diff --git a/CMakeLists.txt b/CMakeLists.txt
index 691a4fc..89e8675 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
 include("cmake/gcc-arm-none-eabi.cmake")
-
 #
 # This file is generated only once,
 # and is not re-generated if converter is called multiple times.
@@ -12,7 +11,7 @@ include("cmake/gcc-arm-none-eabi.cmake")
 
 # option(BALANCE "Enable balance" ON)
 # option(STEER "Enable steer" ON)
-option(OMNI "Enable omni" ON)
+# option(OMNI "Enable omni" ON)
 # option(INFANTRY_OMNI "Enable infantry moni" ON)
 # option(HERO "Enable hero" ON)
 # option(HERO_STEER "Enable hero_steer" ON)
@@ -28,22 +27,6 @@ set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS ON)
 
-if (CMAKE_BUILD_TYPE STREQUAL "Debug")
-    set(CMAKE_C_FLAGS_DEBUG "-O0 -g")
-    set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
-elseif (CMAKE_BUILD_TYPE STREQUAL "Release")
-    set(CMAKE_C_FLAGS_RELEASE "-O3")
-    set(CMAKE_CXX_FLAGS_RELEASE "-O3")
-elseif (CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
-    set(CMAKE_C_FLAGS_RELWITHDEBINFO "-O2 -g")
-    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g")
-elseif (CMAKE_BUILD_TYPE STREQUAL "MinSizeRel")
-    set(CMAKE_C_FLAGS_MINSIZEREL "-Os")
-    set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os")
-endif ()
-
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -frtti -Wno-volatile")
-
 # 定义构建类型
 if (NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE "Debug")
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 3305764..02be94c 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -117,20 +117,30 @@ const osThreadAttr_t WS2812Task_attributes = {
 /* USER CODE END FunctionPrototypes */
 
 void StartDefaultTask(void *argument);
+
 void ShootTask(void *argument);
+
 void GimbalTask(void *argument);
+
 void ChassisTask(void *argument);
+
 void StartInitTask(void *argument);
+
 void VisionTask(void *argument);
+
 void CmdTask(void *argument);
+
 void RefereeTask(void *argument);
-extern void ws2812Task(void *argument);
+
+void ws2812Task(void *argument);
 
 extern void MX_USB_DEVICE_Init(void);
+
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
 /* Hook prototypes */
 void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
+
 void vApplicationMallocFailedHook(void);
 
 /* USER CODE BEGIN 4 */
@@ -219,7 +229,6 @@ void MX_FREERTOS_Init(void) {
   /* USER CODE BEGIN RTOS_EVENTS */
   /* add events, ... */
   /* USER CODE END RTOS_EVENTS */
-
 }
 
