新加入gps数据解析,使用GDMA1---CHANNEL3

2025-06-10 15:04:02 +08:00
parent f48b55fe1d
commit 346aa5c324
229 changed files with 5871 additions and 5218 deletions
--- a/AutoGuideStick.ioc
+++ b/AutoGuideStick.ioc
@@ -7,12 +7,15 @@ CAD.pinconfig=
 CAD.provider=
 CORTEX_M33_NS.userName=CORTEX_M33
 File.Version=6
+GPDMA1.CIRCULARMODE_GPDMACH3=ENABLE
 GPDMA1.CIRCULARMODE_GPDMACH5=ENABLE
 GPDMA1.DIRECTION_GPDMACH4=DMA_MEMORY_TO_PERIPH
+GPDMA1.IPHANDLE_GPDMACH3-SIMPLEREQUEST_GPDMACH3=__NULL
 GPDMA1.IPHANDLE_GPDMACH4-SIMPLEREQUEST_GPDMACH4=__NULL
 GPDMA1.IPHANDLE_GPDMACH5-SIMPLEREQUEST_GPDMACH5=__NULL
-GPDMA1.IPParameters=IPHANDLE_GPDMACH4-SIMPLEREQUEST_GPDMACH4,REQUEST_GPDMACH4,DIRECTION_GPDMACH4,SRCINC_GPDMACH4,CIRCULARMODE_GPDMACH5,LINKALLOCATEDPORT_CIRCULAR_GPDMACH5,IPHANDLE_GPDMACH5-SIMPLEREQUEST_GPDMACH5,REQUEST_GPDMACH5,TRANSFERALLOCATEDPORTSRC_GPDMACH5,TRANSFERALLOCATEDPORTDEST_GPDMACH5
+GPDMA1.IPParameters=REQUEST_GPDMACH4,DIRECTION_GPDMACH4,SRCINC_GPDMACH4,CIRCULARMODE_GPDMACH5,LINKALLOCATEDPORT_CIRCULAR_GPDMACH5,REQUEST_GPDMACH5,TRANSFERALLOCATEDPORTSRC_GPDMACH5,TRANSFERALLOCATEDPORTDEST_GPDMACH5,IPHANDLE_GPDMACH5-SIMPLEREQUEST_GPDMACH5,IPHANDLE_GPDMACH4-SIMPLEREQUEST_GPDMACH4,CIRCULARMODE_GPDMACH3,IPHANDLE_GPDMACH3-SIMPLEREQUEST_GPDMACH3,REQUEST_GPDMACH3
 GPDMA1.LINKALLOCATEDPORT_CIRCULAR_GPDMACH5=DMA_LINK_ALLOCATED_PORT1
+GPDMA1.REQUEST_GPDMACH3=GPDMA1_REQUEST_USART2_RX
 GPDMA1.REQUEST_GPDMACH4=GPDMA1_REQUEST_USART1_TX
 GPDMA1.REQUEST_GPDMACH5=GPDMA1_REQUEST_USART1_RX
 GPDMA1.SRCINC_GPDMACH4=DMA_SINC_INCREMENTED
@@ -27,6 +30,7 @@ Mcu.ContextProject=TrustZoneDisabled
 Mcu.Family=STM32H5
 Mcu.IP0=BOOTPATH
 Mcu.IP1=CORTEX_M33_NS
+Mcu.IP10=USART2
 Mcu.IP2=GPDMA1
 Mcu.IP3=MEMORYMAP
 Mcu.IP4=NVIC
@@ -35,22 +39,25 @@ Mcu.IP6=RCC
 Mcu.IP7=SYS
 Mcu.IP8=THREADX
 Mcu.IP9=USART1
-Mcu.IPNb=10
+Mcu.IPNb=11
 Mcu.Name=STM32H563ZITx
 Mcu.Package=LQFP144
 Mcu.Pin0=PH0-OSC_IN(PH0)
-Mcu.Pin1=PB14
-Mcu.Pin10=VP_BOOTPATH_VS_BOOTPATH
-Mcu.Pin11=VP_MEMORYMAP_VS_MEMORYMAP
-Mcu.Pin2=PB15
-Mcu.Pin3=VP_CORTEX_M33_NS_VS_Hclk
-Mcu.Pin4=VP_GPDMA1_VS_GPDMACH4
-Mcu.Pin5=VP_GPDMA1_VS_GPDMACH5
-Mcu.Pin6=VP_PWR_VS_SECSignals
-Mcu.Pin7=VP_PWR_VS_LPOM
-Mcu.Pin8=VP_SYS_VS_tim1
-Mcu.Pin9=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
-Mcu.PinsNb=12
+Mcu.Pin1=PA2
+Mcu.Pin10=VP_PWR_VS_LPOM
+Mcu.Pin11=VP_SYS_VS_tim1
+Mcu.Pin12=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
+Mcu.Pin13=VP_BOOTPATH_VS_BOOTPATH
+Mcu.Pin14=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin2=PA3
+Mcu.Pin3=PB14
+Mcu.Pin4=PB15
+Mcu.Pin5=VP_CORTEX_M33_NS_VS_Hclk
+Mcu.Pin6=VP_GPDMA1_VS_GPDMACH3
+Mcu.Pin7=VP_GPDMA1_VS_GPDMACH4
+Mcu.Pin8=VP_GPDMA1_VS_GPDMACH5
+Mcu.Pin9=VP_PWR_VS_SECSignals
+Mcu.PinsNb=15
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H563ZITx
@@ -59,6 +66,7 @@ MxDb.Version=DB.6.0.141
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
+NVIC.GPDMA1_Channel3_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.GPDMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.GPDMA1_Channel5_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -75,7 +83,12 @@ NVIC.TIM1_UP_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.TimeBase=TIM1_UP_IRQn
 NVIC.TimeBaseIP=TIM1
 NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
+NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+PA2.Mode=Asynchronous
+PA2.Signal=USART2_TX
+PA3.Mode=Asynchronous
+PA3.Signal=USART2_RX
 PB14.Mode=Asynchronous
 PB14.Signal=USART1_TX
 PB15.Mode=Asynchronous
@@ -114,7 +127,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
 RCC.ADCFreq_Value=250000000
 RCC.AHBFreq_Value=250000000
 RCC.APB1Freq_Value=250000000
@@ -203,10 +216,15 @@ RCC.VCOPLL3OutputFreq_Value=516000000
 USART1.BaudRate=9600
 USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART1.VirtualMode-Asynchronous=VM_ASYNC
+USART2.BaudRate=9600
+USART2.IPParameters=VirtualMode-Asynchronous,BaudRate
+USART2.VirtualMode-Asynchronous=VM_ASYNC
 VP_BOOTPATH_VS_BOOTPATH.Mode=BP_Activate
 VP_BOOTPATH_VS_BOOTPATH.Signal=BOOTPATH_VS_BOOTPATH
 VP_CORTEX_M33_NS_VS_Hclk.Mode=Hclk_Mode
 VP_CORTEX_M33_NS_VS_Hclk.Signal=CORTEX_M33_NS_VS_Hclk
+VP_GPDMA1_VS_GPDMACH3.Mode=SIMPLEREQUEST_GPDMACH3
+VP_GPDMA1_VS_GPDMACH3.Signal=GPDMA1_VS_GPDMACH3
 VP_GPDMA1_VS_GPDMACH4.Mode=SIMPLEREQUEST_GPDMACH4
 VP_GPDMA1_VS_GPDMACH4.Signal=GPDMA1_VS_GPDMACH4
 VP_GPDMA1_VS_GPDMACH5.Mode=SIMPLEREQUEST_GPDMACH5
--- a/Core/Inc/stm32h5xx_it.h
+++ b/Core/Inc/stm32h5xx_it.h
@@ -52,10 +52,12 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void GPDMA1_Channel3_IRQHandler(void);
 void GPDMA1_Channel4_IRQHandler(void);
 void GPDMA1_Channel5_IRQHandler(void);
 void TIM1_UP_IRQHandler(void);
 void USART1_IRQHandler(void);
+void USART2_IRQHandler(void);
 /* USER CODE BEGIN EFP */

