diff --git a/.vscode/settings.json b/.vscode/settings.json
index b95b67e..a1c3110 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -49,5 +49,5 @@
         "segger_rtt_conf.h": "c",
         "segger_rtt.h": "c",
         "bsp_log.h": "c"
-    }
+    },
 }
\ No newline at end of file
diff --git a/Makefile b/Makefile
index acb0154..af148d3 100644
--- a/Makefile
+++ b/Makefile
@@ -97,7 +97,6 @@ HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_
 HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c \
 HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c \
 HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c \
-\ \
 bsp/bsp_dwt.c \
 bsp/bsp_temperature.c \
 bsp/bsp_led.c \
@@ -106,7 +105,6 @@ bsp/bsp_buzzer.c \
 bsp/bsp_usart.c \
 bsp/bsp_log.c \
 bsp/bsp_init.c \
-\ \
 modules/algorithm/controller.c \
 modules/algorithm/kalman_filter.c \
 modules/algorithm/QuaternionEKF.c \
@@ -129,7 +127,6 @@ modules/master_machine/seasky_protocol.c \
 modules/algorithm/crc8.c \
 modules/algorithm/crc16.c \
 modules/can_comm/can_comm.c \
-\ \
 application/gimbal.c \
 application/chassis.c \
 application/shoot.c \
@@ -144,7 +141,7 @@ HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_ASM_ARMv7M.s
 #######################################
 # binaries
 #######################################
-PREFIX = arm-none-eabi-
+PREFIX = ccache arm-none-eabi-
 # The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx)
 # either it can be added to the PATH environment variable.
 ifdef GCC_PATH
@@ -189,7 +186,7 @@ C_DEFS =  \
 -DARM_MATH_ROUNDING
 
 # AS includes
-AS_INCLUDES = 
+AS_INCLUDES = -IHAL_N_Middlewares/Inc
 
 # C includes
 C_INCLUDES =  \
@@ -263,14 +260,14 @@ vpath %.s $(sort $(dir $(ASM_SOURCES)))
 # 以下是编译命令,命令之前被粉色高亮的@就是静默输出的指令.删除前面的@会将输出显示到命令行.
 # 如@$(CC) -c $(CFLAGS) ...... 去掉第一个@即可.
 $(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR) 
-	@$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
+	$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
 
 $(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
-	@$(AS) -c $(CFLAGS) $< -o $@
+	$(AS) -c $(CFLAGS) $< -o $@
 
 $(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
-	@$(CC) $(OBJECTS) $(LDFLAGS) -o $@
-	@$(SZ) $@
+	$(CC) $(OBJECTS) $(LDFLAGS) -o $@
+	$(SZ) $@
 
 $(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
 	$(HEX) $< $@
@@ -279,7 +276,7 @@ $(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
 	$(BIN) $< $@	
 	
 $(BUILD_DIR):
-	@mkdir $@	
+	mkdir $@	
 
 #######################################
 # clean up
diff --git a/VSCode+Ozone使用方法.md b/VSCode+Ozone使用方法.md
index 99a3c97..bc95983 100644
--- a/VSCode+Ozone使用方法.md
+++ b/VSCode+Ozone使用方法.md
@@ -71,6 +71,7 @@ CubeMX进行初始化 --> VSCode编写代/进行编译/简单调试 --> Ozone变
 2. C语言的内存模型
 3. C语言标准，动态链接库和静态编译的区别，一些编译器的常用选项
 4. STM32F4系列的DBG外设工作原理
+5. GDB调试器、硬件调试器和DBG的关系
 
 ### 编译全过程
 
diff --git a/application/APP层应用编写指引.md b/application/APP层应用编写指引.md
new file mode 100644
index 0000000..3c0bcbf
--- /dev/null
+++ b/application/APP层应用编写指引.md
@@ -0,0 +1,7 @@
+# APP层应用编写指引
+
+<p align='right'>neozng1@hnu.edu.cn</p>
+
+## robot_cmd
+
+机器人命令模块是对整个机器人的抽象，对于单板控制整车的情况，
\ No newline at end of file
diff --git a/application/robot.c b/application/robot.c
new file mode 100644
index 0000000..e69de29
diff --git a/application/robot.h b/application/robot.h
new file mode 100644
index 0000000..edf2f9f
--- /dev/null
+++ b/application/robot.h
@@ -0,0 +1,10 @@
+#ifndef ROBOT_H
+#define ROBOT_H
+
+#define GIMBAL_BOARD
+
+void RobotInit();
+
+void RobotTask();
+
+#endif
\ No newline at end of file
diff --git a/bsp/bsp_led.c b/bsp/bsp_led.c
index 6fa11cb..4ea7104 100644
--- a/bsp/bsp_led.c
+++ b/bsp/bsp_led.c
@@ -2,7 +2,7 @@
 #include "main.h"
 
 extern TIM_HandleTypeDef htim5;
-static tmp_output_level = 0;
+static uint8_t tmp_output_level = 0;
 
 void LED_init()
 {
diff --git a/bsp/struct_typedef.h b/bsp/struct_typedef.h
index e80ba2b..87e7917 100644
--- a/bsp/struct_typedef.h
+++ b/bsp/struct_typedef.h
@@ -1,6 +1,11 @@
 #ifndef STRUCT_TYPEDEF_H
 #define STRUCT_TYPEDEF_H
 
+
+#ifndef __PACKED
+#define __packed __attribute__((pakced))
+#endif // !__PACKED
+
 typedef signed char int8_t;
 typedef signed short int int16_t;