 /* USER CODE BEGIN Header_StartDefaultTask */
@@ -229,8 +238,7 @@ void MX_FREERTOS_Init(void) {
   * @retval None
   */
 /* USER CODE END Header_StartDefaultTask */
-__weak void StartDefaultTask(void *argument)
-{
+__weak void StartDefaultTask(void *argument) {
   /* init code for USB_DEVICE */
   MX_USB_DEVICE_Init();
   /* USER CODE BEGIN StartDefaultTask */
@@ -248,8 +256,7 @@ __weak void StartDefaultTask(void *argument)
 * @retval None
 */
 /* USER CODE END Header_ShootTask */
-__weak void ShootTask(void *argument)
-{
+__weak void ShootTask(void *argument) {
   /* USER CODE BEGIN ShootTask */
   /* Infinite loop */
   for (;;) {
@@ -265,8 +272,7 @@ __weak void ShootTask(void *argument)
 * @retval None
 */
 /* USER CODE END Header_GimbalTask */
-__weak void GimbalTask(void *argument)
-{
+__weak void GimbalTask(void *argument) {
   /* USER CODE BEGIN GimbalTask */
   /* Infinite loop */
   for (;;) {
@@ -282,8 +288,7 @@ __weak void GimbalTask(void *argument)
 * @retval None
 */
 /* USER CODE END Header_ChassisTask */
-__weak void ChassisTask(void *argument)
-{
+__weak void ChassisTask(void *argument) {
   /* USER CODE BEGIN ChassisTask */
   /* Infinite loop */
   for (;;) {
@@ -299,8 +304,7 @@ __weak void ChassisTask(void *argument)
 * @retval None
 */
 /* USER CODE END Header_StartInitTask */
-__weak void StartInitTask(void *argument)
-{
+__weak void StartInitTask(void *argument) {
   /* USER CODE BEGIN StartInitTask */
   /* Infinite loop */
   for (;;) {
@@ -316,8 +320,7 @@ __weak void StartInitTask(void *argument)
 * @retval None
 */
 /* USER CODE END Header_VisionTask */
-__weak void VisionTask(void *argument)
-{
+__weak void VisionTask(void *argument) {
   /* USER CODE BEGIN VisionTask */
   /* Infinite loop */
   for (;;) {
@@ -333,8 +336,7 @@ __weak void VisionTask(void *argument)
 * @retval None
 */
 /* USER CODE END Header_CmdTask */
-__weak void CmdTask(void *argument)
-{
+__weak void CmdTask(void *argument) {
   /* USER CODE BEGIN CmdTask */
   /* Infinite loop */
   for (;;) {
@@ -350,8 +352,7 @@ __weak void CmdTask(void *argument)
 * @retval None
 */
 /* USER CODE END Header_RefereeTask */
-__weak void RefereeTask(void *argument)
-{
+__weak void RefereeTask(void *argument) {
   /* USER CODE BEGIN RefereeTask */
   /* Infinite loop */
   for (;;) {
diff --git a/MY_FLASH.ld b/MY_FLASH.ld
new file mode 100644
index 0000000..6151cce
--- /dev/null
+++ b/MY_FLASH.ld
@@ -0,0 +1,212 @@
+/*
+******************************************************************************
+**
+
+**  File        : LinkerScript.ld
+**
+**  Author		: STM32CubeMX
+**
+**  Abstract    : Linker script for STM32H723VGTx series
+**                1024Kbytes FLASH and 368Kbytes RAM
+**
+**                Set heap size, stack size and stack location according
+**                to application requirements.
+**
+**                Set memory bank area and size if external memory is used.
+**
+**  Target      : STMicroelectronics STM32
+**
+**  Distribution: The file is distributed “as is,” without any warranty
+**                of any kind.
+**
+*****************************************************************************
+** @attention
+**
+** <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
+**
+** Redistribution and use in source and binary forms, with or without modification,
+** are permitted provided that the following conditions are met:
+**   1. Redistributions of source code must retain the above copyright notice,
+**      this list of conditions and the following disclaimer.
+**   2. Redistributions in binary form must reproduce the above copyright notice,
+**      this list of conditions and the following disclaimer in the documentation
+**      and/or other materials provided with the distribution.
+**   3. Neither the name of STMicroelectronics nor the names of its contributors
+**      may be used to endorse or promote products derived from this software
+**      without specific prior written permission.
+**
+** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = ORIGIN(DTCMRAM) + LENGTH(DTCMRAM);    /* end of RAM */
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0x5000;      /* required amount of heap  */
+_Min_Stack_Size = 0x5000; /* required amount of stack */
+
+/* Specify the memory areas */
+MEMORY
+{
+ITCMRAM (xrw)      : ORIGIN = 0x00000008, LENGTH = 64K
+DTCMRAM (xrw)      : ORIGIN = 0x20000400, LENGTH = 128K
+RAM (xrw)      : ORIGIN = 0x24000000, LENGTH = 128K
+RAM_D2 (xrw)      : ORIGIN = 0x30000000, LENGTH = 32K
+RAM_D3 (xrw)      : ORIGIN = 0x38000000, LENGTH = 16K
+FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 1024K
+}
+
+/* Define output sections */
+SECTIONS
+{
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+    .ITCM :
+    {
+        . = ALIGN(4);
+        __itcm_start = .;
+        *(.ITCM)
+        . = ALIGN(4);
+        __itcm_end = .;
+    } > ITCMRAM AT>FLASH
+    __itcm_rom_start = LOADADDR(.ITCM);
+    __itcm_size = SIZEOF(.ITCM);
+
+  /* The program code and other data goes into FLASH */
+  .text :
+  {
+    _stext = .;        /* create a global symbol at text start */
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+    *(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+  } >FLASH
+
+  /* Constant data goes into FLASH */
+  .rodata :
+  {
+    . = ALIGN(4);
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    . = ALIGN(4);
+  } >FLASH
+
+  .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+  .ARM : {
+    __exidx_start = .;
+    *(.ARM.exidx*)
+    __exidx_end = .;
+  } >FLASH
+
+  .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  } >FLASH
+  .init_array :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  } >FLASH
+  .fini_array :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)))
+    KEEP (*(.fini_array*))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  } >FLASH
+
+  /* used by the startup to initialize data */
+  _sidata = LOADADDR(.data);
+
+  /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data :
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+  } >DTCMRAM AT> FLASH
+
+
+  /* Uninitialized data section */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss secion */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+
+    . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >DTCMRAM
+
+  /* User_heap_stack section, used to check that there is enough RAM left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(8);
+    _sstack = .;
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(8);
+    _estack = .;
+  } >DTCMRAM
+
+    /*在RAM_D1中开辟DMA缓存区域*/
+._DMA_RAM :
+  {
+    . = ALIGN(4);
+    *(_DMA_RAM)
+    . = ALIGN(4);
+  } >RAM
+
+  /* Remove information from the standard libraries */
+  /DISCARD/ :
+  {
+    libc.a ( * )
+    libm.a ( * )
+    libgcc.a ( * )
+  }
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}
+
diff --git a/User_Code/application/indicator_app/ws2812status.c b/User_Code/application/indicator_app/ws2812status.c
index 8a78a82..5f250b7 100644
--- a/User_Code/application/indicator_app/ws2812status.c
+++ b/User_Code/application/indicator_app/ws2812status.c
@@ -36,6 +36,7 @@ uint8_t b = 0;
  * @param  argument
  */
 void ws2812Task(void *argument) {
+        (void) argument;
         while (1) {
                 switch (RobotMode) {
                         case NORMAL_MODE:
diff --git a/User_Code/bsp/delayticks/delayticks.h b/User_Code/bsp/delayticks/delayticks.h
index 025dad0..f766084 100644
--- a/User_Code/bsp/delayticks/delayticks.h
+++ b/User_Code/bsp/delayticks/delayticks.h
@@ -7,4 +7,4 @@
 