 /* USER CODE END EFP */
--- a/Core/Inc/usart.h
+++ b/Core/Inc/usart.h
@@ -34,11 +34,14 @@ extern "C" {

 extern UART_HandleTypeDef huart1;

+extern UART_HandleTypeDef huart2;
+
 /* USER CODE BEGIN Private defines */

 /* USER CODE END Private defines */

 void MX_USART1_UART_Init(void);
+void MX_USART2_UART_Init(void);

 /* USER CODE BEGIN Prototypes */

--- a/Core/Src/gpdma.c
+++ b/Core/Src/gpdma.c
@@ -36,6 +36,8 @@ void MX_GPDMA1_Init(void)
  __HAL_RCC_GPDMA1_CLK_ENABLE();

  /* GPDMA1 interrupt Init */
+    HAL_NVIC_SetPriority(GPDMA1_Channel3_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(GPDMA1_Channel3_IRQn);
    HAL_NVIC_SetPriority(GPDMA1_Channel4_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(GPDMA1_Channel4_IRQn);
    HAL_NVIC_SetPriority(GPDMA1_Channel5_IRQn, 0, 0);
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -40,6 +40,7 @@ void MX_GPIO_Init(void)

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOH_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

 }
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -92,6 +92,7 @@ int main(void)
  MX_GPIO_Init();
  MX_GPDMA1_Init();
  MX_USART1_UART_Init();
+  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */
--- a/Core/Src/stm32h5xx_it.c
+++ b/Core/Src/stm32h5xx_it.c
@@ -60,7 +60,11 @@ extern DMA_NodeTypeDef Node_GPDMA1_Channel5;
 extern DMA_QListTypeDef List_GPDMA1_Channel5;
 extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
 extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
+extern DMA_NodeTypeDef Node_GPDMA1_Channel3;
+extern DMA_QListTypeDef List_GPDMA1_Channel3;
+extern DMA_HandleTypeDef handle_GPDMA1_Channel3;
 extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart2;
 extern TIM_HandleTypeDef htim1;

 /* USER CODE BEGIN EV */
@@ -165,6 +169,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32h5xx.s).                    */
 /******************************************************************************/

+/**
+  * @brief This function handles GPDMA1 Channel 3 global interrupt.
+  */
+void GPDMA1_Channel3_IRQHandler(void)
+{
+  /* USER CODE BEGIN GPDMA1_Channel3_IRQn 0 */
+
+  /* USER CODE END GPDMA1_Channel3_IRQn 0 */
+  HAL_DMA_IRQHandler(&handle_GPDMA1_Channel3);
+  /* USER CODE BEGIN GPDMA1_Channel3_IRQn 1 */
+
+  /* USER CODE END GPDMA1_Channel3_IRQn 1 */
+}
+
 /**
  * @brief This function handles GPDMA1 Channel 4 global interrupt.
  */
@@ -220,7 +238,7 @@ void USART1_IRQHandler(void)
  if(__HAL_UART_GET_FLAG(&huart1,UART_FLAG_IDLE))
  {
 	  __HAL_UART_CLEAR_IDLEFLAG(&huart1);
-	  //<2F><><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	  //<2F><><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD>
 	  uint16_t len = UART_DMA_RX_BUF_SIZE - __HAL_DMA_GET_COUNTER(huart1.hdmarx);
 	  
 	  for(uint16_t i = 0;i < len; i++)
@@ -229,12 +247,26 @@ void USART1_IRQHandler(void)
 		  ble_rx_ring.head = (ble_rx_ring.head + 1) %RING_BUFFER_SIZE;
 	  }
 	  
