleteProgram(uint8_t *dataPtr, uint8_t len);
+void UART3_DeleteMacro(uint8_t *dataPtr, uint8_t len);
+void UART3_DeleteAllData(uint8_t *dataPtr, uint8_t len);
+void UART3_GetDeviceStatus(uint8_t *dataPtr, uint8_t len);
+void UART3_SetServoOffset(uint8_t *dataPtr, uint8_t len);
+void UART3_GetServoOffset(uint8_t *dataPtr, uint8_t len);
+void UART3_SetServoMaxAngle(uint8_t *dataPtr, uint8_t len);
+void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len);
+void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len);
+void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len);
+void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len);
+void UART3_SetMinRollerSpeed(uint8_t *dataPtr, uint8_t len);
+void UART3_GetMinRollerSpeed(uint8_t *dataPtr, uint8_t len);
+void UART3_SetMinScrewSpeed(uint8_t *dataPtr, uint8_t len);
+void UART3_GetMinScrewSpeed(uint8_t *dataPtr, uint8_t len);
+void UART3_SetServoInvertFlag(uint8_t *dataPtr, uint8_t len);
+void UART3_GetServoInvertFlag(uint8_t *dataPtr, uint8_t len);
+void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len);
+void UART3_ResetStatistics(uint8_t *dataPtr, uint8_t len);
+
+
+#endif /* INC_UART3_CMD_HANDLER_H_ */
diff --git a/Core/Inc/UART3_Handler.h b/Core/Inc/UART3_Handler.h
new file mode 100644
index 0000000..5ce5bdf
--- /dev/null
+++ b/Core/Inc/UART3_Handler.h
@@ -0,0 +1,20 @@
+/*
+ * UART3_Handler.h
+ *
+ *  Created on: Sep 12, 2024
+ *      Author: DashyFox
+ */
+
+#ifndef INC_UART3_HANDLER_H_
+#define INC_UART3_HANDLER_H_
+
+#include "stm32f1xx_hal.h"
+
+#define UART_BUFFER_SIZE 256
+
+extern uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
+
+void UART3_START();
+void UART3_Handler();
+
+#endif /* INC_UART3_HANDLER_H_ */
diff --git a/Core/Inc/stm32f1xx_hal_conf.h b/Core/Inc/stm32f1xx_hal_conf.h
index 5c6da48..c8ba3e0 100644
--- a/Core/Inc/stm32f1xx_hal_conf.h
+++ b/Core/Inc/stm32f1xx_hal_conf.h
@@ -42,7 +42,7 @@
 /*#define HAL_CORTEX_MODULE_ENABLED   */
 /*#define HAL_CRC_MODULE_ENABLED   */
 /*#define HAL_DAC_MODULE_ENABLED   */
-/*#define HAL_DMA_MODULE_ENABLED   */
+#define HAL_DMA_MODULE_ENABLED
 /*#define HAL_ETH_MODULE_ENABLED   */
 /*#define HAL_FLASH_MODULE_ENABLED   */
 #define HAL_GPIO_MODULE_ENABLED
diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h
index 80d82c3..b8be754 100644
--- a/Core/Inc/stm32f1xx_it.h
+++ b/Core/Inc/stm32f1xx_it.h
@@ -57,6 +57,7 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 void EXTI0_IRQHandler(void);
 void EXTI1_IRQHandler(void);
+void DMA1_Channel3_IRQHandler(void);
 void USB_LP_CAN1_RX0_IRQHandler(void);
 void TIM3_IRQHandler(void);
 void I2C1_EV_IRQHandler(void);
diff --git a/Core/Src/EEPROM.c b/Core/Src/EEPROM.c
index c29a6dd..d3d5694 100644
--- a/Core/Src/EEPROM.c
+++ b/Core/Src/EEPROM.c
@@ -43,7 +43,7 @@ MemoryStatus getShot(unsigned char number, Shot *shot) {
 
 MemoryStatus saveProg(unsigned char number, Program *prog) {
 	MemoryStatus result = EEPROM_OK;
-	for (uint16_t i = 0; i < MAX_NUMBER_SHOTS_IN_PROGRAMS; ++i) {
+	for (uint16_t i = 0; i < MAX_SHOT_COUNT_IN_PROGRAMS; ++i) {
 		Shot shot;
 		MemoryStatus stat = getShot(prog->shots[i].id, &shot);
 		if (!(stat == EEPROM_OK || stat == EEPROM_MISSING_ELEMENT)) {
@@ -77,7 +77,7 @@ MemoryStatus getProg(unsigned char number, Program *prog) {
 
 MemoryStatus saveMacro(unsigned char number, Macro *macro) {
 	MemoryStatus result = EEPROM_OK;
-	for (uint16_t i = 0; i < MAX_NUMBER_PROGRAMS_IN_MACRO; ++i) {
+	for (uint16_t i = 0; i < MAX_PROGRAM_COUNT_IN_MACRO; ++i) {
 		Program prog;
 		MemoryStatus stat = getProg(macro->programs[i].id, &prog);
 		if (!(stat == EEPROM_OK || stat == EEPROM_MISSING_ELEMENT)) {
@@ -246,9 +246,9 @@ MemoryStatus FLASH_WriteBlock(uint16_t startAddr, uint8_t number,
 	HAL_StatusTypeDef result;
 
 	// Проверка на корректность входных данных
-	if ((startAddr == START_ADR_SHOT && number > MAX_NUMBER_SHOTS)
-			|| (startAddr == START_ADR_PROGRAM && number > MAX_NUMBER_PROGRAMS)
-			|| (startAddr == START_ADR_MACRO && number > MAX_NUMBER_MACRO)) {
+	if ((startAddr == START_ADR_SHOT && number >= MAX_SHOT_COUNT)
+			|| (startAddr == START_ADR_PROGRAM && number >= MAX_PROGRAM_COUNT)
+			|| (startAddr == START_ADR_MACRO && number >= MAX_MACRO_COUNT)) {
 		return EEPROM_OUT_OF_RANGE;
 	}
 
@@ -278,9 +278,9 @@ MemoryStatus FLASH_ReadBlock(uint16_t startAddr, uint8_t number,
 	HAL_StatusTypeDef result;
 
 	// Проверка на корректность входных данных
-	if ((startAddr == START_ADR_SHOT && number > MAX_NUMBER_SHOTS)
-			|| (startAddr == START_ADR_PROGRAM && number > MAX_NUMBER_PROGRAMS)
-			|| (startAddr == START_ADR_MACRO && number > MAX_NUMBER_MACRO)) {
+	if ((startAddr == START_ADR_SHOT && number > MAX_SHOT_COUNT)
+			|| (startAddr == START_ADR_PROGRAM && number > MAX_PROGRAM_COUNT)
+			|| (startAddr == START_ADR_MACRO && number > MAX_MACRO_COUNT)) {
 		return EEPROM_OUT_OF_RANGE;
 	}
 
diff --git a/Core/Src/Print.c b/Core/Src/Print.c
index 7fae9d8..52ca6aa 100644
--- a/Core/Src/Print.c
+++ b/Core/Src/Print.c
@@ -6,53 +6,75 @@
  */
 #include "Print.h"
 
-void print(char* str){
+void print(char *str) {
 	unsigned int size = 0;
-	while (str[size] != '\0')
-	{
+	while (str[size] != '\0') {
 		size++;
 	}
-	CDC_Transmit_FS((unsigned char*)str, size);
+	CDC_Transmit_FS((unsigned char*) str, size);
 }
 
-void int_to_str(int number, char *str, int base)
-{
-    static const char digits[] = "0123456789ABCDEF";
-    char buffer[32];
-    char *ptr = buffer + sizeof(buffer) - 1;
-    int is_negative = 0;
+void int_to_str(int number, char *str, int base) {
+	static const char digits[] = "0123456789ABCDEF";
+	char buffer[32];
+	char *ptr = buffer + sizeof(buffer) - 1;
+	int is_negative = 0;
 
-    if (number < 0 && base == 10) {
-        is_negative = 1;
-        number = -number;
-    }
+	if (number < 0 && base == 10) {
+		is_negative = 1;
+		number = -number;
+	}
 
-    *ptr = '\0';
-    do {
-        *--ptr = digits[number % base];
-        number /= base;
-    } while (number);
+	*ptr = '\0';
+	do {
+		*--ptr = digits[number % base];
+		number /= base;
+	} while (number);
 
-    if (is_negative) {
-        *--ptr = '-';
-    }
+	if (is_negative) {
+		*--ptr = '-';
+	}
 
-    // Дополнение ведущим нулем для шестнадцатеричных чисел
-    if (base == 16 && (buffer + sizeof(buffer) - 1 - ptr) == 1) {
-        *--ptr = '0';
-    }
+	// Дополнение ведущим нулем для шестнадцатеричных чисел
+	if (base == 16 && (buffer + sizeof(buffer) - 1 - ptr) == 1) {
+		*--ptr = '0';
+	}
 
-    strcpy(str, ptr);
+	strcpy(str, ptr);
 }
 
-void printNumber(long int number)
-{
-    char buffer[BUFFER_SIZE];
+void printNumber(long int number) {
+	char buffer[BUFFER_SIZE];
 
-    // Преобразование числа в строку
-    int_to_str(number, buffer, 10);  // 10 — это основание системы счисления (десятичная система)
-    strcat(buffer, "\r\n");    // Добавление новой строки
+	// Преобразование числа в строку
+	int_to_str(number, buffer, 10); // 10 — это основание системы счисления (десятичная система)
+	strcat(buffer, "\r\n");    // Добавление новой строки
 