 extern void delay_ticks(uint32_t delay);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/User_Code/module/paramdef/robot_def.h b/User_Code/module/paramdef/robot_def.h
index 6d9f6a6..995b8b5 100644
--- a/User_Code/module/paramdef/robot_def.h
+++ b/User_Code/module/paramdef/robot_def.h
@@ -2,21 +2,20 @@
 #ifndef ROBOT_DEF_H
 #define ROBOT_DEF_H
 
-typedef enum
-{
-    NORMAL_MODE = 0,            // 正常模式，对应数值0
-    SYS_ERROR_OCCURRED = 1,     // 系统错误，对应数值1
-    REMOTE_NOT_CONNECTED = 2,   // 遥控器未连接，对应数值2
-    REMOTE_CONNECTED = 3,       // 遥控器已连接，对应数值3
-    AUTO_SHOOTING_MODE = 4,      // 成功进入自动瞄准模式，对应数值4
-    IMU_CALIBERATION_MODE = 5  // IMU校准模式，对应数值5
+typedef enum {
+    NORMAL_MODE = 0, // 正常模式，对应数值0
+    SYS_ERROR_OCCURRED = 1, // 系统错误，对应数值1
+    REMOTE_NOT_CONNECTED = 2, // 遥控器未连接，对应数值2
+    REMOTE_CONNECTED = 3, // 遥控器已连接，对应数值3
+    AUTO_SHOOTING_MODE = 4, // 成功进入自动瞄准模式，对应数值4
+    IMU_CALIBERATION_MODE = 5 // IMU校准模式，对应数值5
     // 添加其他模式
 } RobotMode_t; //机器人控制模式
 
 // 声明并初始化变量
-RobotMode_t RobotMode = REMOTE_NOT_CONNECTED;  // 初始状态为遥控器未连接
+RobotMode_t RobotMode = REMOTE_NOT_CONNECTED; // 初始状态为遥控器未连接
 
 
 // #pragma pack() // 开启字节对齐,结束前面的#pragma pack(1)
 