-	  HAL_UART_AbortReceive(&huart1);  //ֹͣ<CDA3><D6B9>ǰDMA
+	  HAL_UART_AbortReceive(&huart1);  //ֹͣ<CDA3><D6B9>ǰDMA
 	  HCBle_InitDMAReception();
  }
  /* USER CODE END USART1_IRQn 1 */
 }

+/**
+  * @brief This function handles USART2 global interrupt.
+  */
+void USART2_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART2_IRQn 0 */
+
+  /* USER CODE END USART2_IRQn 0 */
+  HAL_UART_IRQHandler(&huart2);
+  /* USER CODE BEGIN USART2_IRQn 1 */
+
+  /* USER CODE END USART2_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */

 /* USER CODE END 1 */
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -25,10 +25,14 @@
 /* USER CODE END 0 */

 UART_HandleTypeDef huart1;
+UART_HandleTypeDef huart2;
 DMA_NodeTypeDef Node_GPDMA1_Channel5;
 DMA_QListTypeDef List_GPDMA1_Channel5;
 DMA_HandleTypeDef handle_GPDMA1_Channel5;
 DMA_HandleTypeDef handle_GPDMA1_Channel4;
+DMA_NodeTypeDef Node_GPDMA1_Channel3;
+DMA_QListTypeDef List_GPDMA1_Channel3;
+DMA_HandleTypeDef handle_GPDMA1_Channel3;

 /* USART1 init function */

@@ -73,6 +77,50 @@ void MX_USART1_UART_Init(void)

  /* USER CODE END USART1_Init 2 */

+}
+/* USART2 init function */
+
+void MX_USART2_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART2_Init 0 */
+
+  /* USER CODE END USART2_Init 0 */
+
+  /* USER CODE BEGIN USART2_Init 1 */
+
+  /* USER CODE END USART2_Init 1 */
+  huart2.Instance = USART2;
+  huart2.Init.BaudRate = 9600;
+  huart2.Init.WordLength = UART_WORDLENGTH_8B;
+  huart2.Init.StopBits = UART_STOPBITS_1;
+  huart2.Init.Parity = UART_PARITY_NONE;
+  huart2.Init.Mode = UART_MODE_TX_RX;
+  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART2_Init 2 */
+
+  /* USER CODE END USART2_Init 2 */
+
 }

 void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
@@ -201,6 +249,99 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)

  /* USER CODE END USART1_MspInit 1 */
  }
+  else if(uartHandle->Instance==USART2)
+  {
+  /* USER CODE BEGIN USART2_MspInit 0 */
+
+  /* USER CODE END USART2_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART2;
+    PeriphClkInitStruct.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* USART2 clock enable */
+    __HAL_RCC_USART2_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**USART2 GPIO Configuration
+    PA2     ------> USART2_TX
+    PA3     ------> USART2_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* USART2 DMA Init */
+    /* GPDMA1_REQUEST_USART2_RX Init */
+    NodeConfig.NodeType = DMA_GPDMA_LINEAR_NODE;
+    NodeConfig.Init.Request = GPDMA1_REQUEST_USART2_RX;
+    NodeConfig.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST;
+    NodeConfig.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    NodeConfig.Init.SrcInc = DMA_SINC_FIXED;
+    NodeConfig.Init.DestInc = DMA_DINC_FIXED;
+    NodeConfig.Init.SrcDataWidth = DMA_SRC_DATAWIDTH_BYTE;
+    NodeConfig.Init.DestDataWidth = DMA_DEST_DATAWIDTH_BYTE;
+    NodeConfig.Init.SrcBurstLength = 1;
+    NodeConfig.Init.DestBurstLength = 1;
+    NodeConfig.Init.TransferAllocatedPort = DMA_SRC_ALLOCATED_PORT0|DMA_DEST_ALLOCATED_PORT0;
+    NodeConfig.Init.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER;
+    NodeConfig.Init.Mode = DMA_NORMAL;
+    NodeConfig.TriggerConfig.TriggerPolarity = DMA_TRIG_POLARITY_MASKED;
+    NodeConfig.DataHandlingConfig.DataExchange = DMA_EXCHANGE_NONE;
+    NodeConfig.DataHandlingConfig.DataAlignment = DMA_DATA_RIGHTALIGN_ZEROPADDED;
+    if (HAL_DMAEx_List_BuildNode(&NodeConfig, &Node_GPDMA1_Channel3) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    if (HAL_DMAEx_List_InsertNode(&List_GPDMA1_Channel3, NULL, &Node_GPDMA1_Channel3) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    if (HAL_DMAEx_List_SetCircularMode(&List_GPDMA1_Channel3) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    handle_GPDMA1_Channel3.Instance = GPDMA1_Channel3;
+    handle_GPDMA1_Channel3.InitLinkedList.Priority = DMA_LOW_PRIORITY_LOW_WEIGHT;
+    handle_GPDMA1_Channel3.InitLinkedList.LinkStepMode = DMA_LSM_FULL_EXECUTION;
+    handle_GPDMA1_Channel3.InitLinkedList.LinkAllocatedPort = DMA_LINK_ALLOCATED_PORT0;
+    handle_GPDMA1_Channel3.InitLinkedList.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER;
+    handle_GPDMA1_Channel3.InitLinkedList.LinkedListMode = DMA_LINKEDLIST_CIRCULAR;
+    if (HAL_DMAEx_List_Init(&handle_GPDMA1_Channel3) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    if (HAL_DMAEx_List_LinkQ(&handle_GPDMA1_Channel3, &List_GPDMA1_Channel3) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle, hdmarx, handle_GPDMA1_Channel3);
+
+    if (HAL_DMA_ConfigChannelAttributes(&handle_GPDMA1_Channel3, DMA_CHANNEL_NPRIV) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* USART2 interrupt Init */
+    HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USART2_IRQn);
+  /* USER CODE BEGIN USART2_MspInit 1 */
+
+  /* USER CODE END USART2_MspInit 1 */
+  }
 }

 void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
@@ -230,6 +371,29 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)

