diff --git a/APP/mymain.c b/APP/mymain.c
index 14a8eeb..2fb0794 100644
--- a/APP/mymain.c
+++ b/APP/mymain.c
@@ -23,6 +23,7 @@ void mymain()
         Angel_closed_loop(motory,&FOCStruct_Y,2.3);
         i++;
     }
+    i=0;
     LED_ON;
     while(1)
     {
@@ -32,8 +33,8 @@ void mymain()
         y = Angle.roll ;
         Zitai_closed_loop(motorx,&FOCStruct_X,x);
         Zitai_closed_loop(motory,&FOCStruct_Y,-y);
-        x = getAngle(motorx);
-        y = getAngle(motory);
+//        x = getAngle(motorx);
+//        y = getAngle(motory);
 //        printf("%fY%f\n",x,y);
 //        speed_closed_loop(motorx,&FOCStruct_X,_2PI*5);
 //        speed_closed_loop(motory,&FOCStruct_Y,_2PI*2);
@@ -44,7 +45,7 @@ void mymain()
 //        }
 //        i++;
 //
-//        Data_send(x,y,0,0);
+        Data_send(x,y);
 //        HAL_Delay(3);
     }
 }
\ No newline at end of file
diff --git a/APP/usart_ano.c b/APP/usart_ano.c
index 4d3b6a9..1706a76 100644
--- a/APP/usart_ano.c
+++ b/APP/usart_ano.c
@@ -5,11 +5,12 @@
 #include "usart_ano.h"
 unsigned char Data_Buff[32] ={0XAA,0XFF,0XF1};
 //AA FF F1 10 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 AA 37
-void Data_send(int32_t _a,int32_t _b,int32_t _c,int32_t _d)
+void Data_send(int32_t _a,int32_t _b)
 {
     unsigned char i,cnt=4;
     unsigned char sc=0,ac=0;
 
+    Data_Buff[3]=0x08;
     Data_Buff[cnt++] = BYTE0(_a);
     Data_Buff[cnt++] = BYTE1(_a);
     Data_Buff[cnt++] = BYTE2(_a);
@@ -20,19 +21,6 @@ void Data_send(int32_t _a,int32_t _b,int32_t _c,int32_t _d)
     Data_Buff[cnt++] = BYTE2(_b);
     Data_Buff[cnt++] = BYTE3(_b);
 
-    Data_Buff[cnt++] = BYTE0(_c);
-    Data_Buff[cnt++] = BYTE1(_c);
-    Data_Buff[cnt++] = BYTE2(_c);
-    Data_Buff[cnt++] = BYTE3(_c);
-
-    Data_Buff[cnt++] = BYTE0(_d);
-    Data_Buff[cnt++] = BYTE1(_d);
-    Data_Buff[cnt++] = BYTE2(_d);
-    Data_Buff[cnt++] = BYTE3(_d);
-
-
-    Data_Buff[3]=cnt-4;
-
     for(i=0;i<cnt;i++)
     {
         sc+=Data_Buff[i];
diff --git a/APP/usart_ano.h b/APP/usart_ano.h
index 86251dd..49c1c60 100644
--- a/APP/usart_ano.h
+++ b/APP/usart_ano.h
@@ -10,6 +10,6 @@
 #define BYTE2(dwTemp)       ( *( (char *)(&dwTemp) + 2) )
 #define BYTE3(dwTemp)       ( *( (char *)(&dwTemp) + 3) )
 
-
-void Data_send(int32_t _a,int32_t _b,int32_t _c,int32_t _d);
+void Data_send(int32_t _a,int32_t _b);
+//void Data_send(int32_t _a,int32_t _b,int32_t _c,int32_t _d);
 #endif //FOC_N_USART_ANO_H
diff --git a/CMakeLists_template.txt b/CMakeLists_template.txt
new file mode 100644
index 0000000..3b7fc44
--- /dev/null
+++ b/CMakeLists_template.txt
@@ -0,0 +1,72 @@
+#${templateWarning}
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_VERSION 1)
+${cmakeRequiredVersion}
+# specify cross-compilers and tools
+set(CMAKE_C_COMPILER arm-none-eabi-gcc)
+set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
+set(CMAKE_ASM_COMPILER  arm-none-eabi-gcc)
+set(CMAKE_AR arm-none-eabi-ar)
+set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
+set(CMAKE_OBJDUMP arm-none-eabi-objdump)
+set(SIZE arm-none-eabi-size)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+# project settings
+project(${projectName} C CXX ASM)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_C_STANDARD 11)
+
+#Uncomment for hardware floating point
+#add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)
+#add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
+#add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
+
+#Uncomment for software floating point
+#add_compile_options(-mfloat-abi=soft)
+
+add_compile_options(-mcpu=${mcpu} -mthumb -mthumb-interwork)
+add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0)
+
+# uncomment to mitigate c++17 absolute addresses warnings
+#set(CMAKE_CXX_FLAGS "$${CMAKE_CXX_FLAGS} -Wno-register")
+
+# Enable assembler files preprocessing
+add_compile_options($<$<COMPILE_LANGUAGE:ASM>:-x$<SEMICOLON>assembler-with-cpp>)
+
+if ("$${CMAKE_BUILD_TYPE}" STREQUAL "Release")
+    message(STATUS "Maximum optimization for speed")
+    add_compile_options(-Ofast)
+elseif ("$${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
+    message(STATUS "Maximum optimization for speed, debug info included")
+    add_compile_options(-Ofast -g)
+elseif ("$${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
+    message(STATUS "Maximum optimization for size")
+    add_compile_options(-Os)
+else ()
+    message(STATUS "Minimal optimization, debug info included")
+    add_compile_options(-Og -g)
+endif ()
+
+include_directories(${includes})
+
+add_definitions(${defines})
+
+file(GLOB_RECURSE SOURCES ${sources})
+
+set(LINKER_SCRIPT $${CMAKE_SOURCE_DIR}/${linkerScript})
+
+add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=$${PROJECT_BINARY_DIR}/$${PROJECT_NAME}.map)
+add_link_options(-mcpu=${mcpu} -mthumb -mthumb-interwork)
+add_link_options(-T $${LINKER_SCRIPT})
+
+add_executable($${PROJECT_NAME}.elf $${SOURCES} $${LINKER_SCRIPT})
+
+set(HEX_FILE $${PROJECT_BINARY_DIR}/$${PROJECT_NAME}.hex)
+set(BIN_FILE $${PROJECT_BINARY_DIR}/$${PROJECT_NAME}.bin)
+
+add_custom_command(TARGET $${PROJECT_NAME}.elf POST_BUILD
+        COMMAND $${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:$${PROJECT_NAME}.elf> $${HEX_FILE}
+        COMMAND $${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:$${PROJECT_NAME}.elf> $${BIN_FILE}
+        COMMENT "Building $${HEX_FILE}
+Building $${BIN_FILE}")
diff --git a/IMU/icm42688.c b/IMU/icm42688.c
index c9a26c9..f2c7e13 100644
--- a/IMU/icm42688.c
+++ b/IMU/icm42688.c
@@ -396,7 +396,6 @@ uint8_t MpuGetData(void)
 			pMpu[i] = tBuff[k] = tBuff[k] * (1 - factor) + pMpu[i] * factor;
 		}
 	}
-
 	return 0;
 }