-#endif
\ No newline at end of file
+#endif
diff --git a/cmake/gcc-arm-none-eabi.cmake b/cmake/gcc-arm-none-eabi.cmake
index d70e902..fb42d44 100644
--- a/cmake/gcc-arm-none-eabi.cmake
+++ b/cmake/gcc-arm-none-eabi.cmake
@@ -1,23 +1,25 @@
-set(CMAKE_SYSTEM_NAME               Generic)
-set(CMAKE_SYSTEM_PROCESSOR          arm)
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_PROCESSOR arm)
 
+set(CMAKE_C_COMPILER_FORCED TRUE)
+set(CMAKE_CXX_COMPILER_FORCED TRUE)
 set(CMAKE_C_COMPILER_ID GNU)
 set(CMAKE_CXX_COMPILER_ID GNU)
 
 # Some default GCC settings
 # arm-none-eabi- must be part of path environment
-set(TOOLCHAIN_PREFIX                arm-none-eabi-)
+set(TOOLCHAIN_PREFIX arm-none-eabi-)
 
-set(CMAKE_C_COMPILER                ${TOOLCHAIN_PREFIX}gcc)
-set(CMAKE_ASM_COMPILER              ${CMAKE_C_COMPILER})
-set(CMAKE_CXX_COMPILER              ${TOOLCHAIN_PREFIX}g++)
-set(CMAKE_LINKER                    ${TOOLCHAIN_PREFIX}g++)
-set(CMAKE_OBJCOPY                   ${TOOLCHAIN_PREFIX}objcopy)
-set(CMAKE_SIZE                      ${TOOLCHAIN_PREFIX}size)
+set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}gcc)
+set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
+set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}g++)
+set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}g++)
+set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy)
+set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size)
 
-set(CMAKE_EXECUTABLE_SUFFIX_ASM     ".elf")
-set(CMAKE_EXECUTABLE_SUFFIX_C       ".elf")
-set(CMAKE_EXECUTABLE_SUFFIX_CXX     ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_C ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf")
 
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
 
@@ -25,19 +27,34 @@ set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
 set(TARGET_FLAGS "-mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard ")
 
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Wpedantic -fdata-sections -ffunction-sections")
+if (CMAKE_BUILD_TYPE MATCHES "Debug")
+    set(CMAKE_C_FLAGS_DEBUG "-O0 -g")
+    set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
+elseif (CMAKE_BUILD_TYPE MATCHES "Release")
+    set(CMAKE_C_FLAGS_RELEASE "-O3")
+    set(CMAKE_CXX_FLAGS_RELEASE "-O3")
+elseif (CMAKE_BUILD_TYPE MATCHES "RelWithDebInfo")
+    set(CMAKE_C_FLAGS_RELWITHDEBINFO "-O2 -g")
+    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g")
+elseif (CMAKE_BUILD_TYPE MATCHES "MinSizeRel")
+    set(CMAKE_C_FLAGS_MINSIZEREL "-Os")
+    set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os")
+endif ()
+
 set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MMD -MP")
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections")
-
-set(CMAKE_C_FLAGS_DEBUG "-O0 -g3")
-set(CMAKE_C_FLAGS_RELEASE "-Os -g0")
-set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3")
-set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0")
-
 set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics")
 
-set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}")
+set(CMAKE_C_LINK_FLAGS "${TARGET_FLAGS}")
+#set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -T \"${CMAKE_SOURCE_DIR}/MY_FLASH.ld\"")
+
+
+set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} --specs=nano.specs")
+
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32H723XG_FLASH.ld\"")
-set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --specs=nano.specs")
-set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections")
-set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage")
-set(TOOLCHAIN_LINK_LIBRARIES "m")
+
+set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections")
+set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lc -lm -Wl,--end-group")
+set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--print-memory-usage")
+
+set(CMAKE_CXX_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lstdc++ -lsupc++ -Wl,--end-group")
\ No newline at end of file
diff --git a/cmake/starm-clang.cmake b/cmake/starm-clang.cmake
index e4ec5ca..7ae916f 100644
--- a/cmake/starm-clang.cmake
+++ b/cmake/starm-clang.cmake
@@ -1,22 +1,22 @@
-set(CMAKE_SYSTEM_NAME               Generic)
-set(CMAKE_SYSTEM_PROCESSOR          arm)
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_PROCESSOR arm)
 
 set(CMAKE_C_COMPILER_ID Clang)
 set(CMAKE_CXX_COMPILER_ID Clang)
 