  /* USER CODE END USART1_MspDeInit 1 */
  }
+  else if(uartHandle->Instance==USART2)
+  {
+  /* USER CODE BEGIN USART2_MspDeInit 0 */
+
+  /* USER CODE END USART2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART2_CLK_DISABLE();
+
+    /**USART2 GPIO Configuration
+    PA2     ------> USART2_TX
+    PA3     ------> USART2_RX
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
+
+    /* USART2 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+
+    /* USART2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART2_IRQn);
+  /* USER CODE BEGIN USART2_MspDeInit 1 */
+
+  /* USER CODE END USART2_MspDeInit 1 */
+  }
 }

 /* USER CODE BEGIN 1 */
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -39,3 +39,5 @@

 [info] Log at : 2025/6/9|21:25:19|GMT+0800

+[info] Log at : 2025/6/9|21:52:22|GMT+0800
+
--- a/MDK-ARM/AutoGuideStick.uvguix.madao
+++ b/MDK-ARM/AutoGuideStick.uvguix.madao
--- a/MDK-ARM/AutoGuideStick.uvoptx
+++ b/MDK-ARM/AutoGuideStick.uvoptx
@@ -2559,7 +2559,7 @@

  <Group>
    <GroupName>fun</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@@ -2599,6 +2599,30 @@
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
+    <File>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>198</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\fun\gps.c</PathWithFileName>
+      <FilenameWithoutPath>gps.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>199</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\fun\gps.h</PathWithFileName>
+      <FilenameWithoutPath>gps.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
  </Group>

  <Group>
--- a/MDK-ARM/AutoGuideStick.uvprojx
+++ b/MDK-ARM/AutoGuideStick.uvprojx
@@ -1603,6 +1603,16 @@
              <FileType>5</FileType>
              <FilePath>..\fun\headfile.h</FilePath>
            </File>
+            <File>
+              <FileName>gps.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\fun\gps.c</FilePath>
+            </File>
+            <File>
+              <FileName>gps.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\fun\gps.h</FilePath>
+            </File>
          </Files>
        </Group>
        <Group>
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.axf
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.axf
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
@@ -21,198 +21,17 @@ Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V3.2.0.0
 Dialog DLL:      TCM.DLL V1.56.4.0
 
 <h2>Project:</h2>
-d:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
-Project File Date:  06/09/2025
+D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
+Project File Date:  06/10/2025

 <h2>Output:</h2>
 *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
 Build target 'AutoGuideStick'
-compiling memorymap.c...
-compiling app_azure_rtos.c...
-compiling gpdma.c...
-compiling usart.c...
-compiling gpio.c...
-compiling stm32h5xx_hal_tim_ex.c...
-compiling stm32h5xx_hal_tim.c...
-compiling app_threadx.c...
-compiling stm32h5xx_hal_cortex.c...
-compiling stm32h5xx_hal_dma.c...
-compiling main.c...
-compiling stm32h5xx_hal_timebase_tim.c...
-compiling stm32h5xx_hal_msp.c...
 compiling stm32h5xx_it.c...
-compiling stm32h5xx_hal_dma_ex.c...
-compiling stm32h5xx_hal_rcc.c...
-compiling stm32h5xx_hal_flash.c...
-compiling stm32h5xx_hal_rcc_ex.c...
-compiling stm32h5xx_hal_flash_ex.c...
-compiling stm32h5xx_hal_gpio.c...
-compiling stm32h5xx_hal_pwr.c...
-compiling stm32h5xx_hal_pwr_ex.c...
-compiling stm32h5xx_hal.c...
-compiling stm32h5xx_hal_exti.c...
-compiling tx_initialize_high_level.c...
-compiling stm32h5xx_hal_uart_ex.c...
-compiling system_stm32h5xx.c...
-compiling tx_initialize_kernel_enter.c...
-compiling stm32h5xx_hal_uart.c...
-compiling tx_initialize_kernel_setup.c...
-compiling tx_thread_stack_error_handler.c...
-compiling tx_thread_stack_error_notify.c...
-compiling tx_thread_system_resume.c...
-compiling tx_block_allocate.c...
-compiling tx_block_pool_cleanup.c...
-compiling tx_block_pool_create.c...
-compiling tx_block_pool_delete.c...
-compiling tx_block_pool_info_get.c...
-compiling tx_block_pool_initialize.c...
-compiling tx_block_pool_prioritize.c...
-compiling tx_block_release.c...
-compiling tx_byte_allocate.c...
-compiling tx_byte_pool_cleanup.c...
-compiling tx_byte_pool_create.c...
-compiling tx_byte_pool_delete.c...
-compiling tx_byte_pool_info_get.c...
-compiling tx_byte_pool_initialize.c...
-compiling tx_byte_pool_prioritize.c...
-compiling tx_byte_pool_search.c...
-compiling tx_byte_release.c...
-compiling tx_event_flags_cleanup.c...
-compiling tx_event_flags_create.c...
-compiling tx_event_flags_delete.c...
-compiling tx_event_flags_info_get.c...
-compiling tx_event_flags_get.c...
-compiling tx_event_flags_initialize.c...
-compiling tx_event_flags_set.c...
-compiling tx_event_flags_set_notify.c...
-compiling tx_mutex_cleanup.c...
-compiling tx_mutex_create.c...
-compiling tx_mutex_delete.c...
-compiling tx_mutex_get.c...
-compiling tx_mutex_info_get.c...
-compiling tx_mutex_initialize.c...
-compiling tx_mutex_prioritize.c...
-compiling tx_mutex_priority_change.c...
-compiling tx_mutex_put.c...
-compiling tx_queue_cleanup.c...
-compiling tx_queue_create.c...
-compiling tx_queue_delete.c...
-compiling tx_queue_flush.c...
-compiling tx_queue_front_send.c...
-compiling tx_queue_info_get.c...
-compiling tx_queue_initialize.c...
-compiling tx_queue_prioritize.c...
-compiling tx_queue_receive.c...
-compiling tx_queue_send.c...
-compiling tx_queue_send_notify.c...
-compiling tx_semaphore_ceiling_put.c...
-compiling tx_semaphore_cleanup.c...
-compiling tx_semaphore_create.c...
-compiling tx_semaphore_delete.c...
-compiling tx_semaphore_get.c...
-compiling tx_semaphore_info_get.c...
-compiling tx_semaphore_initialize.c...
-compiling tx_semaphore_prioritize.c...
-compiling tx_semaphore_put.c...
-compiling tx_semaphore_put_notify.c...
-compiling tx_thread_create.c...
-compiling tx_thread_delete.c...
-compiling tx_thread_entry_exit_notify.c...
-compiling tx_thread_identify.c...
-compiling tx_thread_info_get.c...
-compiling tx_thread_initialize.c...
-compiling tx_thread_preemption_change.c...
-compiling tx_thread_priority_change.c...
-compiling tx_thread_relinquish.c...
-compiling tx_thread_reset.c...
-compiling tx_thread_shell_entry.c...
-compiling tx_thread_resume.c...
-compiling tx_thread_sleep.c...
-compiling tx_thread_stack_analyze.c...
-compiling tx_thread_suspend.c...
-compiling tx_thread_system_preempt_check.c...
-compiling tx_thread_system_suspend.c...
-compiling tx_thread_terminate.c...
-compiling tx_thread_time_slice.c...
-compiling tx_thread_time_slice_change.c...
-compiling tx_thread_timeout.c...
-compiling tx_thread_wait_abort.c...
-compiling tx_time_get.c...
-compiling tx_time_set.c...
-compiling txe_block_allocate.c...
-compiling txe_block_pool_create.c...
-compiling txe_block_pool_delete.c...
-compiling txe_block_pool_info_get.c...
-compiling txe_block_pool_prioritize.c...
-compiling txe_block_release.c...
-compiling txe_byte_allocate.c...
-compiling txe_byte_pool_create.c...
-compiling txe_byte_pool_delete.c...
-compiling txe_byte_pool_info_get.c...
-compiling txe_byte_pool_prioritize.c...
-compiling txe_byte_release.c...
-compiling txe_event_flags_create.c...
-compiling txe_event_flags_delete.c...
-compiling txe_event_flags_get.c...
-compiling txe_event_flags_info_get.c...
-compiling txe_event_flags_set.c...
-compiling txe_event_flags_set_notify.c...
-compiling txe_mutex_create.c...
-compiling txe_mutex_delete.c...
-compiling txe_mutex_get.c...
-compiling txe_mutex_info_get.c...
-compiling txe_mutex_prioritize.c...
-compiling txe_mutex_put.c...
-compiling txe_queue_create.c...
-compiling txe_queue_delete.c...
-compiling txe_queue_flush.c...
-compiling txe_queue_front_send.c...
-compiling txe_queue_info_get.c...
-compiling txe_queue_prioritize.c...
-compiling txe_queue_receive.c...
-compiling txe_queue_send.c...
-compiling txe_queue_send_notify.c...
-compiling txe_semaphore_ceiling_put.c...
-compiling txe_semaphore_create.c...
-compiling txe_semaphore_delete.c...
-compiling txe_semaphore_get.c...
-compiling txe_semaphore_info_get.c...
-compiling txe_semaphore_prioritize.c...
-compiling txe_semaphore_put.c...
-compiling txe_semaphore_put_notify.c...
-compiling txe_thread_create.c...
-compiling txe_thread_delete.c...
-compiling txe_thread_entry_exit_notify.c...
-compiling txe_thread_info_get.c...
-compiling txe_thread_preemption_change.c...
-compiling txe_thread_priority_change.c...
-compiling txe_thread_relinquish.c...
-compiling txe_thread_reset.c...
-compiling txe_thread_resume.c...
-compiling txe_thread_suspend.c...
-compiling txe_thread_terminate.c...
-compiling txe_thread_time_slice_change.c...
-compiling txe_thread_wait_abort.c...
-compiling tx_timer_activate.c...
-compiling tx_timer_change.c...
-compiling tx_timer_create.c...
-compiling tx_timer_deactivate.c...
-compiling tx_timer_delete.c...
-compiling tx_timer_expiration_process.c...
-compiling tx_timer_info_get.c...
-compiling tx_timer_initialize.c...
-compiling tx_timer_system_activate.c...
-compiling tx_timer_system_deactivate.c...
-compiling tx_timer_thread_entry.c...
-compiling txe_timer_activate.c...
-compiling txe_timer_change.c...
-compiling txe_timer_create.c...
-compiling txe_timer_deactivate.c...
-compiling txe_timer_delete.c...
-compiling txe_timer_info_get.c...
 compiling HCBle.c...
+compiling gps.c...
 linking...
-Program Size: Code=54718 RO-data=726 RW-data=16 ZI-data=5296  
+Program Size: Code=55862 RO-data=726 RW-data=16 ZI-data=5952  
 FromELF: creating hex file...
 "AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).

@@ -238,7 +57,7 @@ Package Vendor: Keil

   * Component: ARM::CMSIS:CORE@5.6.0
      Include file:  CMSIS/Core/Include/tz_context.h
-Build Time Elapsed:  00:00:24
+Build Time Elapsed:  00:00:02
 </pre>
 </body>
 </html>
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.hex
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.hex
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.htm
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.htm
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.lnp
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.lnp
@@ -194,6 +194,7 @@
 "autoguidestick\txe_timer_delete.o"
 "autoguidestick\txe_timer_info_get.o"
 "autoguidestick\hcble.o"
+"autoguidestick\gps.o"
 --strict --scatter "AutoGuideStick\AutoGuideStick.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.map
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.map
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
@@ -1,7 +1,7 @@
 Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
 CompilerVersion: 6210000::V6.21::ARMCLANG
-F (startup_stm32h563xx.s)(0x684633A3)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c
-
+F (startup_stm32h563xx.s)(0x6847C26A)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c
+
 -gdwarf-4 -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include

 -I./RTE/_AutoGuideStick
@@ -15,10 +15,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 -o autoguidestick/startup_stm32h563xx.o)
 F (../Core/Src/main.c)(0x6847C268)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-
-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
-
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
 -I./RTE/_AutoGuideStick

 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
@@ -40,7 +40,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
 I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
-I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
+I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
@@ -50,10 +50,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
@@ -72,7 +72,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 -I./RTE/_AutoGuideStick

 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-
+
 -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include

 -D__UVISION_VERSION=539 -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_SINGLE_MODE_NON_SECURE=1
@@ -82,10 +82,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)

 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
-
-I./RTE/_AutoGuideStick
-
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
+-I./RTE/_AutoGuideStick
+
 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include

 -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
@@ -115,10 +115,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
@@ -143,7 +143,7 @@ I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
@@ -153,10 +153,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
-I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
+I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
@@ -175,7 +175,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar

 -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
-
+
 -I./RTE/_AutoGuideStick

 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
@@ -185,10 +185,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx

 -o autoguidestick/memorymap.o -MD)
-I (..\Core\Inc\memorymap.h)(0x6840230D)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD)
-I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
+I (..\Core\Inc\memorymap.h)(0x6840230D)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD)
+I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
@@ -223,10 +223,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)

 -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun

-I./RTE/_AutoGuideStick
-
-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-
+-I./RTE/_AutoGuideStick
+
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
 -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include

 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
@@ -255,10 +255,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Core\Inc\main.hc.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
-I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
+I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
@@ -292,10 +292,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 -I./RTE/_AutoGuideStick

 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-
-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
-
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx

 -o autoguidestick/stm32h5xx_it.o -MD)
 I (..\Core\Inc\main.h5.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
@@ -325,10 +325,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
 I (..\Core\Inc\stm32h5xx_it.hr.\fun\headfile.hx.\Core\Inc\memorymap.h)(0x00000000)
 I (..\Core\Inc\usart.hx.\Core\Inc\gpio.hf.\Core\Inc\gpdma.h)(0x00000000)
 I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012)
@@ -357,10 +357,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
-I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
-I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
-I (d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
-I (d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
+I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
+I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
@@ -389,10 +389,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)

 -I./RTE/_AutoGuideStick

-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-
-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
-
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx

 -o autoguidestick/stm32h5xx_hal_timebase_tim.o -MD)
@@ -421,10 +421,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
 F (../AZURE_RTOS/App/app_azure_rtos.c)(0x6840230D)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
@@ -453,10 +453,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
-I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
-I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
-I (d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
+I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
+I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
@@ -485,10 +485,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)

 -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun

-I./RTE/_AutoGuideStick
-
-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-
+-I./RTE/_AutoGuideStick
+
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
 -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include

 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
@@ -517,10 +517,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
@@ -549,10 +549,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
-I (d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
-I (d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
-I (d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
-I (d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
 I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
@@ -581,10 +581,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)

 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
-
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
-
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
 -o autoguidestick/stm32h5xx_hal_cortex.o -MD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
@@ -613,10 +613,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
 F (../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_dma.c)(0x683FA4DD)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c

 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar
@@ -645,10 +645,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
-I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
+I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
@@ -677,10 +677,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)

 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx

-o autoguidestick/stm32h5xx_hal_dma_ex.o -MD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD)
-I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
+-o autoguidestick/stm32h5xx_hal_dma_ex.o -MD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD)
+I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
@@ -709,10 +709,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
-F (../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_rcc.c)(0x683FA4DD)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
-
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-
+F (../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_rcc.c)(0x683FA4DD)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
 -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun

 -I./RTE/_AutoGuideStick
@@ -741,10 +741,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
 I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
@@ -773,10 +773,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
-I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
+I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
@@ -805,10 +805,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)

 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
-
-I./RTE/_AutoGuideStick
-
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
+-I./RTE/_AutoGuideStick
+
 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include

 -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
@@ -833,10 +833,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
 I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
@@ -1990,7 +1990,7 @@ I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 -I./RTE/_AutoGuideStick

 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-
+
 -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include

 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
@@ -2000,10 +2000,10 @@ I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
 I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
-I (..\Middlewares\ST\threadx\common\inc\tx_event_flags.h)(0x683FA4DA)
-F (../Middlewares/ST/threadx/common/src/tx_event_flags_set.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
-
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+I (..\Middlewares\ST\threadx\common\inc\tx_event_flags.h)(0x683FA4DA)
+F (../Middlewares/ST/threadx/common/src/tx_event_flags_set.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

 -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun

@@ -2028,4 +2028,42 @@ I (D:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x6569B012)
 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar

 -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
-
+
+-I./RTE/_AutoGuideStick
+
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
+-o autoguidestick/tx_event_flags_set_notify.o -MD)
+I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\common\inc\tx_event_flags.h)(0x683FA4DA)
+F (../Middlewares/ST/threadx/common/src/tx_mutex_cleanup.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
+-I./RTE/_AutoGuideStick
+
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
+-o autoguidestick/tx_mutex_cleanup.o -MD)
+I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
+F (../Middlewares/ST/threadx/common/src/tx_mutex_create.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
--- a/MDK-ARM/AutoGuideStick/app_azure_rtos.d
+++ b/MDK-ARM/AutoGuideStick/app_azure_rtos.d
@@ -13,10 +13,10 @@ autoguidestick/app_azure_rtos.o: ..\AZURE_RTOS\App\app_azure_rtos.c \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/app_azure_rtos.o
+++ b/MDK-ARM/AutoGuideStick/app_azure_rtos.o
--- a/MDK-ARM/AutoGuideStick/app_threadx.o
+++ b/MDK-ARM/AutoGuideStick/app_threadx.o
--- a/MDK-ARM/AutoGuideStick/gpdma.d
+++ b/MDK-ARM/AutoGuideStick/gpdma.d
@@ -8,10 +8,10 @@ autoguidestick/gpdma.o: ..\Core\Src\gpdma.c ..\Core\Inc\gpdma.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/gpdma.o
+++ b/MDK-ARM/AutoGuideStick/gpdma.o
--- a/MDK-ARM/AutoGuideStick/gpio.d
+++ b/MDK-ARM/AutoGuideStick/gpio.d
@@ -8,10 +8,10 @@ autoguidestick/gpio.o: ..\Core\Src\gpio.c ..\Core\Inc\gpio.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/gpio.o
+++ b/MDK-ARM/AutoGuideStick/gpio.o
--- a/MDK-ARM/AutoGuideStick/gps.d
+++ b/MDK-ARM/AutoGuideStick/gps.d
@@ -0,0 +1,37 @@
+autoguidestick/gps.o: ..\fun\gps.c ..\fun\gps.h ..\fun\headfile.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
+  ..\Core\Inc\stm32h5xx_hal_conf.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
+  D:\keil5\ARM\ARMCLANG\include\math.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
+  ..\Drivers\CMSIS\Include\core_cm33.h \
+  D:\keil5\ARM\ARMCLANG\include\stdint.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  D:\keil5\ARM\ARMCLANG\include\stddef.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h \
+  ..\Core\Inc\memorymap.h ..\Core\Inc\usart.h ..\Core\Inc\gpio.h \
+  ..\Core\Inc\gpdma.h D:\keil5\ARM\ARMCLANG\include\stdio.h \
+  D:\keil5\ARM\ARMCLANG\include\stdlib.h \
+  D:\keil5\ARM\ARMCLANG\include\stdarg.h \
+  D:\keil5\ARM\ARMCLANG\include\string.h ..\fun\HCBle.h
--- a/MDK-ARM/AutoGuideStick/gps.o
+++ b/MDK-ARM/AutoGuideStick/gps.o
--- a/MDK-ARM/AutoGuideStick/hcble.d
+++ b/MDK-ARM/AutoGuideStick/hcble.d
@@ -8,10 +8,10 @@ autoguidestick/hcble.o: ..\fun\HCBle.c ..\fun\HCBle.h ..\fun\headfile.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
@@ -34,4 +34,4 @@ autoguidestick/hcble.o: ..\fun\HCBle.c ..\fun\HCBle.h ..\fun\headfile.h \
  ..\Core\Inc\gpdma.h D:\keil5\ARM\ARMCLANG\include\stdio.h \
  D:\keil5\ARM\ARMCLANG\include\stdlib.h \
  D:\keil5\ARM\ARMCLANG\include\stdarg.h \
-  D:\keil5\ARM\ARMCLANG\include\string.h
+  D:\keil5\ARM\ARMCLANG\include\string.h ..\fun\gps.h
--- a/MDK-ARM/AutoGuideStick/hcble.o
+++ b/MDK-ARM/AutoGuideStick/hcble.o
--- a/MDK-ARM/AutoGuideStick/main.d
+++ b/MDK-ARM/AutoGuideStick/main.d
@@ -12,10 +12,10 @@ autoguidestick/main.o: ..\Core\Src\main.c ..\Core\Inc\app_threadx.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/main.o
+++ b/MDK-ARM/AutoGuideStick/main.o
--- a/MDK-ARM/AutoGuideStick/memorymap.d
+++ b/MDK-ARM/AutoGuideStick/memorymap.d
@@ -9,10 +9,10 @@ autoguidestick/memorymap.o: ..\Core\Src\memorymap.c \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_cortex.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_cortex.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_cortex.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_cortex.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_cortex.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_dma.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_dma.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_dma.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_dma.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_dma.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_dma_ex.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_dma_ex.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_dma_ex.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_dma_ex.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_dma_ex.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_exti.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_exti.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_exti.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_exti.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_exti.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_flash.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_flash.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_flash.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_flash.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_flash.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_flash_ex.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_flash_ex.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_flash_ex.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_flash_ex.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_flash_ex.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_gpio.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_gpio.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_gpio.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_gpio.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_gpio.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_msp.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_msp.d
@@ -8,10 +8,10 @@ autoguidestick/stm32h5xx_hal_msp.o: ..\Core\Src\stm32h5xx_hal_msp.c \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_msp.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_msp.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_pwr.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_pwr.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_pwr.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_pwr.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_pwr.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_pwr_ex.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_pwr_ex.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_pwr_ex.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_pwr_ex.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_pwr_ex.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_rcc.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_rcc.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_rcc.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_rcc.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_rcc.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_rcc_ex.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_rcc_ex.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_rcc_ex.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_rcc_ex.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_rcc_ex.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_tim.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_tim.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_tim.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_tim.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_tim.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_tim_ex.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_tim_ex.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_tim_ex.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_tim_ex.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_tim_ex.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_timebase_tim.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_timebase_tim.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_timebase_tim.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_timebase_tim.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_timebase_tim.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_uart.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_uart.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_uart.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_uart.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_uart.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_uart_ex.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_uart_ex.d
@@ -9,10 +9,10 @@ autoguidestick/stm32h5xx_hal_uart_ex.o: \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_uart_ex.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_uart_ex.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_it.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_it.d
@@ -8,10 +8,10 @@ autoguidestick/stm32h5xx_it.o: ..\Core\Src\stm32h5xx_it.c \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
  D:\keil5\ARM\ARMCLANG\include\stddef.h \
@@ -35,4 +35,4 @@ autoguidestick/stm32h5xx_it.o: ..\Core\Src\stm32h5xx_it.c \
  D:\keil5\ARM\ARMCLANG\include\stdio.h \
  D:\keil5\ARM\ARMCLANG\include\stdlib.h \
  D:\keil5\ARM\ARMCLANG\include\stdarg.h \
-  D:\keil5\ARM\ARMCLANG\include\string.h ..\fun\HCBle.h
+  D:\keil5\ARM\ARMCLANG\include\string.h ..\fun\HCBle.h ..\fun\gps.h
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_it.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_it.o
--- a/MDK-ARM/AutoGuideStick/system_stm32h5xx.d
+++ b/MDK-ARM/AutoGuideStick/system_stm32h5xx.d
@@ -4,10 +4,10 @@ autoguidestick/system_stm32h5xx.o: ..\Core\Src\system_stm32h5xx.c \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
  ..\Drivers\CMSIS\Include\core_cm33.h \
  D:\keil5\ARM\ARMCLANG\include\stdint.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
-  d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
  ..\Core\Inc\stm32h5xx_hal_conf.h \
--- a/MDK-ARM/AutoGuideStick/system_stm32h5xx.o
+++ b/MDK-ARM/AutoGuideStick/system_stm32h5xx.o
--- a/MDK-ARM/AutoGuideStick/tx_block_allocate.o
+++ b/MDK-ARM/AutoGuideStick/tx_block_allocate.o
--- a/MDK-ARM/AutoGuideStick/tx_block_pool_cleanup.o
+++ b/MDK-ARM/AutoGuideStick/tx_block_pool_cleanup.o
--- a/MDK-ARM/AutoGuideStick/tx_block_pool_create.o
+++ b/MDK-ARM/AutoGuideStick/tx_block_pool_create.o
--- a/MDK-ARM/AutoGuideStick/tx_block_pool_delete.o
+++ b/MDK-ARM/AutoGuideStick/tx_block_pool_delete.o
--- a/MDK-ARM/AutoGuideStick/tx_block_pool_info_get.o
+++ b/MDK-ARM/AutoGuideStick/tx_block_pool_info_get.o
--- a/MDK-ARM/AutoGuideStick/tx_block_pool_prioritize.o
+++ b/MDK-ARM/AutoGuideStick/tx_block_pool_prioritize.o
--- a/MDK-ARM/AutoGuideStick/tx_block_release.o
+++ b/MDK-ARM/AutoGuideStick/tx_block_release.o
--- a/MDK-ARM/AutoGuideStick/tx_byte_allocate.o
+++ b/MDK-ARM/AutoGuideStick/tx_byte_allocate.o
--- a/MDK-ARM/AutoGuideStick/tx_byte_pool_cleanup.o
+++ b/MDK-ARM/AutoGuideStick/tx_byte_pool_cleanup.o
--- a/MDK-ARM/AutoGuideStick/tx_byte_pool_create.o
+++ b/MDK-ARM/AutoGuideStick/tx_byte_pool_create.o
--- a/MDK-ARM/AutoGuideStick/tx_byte_pool_delete.o
+++ b/MDK-ARM/AutoGuideStick/tx_byte_pool_delete.o
--- a/MDK-ARM/AutoGuideStick/tx_byte_pool_info_get.o
+++ b/MDK-ARM/AutoGuideStick/tx_byte_pool_info_get.o
--- a/MDK-ARM/AutoGuideStick/tx_byte_pool_prioritize.o
+++ b/MDK-ARM/AutoGuideStick/tx_byte_pool_prioritize.o
--- a/MDK-ARM/AutoGuideStick/tx_byte_pool_search.o
+++ b/MDK-ARM/AutoGuideStick/tx_byte_pool_search.o
--- a/MDK-ARM/AutoGuideStick/tx_byte_release.o
+++ b/MDK-ARM/AutoGuideStick/tx_byte_release.o
--- a/MDK-ARM/AutoGuideStick/tx_event_flags_cleanup.o
+++ b/MDK-ARM/AutoGuideStick/tx_event_flags_cleanup.o
--- a/MDK-ARM/AutoGuideStick/tx_event_flags_create.o
+++ b/MDK-ARM/AutoGuideStick/tx_event_flags_create.o
--- a/MDK-ARM/AutoGuideStick/tx_event_flags_delete.o
+++ b/MDK-ARM/AutoGuideStick/tx_event_flags_delete.o
--- a/MDK-ARM/AutoGuideStick/tx_event_flags_get.o
+++ b/MDK-ARM/AutoGuideStick/tx_event_flags_get.o
--- a/MDK-ARM/AutoGuideStick/tx_event_flags_info_get.o
+++ b/MDK-ARM/AutoGuideStick/tx_event_flags_info_get.o
--- a/MDK-ARM/AutoGuideStick/tx_event_flags_set.o
+++ b/MDK-ARM/AutoGuideStick/tx_event_flags_set.o
--- a/MDK-ARM/AutoGuideStick/tx_event_flags_set_notify.o
+++ b/MDK-ARM/AutoGuideStick/tx_event_flags_set_notify.o
--- a/MDK-ARM/AutoGuideStick/tx_initialize_high_level.o
+++ b/MDK-ARM/AutoGuideStick/tx_initialize_high_level.o
--- a/MDK-ARM/AutoGuideStick/tx_initialize_kernel_enter.o
+++ b/MDK-ARM/AutoGuideStick/tx_initialize_kernel_enter.o
--- a/MDK-ARM/AutoGuideStick/tx_initialize_kernel_setup.o
+++ b/MDK-ARM/AutoGuideStick/tx_initialize_kernel_setup.o
--- a/MDK-ARM/AutoGuideStick/tx_mutex_cleanup.o
+++ b/MDK-ARM/AutoGuideStick/tx_mutex_cleanup.o
--- a/MDK-ARM/AutoGuideStick/tx_mutex_create.o
+++ b/MDK-ARM/AutoGuideStick/tx_mutex_create.o
--- a/Show More
+++ b/Show More