-    // Отправка строки через USB CDC
-    CDC_Transmit_FS((uint8_t*)buffer, strlen(buffer));
+	// Отправка строки через USB CDC
+	CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
+}
+
+void printHexBuffer(uint8_t *buffer, uint16_t size) {
+	char hex_str[3 * size + 3]; // Строка для хранения шестнадцатеричных значений (2 символа на байт, пробелы и переносы строк)
+	int index = 0;
+
+	for (uint16_t i = 0; i < size; i++) {
+		// Преобразуем каждый байт в шестнадцатеричный формат
+		index += sprintf(&hex_str[index], "%02X ", buffer[i]);
+
+		// Добавляем перенос строки после каждых 8 байт
+		if ((i + 1) % 32 == 0) {
+			hex_str[index++] = '\n';
+		} else if ((i + 1) % 8 == 0) {
+			hex_str[index++] = ' ';
+		}
+	}
+
+	// Добавляем два переноса строки в конце
+	hex_str[index++] = '\n';
+	hex_str[index++] = '\n';
+	hex_str[index] = '\0'; // Завершаем строку символом конца строки
+
+	// Отправляем строку через UART (CDC)
+	CDC_Transmit_FS((uint8_t*) hex_str, strlen(hex_str));
 }
diff --git a/Core/Src/RobotFunctions.c b/Core/Src/RobotFunctions.c
index 8583842..608ee33 100644
--- a/Core/Src/RobotFunctions.c
+++ b/Core/Src/RobotFunctions.c
@@ -36,24 +36,17 @@ typedef struct Current {
 Current current;
 
 HardwareInit_t hwSettings = {
-		/*DelayTimes*/ {
-				/*preRun*/ 0
-		},
-		/*ServoSetting*/{
-				{0, 0, 90, 180},
-				{0, 0, 90, 180},
-				{0, 0, 90, 180}
-		},
-		/*Motors*/{
-			0, 0
-		}
-};
+/*DelayTimes*/{
+/*preRun*/0 },
+/*ServoSetting*/{ { 0, 0, 90, 180 }, { 0, 0, 90, 180 }, { 0, 0, 90, 180 } },
+/*Motors*/{ 0, 0 } };
 
 extern int16_t Vz1;
 extern int16_t Vz2;
 
-int16_t map(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max) {
-    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+int16_t map(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min,
+		int16_t out_max) {
+	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
 void doShot(Shot *shot) {
@@ -67,36 +60,43 @@ void doShot(Shot *shot) {
 
 void startShooting() {
 	switch (current.mode) {
-		case ShotMode:
-			print("StartShooting\n");
-			if(current.shot.isExist){
-				print("Fire!\n");
+	case ShotMode:
+		print("StartShooting\n");
+		if (current.shot.isExist) {
+			print("Fire!\n");
 
-				print("isExist             ");printNumber(current.shot.isExist);
-		        print("countRepeatShot;    ");printNumber(current.shot.countRepeatShot);
-		        print("speedRollerTop;     ");printNumber(current.shot.speedRollerTop);
-		        print("speedRollerBottom;  ");printNumber(current.shot.speedRollerBottom);
-		        print("speedScrew;         ");printNumber(current.shot.speedScrew);
-		        print("rotationAxial;      ");printNumber(current.shot.rotationAxial);
-		        print("rotationHorizontal; ");printNumber(current.shot.rotationHorizontal);
-		        print("rotationVertical;   ");printNumber(current.shot.rotationVertical);
+			print("isExist             ");
+			printNumber(current.shot.isExist);
+			print("countRepeatShot;    ");
+			printNumber(current.shot.countRepeatShot);
+			print("speedRollerTop;     ");
+			printNumber(current.shot.speedRollerTop);
+			print("speedRollerBottom;  ");
+			printNumber(current.shot.speedRollerBottom);
+			print("speedScrew;         ");
+			printNumber(current.shot.speedScrew);
+			print("rotationAxial;      ");
+			printNumber(current.shot.rotationAxial);
+			print("rotationHorizontal; ");
+			printNumber(current.shot.rotationHorizontal);
+			print("rotationVertical;   ");
+			printNumber(current.shot.rotationVertical);
 
+			isShooting = 1;
+			doShot(&current.shot);
+		} else {
+			print("Current Shot is NULL\n");
+			// TODO: sound_ERR(); ledFX_ERR();
+		}
+		break;
+	case ProgramMode:
 
-				isShooting = 1;
-				doShot(&current.shot);
-			} else {
-				print("Current Shot is NULL\n");
-				// TODO: sound_ERR(); ledFX_ERR();
-			}
-			break;
-		case ProgramMode:
+		break;
+	case MacroMode:
 
-			break;
-		case MacroMode:
-
-			break;
-		default:
-			break;
+		break;
+	default:
+		break;
 	}
 }
 
@@ -126,49 +126,53 @@ uint8_t prepareShot(uint8_t number) {
 	}
 }
 
+void setPosSingle(ServoMap servo, uint8_t value) {
+	if (hwSettings.servos[servo].invert)
+		value = 180 - value;
+	SetServo(servo, value);
+}
 void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical) {
-
-	//todo:
-//	hwSettings.servos[SERVO_AXIAL].invert
-
-	SetServo(SERVO_AXIAL, axial);			// Axial
-	SetServo(SERVO_HORIZONTAL, horizontal);	// Horizontal
-	SetServo(SERVO_VERTICAL, vertical);		// Vertical
+	setPosSingle(SERVO_AXIAL, axial);
+	setPosSingle(SERVO_HORIZONTAL, horizontal);
+	setPosSingle(SERVO_VERTICAL, vertical);
 }
 void setPosDefault() {
-	SetServo(SERVO_AXIAL, hwSettings.servos[SERVO_AXIAL].def);	// Axial
-	SetServo(SERVO_HORIZONTAL, hwSettings.servos[SERVO_HORIZONTAL].def);	// Horizontal
-	SetServo(SERVO_VERTICAL, hwSettings.servos[SERVO_VERTICAL].def);	// Vertical
+	setPos(
+			hwSettings.servos[SERVO_AXIAL].def,
+			hwSettings.servos[SERVO_HORIZONTAL].def,
+			hwSettings.servos[SERVO_VERTICAL].def
+	);
 }
 
 // 0 .. 100
 void setScrewkSpeed(uint8_t speed) {
 
 //	if(speed < 0) speed = 0;
-	if(speed > 100) speed = 100;
+	if (speed > 100)
+		speed = 100;
 
 	speed = map(speed, 0, 100, hwSettings.motors.speed_Screw_min, 100);
 
 	TIM1->CCR1 = 0;
-	TIM1->CCR2 = (uint16_t)(40 * speed);
+	TIM1->CCR2 = (uint16_t) (40 * speed);
 }
 
 //(-v) 0 .. 100(stop) .. 200(+v)
 void setRollersSpeed(uint8_t up, uint8_t down) {
 
-	if(up < 100){
-		up = map(up, 0, 100, 0, 100-hwSettings.motors.speed_Screw_min);
+	if (up < 100) {
+		up = map(up, 0, 100, 0, 100 - hwSettings.motors.speed_Screw_min);
 	} else {
-		up = map(up, 0, 100, 0, 100+hwSettings.motors.speed_Screw_min);
+		up = map(up, 0, 100, 0, 100 + hwSettings.motors.speed_Screw_min);
 	}
 
-	if(down < 100){
-		map(down, 0, 100, 0, 100-hwSettings.motors.speed_Screw_min);
+	if (down < 100) {
+		map(down, 0, 100, 0, 100 - hwSettings.motors.speed_Screw_min);
 	} else {
-		map(down, 0, 100, 0, 100+hwSettings.motors.speed_Screw_min);
+		map(down, 0, 100, 0, 100 + hwSettings.motors.speed_Screw_min);
 	}
 
-	Vz1 = 200-up; // invert
+	Vz1 = 200 - up; // invert
 	Vz2 = down;
 }
 // shot sequence
diff --git a/Core/Src/UART3_CMD_Handler.c b/Core/Src/UART3_CMD_Handler.c
new file mode 100644
index 0000000..48fbb6a
--- /dev/null
+++ b/Core/Src/UART3_CMD_Handler.c
@@ -0,0 +1,239 @@
+/*
+ * UART3_CMD_Handler.c
+ *
+ *  Created on: Sep 12, 2024
+ *      Author: DashyFox
+ */
+
+#include "UART3_CMD_Handler.h"
+#include "Print.h"
+
+extern void SendResponse(uint8_t command, uint8_t result, uint8_t *data,
+		uint8_t data_length);
+
+uint8_t checkLen(uint8_t cmd, uint8_t current_length, uint8_t required_length) {
+	if (current_length >= required_length) {
+		print("Invalid length for command");
+		printNumber(cmd);
+		print("\n");
+		return 0;
+	}
+	return 1;
+}
+
+void UART3_SaveShot(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_StartMacro(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_StartProgram(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_StartShot(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_Stop(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_DeleteShot(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_DeleteProgram(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_DeleteMacro(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_DeleteAllData(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_GetDeviceStatus(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_SetServoOffset(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_GetServoOffset(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_SetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_SetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_GetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_SetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_GetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_SetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_GetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+void UART3_ResetStatistics(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 0;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
diff --git a/Core/Src/UART3_Handler.c b/Core/Src/UART3_Handler.c
new file mode 100644
index 0000000..170fcaa
--- /dev/null
+++ b/Core/Src/UART3_Handler.c
@@ -0,0 +1,295 @@
+/*
+ * UART3_Handler.c
+ *
+ *  Created on: Sep 12, 2024
+ *      Author: DashyFox
+ */
+
+#include "UART3_Handler.h"
+#include "UART3_CMD_Handler.h"
+#include "Print.h"
+#include "SimpleTimer.h"
+
+uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
+uint8_t uart_rx_buffer_out[UART_BUFFER_SIZE];
+volatile uint8_t uart_rx_comlite = 0;
+
+extern UART_HandleTypeDef huart3;
+
+void UART3_CMD_Handler(uint8_t *dataPtr, uint8_t len);
+
+
+
+void UART3_START() {
+	HAL_UART_Receive_DMA(&huart3, uart_rx_buffer, UART_BUFFER_SIZE);
+}
+
+//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
+//	if (huart->Instance == USART3) {
+//		uartTimer = millis();
+//		packet_index++;
+//
+//		CDC_Transmit_FS(uart_rx_buffer, UART_BUFFER_SIZE);
+//
+//		if (packet_index < UART_BUFFER_SIZE) {
+//			HAL_UART_Receive_DMA(&huart3, &uart_rx_buffer[packet_index], 1);
+//		}
+//	}
+//}
+
+volatile uint32_t last_rx_time = 0;
+volatile uint32_t rx_complete_timeout = 10;
+volatile uint32_t old_pos = 0;
+volatile uint16_t rx_index = 0;
+extern DMA_HandleTypeDef hdma_usart3_rx;
+void handle_rx_complete(uint8_t *data, uint16_t len)
+{
+    // Проверка, если данных пришло меньше двух байт
+    if (len < 2) {
+        char error_msg[64];
+        snprintf(error_msg, sizeof(error_msg),
+                 "Received less than 2 bytes: len = %d\n", len);
+        CDC_Transmit_FS((uint8_t*) error_msg, strlen(error_msg));
+        return;
+    }
+
+    // Распечатать пришедший буфер с указанием номеров байт
+    char byte_msg[128];
+    snprintf(byte_msg, sizeof(byte_msg), "Received buffer (%d bytes):\n", len);
+    CDC_Transmit_FS((uint8_t*) byte_msg, strlen(byte_msg));
+
+    for (uint16_t i = 0; i < len; i++) {
+        char byte_info[32];
+        snprintf(byte_info, sizeof(byte_info), "Byte %d: 0x%02X\n", i, data[i]);
+        CDC_Transmit_FS((uint8_t*) byte_info, strlen(byte_info));
+    }
+
+    // Проверка правильности пакета (первый байт должен быть 0xF0)
+    if (data[0] != 0xF0) {
+        char error_msg[64];
+        snprintf(error_msg, sizeof(error_msg),
+                 "Wrong fix 0xF0: received 0x%02X\n", data[0]);
+        CDC_Transmit_FS((uint8_t*) error_msg, strlen(error_msg));
+        return;
+    }
+
+    // Проверка длины пакета
+    uint8_t length = data[1];
+    if (length + 3 > UART_BUFFER_SIZE) {
+        char error_msg[128];
+        snprintf(error_msg, sizeof(error_msg),
+                 "Packet length exceeds buffer size: received length = %d, max size = %d\n",
+                 length + 3, UART_BUFFER_SIZE);
+        CDC_Transmit_FS((uint8_t*) error_msg, strlen(error_msg));
+        return;
+    }
+
+    // Проверка контрольной суммы
+    uint16_t checksum = 0;
+    for (uint8_t i = 0; i < length + 2; i++) {
+        checksum += data[i];
+    }
+    checksum %= 0xFF;
+
+    if (checksum != data[length + 2]) {
+        char error_msg[64];
+        snprintf(error_msg, sizeof(error_msg),
+                 "Wrong checksum: calculated 0x%02X, received 0x%02X\n",
+                 checksum, data[length + 2]);
+        CDC_Transmit_FS((uint8_t*) error_msg, strlen(error_msg));
+        return;
+    }
+
+    CDC_Transmit_FS((uint8_t*)"\n\n", 2);
+
+    // Если пакет корректен, передать управление обработчику команд
+    uint8_t *data_ptr = &data[2];
+    UART3_CMD_Handler(data_ptr, length);
+}
+
+
+void handle_rx_data(uint8_t* data, uint16_t len)
+{
+    if (len > 0)
+    {
+       if(!rx_index){
+    	   memset(uart_rx_buffer_out, 0x00, UART_BUFFER_SIZE);
+       }
+       memcpy(uart_rx_buffer_out+rx_index, data, len);
+       rx_index += len;
+
+//       uint8_t ff = 0xFF;
+//       CDC_Transmit_FS(&ff, 1);
+    }
+}
+
+void process_uart_data(uint32_t old_pos, uint32_t new_pos)
+{
+    if (new_pos > old_pos)
+    {
+        // Обрабатываем данные между old_pos и new_pos
+        handle_rx_data(&uart_rx_buffer[old_pos], new_pos - old_pos);
+    }
+    else
+    {
+        // Обрабатываем данные от old_pos до конца буфера и от начала до new_pos
+        handle_rx_data(&uart_rx_buffer[old_pos], UART_BUFFER_SIZE - old_pos);
+        handle_rx_data(&uart_rx_buffer[0], new_pos);
+    }
+}
+volatile uint8_t rx_in_progress = 0;
+void check_uart3_timeout(void)
+{
+
+}
+
+void UART3_Handler() {
+    // Текущая позиция в буфере (DMA передаёт значение обратного счётчика)
+    uint32_t pos = UART_BUFFER_SIZE - __HAL_DMA_GET_COUNTER(&hdma_usart3_rx);
+
+    if (pos != old_pos)
+    {
+        // Если есть новые данные, обновляем таймер
+        last_rx_time = millis();
+        rx_in_progress = 1;
+        process_uart_data(old_pos, pos);  // Обрабатываем новые данные
+        old_pos = pos;  // Обновляем позицию
+    }
+    else if (rx_in_progress && (millis() - last_rx_time) > rx_complete_timeout)
+    {
+        handle_rx_complete(uart_rx_buffer_out, rx_index);
+        rx_index = 0;
+        last_rx_time = millis();
+        rx_in_progress = 0;
+    }
+}
+
+void SendResponse(uint8_t command, uint8_t result, uint8_t *data,
+		uint8_t data_length) {
+	uint8_t response_buffer[64];
+	uint8_t index = 0;
+
+	response_buffer[index++] = 0xF0;
+	response_buffer[index++] = data_length + 3;
+	response_buffer[index++] = command;
+	response_buffer[index++] = result;
+
+	if (data != NULL && data_length > 0) {
+		for (uint8_t i = 0; i < data_length; i++) {
+			response_buffer[index++] = data[i];
+		}
+	}
+
+	uint8_t checksum = 0;
+	for (uint8_t i = 0; i < index; i++) {
+		checksum += response_buffer[i];
+	}
+	checksum %= 0xFF;
+
+	response_buffer[index++] = checksum;
+	HAL_UART_Transmit(&huart3, response_buffer, index, HAL_MAX_DELAY);
+}
+
+void UART3_CMD_Handler(uint8_t *dataPtr, uint8_t len) {
+	uint8_t command = dataPtr[0];
+
+	print("Received command: ");
+	printNumber(command);
+	print("\nParameters: [");
+
+	for (uint8_t i = 1; i < len; i++) {
+		printNumber(dataPtr[i]);
+		if (i < len - 1) {
+			print(", ");
+		}
+	}
+	print("]\n");
+
+	switch (command) {
+	case 10:
+		UART3_SaveShot(dataPtr, len);
+		break;
+	case 11:
+		UART3_SaveProgram(dataPtr, len);
+		break;
+	case 12:
+		UART3_SaveMacro(dataPtr, len);
+		break;
+	case 100:
+		UART3_StartMacro(dataPtr, len);
+		break;
+	case 101:
+		UART3_StartProgram(dataPtr, len);
+		break;
+	case 102:
+		UART3_StartShot(dataPtr, len);
+		break;
+	case 110:
+		UART3_Stop(dataPtr, len);
+		break;
+	case 13:
+		UART3_DeleteShot(dataPtr, len);
+		break;
+	case 14:
+		UART3_DeleteProgram(dataPtr, len);
+		break;
+	case 15:
+		UART3_DeleteMacro(dataPtr, len);
+		break;
+	case 120:
+		UART3_DeleteAllData(dataPtr, len);
+		break;
+	case 180:
+		UART3_GetDeviceStatus(dataPtr, len);
+		break;
+	case 200:
+		UART3_SetServoOffset(dataPtr, len);
+		break;
+	case 204:
+		UART3_GetServoOffset(dataPtr, len);
+		break;
+	case 201:
+		UART3_SetServoMaxAngle(dataPtr, len);
+		break;
+	case 202:
+		UART3_GetServoMaxAngle(dataPtr, len);
+		break;
+	case 203:
+		UART3_MoveServoToInitialPosition(dataPtr, len);
+		break;
+	case 206:
+		UART3_SetStartupDelay(dataPtr, len);
+		break;
+	case 207:
+		UART3_GetStartupDelay(dataPtr, len);
+		break;
+	case 210:
+		UART3_SetMinRollerSpeed(dataPtr, len);
+		break;
+	case 211:
+		UART3_GetMinRollerSpeed(dataPtr, len);
+		break;
+	case 212:
+		UART3_SetMinScrewSpeed(dataPtr, len);
+		break;
+	case 213:
+		UART3_GetMinScrewSpeed(dataPtr, len);
+		break;
+	case 214:
+		UART3_SetServoInvertFlag(dataPtr, len);
+		break;
+	case 215:
+		UART3_GetServoInvertFlag(dataPtr, len);
+		break;
+	case 181:
+		UART3_ReadStatistics(dataPtr, len);
+		break;
+	case 121:
+		UART3_ResetStatistics(dataPtr, len);
+		break;
+	default:
+		print("Unknown command");
+		break;
+	}
+}
+
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 2eca5ea..d4830e3 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -23,8 +23,6 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 
-#include "GlobalDefines.h"
-
 #include "usbd_cdc_if.h"
 #include "pca9685.h"
 #include "IR.h"
@@ -34,6 +32,7 @@
 #include "SimpleTimer.h"
 #include "RobotFunctions.h"
 #include "ShiftReg.h"
+#include "UART3_Handler.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -59,6 +58,7 @@ TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
 
 UART_HandleTypeDef huart3;
+DMA_HandleTypeDef hdma_usart3_rx;
 
 /* USER CODE BEGIN PV */
 
@@ -68,8 +68,6 @@ uint8_t velosety[600];
 uint8_t rxcomlite = 0;
 uint8_t initcomlete = 0;
 
-uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
-
 unsigned char Shiftreg[3];
 
 uint8_t rejim[60];        // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
@@ -84,10 +82,6 @@ uint16_t vi = 0;
 uint16_t timing1 = 0;
 uint16_t timing2 = 0;
 
-struct Shot BufShots[MAX_NUMBER_SHOTS];
-struct Program BufPrograms;
-struct Macro BufMacro;
-
 extern PCD_HandleTypeDef hpcd_USB_FS;
 
 /* USER CODE END PV */
@@ -95,6 +89,7 @@ extern PCD_HandleTypeDef hpcd_USB_FS;
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);
 static void MX_I2C1_Init(void);
 static void MX_TIM1_Init(void);
 static void MX_TIM2_Init(void);
@@ -126,7 +121,7 @@ int main(void)
   HAL_Init();
 
   /* USER CODE BEGIN Init */
-
+  HAL_Delay(10);
   /* USER CODE END Init */
 
   /* Configure the system clock */
@@ -142,10 +137,12 @@ int main(void)
   __HAL_RCC_USB_FORCE_RESET();
   HAL_Delay(10);
   __HAL_RCC_USB_RELEASE_RESET();
+  HAL_Delay(10);
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
+  MX_DMA_Init();
   MX_I2C1_Init();
   MX_USB_DEVICE_Init();
   MX_TIM1_Init();
@@ -153,29 +150,20 @@ int main(void)
   MX_TIM3_Init();
   MX_USART3_UART_Init();
   /* USER CODE BEGIN 2 */
+  HAL_Delay(10);
+  __HAL_RCC_USART3_CLK_ENABLE();
+  HAL_Delay(10);
+  __HAL_RCC_DMA1_CLK_ENABLE();
+  HAL_Delay(10);
 
     HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);   //PA8
 	HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);   //PA9
-	
 	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);   //PA0
 	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);   //PA1
 	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);   //PA2
 	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);   //PA3
 
    initPCA9685();
-	
-	//BufShots[0].countRepeatShot = 5;
-	//BufShots[0].speedRollerTop = 120;
-	//BufShots[0].speedRollerBottom = 130;
-	//BufShots[0].speedScrew = 50;
-	//BufShots[0].rotationAxial = 90;
-	//BufShots[0].rotationHorizontal = 90;
-	//BufShots[0].rotationVertical = 90;
-	
-	//	SaveShot(0, &BufShots[0]);
-	
-	// BufShots[1] = GetShot(0);
-
 
 	 Shiftreg[0] = 0x00; Shiftreg[1] = 0x44; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
 	 Shiftreg[0] = 0x00; Shiftreg[1] = 0x66; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
@@ -198,6 +186,7 @@ initcomlete = 1;
 
   HAL_TIM_Base_Start_IT(&htim3);
   HAL_NVIC_EnableIRQ(TIM3_IRQn);
+  UART3_START();
 
   /* USER CODE END 2 */
 
@@ -226,148 +215,7 @@ initcomlete = 1;
   {
 
 	  IR_CMD_Handler();
-
-//    if (rxcomlite == 1)
-//    {
-//
-//      txdata[0] = 'O';
-//      txdata[1] = 'K';
-//      txdata[2] = '?';
-//
-//      switch (rxdata[0])
-//      {
-//
-//      case 1:
-//      {
-//        SetServo(0, rxdata[1]);
-//        txdata[0] = 'O';
-//        txdata[1] = 'K';
-//        txdata[2] = '1';
-////        CDC_Transmit_FS(txdata, 3);
-//        break;
-//      }
-//
-//      case 2:
-//      {
-//        SetServo(1, rxdata[1]);
-//        txdata[0] = 'O';
-//        txdata[1] = 'K';
-//        txdata[2] = '2';
-////        CDC_Transmit_FS(txdata, 3);
-//        break;
-//      }
-//
-//      case 3:
-//      {
-//        SetServo(2, rxdata[1]);
-//        txdata[0] = 'O';
-//        txdata[1] = 'K';
-//        txdata[2] = '3';
-////        CDC_Transmit_FS(txdata, 3);
-//        break;
-//      }
-//
-//      case 4:
-//      {
-//        SetServo(0, rxdata[1]);
-//        SetServo(1, rxdata[2]);
-//        SetServo(2, rxdata[3]);
-//
-//        Vz1 = rxdata[4]; // rolic verh 0..200
-//        Vz2 = rxdata[5]; // rolic niz 0..200
-//        vi = 0;
-//
-//        // shnek 0..100
-//        if (rxdata[6] < 101)
-//        {
-//          TIM1->CCR1 = 0;
-//          TIM1->CCR2 = (uint16_t)(40 * rxdata[6]);
-//        }
-//        else
-//        {
-//          TIM1->CCR1 = 0;
-//          TIM1->CCR2 = 4000;
-//        }
-//
-//        txdata[0] = 'O';
-//        txdata[1] = 'K';
-//        txdata[2] = '4';
-////        CDC_Transmit_FS(txdata, 3);
-//        break;
-//      }
-//
-//      case 5:
-//      {
-//        txdata[0] = LOBYTE(timing1);
-//        txdata[1] = HIBYTE(timing1);
-////        CDC_Transmit_FS(txdata, 3);
-//        break;
-//      }
-//      case 6:
-//      {
-////        CDC_Transmit_FS(velosety, 600);
-//        break;
-//      }
-//
-//      case 7:
-//      {
-//        rejim[0] = rxdata[1];
-//        // copy to buffer
-//        for (uint8_t i = 0; i < rejim[0]; i++)
-//        {
-//          rejim[(i * 6) + 1] = rxdata[(i * 6) + 2];
-//          rejim[(i * 6) + 2] = rxdata[(i * 6) + 3];
-//          rejim[(i * 6) + 3] = rxdata[(i * 6) + 4];
-//          rejim[(i * 6) + 4] = rxdata[(i * 6) + 5];
-//          rejim[(i * 6) + 5] = rxdata[(i * 6) + 6];
-//          rejim[(i * 6) + 6] = rxdata[(i * 6) + 7];
-//        }
-//        // set rejim #1
-//        SetServo(0, rejim[1]);
-//        SetServo(1, rejim[2]);
-//        SetServo(2, rejim[3]);
-//        Vz1 = rejim[4];
-//        Vz2 = rejim[5];
-//        TIM1->CCR1 = 0;
-//        TIM1->CCR2 = (uint16_t)(40 * rejim[6]);
-//        // set avto
-//        rejim_number = 1;
-//        avto = 1;
-//        break;
-//      }
-//      case 8:
-//      { // stop avto
-//        avto = 0;
-//        rejim_number = 1;
-//        // stop mecanics
-//        SetServo(0, 90);
-//        SetServo(1, 90);
-//        SetServo(2, 90);
-//        Vz1 = 100;
-//        Vz2 = 100;
-//        TIM1->CCR1 = 0;
-//        TIM1->CCR2 = 0;
-//
-//        break;
-//      }
-//
-//      case 9:
-//      {
-//        txdata[0] = avto;
-//        txdata[1] = rejim_number;
-////        CDC_Transmit_FS(txdata, 3);
-//
-//        break;
-//      }
-//
-//      default:
-//        break;
-//      }
-//
-//      rxcomlite = 0;
-//
-//      // //		HAL_Delay(1000);
-//    }
+	  UART3_Handler();
 
 	forTimer(blinkTimer, 500)
 	{
@@ -693,7 +541,7 @@ static void MX_USART3_UART_Init(void)
 
   /* USER CODE END USART3_Init 1 */
   huart3.Instance = USART3;
-  huart3.Init.BaudRate = 115200;
+  huart3.Init.BaudRate = 9600;
   huart3.Init.WordLength = UART_WORDLENGTH_8B;
   huart3.Init.StopBits = UART_STOPBITS_1;
   huart3.Init.Parity = UART_PARITY_NONE;
@@ -705,14 +553,30 @@ static void MX_USART3_UART_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN USART3_Init 2 */
-  if (HAL_UART_Receive_IT(&huart3, uart_rx_buffer, UART_BUFFER_SIZE) != HAL_OK)
-  {
-	  Error_Handler();
-  }
+//  if (HAL_UART_Receive_IT(&huart3, uart_rx_buffer, UART_BUFFER_SIZE) != HAL_OK)
+//  {
+//	  Error_Handler();
+//  }
   /* USER CODE END USART3_Init 2 */
 
 }
 
+/**
+  * Enable DMA controller clock
+  */
+static void MX_DMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Channel3_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 2, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
+
+}
+
 /**
   * @brief GPIO Initialization Function
   * @param None
@@ -763,10 +627,10 @@ static void MX_GPIO_Init(void)
   HAL_GPIO_Init(IR_EXT_GPIO_Port, &GPIO_InitStruct);
 
   /* EXTI interrupt init*/
-  HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(EXTI0_IRQn, 7, 0);
   HAL_NVIC_EnableIRQ(EXTI0_IRQn);
 
-  HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(EXTI1_IRQn, 7, 0);
   HAL_NVIC_EnableIRQ(EXTI1_IRQn);
 
 /* USER CODE BEGIN MX_GPIO_Init_2 */
diff --git a/Core/Src/stm32f1xx_hal_msp.c b/Core/Src/stm32f1xx_hal_msp.c
index ac61953..cfcbe37 100644
--- a/Core/Src/stm32f1xx_hal_msp.c
+++ b/Core/Src/stm32f1xx_hal_msp.c
@@ -24,6 +24,7 @@
 /* USER CODE BEGIN Includes */
 
 /* USER CODE END Includes */
+extern DMA_HandleTypeDef hdma_usart3_rx;
 
 /* Private typedef -----------------------------------------------------------*/
 /* USER CODE BEGIN TD */
@@ -348,8 +349,25 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(RX_GPIO_Port, &GPIO_InitStruct);
 
+    /* USART3 DMA Init */
+    /* USART3_RX Init */
+    hdma_usart3_rx.Instance = DMA1_Channel3;
+    hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart3_rx.Init.Mode = DMA_CIRCULAR;
+    hdma_usart3_rx.Init.Priority = DMA_PRIORITY_HIGH;
+    if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(huart,hdmarx,hdma_usart3_rx);
+
     /* USART3 interrupt Init */
-    HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(USART3_IRQn, 3, 0);
     HAL_NVIC_EnableIRQ(USART3_IRQn);
   /* USER CODE BEGIN USART3_MspInit 1 */
 
@@ -381,6 +399,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
     */
     HAL_GPIO_DeInit(GPIOB, TX_Pin|RX_Pin);
 
+    /* USART3 DMA DeInit */
+    HAL_DMA_DeInit(huart->hdmarx);
+
     /* USART3 interrupt DeInit */
     HAL_NVIC_DisableIRQ(USART3_IRQn);
   /* USER CODE BEGIN USART3_MspDeInit 1 */
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index 719ad2d..ef2592e 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -28,8 +28,10 @@
 #include "usb_device.h"
 #include "usbd_cdc_if.h"
 
-#include "GlobalDefines.h"
 #include "Print.h"
+
+#include "UART3_Handler.h"
+#include "SimpleTimer.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -50,17 +52,22 @@
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
 
+extern uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
+extern volatile uint16_t packet_index;
+extern volatile uint32_t uartTimer;
+extern volatile uint8_t uart_rx_in_progress;
+
 uint8_t myi;
 extern uint16_t vi; // ������� ���������� ������ ��� �� 0..599
-uint16_t v1[30];    // ������ ��������� (�������) [0] - ����� ���������, [1-29] - ������
+uint16_t v1[30]; // ������ ��������� (�������) [0] - ����� ���������, [1-29] - ������
 uint16_t v2[30];
 
 uint32_t vt1 = 0; // ����������� �������� (�� ������� ���������) (�������)
 uint32_t vt2 = 0;
 
-uint16_t vs1[4] = {0, 0, 0, 0}; // ������ ����������� �������� �� 3 ���������
-uint16_t vs2[4] = {0, 0, 0, 0}; //[0] - ������� �������� ��������
-                                //[1-3] - �������� �� vt
+uint16_t vs1[4] = { 0, 0, 0, 0 }; // ������ ����������� �������� �� 3 ���������
+uint16_t vs2[4] = { 0, 0, 0, 0 }; //[0] - ������� �������� ��������
+//[1-3] - �������� �� vt
 
 uint32_t vsk1 = 0; // ���������� ������� �������� (�������)
 uint32_t vsk2 = 0;
@@ -71,7 +78,7 @@ uint16_t Vupr1 = 0; // ������� ��� ��������
 uint16_t Vzad2 = 0; // ������� �������� ������� ������
 uint16_t Vupr2 = 0; // ������� ��� ������� ������
 
-extern uint8_t rejim[60];    // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
+extern uint8_t rejim[60];  // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
 extern uint8_t avto;         // vkl/otkl avtomaticheskoi raboti
 extern uint8_t rejim_number; // nomer tekyshego rejima
 
@@ -93,86 +100,72 @@ int32_t computePID2(uint16_t input, uint16_t setpoint);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-int32_t computePID1(uint16_t input, uint16_t setpoint)
-{
-  static int32_t integral = 0, prevErr = 0; // ������������ ������������ � ���������� ������
+int32_t computePID1(uint16_t input, uint16_t setpoint) {
+	static int32_t integral = 0, prevErr = 0; // ������������ ������������ � ���������� ������
 
-  int32_t err = setpoint - input; // 1.������
+	int32_t err = setpoint - input; // 1.������
 
-  integral = integral + err / 20; // 2.������������ ������������ dt = 0.01, ki = 5;
+	integral = integral + err / 20; // 2.������������ ������������ dt = 0.01, ki = 5;
 
-  if (integral > 4000)
-  {
-    integral = 4000;
-  }
-  if (integral < 0)
-  {
-    integral = 0;
-  }
+	if (integral > 4000) {
+		integral = 4000;
+	}
+	if (integral < 0) {
+		integral = 0;
+	}
 
-  int32_t D = (err - prevErr); // 3.���������������� ������������ dt = 0.01, kd = 0.01
-  if (D > 4000)
-  {
-    D = 4000;
-  }
-  if (D < 0)
-  {
-    D = 0;
-  }
+	int32_t D = (err - prevErr); // 3.���������������� ������������ dt = 0.01, kd = 0.01
+	if (D > 4000) {
+		D = 4000;
+	}
+	if (D < 0) {
+		D = 0;
+	}
 
-  prevErr = err;
-  //
-  int32_t Rout = ((err * 3) >> 1) + integral + D; // 4.   �=1,5 + �=5 + �=0.01
-  if (Rout > 4000)
-  {
-    Rout = 4000;
-  } //
-  if (Rout < 0)
-  {
-    Rout = 0;
-  } //
+	prevErr = err;
+	//
+	int32_t Rout = ((err * 3) >> 1) + integral + D; // 4.   �=1,5 + �=5 + �=0.01
+	if (Rout > 4000) {
+		Rout = 4000;
+	} //
+	if (Rout < 0) {
+		Rout = 0;
+	} //
 
-  return Rout;
+	return Rout;
 }
 
-int32_t computePID2(uint16_t input, uint16_t setpoint)
-{
-  static int32_t integral = 0, prevErr = 0; // ������������ ������������ � ���������� ������
-  int32_t err = setpoint - input;           // 1.������
+int32_t computePID2(uint16_t input, uint16_t setpoint) {
+	static int32_t integral = 0, prevErr = 0; // ������������ ������������ � ���������� ������
+	int32_t err = setpoint - input;           // 1.������
 
-  integral = integral + err / 20; // 2.������������ ������������ dt = 0.01, ki = 5;
-  if (integral > 4000)
-  {
-    integral = 4000;
-  }
-  if (integral < 0)
-  {
-    integral = 0;
-  }
+	integral = integral + err / 20; // 2.������������ ������������ dt = 0.01, ki = 5;
+	if (integral > 4000) {
+		integral = 4000;
+	}
+	if (integral < 0) {
+		integral = 0;
+	}
 
-  int32_t D = (err - prevErr); // 3.���������������� ������������ dt = 0.01, kd = 0.01
-  if (D > 4000)
-  {
-    D = 4000;
-  }
-  if (D < 0)
-  {
-    D = 0;
-  }
+	int32_t D = (err - prevErr); // 3.���������������� ������������ dt = 0.01, kd = 0.01
+	if (D > 4000) {
+		D = 4000;
+	}
+	if (D < 0) {
+		D = 0;
+	}
 
-  prevErr = err;
-  //
-  int32_t Rout = ((err * 3) >> 1) + integral + D; // 4.   �=1,5 + �=5 + �=0.01
-  if (Rout > 4000)
-  {
-    Rout = 4000;
-  } //
-  if (Rout < 0)
-  {
-    Rout = 0;
-  } //
+	prevErr = err;
+	//
+	int32_t Rout = ((err * 3) >> 1) + integral + D; // 4.   �=1,5 + �=5 + �=0.01
+	if (Rout > 4000) {
+		Rout = 4000;
+	} //
+	if (Rout < 0) {
+		Rout = 0;
+	} //
 
-  return Rout;
+	return Rout;
 }
 /* USER CODE END 0 */
 
@@ -180,6 +173,7 @@ int32_t computePID2(uint16_t input, uint16_t setpoint)
 extern PCD_HandleTypeDef hpcd_USB_FS;
 extern I2C_HandleTypeDef hi2c1;
 extern TIM_HandleTypeDef htim3;
+extern DMA_HandleTypeDef hdma_usart3_rx;
 extern UART_HandleTypeDef huart3;
 /* USER CODE BEGIN EV */
 extern uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
@@ -197,9 +191,8 @@ void NMI_Handler(void)
 
   /* USER CODE END NonMaskableInt_IRQn 0 */
   /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
-  while (1)
-  {
-  }
+	while (1) {
+	}
   /* USER CODE END NonMaskableInt_IRQn 1 */
 }
 
@@ -309,175 +302,152 @@ void SysTick_Handler(void)
 {
   /* USER CODE BEGIN SysTick_IRQn 0 */
 
-  // ��������� ������� ��������� ��������� 1
-  if (v1[0] > 0)
-  { // ��������� ���� �� ���������� ������ � ������ ���������
-    // ������� ������� ��������
-    vt1 = 0;
-    for (uint8_t i = 1; i <= v1[0]; i++)
-    {
-      vt1 += v1[i];
-    }
-    vt1 = vt1 / v1[0];
-    // ���� �� ����� ������ ���, �� ����� ��������� ���������� ��������
-    // ��������
-  }
-  else
-  {
-    vt1 = timing1;
-  }
-  v1[0] = 0; // �������� ������� ��������� ������� ���������
-             // ������ ������ �������� ������
+	// ��������� ������� ��������� ��������� 1
+	if (v1[0] > 0) { // ��������� ���� �� ���������� ������ � ������ ���������
+					 // ������� ������� ��������
+		vt1 = 0;
+		for (uint8_t i = 1; i <= v1[0]; i++) {
+			vt1 += v1[i];
+		}
+		vt1 = vt1 / v1[0];
+		// ���� �� ����� ������ ���, �� ����� ��������� ���������� ��������
+		// ��������
+	} else {
+		vt1 = timing1;
+	}
+	v1[0] = 0; // �������� ������� ��������� ������� ���������
+			   // ������ ������ �������� ������
 
-  // ��������� ������� ��������� ��������� 2
-  if (v2[0] > 0)
-  { // ��������� ���� �� ���������� ������ � ������ ���������
-    // ������� ������� ��������
-    vt2 = 0;
-    for (uint8_t i = 1; i <= v2[0]; i++)
-    {
-      vt2 += v2[i];
-    }
-    vt2 = vt2 / v2[0];
-    // ���� �� ����� ������ ���, �� ����� ��������� ���������� ��������
-    // ��������
-  }
-  else
-  {
-    vt2 = timing2;
-  }
-  v2[0] = 0; // �������� ������� ��������� ������� ���������
-             // ������ ������ �������� ������
+	// ��������� ������� ��������� ��������� 2
+	if (v2[0] > 0) { // ��������� ���� �� ���������� ������ � ������ ���������
+					 // ������� ������� ��������
+		vt2 = 0;
+		for (uint8_t i = 1; i <= v2[0]; i++) {
+			vt2 += v2[i];
+		}
+		vt2 = vt2 / v2[0];
+		// ���� �� ����� ������ ���, �� ����� ��������� ���������� ��������
+		// ��������
+	} else {
+		vt2 = timing2;
+	}
+	v2[0] = 0; // �������� ������� ��������� ������� ���������
+			   // ������ ������ �������� ������
 
-  // ���������� ������� �� 3
-  if (vs1[0] < 3)
-  {
-    vs1[vs1[0] + 1] = (uint16_t)vt1;
-    vs1[0]++;
-  }
-  else
-  {
-    vs1[0] = 0;
-    vs1[vs1[0] + 1] = (uint16_t)vt1;
-    vs1[0]++;
-  }
+	// ���������� ������� �� 3
+	if (vs1[0] < 3) {
+		vs1[vs1[0] + 1] = (uint16_t) vt1;
+		vs1[0]++;
+	} else {
+		vs1[0] = 0;
+		vs1[vs1[0] + 1] = (uint16_t) vt1;
+		vs1[0]++;
+	}
 
-  vsk1 = (vs1[1] + vs1[2] + vs1[3]) / 3;
+	vsk1 = (vs1[1] + vs1[2] + vs1[3]) / 3;
 
-  if (vs2[0] < 3)
-  {
-    vs2[vs2[0] + 1] = (uint16_t)vt2;
-    vs2[0]++;
-  }
-  else
-  {
-    vs2[0] = 0;
-    vs2[vs2[0] + 1] = (uint16_t)vt2;
-    vs2[0]++;
-  }
+	if (vs2[0] < 3) {
+		vs2[vs2[0] + 1] = (uint16_t) vt2;
+		vs2[0]++;
+	} else {
+		vs2[0] = 0;
+		vs2[vs2[0] + 1] = (uint16_t) vt2;
+		vs2[0]++;
+	}
 
-  vsk2 = (vs2[1] + vs2[2] + vs2[3]) / 3;
+	vsk2 = (vs2[1] + vs2[2] + vs2[3]) / 3;
 
-  // ������� ������� ����� ���������� � �������� 60*1000000/(�*10)
-  if (vsk1 != 0)
-  {
-    vsk1 = 6000000 / vsk1;
-  }
-  else
-  {
-    vsk1 = 0;
-  }
-  if (vsk1 > 10000) vsk1 = 10000;
-  if (vsk1 < 150)   vsk1 = 0;
+	// ������� ������� ����� ���������� � �������� 60*1000000/(�*10)
+	if (vsk1 != 0) {
+		vsk1 = 6000000 / vsk1;
+	} else {
+		vsk1 = 0;
+	}
+	if (vsk1 > 10000)
+		vsk1 = 10000;
+	if (vsk1 < 150)
+		vsk1 = 0;
 
-  if (vsk2 != 0)
-  {
-    vsk2 = 6000000 / vsk2;
-  }
-  else
-  {
-    vsk2 = 0;
-  }
-  if (vsk2 > 10000)
-    vsk2 = 10000;
-  if (vsk2 < 150)
-    vsk2 = 0;
+	if (vsk2 != 0) {
+		vsk2 = 6000000 / vsk2;
+	} else {
+		vsk2 = 0;
+	}
+	if (vsk2 > 10000)
+		vsk2 = 10000;
+	if (vsk2 < 150)
+		vsk2 = 0;
 
-  // ������� ��������� �������� 0 - 200 � -8000 ... 8000 ��./���.
-  if (Vz1 < 0)   {Vz1 = 0;}
-  if (Vz1 > 200) {Vz1 = 200;}
-  if (Vz2 < 0)   {Vz2 = 0;}
-  if (Vz2 > 200) {Vz2 = 200;}
+	// ������� ��������� �������� 0 - 200 � -8000 ... 8000 ��./���.
+	if (Vz1 < 0) {
+		Vz1 = 0;
+	}
+	if (Vz1 > 200) {
+		Vz1 = 200;
+	}
+	if (Vz2 < 0) {
+		Vz2 = 0;
+	}
+	if (Vz2 > 200) {
+		Vz2 = 200;
+	}
 
-  if (Vz1 > 100)
-  {
-    Vzad1 = (Vz1 - 100) * 80;
-  }
-  else
-  {
-    Vzad1 = (100 - Vz1) * 80;
-  }
-  if (Vz2 > 100)
-  {
-    Vzad2 = (Vz2 - 100) * 80;
-  }
-  else
-  {
-    Vzad2 = (100 - Vz2) * 80;
-  }
+	if (Vz1 > 100) {
+		Vzad1 = (Vz1 - 100) * 80;
+	} else {
+		Vzad1 = (100 - Vz1) * 80;
+	}
+	if (Vz2 > 100) {
+		Vzad2 = (Vz2 - 100) * 80;
+	} else {
+		Vzad2 = (100 - Vz2) * 80;
+	}
 
-  // ���������
-  Vupr1 = (uint16_t)computePID1(vsk1, Vzad1);
-  Vupr2 = (uint16_t)computePID2(vsk2, Vzad2);
+	// ���������
+	Vupr1 = (uint16_t) computePID1(vsk1, Vzad1);
+	Vupr2 = (uint16_t) computePID2(vsk2, Vzad2);
 
-  if (Vz1 > 100)
-  {
-    TIM2->CCR2 = 0;
-    TIM2->CCR1 = Vupr1;
-  }
-  else
-  {
-    TIM2->CCR1 = 0;
-    TIM2->CCR2 = Vupr1;
-  }
+	if (Vz1 > 100) {
+		TIM2->CCR2 = 0;
+		TIM2->CCR1 = Vupr1;
+	} else {
+		TIM2->CCR1 = 0;
+		TIM2->CCR2 = Vupr1;
+	}
 
-  if (Vz2 > 100)
-  {
-    TIM2->CCR3 = 0;
-    TIM2->CCR4 = Vupr2;
-  }
-  else
-  {
-    TIM2->CCR4 = 0;
-    TIM2->CCR3 = Vupr2;
-  }
+	if (Vz2 > 100) {
+		TIM2->CCR3 = 0;
+		TIM2->CCR4 = Vupr2;
+	} else {
+		TIM2->CCR4 = 0;
+		TIM2->CCR3 = Vupr2;
+	}
 
 //  TIM2->CCR4 = 0xffff;
 //  TIM2->CCR3 = 0xffff;
 //  TIM2->CCR1 = 0xffff;
 //  TIM2->CCR2 = 0xffff;
 
-  // ������ ���������� �������� � ����� ��� ��
-  if (vi < 600)
-  {
-    velosety[vi] = LOBYTE(timing1);
-    velosety[vi + 1] = HIBYTE(timing1);
-    velosety[vi + 2] = LOBYTE(vsk1);
-    velosety[vi + 3] = HIBYTE(vsk1);
-    velosety[vi + 4] = LOBYTE(vsk2);
-    velosety[vi + 5] = HIBYTE(vsk2);
-    vi = vi + 6;
-  }
+	// ������ ���������� �������� � ����� ��� ��
+	if (vi < 600) {
+		velosety[vi] = LOBYTE(timing1);
+		velosety[vi + 1] = HIBYTE(timing1);
+		velosety[vi + 2] = LOBYTE(vsk1);
+		velosety[vi + 3] = HIBYTE(vsk1);
+		velosety[vi + 4] = LOBYTE(vsk2);
+		velosety[vi + 5] = HIBYTE(vsk2);
+		vi = vi + 6;
+	}
 
-  //  else
-  // {vi = 0;
-  //	 velosety[vi] = LOBYTE(timing1);
-  //	 velosety[vi+1] = HIBYTE(timing1);
-  //  velosety[vi+2] = LOBYTE(vt);
-  //  velosety[vi+3] = HIBYTE(vt);
-  //	 velosety[vi+4] = LOBYTE(vsk);
-  //  velosety[vi+5] = HIBYTE(vsk);
-  //	 vi = vi + 6; }
+	//  else
+	// {vi = 0;
+	//	 velosety[vi] = LOBYTE(timing1);
+	//	 velosety[vi+1] = HIBYTE(timing1);
+	//  velosety[vi+2] = LOBYTE(vt);
+	//  velosety[vi+3] = HIBYTE(vt);
+	//	 velosety[vi+4] = LOBYTE(vsk);
+	//  velosety[vi+5] = HIBYTE(vsk);
+	//	 vi = vi + 6; }
 
   /* USER CODE END SysTick_IRQn 0 */
   HAL_IncTick();
@@ -528,7 +498,7 @@ void EXTI0_IRQHandler(void)
 void EXTI1_IRQHandler(void)
 {
   /* USER CODE BEGIN EXTI1_IRQn 0 */
-  IR_handler();
+	IR_handler();
   /* USER CODE END EXTI1_IRQn 0 */
   HAL_GPIO_EXTI_IRQHandler(IR_EXT_Pin);
   /* USER CODE BEGIN EXTI1_IRQn 1 */
@@ -536,6 +506,20 @@ void EXTI1_IRQHandler(void)
   /* USER CODE END EXTI1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA1 channel3 global interrupt.
+  */
+void DMA1_Channel3_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel3_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel3_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart3_rx);
+  /* USER CODE BEGIN DMA1_Channel3_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel3_IRQn 1 */
+}
+
 /**
   * @brief This function handles USB low priority or CAN RX0 interrupts.
   */
@@ -557,82 +541,67 @@ void TIM3_IRQHandler(void)
 {
   /* USER CODE BEGIN TIM3_IRQn 0 */
 
-  static uint32_t prev_capture1 = 0;
-  static uint32_t prev_capture2 = 0;
+	static uint32_t prev_capture1 = 0;
+	static uint32_t prev_capture2 = 0;
 
-  uint32_t current_capture1 = 0;
-  uint32_t current_capture2 = 0;
-  uint32_t elapsed_time1 = 0;
-  uint32_t elapsed_time2 = 0;
+	uint32_t current_capture1 = 0;
+	uint32_t current_capture2 = 0;
+	uint32_t elapsed_time1 = 0;
+	uint32_t elapsed_time2 = 0;
 
-  /* USER CODE BEGIN TIM3_IRQn 0 */
+	/* USER CODE BEGIN TIM3_IRQn 0 */
 
-  // Обработка переполнения таймера
-  if (TIM3->SR & TIM_SR_UIF)
-  {
-	  current_capture1 = 0xFFFFFFFF;
-	  current_capture2 = 0xFFFFFFFF;
-    // Сброс флага переполнения
-    TIM3->SR &= ~TIM_SR_UIF;
-  }
+	// Обработка переполнения таймера
+	if (TIM3->SR & TIM_SR_UIF) {
+		current_capture1 = 0xFFFFFFFF;
+		current_capture2 = 0xFFFFFFFF;
+		// Сброс флага переполнения
+		TIM3->SR &= ~TIM_SR_UIF;
+	}
 
-  // Обработка захвата сигнала для канала 1
-  if (TIM3->SR & TIM_SR_CC1IF)
-  {
-    current_capture1 = TIM3->CCR1;
+	// Обработка захвата сигнала для канала 1
+	if (TIM3->SR & TIM_SR_CC1IF) {
+		current_capture1 = TIM3->CCR1;
 
-    if (current_capture1 >= prev_capture1)
-    {
-      elapsed_time1 = current_capture1 - prev_capture1;
-    }
-    else
-    {
-      // Учёт переполнения таймера
-      elapsed_time1 = (65000 - prev_capture1) + current_capture1 + 1;
-    }
+		if (current_capture1 >= prev_capture1) {
+			elapsed_time1 = current_capture1 - prev_capture1;
+		} else {
+			// Учёт переполнения таймера
+			elapsed_time1 = (65000 - prev_capture1) + current_capture1 + 1;
+		}
 
-    // Ограничение значения для сохранения в 16-битную переменную
-    if (elapsed_time1 > 65535)
-    {
-      timing1 = 65535; // Максимальное значение
-    }
-    else
-    {
-      timing1 = (uint16_t)elapsed_time1;
-    }
+		// Ограничение значения для сохранения в 16-битную переменную
+		if (elapsed_time1 > 65535) {
+			timing1 = 65535; // Максимальное значение
+		} else {
+			timing1 = (uint16_t) elapsed_time1;
+		}
 
-    prev_capture1 = current_capture1;
-    TIM3->SR &= ~TIM_SR_CC1IF; // Сброс флага захвата сигнала
-  }
+		prev_capture1 = current_capture1;
+		TIM3->SR &= ~TIM_SR_CC1IF; // Сброс флага захвата сигнала
+	}
 
-  // Обработка захвата сигнала для канала 2
-  if (TIM3->SR & TIM_SR_CC2IF)
-  {
-    current_capture2 = TIM3->CCR2;
+	// Обработка захвата сигнала для канала 2
+	if (TIM3->SR & TIM_SR_CC2IF) {
+		current_capture2 = TIM3->CCR2;
 
-    if (current_capture2 >= prev_capture2)
-    {
-      elapsed_time2 = current_capture2 - prev_capture2;
-    }
-    else
-    {
-      // Учёт переполнения таймера
-      elapsed_time2 = (65000 - prev_capture2) + current_capture2 + 1;
-    }
+		if (current_capture2 >= prev_capture2) {
+			elapsed_time2 = current_capture2 - prev_capture2;
+		} else {
+			// Учёт переполнения таймера
+			elapsed_time2 = (65000 - prev_capture2) + current_capture2 + 1;
+		}
 
-    // Ограничение значения для сохранения в 16-битную переменную
-    if (elapsed_time2 > 65535)
-    {
-      timing2 = 65535; // Максимальное значение
-    }
-    else
-    {
-      timing2 = (uint16_t)elapsed_time2;
-    }
+		// Ограничение значения для сохранения в 16-битную переменную
+		if (elapsed_time2 > 65535) {
+			timing2 = 65535; // Максимальное значение
+		} else {
+			timing2 = (uint16_t) elapsed_time2;
+		}
 
-    prev_capture2 = current_capture2;
-    TIM3->SR &= ~TIM_SR_CC2IF; // Сброс флага захвата сигнала
-  }
+		prev_capture2 = current_capture2;
+		TIM3->SR &= ~TIM_SR_CC2IF; // Сброс флага захвата сигнала
+	}
 
   /* USER CODE END TIM3_IRQn 0 */
   HAL_TIM_IRQHandler(&htim3);
@@ -675,15 +644,19 @@ void I2C1_ER_IRQHandler(void)
 void USART3_IRQHandler(void)
 {
   /* USER CODE BEGIN USART3_IRQn 0 */
-    HAL_UART_Receive_IT(&huart3, uart_rx_buffer, UART_BUFFER_SIZE);
-    // CDC_Transmit_FS(uart_rx_buffer, UART_BUFFER_SIZE);
-
-
+//	if (USART3->SR & USART_SR_RXNE) {
+//		uartTimer = millis();
+//		uart_rx_in_progress = 1;
+//		uint8_t received_byte = (uint8_t) (USART3->DR & 0xFF);
+//		uart_rx_buffer[uart_rx_index++] = received_byte;
+//        if (uart_rx_index >= UART_BUFFER_SIZE) {
+//            uart_rx_index = 0;
+//        }
+//	}
 
   /* USER CODE END USART3_IRQn 0 */
   HAL_UART_IRQHandler(&huart3);
   /* USER CODE BEGIN USART3_IRQn 1 */
-
   /* USER CODE END USART3_IRQn 1 */
 }
 
diff --git a/StackSport.ioc b/StackSport.ioc
index f6d6e04..cc8055b 100644
--- a/StackSport.ioc
+++ b/StackSport.ioc
@@ -2,22 +2,34 @@
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
+Dma.Request0=USART3_RX
+Dma.RequestsNb=1
+Dma.USART3_RX.0.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART3_RX.0.Instance=DMA1_Channel3
+Dma.USART3_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART3_RX.0.MemInc=DMA_MINC_ENABLE
+Dma.USART3_RX.0.Mode=DMA_CIRCULAR
+Dma.USART3_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART3_RX.0.PeriphInc=DMA_PINC_DISABLE
+Dma.USART3_RX.0.Priority=DMA_PRIORITY_HIGH
+Dma.USART3_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32F103C8T6
 Mcu.Family=STM32F1
-Mcu.IP0=I2C1
-Mcu.IP1=NVIC
-Mcu.IP2=RCC
-Mcu.IP3=SYS
-Mcu.IP4=TIM1
-Mcu.IP5=TIM2
-Mcu.IP6=TIM3
-Mcu.IP7=USART3
-Mcu.IP8=USB
-Mcu.IP9=USB_DEVICE
-Mcu.IPNb=10
+Mcu.IP0=DMA
+Mcu.IP1=I2C1
+Mcu.IP10=USB_DEVICE
+Mcu.IP2=NVIC
+Mcu.IP3=RCC
+Mcu.IP4=SYS
+Mcu.IP5=TIM1
+Mcu.IP6=TIM2
+Mcu.IP7=TIM3
+Mcu.IP8=USART3
+Mcu.IP9=USB
+Mcu.IPNb=11
 Mcu.Name=STM32F103C(8-B)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PC13-TAMPER-RTC
@@ -55,22 +67,23 @@ Mcu.UserName=STM32F103C8Tx
 MxCube.Version=6.12.0
 MxDb.Version=DB.6.0.120
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.DMA1_Channel3_IRQn=true\:2\:0\:true\:false\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.EXTI0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.EXTI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.EXTI0_IRQn=true\:7\:0\:true\:false\:true\:true\:true\:true
+NVIC.EXTI1_IRQn=true\:7\:0\:true\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.I2C1_ER_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.I2C1_EV_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.I2C1_EV_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
 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.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
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
-NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.USB_LP_CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
+NVIC.TIM3_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
+NVIC.USART3_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
+NVIC.USB_LP_CAN1_RX0_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA0-WKUP.GPIOParameters=GPIO_Speed,GPIO_Label
 PA0-WKUP.GPIO_Label=RPWM_UP
@@ -187,7 +200,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_I2C1_Init-I2C1-false-HAL-true,4-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,5-MX_TIM1_Init-TIM1-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,8-MX_USART3_UART_Init-USART3-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_I2C1_Init-I2C1-false-HAL-true,5-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM2_Init-TIM2-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true,9-MX_USART3_UART_Init-USART3-false-HAL-true
 RCC.ADCFreqValue=24000000
 RCC.AHBFreq_Value=48000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -243,7 +256,8 @@ TIM3.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2
 TIM3.IPParameters=Channel-Input_Capture1_from_TI1,Channel-Input_Capture2_from_TI2,Prescaler,Period
 TIM3.Period=65000
 TIM3.Prescaler=47
-USART3.IPParameters=VirtualMode
+USART3.BaudRate=9600
+USART3.IPParameters=VirtualMode,BaudRate
 USART3.VirtualMode=VM_ASYNC
 USB_DEVICE.APP_RX_DATA_SIZE=64
 USB_DEVICE.APP_TX_DATA_SIZE=64
diff --git a/USB_DEVICE/App/usbd_cdc_if.c b/USB_DEVICE/App/usbd_cdc_if.c
index dc235ba..104c453 100644
--- a/USB_DEVICE/App/usbd_cdc_if.c
+++ b/USB_DEVICE/App/usbd_cdc_if.c
@@ -1,21 +1,21 @@
 /* USER CODE BEGIN Header */
 /**
-  ******************************************************************************
-  * @file           : usbd_cdc_if.c
-  * @version        : v2.0_Cube
-  * @brief          : Usb device for Virtual Com Port.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2024 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * @file           : usbd_cdc_if.c
+ * @version        : v2.0_Cube
+ * @brief          : Usb device for Virtual Com Port.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
 /* USER CODE END Header */
 
 /* Includes ------------------------------------------------------------------*/
@@ -150,10 +150,10 @@ USBD_CDC_ItfTypeDef USBD_Interface_fops_FS =
 static int8_t CDC_Init_FS(void)
 {
   /* USER CODE BEGIN 3 */
-  /* Set Application Buffers */
-  USBD_CDC_SetTxBuffer(&hUsbDeviceFS, UserTxBufferFS, 0);
-  USBD_CDC_SetRxBuffer(&hUsbDeviceFS, UserRxBufferFS);
-  return (USBD_OK);
+	/* Set Application Buffers */
+	USBD_CDC_SetTxBuffer(&hUsbDeviceFS, UserTxBufferFS, 0);
+	USBD_CDC_SetRxBuffer(&hUsbDeviceFS, UserRxBufferFS);
+	return (USBD_OK);
   /* USER CODE END 3 */
 }
 
@@ -164,7 +164,7 @@ static int8_t CDC_Init_FS(void)
 static int8_t CDC_DeInit_FS(void)
 {
   /* USER CODE BEGIN 4 */
-  return (USBD_OK);
+	return (USBD_OK);
   /* USER CODE END 4 */
 }
 
@@ -178,66 +178,65 @@ static int8_t CDC_DeInit_FS(void)
 static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
 {
   /* USER CODE BEGIN 5 */
-  switch(cmd)
-  {
-    case CDC_SEND_ENCAPSULATED_COMMAND:
+	switch (cmd) {
+	case CDC_SEND_ENCAPSULATED_COMMAND:
 
-    break;
+		break;
 
-    case CDC_GET_ENCAPSULATED_RESPONSE:
+	case CDC_GET_ENCAPSULATED_RESPONSE:
 
-    break;
+		break;
 
-    case CDC_SET_COMM_FEATURE:
+	case CDC_SET_COMM_FEATURE:
 
-    break;
+		break;
 
-    case CDC_GET_COMM_FEATURE:
+	case CDC_GET_COMM_FEATURE:
 
-    break;
+		break;
 
-    case CDC_CLEAR_COMM_FEATURE:
+	case CDC_CLEAR_COMM_FEATURE:
 
-    break;
+		break;
 
-  /*******************************************************************************/
-  /* Line Coding Structure                                                       */
-  /*-----------------------------------------------------------------------------*/
-  /* Offset | Field       | Size | Value  | Description                          */
-  /* 0      | dwDTERate   |   4  | Number |Data terminal rate, in bits per second*/
-  /* 4      | bCharFormat |   1  | Number | Stop bits                            */
-  /*                                        0 - 1 Stop bit                       */
-  /*                                        1 - 1.5 Stop bits                    */
-  /*                                        2 - 2 Stop bits                      */
-  /* 5      | bParityType |  1   | Number | Parity                               */
-  /*                                        0 - None                             */
-  /*                                        1 - Odd                              */
-  /*                                        2 - Even                             */
-  /*                                        3 - Mark                             */
-  /*                                        4 - Space                            */
-  /* 6      | bDataBits  |   1   | Number Data bits (5, 6, 7, 8 or 16).          */
-  /*******************************************************************************/
-    case CDC_SET_LINE_CODING:
+		/*******************************************************************************/
+		/* Line Coding Structure                                                       */
+		/*-----------------------------------------------------------------------------*/
+		/* Offset | Field       | Size | Value  | Description                          */
+		/* 0      | dwDTERate   |   4  | Number |Data terminal rate, in bits per second*/
+		/* 4      | bCharFormat |   1  | Number | Stop bits                            */
+		/*                                        0 - 1 Stop bit                       */
+		/*                                        1 - 1.5 Stop bits                    */
+		/*                                        2 - 2 Stop bits                      */
+		/* 5      | bParityType |  1   | Number | Parity                               */
+		/*                                        0 - None                             */
+		/*                                        1 - Odd                              */
+		/*                                        2 - Even                             */
+		/*                                        3 - Mark                             */
+		/*                                        4 - Space                            */
+		/* 6      | bDataBits  |   1   | Number Data bits (5, 6, 7, 8 or 16).          */
+		/*******************************************************************************/
+	case CDC_SET_LINE_CODING:
 
-    break;
+		break;
 
-    case CDC_GET_LINE_CODING:
+	case CDC_GET_LINE_CODING:
 
-    break;
+		break;
 
-    case CDC_SET_CONTROL_LINE_STATE:
+	case CDC_SET_CONTROL_LINE_STATE:
 
-    break;
+		break;
 
-    case CDC_SEND_BREAK:
+	case CDC_SEND_BREAK:
 
-    break;
+		break;
 
-  default:
-    break;
-  }
+	default:
+		break;
+	}
 
-  return (USBD_OK);
+	return (USBD_OK);
   /* USER CODE END 5 */
 }
 
@@ -259,9 +258,9 @@ static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
 static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len)
 {
   /* USER CODE BEGIN 6 */
-  USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &Buf[0]);
-  USBD_CDC_ReceivePacket(&hUsbDeviceFS);
-  return (USBD_OK);
+	USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &Buf[0]);
+	USBD_CDC_ReceivePacket(&hUsbDeviceFS);
+	return (USBD_OK);
   /* USER CODE END 6 */
 }
 
@@ -280,13 +279,20 @@ uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len)
 {
   uint8_t result = USBD_OK;
   /* USER CODE BEGIN 7 */
-  USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*)hUsbDeviceFS.pClassData;
-  if (hcdc->TxState != 0){
-    return USBD_BUSY;
-  }
-  USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len);
-  result = USBD_CDC_TransmitPacket(&hUsbDeviceFS);
-  while(hcdc->TxState != 0);
+	USBD_CDC_HandleTypeDef *hcdc =
+			(USBD_CDC_HandleTypeDef*) hUsbDeviceFS.pClassData;
+	if (hcdc->TxState != 0) {
+		return USBD_BUSY;
+	}
+	USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len);
+	result = USBD_CDC_TransmitPacket(&hUsbDeviceFS);
+	volatile uint32_t timeout = 5000;
+	while (hcdc->TxState != 0) {
+		if (!timeout) {
+			return USBD_FAIL;
+		}
+		timeout--;
+	}
   /* USER CODE END 7 */
   return result;
 }
diff --git a/USB_DEVICE/Target/usbd_conf.c b/USB_DEVICE/Target/usbd_conf.c
index dc3d435..fe0c46d 100644
--- a/USB_DEVICE/Target/usbd_conf.c
+++ b/USB_DEVICE/Target/usbd_conf.c
@@ -77,7 +77,7 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
     __HAL_RCC_USB_CLK_ENABLE();
 
     /* Peripheral interrupt init */
-    HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 1, 0);
     HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
   /* USER CODE BEGIN USB_MspInit 1 */