 # Some default llvm settings
-set(TOOLCHAIN_PREFIX                starm-)
+set(TOOLCHAIN_PREFIX starm-)
 
-set(CMAKE_C_COMPILER                ${TOOLCHAIN_PREFIX}clang)
-set(CMAKE_ASM_COMPILER              ${CMAKE_C_COMPILER})
-set(CMAKE_CXX_COMPILER              ${TOOLCHAIN_PREFIX}clang++)
-set(CMAKE_LINKER                    ${TOOLCHAIN_PREFIX}clang)
-set(CMAKE_OBJCOPY                   ${TOOLCHAIN_PREFIX}objcopy)
-set(CMAKE_SIZE                      ${TOOLCHAIN_PREFIX}size)
+set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}clang)
+set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
+set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}clang++)
+set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}clang)
+set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy)
+set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size)
 
-set(CMAKE_EXECUTABLE_SUFFIX_ASM     ".elf")
-set(CMAKE_EXECUTABLE_SUFFIX_C       ".elf")
-set(CMAKE_EXECUTABLE_SUFFIX_CXX     ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_C ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf")
 
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
 
@@ -27,11 +27,11 @@ set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
 #  "STARM_PICOLIBC" : starm-clang toolchain with PICOLIBC C library
 set(STARM_TOOLCHAIN_CONFIG "STARM_HYBRID")
 
-if(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID")
-  set(TOOLCHAIN_MULTILIBS "--multi-lib-config=\"$ENV{CLANG_GCC_CMSIS_COMPILER}/multilib.gnu_tools_for_stm32.yaml\" --gcc-toolchain=\"$ENV{GCC_TOOLCHAIN_ROOT}/..\"")
+if (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID")
+    set(TOOLCHAIN_MULTILIBS "--multi-lib-config=\"$ENV{CLANG_GCC_CMSIS_COMPILER}/multilib.gnu_tools_for_stm32.yaml\" --gcc-toolchain=\"$ENV{GCC_TOOLCHAIN_ROOT}/..\"")
 elseif (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB")
-  set(TOOLCHAIN_MULTILIBS "--config=newlib.cfg")
-endif()
+    set(TOOLCHAIN_MULTILIBS "--config=newlib.cfg")
+endif ()
 
 # MCU specific flags
 set(TARGET_FLAGS "-mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard ${TOOLCHAIN_MULTILIBS}")
@@ -40,24 +40,33 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
 set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MP")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections")
 
-set(CMAKE_C_FLAGS_DEBUG "-O0 -g3")
-set(CMAKE_C_FLAGS_RELEASE "-Os -g0")
-set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3")
-set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0")
+if (CMAKE_BUILD_TYPE MATCHES "Debug")
+    set(CMAKE_C_FLAGS_DEBUG "-O0 -g")
+    set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
+elseif (CMAKE_BUILD_TYPE MATCHES "Release")
+    set(CMAKE_C_FLAGS_RELEASE "-O3")
+    set(CMAKE_CXX_FLAGS_RELEASE "-O3")
+elseif (CMAKE_BUILD_TYPE MATCHES "RelWithDebInfo")
+    set(CMAKE_C_FLAGS_RELWITHDEBINFO "-O2 -g")
+    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g")
+elseif (CMAKE_BUILD_TYPE MATCHES "MinSizeRel")
+    set(CMAKE_C_FLAGS_MINSIZEREL "-Os")
+    set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os")
+endif ()
 
 set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics")
 
 set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}")
 
 if (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID")
-  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --gcc-specs=nano.specs")
-  set(TOOLCHAIN_LINK_LIBRARIES "m")
-elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB")
-  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-nosys")
-elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_PICOLIBC")
-  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-hosted")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --gcc-specs=nano.specs")
+    set(TOOLCHAIN_LINK_LIBRARIES "m")
+elseif (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-nosys")
+elseif (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_PICOLIBC")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-hosted")
 
-endif()
+endif ()
 
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32H723XG_FLASH.ld\"")
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections")